Railway cable surface defect detection robot

Abstract

The invention relates to the technical field of railway detection, and discloses a railway cable surface defect detection robot which comprises a lantern ring; a crushing member; a drive ring; a moving member; and a plurality of groups of detection modules are mounted on the moving part in an annular array. By arranging a plurality of groups of crushing parts which are driven by a driving ring and move along a concentric-square-shaped groove, the oppositely arranged crushing hammers alternately perform opposite impact and back recovery on the cable. According to the alternating reciprocating motion mode, efficient crushing and stripping of the surrounding ice layer are achieved, the generated radial force is balanced on the whole, the dynamic clamping effect similar to alternating crawling is formed, cable swinging is actively restrained and counteracted in the deicing operation, the problem of cable shaking caused by deicing external force is fundamentally solved, and the deicing efficiency is improved. And the operation safety and the stability of the detection image are ensured.

Description

Technical Field

[0001] This invention relates to the field of railway inspection technology, specifically to a robot for detecting surface defects in railway cables. Background Technology

[0002] Railway cables are critical carriers for power supply, communication, and signal transmission in rail transit systems, and their structural integrity directly affects the safety and stability of train operation. Due to long-term exposure to the complex outdoor environment, the protective sheath of cables is susceptible to erosion from wind, rain, temperature differences, and chemical corrosion, resulting in defects such as cracks, damage, and aging. Therefore, regular defect inspection of cable surfaces is crucial. Currently, the industry widely adopts intelligent inspection technology based on vision imaging, which uses image acquisition and analysis to automatically identify and assess defects, thereby improving inspection efficiency and accuracy.

[0003] However, in cold seasons or low-temperature environments, thick layers of ice often condense on the surface of cables. This ice cover prevents visual sensors from directly acquiring images of the cable's true surface, hindering inspection. To address this issue, existing technologies typically utilize de-icing robots equipped with de-icing devices and image acquisition equipment. These robots remove ice while simultaneously capturing images during their movement. Such robots generally remove the ice through mechanical scraping, vibration, or thermal melting, and immediately acquire images of the exposed cable surface after de-icing.

[0004] Despite this, existing de-icing robots still have significant shortcomings in actual operation. The main problem is that the mechanical force or vibration applied by the robot during de-icing can easily cause continuous swaying of the cables. On the one hand, this swaying may intensify during operation, especially in long-span, suspended cables. Continuous swaying can lead to fatigue stress, and long-term or severe swaying may even cause cable joints to loosen, structural damage, or even breakage, creating significant safety hazards. On the other hand, cable swaying can cause image acquisition equipment to lose focus, resulting in blurry, shaky, or incomplete images. This seriously affects the accuracy and reliability of defect identification, potentially leading to missed detections or misjudgments, thus weakening the actual effect of intelligent detection. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a railway cable surface defect detection robot, which can effectively suppress cable sway while efficiently removing ice, ensuring safety during the detection process and stable image acquisition.

[0006] The objective of this invention can be achieved through the following technical solutions: A robot for inspecting surface defects in railway cables includes a frame, and the robot further includes: A collar is provided on the side of the frame via a connecting plate, and a notch is provided at the bottom of the collar; The collar has several sets of crushing components installed on its inner side. Each crushing component includes a breaker hammer. The collar has a loop groove for the breaker hammer to reciprocate along the radial direction of the collar. Two opposing sets of crushing components move towards each other or away from each other at the same time. Several opposing sets of crushing components move alternately toward the cable. A drive ring is rotatably mounted on the outside of the collar. The drive ring is used to drive the breaker hammer to reciprocate along the radial direction of the collar. A drive bar is provided on the side of the drive ring. A drive component is mounted on the connecting plate. The drive component is connected to the drive bar and drives the drive ring to reciprocate. A movable component is mounted on the other side of the frame, and the movable component drives the frame to move along the cable. The detection module has several sets of detection modules installed in a circular array on the moving part.

[0007] As a further embodiment of the present invention: the crushing component further includes a push-pull plate and a guide block. The push-pull plate passes through the collar and is provided with a guide rod. The guide rod is located in the loop groove and moves along the loop groove. The two sides of the loop groove along the cable direction are inclined. One end of the push-pull plate is provided with a mounting plate, and the other side of the mounting plate is provided with several crushing hammers. The inner side of the drive ring is provided with a guide groove and several protrusions. The guide groove and the protrusions are connected. The guide block moves along the guide groove or the protrusions. The other end of the push-pull plate is slidably connected to one side of the guide block.

[0008] As a further aspect of the present invention: a plurality of limiting frames are provided on the inner side of the collar, and a plurality of air cylinders are slidably installed in the limiting frames. The air cylinders are sleeved around the outside of the breaker hammer, and a piston is provided around the outside of the breaker hammer. The piston is in contact with the inner wall of the air cylinder, and an annular groove is provided inside the piston. A plurality of air inlets are provided on the side of the piston facing the cable, and the plurality of air inlets are connected to the annular groove. A flow channel is provided inside the breaker hammer, and a plurality of air jet holes are provided at the end of the breaker hammer. A plurality of connecting holes are provided between the annular groove and the breaker hammer, and the connecting holes are connected to the flow channel. An air inlet pipe is provided at one end of the air cylinder near the cable, and a connecting pipe is provided at the other end of the air cylinder.

[0009] As a further aspect of the present invention: two sets of sliding grooves are symmetrically provided inside the limiting frame, and two sets of sliders are symmetrically provided on the outside of the air cylinder, and the sliders move along the sliding grooves.

[0010] As a further aspect of the present invention: a cleaning component is installed between the frame and the collar, the cleaning component includes two sets of semi-ring plates two hinged together, the rotation shafts of the two sets of semi-ring plates two are fixed to the side of the frame, a plurality of shovels are provided on the side of the semi-ring plates two near the collar, the shovels are in contact with the cable surface, and a separation plate is provided in the middle of the shovels.

[0011] As a further aspect of the present invention: the moving component includes two sets of semi-ring plates hinged together, the rotation shafts of the two sets of semi-ring plates are fixed to the side of the frame, a support plate is provided on one side of the semi-ring plate, a driving component is installed on the support plate, a universal joint is provided at the output end of the driving component, a plurality of rollers are installed on the universal joint, the rollers abut against the surface of the cable, and a plurality of detection modules are installed on the other side of the semi-ring plate.

[0012] As a further aspect of the present invention: both the moving part and the clearing part are equipped with lifting components. The lifting components include two sets of movable plates and lifting rings. The two sets of movable plates are rotatably connected to two sets of semi-ring plates or two sets of semi-ring plates respectively. The other end of the two sets of movable plates is rotatably connected to the lifting rings. Limiting plates are provided on both sides of the frame. Limiting grooves are opened on the limiting plates, and the movable plates move within the limiting grooves.

[0013] As a further aspect of the present invention, counterweights are provided at the bottom ends of both the first and second semi-ring plates.

[0014] The beneficial effects of this invention are: (1) In this invention, by setting up several sets of crushing components driven by a drive ring and moving along a loop, the relatively arranged crushing hammers alternately impact the cable in opposite directions and retract it in opposite directions. This alternating reciprocating motion mode not only achieves efficient crushing and peeling of the circumferential ice layer, but also balances the radial forces generated by the components as a whole, forming a dynamic clamping effect similar to "alternating crawling". This actively suppresses and counteracts the swaying of the cable during de-icing operations, fundamentally solving the problem of cable swaying caused by external forces during de-icing, and ensuring operational safety and the stability of the detection images; (2) In this invention, a pneumatic reinforcement structure integrated into the crushing component is adopted. When the breaker hammer impacts the ice layer, it simultaneously drives the piston to compress the air in the air cylinder. The high-pressure gas that is compressed and heated is ejected from the jet hole through the flow channel and acts directly on the ice layer cracks and the cable surface. This measure accelerates the ice layer peeling by utilizing the wedging effect of air pressure and melts the ice layer interface by utilizing the residual heat of compressed air, which significantly reduces the adhesion strength of the ice layer and realizes the synergy of "mechanical crushing" and "pneumatic thermodynamic assisted separation", greatly improving the de-icing efficiency and thoroughness. (3) In this invention, the linkage design of the moving parts, the clearing parts and the lifting parts, together with the counterweight, ensures the stability and self-stabilization of the robot's movement along the cable. In particular, the configuration of the lifting parts and the counterweight enables the robot to automatically unfold in the hoisting state and automatically close and lock itself by gravity after being positioned on the cable, which greatly facilitates deployment and retrieval in harsh environments such as high altitudes and narrow spaces, and improves the engineering practicality and operational safety of the entire detection system. Attached Figure Description

[0015] The invention will now be further described with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention from another perspective; Figure 3 This is a schematic diagram of the collar and drive ring structure in this invention; Figure 4 This is a schematic diagram of the cross-sectional structure of the collar and drive ring in this invention; Figure 5 This is a schematic diagram of the structure of the crushing component in this invention; Figure 6 This is a schematic diagram of the cross-sectional structure of the hydraulic breaker and air cylinder in this invention; Figure 7 This is a schematic diagram of the moving part structure in this invention; Figure 8 This is a schematic diagram of the cleaning component structure in this invention.

[0017] In the picture: 1. Frame; 2. Connecting plate; 21. Drive component one; 3. Collar; 31. Corrugated groove; 4. Crushing component; 41. Crusher hammer; 411. Flow channel; 412. Jet nozzle; 42. Push-pull plate; 421. Guide rod; 422. Mounting plate; 43. Guide block; 44. Air cylinder; 441. Slider; 442. Connecting pipe; 443. Air inlet pipe; 45. Limiting frame; 451. Slide groove; 46. Piston; 461. Air inlet 462. Hole; 5. Connecting Hole; 5. Drive Ring; 51. Guide Groove; 52. Protrusion; 53. Drive Bar; 6. Moving Part; 61. Semi-ring Plate I; 62. Support Plate; 63. Drive Part II; 64. Universal Shaft; 65. Roller; 7. Cleaning Part; 71. Semi-ring Plate II; 72. Shovel Plate; 73. Separation Plate; 8. Lifting Part; 81. Movable Plate; 82. Lifting Ring; 9. Limiting Plate; 10. Counterweight; 11. Detection Module. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figures 1-8 As shown, a railway cable surface defect inspection robot includes a frame 1, and the robot further includes: The collar 3 is provided on the side of the frame 1 via the connecting plate 2, and the bottom of the collar 3 has a notch. The crushing component 4 is installed inside the collar 3. Several sets of crushing components 4 are installed inside the collar 3. The crushing component 4 includes a crushing hammer 41. The collar 3 is provided with a loop groove 31 for several crushing hammers 41 to move back and forth along the radial direction of the collar 3. Two sets of crushing components 4 move towards each other or away from each other at the same time. Several sets of crushing components 4 move towards the cable alternately. Drive ring 5 is rotatably mounted on the outside of collar 3. Drive ring 5 is used to drive the breaker hammer 41 to reciprocate along the radial direction of collar 3. Drive bar 53 is provided on the side of drive ring 5. Drive component 21 is mounted on connecting plate 2. Drive component 21 is connected to drive bar 53 and drives drive ring 5 to reciprocate. Movable component 6 is installed on the other side of the frame 1. Movable component 6 drives the frame 1 to move along the cable. The detection module 11 is mounted on the moving part 6 in a circular array with several sets of detection modules 11.

[0020] The crushing component 4 also includes a push-pull plate 42 and a guide block 43. The push-pull plate 42 passes through the collar 3. A guide rod 421 is provided on the push-pull plate 42. The guide rod 421 is located in the loop groove 31 and moves along the loop groove 31. The two sides of the loop groove 31 along the cable direction are inclined. A mounting plate 422 is provided at one end of the push-pull plate 42. Several crushing hammers 41 are provided on the other side of the mounting plate 422. A guide groove 51 and several protrusions 52 are opened on the inner side of the drive ring 5. The guide groove 51 and the protrusions 52 are connected. The guide block 43 moves along the guide groove 51 or the protrusions 52. The other end of the push-pull plate 42 is slidably connected to one side of the guide block 43.

[0021] In one embodiment, the drive element 21 can be a motor, the output end of which is provided with a gear, and the drive bar 53 can be an incomplete toothed ring.

[0022] In practical application, the frame 1 is first placed on the cable, allowing the cable to pass through the notch on the collar 3. Then, the frame 1 is moved along the cable by the moving part 6, while the driving part 21 is activated to rotate the driving ring 5. When the driving ring 5 rotates, the guide groove 51 and several protrusions 52 rotate with it. When the protrusions 52 rotate to the guide block 43, the guide block 43 will push the push-pull plate 42 to move outward. The push-pull plate 42 will drive several breaker hammers 41 to move towards the cable. When the breaker hammers 41 come into contact with the ice layer outside the cable, the breaker hammers 41 will impact the ice layer and break it, thereby achieving the purpose of de-icing. Several breaker hammers 41 on several sets of breaker parts 4 break the ice layer in multiple places around the periphery. On the one hand, this can improve the breaking effect, and on the other hand, it can make the ice layer break into several ice blocks after being broken, which makes it easy for the broken ice blocks to fall off, thereby ensuring that the cable surface remains clean. This ensures that the detection module 11 can accurately detect defects on the cable surface and improve the detection accuracy. Through the cooperation of the guide rod 421 and the U-shaped groove 31, the push-pull plate 42 moves radially and axially along the cable, while the two opposing sets of crushing parts 4 move towards or away from each other simultaneously. Several sets of opposing crushing parts 4 alternately move towards the cable. Thus, when several hammers 41 on one set of opposing crushing parts 4 come into contact with the ice layer, several hammers 41 on another set or other sets of opposing crushing parts 4 move away from the ice layer. This ensures that the cable is clamped during de-icing, effectively preventing cable swaying and ensuring the accuracy of the test results. The several sets of opposing crushing parts 4 alternately move towards the cable. The movement causes several sets of breaking pieces 4 to form an alternating crawling motion, which, together with the moving part 6, drives the frame 1 to move, thus keeping the frame 1 stable during movement. This further prevents the cable from shaking during de-icing and ensures the accuracy of the test results. In addition, during the process of retrieving the breaker hammer 41, the breaker hammer 41 first moves along the cable axis and then moves along the cable. The moving part 6 further drives the breaker hammer 41 to move along the cable axis, which causes the breaker hammer 41 to slide along the cracks in the ice layer, thereby promoting ice breaking and further improving the de-icing effect and the accuracy of the test.

[0023] Furthermore, several sets of limiting frames 45 are provided on the inner side of the collar 3. Several air cylinders 44 are slidably installed in the limiting frames 45. The air cylinders 44 are sleeved around the breaker hammer 41. A piston 46 is provided around the breaker hammer 41. The piston 46 is in contact with the inner wall of the air cylinder 44. An annular groove is opened inside the piston 46. Several air inlets 461 are opened on the side of the piston 46 facing the cable. The air inlets 461 are connected to the annular groove. A flow channel 411 is opened inside the breaker hammer 41. Several air jet holes 412 are opened at the end of the breaker hammer 41. Several connecting holes 462 are opened between the annular groove and the breaker hammer 41. The connecting holes 462 are connected to the flow channel 411. An air inlet pipe 443 is provided at one end of the air cylinder 44 near the cable. A connecting pipe 442 is provided at the other end of the air cylinder 44.

[0024] Two sets of sliding grooves 451 are symmetrically provided inside the limiting frame 45, and two sets of sliders 441 are symmetrically provided on the outside of the air cylinder 44. The sliders 441 move along the sliding grooves 451.

[0025] In one embodiment, a one-way valve is provided at the air inlet pipe 443, and the air inlet pipe 443 only fills the air cylinder 44 with air, and the gas in the air cylinder 44 will not be discharged from the air inlet pipe 443.

[0026] In practical application, when the hydraulic breaker 41 moves toward the cable, it drives the piston 46 to move, which in turn compresses the air in the air cylinder 44. The compressed air enters the annular groove through several air inlets 461, then enters the flow channel 411 through several connecting holes 462, and finally is ejected from several jet holes 412. Because the air is compressed, the ejected air is high-pressure air. After the hydraulic breaker 41 breaks the ice layer, the ejected air is injected from the cracks in the ice layer between the ice layer and the cable surface, acting like a wedge to promote the separation of the ice layer from the cable and improve the de-icing effect. At the same time, the air temperature rises after being compressed. When the ejected air comes into contact with the inner wall of the ice layer, the inner wall of the ice layer melts. This not only reduces the adhesion of the inner wall of the ice layer, but also accelerates the separation of the ice layer from the cable, further improving the de-icing effect.

[0027] Furthermore, a cleaning component 7 is installed between the frame 1 and the collar 3. The cleaning component 7 includes two sets of semi-ring plates 71 hinged together. The rotation shafts of the two sets of semi-ring plates 71 are fixed to the side of the frame 1. Several shovels 72 are provided on the side of the semi-ring plates 71 near the collar 3. The shovels 72 are in contact with the surface of the cable. A separation plate 73 is provided in the middle of the shovels 72.

[0028] In practical application, during detection and de-icing, the two sets of semi-circular plates 71 are unfolded to allow the cable to enter between them, and then the two sets of semi-circular plates 71 are closed. When the ice layer is broken, some ice layers may not be completely broken due to their thickness. When the removal component 7 moves to this location, the broken ice layer can be scooped up by the scraper plate 72, while the separation plate 73 assists in breaking the ice layer, thereby further accelerating the separation of the ice layer from the cable and further improving the de-icing effect.

[0029] Furthermore, the moving part 6 includes two sets of semi-ring plates 61 hinged together. The rotation shafts of the two sets of semi-ring plates 61 are fixed to the side of the frame 1. A support plate 62 is provided on one side of the semi-ring plate 61. A driving component 63 is installed on the support plate 62. A universal joint 64 is provided at the output end of the driving component 63. Several rollers 65 are installed on the universal joint 64. The rollers 65 abut against the surface of the cable. Several detection modules 11 are installed on the other side of the semi-ring plate 61.

[0030] In practical application, during detection and de-icing, the two sets of semi-circular plates 61 are unfolded to allow the cable to enter between them. Then, the two sets of semi-circular plates 61 are closed, causing several rollers 65 to abut against the cable surface. At this time, the driving component 63 causes the universal shaft 64 to rotate, thereby causing the rollers 65 to rotate and driving the frame 1 to move along the cable.

[0031] Furthermore, both the moving part 6 and the clearing part 7 are equipped with lifting parts 8. The lifting parts 8 include two sets of movable plates 81 and lifting rings 82. The two sets of movable plates 81 are rotatably connected to two sets of semi-ring plates 61 or two sets of semi-ring plates 71 respectively. The other end of the two sets of movable plates 81 is rotatably connected to the lifting rings 82. Limiting plates 9 are provided on both sides of the frame 1. Limiting grooves are opened on the limiting plates 9, and the movable plates 81 move within the limiting grooves.

[0032] Both the bottom of the first semi-ring plate 61 and the second semi-ring plate 71 are equipped with counterweights 10.

[0033] In practical application, before testing, two hanging rings 82 can be hooked by a drone with hooks, and then the robot can be transported to the cable to be tested by the drone. Because the lifting ring 82 is hooked, under the influence of gravity, the two sets of semi-ring plates 61 and 71 unfold. When the robot reaches above the cable, the drone lowers the robot, causing the frame 1 to hang on the cable. Simultaneously, the cable enters the two sets of semi-ring plates 61 and 71. Then, the hook on the drone releases the lifting ring 82, and under the influence of gravity, the two sets of semi-ring plates 61 and 71 close, thus completing the pre-inspection preparations. It should be noted that... The movable plate 81 and the hanging ring 82 are both quite heavy. This means that when the two sets of semi-ring plates 61 and 71 are closed, both the movable plate 81 and the hanging ring 82 will exert a downward force on the semi-ring plates 61 and 71. Combined with the weight of the counterweight 10 itself, this ensures that the two sets of semi-ring plates 61 and 71 are firmly joined together, preventing them from unfolding during the inspection process and thus hindering normal movement, inspection, and ice removal.

Claims

1. A robot for detecting surface defects in railway cables, comprising a frame (1), characterized in that, The robot also includes: A collar (3) is provided on the side of the frame (1) via a connecting plate (2), and a notch is provided at the bottom of the collar (3); The crushing component (4) is installed inside the collar (3) with several sets of crushing components (4). The crushing component (4) includes a breaker hammer (41). The collar (3) has a groove (31) for several breaker hammers (41) to move back and forth along the radial direction of the collar (3). Two sets of crushing components (4) move towards each other or away from each other at the same time. Several sets of crushing components (4) move towards the cable alternately. Drive ring (5), drive ring (5) is rotatably mounted on the outside of the collar (3), drive ring (5) is used to drive the breaker hammer (41) to move back and forth along the radial direction of the collar (3), drive bar (53) is provided on the side of drive ring (5), drive component one (21) is mounted on the connecting plate (2), drive component one (21) is connected to drive bar (53) and drives drive ring (5) to rotate back and forth; Movable component (6), which is installed on the other side of the frame (1), drives the frame (1) to move along the cable; The detection module (11) is mounted on the moving part (6) in a ring array with several sets of detection modules (11).

2. The railway cable surface defect detection robot according to claim 1, characterized in that, The crushing component (4) also includes a push-pull plate (42) and a guide block (43). The push-pull plate (42) passes through the collar (3). A guide rod (421) is provided on the push-pull plate (42). The guide rod (421) is located in the loop groove (31) and moves along the loop groove (31). The two sides of the loop groove (31) along the cable direction are inclined. One end of the push-pull plate (42) is provided with a mounting plate (422). The other side of the mounting plate (422) is provided with several crushing hammers (41). The inner side of the drive ring (5) is provided with a guide groove (51) and several protrusions (52). The guide groove (51) and the protrusions (52) are connected. The guide block (43) moves along the guide groove (51) or the protrusions (52). The other end of the push-pull plate (42) is slidably connected to one side of the guide block (43).

3. The railway cable surface defect detection robot according to claim 2, characterized in that, The inner side of the collar (3) is provided with several sets of limiting frames (45). Several air cylinders (44) are slidably installed in the limiting frames (45). The air cylinders (44) are sleeved around the breaker hammer (41). The breaker hammer (41) is provided with a piston (46) around its periphery. The piston (46) is in contact with the inner wall of the air cylinder (44). The piston (46) has an annular groove inside. The piston (46) has several air inlets (461) on the side facing the cable. The air inlets (461) are connected to the annular groove. The breaker hammer (41) has a flow channel (411) inside. The end of the breaker hammer (41) has several jet holes (412). Several connecting holes (462) are provided between the annular groove and the breaker hammer (41). The connecting holes (462) are connected to the flow channel (411). The end of the air cylinder (44) near the cable is provided with an air inlet pipe (443). The other end of the air cylinder (44) is provided with a connecting pipe (442).

4. The railway cable surface defect detection robot according to claim 3, characterized in that, Two sets of sliding grooves (451) are symmetrically opened inside the limiting frame (45), and two sets of sliders (441) are symmetrically arranged on the outside of the air cylinder (44). The sliders (441) move along the sliding grooves (451).

5. The railway cable surface defect detection robot according to claim 3, characterized in that, A cleaning component (7) is installed between the frame (1) and the collar (3). The cleaning component (7) includes two sets of semi-ring plates (71) hinged together. The rotation shafts of the two sets of semi-ring plates (71) are fixed to the side of the frame (1). Several shovels (72) are provided on the side of the semi-ring plates (71) near the collar (3). The shovels (72) are in contact with the surface of the cable. A separation plate (73) is provided in the middle of the shovels (72).

6. The railway cable surface defect detection robot according to claim 5, characterized in that, The moving part (6) includes two sets of semi-ring plates (61) hinged together. The rotation shafts of the two sets of semi-ring plates (61) are fixed to the side of the frame (1). A support plate (62) is provided on one side of the semi-ring plate (61). A driving component (63) is installed on the support plate (62). A universal joint (64) is provided at the output end of the driving component (63). Several rollers (65) are installed on the universal joint (64). The rollers (65) abut against the surface of the cable. Several detection modules (11) are installed on the other side of the semi-ring plate (61).

7. The railway cable surface defect detection robot according to claim 6, characterized in that, Both the moving part (6) and the clearing part (7) are equipped with lifting parts (8). The lifting parts (8) include two sets of movable plates (81) and lifting rings (82). The two sets of movable plates (81) are rotatably connected to two sets of semi-ring plates (61) or two sets of semi-ring plates (71) respectively. The other end of the two sets of movable plates (81) is rotatably connected to the lifting rings (82). Both sides of the frame (1) are provided with limiting plates (9). Limiting grooves are opened on the limiting plates (9), and the movable plates (81) move in the limiting grooves.

8. The railway cable surface defect detection robot according to claim 7, characterized in that, The bottom ends of both the first semi-ring plate (61) and the second semi-ring plate (71) are provided with counterweights (10).

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