CN217810508U - Suspension bridge main push-towing rope overhauls robot - Google Patents
Suspension bridge main push-towing rope overhauls robot Download PDFInfo
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- CN217810508U CN217810508U CN202221467419.4U CN202221467419U CN217810508U CN 217810508 U CN217810508 U CN 217810508U CN 202221467419 U CN202221467419 U CN 202221467419U CN 217810508 U CN217810508 U CN 217810508U
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Abstract
The embodiment of the application provides a suspension bridge main push-towing rope overhauls robot for improve the stability of robot at main push-towing rope work, include: the maintenance work portion, climbing portion and at least a set of supporting part. The supporting part comprises a driving mechanism, a connecting block and a rolling mechanism. The climbing portion is used for climbing along the subassembly rope of suspension bridge. The both sides of climbing portion set up first hinge, and climbing portion is articulated through first hinge with the middle part of connecting block. The first end of connecting block is connected actuating mechanism's one end, and climbing portion is connected to actuating mechanism's the one end of keeping away from the connecting block, and actuating mechanism is used for driving the connecting block rotatory around first hinge. And the second end of the connecting block is connected with a rolling mechanism, and the rolling mechanism is used for rolling on the surface of the main cable of the suspension bridge. The maintenance working part is arranged on the climbing part or the supporting part and used for maintaining the main cable. The robot can receive the reaction force of the assembly rope and the main cable of the suspension bridge simultaneously, the force system is more stable, and the shaking and the vibration of the robot during working are reduced.
Description
Technical Field
The embodiment of the application relates to the field of robots, in particular to a suspension bridge main cable maintenance robot.
Background
The main cable is an important component of the suspension bridge and needs to be repaired regularly so as to avoid causing serious accidents. At present, the overhaul of a main cable is mainly completed by manpower, the overhaul efficiency is extremely low, and the risk of casualties exists. With the development of the robot technology, the completion of main cable maintenance tasks by robots has become a new trend. When the robot uses the handrail rope to scramble as the track, because handrail rope rigidity is not enough and/or crawling environment wind-force is great, the robot rocks and shakes easily, and then reduces detection camera imaging quality and manipulator operation precision.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a suspension bridge main cable maintenance robot for improving the stability of the robot in the main cable work.
The embodiment of the application provides a suspension bridge main push-towing rope overhauls robot, includes: the device comprises a maintenance working part, a climbing part and at least one group of supporting parts; the supporting part comprises a driving mechanism, a connecting block and a rolling mechanism;
the climbing part is positioned at the top of the robot and used for climbing along the assembly rope of the suspension bridge; the two sides of the climbing part are provided with first hinges, the climbing part is hinged with the middle part of the connecting block through the first hinges, and the connecting block extends towards the bottom of the robot so that the supporting part surrounds the two sides of the main cable of the suspension bridge;
the first end of the connecting block is connected with one end of the driving mechanism, which is far away from the connecting block, is connected with the climbing part, and the driving mechanism is used for driving the connecting block to rotate around the first hinge;
the second end of the connecting block is connected with a rolling mechanism, and the rolling mechanism is used for rolling on the surface of a main cable of the suspension bridge;
the maintenance working part is arranged on the climbing part or the supporting part and used for maintaining the main cable.
In one implementation manner of the embodiment of the application, the driving mechanism includes a first connecting rod, a second connecting rod, an electric cylinder, a linear slide rail and a slide block;
the linear slide rail is fixedly arranged on the climbing part, and the sliding block can slide up and down along the linear slide rail;
the middle part of the first connecting rod is fixedly connected with the sliding block, the first connecting rod is connected with one end of the electric cylinder, and one end of the electric cylinder, which is far away from the first connecting rod, is connected with the climbing part;
the two second connecting rods are respectively hinged with two ends of the first connecting rod, and one ends of the two second connecting rods, which are far away from the first connecting rod, are respectively hinged with first ends of different connecting blocks.
In an implementation manner of the embodiment of the application, the number of the supporting parts is even, and the even groups of the supporting parts are symmetrically arranged on two sides of the climbing part.
In an implementation manner of the embodiment of the application, a plane where the first hinge rotates is perpendicular to the axis direction of the main cable, so that the connecting block can be unfolded in a wing shape around the climbing part.
In one implementation manner of the embodiment of the application, the first hinge, the second end of the connecting block and the first end of the connecting block are collinear, and the first hinge is arranged between the second end of the connecting block and the first end of the connecting block;
alternatively, the first hinge, the second end of the connecting block and the first end of the connecting block form a triangular relationship.
In one implementation of the embodiment of the application, the overhaul work part comprises a vision system, and the vision system is used for inspecting the main cable and the main cable accessory.
In an implementation manner of the embodiment of the application, the overhaul work part comprises a mechanical arm system, and the mechanical arm system is used for repairing a main cable and a main cable accessory.
In one implementation manner of the embodiment of the present application, the rolling mechanism includes a first rolling mechanism and/or a second rolling mechanism;
the first rolling mechanism and the second rolling mechanism are arranged along the axial direction of the main cable.
In one implementation manner of the embodiment of the present application, the rolling mechanism includes a third rolling mechanism and/or a fourth rolling mechanism;
the third rolling mechanism is contacted with the surface of the upper half part of the main cable; the fourth rolling mechanism is in contact with the surface of the lower half part of the main cable.
In one implementation of an embodiment of the present application, the rolling mechanism includes a wheel;
the wheels are used for rolling on the surface of a main cable of the suspension bridge and comprise omnidirectional wheels or universal ball wheels.
In one implementation manner of the embodiment of the application, the rolling mechanism further comprises a movable connecting rod and a shock absorber;
one end of the movable connecting rod is connected with the wheel, and the end of the movable connecting rod, which is far away from the wheel, is hinged with the connecting block;
one end of the shock absorber is connected with the movable connecting rod, one end of the shock absorber, which is far away from the movable connecting rod, is connected with the connecting block, and an included angle is formed between the movable connecting rod and the shock absorber.
According to the technical scheme, the embodiment of the application has the following advantages:
in this application embodiment, set up the supporting part in the both sides of climbing portion, the rolling mechanism direct contact main push-towing rope of supporting part for the robot can receive the subassembly rope of suspension bridge, the reaction force of main push-towing rope simultaneously, and the system of force is more stable, reduces the robot and rocks and vibrations in the during operation production.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of a suspension bridge main cable maintenance robot according to an embodiment of the present application;
FIG. 2 is an elevation view of the suspension bridge main cable inspection robot according to the embodiment of the present application with the lower portion of the connection block attached to the main cable;
fig. 3 is a front view of the suspension bridge main cable maintenance robot according to the embodiment of the present application when an obstacle is avoided on the lower part of a connecting block;
FIG. 4 is a schematic diagram of another three-dimensional structure of a main cable maintenance robot for a suspension bridge according to an embodiment of the present application;
FIG. 5 is an enlarged partial view of FIG. 4;
FIG. 6 is another front view of the suspension bridge main cable inspection robot of the present embodiment with the lower portion of the connection block abutting against the main cable;
fig. 7 is another front view of the suspension bridge main cable inspection robot according to the embodiment of the present application when an obstacle is avoided on the lower part of the connecting block;
FIG. 8 is a schematic diagram of another three-dimensional structure of a main cable maintenance robot for a suspension bridge according to an embodiment of the present application;
FIG. 9 is another front view of a suspension bridge main line inspection robot with omni wheels on the lower portion of the main line in accordance with an embodiment of the present application;
FIG. 10 is a schematic diagram of another three-dimensional structure of a main cable maintenance robot for a suspension bridge according to an embodiment of the present application;
FIG. 11 is another front view of the suspension bridge main cable inspection robot of the embodiment of the present application with the lower portion of the connection block abutting the main cable;
1. a climbing part; 201. connecting blocks; 202. an omnidirectional wheel; 2021. a first omni wheel; 2022. a second omni wheel; 203. a shock absorber; 2031. a first shock absorber; 2032. a second shock absorber; 204. a movable connecting rod; 2041. a first movable connecting rod; 2042. a second movable connecting rod; 205. an electric cylinder; 206. a linear slide rail; 207. a slider; 208. a first link; 209. a second link; 301. a main cable; 302. a maintenance way railing rope; 303. a handrail rope; 304. a cable clamp; 501. a robotic arm system; 502. a vision system.
Detailed Description
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the application provides a suspension bridge main push-towing rope overhauls robot, includes: the maintenance work portion, climbing portion 1 and at least a set of supporting part. The support portion includes a driving mechanism, a connecting block 201, and a rolling mechanism.
The first end of connecting block 201 is connected actuating mechanism's one end, and climbing portion 1 is connected to the one end of actuating mechanism's the connecting block 201 of keeping away from, and actuating mechanism is used for driving connecting block 201 and rotates around first hinge.
The second end of the connecting block 201 is connected with a rolling mechanism which is used for rolling on the surface of the main cable 301 of the suspension bridge.
The maintenance working part is arranged on the climbing part 1 or the supporting part and used for maintaining the main cable 301.
In this application embodiment, set up the supporting part in the both sides of climbing portion 1, the rolling mechanism direct contact main push-towing rope 301 of supporting part for the robot can receive suspension bridge's subassembly rope, main push-towing rope 301's reaction force simultaneously, and the system of force is more stable, reduces the robot and rocks and vibrations in the during operation production.
It should be noted that a broad main cable 301 may include a narrow main cable 301 and a main cable fitting.
To the problem that in the climbing process on main cable 301, the robot shakes and shakes easily, the embodiment of this application provides a suspension bridge main cable overhauls robot, including climbing portion 1 and supporting part. The climbing part 1 can climb along the main rope 301, a handrail rope 303 or an access road handrail rope 302. One end of the supporting part is connected with the climbing part 1 through a first hinge, and the other end of the supporting part is provided with an omnidirectional wheel 202 or a universal ball wheel. The omni wheels 202 or the universal ball wheels, etc. may be collectively referred to as wheels.
When the climbing part 1 does not encounter obstacles such as a cable clamp 304 in the climbing process, the support part rotates inwards relative to the main cable 301 around the first hinge at one end, so that the omnidirectional wheel 202 or the universal ball wheel at one end clings to the surface of the main cable 301 and applies a certain pressure on the surface of the main cable 301. When the climbing part 1 moves along the direction of the handrail rope 303/the maintenance way handrail rope 302, the omni wheel 202 or the universal ball wheel can roll along the axial direction of the main cable 301. When the omni-wheel 202/universal ball wheel is pressed against the surface of the main cable 301, it can roll along the main cable 301 in the circumferential direction, in addition to rolling along the main cable 301 in the axial direction. The robot is subjected to a stabilizing force system under the combined action of the reaction force of the main cable 301 to the robot, the reaction force of the handrail rope 303/the maintenance way handrail rope 302 to the robot and the gravity of the robot, and can resist the interference caused by insufficient rigidity of the handrail rope 303/the maintenance way handrail rope 302, so that the robot can keep stable during climbing.
When the climbing part 1 encounters an obstacle such as a lock clamp in the climbing process, the supporting part rotates outwards relative to the main cable 301 around the first hinge at one end, the omnidirectional wheel 202 or the universal ball wheel at the other end of the supporting part is separated from contact with the main cable 301, and a certain avoiding space is formed between the supporting part and the main cable 301, so that the supporting part avoids the obstacle such as the cable clamp 304. The plane in which the first hinge rotates is perpendicular to the axial direction of the main cable 301, so that the connection block 201 can be spread out like a wing around the climbing part 1.
The climbing part 1 and the support part can be provided with a vision system 502, a mechanical arm system 501 and the like. During the process that the robot climbs along the axial direction of the main cable 301, the carried vision system 502, the mechanical arm system 501 and the like can inspect and repair the main cable 301 and accessories thereof. Wherein vision system 502 is used to inspect main cable 301 and main cable accessories. The robotic arm system 501 is used to repair the main cable 301 and main cable accessory.
The number of supports may be even, for example 2, 4 or 6, and the supports are arranged symmetrically left and right on the axis of the main cable 301, i.e. the even sets of supports are arranged symmetrically on both sides of the climbing portion 1. Taking 2 support parts as an example, one support part is respectively arranged on the left and the right of the axis of the main cable 301; taking 4 supports as an example, 2 supports are attached to the left and right of the axis of the main cable 301. In the following examples, 2 support portions are exemplified.
This application embodiment uses the machine to replace the manual work to overhaul main push-towing rope 301, improves maintenance efficiency and reduces the casualties risk. It should be noted that the railing cord 302 may also be referred to as a manhole railing cord 302. The handrail rope 303 can also be called a main rope 301 handrail rope 303. The assembly lines of the suspension bridge include a main cable 301 handrail line 303 and a maintenance way handrail line 302.
The omni wheel 202 may be a general omni wheel 202, or may be a mecanum wheel or the like.
In order to realize the rotation of the supporting part relative to the climbing part 1, a driving mechanism is needed to drive the connecting block 201 to rotate relative to the climbing part 1. The driving mechanism can have various structures, and one proposal is that one driving mechanism is provided with two electric cylinders 205, and the two electric cylinders 205 respectively drive one connecting block 201, as detailed in embodiment 1. Another solution is that a driving mechanism has an electric cylinder 205, and one electric cylinder 205 drives two connecting blocks 201, as detailed in embodiment 2.
In one implementation, the drive mechanism includes an electric cylinder 205.
One end of the electric cylinder 205 is hinged to the first end of the connecting block 201, and one end of the electric cylinder 205, which is far away from the connecting block 201, is hinged to the climbing part 1.
In one implementation, the drive mechanism includes a first link 208, a second link 209, an electric cylinder 205, a linear slide 206, and a slider 207.
The linear slide rail 206 is fixedly arranged on the climbing part 1, and the slide block 207 can slide up and down along the linear slide rail 206.
The middle part of the first connecting rod 208 is fixedly connected with the sliding block 207, the first connecting rod 208 is connected with one end of the electric cylinder 205, and one end of the electric cylinder 205 far away from the first connecting rod 208 is connected with the climbing part 1.
The two second connecting rods 209 are respectively hinged with two ends of the first connecting rod 208, and one ends of the two second connecting rods 209 far away from the first connecting rod 208 are respectively hinged with first ends of different connecting blocks 201.
Example 1:
as shown in fig. 1 to 3, a driving mechanism has two electric cylinders 205, and the two electric cylinders 205 drive one connecting block 201 respectively.
The support portion includes a connection block 201, a movable link 204, a shock absorber 203, an omni wheel 202, and an electric cylinder 205.
The middle part of the connecting block 201 is connected with the climbing part 1 through a first hinge.
The upper portion of the connection block 201 may also be referred to as a first end of the connection block 201. A first end of the connecting block 201 is connected with one end of the electric cylinder 205 through a hinge, and the other end of the electric cylinder 205 is connected with the climbing part 1 through a hinge. When the electric cylinder 205 performs a telescopic motion, the connection part may rotate centering on the first hinge, so that the lower portion of the connection block 201 may be inwardly closed or outwardly opened with respect to the main cable 301.
The lower portion of the connection block 201 may also be referred to as a second end of the connection block 201. The second end of the connecting block 201 is connected to one end of a movable link 204 by a hinge, and the other end of the movable link 204 is provided with a freely rotatable omni wheel 202. One end of the shock absorber 203 is connected with the connecting block 201 through a hinge, and the other end is connected with the movable connecting rod 204 through a hinge. The movable link 204 and the damper 203 have an included angle therebetween. Here, the upper and lower are defined in the operating state of the robot.
The first hinge, the second end of connecting block 201 and the first end of connecting block 201 are collinear, and the first hinge is arranged between the second end of connecting block 201 and the first end of connecting block 201.
Alternatively, the first hinge, the second end of connecting block 201, and the first end of connecting block 201 form a triangular relationship.
Optionally, the rolling mechanisms composed of the movable connecting rods 204, the omni wheels 202, the shock absorbers 203 and the like which are symmetrically arranged are arranged on the left side and the right side of the connecting block 201 of each supporting portion. The connecting block 201 is arranged in the left-right direction, namely the axial direction of the main cable 301. In other words, the rolling mechanism comprises the first rolling mechanism and/or the second rolling mechanism. The first rolling mechanism and the second rolling mechanism are arranged along the axial direction of the main cable 301.
When the electric cylinder 205 is extended, the lower parts of the supporting parts at both sides of the axis of the main cable 301 are close to the main cable 301 until the omni-directional wheels 202 at both supporting parts are close to the surface of the main cable 301 and apply a certain pressure to the surface of the main cable 301. When the climbing part 1 moves along the axial direction of the main cable 301, the omni-directional wheel 202 closely attached to the main cable 301 can rotate along the circumferential surface of the main cable 301 and also along the axial direction of the main cable 301, so that the climbing part 1 can move along the axial direction of the main cable 301. In the process, the main cable 301 applies a reaction force to the robot through the omni wheel 202, so that the whole force system of the robot is stable, and the interference caused by wind power and insufficient rigidity of the handrail rope 303/the maintenance way handrail rope 302 can be resisted.
When the electric cylinder 205 is shortened, the lower ends of the supporting parts at both sides of the axis of the main cable 301 are far away from the main cable 301, the supporting parts are spread like wings, the omnidirectional wheel 202 tightly attached to the main cable 301 is separated from the main cable 301, and a certain space is formed, so that the robot can pass through barriers such as a lock clamp.
Example 2:
as shown in fig. 4 to 7, one driving mechanism has one electric cylinder 205, and one electric cylinder 205 drives two connecting blocks 201.
The supporting part includes a connecting block 201, a movable link 204, a damper 203, an omni wheel 202, and a driving mechanism.
The middle part of the connecting block 201 is connected with the climbing part 1 through a hinge.
The lower portion of connection block 201 may also be referred to as the second end of connection block 201. The second end of the connecting block 201 is connected with one end of a movable connecting rod 204 through a hinge, and the other end of the movable connecting rod 204 is provided with an omnidirectional wheel 202 which can rotate freely. One end of the shock absorber 203 is connected with the connecting block 201 through a hinge, and the other end is connected with the movable connecting rod 204 through a hinge.
The driving mechanism comprises an electric cylinder 205, a linear slide rail 206, a slide block 207, a first connecting rod 208 and two second connecting rods 209 which are arranged in a left-right symmetrical mode by taking the first connecting rod 208 as a center. The linear slide 206 is fixedly mounted on the climbing portion 1. The slide block 207 can slide up and down along the linear slide rail 206 after being matched with the linear slide rail 206, the linear slide rail 206 is vertically installed on the climbing part 1, namely the slide block 207 slides upwards on the linear slide rail 206 and is far away from the axis of the main cable 301, the slide block 207 slides downwards on the linear slide rail 206 and is close to the axis of the main cable 301, and the upward and downward directions refer to the plumb direction as reference. First connecting rod 208 fixed mounting is on slider 207, and its both ends are connected with bilateral symmetry's second connecting rod 209 one end through the hinge respectively, and the other end of left side second connecting rod 209 is connected with the first end of homonymy connecting block 201 with the hinge form again, and the other end of right side second connecting rod 209 is connected with the first end of homonymy connecting block 201 with the hinge form again. The electric cylinder 205 is connected to the climbing portion 1 at one end thereof by a hinge, and is connected to the first link 208 at the other end thereof by a hinge.
When the electric cylinder 205 is shortened, the lower ends of the supporting parts at two sides of the axis of the main cable 301 are close to the main cable 301 until the omnidirectional wheels 202 at the supporting parts at two sides are tightly attached to the surface of the main cable 301 and apply certain pressure to the surface of the main cable 301. When the climbing part 1 moves in the axial direction of the main cable 301, the omni-directional wheel 202, which is closely attached to the main cable 301, can rotate both in the circumferential direction of the main cable 301 and in the axial direction of the main cable 301, and thus can move in the axial direction of the main cable 301 along with the climbing part 1. In the process, the main cable 301 applies a reaction force to the robot through the omni wheel 202, so that the whole force system of the robot is stable, and the interference caused by wind power and insufficient rigidity of the handrail rope 303/the maintenance way handrail rope 302 can be resisted.
When the electric cylinder 205 is extended, the lower ends of the supporting parts at two sides of the axis of the main cable 301 are far away from the main cable 301, the supporting parts spread like wings, the omnidirectional wheel 202 tightly attached to the main cable 301 is separated from the main cable 301, and a certain space is formed, so that the robot can pass through barriers such as a lock clamp.
In order to achieve stable contact of the support portion with the main cable 301, it is necessary to use a rolling mechanism in rolling contact with the main cable 301. The rolling mechanism may have a variety of configurations. One such solution is that the rolling mechanism is in contact with the surface of the upper half of the main cable 301, as described in example 1. Another solution is that the rolling mechanism is in contact with the surface of the lower half of the main cable 301, as detailed in example 4. It is also an option that the support part comprises two rolling means, one of which is in contact with the surface of the upper half of the main cable 301 and the other of which is in contact with the surface of the lower half of the main cable 301, see example 5.
The rolling mechanism comprises a third rolling mechanism and/or a fourth rolling mechanism. The third rolling mechanism is in contact with the surface of the upper half of the main cable 301. The fourth rolling mechanism is in contact with the surface of the lower half of the main cable 301.
When two third rolling mechanisms are arranged along the axial direction of the main cable 301, the third rolling mechanism may also be referred to as a first rolling mechanism or a second rolling mechanism.
When two fourth rolling mechanisms are aligned along the axial direction of the main cable 301, the fourth rolling mechanisms may also be referred to as first rolling mechanisms or second rolling mechanisms.
Example 3:
as shown in fig. 1 to 3, the rolling mechanism is in contact with the surface of the upper half of the main cable 301, and the rolling mechanism in contact with the surface of the upper half of the main cable 301 may also be referred to as a third rolling mechanism. Example 3 is the same as example 1 and will not be described herein.
Example 4:
as shown in fig. 8 to 9, the rolling mechanism is in contact with the surface of the lower half of the main cable 301, and the rolling mechanism in contact with the surface of the lower half of the main cable 301 may also be referred to as a fourth rolling mechanism. Embodiment 4 is similar to embodiment 1 except for the rolling mechanism, and is not described in detail here.
Example 5:
as shown in fig. 10 to 11, the support portion includes two rolling mechanisms, i.e., a third rolling mechanism and a fourth rolling mechanism. The third rolling mechanism is in contact with the surface of the upper half of the main cable 301, and the fourth rolling mechanism is in contact with the surface of the lower half of the main cable 301.
The support portion includes a connection block 201, a first movable link 2041, a second movable link 2042, a first shock absorber 2031, a second shock absorber 2032, a first omni wheel 2021, a second omni wheel 2022, and an electric cylinder 205.
The middle part of the connecting block 201 is connected with the climbing part 1 through a hinge,
the upper portion is connected with electric jar 205 one end through the hinge, and the electric jar 205 other end is connected with climbing portion 1 through the hinge, and when electric jar 205 carried out concertina movement, connecting portion can rotate as the center by first hinge, and the lower part can be inwards drawn close/outwards opened relatively main cable 301.
The lower portion of connection block 201 may also be referred to as the second end of connection block 201. The second end of the connecting block 201 is connected to one end of the first movable connecting rod 2041 and one end of the second movable connecting rod 2042 through a hinge, and the other end of the first movable connecting rod 2041 and the other end of the second movable connecting rod 2042 are respectively provided with a first omni wheel 2021 and a second omni wheel 2022 which can rotate freely. One end of the first shock absorber 2031 is connected to the connecting block 201 via a hinge, and the other end is connected to the first movable connecting rod 2041 via a hinge. One end of the second shock absorber 2032 is connected to the connecting block 201 via a hinge, and the other end is connected to the second movable connecting rod 2042 via a hinge.
Optionally, the single supporting portion is provided with a first movable connecting rod 2041, a second movable connecting rod 2042, a first omni wheel 2021, a second omni wheel 2022, a first shock absorber 2031 and a second shock absorber 2032 which are symmetrically arranged on the left side and the right side of the connecting block 201. The connecting block 201 is arranged in the left-right direction, namely the axial direction of the main cable 301.
When the electric cylinder 205 is extended, the lower ends of the supporting parts at two sides of the axis of the main cable 301 are close to the main cable 301 until the first omni wheel 2021 and the second omni wheel 2022 on the supporting parts at two sides are tightly attached to the surface of the main cable 301 and exert a certain pressure on the surface of the main cable 301, wherein the first omni wheel 2021 is positioned at the upper half part of the main cable 301, and the second omni wheel 2022 is positioned at the lower half part of the main cable 301. When the climbing part 1 moves along the axial direction of the main cable 301, the first omni wheel 2021 and the second omni wheel 2022 closely attached to the main cable 301 can rotate along the circumferential surface of the main cable 301 and also along the axial direction of the main cable 301, so that the climbing part 1 can move along the axial direction of the main cable 301. In the process, the main cable 301 applies a reaction force to the robot through the first omni wheel 2021 and the second omni wheel 2022, so that the overall force system of the robot is stable and can resist the interference caused by wind power and insufficient rigidity of the handrail rope 303/the maintenance way handrail rope 302.
When the electric cylinder 205 is shortened, the lower ends of the supporting parts at two sides of the axis of the main cable 301 are far away from the main cable 301, the supporting parts are spread in a wing shape, the first omnidirectional wheel 2021 and the second omnidirectional wheel 2022 which are tightly attached to the main cable 301 are separated from the main cable 301, and a certain space is formed, so that the robot can pass through barriers such as a lock clamp.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.
Claims (12)
1. The utility model provides a suspension bridge main push-towing rope overhauls robot which characterized in that includes: the device comprises a maintenance working part, a climbing part (1) and at least one group of supporting parts; the supporting part comprises a driving mechanism, a connecting block (201) and a rolling mechanism;
the climbing part (1) is positioned at the top of the robot, and the climbing part (1) is used for climbing along a component rope of a suspension bridge; first hinges are arranged on two sides of the climbing part (1), the climbing part (1) is hinged to the middle of the connecting block (201) through the first hinges, and the connecting block (201) extends to the bottom of the robot so that the supporting part surrounds two sides of a main cable (301) of the suspension bridge;
the first end of the connecting block (201) is connected with one end of the driving mechanism, which is far away from the connecting block (201), is connected with the climbing part (1), and the driving mechanism is used for driving the connecting block (201) to rotate around the first hinge;
the second end of the connecting block (201) is connected with the rolling mechanism, and the rolling mechanism is used for rolling on the surface of a main cable (301) of the suspension bridge;
the maintenance working part is arranged on the climbing part (1) or the supporting part and used for maintaining the main cable (301).
2. The suspension bridge main cable service robot of claim 1, wherein the drive mechanism includes an electric cylinder (205);
one end of the electric cylinder (205) is hinged to the first end of the connecting block (201), and one end, far away from the connecting block (201), of the electric cylinder (205) is hinged to the climbing part (1).
3. The suspension bridge main cable inspection robot of claim 1, wherein the drive mechanism comprises a first link (208), a second link (209), an electric cylinder (205), a linear slide (206), and a slide (207);
the linear sliding rail (206) is fixedly arranged on the climbing part (1), and the sliding block (207) can slide up and down along the linear sliding rail (206);
the middle part of the first connecting rod (208) is fixedly connected with the sliding block (207), the first connecting rod (208) is connected with one end of the electric cylinder (205), and one end, far away from the first connecting rod (208), of the electric cylinder (205) is connected with the climbing part (1);
two second connecting rods (209) respectively with the both ends of first connecting rod (208) are articulated, two second connecting rods (209) are kept away from the one end of first connecting rod (208) respectively with different the first end of connecting block (201) is articulated.
4. Suspension bridge main cable inspection robot according to any of claims 1 to 3, characterized in that the number of support parts is even, the even groups of support parts being symmetrically arranged on both sides of the climbing part (1).
5. Suspension bridge main cable service robot according to any of claims 1 to 3, characterized in that the plane in which the first hinge rotates is perpendicular to the main cable (301) axis direction, so that the connection block (201) can be winged around the climbing part (1).
6. A suspension bridge main cable service robot according to any one of claims 1 to 3, characterized in that the first hinge, the second end of the connecting block (201) and the first end of the connecting block (201) are collinear, the first hinge being arranged between the second end of the connecting block (201) and the first end of the connecting block (201);
or the first hinge, the second end of the connecting block (201) and the first end of the connecting block (201) form a triangular relation.
7. Suspension bridge main cable inspection robot according to any of claims 1 to 3, characterized in that the inspection work comprises a vision system (502), the vision system (502) being used for inspecting the main cable (301) and the main cable accessories.
8. Suspension bridge main cable service robot according to any of claims 1 to 3, characterized in that the service work comprises a robot arm system (501), the robot arm system (501) being used for repairing the main cable (301) and the main cable accessories.
9. The suspension bridge main cable inspection robot according to any one of claims 1 to 3, wherein the rolling mechanism comprises a first rolling mechanism and/or a second rolling mechanism;
the first rolling mechanism and the second rolling mechanism are arranged along the axial direction of the main cable (301).
10. The suspension bridge main cable inspection robot of claim 9, wherein the rolling mechanism comprises a third rolling mechanism and/or a fourth rolling mechanism;
the third rolling mechanism is in contact with the surface of the upper half part of the main cable (301); the fourth rolling mechanism is in contact with the surface of the lower half of the main cable (301).
11. A suspension bridge main cable inspection robot according to any one of claims 1 to 3 and 10, wherein the rolling mechanism comprises wheels;
the wheels are used for rolling on the surface of a main cable (301) of the suspension bridge, and the wheels comprise omnidirectional wheels (202) or universal ball wheels.
12. Suspension bridge main cable service robot according to claim 11, characterized in that the rolling mechanism further comprises a movable link (204) and a shock absorber (203);
one end of the movable connecting rod (204) is connected with the wheel, and one end of the movable connecting rod (204) far away from the wheel is hinged with the connecting block (201);
one end of the shock absorber (203) is connected with the movable connecting rod (204), one end of the shock absorber (203), which is far away from the movable connecting rod (204), is connected with the connecting block (201), and an included angle is formed between the movable connecting rod (204) and the shock absorber (203).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221467419.4U CN217810508U (en) | 2022-06-13 | 2022-06-13 | Suspension bridge main push-towing rope overhauls robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221467419.4U CN217810508U (en) | 2022-06-13 | 2022-06-13 | Suspension bridge main push-towing rope overhauls robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217810508U true CN217810508U (en) | 2022-11-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221467419.4U Active CN217810508U (en) | 2022-06-13 | 2022-06-13 | Suspension bridge main push-towing rope overhauls robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217810508U (en) |
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2022
- 2022-06-13 CN CN202221467419.4U patent/CN217810508U/en active Active
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