Main cable maintenance platform torsion self-adjusting device and adjusting method

Abstract

The invention relates to a torsion self-adjusting device and method for a main cable maintenance platform. The self-adjusting device comprises a main supporting mechanism and a lateral clamping mechanism which are installed on the main cable maintenance platform. The lateral clamping mechanism comprises a fixing base, a torsion assembly, a lateral hydraulic cylinder and a clamping assembly. The clamping assemblies of the main supporting mechanism and the two lateral clamping mechanisms are in tight contact with the upper surface, the left side face and the right side face of the main cable respectively for clamping or separating. A step of adjusting the method; the device can ensure safe operation of the main cable maintenance platform on the main cable, and lays a foundation for subsequent inspection and maintenance work of the main cable; according to the method, it can be ensured that the main cable maintenance platform has the functions of automatic deviation correction and climbing self-adjustment in the walking process, and it can be ensured that the main cable maintenance platform advances to any position of the main cable to be detected and maintained; meanwhile, according to the torsion self-adjusting method, in the adjusting process, the main cable overhauling platform can be effectively fixed to the main cable, and the influence of high-altitude wind loads on the main cable overhauling platform is reduced.

Description

Technical Field

[0001] The invention relates to a torsion self-adjusting device and an adjustment method for a main cable maintenance platform, belonging to the technical field of main cable detection and maintenance of suspension bridges. Background Art

[0002] my country's large-span suspension bridges have various structural forms, and the diameters of their main cables are also different. Therefore, it is often necessary to replace the curved clamping plates of the lateral clamping mechanism to adapt to the different curvatures of each main cable. As a result, the curved clamping plates are often discarded after being used several times, which not only makes disassembly and assembly frequent and laborious, but also wastes resources.

[0003] At the same time, during the hoisting or moving process, the main cable maintenance platform is easily affected by the surface curvature of the main cable and the lateral wind load, which makes it easy to twist, making it difficult for the main cable maintenance platform to land in the center position of the main cable, and may even overturn in severe cases; if it is not handled in time, it will affect the normal maintenance function of the main cable maintenance platform and cause public transportation safety.

[0004] A Chinese utility model patent with announcement number CN220932591U discloses a multi-degree-of-freedom, high-precision adjustment torsion drive platform suitable for tension-torsion-shear specimens, which includes a motor and a torsion rod. A lifting mechanism is bolted to the bottom of the motor, and a protrusion installed in the groove of the slide plate is provided at the bottom of the lifting mechanism. A support platform is provided under the slide plate, and a groove corresponding to the protrusion at the bottom of the slide plate is provided in the slide groove at the top of the support platform. The above scheme completes the coaxial connection between the motor shaft and the torsion rod through the installation and cooperation of a flat key and a coupling, thereby realizing the torsion action of the torsion rod; but in actual use, the problem of the non-concentricity of the motor shaft and the torsion direction cannot be solved.

[0005] The Chinese utility model patent with announcement number CN220679232U discloses a lifting and twisting platform for processing special-shaped steel cages, including a base, a translation slide and a lifting and twisting device, the translation slide is slidably arranged on the base, the lifting and twisting device includes a load-bearing platform, a lifting ladder and two telescopic rods, one end of the two telescopic rods are hinged on the base, and the other ends are respectively hinged to the two ends of the load-bearing platform, the two ends of the lifting ladder are respectively hinged to the load-bearing platform and the translation slide, and the lifting ladder is located between the two telescopic rods; the above technical scheme can be adjusted according to the angle of the special-shaped steel cage, so as to facilitate the longitudinal steel bar overlap during the processing of the steel cage, however, since they are all hinged, they must be manually adjusted to the specified angle each time they are used; if the bolts are loose, errors will occur during the processing and manufacturing process of the steel cage, which is time-consuming and labor-intensive, and the accuracy cannot be guaranteed. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a self-adjusting device and method for twisting a main cable maintenance platform after the maintenance platform deviates from a main cable track during travel.

[0007] The technical solution adopted by the present invention is as follows:

[0008] The present invention discloses a torsion self-adjusting device for a main cable maintenance platform, comprising a main supporting mechanism installed on a crossbeam on the main cable maintenance platform and a lateral clamping mechanism installed transversely on columns on both sides of the main cable maintenance platform; the main supporting mechanism and the lateral clamping mechanism are both connected to a controller by electrical signals; the lateral clamping mechanism comprises a fixing seat installed transversely on the column, a torsion assembly installed on the fixing seat, a lateral hydraulic cylinder installed transversely on the torsion assembly, and a clamping assembly installed at the piston rod end of the lateral hydraulic cylinder; the controller is installed on the fixing seat; the main supporting mechanism and the clamping assemblies of the two lateral clamping mechanisms are respectively in close contact with the upper surface and left and right side surfaces of the main cable for clamping or separation.

[0009] The torsion assembly of the present invention comprises an arc groove arranged on a fixed seat, a rotating shaft rotatably installed in the arc groove, a worm wheel rotatably installed on the rotating shaft, a driving gear fixedly installed on one side of the worm wheel, an internal gear meshing with the driving gear, and a worm mounted on a lateral hydraulic cylinder and meshing with the worm wheel; the internal gear is fixed to the fixed seat, the arc groove is located on the inner ring of the internal gear, and the rotating shaft is fixed to the cylinder end of the lateral hydraulic cylinder; the other end of the worm wheel is connected to a torsion motor installed on the lateral hydraulic cylinder; the torsion motor drives the worm wheel to drive the worm wheel and the driving gear to rotate, and the driving gear rotates along the internal gear, thereby driving the lateral hydraulic cylinder to rotate clockwise or counterclockwise along the arc groove.

[0010] The torsion assembly of the present invention comprises a circular groove arranged on a fixed seat, a rotating shaft rotatably installed in the circular groove, a worm wheel rotatably installed on the rotating shaft, a driving gear fixedly installed on one side of the worm wheel, an internal gear meshing with the driving gear, and a worm mounted on the fixed seat and meshing with the worm wheel, the other end of the rotating shaft and the internal gear are both fixed to the cylinder end of the lateral hydraulic cylinder; the other end of the worm is connected to a torsion motor installed on the fixed seat; the torsion motor drives the worm to drive the worm wheel and the driving gear to rotate, the driving gear drives the internal gear to rotate, and the internal gear drives the hydraulic cylinder to rotate, so that the lateral clamping mechanism rotates with the internal gear.

[0011] The clamping assembly of the invention comprises a clamping seat installed at the end of the lateral hydraulic cylinder rod and corresponding to the side of the main cable, a fractal vise installed outside the clamping seat, and a plurality of clamp claws hinged outside the fractal vise and corresponding to the side of the main cable.

[0012] The main support mechanism of the present invention comprises a vertically arranged main hydraulic cylinder and an elevation hydraulic cylinder, the tops of the main hydraulic cylinder and the elevation hydraulic cylinder are fixedly connected to the cross beam on the main cable maintenance platform respectively, a universal ball is installed at the lower rod end of the elevation hydraulic cylinder, a support seat is installed at the bottom of the universal ball and the bottom rod end of the main hydraulic cylinder, and an arc-shaped support plate matching the shape of the upper surface of the main cable is arranged on the bottom surface of the support seat.

[0013] The invention is characterized in that the arc-shaped supporting plate and the clamp claws are arc-shaped rubber pads.

[0014] The main cable maintenance platform of the present invention comprises an outer gantry and an inner gantry which are connected with each other; the connected outer gantry and the inner gantry are arranged on the main cable; the tops of the main hydraulic cylinder and the elevation hydraulic cylinder are fixedly connected with the cross beams on the outer gantry and the inner gantry respectively; the two lateral clamping mechanisms are symmetrically arranged on both sides of the main cable, and the fixing seats are horizontally installed on the columns of the outer gantry and the inner gantry respectively.

[0015] In the present invention, the middle parts of the upright columns on the left and right sides of the outer gantry and the inner gantry are bolted to connect the reverse support rods, which are rigid rods.

[0016] The present invention provides a main cable maintenance platform torsion self-adjustment method, which adopts the following steps:

[0017] S1. Use the gyro sensor to sense whether the main cable maintenance platform is twisted. If it is detected that the maintenance platform frame is twisted clockwise, perform steps S2-S6 in sequence; if it is detected that the maintenance platform frame is twisted counterclockwise, perform the reverse operations of steps S2-S6 in sequence; if no twisting occurs, perform self-propelled operation.

[0018] S2, controlling the main support mechanism and the lateral clamping mechanism of the outer gantry to separate from the main cable through the controller, and controlling the lateral hydraulic cylinder of the lateral clamping mechanism to rotate clockwise, while the main support mechanism and the lateral clamping mechanism of the inner gantry are tightly held with the main cable, so that the inner gantry is fixed on the main cable;

[0019] S3, controlling the lateral clamping mechanism of the outer gantry of the maintenance platform to hold the main cable tightly through the controller, while the main supporting mechanism of the outer gantry remains separated from the main cable;

[0020] S4, controlling the lateral clamping mechanism of the outer gantry to rotate counterclockwise through the controller, thereby realizing that the lateral clamping mechanism drives the outer gantry of the entire maintenance platform to twist counterclockwise;

[0021] After twisting to a certain angle, the main support mechanism of the outer gantry is controlled by the controller to hold the main cable tightly;

[0022] S5, controlling the lateral clamping mechanism of the inner gantry to hold the main cable tightly through the controller, while the main supporting mechanism of the inner gantry remains separated from the main cable;

[0023] S6, controlling the lateral clamping mechanism of the inner gantry to rotate counterclockwise through the controller, thereby achieving the counterclockwise twisting of the inner gantry driven by the lateral clamping mechanism;

[0024] After twisting to the same angle as the outer gantry, the controller controls the main support mechanism of the inner gantry to hold the main cable tightly;

[0025] S7. Use the gyro sensor to sense whether the maintenance platform frame is back to normal. If not, repeat steps S2-S6. If it is back to normal, do not perform the above operations.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) The fractal vise structure of the clamping assembly of the present invention can be adapted to the different curvatures of the main cables to ensure the contact area with the main cables; at the same time, the clamp jaws adopt arc-shaped rubber pads to balance the pressure of the lateral hydraulic mechanism on the side of the main cable.

[0028] (2) The worm gear of the torsion assembly of the present invention is self-locking, so that the lateral clamping mechanism can be self-locked at the torsion angle, which is convenient for the centering adjustment of the main cable maintenance platform frame on the main cable, so that the main cable maintenance platform can always fall in the middle of the main cable, preventing the main cable maintenance platform from deviating from the main cable track when traveling, thereby ensuring the safe operation of the main cable maintenance platform;

[0029] The main cable maintenance platform torsion self-adjusting device of the present invention can ensure the safe operation of the main cable maintenance platform on the main cable, laying a foundation for subsequent inspection and maintenance of the main cable.

[0030] (3) The torsion self-adjusting method of the main cable maintenance platform of the present invention can ensure that the main cable maintenance platform has the functions of automatic deviation correction and climbing self-adjustment during the movement, and can ensure that the main cable maintenance platform can move to any position of the main cable for inspection and maintenance; at the same time, during the adjustment process, the torsion self-adjusting method can effectively fix the main cable maintenance platform on the main cable, thereby reducing the impact of high-altitude wind load on the main cable maintenance platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope of protection. For those skilled in the art, other related drawings can be obtained based on these drawings without creative work.

[0032] Attached Figure 1 It is a schematic diagram of the structure of the present invention;

[0033] Attached Figure 2 It is a schematic diagram of the structure of the lateral clamping mechanism of the present invention;

[0034] Attached Figure 3 It is a schematic diagram of the structure of the torsion self-adjusting device of the present invention;

[0035] Attached Figure 4 This is a structural axial view of the torsion self-adjusting device of the present invention;

[0036] Attached Figure 5It is a structural schematic diagram of the main support mechanism of the present invention;

[0037] Attached Figure 6 This is a structural diagram of Embodiment 2 of the present invention;

[0038] Attached Figure 7 This is a schematic diagram of the structure of the lateral clamping mechanism of the second embodiment of the present invention;

[0039] Attached Figure 8 This is a schematic diagram of the structure of a torsion self-adjusting device according to a second embodiment of the present invention;

[0040] Attached Fig. 9 This is a schematic diagram of the axonometric structure of a torsion self-adjusting device according to Embodiment 2 of the present invention;

[0041] Attached Fig.10 A structural axial view of the main cable maintenance platform for installing the present invention;

[0042] Attached Fig.11 This is a schematic diagram of the operation structure of Embodiment 1 of the method of the present invention;

[0043] Attached Fig.12 This is a schematic diagram of the operation structure of Embodiment 2 of the method of the present invention.

[0044] In the attached picture:

[0045] 1 external gantry;

[0046] 2 inner gantry;

[0047] 3 Main cables;

[0048] 4 controllers;

[0049] 51 main support mechanism, 511 main hydraulic cylinder, 512 elevation hydraulic cylinder, 513 universal ball, 514 support seat, 515 arc support plate;

[0050] 52 lateral clamping mechanism, 521 fixed seat, 522 lateral hydraulic cylinder, 523 clamping seat, 524 fractal vise, 525 clamp claw, 526 arc groove, 527 rotating shaft, 528 worm gear, 529 driving gear, 530 internal gear, 531 worm, 532 torsion motor, 533 circular groove;

[0051] 53 reverse support rod; DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention is further described below in conjunction with the accompanying drawings and examples. The implementation methods of the present invention include but are not limited to the following examples. Based on the examples in the present invention, all other examples obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0053] Embodiment 1:

[0054] As attached Figure 1-4 As shown, the torsion self-adjusting device of the main cable maintenance platform of the present invention comprises a main support mechanism 51 installed on the crossbeam of the main cable maintenance platform and a lateral clamping mechanism 52 installed transversely on the columns on both sides of the main cable maintenance platform; the main support mechanism 51 and the lateral clamping mechanism 52 are both connected to the controller 4 by electrical signals; the lateral clamping mechanism 52 comprises a fixing seat 521 installed transversely on the column, a torsion assembly installed on the fixing seat 521, a lateral hydraulic cylinder 522 installed transversely on the torsion assembly, and a clamping assembly installed at the piston rod end of the lateral hydraulic cylinder 522; the controller 4 is Installed on the fixed seat 521; when the clamping components of the main supporting mechanism 51 and the two lateral clamping mechanisms 52 are in close contact and clamped with the upper surface and the left and right sides of the main cable 3 respectively, the main cable maintenance platform can be clamped and fixed on the main cable 3; when the main supporting mechanism 51 and the two lateral clamping mechanisms 52 are separated from the upper surface and the left and right sides of the main cable 3 at the same time, the main cable maintenance platform is driven to slide relative to the main cable 3, so that the main cable maintenance platform can detect and repair the main cable at any position of the main cable 3 (the self-propelled process of the main cable maintenance platform does not belong to the description scope of the present invention and will not be repeated here).

[0055] As attached Figure 3 , 4 As shown, the torsion assembly of the present invention includes an arc groove 526 arranged on a fixing seat 521, a rotating shaft 527 rotatably mounted in the arc groove 526, a worm gear 528 rotatably mounted on the rotating shaft 527, a driving gear 529 fixedly mounted on one side of the worm gear 528, an internal gear 530 meshing with the driving gear 529, and a worm 531 mounted on a lateral hydraulic cylinder 522 and meshing with the worm gear 528;

[0056] The internal gear 530 is fixed to the fixed seat 521, the arc groove 526 is located in the inner ring of the internal gear 530, and the rotating shaft 527 is fixed to the cylinder end of the lateral hydraulic cylinder 522; the other end of the worm 531 is connected to the torsion motor 532 installed on the lateral hydraulic cylinder 522; the torsion motor 532 drives the worm 531 to drive the worm wheel 528 and the driving gear 529 to rotate, and the driving gear 529 rotates along the internal gear 530, thereby driving the lateral hydraulic cylinder 522 to rotate clockwise or counterclockwise along the arc groove 526, thereby realizing the adjustment rotation of the lateral clamping mechanism 52.

[0057] As attached Figure 1 , 2As shown, the clamping assembly includes a clamping seat 523 installed at the rod end of the lateral hydraulic cylinder 522 and corresponding to the side of the main cable 3, a fractal vise 524 installed on the outside of the clamping seat 523, and a plurality of clamp claws 525 hinged on the outside of the fractal vise 524 and corresponding to the side of the main cable 3; under the telescopic action of the lateral hydraulic cylinder 522, contact or separation with the side of the main cable 3 with different curvatures is achieved; the clamp claws 525 are arc-shaped rubber pads that can balance the pressure of the lateral hydraulic cylinder 522 on the side of the main cable 3.

[0058] As attached Figure 1 , 5 As shown, the main support mechanism 51 of the present invention comprises a main hydraulic cylinder 511 and an elevation hydraulic cylinder 512 which are arranged vertically. The tops of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512 are fixedly connected to the cross beam on the main cable maintenance platform. A universal ball 513 is installed at the lower rod end of the elevation hydraulic cylinder 512. A support seat 514 is installed at the bottom of the universal ball 513 and the bottom rod end of the main hydraulic cylinder 511. The bottom surface of the support seat 514 is provided with an arc-shaped support plate 515 which matches the shape of the upper surface of the main cable 3. The arc-shaped support plate 515 is an arc-shaped rubber pad. Through the change of different telescopic amounts of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512, the support seat 514 can adjust its elevation angle along with the main cable 3. The arc-shaped support plate 515 can further realize contact or separation with the upper surface of the main cable 3 under the telescopic action of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512, and can balance the pressure of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512 on the upper surface of the main cable 3.

[0059] As attached Fig.10 As shown, the main cable maintenance platform includes an outer gantry 1 and an inner gantry 2 which are connected to each other; the connected outer gantry 1 and the inner gantry 2 are arranged on the main cable 3; the tops of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512 are fixedly connected to the cross beams on the outer gantry 1 and the inner gantry 2 respectively; the two lateral clamping mechanisms 52 are symmetrically arranged on both sides of the main cable 3, and the fixed seats 521 are laterally installed on the columns of the outer gantry 1 and the inner gantry 2 respectively.

[0060] Embodiment 2:

[0061] As attached Figure 6-9 As shown, the difference between this embodiment and the first embodiment is that the torsion assembly includes a circular groove 533 arranged on a fixed seat 521, a rotating shaft 527 rotatably mounted in the circular groove 533, a worm gear 528 rotatably mounted on the rotating shaft 527, a driving gear 529 fixedly mounted on one side of the worm gear 528, an internal gear 530 meshing with the driving gear 529, and a worm 531 mounted on the fixed seat 521 and meshing with the worm gear 528, the other end of the rotating shaft 527 and the internal gear 530 are both fixed to the cylinder end of the lateral hydraulic cylinder 522; the other end of the worm gear 531 is connected to a torsion motor 532 mounted on the fixed seat 521;

[0062] The torsion motor 532 drives the worm 531 to drive the worm wheel 528 and the driving gear 529 to rotate, and the driving gear 529 drives the internal gear 530 to rotate, so that the internal gear 530 drives the hydraulic cylinder 522 to rotate, so that the lateral clamping mechanism 52 rotates with the internal gear 530.

[0063] Embodiment three:

[0064] As attached Figure 1-2 As shown in Figures 6-7, this embodiment is a further improvement on the basis of the first and second embodiments. A reverse support rod 53 is bolted to the middle of the left and right side columns of the outer gantry 1 and the inner gantry 2, and the reverse support rod 53 is a rigid rod. By setting the reverse support rod 53, a reaction force group can be formed with the two lateral clamping mechanisms 52, so that the main cable maintenance platform can be locked in the vertical direction on the main cable 3.

[0065] As attached Fig.11 , 12 As shown, the main cable maintenance platform torsion self-adjustment method of the present invention adopts the following steps:

[0066] S1. Use the gyro sensor to sense whether the main cable maintenance platform is twisted. If it is detected that the frame of the main cable maintenance platform is twisted clockwise, then steps S2-S6 are performed in sequence; if it is detected that the frame of the maintenance platform is twisted counterclockwise, then the reverse operations of steps S2-S6 are performed in sequence; if no twisting occurs, the main cable maintenance platform is operated to move itself (the process of the main cable maintenance platform moving itself is not within the scope of the present invention and will not be described in detail herein);

[0067] S2, controlling the main support mechanism 51 and the lateral clamping mechanism 52 of the outer gantry 1 to separate from the main cable 3 through the controller 4, and controlling the lateral hydraulic cylinder 522 of the lateral clamping mechanism 52 to rotate clockwise, while the main support mechanism 51 and the lateral clamping mechanism 52 of the inner gantry 2 are tightly held with the main cable 3, so that the inner gantry 2 is fixed on the main cable 3;

[0068] S3, controlling the lateral clamping mechanism 52 of the outer gantry 1 of the main cable maintenance platform to hold the main cable 3 tightly through the controller 4, while the main supporting mechanism 51 of the outer gantry 1 remains separated from the main cable 3;

[0069] S4, controlling the lateral clamping mechanism 52 of the outer gantry 1 to rotate counterclockwise through the controller 4, thereby enabling the lateral clamping mechanism 52 to drive the outer gantry 1 of the entire main cable maintenance platform to twist counterclockwise;

[0070] After twisting to a certain angle, the main support mechanism 51 of the outer gantry 1 is controlled by the controller 4 to hold the main cable 3 tightly; (because the rear inner gantry 2 is holding the main cable 3 tightly, it cannot be twisted to a large angle at once, and can only be twisted to a small angle.)

[0071] S5, controlling the lateral clamping mechanism 52 of the inner gantry 2 to hold the main cable 3 tightly through the controller 4, while the main supporting mechanism 51 of the inner gantry 2 remains separated from the main cable 3;

[0072] S6, controlling the lateral clamping mechanism 52 of the inner gantry 2 to rotate counterclockwise through the controller 4, thereby achieving the counterclockwise twisting of the inner gantry 2 driven by the lateral clamping mechanism 52;

[0073] After twisting to the same angle as the outer gantry 1, the controller 4 controls the main support mechanism 51 of the inner gantry 2 to hold the main cable 3 tightly;

[0074] S7. Use the gyro sensor to sense whether the main cable maintenance platform frame is back to normal. If not, repeat steps S2-S6. If it is back to normal, do not perform the above operations.

[0075] The method of the present invention can ensure that the main cable maintenance platform has the functions of automatic deviation correction and climbing self-adjustment during the running process, and can ensure that the main cable maintenance platform can move to any position of the main cable for inspection and maintenance; at the same time, during the adjustment process of the torsion self-adjustment method, the main cable maintenance platform can be effectively fixed on the main cable, reducing the impact of high-altitude wind load on the main cable maintenance platform.

[0076] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any changes that adopt the design principles of the present invention and are made through non-creative labor on this basis should fall within the protection scope of the present invention.

Claims

1. A main cable maintenance platform torsion self-adjusting device, characterized in that: It comprises a main support mechanism (51) installed on a crossbeam on a main cable maintenance platform and a lateral clamping mechanism (52) installed transversely on columns on both sides of the main cable maintenance platform; the main support mechanism (51) and the lateral clamping mechanism (52) are both connected to a controller (4) via electrical signals; The lateral clamping mechanism (52) comprises a fixing seat (521) installed laterally corresponding to the column, a torsion assembly installed on the fixing seat (521), a lateral hydraulic cylinder (522) installed laterally on the torsion assembly, and a clamping assembly installed at the piston rod end of the lateral hydraulic cylinder (522); the controller (4) is installed on the fixing seat (521); The clamping components of the main supporting mechanism (51) and the two lateral clamping mechanisms (52) are respectively in close contact with the upper surface and the left and right side surfaces of the main cable (3) to clamp or separate.

2. A main cable maintenance platform torsion self-adjusting device according to claim 1, characterized in that: The torsion assembly comprises an arc-shaped groove (526) arranged on a fixed seat (521), a rotating shaft (527) rotatably mounted in the arc-shaped groove (526), ​​a worm gear (528) rotatably mounted on the rotating shaft (527), a driving gear (529) fixedly mounted on one side of the worm gear (528), an internal gear (530) meshing with the driving gear (529), and a worm (531) mounted on the lateral hydraulic cylinder (522) and meshing with the worm gear (528); The inner gear (530) is fixed to the fixing seat (521), the arc groove (526) is located on the inner ring of the inner gear (530), the rotating shaft (527) is fixed to the cylinder end of the lateral hydraulic cylinder (522); the other end of the worm (531) is connected to the torsion motor (532) installed on the lateral hydraulic cylinder (522); The torsion motor (532) drives the worm (531) to drive the worm wheel (528) and the driving gear (529) to rotate, and the driving gear (529) rotates along the internal gear (530), thereby driving the lateral hydraulic cylinder (522) to rotate clockwise or counterclockwise along the arc groove (526).

3. The main cable maintenance platform torsion self-adjusting device according to claim 1 is characterized in that: The torsion assembly comprises a circular groove (533) arranged on a fixed seat (521), a rotating shaft (527) rotatably mounted in the circular groove (533), a worm gear (528) rotatably mounted on the rotating shaft (527), a driving gear (529) fixedly mounted on one side of the worm gear (528), an internal gear (530) meshing with the driving gear (529), and a worm (531) mounted on the fixed seat (521) and meshing with the worm gear (528); the other end of the rotating shaft (527) and the internal gear (530) are both fixed to the cylinder end of the lateral hydraulic cylinder (522); the other end of the worm gear (531) is connected to a torsion motor (532) mounted on the fixed seat (521); The torsion motor (532) drives the worm (531) to drive the worm wheel (528) and the driving gear (529) to rotate, and the driving gear (529) drives the internal gear (530) to rotate, so that the internal gear (530) drives the hydraulic cylinder (522) to rotate, so that the lateral clamping mechanism (52) rotates along with the internal gear (530).

4. A main cable maintenance platform torsion self-adjusting device according to claim 2 or 3, characterized in that: The clamping assembly comprises a clamping seat (523) mounted on the rod end of a lateral hydraulic cylinder (522) and corresponding to the side of the main cable (3), a fractal vise (524) mounted on the outside of the clamping seat (523), and a plurality of clamping claws (525) hinged on the outside of the fractal vise (524) and corresponding to the side of the main cable (3).

5. A main cable maintenance platform torsion self-adjusting device according to claim 4, characterized in that: The main support mechanism (51) comprises a main hydraulic cylinder (511) and an elevation hydraulic cylinder (512) which are arranged vertically. The tops of the main hydraulic cylinder (511) and the elevation hydraulic cylinder (512) are fixedly connected to the cross beam on the main cable maintenance platform. A universal ball (513) is installed at the lower rod end of the elevation hydraulic cylinder (512). A support seat (514) is installed at the bottom of the universal ball (513) and the bottom rod end of the main hydraulic cylinder (511). The bottom surface of the support seat (514) is provided with an arc-shaped support plate (515) matching the shape of the upper surface of the main cable (3).

6. A main cable maintenance platform torsion self-adjusting device according to claim 5, characterized in that: The arc-shaped support plate (515) and the clamp claw (525) are arc-shaped rubber pads.

7. The main cable maintenance platform torsion self-adjusting device according to claim 5 is characterized in that: The main cable maintenance platform comprises an outer gantry (1) and an inner gantry (2) which are connected to each other; the connected outer gantry (1) and the inner gantry (2) are arranged on the main cable (3); The tops of the main hydraulic cylinder (511) and the elevation hydraulic cylinder (512) are fixedly connected to the upper cross beams of the outer gantry (1) and the inner gantry (2); the two lateral clamping mechanisms (52) are symmetrically arranged on both sides of the main cable (3), and the fixing seats (521) are laterally installed on the columns of the outer gantry (1) and the inner gantry (2) in a corresponding manner.

8. The main cable maintenance platform torsion self-adjusting device according to claim 7 is characterized in that: A reverse support rod (53) is bolted to the middle of the columns on the left and right sides of the outer gantry (1) and the inner gantry (2) frames, and the reverse support rod (53) is a rigid rod.

9. A method for self-adjusting torsion of a main cable maintenance platform, characterized in that: Use the following steps: S1. Use the gyro sensor to sense whether the main cable maintenance platform is twisted. If it is detected that the maintenance platform frame is twisted clockwise, then perform steps S2-S6 in sequence; if it is detected that the maintenance platform frame is twisted counterclockwise, then perform the reverse operations of steps S2-S6 in sequence; if no twisting occurs, then perform self-propelled operation; S2, controlling the main support mechanism (51) and the lateral clamping mechanism (52) of the outer gantry 1 to separate from the main cable (3) through the controller (4), and controlling the lateral hydraulic cylinder (522) of the lateral clamping mechanism (52) to rotate clockwise, while the main support mechanism (51) and the lateral clamping mechanism (52) of the inner gantry (2) are tightly held with the main cable (3), so that the inner gantry (2) is fixed on the main cable (3); S3, controlling the lateral clamping mechanism (52) of the outer gantry (1) of the maintenance platform to tightly hold the main cable (3) through the controller (4), while the main supporting mechanism (51) of the outer gantry (1) remains separated from the main cable (3); S4, controlling the lateral clamping mechanism (52) of the outer gantry (1) to rotate counterclockwise through the controller (4), thereby enabling the lateral clamping mechanism (52) to drive the outer gantry (1) of the entire maintenance platform to twist counterclockwise; After twisting to a certain angle, the main support mechanism (51) of the outer gantry (1) and the main cable (3) are tightly held by the controller (4); S5, controlling the lateral clamping mechanism (52) of the inner gantry (2) to tightly hold the main cable (3) through the controller (4), while the main supporting mechanism (51) of the inner gantry (2) remains separated from the main cable (3); S6, controlling the lateral clamping mechanism (52) of the inner gantry (2) to rotate counterclockwise through the controller (4), thereby achieving the counterclockwise twisting of the inner gantry (2) driven by the lateral clamping mechanism (52); After being twisted to the same angle as the outer gantry (1), the main support mechanism (51) of the inner gantry (2) and the main cable (3) are controlled by the controller (4) to be tightly held; S7. Use the gyro sensor to sense whether the maintenance platform frame is back to normal. If not, repeat steps S2-S6. If it is back to normal, do not perform the above operations.

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