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CN-224213137-U - Pier column climbing maintenance robot

CN224213137UCN 224213137 UCN224213137 UCN 224213137UCN-224213137-U

Abstract

A pier column climbing maintenance robot belongs to the technical field of bridges and comprises a climbing mechanism and a maintenance mechanism which are connected into a whole, wherein the climbing mechanism comprises climbing rings, a lifting mechanism and telescopic pedal mechanisms, the lifting mechanism is vertically arranged on the double-layer climbing rings, the telescopic pedal mechanisms are uniformly distributed on each layer of climbing rings in the radial direction, the maintenance mechanism comprises a film roll mechanism, a film guiding rod, a driving mechanism, a transmission assembly, a spraying assembly, a telescopic mechanism, a supporting ring, a support, a riding wheel assembly and a clamping mechanism, the riding wheel assembly is arranged on the climbing rings on the upper layer, the supporting ring supports the film roll mechanism, the transmission assembly is driven by the driving mechanism to move, the driving mechanism is arranged on the climbing rings on the upper layer, the clamping mechanism is arranged on a support, the spraying assembly is arranged at the output end of the telescopic mechanism and the support, the telescopic mechanism is arranged on the support, and the support is connected with the driving mechanism. The utility model is suitable for climbing pier column tectorial membrane spraying maintenance operation, is efficient, safe and reliable, and can realize continuous operation.

Inventors

  • LI XIN
  • CHEN LEI
  • YANG HONGQING
  • FAN JIZHUANG
  • GAO YONGSHENG
  • LIU WEI

Assignees

  • 交通运输部公路科学研究所
  • 哈尔滨核工智能机器人有限公司

Dates

Publication Date
20260508
Application Date
20250508

Claims (10)

  1. 1. The pier column climbing maintenance robot is characterized by comprising a climbing mechanism and a maintenance mechanism which are connected into a whole; The climbing mechanism comprises: the climbing ring (11) is arranged in two layers and is used for bearing the lifting mechanism (12) and the telescopic pedal mechanism (13); The lifting mechanism (12) is provided with M climbing rings vertically arranged on the double layers, M is more than or equal to 2, the fixed part of the lifting mechanism is arranged on the climbing ring (11) on the lower layer, and the movable part of the lifting mechanism is arranged on the climbing ring (11) on the upper layer; the telescopic pedal mechanisms (13) are uniformly distributed with N numbers, N is more than or equal to 2, in the radial direction on each climbing ring and are used for fixing the pier column (14) or releasing the pier column (14), and the telescopic pedal mechanisms (13) and the lifting mechanisms (12) are controlled to enable the double-layer climbing rings to be alternately fixed and moved; The maintenance mechanism comprises a film roll mechanism (1), a film guiding rod (2), a driving mechanism (3), a transmission assembly (4), a spraying assembly (5), a telescopic mechanism (6), a supporting ring (7), a bracket (8), a riding wheel assembly (9) and a clamping mechanism (10); The riding wheel assembly (9) is arranged on the climbing ring (11) at the upper layer and is used for supporting and limiting the supporting ring (7); The support ring (7) supports the film roll mechanism (1) and is driven to rotate by the transmission assembly (4); the film guiding rod (2) is connected with the film roll mechanism (1) through a curing film; the transmission assembly (4) is driven by the driving mechanism (3) to move; the driving mechanism (3) is arranged on the climbing ring (11) on the upper layer; the clamping mechanism (10) is arranged on the bracket (8) and used for clamping and releasing the film guiding rod (2); The spraying assembly (5) is erected at the output end of the telescopic mechanism (6) and the bracket (8); the telescopic mechanism (6) is arranged on the bracket (8) and is used for driving the spraying assembly (5); The bracket (8) is connected with the driving mechanism (3).
  2. 2. The pier column climbing maintenance robot is characterized by comprising a climbing mechanism and a maintenance mechanism which are connected into a whole; The climbing mechanism comprises: The climbing ring (11) is provided with more than three layers and is used for bearing the lifting mechanism (12) and the telescopic pedal mechanism (13); M lifting mechanisms (12) are vertically and uniformly distributed on two adjacent layers of lifting rings, wherein M is more than or equal to 2, a fixed part of each lifting mechanism is arranged on a lifting ring of a lower layer of the adjacent layers, and a movable part of each lifting mechanism is arranged on a lifting ring (11) of an upper layer of the adjacent layers; The telescopic pedal mechanisms (13) are uniformly distributed with N numbers, N is more than or equal to 2, in the radial direction on each climbing ring and are used for fixing the pier column (14) or releasing the pier column (14), and the telescopic pedal mechanisms (13) and the lifting mechanisms (12) are controlled to enable the multi-layer climbing rings to be alternately fixed and moved on the pier column (14); The maintenance mechanism comprises a film roll mechanism (1), a film guiding rod (2), a driving mechanism (3), a transmission assembly (4), a spraying assembly (5), a telescopic mechanism (6), a supporting ring (7), a bracket (8), a riding wheel assembly (9) and a clamping mechanism (10); the riding wheel assembly (9) is arranged on the climbing ring (11) at the uppermost layer and is used for supporting and limiting the supporting ring (7); The support ring (7) supports the film roll mechanism (1) and is driven to rotate by the transmission assembly (4); the film guiding rod (2) is connected with the film roll mechanism (1) through a curing film; the transmission assembly (4) is driven by the driving mechanism (3) to move; the driving mechanism (3) is arranged on the climbing ring (11) on the upper layer; the clamping mechanism (10) is arranged on the bracket (8) and used for clamping and releasing the film guiding rod (2); The spraying assembly (5) is erected at the output end of the telescopic mechanism (6) and the bracket (8); the telescopic mechanism (6) is arranged on the bracket (8) and is used for driving the spraying assembly (5); The bracket (8) is connected with the driving mechanism (3).
  3. 3. The pier column climbing maintenance robot according to claim 1 or 2, wherein the lifting mechanism (12) is an electric cylinder or an electric push rod or an air cylinder, the telescopic pedal mechanism (13) comprises a pedal (31) and a linear driving mechanism (32), the pedal (31) is mounted on a movable part of the linear driving mechanism (32), a fixed part of the linear driving mechanism (32) is mounted on the climbing ring (11), and the pedal (31) is provided with a contact surface matched with the outer side surface of the pier column.
  4. 4. The pier column climbing maintenance robot according to claim 1 or 2, wherein the driving mechanism (3) is a gear motor, the transmission assembly (4) comprises a gear (41) and an outer gear ring (42), the gear (41) is mounted at the output end of the gear motor, the outer gear ring (42) is mounted on the support ring (7), and the gear (41) is meshed with the outer gear ring (42).
  5. 5. A pier column climbing maintenance robot according to claim 1 or 2, characterized in that the clamping mechanism (10) is a pneumatic clamping jaw.
  6. 6. The pier column climbing maintenance robot according to claim 1 or 2, wherein the telescopic mechanism (6) is of a gear-rack structure or an air cylinder or an electric push rod.
  7. 7. The pier column climbing maintenance robot according to claim 1 or 2, wherein the spraying assembly (5) comprises a positioning rod (51), a water hose (52) and a supporting plate (53), the positioning rod (51) is installed on the supporting plate (53), and the water hose (52) is fixed on the supporting plate (53) and is erected on the support (8).
  8. 8. The pier column climbing maintenance robot according to claim 7, wherein the output end of the telescopic mechanism (6) is connected with a vertically arranged push plate (61), the support plate (53) is horizontally arranged, and the push plate (61) and the support plate (53) are inserted in a cross-shaped manner through respective grooves.
  9. 9. The pier column climbing maintenance robot according to claim 1 or 2, characterized in that the riding wheel assembly (9) comprises a vertical positioning assembly (91); the vertical positioning assembly (91) comprises a supporting wheel bearing frame A (912), a bearing A (913) and a supporting wheel shaft A (914), wherein the supporting wheel bearing frame A (912) is fixed on the climbing ring (11), the bearing A (913) is rotatably arranged on the supporting wheel shaft A (914) which is horizontally arranged, the supporting wheel shaft A (914) is arranged on the supporting wheel bearing frame A (912), and the lower surface of the inner edge of the supporting ring (7) is contacted with the surface of the outer ring of the bearing A (913).
  10. 10. The pier column climbing maintenance robot of claim 9, wherein the riding wheel assembly (9) comprises a radial positioning assembly (92); The radial positioning assembly (92) comprises a supporting wheel bearing frame B (922), a bearing B (923) and a supporting wheel shaft B (924), wherein the supporting wheel bearing frame B (922) is fixed to the climbing ring (11), the bearing B (923) is rotatably arranged on the supporting wheel shaft B (924) in vertical arrangement, the supporting wheel shaft B (924) is arranged on the supporting wheel bearing frame B (922), and the inner end face of the inner edge of the supporting ring (7) is in surface contact with the outer ring of the bearing B (923).

Description

Pier column climbing maintenance robot Technical Field The utility model relates to the field of bridges, in particular to a pier column climbing maintenance robot. Background The bridge pier column is an important component part of bridge engineering, the cross section of the bridge pier column is round, and the bridge pier column also has ellipse, square or other polygons, and the quality of the bridge pier column is directly affected by the later maintenance of the bridge pier column, so that climbing operation is required to be carried out on the bridge pier column, and periodic detection and maintenance of a bridge pier column system are realized. At present, the film coating maintenance of bridge pier columns depends on manual laying, manpower and tools are conveyed to the tops of the bridge piers through a crane, a maintenance film is sleeved on a rope after a pulley is manually installed, and a sliding rope is controlled by manpower to rotate around the pier columns to cover the film. The method has the following defects that firstly, manual work and other large-scale working instruments (such as a crane) are needed to assist, the cost is high, the operation is complex, the coating quality is uncontrollable, secondly, the maintenance efficiency is low, the labor capacity is high, thirdly, the operation is performed manually in a high-altitude environment, and extremely high potential safety hazards exist, for example, CN112225019A discloses a pier column concrete maintenance material covering winding device and a winding method, and the maintenance coating construction can be rapidly and efficiently completed manually at the pier top by adopting a mode of arranging a winch which can be manually operated by a single person and can rotate around the pier column at the pier top. However, this method still presents a significant overhead safety hazard. Therefore, a new pier stud curing device is needed. Therefore, research and development of an pier column climbing maintenance integrated device becomes a problem to be solved urgently by the person skilled in the art. Disclosure of utility model The utility model provides a pier column climbing maintenance robot, which aims to overcome the defects of the prior art, the climbing ring of the scheme is arranged to be two layers or more than three layers, the maintenance mechanism is arranged at the uppermost layer, the climbing maintenance is performed cooperatively, and the climbing maintenance robot has the advantages of high efficiency, safety, reliability, high construction efficiency, continuous operation and controllable quality. The pier column climbing maintenance robot comprises a climbing mechanism and a maintenance mechanism which are connected into a whole; The climbing mechanism comprises: the climbing ring is arranged in two layers and is used for bearing the lifting mechanism and the telescopic pedal mechanism; The lifting mechanism is provided with M climbing rings vertically arranged on the double layers, M is more than or equal to 2, the fixed part of the lifting mechanism is arranged on the climbing ring on the lower layer, and the movable part of the lifting mechanism is arranged on the climbing ring on the upper layer; the telescopic pedal mechanisms are uniformly distributed on each layer of climbing rings in the radial direction, N is more than or equal to 2 and used for fixing or releasing pier columns, and the telescopic pedal mechanisms and the lifting mechanisms are controlled to enable the double-layer climbing rings to be alternately fixed and moved; The maintenance mechanism comprises a film roll mechanism, a film guiding rod, a driving mechanism, a transmission assembly, a spraying assembly, a telescopic mechanism, a supporting ring, a bracket, a riding wheel assembly and a clamping mechanism; The riding wheel assembly is arranged on the climbing ring on the upper layer and is used for supporting and limiting the supporting ring; the support ring supports the film roll mechanism and is driven by the transmission assembly to rotate; The film guiding rod is connected with the film winding mechanism through a curing film; The transmission assembly is driven by the driving mechanism to move; The driving mechanism is arranged on the climbing ring on the upper layer; The clamping mechanism is arranged on the bracket and used for clamping and releasing the film guiding rod; the spray assembly is arranged at the output end of the telescopic mechanism and the bracket; The telescopic mechanism is arranged on the bracket and used for driving the spraying assembly; The support is connected with the driving mechanism. The pier column climbing maintenance robot comprises a climbing mechanism and a maintenance mechanism which are connected into a whole; The climbing mechanism comprises: the climbing ring is arranged into more than three layers and is used for bearing the lifting mechanism and the telescopic pedal mechanism; m lifting mechani