CN218291593U

CN218291593U - Cable detection robot for cable-stayed bridge

Info

Publication number: CN218291593U
Application number: CN202222840364.3U
Authority: CN
Inventors: 陈渝
Original assignee: Chongqing Hongyan Construction Machinery Manufacturing Co ltd
Current assignee: Chongqing Hongyan Construction Machinery Manufacturing Co ltd
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2023-01-13
Anticipated expiration: 2032-10-27

Abstract

The utility model discloses a cable-stay bridge cable detection robot belongs to climbing robot technical field, the utility model discloses a be provided with a plurality of determine module in the upper portion of frame, make under a plurality of determine module's effect, not only can detect the cable, but also can reach 360 degrees detection that do not have the dead angle, with further improvement to the detection precision of cable, also ensured the safe reliability in utilization of cable simultaneously, and through the mode of wireless transmission, with the data transmission that will correspond image and the cable detected to corresponding computer, so that the staff makes subsequent maintenance preparation, and carry out the analysis to the detected data of cable, great improvement carry out the precision that detects the data to the cable; through being provided with the mechanism of crawling in the frame for under the effect of the mechanism of crawling, the drive frame that can be automatic crawls on the cable, and drives detecting component and detect the cable.

Description

Cable detection robot for cable-stayed bridge

Technical Field

The utility model relates to a climbing robotechnology field, in particular to cable-stay bridge cable detection robot.

Background

The cable-stayed bridge is the most main bridge type of a large-span bridge, the cable is the main bearing part of the cable-stayed bridge, and the inner steel wire of the stressed member cable is easy to break under the long-term action of dynamic load, rain vibration and wind vibration of the large bridge, so the detection work of the cable-stayed bridge is very important. At present, the detection of the cable is not perfect. In the early stage, a hoisting machine is adopted to drag a hanging basket trolley, so that the workload is high, the efficiency is low, and the safety is poor.

The existing cable-stayed bridge cable detection robots mainly comprise two types, namely a motor-driven wheel type robot and a pneumatic peristaltic robot, wherein the motor-driven wheel type robot and the pneumatic peristaltic robot move continuously, have compact structures, are simple to control, have high climbing efficiency, but have poor obstacle crossing capability; the climbing robot has a simple structure and consists of an upper part and a lower part, the middle part is connected by a cylinder, each part is provided with three cylinders which are alternately in a clamping state and a lifting state to realize climbing, and the climbing robot has better obstacle crossing capability, but has more complex control, low movement efficiency and larger volume.

Some existing cable-stayed bridge cable detection robots are disclosed in the application number: CN201520031317.1, application date: 2015-01-16 provides a cable-stayed bridge cable detection robot system, which comprises a rack, wherein a plurality of power climbing mechanisms are arranged on the rack, the power climbing mechanisms are uniformly distributed in the circumferential direction, each power climbing mechanism comprises a power mechanism and two climbing mechanisms, the two climbing mechanisms are arranged up and down and are connected through a synchronous transmission mechanism, each climbing mechanism comprises a roller capable of rolling on a cable, the roller of one climbing mechanism drives the climbing mechanism to rotate through the power mechanism, the synchronous transmission mechanism can drive all the rollers of the two climbing mechanisms arranged up and down to synchronously rotate, the rack comprises a plurality of sub-support frames, each power climbing mechanism is arranged on one sub-support frame, the adjacent sub-support frames are connected through a connecting device, and the connecting device can adjust the distance between the two adjacent sub-support frames. The utility model discloses have very high adaptability, can work on the cable of different diameters, use connecting device to connect the sub-support frame, be convenient for adjust robot system's overall size.

Although the technical scheme disclosed above can work on cables with different diameters, the cable-stayed bridge cable detection robot is not provided with a corresponding detection structure, so that the cable-stayed bridge cable detection robot cannot transmit detected data back to corresponding equipment.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a cable-stay bridge cable inspection robot, can be automatic with corresponding detection data transmission back to corresponding equipment department to the staff makes subsequent maintenance preparation, simultaneously also great improvement carry out the efficiency of overhauing to the cable.

For solving the technical problem, the utility model discloses a technical scheme:

a cable-stayed bridge cable detection robot comprises

A frame;

the upper part of the rack is provided with a plurality of detection assemblies for detecting the cable and transmitting detection data back to a corresponding computer in a wireless transmission mode;

the detection assembly comprises a camera, guide frames are arranged on two sides of the camera, a sliding plate is arranged between the two guide frames in a sliding mode, an electric control expansion frame is hinged to one side of the sliding plate, a steering swing frame is hinged to the electric control expansion frame, a detection sensor is fixedly arranged on one side of the steering swing frame, a plurality of telescopic rods are arranged on the other side of the sliding plate along the length direction of the sliding plate, one end of each telescopic rod is fixedly connected with the sliding plate, the other end of each telescopic rod is fixedly connected with the inner side of the rack, and a spring is sleeved on each telescopic rod;

and the crawling mechanism is arranged on the rack and used for driving the rack to crawl on the cable and driving the detection assembly to detect the cable.

According to some embodiments, the two sides of the sliding plate are provided with rollers through mounting shafts, the guide frame is provided with guide grooves, and the roller sliding tongs are arranged in the guide grooves.

According to some embodiments, the swing bogie is provided with illumination lamps on both sides.

According to some embodiments, the camera is mounted to an upper portion of the frame by a first mounting plate.

According to some embodiments, the frame is including being the hexagonal rack that distributes from top to bottom, two connect through the connecting rod between the hexagonal rack, two outside between the hexagonal rack has a plurality of second mounting panels through the screw mounting, the inboard on hexagonal rack upper portion is fixed and is provided with the leading truck, the second mounting panel is provided with the mechanism of crawling.

According to some embodiments, the mechanism of crawling includes the subassembly of initiatively crawling, the subassembly of initiatively crawling is located one side of second mounting panel, the lower part of the subassembly of initiatively crawling is provided with the driven subassembly of crawling, the opposite side of second mounting panel is provided with the motor through the third mounting panel, the output of motor passes the third mounting panel to fixed cover is equipped with first belt pulley, first belt pulley through first belt with the subassembly of initiatively crawling is connected.

According to some embodiments, the subassembly of initiatively crawling includes first mounting bracket, first mounting bracket rotates in proper order along its length direction and is provided with driving shaft and driven shaft, just the one end of driving shaft and driven shaft extends to the outside of first mounting bracket, the driving shaft passes through first fixed block installation on the second mounting panel, just first fixed block is located the both sides of first mounting bracket, the fixed cover of one end of driving shaft is equipped with the second belt pulley, the second belt pulley passes through first belt pulley with first belt pulley connection, one side of second belt pulley is provided with the third belt pulley, fixed cover is equipped with the fourth belt pulley on the driven shaft, the fourth belt pulley with around being equipped with the second belt between the third belt pulley, still fixed cover is equipped with first crawling wheel on the driven shaft, the below of first crawling wheel is provided with driven component.

According to some embodiments, driven subassembly of crawling includes the second mounting bracket, the second mounting bracket rotates in proper order along its length direction and is provided with first pivot and second pivot, the both sides of second mounting bracket all are provided with the second fixed block, the second fixed block is fixed to be located on the second mounting panel, just a tip of first pivot is rotated and is inserted and locate in the second fixed block, the fixed cover of positive center department of second pivot is equipped with the second and climbs the wheel.

According to some embodiments, a tension spring is disposed between the first and second mounting brackets.

Has the advantages that:

1. be provided with a plurality of detection assembly through the upper portion at the frame for under a plurality of detection assembly's effect, not only can detect the cable, but also can reach the detection at 360 degrees no dead angles, with further improvement to the detection precision of cable, the safety in utilization of cable has also been ensured simultaneously, and through wireless transmission's mode, with corresponding image and data transmission to corresponding computer that the cable detected, so that the staff does subsequent maintenance preparation, and carry out the analysis to the detection data of cable.

2. Through under the effect at corresponding camera for some can be directly perceived the image of seeing the cable problem clearly corresponding camera can be shot, and adopt wireless transmission's mode to transmit corresponding image to the computer, avoided traditional artifical detection cable, there is higher degree of danger, and to the lower condition of efficiency that the cable detected, in addition, corresponding camera can also play the effect of a location.

3. Through at corresponding detection sensor for under the detection data of multiunit detection sensor, can more accurate detection cable exist the problem, with the fail safe nature of guarantee cable in the use.

4. Under the effect that corresponding telescopic link, spring and automatically controlled expansion bracket combined together, realized that the device can reach the effect of carrying out automated inspection to the cable according to the actual conditions of cable, avoided the condition of detecting the omission to appear.

5. Through being provided with the mechanism of crawling in the frame for under the effect of the mechanism of crawling, the drive frame that can be automatic crawls on the cable, and drives detecting component and detect the cable.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic view of the present invention;

fig. 2 is a top view of the present invention;

fig. 3 is a schematic view of the rack of the present invention;

fig. 4 is a perspective sectional view of the present invention;

fig. 5 is a schematic view of the crawling mechanism of the present invention.

In the figure, 1 machine frame, 11 hexagonal frame, 12 connecting rod, 13 second mounting plate, 2 detection assembly, 21 camera, 22 guide frame, 221 guide slot, 23 slide plate, 231 installation shafts, 232 rollers, 24 electric control expansion bracket, 25 steering swing frame, 26 detection sensor, 27 telescopic rod, 28 spring, 29 lighting lamp, 3 first mounting plate, 4 crawling mechanism, 41 active crawling assembly, 411 first mounting frame, 412 driving shaft, 413 driven shaft, 414 first fixing block, 415 second belt pulley, 416 third belt pulley, 417 fourth belt pulley, 418 second belt, 419 first crawling wheel, 42 driven crawling assembly, 421 second mounting frame, 422 first rotating shaft, 423 second rotating shaft, 424 second fixing block, 425 second crawling wheel, 43 third mounting plate, 44 motor, 45 first belt pulley, 46 first belt, 47 tension spring.

Detailed Description

This section will describe in detail the embodiments of the present invention, the preferred embodiments of which are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can visually and vividly understand each technical feature and the whole technical solution of the present invention, but it cannot be understood as a limitation to the scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the terms greater than, less than, exceeding, etc. are understood to exclude the number, and the terms above, below, inside, etc. are understood to include the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the terms such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the terms in the present invention by combining the specific contents of the technical solution.

Referring to fig. 1 to 5, a cable-stayed bridge cable detection robot comprises a frame 1 and a detection assembly 2.

The upper portion of the frame 1 is provided with a plurality of detection assemblies 2 for detecting cables and transmitting detection data back to a corresponding computer in a wireless transmission mode, each detection assembly 2 comprises a camera 21, guide frames 22 are arranged on both sides of the camera 21, a sliding plate 23 is slidably arranged between the two guide frames 22, one side of the sliding plate 23 is hinged with an electric control expansion frame 24, the electric control expansion frame 24 is hinged with a steering swing frame 25, one side of the steering swing frame 25 is fixedly provided with a detection sensor 26, the other side of the sliding plate 23 is provided with a plurality of telescopic rods 27 along the length direction thereof, one end of each telescopic rod 27 is fixedly connected with the corresponding sliding plate 23, the other end of each telescopic rod 27 is fixedly connected with the inner side of the frame 1, and each telescopic rod 27 is sleeved with a spring 28, so that the corresponding camera 21 can shoot some images which can visually see the problems of the cables clearly under the action of the corresponding camera 21, and adopt wireless transmission's mode to transmit corresponding image to the computer, traditional artifical detection cable has been avoided, there is higher danger degree, and to the lower condition of efficiency that detects the cable, in addition, corresponding camera 21 can also play the effect of a location, make at corresponding detection sensor 26, make under the detection data of multiunit detection sensor 26, can more accurate detect out the problem that the cable exists, with the fail safe nature of guarantee cable in the use, make under the effect that corresponding telescopic link 27, spring 28 and automatically controlled expansion bracket 24 combine together, the device has been realized and can reach the effect of carrying out automated inspection to the cable according to the actual conditions of cable, the condition of having avoided detecting the omission appears.

Be provided with crawling mechanism 4 in the frame 1 for drive frame 1 crawls on the cable, and drive detecting component 2 and detect the cable, in order to reach the effect that the device can realize automatic crawling, carry out the efficiency that detects with further improvement to the cable, and great reduction the traditional manual work and detect the condition that has high risk to the cable.

Wherein, in the process of detecting the cable, the crawling mechanism 4 drives the rack 1 to crawl on the cable, in the process of moving the device, the corresponding camera 21 can shoot the problems obviously existing on the cable according to the moving condition, the corresponding camera 21 transmits the shot images to a computer through wireless, the corresponding software on the computer performs splicing treatment to achieve the image desired by the staff, the corresponding camera 21 stops moving the device according to the shooting condition, meanwhile, the corresponding detecting sensor 26 abuts against the outer circumferential surface of the cable, the corresponding detecting sensor 26 detects the cracks on the cable and the flaw detection condition, the corresponding detection sensor 26 transmits the detected data to a computer through wireless transmission, corresponding software on the computer analyzes the data to present the result wanted by the operator, so that the operator can make subsequent maintenance preparation and analyze the detection data of the cable, and the whole cable can be monitored in real time in 360 degrees without dead angles along with the actual situation of the cable, when the detection sensor 26 encounters a larger cable, the detection sensor 26 can sequentially provide thrust for the inward sliding of the bogie 25, the electrically controlled telescopic frame 24 and the sliding plate 23, the sliding plate 23 slides on the corresponding guide frame 22, and in the inward sliding process of the sliding plate 23, a certain compression force can be provided for the telescopic rod 27 and the spring 28, so that the spring 28 is in a compressed state under the guiding action of the telescopic rod 27; when a small cable is met, the spring 28 is in a recovered state and provides an outward thrust to the corresponding sliding plate 23 under the guiding action of the telescopic rod 27, and the corresponding sliding plate 23 sequentially pushes the electrically controlled telescopic frame 24, the steering swing frame 25 and the detection sensor 26 to move outward under the guiding action of the corresponding guide frame 22, so that the detection sensor 26 is in contact with the outer circumferential surface of the cable in real time; if the extension of the spring 28 reaches the limit and the detecting sensor 26 still cannot contact with the outer circumferential surface of the cable, the detecting sensor 26 can be driven by controlling the electrically controlled telescopic frame 24, so that the detecting sensor 26 contacts with the outer circumferential surface of the cable in real time; under the action of the bogie 25, the angle of the detection sensor 26 can be adjusted, so that the data for detecting the cable is more accurate.

Referring to fig. 1, rollers 232 are disposed on both sides of the sliding plate 23 through mounting shafts 231, guide grooves 221 are disposed on the guide frames 22, and the rollers 232 are slidably clamped in the guide grooves 221, so that the sliding plate 23 can slide on the corresponding guide frame 22 under the combined action of the rollers 232 and the guide grooves 221.

As shown in fig. 1 and 2, the steering and swinging frame 25 is provided with illuminating lamps 29 on both sides thereof for auxiliary illumination.

As shown in fig. 1 and 2, the camera 21 is mounted on the upper portion of the frame 1 through the first mounting plate 3 to facilitate mounting and dismounting of the camera 21.

Referring to fig. 1, 3 and 4, the frame 1 includes the hexagonal frames 11 that are distributed from top to bottom, two hexagonal frames 11 are connected through connecting rod 12, a plurality of second mounting plates 13 are installed through the screw in the outside between two hexagonal frames 11, the inboard fixed leading truck 22 that is provided with on hexagonal frame 11 upper portion, make corresponding hexagonal frame 11 under the effect of corresponding connecting rod 12, can dismantle, so that the equipment of the device, make the device portable after dismantling simultaneously, when using, also be convenient for carry out the aggregate erection.

Combine fig. 1, fig. 2, fig. 4 and fig. 5 show, crawl mechanism 4 is including initiative crawl subassembly 41, one side of second mounting panel 13 is located to initiative crawl subassembly 41, the lower part of initiative crawl subassembly 41 is provided with driven crawl subassembly 42, the opposite side of second mounting panel 13 is provided with motor 44 through third mounting panel 43, third mounting panel 43 is passed through to the output of motor 44, and fixed cover is equipped with first belt pulley 45, first belt pulley 45 is connected with initiative crawl subassembly 41 through first belt 46, make under the effect that motor 44, initiative crawl subassembly 41 and driven crawl subassembly 42 combine together, the effect that the device was automatic to crawl on the cable has been realized.

Wherein, motor 44 drives first belt pulley 45 and rotates, and first belt pulley 45 drives initiative subassembly 41 of crawling through first belt 46, and driven subassembly 41 of crawling that crawls of crawling 42 assistance initiative, and then makes the device can freely crawl on the cable to drive frame 1 and carry out real-time detection with corresponding detecting component 2 to the cable.

As shown in fig. 4 and 5, the driving crawling assembly 41 includes a first mounting frame 411, the first mounting frame 411 is sequentially provided with a driving shaft 412 and a driven shaft 413 along a length direction thereof in a rotating manner, one end of the driving shaft 412 and one end of the driven shaft 413 extend to the outside of the first mounting frame 411, the driving shaft 412 is mounted on the second mounting plate 13 through a first fixing block 414, the first fixing block 414 is located on two sides of the first mounting frame 411, a second belt pulley 415 is fixedly sleeved on one end of the driving shaft 412, the second belt pulley 415 is connected with the first belt pulley 45 through the first belt pulley 45, a third belt pulley 416 is arranged on one side of the second belt pulley 415, a fourth belt pulley 417 is fixedly sleeved on the driven shaft 413, a second belt pulley 418 is wound between the fourth belt pulley 417 and the third belt pulley 416, a first crawling wheel 419 is further fixedly sleeved on the driven shaft 413, and a driven crawling assembly 42 is arranged below the first crawling wheel 419, so that the driving shaft 412, the driven shaft 413, the second belt pulley 415, the third belt pulley 416, the fourth belt pulley 417, and the second belt 418 are combined to drive the first crawling wheel 419 to roll on the cable.

Wherein, motor 44 drives first belt pulley 45 and rotates, and first belt pulley 45 drives driving shaft 412 through first belt 46 and rotates, and driving shaft 412 drives second belt pulley 415 and third belt pulley 416 simultaneously and rotates, and third belt pulley 416 drives fourth belt pulley 417 through second belt 418 and rotates, and fourth belt pulley 417 drives driven shaft 413 to rotate simultaneously, and first crawl wheel 419 follows driven shaft 413 and rotates together.

Continuing to refer to fig. 4 and 5, driven subassembly 42 of crawling includes second mounting bracket 421, second mounting bracket 421 rotates along its length direction in proper order and is provided with first pivot 422 and second pivot 423, the both sides of second mounting bracket 421 all are provided with second fixed block 424, second fixed block 424 is fixed to be located on second mounting panel 13, and a tip of first pivot 422 rotates and inserts and locate in second fixed block 424, the fixed cover in positive center department of second pivot 423 is equipped with second crawl wheel 425, make when first crawl wheel 419 carries out free rolling, first crawl wheel 419 also can be assisted to second crawl wheel 425, realize the effect of free crawling.

Wherein, motor 44 drives first belt pulley 45 and rotates, first belt pulley 45 drives driving shaft 412 through first belt 46 and rotates, driving shaft 412 drives second belt pulley 415 and third belt pulley 416 simultaneously and rotates, third belt pulley 416 drives fourth belt pulley 417 through second belt 418 and rotates, fourth belt pulley 417 drives driven shaft 413 pivoted simultaneously, when first crawling wheel 419 follows driven shaft 413 and rotates together, second crawling wheel 425 drives second pivot 423 and rotates, under the effect that first crawling wheel 419 and second crawling wheel 425 combined together, the effect that the device carries out free crawling on the cable has been realized.

As shown in fig. 1, 4 and 5, a tension spring 47 is disposed between the first mounting bracket 411 and the second mounting bracket 421, so that under the action of the tension spring 47, the corresponding first mounting bracket 411 and the second mounting bracket 421 can have a trend of relatively approaching or relatively departing, so that under the action of the trend of relatively approaching or relatively departing of the first mounting bracket 411 and the second mounting bracket 421, the first climbing wheel 419 and the second climbing wheel 425 can contact with the outer circumferential surface of the cable in real time, and the device is prevented from falling off the cable.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the present invention within the knowledge range of those skilled in the art.

Claims

1. The utility model provides a cable-stay bridge cable inspection robot which characterized in that includes:

a frame (1);

the upper part of the rack (1) is provided with a plurality of detection components (2) which are used for detecting the cable and transmitting detection data back to a corresponding computer in a wireless transmission mode;

the detection assembly (2) comprises a camera (21), guide frames (22) are arranged on two sides of the camera (21), a sliding plate (23) is arranged between the two guide frames (22) in a sliding mode, an electric control expansion frame (24) is hinged to one side of the sliding plate (23), a steering swing frame (25) is hinged to the electric control expansion frame (24), a detection sensor (26) is fixedly arranged on one side of the steering swing frame (25), a plurality of telescopic rods (27) are arranged on the other side of the sliding plate (23) along the length direction of the sliding plate, one end of each telescopic rod (27) is fixedly connected with the corresponding sliding plate (23), the other end of each telescopic rod is fixedly connected with the inner side of the corresponding rack (1), and a spring (28) is sleeved on each telescopic rod (27);

the crawling mechanism (4) is arranged on the rack (1) and used for driving the rack (1) to crawl on a cable and drive the detection assembly (2) to detect the cable.

2. The cable-stayed bridge cable detection robot according to claim 1, characterized in that: the two sides of the sliding plate (23) are provided with idler wheels (232) through mounting shafts (231), the guide frame (22) is provided with guide grooves (221), and the idler wheels (232) are slidably clamped in the guide grooves (221).

3. The cable-stayed bridge cable detection robot according to claim 1, characterized in that: and illuminating lamps (29) are arranged on two sides of the steering swing frame (25).

4. The cable-stayed bridge cable detection robot according to claim 1, characterized in that: the camera (21) is installed on the upper portion of the rack (1) through a first installation plate (3).

5. The cable-stayed bridge cable detection robot according to claim 1, characterized in that: frame (1) is including being hexagonal frame (11) that distribute from top to bottom, two connect through connecting rod (12) between hexagonal frame (11), two a plurality of second mounting panels (13) are installed through the screw in outside between hexagonal frame (11), inboard fixed being provided with leading truck (22) on hexagonal frame (11) upper portion, second mounting panel (13) are provided with crawl mechanism (4).

6. The cable-stayed bridge cable detection robot according to claim 5, characterized in that: crawl mechanism (4) including initiative subassembly (41) of crawling, initiative subassembly (41) of crawling is located one side of second mounting panel (13), the lower part of initiative subassembly (41) of crawling is provided with driven subassembly (42) of crawling, the opposite side of second mounting panel (13) is provided with motor (44) through third mounting panel (43), the output of motor (44) passes third mounting panel (43) to fixed cover is equipped with first belt pulley (45), first belt pulley (45) through first belt (46) with initiative subassembly (41) of crawling is connected.

7. The cable-stayed bridge cable detection robot according to claim 6, characterized in that: initiative crawling subassembly (41) includes first mounting bracket (411), first mounting bracket (411) is followed its length direction and is rotated in proper order and is provided with driving shaft (412) and driven shaft (413), just the one end of driving shaft (412) and driven shaft (413) extends to the outside of first mounting bracket (411), driving shaft (412) are installed through first fixed block (414) on second mounting panel (13), just first fixed block (414) are located the both sides of first mounting bracket (411), the fixed cover of one end of driving shaft (412) is equipped with second belt pulley (415), second belt pulley (415) pass through first belt pulley (45) with first belt pulley (45) are connected, one side of second belt pulley (415) is provided with third belt pulley (416), be equipped with fourth belt pulley (417) on driven shaft (413), fourth belt pulley (417) with around being equipped with second belt pulley (418) between third belt pulley (416), still be equipped with fixed cover on driven shaft (413) and climb first crawling pulley (419) the driven shaft (419) is provided with driven shaft (42) down.

8. The cable-stayed bridge cable detection robot according to claim 7, characterized in that: driven subassembly (42) of crawling includes second mounting bracket (421), second mounting bracket (421) are followed its length direction and are rotated in proper order and are provided with first pivot (422) and second pivot (423), the both sides of second mounting bracket (421) all are provided with second fixed block (424), second fixed block (424) are fixed to be located on second mounting panel (13), just a tip of first pivot (422) is rotated and is inserted and locate in second fixed block (424), the fixed cover of locating of the positive center of second pivot (423) is equipped with second crawling wheel (425).

9. The cable-stayed bridge cable detection robot according to claim 8, characterized in that: a tension spring (47) is arranged between the first mounting frame (411) and the second mounting frame (421).