Stay cable surface defect detection robot

Abstract

The utility model belongs to the field of stay cable detection, and provides a stay cable surface defect detection robot which comprises a machine body, two groups of crawling modules, a driving module and a detection module, wherein the machine body has a length, a height and a width; the two crawling modules are movably arranged on the machine body and can rotate relative to the machine body in the length direction and the height direction so as to be matched with stay cables of different diameters. The driving module is arranged on the machine body, and the output end of the driving module is connected with two sets of traction wheels. Compared with the prior art, the detection robot has the advantages that the detection robot can adapt to stay cables with different diameters through flexible adjustment of the crawling module, and the application range of the detection robot is greatly widened; meanwhile, the distance between the flaw detector and the stay cable is dynamically adjusted, so that high-quality surface defect detection can be carried out on different-diameter parts of the stay cable under the condition that equipment is not replaced, and the accuracy and comprehensiveness of detection are ensured.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of stay cable detection, specifically relates to a stay cable surface defect detection robot. BACKGROUND

[0002] As a new form of modern bridge, the cable-stayed bridge has been widely used in the world. However, as one of the three force components (bridge tower, bridge deck and stay cable) of the cable-stayed bridge, the stay cable is exposed to the air for a long time, and will be corroded and cracked to different degrees under the wind, rain and sunlight, which will cause serious safety hazards to the cable-stayed bridge.

[0003] In the field of stay cable detection technology, the stay cable is often detected manually by slowly pulling a manned machine along the stay cable from top to bottom through a hoisting and pulling device. The traditional inspection machine is composed of a single or multiple crawling modules, detection devices and a pulling device. The crawling module in the prior art is relatively simple in form and cannot adapt to stay cables of different diameters in cooperation with the pulling device. Moreover, most detection devices are designed in a fixed way, which makes the detection devices be inevitably affected by the outer walls of stay cables of different diameters when the pulling device and the crawling module move along the length direction of the stay cable, and thus the stay cable and the detection device are easily damaged. SUMMARY

[0004] In view of the above problems in the prior art, the technical problem to be solved by the utility model is to provide a stay cable surface defect detection robot which is simple in overall structure, wide in use range, and accurate and flexible in detection.

[0005] The utility model solves the technical problem by adopting the technical scheme of a stay cable surface defect detection robot, which comprises a body, two groups of crawling modules, a driving module and a detection module.

[0006] The body has a length, a height and a width. The two groups of crawling modules are movably arranged on the body and can rotate relative to the body along the length direction and the height direction to adapt to stay cables of different diameters.

[0007] The driving module is arranged on the body, and the output end of the driving module is connected with two groups of traction wheels. When the two groups of traction wheels and the two groups of crawling modules are tightly attached to the two sides of the stay cable respectively, the driving module can drive the detection module to move along the length direction of the stay cable.

[0008] The detection module is arranged on the body, and comprises a driving member and a flaw detector, wherein the output end of the driving member is arranged along the length direction of the body, and a guide block is arranged on the flaw detector and is arranged perpendicularly to the output end of the driving member and movably abuts against the output end of the driving member.

[0009] When the detection robot moves along the length direction of the cable-stayed cable, the guide block can drive the flaw detector to move close to or away from the cable-stayed cable due to the movement of the output end of the driving member, so as to realize quality detection of different diameter regions on the cable-stayed cable.

[0010] In the cable-stayed cable surface defect detection robot, the output end of the driving member is connected with a camshaft, and a guide arc surface is formed on the guide block, and the camshaft movably abuts against the guide arc surface.

[0011] In the cable-stayed cable surface defect detection robot, a protective cover for accommodating the driving member and the guide block is further arranged on the body, the flaw detector is located outside the protective cover, a connecting column penetrating through the protective cover is arranged between the guide block and the flaw detector, an elastic member is sleeved on the connecting column, one end of the elastic member is connected to the bottom wall of the guide block, and the other end of the elastic member is connected to the inner wall of the protective cover.

[0012] In the cable-stayed cable surface defect detection robot, each group of the crawling modules comprises:

[0013] A clamping arm assembly is arranged on the clamping arm assembly, and an angle rudder is movably connected to the body, so that the clamping arm assembly can rotate along the height direction of the body.

[0014] A first crawling leg and a second crawling leg are movably connected to the clamping arm assembly at the same end, and a driven wheel is connected to the other end of each of the first crawling leg and the second crawling leg, and the driven wheels and the traction wheels are used to movably abut against the two sides of the cable-stayed cable.

[0015] In the cable-stayed cable surface defect detection robot, the clamping arm assembly further comprises a clamping arm and a pin sleeve, one end of the clamping arm is connected to the angle rudder, and a fixing pin is arranged at the other end of the clamping arm, and the first crawling leg and the second crawling leg are movably connected to the clamping arm through the fixing pin; the two fixing pins located on the same side of the body are connected through the pin sleeve.

[0016] In the cable-stayed cable surface defect detection robot, a first extension block is arranged on the first crawling leg, and a second extension block is arranged on the second crawling leg, and the first extension block and the second extension block are connected through an electric telescopic cylinder.

[0017] In the cable surface defect detection robot, the detection module further comprises a detection camera, the detection camera is provided with a mounting seat, the first crawling support is provided with a mounting support, and the mounting seat is movably connected to the mounting support.

[0018] In the cable surface defect detection robot, the driven wheel is further provided with a mounting shaft and a bearing, the bearing is arranged at the end of the mounting shaft, the outer ring of the bearing is in interference fit with the driven wheel, the end of the mounting shaft away from the driven wheel is equidistantly provided with a plurality of buckle blocks in the circumferential direction, the end of the first crawling support leg and the second crawling support leg are provided with mounting holes, and the buckle blocks can limit the axial displacement of the driven wheel when the mounting shaft passes through the mounting holes.

[0019] In the cable surface defect detection robot, the drive module further comprises:

[0020] A driving motor is arranged in the body, and the output end of the driving motor is connected with a driving bevel gear;

[0021] A gear shaft and a transmission shaft are arranged in parallel in the body, the gear shaft is provided with a driven bevel gear and a driving spur gear, the end of the transmission shaft is provided with a driven spur gear, the driving bevel gear is movably engaged with the driven bevel gear, and the driving spur gear is movably engaged with the driven spur gear.

[0022] A worm and a worm wheel are connected to the end of the transmission shaft away from the driven spur gear, the two traction wheels are connected through a connecting shaft, the worm wheel is arranged on the connecting shaft and movably engaged with the worm.

[0023] In the cable surface defect detection robot, the body is further provided with a first battery box and a second battery box, the first battery box is the power supply of the detection camera, and the second battery box is the power supply of the driving motor.

[0024] Compared with the prior art, the cable surface defect detection robot has the following beneficial effects:

[0025] (1) The cable surface defect detection robot can adapt to cables with different diameters through flexible adjustment of the crawling module, greatly improving the application range of the detection robot, and dynamically adjusting the distance between the flaw detector and the cable, so that high-quality surface defect detection of the cable with different diameters can be performed without replacing the equipment, and the accuracy and comprehensiveness of detection are ensured.

[0026] (2) The scheme replaces the traditional technology of the tension spring with the electric telescopic cylinder, realizes the precise telescopic action, guarantees the stability and reliability of the automatic adjustment under different working conditions, and helps to adjust the holding force of the cable-stayed cable in real time.

[0027] (3) The high efficient and accurate transmission force is provided through the multiple gear transmissions, the traction wheel has the self-locking property by using the characteristics of the worm and gear, and the smoothness and stability of the detection robot moving along the length direction of the cable-stayed cable are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is the overall structure schematic diagram of the application on the cable-stayed cable;

[0029] Figure 2 is the cross-sectional schematic diagram of the detection module;

[0030] Figure 3 is Figure 1 is the front view when the cable-stayed cable is removed;

[0031] Figure 4 is the structure schematic diagram of the crawling module;

[0032] Figure 5 is the installation structure schematic diagram of the driving module in the body;

[0033] Figure 6 is the explosion view between the driven wheel and the crawling leg.

[0034] In the figure, 1, the body; 10, the protective cover; 11, the first battery box; 12, the second battery box;

[0035] 2, the crawling module; 20, the clamping arm assembly; 200, the angle steering engine; 201, the clamping arm; 202, the pin sleeve; 203, the fixed pin; 21, the first crawling leg; 210, the first extension block; 211, the mounting bracket; 22, the second crawling leg; 220, the second extension block; 221, the mounting hole; 23, the driven wheel; 230, the mounting shaft; 230a, the buckle block; 231, the bearing; 24, the electric telescopic cylinder;

[0036] 3, the driving module; 30, the traction wheel; 300, the connecting shaft; 31, the driving motor; 32, the driving bevel gear; 33, the gear shaft; 330, the driven bevel gear; 331, the driving spur gear; 34, the transmission shaft; 340, the driven spur gear; 35, the worm; 36, the worm wheel;

[0037] 4, the detection module; 40, the driving piece; 400, the cam shaft; 41, the flaw detector; 410, the guide block; 410a, the guide arc surface; 42, the connecting column; 43, the elastic piece; 44, the detection camera; 440, the mounting seat. DETAILED DESCRIPTION

[0038] The technical solutions of the present application are further described below in conjunction with the drawings, but the present application is not limited to these embodiments.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0040] As shown in Figures 1 to 6 , the utility model discloses a cable surface defect detection robot, including body 1, two groups of crawling module 2, drive module 3 and detection module 4, wherein body 1 has length, height and width, two groups of crawling module 2 are movably arranged on body 1, and can rotate relative to body 1 along the length direction and the height direction to adapt to the cable of different diameters, drive module 3 is arranged on body 1, and the output end of drive module 3 is connected with two groups of traction wheels 30, drive module 3 can drive detection module 4 to move along the length direction of the cable when two groups of traction wheels 30 and two groups of crawling module 2 are tightly attached to the two sides of the cable respectively, detection module 4 is arranged on body 1, and detection module 4 includes driving part 40 and flaw detector 41, the output end of driving part 40 is arranged along the length direction of body 1, guide block 410 is arranged on flaw detector 41, guide block 410 movably abuts on the output end of driving part 40 and is vertically arranged with it, when the detection robot moves along the length direction of the cable, guide block 410 can drive flaw detector 41 to approach or move away from the cable due to the movement of the output end of driving part 40, to realize the quality detection of the different diameter regions on the cable.

[0041] Specifically, as shown in Figures 1 to 6 , before detection, first install the detection robot on the cable to be detected (for reference Figure 1 , the cylinder represents the cable), according to the specific diameter of the cable, adjust the angle of two groups of crawling module 2, so that it can tightly adhere to the surface of the cable (i.e. grip on the cable), ensure good grip and stability. As shown in Figure 1 , each group of crawling module 2 in the embodiment can rotate relative to body 1 along the length direction (L) as shown in Figure 1 , to adapt to the crawling of the cable of different diameters, increase the application range of the detection robot, at the same time, each group of crawling module 2 can also rotate relative to body 1 along the height direction (H) as shown in Figure 1The height direction (H) shown is relative to the rotation of the body 1 to achieve the opening and closing operation of the crawling module 2 relative to the cable-stayed cable (similar to the opening and closing of a person's two arms). With the start of the drive module 3, the robot can be moved smoothly along the length direction of the cable-stayed cable (i.e. the axial direction) by the traction wheel 30 cooperating with the rolling friction provided by the crawling module 2. When the robot encounters different diameter regions of the cable-stayed cable during the advancing process, the control system will automatically adjust the position of the flaw detector 41 according to the preset parameters or real-time feedback data. Specifically, the output end of the driving member 40 will move along the length direction (L) of the body 1, the guide block 410 will move and drive the flaw detector 41 to approach or move away from the surface of the cable-stayed cable, ensuring that the flaw detector 41 always detects at the optimal distance. The flaw detector 41 continuously scans the surface of the cable-stayed cable during the movement and collects real-time data about the surface conditions, including but not limited to information about potential defects such as cracks and corrosion points, which are transmitted to the built-in processor for analysis and processing. As can be seen, the automatic driving system cooperates with the intelligent adjustment mechanism to ensure that the flaw detector 41 always maintains the optimal working distance, thereby improving the accuracy and reliability of the detection, and the continuous data collection and real-time analysis function greatly shortens the entire detection period and improves the work efficiency.

[0042] The output end of the driving member 40 is connected with a camshaft 400, and the guide block 410 is formed with a guide arc surface 410a, and the camshaft 400 is movably abutted against the guide arc surface 410a.

[0043] Further, as shown in Figure 1 and Figure 2 , the flaw detector 41 in the embodiment is arranged along the radial direction of the cable-stayed cable (i.e. the height direction H of the body 1), and when detecting the surface of the cable-stayed cable with different diameter regions, when the driving member 40 drives the camshaft 400 to move along the length direction of the body 1, due to the contact between the camshaft 400 and the guide arc surface 410a, the guide block 410 is pushed towards the cable-stayed cable, so that the flaw detector 41 approaches the surface of the cable-stayed cable; on the contrary, when the camshaft 400 is retracted, the guide block 410 moves away from the cable-stayed cable, and the flaw detector 41 also moves away, the automatic distance adjustment mechanism simplifies the work of the operator, and there is no need to manually adjust the position of the flaw detector 41, which reduces the operation difficulty and improves the work efficiency; at the same time, this mechanical linkage mode reduces the errors that may occur in the electronic control system, increases the stability and reliability of the equipment.

[0044] The body 1 is also provided with a protective cover 10 for accommodating the driving member 40 and the guide block 410, and the flaw detector 41 is located outside the protective cover 10, and a connecting column 42 penetrating through the protective cover 10 is arranged between the guide block 410 and the flaw detector 41, an elastic member 43 is sleeved on the connecting column 42, one end of the elastic member 43 is connected to the bottom wall of the guide block 410, and the other end is connected to the inner wall of the protective cover 10.

[0045] Further preferably, as shown in Figure 1 and Figure 2 , the design of the protective cover 10 effectively protects the internal precision components (such as the driving member 40 and the guide block 410) from the external environment (such as dust and moisture), improving the durability and reliability of the device. When the cam shaft 400 extends towards the guide block 410, the elastic member 43 is gradually compressed and deformed as the guide block 410 gradually brings the flaw detector 41 closer to the cable, thus the combination of the connecting column 42 and the elastic member 43 not only ensures that the flaw detector 41 can accurately approach or move away from the surface of the cable as needed, but also provides an additional buffering mechanism to avoid damage to the flaw detector 41 or errors caused by sudden pressure changes. It should be noted that the driving direction of the cam shaft 400 in this embodiment is arranged at a right angle to the moving direction of the flaw detector 41, and in combination with the guide cam surface 410a and the cam shaft 400, the flexible position adjustment of the flaw detector 41 is achieved. Compared with the linear design of the output end of the driving member 40 and the flaw detector 41, this structure effectively avoids the hard contact between the guide block 410 and the cam shaft 400, which can cause damage to the flaw detector 41.

[0046] Each set of crawling module 2 includes: a clamping arm assembly 20, an angle servo 200 is arranged on the clamping arm assembly 20, and the angle servo 200 is movably connected to the body 1, so that the clamping arm assembly 20 can rotate along the height direction of the body 1; a first crawling support leg 21 and a second crawling support leg 22, the same end of the first crawling support leg 21 and the second crawling support leg 22 is movably connected to the clamping arm assembly 20, and the other end is connected with a driven wheel 23, and the driven wheel 23 and the traction wheel 30 are used to movably abut on both sides of the cable.

[0047] Further, as shown in Figures 1 to 4 , the angle servo 200 (using RDS3230-30KG double-axis servo) in this embodiment is a position (angle) servo driver, which has the characteristics of fast response speed, accurate angle control, various control methods, compact overall structure, high reliability and stable output torque, and is widely used in mechanical arms. Its working principle is not described in detail here. The design of the angle servo 200 allows the clamping arm assembly 20 to adjust the angle flexibly, so that the robot can freely realize the opening and holding operation of the crawling module 2 relative to the cable; when the first crawling support leg 21 and the second crawling support leg 22 rotate relative to the clamping arm assembly 20, the clamping gap between the driven wheel 23 and the traction wheel 30 can be adjusted, thereby adapting to cables of various diameters, without the need to replace the equipment to achieve comprehensive detection, greatly improving the application range of the equipment.

[0048] The clamping arm assembly 20 also includes a clamping arm 201 and a pin sleeve 202. One end of the clamping arm 201 is connected to the angle servo motor 200, and the other end is provided with a fixing pin 203. The first crawling leg 21 and the second crawling leg 22 are both movably connected to the clamping arm 201 through the fixing pin 203. The two fixing pins 203 located on the same side of the body 1 are connected by the pin sleeve 202.

[0049] More preferably, such as Figure 4 As shown, in this embodiment, the angle servo 200 can drive the clamping arm 201 along... Figure 4 The direction of the arrow shown (clockwise or counterclockwise rotation is possible) indicates the swing. Since both the first crawling leg 21 and the second crawling leg 22 are movably connected to the clamping arm 201 via fixing pins 203, and the two fixing pins 203 located on the same side of the machine body 1 are connected via pin sleeves 202, the synchronicity of the movement of the two legs is ensured. When the driven wheel 23, in conjunction with the traction wheel 30, is adjusted to a position suitable for the diameter of the cable, the driven wheel 23 on the leg, in conjunction with the traction wheel 30, will press against both sides of the cable (see reference). Figure 1 (as shown in the diagram) to provide sufficient friction to support the robot's stable movement.

[0050] The first crawling support leg 21 is provided with a first extension block 210, and the second crawling support leg 22 is provided with a second extension block 220. The first extension block 210 and the second extension block 220 are connected by an electric telescopic cylinder 24.

[0051] More preferably, such as Figure 3 As shown, in this embodiment, an electric telescopic cylinder 24 replaces the traditional tension spring structure, effectively avoiding the problem of tension spring failure. Specifically, in this embodiment, the electric telescopic cylinder 24 is connected to any extension block, while the electric push rod inside the electric telescopic rod is connected to another extension block. Through the precise extension and retraction of the electric push rod, the robot's gripping force on the cable is adjusted in real time to ensure efficient gripping. Simultaneously, adaptive diameter adjustment is used to synchronize with changes in the corresponding rope diameter, automatically adjusting the extension and retraction length of the push rod to ensure stability and reliability under different working conditions. That is, the electric telescopic rod extends along... Figure 3 During the extension and retraction movement as indicated by the arrow, the first crawling leg 21 and the second crawling leg 22 rotate around their respective fixing pins 203. Figure 3 When the two crawling legs move away from each other in the shown posture (i.e., gradually open), the driven wheel 23 will inevitably shorten the distance between itself and the traction wheel 30 due to the rotation of the crawling legs. Conversely, when the two crawling legs are in... Figure 3 When the robots approach each other in the posture shown, the distance between the driven wheel 23 and the traction wheel 30 gradually increases, enabling the robot to adapt to cable-stayed bridges of various diameters and achieve comprehensive inspection without changing equipment, thus greatly improving the applicability of the equipment.

[0052] Preferably, the embodiment can also be provided with a pressure sensor (not shown in the figure) on the electric push rod of the electric telescopic cylinder. As the diameter of the cable changes during the climbing process, the electric push rod will automatically adjust, thereby realizing the precise control of the detection robot on the cable gripping force, making the climbing process more stable and reliable.

[0053] The detection module 4 also includes a detection camera 44, which is provided with a mounting seat 440, and the first climbing support is provided with a mounting bracket 211, and the mounting seat 440 is movably hinged to the mounting bracket 211.

[0054] Further preferably, as shown in Figure 1 and Figure 4 The embodiment is provided with a detection camera 44 at the front end of the first climbing support, which ensures the comprehensive coverage of the detection range of the cable. The addition of the detection camera 44 enables the detection system not only to detect internal defects by means of the flaw detector 41, but also to capture subtle changes on the external surface through visual means, providing a more comprehensive detection coverage. In addition, the design of the movable hinge of the mounting seat 440 allows the detection camera 44 to be flexibly adjusted in angle according to actual needs, ensuring that the clearest image can be shot at the best viewing angle every time, improving the accuracy and reliability of the detection.

[0055] The driven wheel 23 is also provided with a mounting shaft 230 and a bearing 231, the bearing 231 is arranged at the end of the mounting shaft 230, and the outer ring of the bearing 231 is in interference fit with the driven wheel 23; the end of the mounting shaft 230 away from the driven wheel 23 is equidistantly distributed with a plurality of buckle blocks 230a in the circumferential direction, and the end of the first climbing leg 21 and the second climbing leg 22 is provided with a mounting hole 221, and the buckle block 230a can limit the axial displacement of the driven wheel 23 when the mounting shaft 230 penetrates the mounting hole 221.

[0056] Further preferably, as shown in Figure 6 The embodiment adopts a quick disassembly and assembly structure for the driven wheel 23. Specifically, the bearing 231 is installed in the driven wheel 23, which significantly reduces the friction between the driven wheel 23 and the mounting shaft 230, enabling the driven wheel 23 to rotate more smoothly, reducing energy loss, and prolonging the service life of the components; the design of the buckle block 230a can buckle and abut against the inside of the climbing leg when the mounting shaft 230 penetrates the mounting hole 221 (for reference Figure 1The structure shown), effectively prevent the driven wheel 23 along the axial slip, ensure that the device during operation will not be caused by axial displacement and performance decline. Of course, this embodiment can be adjusted according to the needs of the wheel shape, ensure that the rope surface closely, enhance stability and security. Preferably, the embodiment can also be provided with a number of anti-skid strip in the outer wall of the driven wheel 23 and traction wheel 30, to increase the friction between the driven wheel 23, traction wheel 30 and the cable.

[0057] The drive module 3 further comprises: a drive motor 31 arranged in the body 1, the output end of the drive motor 31 is connected with a driving bevel gear 32; gear shaft 33 and transmission shaft 34, parallelly arranged in the body 1, the gear shaft 33 is provided with a driven bevel gear 330 and a driving spur gear 331, the end of the transmission shaft 34 is provided with a driven spur gear 340, the driving bevel gear 32 is movably engaged with the driven bevel gear 330; the driving spur gear 331 is movably engaged with the driven spur gear 340; worm 35 and worm wheel 36, the worm 35 is connected to the end of the transmission shaft 34 away from the driven spur gear 340, the two traction wheels 30 are connected through the connecting shaft 300, the worm wheel 36 is installed on the connecting shaft 300 and movably engaged with the worm 35.

[0058] Further preferably, as Figure 5 shown, the drive module 3 in the embodiment adopts a plurality of gear transmission mechanisms, specifically, when the driving motor 31 is started, the output end of the motor drives the driving bevel gear 32 to rotate. Since the driving bevel gear 32 is movably engaged with the driven bevel gear 330, the driven bevel gear 330 rotates accordingly, thereby driving the gear shaft 33 to rotate; as a result, the gear shaft 33 drives the coaxially arranged driving spur gear 331 to rotate, and the power is transmitted to the driven spur gear 340 and the transmission shaft 34 rotates together, since the end of the transmission shaft 34 away from the driven spur gear 340 is connected with the worm 35, the worm 35 is movably engaged with the worm wheel 36 installed on the connecting shaft 300, so when the transmission shaft 34 rotates, the worm 35 also rotates, and the power is transmitted to the connecting shaft 300 through the worm wheel 36, finally realizing the rotation of the traction wheel 30 to complete the crawling of the robot with the driven wheel 23. The overall structure is compact, ensuring the effective transmission of power and improving the overall efficiency; at the same time, the characteristics of the worm wheel 36 and the worm 35 make the traction wheel 30 have self-locking property, greatly improving the smoothness and stability of the detection robot moving along the length direction of the cable.

[0059] Further preferably, as Figure 1As shown, the embodiment further provides a first battery box 11 and a second battery box 12 on the body 1, the first battery box 11 is a power supply for the detection camera 44; the second battery box 12 is a power supply for the driving motor 31. By equipping independent battery boxes, it is ensured that each motor can obtain sufficient power supply, and the performance degradation or failure risk caused by sharing power supply is avoided. That is, the driving motor 31 and the detection camera 44 can obtain optimal energy supply according to respective workloads, and the energy efficiency ratio of the overall system is improved.

[0060] It should be noted that the driving member 40 in the embodiment can be replaced by other driving devices such as a stepper motor and a servo motor, and in addition, the elastic member 43 in the embodiment can also be replaced by other elastic devices such as a compression spring and a return spring.

[0061] It should be noted that the descriptions such as "first", "second", "one" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited. The terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] In addition, the technical solutions of each embodiment of the present application can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0063] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but without deviating from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. A robot for detecting surface defects in cable-stayed bridges, characterized in that, It includes the body, two sets of crawling modules, a drive module, and a detection module; among which, The machine body has length, height and width; two sets of crawling modules are movably mounted on the machine body and can rotate relative to the machine body along the length direction and the height direction to adapt to cable stays of different diameters; The drive module is mounted on the machine body. The output end of the drive module is connected to two sets of traction wheels. When the two sets of traction wheels and the two sets of crawling modules are respectively close to both sides of the cable, the drive module can drive the detection module to move along the length of the cable. The detection module is mounted on the machine body. The detection module includes a drive unit and a flaw detector. The output end of the drive unit is arranged along the length direction of the machine body. The flaw detector is provided with a guide block. The guide block movably abuts against the output end of the drive unit and is arranged perpendicular to it. When the inspection robot moves along the length of the cable, the guide block can move the flaw detector closer to or away from the cable due to the movement of the output end of the drive component, so as to realize the quality inspection of different diameter areas on the cable.

2. The cable-stayed bridge surface defect detection robot according to claim 1, characterized in that, The output end of the drive component is connected to a camshaft, and a guide arc surface is formed on the guide block. The camshaft is movably pressed against the guide arc surface.

3. The cable-stayed bridge surface defect detection robot according to claim 2, characterized in that, The machine body is also provided with a protective cover for accommodating the drive component and the guide block. The flaw detector is located outside the protective cover. A connecting post is provided between the guide block and the flaw detector, penetrating the protective cover. An elastic element is sleeved on the connecting post. One end of the elastic element is connected to the bottom wall of the guide block, and the other end is connected to the inner wall of the protective cover.

4. The cable-stayed bridge surface defect detection robot according to claim 1, characterized in that, Each of the crawling modules mentioned includes: A clamping arm assembly is provided with an angle servo motor, which is movably connected to the body, enabling the clamping arm assembly to rotate along the height direction of the body. The first crawling leg and the second crawling leg are movably connected at the same end to the clamping arm assembly, and each end is connected to a driven wheel. The driven wheel and the traction wheel are used to move and abut against both sides of the cable.

5. The cable-stayed bridge surface defect detection robot according to claim 4, characterized in that, The clamping arm assembly also includes a clamping arm and a pin sleeve. One end of the clamping arm is connected to the angle servo motor, and the other end is provided with a fixing pin. The first crawling leg and the second crawling leg are both movably connected to the clamping arm through the fixing pin. The two fixing pins located on the same side of the body are connected by the pin sleeve.

6. The cable-stayed bridge surface defect detection robot according to claim 4, characterized in that, The first crawling leg is provided with a first extension block, and the second crawling leg is provided with a second extension block. The first extension block and the second extension block are connected by an electric telescopic cylinder.

7. The cable-stayed bridge surface defect detection robot according to claim 4, characterized in that, The detection module also includes a detection camera, which is equipped with a mounting base. A first crawling bracket is equipped with a mounting bracket, and the mounting base is movably hinged to the mounting bracket.

8. The cable-stayed bridge surface defect detection robot according to claim 4, characterized in that, The driven wheel is also provided with a mounting shaft and a bearing. The bearing is located at the end of the mounting shaft, and the outer ring of the bearing is interference-fitted with the driven wheel. Several locking blocks are evenly distributed along the circumferential direction at the end of the mounting shaft away from the driven wheel. The ends of the first crawling leg and the second crawling leg are both provided with mounting holes. The locking blocks can restrict the axial displacement of the driven wheel when the mounting shaft passes through the mounting holes.

9. A cable-stayed bridge surface defect detection robot according to claim 7, characterized in that, The drive module also includes: A drive motor is installed inside the machine body, and the output end of the drive motor is connected to a drive bevel gear; A gear shaft and a transmission shaft are arranged parallel to each other inside the machine body. A driven bevel gear and a driving spur gear are arranged on the gear shaft. A driven spur gear is arranged at the end of the transmission shaft. The driving bevel gear is movably engaged with the driven bevel gear. The driving spur gear is movably engaged with the driven spur gear. The worm and worm wheel are provided. The worm is connected to the end of the drive shaft away from the driven spur gear. The two traction wheels are connected by a connecting shaft. The worm wheel is mounted on the connecting shaft and engages with the worm.

10. A cable-stayed bridge surface defect detection robot according to claim 9, characterized in that, The device body is also equipped with a first battery box and a second battery box. The first battery box is the power source for the detection camera, and the second battery box is the power source for the drive motor.

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