Intelligent detection and anticorrosive coating robot for main cable of long-span suspension bridge

Abstract

This invention provides an intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge, relating to the field of suspension bridge main cable inspection technology. The robot includes a sliding rod, a bidirectional threaded clamp, and a base. A support frame is rotatably connected to the outer side of the bidirectional threaded clamp. A pusher frame is slidably connected to the outer side of the sliding rod. A drive motor is mounted on the upper side of the pusher frame, and a transmission rod is mounted on the motor shaft of the drive motor. A roller is welded to the bottom end of the transmission rod. A visual recognition camera is mounted on the lower side of the base. A cover is bolted to the upper side of the base, and a support plate is welded to the rear side of the base. An atomizing nozzle is mounted on the lower side of the support plate. Through the arrangement of the visual recognition camera, atomizing nozzle, bidirectional threaded clamp, pusher frame, and roller, automated paint touch-up work is achieved during the unmanned inspection of paint damage on the main cable, solving the problem of high safety risks associated with manual operation in the traditional maintenance, inspection, and paint touch-up work of suspension bridge main cables.

Description

Technical Field

[0001] This invention belongs to the field of suspension bridge main cable inspection technology, and more specifically, it relates to an intelligent inspection and anti-corrosion coating robot for long-span suspension bridge main cables. Background Technology

[0002] The main cable of a suspension bridge is a load-bearing component in a long-span suspension bridge, composed of bundles of high-strength parallel steel wire strands. It bears the entire load of the bridge and transfers these loads to the main towers and anchorages via suspenders. Currently, to prevent corrosion of the main cable by high-altitude humidity and sea salt spray, its outer surface is usually coated with anti-corrosion paint. However, during long-term use, the anti-corrosion paint surface of the main cable can be damaged by wind, sand, and bird strikes. Therefore, bridge maintenance workers need to periodically climb the main cable using auxiliary steel cables pre-installed at the top to inspect and touch up damaged areas. As can be seen, traditional maintenance, inspection, and touch-up work on the main cable of a suspension bridge are all done manually. The complex working environment at high altitudes on bridges makes the anti-corrosion painting maintenance of the main cable of a suspension bridge extremely risky for personnel safety. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides an intelligent inspection and anti-corrosion coating robot for the main cables of long-span suspension bridges, thereby solving the problem of high safety risks associated with manual operation in the traditional maintenance, inspection, and repainting of main cables of suspension bridges.

[0004] This invention provides an intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge, comprising a hood; a traveling camera is installed on the front side of the hood, and a liquid storage tank and a wireless controller are installed on the inner side of the hood; an infusion pump is installed on the left side of the liquid storage tank; a lid is installed on the upper side of the liquid storage tank, and the traveling camera is installed on the front side of the hood; it also includes a bidirectional threaded adjusting rod, a sliding plate, and a clamping and traveling device; adjusting knobs are welded to the left and right ends of the bidirectional threaded adjusting rod, and a base is rotatably connected to the outer side of the bidirectional threaded adjusting rod; the hood is bolted to the upper side of the base, a battery pack is installed on the inner side of the hood, a support plate is welded to the rear side of the base, and an atomizing nozzle is installed on the lower side of the support plate; the base is slidably connected to the outer side of the sliding plate, a bracket is bolted to the lower side of the sliding plate, and a support plate frame is bolted to the outer side of the bracket; a diversion pipe is installed at the outlet of the infusion pump.

[0005] Furthermore, the clamping travel device comprises two sets, symmetrically distributed front and rear. Each set includes rollers, a slide, a drive motor, an adjusting motor, a support frame, a transmission rod, a guide rod, a bidirectional threaded rod, a bidirectional threaded clamping rod, a slide, a push frame, a clamping motor, and a beam frame. The outer side of the bidirectional threaded rod is rotatably connected to the beam frame, and the left side of the beam frame is bolted to the adjusting motor. The bidirectional threaded rod is mounted on the motor shaft of the adjusting motor. Support frames are welded to both the left and right ends of the slide. The clamping motor is mounted on the left side of the support frame, and the bidirectional threaded clamping rod is mounted on the motor shaft of the clamping motor. The outer side of the bidirectional threaded clamping rod is rotatably connected to the support frame. The front and rear sides of the support frame... The slide is bolted to a beam frame. A pusher frame is slidably connected to the outer side of the slide rod. A drive motor is mounted on the upper side of the pusher frame. A transmission rod is mounted on the motor shaft of the drive motor. A roller is welded to the bottom end of the transmission rod. There are two sets of slides, which are symmetrically distributed on the left and right sides. The left side of each slide has a threaded through hole near the top. The forward threaded end of the outer side of the bidirectional threaded rod is engaged with the threaded through hole of the right slide, and the reverse threaded end of the outer side of the bidirectional threaded rod is engaged with the threaded through hole of the left slide. The left side of the slide has two sets of circular through holes. A guide rod is inserted into the circular through hole of the slide. Beam frames are welded to the left and right ends of the guide rod. A roller is rotatably connected to the bottom end of the slide.

[0006] Furthermore, there are two sets of push-pressing frames, which are symmetrically distributed on the left and right. Each set of push-pressing frames has a threaded through hole at its center. The forward threaded end of the outer side of the bidirectional threaded clamping rod is engaged with the threaded through hole of the right push-pressing frame, and the reverse threaded end of the outer side of the bidirectional threaded clamping rod is engaged with the threaded through hole of the left push-pressing frame. The left side of the push-pressing frame has two sets of circular through holes, and a sliding rod is inserted into the circular through holes of the push-pressing frame.

[0007] Furthermore, the number of rollers is eight sets, and each set of rollers has a V-shaped groove surrounding its outer surface.

[0008] Furthermore, a visual recognition camera is installed at the center of the lower side of the base. The visual recognition camera is connected to the recognition and detection module of the wireless controller via a wire. Both the left and right sides of the base are provided with rectangular through slots, and sliding plates are nested in the rectangular through slots of the base.

[0009] Furthermore, the brackets consist of four sets, each set being a T-shaped structure. Near the top of the T-shaped structure, two sets of circular through-holes are provided, with clamping bolts inserted into these holes. Clamping nuts are engaged with the outer surfaces of the clamping bolts, and support plates are nested within the outer surfaces of the clamping bolts. There are four sets of support plates, each set being a V-shaped structure. Each V-shaped structure has a long, through-slot, with clamping nuts inserted into these slots. Each pair of support plates is symmetrically distributed front and back. The two rear sets of support plates are bolted to two sets of paint spraying plates, each with an atomizing nozzle. The two front sets of support plates are bolted to camera plates, each with a visual recognition camera.

[0010] Furthermore, the number of the slide plates is two sets. Each set of slide plates has a rectangular protrusion on its upper side. The center of the rectangular protrusion on the slide plate has a threaded through hole that runs from left to right. The forward threaded end of the outer side of the bidirectional threaded adjustment rod is engaged with the threaded through hole of the right slide plate, and the reverse threaded end of the outer side of the bidirectional threaded adjustment rod is engaged with the threaded through hole of the left slide plate.

[0011] Furthermore, the diversion tube has a cylindrical shell structure. A cylindrical through-tube is provided at the center of the front side of the cylindrical shell structure of the diversion tube. An infusion pump is installed at the cylindrical through-tube on the front side of the diversion tube. Five sets of cylindrical through-tubes are provided on the rear side of the cylindrical shell structure of the diversion tube. An infusion tube is installed at the end of each of the five sets of cylindrical through-tubes on the rear side of the diversion tube. An atomizing nozzle is installed at the other end of each set of infusion tubes.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. In this invention, on the one hand, the clamping motor drives the bidirectional threaded clamping rod to operate the threaded meshing transmission mechanism formed in the threaded through hole of the pusher frame, so that the rollers on the pusher frame cooperate with the rollers on the slide to clamp and hang the auxiliary steel cable from left to right. On the other hand, the drive motor drives the rollers welded to the bottom of the transmission rod to rotate in contact with the auxiliary steel cable, so that the rollers drive the five sets of visual recognition cameras of the anti-corrosion coating robot to move and shoot along the outside of the main cable. This realizes the automatic climbing and inspection of the main cable of the suspension bridge, eliminates the manual high-altitude inspection method of the main cable of the suspension bridge, and improves the safety of personnel inspecting the paint damage of the main cable of the suspension bridge.

[0014] 2. In this invention, the paint control module of the wireless controller controls the infusion pump to inject the anti-corrosion paint in the storage tank into the diversion pipe based on the damage area captured by the visual recognition camera. The diversion pipe then distributes the anti-corrosion paint into five sets of infusion pipes, which in turn deliver the anti-corrosion paint to five sets of atomizing nozzles. The five sets of atomizing nozzles spray the paint around the outside of the main cable of the suspension bridge, thus realizing automated paint repair during the main cable paint damage detection process and avoiding the safety risks of manual paint repair on the main cable. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2 This is a front view structural diagram of the present invention.

[0017] Figure 3 This is a schematic diagram of the structure from a bottom view of the present invention.

[0018] Figure 4 This is a schematic diagram of the front side cross-section structure of the present invention.

[0019] Figure 5 This is a schematic diagram of the rear side sectional structure of the present invention.

[0020] Figure 6 This is the invention Figure 5 Enlarged structural diagram of part A in the middle.

[0021] Figure 7 This is a schematic diagram of the clamping and traveling device of the present invention.

[0022] Figure 8 This is a front view structural schematic diagram of the clamping and traveling device of the present invention.

[0023] Figure 9 This is a cross-sectional structural diagram of the clamping and traveling device of the present invention.

[0024] Figure 10 This is a side view of the clamping and traveling device of the present invention.

[0025] Figure 11 This is the invention Figure 5 Enlarged structural diagram of part B in the middle.

[0026] Figure 12 This is a block diagram of the control principle system of the present invention.

[0027] Figure label:

[0028] 1. Box lid;

[0029] 2. Liquid storage tank;

[0030] 3. Moving camera;

[0031] 4. Wireless controller;

[0032] 5. Adjust the knob;

[0033] 6. Two-way threaded adjusting rod;

[0034] 7. Infusion pump;

[0035] 8. Diverter pipe;

[0036] 9. Infusion tubing;

[0037] 10. Support plate;

[0038] 11. Support frame;

[0039] 12. Camera board;

[0040] 13. Visual recognition camera;

[0041] 14. Tighten the bolts;

[0042] 15. Painted panels;

[0043] 16. Atomizing nozzle;

[0044] 17. Skateboard;

[0045] 18. Machine base;

[0046] 19. Machine cover;

[0047] 20. Bracket;

[0048] 21. Battery pack;

[0049] 22. Clamping travel device; 2201. Roller; 2202. Slide; 2203. Drive motor; 2204. Adjusting motor; 2205. Support frame; 2206. Transmission rod; 2207. Guide rod; 2208. Bidirectional threaded rod; 2209. Bidirectional threaded clamping rod; 2210. Slide rod; 2211. Pushing frame; 2212. Clamping motor; 2213. Beam frame;

[0050] 23. Tighten the nut. Detailed Implementation

[0051] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0052] like Figures 1-12As shown, this invention provides an intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge, including a hood 19; a traveling camera 3 is installed on the front side of the hood 19, and a liquid storage tank 2 and a wireless controller 4 are installed on the inner side of the hood 19; an infusion pump 7 is installed on the left side of the liquid storage tank 2; a tank cover 1 is installed on the upper side of the liquid storage tank 2, and the traveling camera 3 is installed on the front side of the hood 19; it also includes a bidirectional threaded adjusting rod 6, a sliding plate 17, and a clamping traveling device 22; the left and right ends of the bidirectional threaded adjusting rod 6 are both welded with adjusting... The outer side of the rotary knob 5 and the bidirectional threaded adjustment rod 6 is rotatably connected to the base 18; the upper side of the base 18 is connected to the cover 19 by bolts, the inner side of the cover 19 is equipped with the battery pack 21, the rear side of the base 18 is welded with the support plate 10, and the lower side of the support plate 10 is equipped with the atomizing nozzle 16; the outer side of the slide plate 17 is slidably connected to the base 18, the lower side of the slide plate 17 is connected to the bracket 20 by bolts, and the outer side of the bracket 20 is connected to the support plate frame 11 by bolts; the outlet of the infusion pump 7 is equipped with a diversion pipe 8.

[0053] In this embodiment of the invention, there are two sets of clamping travel devices 22, which are symmetrically distributed front and rear. Each set of clamping travel devices 22 includes a roller 2201, a slide 2202, a drive motor 2203, an adjusting motor 2204, a support frame 2205, a transmission rotating rod 2206, a guide rod 2207, a bidirectional threaded rotating rod 2208, a bidirectional threaded clamping rod 2209, a slide rod 2210, a push frame 2211, a clamping motor 2212, and a beam frame 2213. The outer side of the bidirectional threaded rotating rod 2208 is rotatably connected to the beam frame 2213, and the left side of the beam frame 2213 is bolted to the adjusting motor 2204. A bidirectional threaded rotating rod 2208 is mounted on the motor shaft of motor 2204; support frames 2205 are welded to both the left and right ends of slide rod 2210; a clamping motor 2212 is mounted on the left side of support frame 2205; a bidirectional threaded clamping rod 2209 is mounted on the motor shaft of clamping motor 2212; support frame 2205 is rotatably connected to the outer side of bidirectional threaded clamping rod 2209; beam frame 2213 is bolted to the front and rear sides of support frame 2205; a pusher frame 2211 is slidably connected to the outer side of slide rod 2210; a drive motor 2203 is mounted on the upper side of pusher frame 2211; and the motor shaft of drive motor 2203... A transmission rod 2206 is installed on the top, and a roller 2201 is welded to the bottom end of the transmission rod 2206; there are two sets of slides 2202, which are symmetrically distributed on the left and right sides. Each set of slides 2202 has a threaded through hole on the left side near the top. The forward threaded end of the outer side of the bidirectional threaded rod 2208 is engaged with the threaded through hole of the right slide 2202, and the reverse threaded end of the outer side of the bidirectional threaded rod 2208 is engaged with the threaded through hole of the left slide 2202. There are two sets of circular through holes on the left side of the slide 2202. A guide rod 2207 is inserted into the circular through hole of the slide 2202. Both the left and right ends of 207 are welded with beams 2213. The bottom end of the slide 2202 is rotatably connected with rollers 2201. During the process of the adjustment motor 2204 driving the bidirectional threaded rotating rod 2208 to rotate, the bidirectional threaded rotating rod 2208 drives the two sets of slides 2202 to move left and right in opposite directions along the guide rod 2207 with rollers 2201. This allows the rollers 2201 on the slides 2202 to adjust their clamping position according to the spacing of the two sets of cables. This enables the rollers 2201 to match the two sets of auxiliary steel cables with different spacings for clamping and gripping, improving the compatibility of the intelligent inspection and anti-corrosion coating robot with the two sets of auxiliary steel cables at the top of the main cable.

[0054] In this embodiment of the invention, there are two sets of push-pressing frames 2211, symmetrically distributed left and right. Each set of push-pressing frames 2211 has a through-hole at its center. The forward threaded end of the outer side of the bidirectional threaded clamping rod 2209 engages with the through-hole of the right push-pressing frame 2211, and the reverse threaded end of the outer side of the bidirectional threaded clamping rod 2209 engages with the through-hole of the left push-pressing frame 2211. Two sets of circular through-holes are provided on the left side of the push-pressing frame 2211. A slide rod 2210 is inserted into the through hole. During the rotation of the bidirectional threaded clamping rod 2209 driven by the clamping motor 2212, the bidirectional threaded clamping rod 2209 drives the two sets of pusher frames 2211 to move in opposite directions. This allows the pusher frame 2211 to be equipped with rollers 2201, which, together with the rollers 2201 on the slide frame 2202, synchronously clamp the two sets of auxiliary steel cables at the top of the main cable. This completes the rapid clamping of the auxiliary steel cables by the two sets of rollers 2201, enabling the anti-corrosion coating robot to be mounted in the top area of ​​the main cable.

[0055] In this embodiment of the invention, there are eight sets of rollers 2201. Each set of rollers 2201 has a V-shaped groove around its outer side. The V-shaped groove structure of the rollers 2201 can be adapted to fit and grip the auxiliary steel cable according to its diameter, which improves the compatibility of the two sets of rollers 2201 with the gripping, clamping and mounting of auxiliary steel cables of different diameters.

[0056] In this embodiment of the invention, a visual recognition camera 13 is installed at the center of the lower side of the base 18. The visual recognition camera 13 is connected to the recognition and detection module of the wireless controller 4 via a wire. The visual recognition camera 13 on the lower side of the base 18 takes pictures of the top paint surface of the main cable. The visual recognition camera 13 transmits the captured image to the intelligent recognition and detection module of the wireless controller 4 via a wire. The intelligent recognition and detection module of the wireless controller 4 detects and recognizes the captured image, thereby realizing the automated detection of damage to the anti-corrosion paint surface on the top of the main cable. The left and right sides of the base 18 are provided with rectangular through slots, and the rectangular through slots of the base 18 are interspersed with sliding plates 17.

[0057] In this embodiment of the invention, there are four sets of brackets 20, each set of brackets 20 having a T-shaped structure. Near the top of the T-shaped structure of each bracket 20, there are two sets of through-holes extending horizontally. Clamping bolts 14 are inserted into the through-holes of each bracket 20. Clamping nuts 23 are engaged with the outer surfaces of the clamping bolts 14. Support plates 11 are nested on the outer surfaces of the clamping bolts 14. There are four sets of support plates 11, each set of support plates 11 having a V-shaped structure. Each set of support plates 11 has a long, through-slot extending horizontally on its V-shaped structure. The clamping nuts 23 are inserted into the long, through-slots of the support plates 11. The nuts of the clamping bolts 14, in conjunction with the clamping nuts 23, clamp the brackets 20 and support plates 11 at any position along the long, through-slots of the support plates 11. The support frame 11 is designed to be equipped with visual recognition cameras 13 and atomizing nozzles 16, which can be flexibly adjusted according to the height distance between the auxiliary steel cable and the main cable. This ensures that the four sets of visual recognition cameras 13 and four sets of atomizing nozzles 16 are aligned with the main cable from left to right. Each pair of support frames 11 is symmetrically distributed front and back. The two sets of support frames 11 on the rear side are each bolted with two sets of paint spraying plates 15, and each set of paint spraying plates 15 is equipped with an atomizing nozzle 16. The two sets of support frames 11 on the front side are each bolted with camera plates 12, and each set of camera plates 12 is equipped with a visual recognition camera 13. The two sets of symmetrical V-shaped support frames 11 are used to perform surround shooting inspection and painting operations on the left, right and lower sides of the main cable, avoiding blind spots in recognition and inspection and blind spots in painting.

[0058] In this embodiment of the invention, there are two sets of slide plates 17. Each set of slide plates 17 has a rectangular protrusion on its upper side. The center of the rectangular protrusion of the slide plate 17 has a threaded through hole that runs from left to right. The outer side of the bidirectional threaded adjusting rod 6 is engaged with the threaded through hole of the right slide plate 17, and the outer side of the bidirectional threaded adjusting rod 6 is engaged with the threaded through hole of the left slide plate 17. When the adjusting knob 5 drives the bidirectional threaded adjusting rod 6 to rotate, the bidirectional threaded adjusting rod 6 drives the two sets of slide plates 17 to move left and right in opposite directions along the rectangular through groove of the base 18. This allows the two sets of slide plates 17 to carry two sets of brackets 20 and move left and right in opposite directions. The two sets of brackets 20 then drive the visual recognition camera 13 and the atomizing nozzle 16 mounted on the two sets of support plates 11 to adjust the spacing between each pair of support plates 11 according to the diameter of the main cable.

[0059] In this embodiment of the invention, the diversion pipe 8 has a cylindrical shell structure. A cylindrical through-tube is located at the center of the front side of the cylindrical shell structure of the diversion pipe 8. An infusion pump 7 is installed at the cylindrical through-tube on the front side of the diversion pipe 8. Five sets of cylindrical through-tubes are located on the rear side of the cylindrical shell structure of the diversion pipe 8. An infusion pipe 9 is installed at the end of each of the five sets of cylindrical through-tubes on the rear side of the diversion pipe 8. An atomizing nozzle 16 is installed at the other end of each infusion pipe 9. When the visual recognition camera 13 detects paint damage on the outer side of the main cable... At that time, the paint control module of the wireless controller 4 controls the infusion pump 7 through the wire to deliver the paint liquid from the storage tank 2 to the diversion pipe 8. Then, the paint liquid is delivered to the five sets of infusion pipes 9 through the five sets of cylindrical pipes on the rear side of the diversion pipe 8. The paint liquid flows to the five sets of atomizing nozzles 16 through the five sets of infusion pipes 9 for atomization and spraying. This realizes the automated paint touch-up work in the process of detecting paint damage on the main cable, avoids manual high-altitude paint touch-up work after the detection is completed, and reduces the safety risks of personnel in the paint touch-up work on the main cable.

[0060] Specific usage and functions of this invention:

[0061] When the intelligent inspection and anti-corrosion coating robot of this invention is used for the inspection and touch-up painting of the main cable of a long-span suspension bridge, the battery pack 21 supplies power to the power supply module of the wireless controller 4 through the wire. The operator rotates the adjustment knob 5, which drives the bidirectional threaded adjustment rod 6 to rotate. Since the forward thread end and the reverse thread end of the bidirectional threaded adjustment rod 6 are respectively engaged and connected in the threaded through holes of the two sets of sliding plates 17, the two sets of sliding plates 17 can move left and right in opposite directions along the rectangular through slot of the base 18, allowing the two sets of sliding plates 17 to be mounted on two sets of T-shaped brackets 20 and move left and right in opposite directions. The brackets 20 drive the clamping bolts 14 and clamping nuts 23 to press the V-shaped support plate frame 11 installed according to the actual diameter of the main cable. The left and right spacing of the four sets of support plates 11 is then adjusted by the motor control module of the wireless controller 4 via wires to start the motor 2204. The motor 2204 drives the bidirectional threaded rod 2208 to rotate. Since the forward and reverse threaded ends of the bidirectional threaded rod 2208 are respectively engaged in the threaded through holes of the two sets of slides 2202, the bidirectional threaded rod 2208 drives the two sets of slides 2202 to slide left and right in opposite directions along the guide rod 2207, so that the two sets of slides 2202 are respectively equipped with two sets of rollers 2201 and adjusted according to the spacing of the two sets of auxiliary steel cables. Then, the auxiliary steel cables are aligned with the V-shaped grooves of the two sets of rollers 2201, and clamped by the motor control module of the wireless controller 4 via wires. Motor 2212 starts, and clamping motor 2212 drives bidirectional threaded clamping rod 2209 to rotate. Since the forward thread end and reverse thread end of bidirectional threaded clamping rod 2209 are respectively engaged and connected in the threaded through holes of two sets of pusher frames 2211, bidirectional threaded clamping rod 2209 drives two sets of pusher frames 2211 to slide in opposite directions along slide rod 2210. At this time, the roller 2201 mounted at the bottom of pusher frame 2211 and the roller 2201 mounted at the bottom of slide frame 2202 clamp the auxiliary steel cable in opposite directions, completing the clamping and traveling device 22's work of hanging at the two sets of auxiliary steel cables. Then, the wireless signal transceiver module of wireless controller 4 receives the traveling command from the external computer terminal, and the wireless signal transceiver module of wireless controller 4 will carry out the traveling command. The command is sent to the motor control module of the wireless controller 4. Then, the motor control module of the wireless controller 4 controls the start of the drive motor 2203 through the wire. The drive motor 2203 drives the roller 2201 welded to the bottom of the transmission rod 2206 to rotate at high speed. The friction between the roller 2201 and the auxiliary steel cable drives the whole robot to climb forward at a constant speed along the axial direction of the auxiliary steel cable and the main cable. The traveling camera 3 installed on the front side of the cover 19 captures the working conditions ahead in real time. The traveling camera 3 transmits the captured image to the wireless signal transceiver module of the wireless controller 4 through the wire. The wireless signal transceiver module of the wireless controller 4 transmits the captured image of the traveling camera 3 to the external computer terminal in the form of a wireless signal.At this time, the visual recognition camera 13 on the lower side of the base 18 and the four sets of visual recognition cameras 13 mounted on the support frame 11 perform surround image acquisition of the top, left, right and bottom surfaces of the main cable. The images captured by the visual recognition cameras 13 are transmitted to the intelligent recognition and detection module of the wireless controller 4 through wires. The intelligent recognition and detection module of the wireless controller 4 automatically analyzes and identifies the damaged and defective parts of the main cable's paint surface in the captured images. When the intelligent recognition and detection module of the wireless controller 4 identifies a damaged area on the main cable's paint surface, it automatically triggers the paint spraying and touch-up program. The intelligent recognition and detection module of the wireless controller 4 sends a signal to the wireless controller... The paint spraying control module of robot 4 sends a touch-up command. The paint spraying control module of wireless controller 4 controls the infusion pump 7 to start via wires. Pump 7 extracts the anti-corrosion paint from the storage tank 2 and delivers it to the diversion pipe 8, a cylindrical tubular structure. Five sets of cylindrical conduits behind diversion pipe 8 distribute the paint to five sets of infusion pipes 9. The paint is then delivered to the atomizing nozzle 16 through the infusion pipes 9. The paint is then atomized under high pressure by the atomizing nozzle 16 and sprayed around the damaged areas of the main cable's paint surface for touch-up painting. This completes the anti-corrosion coating robot's high-altitude paint surface damage detection and touch-up work on the main cable of the long-span suspension bridge.

[0062] All the above components are installed, connected, or set up using common mechanical methods, such as welding, threaded connections, and screw connections. Furthermore, the specific structure, model, and coefficient indicators of all components are based on their own technologies. Any method that achieves the desired beneficial effect can be implemented. The aforementioned mobile camera 3, wireless controller 4, infusion pump 7, visual recognition camera 13, atomizing nozzle 16, battery pack 21, drive motor 2203, adjustment motor 2204, and clamping motor 2212 are all common commercially available components. Upon purchase and use, simply connect them according to the instruction manual provided with the purchase; therefore, further details are omitted here.

[0063] The technical solutions of the present invention are not limited to the scope of the embodiments of the present invention, and the technical contents not described in detail in the present invention are all known technologies.

Claims

1. An intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge, comprising a hood (19); a traveling camera (3) is installed on the front side of the hood (19), and a liquid storage tank (2) and a wireless controller (4) are installed on the inner side of the hood (19); an infusion pump (7) is installed on the left side of the liquid storage tank (2); a lid (1) is installed on the upper side of the liquid storage tank (2), and a traveling camera (3) is installed on the front side of the hood (19); characterized in that: It also includes a bidirectional threaded adjustment rod (6), a sliding plate (17), and a clamping travel device (22); the left and right ends of the bidirectional threaded adjustment rod (6) are both welded with adjustment knobs (5), and the outer side of the bidirectional threaded adjustment rod (6) is rotatably connected to the base (18); the upper side of the base (18) is connected to the cover (19) by bolts, the inner side of the cover (19) is equipped with a battery pack (21), the rear side of the base (18) is welded with a support plate (10), and the lower side of the support plate (10) is equipped with an atomizing nozzle (16); the outer side of the sliding plate (17) is slidably connected to the base (18), the lower side of the sliding plate (17) is connected to a bracket (20) by bolts, and the outer side of the bracket (20) is connected to a support plate frame (11) by bolts; the outlet of the infusion pump (7) is equipped with a diversion pipe (8).

2. The intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge as described in claim 1, characterized in that: The clamping travel device (22) consists of two sets, symmetrically distributed front and rear. Each set of clamping travel devices (22) includes a roller (2201), a slide (2202), a drive motor (2203), an adjusting motor (2204), a support frame (2205), a transmission rod (2206), a guide rod (2207), a bidirectional threaded rod (2208), a bidirectional threaded clamping rod (2209), a slide rod (2210), a push frame (2211), a clamping motor (2212), and a beam frame (2213); the bidirectional threaded rod (2201) 08) A beam frame (2213) is rotatably connected to the outer side. An adjusting motor (2204) is bolted to the left side of the beam frame (2213). A bidirectional threaded rotating rod (2208) is mounted on the motor shaft of the adjusting motor (2204). A support frame (2205) is welded to both the left and right ends of the slide rod (2210). A clamping motor (2212) is mounted on the left side of the support frame (2205). A bidirectional threaded clamping rod (2209) is mounted on the motor shaft of the clamping motor (2212). A support frame (2208) is rotatably connected to the outer side of the bidirectional threaded clamping rod (2209). 5) The front and rear sides of the support frame (2205) are bolted to beams (2213). The outer side of the slide rod (2210) is slidably connected to a pusher frame (2211). A drive motor (2203) is mounted on the upper side of the pusher frame (2211). A transmission rod (2206) is mounted on the motor shaft of the drive motor (2203). A roller (2201) is welded to the bottom end of the transmission rod (2206). There are two sets of slides (2202). The slides (2202) are symmetrically distributed on the left and right sides. The left side of each set of slides (2202) is near the top. The slide (2202) is provided with a threaded through hole that runs through both sides. The positive thread end of the outer side of the bidirectional threaded rotating rod (2208) is engaged with the threaded through hole of the right slide (2202), and the reverse thread end of the outer side of the bidirectional threaded rotating rod (2208) is engaged with the threaded through hole of the left slide (2202). The left side of the slide (2202) is provided with two sets of circular through holes. A guide rod (2207) is inserted into the circular through hole of the slide (2202). A beam frame (2213) is welded to the left and right ends of the guide rod (2207). A roller (2201) is rotatably connected to the bottom end of the slide (2202).

3. The intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge as described in claim 2, characterized in that: There are two sets of pusher frames (2211), which are symmetrically distributed on the left and right. Each set of pusher frames (2211) has a threaded through hole in the center. The positive thread end of the outer side of the bidirectional threaded clamp rod (2209) is engaged with the threaded through hole of the right pusher frame (2211), and the reverse thread end of the outer side of the bidirectional threaded clamp rod (2209) is engaged with the threaded through hole of the left pusher frame (2211). The left side of the pusher frame (2211) has two sets of circular through holes, and a slide rod (2210) is inserted in the circular through hole of the pusher frame (2211).

4. The intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge as described in claim 2, characterized in that: The number of rollers (2201) is eight sets, and each set of rollers (2201) has a V-shaped groove around its outer side.

5. The intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge as described in claim 1, characterized in that: A visual recognition camera (13) is installed at the center of the lower side of the base (18). The visual recognition camera (13) is connected to the recognition and detection module of the wireless controller (4) by a wire. Both the left and right sides of the base (18) are provided with rectangular through slots. A sliding plate (17) is inserted and nested in the rectangular through slots of the base (18).

6. The intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge as described in claim 1, characterized in that: The number of brackets (20) is four sets, and each set of brackets (20) is a T-shaped structure. Near the top of the T-shaped structure of the bracket (20) is provided two sets of circular through holes that run horizontally. Clamping bolts (14) are inserted into the circular through holes of the bracket (20). Clamping nuts (23) are engaged with the outer side of the clamping bolts (14). Support plates (11) are nested on the outer side of the clamping bolts (14). The number of support plates (11) is four sets, and each set of support plates (11) is a V-shaped structure. (11) The V-shaped structure is provided with a long through groove running from left to right. The clamping nut (23) is inserted into the long through groove of the support frame (11). Each pair of support frames (11) are symmetrically distributed front and back. The two sets of support frames (11) on the rear side are connected to two sets of paint plates (15) by bolts. Each set of paint plates (15) is equipped with an atomizing nozzle (16). The two sets of support frames (11) on the front side are connected to a camera plate (12) by bolts. Each set of camera plate (12) is equipped with a visual recognition camera (13).

7. The intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge as described in claim 1, characterized in that: The number of the slide plates (17) is two sets. Each set of slide plates (17) has a rectangular protrusion on its upper side. The center of the rectangular protrusion of the slide plate (17) has a threaded through hole that runs from left to right. The positive thread end of the outer side of the bidirectional threaded adjusting rod (6) is engaged in the threaded through hole of the right slide plate (17), and the reverse thread end of the outer side of the bidirectional threaded adjusting rod (6) is engaged in the threaded through hole of the left slide plate (17).

8. The intelligent inspection and anti-corrosion coating robot for the main cable of a long-span suspension bridge as described in claim 1, characterized in that: The diversion tube (8) is a cylindrical tube shell structure. A cylindrical through pipe is provided at the center of the front side of the cylindrical tube shell structure of the diversion tube (8). An infusion pump (7) is installed at the cylindrical through pipe on the front side of the diversion tube (8). Five sets of cylindrical through pipes are provided on the rear side of the cylindrical tube shell structure of the diversion tube (8). An infusion tube (9) is installed at the end of each of the five sets of cylindrical through pipes on the rear side of the diversion tube (8). An atomizing nozzle (16) is installed at the other end of each set of infusion tubes (9).

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