Cable inspection crawling robot

Abstract

This utility model discloses a cable inspection crawling robot, relating to the field of amusement facility inspection and testing. It includes a robot body, a walking unit, a sensor monitoring unit, an image acquisition unit, a cable non-destructive testing unit, and a motion control unit. The robot body can hug and hold the outside of the cable; the walking unit is connected to the robot body via a transmission, enabling the robot body to move forward and backward along the cable. Through braking coordination of the walking unit, the robot body can be stably stopped at any position on the cable; the sensor monitoring unit monitors the robot body's posture, displacement, and walking speed; the image acquisition unit is used for visual inspection of damage to the protective sleeve on the cable surface and macroscopic defects such as surface corrosion, deformation, and broken strands in the wire rope at the damaged location; the cable non-destructive testing unit is used for non-destructive testing of surface and near-surface defects in the wire rope. This utility model can achieve autonomous crawling, detect both surface and internal defects, and is adaptable to multiple cable specifications.

Description

Technical Field

[0001] This utility model relates to the field of amusement facility inspection and testing technology, and in particular to a cable inspection crawling robot. Background Technology

[0002] Large observation vehicles (with Ferris wheels as a typical example) have become core facilities in the urban tourism and entertainment sector due to their unique scenic experience and landmark status.

[0003] Structurally, large Ferris wheels are mainly divided into spoke-type, cable-type, and spoke-cable combination types. Among them, the cable-type (also known as cable-supported Ferris wheel) structure has significant advantages in structural performance, landscape integration, construction, and operation and maintenance because it uses high-strength steel cables instead of traditional rigid trusses. As the core load-bearing component of cable-stayed Ferris wheels, the cable is mainly composed of steel wire ropes and surface protective sleeves. Its load-bearing performance directly determines the overall structural safety of the equipment. Failure modes often manifest as corrosion of the internal steel wire bundles and breakage of the steel wires after the surface sleeve is damaged, which in turn leads to structural buckling instability. Therefore, comprehensive inspection of the cable surface condition and internal steel wire bundle defects is a key link in ensuring the safe operation of the equipment.

[0004] Currently, the inspection of cables for large sightseeing vehicles mainly relies on manual visual inspection and periodic cable tension testing. Manual visual inspection focuses on checking for external defects such as damaged sheaths, wire rope deformation, and corrosion on the cable surface. However, due to the long length and high deployment height of the sightseeing vehicle cables, it suffers from high risks of working at heights, low inspection efficiency, high labor costs, and many blind spots. Periodic cable tension testing can only verify whether the cable tension is within the set range and cannot identify hidden defects such as broken wires inside the wire rope and near-surface wear, resulting in insufficient comprehensiveness of the inspection results.

[0005] In the field of wire rope inspection technology, magnetic flux leakage (MFL) testing technology has been widely used in the inspection of elevator wire ropes, mining hoisting ropes, and cableway wire ropes due to its advantages such as high sensitivity in detecting local defects such as broken wires, wear, corrosion, and structural deformation, accurate defect location, and the ability to quantify the metal cross-sectional area loss rate. However, traditional MFL testing technology requires that the testing device be fixed while the inspected wire rope is in relative motion, which is not directly applicable to the fixed deployment of large sightseeing vehicle cables.

[0006] To address the challenges of inspecting fixed cables, research on cable inspection crawling robots has been conducted both domestically and internationally. However, existing technologies still have significant limitations: First, some bridge cable inspection devices rely on winches to move along the cable, lacking an autonomous climbing mechanism. This requires inspectors to install pulleys at heights, increasing operational risks and reducing inspection efficiency. Furthermore, the magnetized coil power supply requires dragging long cables, resulting in poor equipment flexibility and significant safety hazards. Second, some existing cable inspection robots can only inspect the outer sheath of the cable and cannot detect defects in the internal steel wire bundles.

[0007] In summary, there is an urgent need to design a technical solution that can achieve autonomous crawling, detect both surface and internal defects, and adapt to various cable specifications. Utility Model Content

[0008] The purpose of this invention is to provide a cable inspection crawling robot to solve the problems existing in the prior art. It can achieve autonomous crawling, detect both surface and internal defects, and adapt to cables of various specifications and sizes.

[0009] To achieve the above objectives, this utility model provides the following solution: This utility model provides a cable detection crawling robot, comprising: The robot body has a wrap-around clamping structure that can fit snugly against the outside of the cable; The robot walking unit is connected to the robot body via a transmission, and can drive the robot body to move forward and backward along the cable. Furthermore, through the braking coordination of the robot walking unit, the robot body can be stably stopped at any position on the cable. A sensor monitoring unit, located on the robot body, is used to monitor the robot body's posture, displacement, and running speed. An image acquisition unit is installed on the robot body and is arranged around the outside of the cable to visually inspect the damage to the protective sleeve on the surface of the cable and macroscopic defects such as broken strands in the wire rope at the damaged location. The cable non-destructive testing unit is used for non-destructive testing of surface and near-surface defects in cable wire ropes. The motion control unit is used to control the actions of the robot walking unit, sensor monitoring unit, image acquisition unit, and cable non-destructive testing unit, respectively.

[0010] In one embodiment, the robot body includes multiple frames, each frame including a connecting rod, with arc-shaped frames symmetrically arranged at both ends of the connecting rod. The multiple frames are arranged around the outside of the cable, and two adjacent arc-shaped frames located at the same end are sequentially fixedly connected. The robot walking unit is disposed on the arc-shaped frame.

[0011] In one embodiment, the robot walking unit includes: Multiple walking cart supports are provided, with multiple walking cart supports arranged circumferentially at both ends of the robot body, and the walking cart supports are hinged to the ends of the robot body. The traveling wheels are rotatably mounted inside the traveling trolley bracket, used to abut against the cable and roll along the cable; An elastic element is inclinedly arranged on the outside of the walking trolley support, with one end connected to the outside of the walking trolley support and the other end connected to the end of the robot body. The elastic force of the elastic element can drive the walking trolley support to swing inward so as to drive the walking wheel to abut against the side wall of the cable. A walking drive mechanism is mounted on the robot body and is connected to the axle of at least one of the walking wheels to drive the connected walking wheels to rotate.

[0012] In one embodiment, the traveling wheel is a permanent magnet wheel, and a smooth U-shaped groove is provided on the outer side of the wheel rim, which can adhere to and be attracted to the side wall of the cable.

[0013] In one embodiment, at least one of the walking wheels has a synchronous pulley fixedly provided at the end of its axle; the walking drive mechanism includes a walking motor fixed to the robot body, the output shaft of the walking motor is drivenly connected to a motor pulley, and the motor pulley and the corresponding synchronous pulley are drivenly connected by a synchronous belt.

[0014] In one embodiment, the elastic element is a compression spring, which is obliquely arranged on the outside of the walking cart support. One end of the compression spring is connected to the outside of the walking cart support, and the other end is connected to the end of the robot body through an adjusting nut. The adjusting nut can adjust the compression force of the compression spring.

[0015] In one embodiment, the sensor monitoring unit includes an encoder and an attitude sensor. The encoder is mounted on the walking drive mechanism and is used to monitor the running position and speed of the robot body. Multiple attitude sensors are respectively mounted at both ends of the robot body and are used to monitor the attitude of the robot body in real time.

[0016] In one embodiment, the image acquisition unit includes a video acquisition component arranged circumferentially at the end of the robot body. The video acquisition component includes a camera and a base. The base is attached to the end of the robot body, and the camera is mounted on the base.

[0017] In one embodiment, the cable non-destructive testing unit includes a wire rope magnetic flux leakage detector and a wire rope magnetic flux leakage detector mounting bracket; the wire rope magnetic flux leakage detector is fixed to the robot body via the wire rope magnetic flux leakage detector mounting bracket and is used for non-destructive testing of cable wire ropes.

[0018] In one embodiment, the motion control unit includes a battery pack and a control box; the battery pack is powered by a DC power supply and is fixed on the robot body; it is used to power the robot walking unit, sensor monitoring unit, image acquisition unit and cable non-destructive testing unit; the control box is used for motion control of the robot walking unit, sensor monitoring unit, image acquisition unit and cable non-destructive testing unit.

[0019] The present invention achieves the following technical advantages over the prior art: The robot body of this invention adopts a ring-shaped structure, which can dynamically open and close to adapt to changes in cable diameter, greatly improving the robot's adaptability and expanding its application range. The image acquisition unit's main function is to visually inspect macroscopic defects such as damage to the protective sleeve on the cable surface, surface corrosion, deformation, and broken strands. The robot walking unit is mainly used to detect the robot body's forward, backward, and parking movements, as well as to prevent falls after sudden power outages during operation. The sensor monitoring unit is mainly used to monitor the robot body's posture, displacement, and running speed. The motion control unit is mainly used for the robot body's motion control and is the core part of this invention, which can be controlled by wired or wireless means. The cable detection unit's main function is to perform non-destructive testing of the cable wire ropes, and it is the execution component for achieving non-destructive testing of cables in this invention. This invention can make the inspection of cables for large sightseeing vehicles more accurate, efficient, economical, and safe, enabling autonomous crawling and taking into account both surface and internal defect detection. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the detection state of a cable-detecting crawling robot in one or more embodiments of the present invention. Figure 2 This is a front view of a cable detection crawling robot in one or more embodiments of the present invention; Figure 3 This is a left view of a cable-detecting crawling robot in one or more embodiments of the present invention; Figure 4 This is a top view of a cable detection crawling robot in one or more embodiments of the present invention; Figure 5 This is a block diagram of the motion control unit of the cable detection crawling robot in one or more embodiments of the present invention.

[0022] In the diagram: 100-Robot body, 200-Cable, 1-Compression spring, 2-Frame fixing assembly, 3-Video acquisition assembly, 4-Attitude sensor, 5-Screw, 6-Walking wheel axle locking nut, 7-Rear walking wheel, 8-Compression spring fixing pin, 9-Encoder, 10-Wire rope magnetic flux leakage detector fixing assembly, 11-Walking motor, 12-Wire rope magnetic flux leakage detector fixing bracket, 13-Frame, 1301-Connecting frame rod, 1302-Arc-shaped frame, 14-Adjusting nut, 15-Walking carriage bracket axle, 16-Walking carriage bracket, 17-Walking wheel axle, 18-Front walking wheel, 19-Battery pack, 20-Control box, 21-Wire rope magnetic flux leakage detector, 22-Synchronous belt, 23-Synchronous belt pulley, 24-Motor pulley, 25-Walking motor fixing assembly. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] The purpose of this invention is to provide a cable inspection crawling robot to solve the problems existing in the prior art. It can achieve autonomous crawling, detect both surface and internal defects, and adapt to cables of various specifications and sizes.

[0025] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] For the inspection of fixed cables, some existing bridge cable inspection devices rely on winches to move along the cable, lacking an autonomous climbing mechanism. This requires inspectors to install pulleys at heights, increasing operational risks and reducing inspection efficiency. Furthermore, the magnetized coil power supply requires dragging long cables, resulting in poor equipment flexibility and significant safety hazards. Moreover, some existing cable inspection robots can only inspect and coat the outer sheath of the cable, unable to detect defects in the internal steel wire bundles. To address this issue, this utility model provides a cable inspection crawling robot, referencing... Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the system includes a robot body 100, a robot walking unit, a sensor monitoring unit, an image acquisition unit, a cable 200 non-destructive testing unit, and a motion control unit. The robot body 100 can encircle the outside of the cable 200. The robot walking unit is connected to the robot body 100 via a transmission mechanism, enabling the robot body 100 to move forward and backward along the cable 200. Through braking coordination, the robot walking unit can stably stop the robot body 100 at any position on the cable 200. The sensor monitoring unit is located on the robot body 100 and is used to monitor the robot body 100's posture, displacement, and running speed. The image acquisition unit is mounted on the robot body 100 and encircles the outside of the cable 200 to visually inspect for damage to the protective sleeve on the cable 200 surface and for macroscopic defects such as rust, deformation, and broken strands on the surface of the wire rope at the damaged location. The cable 200 non-destructive testing unit is used for non-destructive testing of surface and near-surface defects in the wire rope. The motion control unit controls the movements of the robot walking unit, sensor monitoring unit, image acquisition unit, and cable non-destructive testing unit, respectively. The robot body 100 of this invention adopts a ring-shaped structure, which can dynamically open and close to adapt to changes in the diameter of different cables 200, greatly improving the robot's adaptability and expanding its application range. The image acquisition unit's main function is to visually inspect macroscopic defects such as damage to the protective sleeve on the surface of the cable 200, surface corrosion, deformation, and broken strands. The robot walking unit is mainly used to detect the robot body 100's forward, backward, and parking movements, and to prevent it from falling after a sudden power outage during operation. The sensor monitoring unit is mainly used to monitor the robot body 100's posture, displacement, and running speed. The motion control unit is mainly used for the motion control of the robot body 100 and is the core part of this invention, which can be controlled by wired or wireless means. The cable 200 detection unit's main function is to perform non-destructive testing of the cable 200 and is the execution component for achieving non-destructive testing of the cable 200 in this invention. This invention can make the inspection of the cables 200 of large sightseeing vehicles more accurate, efficient, economical, and safe, enabling autonomous crawling and taking into account both surface and internal defect detection.

[0027] In one embodiment, the robot body 100 includes multiple frames 13, each frame 13 including a connecting rod 1301. The connecting rod 1301 has symmetrically arranged arc-shaped frames 1302 at both ends. The multiple frames 13 are circumferentially arranged around the outside of the cable 200, and adjacent arc-shaped frames 1302 at the same end are sequentially fixedly connected. Thus, the multiple arc-shaped frames 1302 at the same end can be sequentially connected end-to-end to form a circular structure that surrounds the outside of the cable 200. In this embodiment, a connecting flange is provided at the end of the arc-shaped frame 1302, and the connecting flanges of adjacent arc-shaped frames 1302 are connected... The flange is connected and fixedly connected by the frame fixing assembly 2. The frame fixing assembly 2 adopts a bolt and nut structure. By adjusting the frame fixing assembly 2, the inner diameter of the ring formed by multiple arc-shaped frame bodies 1302 can be adjusted, so that this utility model can be adapted to cables 200 of different diameters. In another embodiment, the number of frames can also be flexibly increased or decreased according to the diameter of the cable 200, so that the number of arc-shaped frame bodies 1302 forming the ring structure is different. Accordingly, the diameter of the ring structure can also be controlled to adapt to the detection of cables 200 of different diameters.

[0028] In one embodiment, the robot walking unit is mounted on an arc-shaped frame 1302. The robot walking unit includes multiple walking carriage supports 16. Multiple walking carriage supports 16 are circumferentially arranged at both ends of the robot body 100, and the walking carriage supports 16 are hinged to the ends of the robot body 100. In this embodiment, the walking carriage supports 16 are rotatably connected to the protrusions at the ends of the arc-shaped frame 1302 via walking carriage support shafts 15. The walking wheels are rotatably mounted inside the walking carriage supports 16 via walking wheel shafts 17. A walking wheel shaft locking nut 6 is provided at the end of the walking wheel shaft 17, which can limit the movement of the walking wheels, preventing them from detaching from the walking wheel shaft 17, and also preventing… The axle 17 of the walking wheel is detached from the walking trolley bracket; the walking wheel is used to abut against the cable 200 and roll along the cable 200, thereby driving the robot body 100 to move back and forth along the cable 200; in order to increase the clamping force between the walking wheel and the cable 200, a set of elastic elements is added to each walking trolley bracket in this embodiment. The clamping force of the walking wheel can be adjusted by adjusting the elastic elements; the elastic elements are inclinedly arranged on the outside of the walking trolley bracket, one end of which is connected to the outside of the walking trolley bracket 16, and the other end is connected to the end of the robot body 100. The elastic force of the elastic elements can drive the walking trolley bracket to swing inward, so as to drive the walking wheel to abut against the side wall of the cable 200.

[0029] In one embodiment, a walking drive mechanism is mounted on the robot body 100 and is connected to the axle of at least one walking wheel to drive the connected walking wheel to rotate. In this embodiment, the walking wheels at both ends of the robot body 100 are defined as a front walking wheel 18 and a rear walking wheel 7, respectively. A synchronous pulley 23 is fixedly mounted on the axle end of one front walking wheel 18 and one rear walking wheel 7, respectively, so that the front walking wheel 18 and the rear walking wheel 7 connected to the synchronous pulley 23 are the driving wheels, and the remaining walking wheels are the driven wheels. The walking drive mechanism includes two walking motors 11 fixed to the robot body 100 by a walking motor fixing assembly 25. The walking motor fixing assembly 25 can adopt a bolt and nut structure. The output shaft of the robot 11 is connected to a motor pulley 24, which is connected to the corresponding synchronous pulley 23 via a synchronous belt 22, thereby driving the drive wheel. The walking motor 11 is a DC servo motor with a braking function, enabling the robot to move forward, backward, and stop, and preventing it from falling after a sudden power outage. In one embodiment, the walking motor 11 can achieve constant torque output, has good overload protection, and can climb at an angle ≥15° with a climbing speed of 0.2~0.8m / s. The end of the walking motor 11 is equipped with an encoder 9 to monitor the position and speed of the robot body 100 in real time and provide speed feedback to achieve closed-loop control.

[0030] In one embodiment, the walking wheel is a permanent magnet wheel that can be attracted to the cable. The outer side of the wheel rim is provided with a smooth U-shaped groove, which can fit and be attracted to the side wall of the cable 200. The elastic element in this embodiment is a compression spring 1, which is inclinedly arranged on the outside of the walking carriage bracket. One end of the compression spring 1 is connected to the outside of the walking carriage bracket 16 through a compression spring fixing pin 8, and the other end is connected to the end of the robot body 100 through an adjusting nut 14. The adjusting nut 14 can adjust the compression force of the compression spring 1. After each disassembly, the magnitude of the spring force of the compression spring 1 can be adjusted in real time by adjusting the adjusting nut 14, thereby adjusting the clamping force of the walking wheel and maintaining the flexibility of movement.

[0031] In one embodiment, the sensor monitoring unit includes an encoder 9 and an attitude sensor 4. The encoder 9 is mounted on the walking motor 11 and is used to monitor the running position and speed of the robot body 100. There are four attitude sensors 4, which are fixed to the front and rear ends of the frame with screws 5 respectively, and are used to monitor the attitude of the robot body 100 in real time to prevent attitude instability and falling.

[0032] In one embodiment, the image acquisition unit includes a video acquisition component 3 circumferentially arranged at the end of the robot body 100. The video acquisition component 3 includes a camera and a base. The base is magnetically attached to the end of the robot body 100, and the camera is mounted on the base. In this embodiment, three video acquisition components 3 are circumferentially arranged at the front and rear ends of the frame, respectively. The three video acquisition components 3 on the same side are arranged at a 120° angle to ensure that the video acquisition window covers the entire circumference of the steel wire rope. The video acquisition components 3 are fixed to the frame 13 by suction cups on the base. Inspectors can remotely view the video data online in real time from the ground, or download the video data for offline viewing. The cable 200 non-destructive testing unit in this embodiment includes a wire rope magnetic flux leakage detector 21 and a wire rope magnetic flux leakage detector fixing bracket 12. The wire rope magnetic flux leakage detector 21 is fixed to the robot body 100 through the wire rope magnetic flux leakage detector fixing bracket 12 for non-destructive testing of the wire rope of the cable 200. The wire rope magnetic flux leakage detector fixing bracket 12 is fixedly connected to the frame through the wire rope magnetic flux leakage detector fixing assembly 10, which can adopt a bolt and nut structure. The wire rope magnetic flux leakage detector 21 is used to detect surface and near-surface defects (broken wires, wear, corrosion, structural deformation, etc.) of the wire rope. It has high detection sensitivity, can accurately identify the location of defects, and can quantitatively evaluate the metal cross-sectional area loss rate. The detection data can be viewed in real time through wireless transmission, or it can be stored and downloaded offline for viewing.

[0033] In one embodiment, the motion control unit includes a battery pack 19 and a control box 20. The control box 20 is used for motion control of the robot walking unit, sensor monitoring unit, image acquisition unit, and cable non-destructive testing unit. The main function of the motion control unit is to control the motion of the crawling robot, which is the core part of this invention. It can be controlled by wired or wireless means. The battery pack 19 is powered by a DC power supply and is fixed on the frame 13. It mainly powers the video acquisition component 3, attitude sensor 4, walking motor 11, and wire rope leakage magnetic flux detector 21. The control box 20 is based on a microcontroller and is mainly used for data processing and motion control of this invention. It is fixed on the frame 13 and is the motion control center, realizing the control of forward, backward, and parking functions, video acquisition, and cable wire rope non-destructive testing of this invention. Figure 5 As shown, Figure 5 The drive motor in this invention is the walking motor, which is wirelessly controlled by the microcontroller module in the control box 20 to adjust its speed. The attitude sensor 4 and the encoder can respectively realize the tilt angle monitoring and running speed monitoring of this invention, and transmit the monitoring data to the microcontroller module through the sensor module. The microcontroller module adjusts the walking motor 11 according to the received monitoring data.

[0034] The working principle of this utility model is as follows: During normal operation, the robot body 100 is first fixed to the cable 200 of the sightseeing vehicle via the frame fixing assembly 2. The clamping force of the walking wheels is adjusted by adjusting the nuts to ensure that the walking wheels do not slip on the cable 200 when the robot body 100 can perform various functions such as forward, backward, and parking. The angles of the attitude sensor 4 and the high-definition camera are adjusted, and the starting detection position of the cable 200 is calibrated. Then, the detection begins. The robot slowly crawls along the cable 200 at a certain speed. During the detection process, the damage to the sleeve on the surface of the cable 200 and macroscopic defects such as deformation and broken strands of the cable 200 are viewed online in real time by a computer on the ground. If any problems are found, the robot can be remotely controlled for inspection. After the detection is completed, the frame fixing assembly 2 is opened to remove the utility model, and the detection results are analyzed. This invention features a simple structure, fast detection speed, and high accuracy. The encircling structure ensures the structural stability and operational reliability of the device. By adapting to different specifications of walking wheels, it is also suitable for detecting cylindrical or near-cylindrical ferromagnetic materials such as highway light poles, cableways, bridge cables, and long-distance steel pipes.

[0035] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A cable-detecting crawling robot, characterized in that: include: The robot body has a wrap-around clamping structure that can fit snugly against the outside of the cable; The robot walking unit is connected to the robot body via a transmission, and can drive the robot body to move forward and backward along the cable. Furthermore, through the braking coordination of the robot walking unit, the robot body can be stably stopped at any position on the cable. A sensor monitoring unit, located on the robot body, is used to monitor the robot body's posture, displacement, and running speed. An image acquisition unit is installed on the robot body and is arranged around the outside of the cable to visually inspect the damage to the protective sleeve on the cable surface and the macroscopic defects of the steel wire rope surface such as rust, deformation, and broken strands at the damaged location. The cable non-destructive testing unit is used for the detection of surface and near-surface defects in wire ropes; The motion control unit is used to control the robot walking unit, sensor monitoring unit, image acquisition unit, and cable non-destructive testing unit, respectively.

2. The cable detection crawling robot according to claim 1, characterized in that: The robot body includes multiple frames, each frame including a connecting rod. The connecting rod has symmetrical arc-shaped frames at both ends. Multiple frames are arranged around the outside of the cable, and two adjacent arc-shaped frames at the same end are fixedly connected in sequence. The robot walking unit is located on the arc-shaped frame.

3. The cable detection crawling robot according to claim 1, characterized in that: The robot walking unit includes: Multiple walking cart supports are provided, with multiple walking cart supports arranged circumferentially at both ends of the robot body, and the walking cart supports are hinged to the ends of the robot body. The traveling wheels are rotatably mounted inside the traveling trolley bracket, used to abut against the cable and roll along the cable; An elastic element is inclinedly arranged on the outside of the walking trolley support, with one end connected to the outside of the walking trolley support and the other end connected to the end of the robot body. The elastic force of the elastic element can drive the walking trolley support to swing inward so as to drive the walking wheel to abut against the side wall of the cable. A walking drive mechanism is mounted on the robot body and is connected to the axle of at least one of the walking wheels to drive the connected walking wheels to rotate.

4. The cable detection crawling robot according to claim 3, characterized in that: The traveling wheel is a permanent magnet wheel, and a smooth U-shaped groove is provided on the outer side of the wheel rim. The U-shaped groove can fit and adhere to the side wall of the cable.

5. The cable detection crawling robot according to claim 3, characterized in that: At least one of the walking wheels has a synchronous pulley fixedly provided at the end of its axle; the walking drive mechanism includes a walking motor fixed to the robot body, the output shaft of the walking motor is driven by a motor pulley, and the motor pulley and the corresponding synchronous pulley are driven by a synchronous belt.

6. The cable detection crawling robot according to claim 3, characterized in that: The elastic element is a compression spring, which is obliquely arranged on the outside of the walking trolley support. One end of the compression spring is connected to the outside of the walking trolley support, and the other end is connected to the end of the robot body through an adjusting nut. The adjusting nut can adjust the compression force of the compression spring.

7. The cable detection crawling robot according to claim 3, characterized in that: The sensor monitoring unit includes an encoder and an attitude sensor. The encoder is mounted on the walking drive mechanism and is used to monitor the running position and speed of the robot body. Multiple attitude sensors are respectively mounted at both ends of the robot body and are used to monitor the attitude of the robot body in real time.

8. The cable detection crawling robot according to claim 1, characterized in that: The image acquisition unit includes a video acquisition component arranged circumferentially at the end of the robot body. The video acquisition component includes a camera and a base. The base is attached to the end of the robot body, and the camera is mounted on the base.

9. The cable detection crawling robot according to claim 1, characterized in that: The cable non-destructive testing unit includes a wire rope magnetic flux leakage detector and a wire rope magnetic flux leakage detector mounting bracket; the wire rope magnetic flux leakage detector is fixed to the robot body through the wire rope magnetic flux leakage detector mounting bracket and is used for non-destructive testing of cable wire ropes.

10. The cable detection crawling robot according to claim 1, characterized in that: The motion control unit includes a battery pack and a control box; the battery pack is powered by a DC power supply and is fixed on the robot body; it is used to power the robot walking unit, sensor monitoring unit, image acquisition unit, and cable non-destructive testing unit; the control box is used for motion control of the robot walking unit, sensor monitoring unit, image acquisition unit, and cable non-destructive testing unit.

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