CN-116652980-B - Maintenance robot for suspension bridge cable system

CN116652980BCN 116652980 BCN116652980 BCN 116652980BCN-116652980-B

Abstract

The embodiment of the application provides a maintenance robot for a cable system of a suspension bridge, which is used for providing a maintenance robot suitable for a main cable and a sling of the suspension bridge. The main robot is connected with the sub robot through a traction rope, the sub robot moves up and down along the sling through driving the traction rope, the main robot comprises a traction part and a first maintenance part, the first maintenance part is installed on the traction part, the traction part is matched with an armrest rope of a main cable, the traction part drives the main robot to move along the armrest rope, the first maintenance part is used for maintaining the main cable, the sub robot comprises a base, a supporting structure and a second maintenance part, the supporting structure and the second maintenance part are installed on the base, the second maintenance part is used for maintaining the sling, and the supporting structure is used for climbing the sling. The parent robot uses the first maintenance part to realize maintenance of the main cable. The sub robot drives the traction rope to enable the second overhaul component to overhaul the sling, so that the integrated detection of the suspension bridge cable system is realized.

Inventors

DING NING
YUAN XIAOQIANG
LI DECHENG
WANG CHAO

Assignees

深圳市人工智能与机器人研究院

Dates

Publication Date: 20260505
Application Date: 20230529

Claims (14)

1. A cable system maintenance robot for a suspension bridge is characterized by comprising a master robot and a slave robot; the master robot is connected with the slave robots through traction ropes, and the slave robots move up and down along slings by driving the traction ropes; The main robot comprises a traction component and a first overhaul component, the first overhaul component is arranged on the traction component, the traction component is matched with the handrail rope of the main cable, the traction component drives the main robot to move along the handrail rope, and the first overhaul component is used for overhauling the main cable; the parent robot further comprises at least two rail-changing components; The track changing component moves along the handrail rope under the drive of the traction component; Each track changing component comprises a first shoe holding component, a track changing motor and a second shoe holding component, wherein the track changing motor drives the first shoe holding component and the second shoe holding component to move in opposite directions or move in opposite directions, or the track changing motor controls the first shoe holding component and the second shoe holding component to be relatively static; the first shoe holding assembly moves on the first handrail rope, and the second shoe holding assembly moves on the second handrail rope; The sub robot includes base, bearing structure and second maintenance part, and bearing structure and second maintenance part are installed at the base, and the second maintenance part is used for overhauling the hoist cable, and bearing structure is used for climbing the hoist cable in order to stabilize sub robot gesture.
2. The suspension bridge cable system service robot of claim 1, wherein the sub-robot further comprises a base skid; the base and the supporting structure are connected through the base sliding rail, the supporting structure can slide on the sliding rail, and the extending direction of the base sliding rail is perpendicular to the plane where the sling and the main cable are located.
3. The suspension bridge cable system service robot of claim 2, wherein the sub-robot further comprises a base motor, a sliding drive bar, a sliding drive wheel; the base motor is fixedly arranged on the base, the output end of the base motor is connected with the sliding driving wheel, the two ends of the sliding driving strip are fixedly connected with the supporting structure, and the sliding driving strip is matched with the sliding driving wheel, so that the base motor can drive the supporting structure to slide on the sliding rail.
4. The suspension bridge cable system service robot of claim 1, wherein the support structure includes a synchronous telescoping assembly and two support arms; The two support arms are respectively and fixedly arranged at the two ends of the synchronous telescopic assembly, and the two ends of the synchronous telescopic assembly can move back to back or face to face, so that the two support arms are far away from or close to each other.
5. The maintenance robot for a suspension bridge cable system according to claim 4, wherein the synchronous telescopic assembly comprises a synchronous telescopic motor, a double-output shaft speed reducer, a first synchronous telescopic screw, a second synchronous telescopic screw, a synchronous telescopic mounting seat, a first telescopic slide block, a second telescopic slide block, a first synchronous telescopic frame and a second synchronous telescopic frame; The double-output-shaft speed reducer, the first synchronous telescopic lead screw, the second synchronous telescopic lead screw, the first telescopic sliding block and the second telescopic sliding block are arranged in the synchronous telescopic mounting seat, and the first synchronous telescopic frame and the second synchronous telescopic frame are respectively arranged at two ends of the outer side of the synchronous telescopic mounting seat; The output end of the synchronous telescopic motor is connected with the input end of the double-output shaft speed reducer, two output ends of the double-output speed reducer are respectively connected with a first synchronous telescopic screw rod and a second synchronous telescopic screw rod, the first telescopic slide block moves on the first synchronous telescopic screw rod, the second telescopic slide block moves on the second synchronous telescopic screw rod, the first synchronous telescopic screw rod and the second synchronous telescopic screw rod rotate oppositely, the first telescopic slide block is fixedly connected with the first synchronous telescopic frame, the second telescopic slide block is fixedly connected with the second synchronous telescopic frame, and the synchronous telescopic motor drives the first synchronous telescopic frame and the second synchronous telescopic frame to move back to back or to back along the parallel main cable direction relative to the base.
6. The rope-suspension bridge cable system service robot of claim 1, wherein the base mounts at least three hoists; At least one of the at least three hoists is not collinear with the other hoists.
7. The suspension bridge cable system service robot of claim 6, wherein the base is provided with a counterweight; The balancing weight is used for enabling the projection of the gravity center of the sub robot in the vertical direction to be located in a polygon taking the winch as a vertex.
8. The suspension bridge cable system service robot of claim 1, wherein the support arm includes a contact wheel, a wheel frame, a boom, and a support arm motor; at least two contact wheels are arranged on one side of one wheel frame, the center of the wheel frame is rotationally connected with the arm support, and the support arm motor drives the wheel frame to rotate around the arm support, so that the at least two contact wheels on the one wheel frame climb or are separated from the sling.
9. The suspension bridge cable system service robot of claim 8, wherein the support arm further includes a support arm drive; A plurality of wheel frames are arranged on one arm support, and the support arm motor drives the plurality of wheel frames simultaneously through the support arm transmission piece.
10. The suspension bridge cable system service robot of claim 1, wherein the parent robot further comprises a gate-type support member; The top of the door-type supporting component is provided with a mounting frame, lifting leg assemblies are respectively arranged below two sides of the mounting frame, and the lifting leg assemblies are provided with overhaul equipment so as to overhaul the main cable.
11. The suspension bridge cable system service robot of claim 10, wherein the lifting leg assembly includes a support frame, a lifting rail, a lifting slider, a support motor, a support drive wheel, a support drive bar, and the support is equipped with service equipment; the lifting guide rail is fixedly arranged on the supporting frame, the lifting guide rail extends along the vertical direction, the lifting slide block is in sliding fit with the lifting guide rail, the support is fixedly connected with the lifting slide block, the support motor is fixedly arranged on the support, two ends of the support transmission bar are fixed on the supporting frame, the support transmission wheel is arranged at the output end of the support motor, and the support transmission wheel is matched with the support transmission bar, so that the support motor drives the support to move up and down.
12. The suspension bridge cable system service robot of claim 10, wherein the parent robot further comprises a middle service component; the middle part overhauls the part in installation frame middle part below installation, and the part can be followed vertical direction and flexible overhauls the below installation of part and overhauls equipment in order to overhaul the main cable in the middle part.
13. The suspension bridge cable system service robot of claim 12, wherein the middle service component includes a middle base plate, a middle upper rail, a middle lower rail, a scissor mechanism, a middle connecting rod, a middle motor, a middle drive wheel, a middle drive bar; The middle upper guide rail is arranged on the mounting frame, the middle lower guide rail is arranged on the middle bottom plate, the middle upper guide rail is parallel to the middle lower guide rail, the upper part of the shearing fork mechanism moves along the middle upper guide rail, and the lower part of the shearing fork mechanism moves along the middle lower guide rail; the two opposite sides of the middle bottom plate are symmetrically provided with the shearing fork mechanisms which are connected through the middle connecting rod so that each shearing fork mechanism can synchronously stretch out and draw back; The middle motor is installed at the middle bottom plate, and the output of middle motor is connected the middle drive wheel, and the middle drive wheel cooperates with the middle transmission strip, and the both ends fixed connection middle part connecting rod of middle transmission strip, middle motor drive middle part connecting rod drive cut fork mechanism and stretch out and draw back to the distance of control middle bottom plate relative installation frame.
14. The suspension bridge cable system service robot of claim 1, wherein each derailment member further comprises a first derailment slider, a first derailment screw, a dual output shaft reducer, a second derailment slider, a second derailment screw; The second output shaft of the double-output shaft speed reducer is connected with a second orbital transfer screw rod, the second orbital transfer slide block moves on the second orbital transfer screw rod, and the second holding shoe assembly is fixedly connected with the second orbital transfer slide block; the threads of the first orbital transfer screw rod and the second orbital transfer screw rod are opposite in rotation direction.

Description

Maintenance robot for suspension bridge cable system Technical Field The embodiment of the application relates to the field of robots, in particular to a maintenance robot for a suspension bridge cable system. Background The span-crossing capability of the suspension bridge is the largest of all bridge types, and the bridge with the span of more than 1000m is generally the suspension bridge at present. The main cable and the sling are main bearing components of the suspension bridge, and due to the natural factors such as wind, rain, freezing, temperature and humidity changes and the like, the protection layers of the main cable and the sling are aged and cracked, water vapor invades from the cracks to cause steel wire corrosion and accelerate wire breakage. In order to ensure the safe operation of the bridge, the main cable and the sling are required to be detected and maintained regularly. At present, the inspection of a main cable is still carried out manually, the lower half part of the main cable cannot be closely observed, the problems of poor accuracy, low efficiency, high potential safety hazard in high-altitude operation and the like exist, the length of a sling is different from a few meters to hundreds of meters, the existing climbing robot cannot span the obstacle of a vibration reduction frame, a climbing vehicle cannot reach the height of hundreds of meters, and a means for closely observing is seriously lacking. The cable system overhauling robot of the suspension bridge in the prior art comprises a cable climbing robot and a cable climbing robot, wherein the cable climbing robot overhauls a main cable, and the cable climbing robot overhauls a sling, so that the prior art overhauls the suspension bridge by using multiple robots and is complex in operation. Disclosure of Invention The embodiment of the application provides a maintenance robot for a cable system of a suspension bridge, which is used for providing a maintenance robot applicable to a main cable and a sling of the suspension bridge. The first aspect of the embodiment of the application provides a maintenance robot for a suspension bridge cable system, which comprises a master robot and a slave robot; the master robot is connected with the slave robots through traction ropes, and the slave robots move up and down along slings by driving the traction ropes; The main robot comprises a traction component and a first overhaul component, the first overhaul component is arranged on the traction component, the traction component is matched with the handrail rope of the main cable, the traction component drives the main robot to move along the handrail rope, and the first overhaul component is used for overhauling the main cable; The sub robot includes base, bearing structure and second maintenance part, and bearing structure and second maintenance part are installed at the base, and the second maintenance part is used for overhauling the hoist cable, and bearing structure is used for climbing the hoist cable in order to stabilize sub robot gesture. According to a first implementation manner of the first aspect of the embodiment of the present application, the sub-robot further includes a base slide rail; the base and the supporting structure are connected through the base sliding rail, the supporting structure can slide on the sliding rail, and the extending direction of the base sliding rail is perpendicular to the plane where the sling and the main cable are located. According to the first aspect of the embodiment of the present application or the first implementation manner of the first aspect, in a second implementation manner of the first aspect of the embodiment of the present application, the sub-robot further includes a base motor, a sliding transmission bar, and a sliding transmission wheel; the base motor is fixedly arranged on the base, the output end of the base motor is connected with the sliding driving wheel, the two ends of the sliding driving strip are fixedly connected with the supporting structure, and the sliding driving strip is matched with the sliding driving wheel, so that the base motor can drive the supporting structure to slide on the sliding rail. According to the first aspect of the embodiments of the present application, or any one of the first implementation manner and the second implementation manner of the first aspect, in a third implementation manner of the first aspect of the embodiments of the present application, the support structure includes a synchronous telescopic assembly and two support arms; The two support arms are respectively and fixedly arranged at the two ends of the synchronous telescopic assembly, and the two ends of the synchronous telescopic assembly can move back to back or face to face, so that the two support arms are far away from or close to each other. According to the first aspect of the embodiment of the application, any one of the first implementation manner to the third imple