A climbing robot for detecting a stay cable

Abstract

The utility model discloses a kind of cable-climbing robot for detecting stay cable, belong to cable-climbing robot technical field, comprising: one combined frame, second combined frame, cable-climbing mechanism and polishing mechanism;Polishing mechanism, including polishing subassembly, air extraction subassembly and spraying subassembly.Through No. 3 electric push rod drive, the polishing pressure of clean roller to stay cable can be adjusted, avoid excessive wear PE sheath, through motor drive iron brush cleaning roller rotation, stay cable surface paint layer crack surface can be polished and handled, through fan drive, utilize the filter screen of detachable inside installation box to filter and collect powder in extracted air, prevent powder from causing secondary pollution to surrounding environment, through pump body, anticorrosive paint in liquid storage tank is sprayed to polishing surface by nozzle, the crack surface after polishing can form closed protective layer, by integrated polishing, air extraction and spraying three major functional modules, the automation processing to stay cable surface paint layer crack surface is realized, whole process does not need manual intervention.

Description

Technical Field

[0001] This utility model specifically relates to a cable-climbing robot for detecting stay cables, belonging to the field of cable-climbing robot technology. Background Technology

[0002] A cable-stayed bridge, also known as a skeletal bridge, is a type of bridge in which the main beam is directly supported by numerous cables to the bridge towers. It is a structural system composed of compression-bearing towers, tension-bearing cables, and bending-bearing beams. It can be regarded as a multi-span elastically supported continuous beam where cables replace piers. This reduces the bending moment within the beam, lowers the building height, reduces the structural weight, and saves materials. A cable-stayed bridge mainly consists of towers, main beams, and cables.

[0003] Currently, most existing cable-climbing robots for inspecting stay cables can only inspect the stay cables themselves. However, because stay cables are installed in environments where they are exposed to the external environment for extended periods, the temperature difference between day and night can cause repeated expansion and contraction of the paint layer, resulting in micro-cracks that may gradually expand into a network of cracks. When the cable-climbing robot detects cracks in the paint layer of the outer protective sleeve of the stay cable, it is necessary to mark the location of the cracks by laser marking or spraying temporary markers (such as fluorescent dyes). Maintenance personnel then need to reach the marked location using aerial work platforms or suspended platforms, manually grind the cracked area, and apply anti-corrosion coatings. Each repair requires the dispatch of aerial work platforms or the construction of a suspended platform, which is not only inefficient but also highly dangerous. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a cable-climbing robot for detecting cable stays. This robot integrates three functional modules—grinding, ventilation, and spraying—to automate the treatment of cracked surfaces in the paint layer of cable stays, eliminating the need for manual intervention throughout the entire process.

[0005] A cable-climbing robot for detecting cable-stayed bridges includes: a first combined frame, a second combined frame, a cable-climbing mechanism, and a grinding mechanism;

[0006] The grinding mechanism includes a grinding component, a ventilation component, and a spraying component. The grinding component is used to grind the cracks detected on the topcoat of the cable-stayed bridge. The ventilation component is used to absorb and purify the powder falling from the grinding component. The spraying component is used to spray anti-corrosion coating onto the topcoat of the cable-stayed bridge after grinding by the grinding component.

[0007] The polishing assembly includes a cleaning roller, and an iron brush is provided on the outer side of the cleaning roller;

[0008] The exhaust assembly includes an exhaust housing, a fan, and a filter screen, with the filter screen located above the fan.

[0009] The spraying assembly includes a pump body and a nozzle, with the nozzle being internally connected to the pipe at the output end of the pump body.

[0010] Furthermore, the first and second combined frames are connected by two combined pages. The front of the first combined frame is rotatably provided with a locking plate, and the front of the second combined frame is provided with a locking shell. A pin is provided through the inside of the locking shell, wherein the pin moves through the inside of the locking plate.

[0011] Furthermore, cameras are installed at the top of both the first and second combined frames, and laser scanners are installed at the top of both the first and second combined frames.

[0012] Furthermore, multiple sets of mounting plates are provided on the inner sides of both the first and second combined frames, and a control module is provided on one side of each set of mounting plates.

[0013] Furthermore, the climbing cable mechanism includes a first drive wheel and a second drive wheel, and a first electric push rod is provided on one side of each of the multiple sets of mounting plates. The output end of the first electric push rod is provided with an assembly shell, and the two sets of first drive wheels are rotatably disposed inside the assembly shell.

[0014] Furthermore, a second electric push rod is provided on one side of the mounting plate above the first electric push rod, and the second drive wheel is mounted on the rod body at the output end of the second electric push rod using a housing.

[0015] Furthermore, a support plate is provided on one side of the mounting plate, a No. 3 electric push rod is provided at the bottom of the support plate, a mounting shell is provided at the output end of the No. 3 electric push rod, the cleaning roller is disposed inside the mounting shell, a motor is provided at the top of the mounting shell, and the shaft of the motor output end is connected to the top of the cleaning roller.

[0016] Furthermore, the two sets of exhaust shells are located at the bottom of the support plate, and the top of the support plate is provided with an installation box. An air supply pipe is provided inside one side of each set of exhaust shells, and the other end of the air supply pipe is connected to the inside of the installation box. The fan is located inside the installation box, and the filter screen is detachably inserted inside the installation box.

[0017] Furthermore, a liquid storage tank is provided at the top of the support plate, wherein the liquid storage tank is in contact with the mounting box, the pump body is mounted on one side of the support plate by a bracket, and an infusion pipe is provided at the input end of the pump body, wherein the infusion pipe is inserted into the liquid storage tank, and the nozzle is mounted on the support plate relative to one side of the pump body.

[0018] Beneficial effects:

[0019] Equipped with a grinding mechanism driven by a No. 3 electric push rod, the mounting housing can be moved towards the cracked surface of the cable-stayed bridge's paint layer. The No. 3 electric push rod also allows adjustment of the grinding pressure of the cleaning roller on the cable-stayed bridge's paint layer, preventing excessive wear on the PE sheath. A motor-driven iron brush cleaning roller rotates to grind the cracked surface of the cable-stayed bridge's paint layer. During the grinding process, a fan inside the mounting housing drives the grinding assembly to remove dust particles that fall from the paint layer. It can enter the installation box through the exhaust shell and air supply pipe. The powder in the extracted air is filtered and collected by the removable filter screen inside the installation box to prevent the powder from causing secondary pollution to the surrounding environment. After the grinding component grinds the cable stays, the anti-corrosion coating in the storage tank is sprayed onto the grinding surface through the nozzle by the pump body. It can form a sealed protective layer on the cracked surface after grinding. By integrating the three major functional modules of grinding, exhaust and spraying, the cracked surface of the coating layer of the cable stays is automatically treated without human intervention.

[0020] With components such as a positioning plate and a positioning shell, the cable-climbing robot's frame design adopts a hinged structure of a first-combination frame and a second-combination frame. The positioning plate and pins enable quick opening and closing, allowing the cable-climbing robot to be fitted onto the outside of the cable to be inspected, facilitating the rapid disassembly of the cable-climbing robot from the cable. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the angle adjustment structure of the first and second combined frames of this utility model;

[0023] Figure 3 This is a schematic diagram of one side of the mounting plate of this utility model;

[0024] Figure 4 This is a schematic diagram of the other side of the mounting plate of this utility model;

[0025] Figure 5 This is a schematic diagram of the cross-sectional structure of the support plate of this utility model;

[0026] Figure 6 In this utility model Figure 1 A magnified view of the local structure at point A;

[0027] Figure 7 In this utility model Figure 5 A magnified view of the local structure at point B.

[0028] In the diagram: 1. First assembly frame; 2. Positioning plate; 3. Second assembly frame; 4. Positioning shell; 5. Pin; 6. Camera; 7. Laser scanner; 8. Mounting plate; 9. Control module; 10. First electric push rod; 11. Assembly shell; 12. First drive wheel; 13. Second electric push rod; 14. Second drive wheel; 15. Support plate; 16. Third electric push rod; 17. Mounting shell; 18. Cleaning roller; 19. Motor; 20. Exhaust shell; 21. Air supply pipe; 22. Mounting box; 23. Fan; 24. Filter screen; 25. Liquid storage tank; 26. Pump body; 27. Infusion pipe; 28. Nozzle. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figure 3 , Figure 4 , Figure 5 and Figure 7 As shown, a cable-climbing robot for detecting stay cables;

[0031] Includes: No. 1 combined frame 1, No. 2 combined frame 3, climbing cable mechanism and grinding mechanism;

[0032] The grinding mechanism includes a grinding component, a ventilation component, and a spraying component. The grinding component is used to grind the cracks detected on the topcoat of the cable-stayed bridge. The ventilation component is used to absorb and purify the powder falling from the grinding component. The spraying component is used to spray anti-corrosion coating onto the topcoat of the cable-stayed bridge after grinding by the grinding component.

[0033] The polishing assembly includes a cleaning roller 18, an iron brush on the outside of the cleaning roller 18, a support plate 15 on one side of the mounting plate 8, a third electric push rod 16 at the bottom of the support plate 15, a mounting shell 17 at the output end of the third electric push rod 16, the cleaning roller 18 is placed inside the mounting shell 17, and a motor 19 is placed at the top of the mounting shell 17. The shaft at the output end of the motor 19 is connected to the top of the cleaning roller 18.

[0034] The exhaust assembly includes an exhaust housing 20, a fan 23, and a filter 24. The filter 24 is located above the fan 23. Two sets of exhaust housings 20 are set at the bottom of the support plate 15. The top of the support plate 15 is provided with a mounting box 22. An air supply pipe 21 is provided inside one side of each of the two sets of exhaust housings 20. The other end of the air supply pipe 21 is connected to the inside of the mounting box 22. The fan 23 is set inside the mounting box 22. The filter 24 is detachably inserted into the inside of the mounting box 22.

[0035] The spraying assembly includes a pump body 26 and a nozzle 28. The nozzle 28 is internally connected to the pipe at the output end of the pump body 26. A liquid storage tank 25 is provided at the top of the support plate 15, and the liquid storage tank 25 is in contact with the mounting box 22. The pump body 26 is mounted on one side of the support plate 15 by a bracket. A liquid delivery pipe 27 is provided at the input end of the pump body 26, and the liquid delivery pipe 27 is inserted into the liquid storage tank 25. The nozzle 28 is mounted on the support plate 15 on the side opposite to the pump body 26.

[0036] Driven by the No. 3 electric push rod 16, the mounting shell 17 can be moved towards the cracked surface of the cable-stayed bridge paint layer. The No. 3 electric push rod 16 can also be used to adjust the polishing pressure of the cleaning roller 18 on the cable-stayed bridge paint layer to avoid excessive wear of the PE sheath. The iron brush cleaning roller 18 can be rotated by the motor 19 to polish the cracked surface of the cable-stayed bridge paint layer.

[0037] During the grinding of the cracked surface of the cable-stayed bridge paint layer by the grinding component, the powder falling off the grinding component can enter the installation box 22 through the exhaust shell 20 and the air supply pipe 21 driven by the fan 23 inside the installation box 22. The powder in the air is filtered and collected by the removable filter screen 24 inside the installation box 22 to prevent the powder from causing secondary pollution to the surrounding environment.

[0038] After the grinding assembly grinds the topcoat of the cable-stayed bridge, the anti-corrosion coating stored in the storage tank 25 can be extracted by the pump body 26 and the infusion pipe 27. The pump body 26 sprays the anti-corrosion coating in the storage tank 25 onto the grinding surface through the nozzle 28, which can form a sealed protective layer on the cracked surface after grinding.

[0039] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, a cable-climbing robot for detecting stay cables;

[0040] The first and second assembly frames 1 and 2 are connected by two hinges. The front of the first assembly frame 1 is equipped with a rotatable locking plate 2, and the front of the second assembly frame 3 is equipped with a locking shell 4. A pin 5 is inserted through the inside of the locking shell 4, and the pin 5 moves through the inside of the locking plate 2. A camera 6 and a laser scanner 7 are installed at the top of both the first and second assembly frames 1 and 2. Multiple sets of mounting plates 8 are installed on the inside of both the first and second assembly frames 1 and 2, and a control module 9 is installed on one side of each set of mounting plates 8.

[0041] The frame design of the cable-climbing robot for inspecting cable-stayed cables adopts a hinged structure of No. 1 combined frame 1 and No. 2 combined frame 3. The carbon fiber frame design takes into account both lightweight and strength. The quick opening and closing is achieved through the locking plate 2 and the pin 5, which can put the cable-climbing robot for inspecting cable-stayed cables on the outside of the cable-stayed cables to be inspected.

[0042] Camera 6 and laser scanner 7 form the detection module for the cable-climbing robot to detect cable stays. By working together, camera 6 and laser scanner 7 can accurately locate the cracked surface of the paint layer on the cable stays.

[0043] Two sets of mounting plates 8 are provided on the inner side of both the first combined frame 1 and the second combined frame 3. The mounting plates 8 are used to provide mounting positions for the climbing cable mechanism and the grinding mechanism. After the robot identifies the location of the crack surface of the topcoat layer through the laser scanner 7, the control module 9 can plan the path and use the first drive wheel 12 and the second drive wheel 14 to drive the robot body to position to the target point.

[0044] Please see Figure 3 and Figure 4 As shown, a cable-climbing robot for detecting stay cables;

[0045] The climbing mechanism includes a first drive wheel 12 and a second drive wheel 14. A first electric push rod 10 is provided on one side of multiple sets of mounting plates 8. An assembly shell 11 is provided at the output end of the first electric push rod 10. The two sets of first drive wheels 12 are rotatably disposed inside the assembly shell 11. A second electric push rod 13 is provided on one side of the mounting plate 8 above the first electric push rod 10. The second drive wheel 14 is disposed on the rod body at the output end of the second electric push rod 13 using a housing.

[0046] The first drive wheel 12 and the second drive wheel 14 are controlled by the first electric push rod 10 and the second electric push rod 13, respectively. The positions of the first drive wheel 12 and the second drive wheel 14 can be adjusted by the first electric push rod 10 and the second electric push rod 13 to adapt to the change of the diameter of the cable. By using multiple sets of first drive wheels 12 to squeeze and contact with the cable and drive it, the cable climbing robot can be driven to move up and down along the cable. By using multiple sets of second drive wheels 14 to squeeze and contact with the cable and drive it, the cable climbing robot can be made to rotate around the cable and adjust the position of the polishing mechanism so that the cleaning roller 18 is adjusted to the cracked surface of the coating layer of the cable.

[0047] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0048] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A cable-climbing robot for detecting stay cables, characterized in that, include: No. 1 combined frame (1), No. 2 combined frame (3), climbing cable mechanism and grinding mechanism; The grinding mechanism includes a grinding component, a ventilation component, and a spraying component. The grinding component is used to grind the cracks detected on the topcoat of the cable-stayed bridge. The ventilation component is used to absorb and purify the powder falling from the grinding component. The spraying component is used to spray anti-corrosion coating onto the topcoat of the cable-stayed bridge after grinding by the grinding component. The polishing assembly includes a cleaning roller (18), and an iron brush is provided on the outside of the cleaning roller (18); The exhaust assembly includes an exhaust housing (20), a fan (23), and a filter (24), with the filter (24) located above the fan (23); The spraying assembly includes a pump body (26) and a nozzle (28), wherein the nozzle (28) is internally connected to the pipe at the output end of the pump body (26).

2. The cable-climbing robot for detecting cable stays as described in claim 1, characterized in that: The first combined frame (1) and the second combined frame (3) are connected by two combined pages. The front of the first combined frame (1) is provided with a rotatable locking plate (2), and the front of the second combined frame (3) is provided with a locking shell (4). A pin (5) is provided through the inside of the locking shell (4), wherein the pin (5) moves through the inside of the locking plate (2).

3. The cable-climbing robot for detecting inclined cables as described in claim 1, characterized in that: A camera (6) is provided at the top of both the first combined frame (1) and the second combined frame (3), and a laser scanner (7) is provided at the top of both the first combined frame (1) and the second combined frame (3).

4. The cable-climbing robot for detecting cable stays as described in claim 1, characterized in that: Multiple sets of mounting plates (8) are provided on the inner side of both the first combined frame (1) and the second combined frame (3), and a control module (9) is provided on one side of each set of mounting plates (8).

5. The cable-climbing robot for detecting inclined stay cables as described in claim 4, characterized in that: The climbing mechanism includes a first drive wheel (12) and a second drive wheel (14). Each of the multiple sets of mounting plates (8) is provided with a first electric push rod (10) on one side. The output end of the first electric push rod (10) is provided with an assembly shell (11). The two sets of first drive wheels (12) are rotatably disposed inside the assembly shell (11).

6. The cable-climbing robot for detecting stay cables as described in claim 5, characterized in that: On one side of the mounting plate (8), above the first electric push rod (10), a second electric push rod (13) is provided. The second drive wheel (14) is mounted on the rod body at the output end of the second electric push rod (13) using a housing.

7. The cable-climbing robot for detecting inclined stay cables as described in claim 6, characterized in that: A support plate (15) is provided on one side of the mounting plate (8). A third electric push rod (16) is provided at the bottom of the support plate (15). A mounting shell (17) is provided at the output end of the third electric push rod (16). The cleaning roller (18) is located inside the mounting shell (17). A motor (19) is provided at the top of the mounting shell (17). The shaft of the output end of the motor (19) is connected to the top of the cleaning roller (18).

8. The cable-climbing robot for detecting inclined cables as described in claim 1, characterized in that: Two sets of exhaust shells (20) are set at the bottom of the support plate (15), and the top of the support plate (15) is provided with an installation box (22). One side of each set of exhaust shells (20) is provided with an air supply pipe (21), and the other end of the air supply pipe (21) is connected to the inside of the installation box (22). The fan (23) is set inside the installation box (22), and the filter screen (24) is detachably inserted inside the installation box (22).

9. The cable-climbing robot for detecting inclined stay cables as described in claim 8, characterized in that: The top of the support plate (15) is provided with a liquid storage tank (25), wherein the liquid storage tank (25) is in contact with the mounting box (22), the pump body (26) is mounted on one side of the support plate (15) by a bracket, the input end of the pump body (26) is provided with a delivery pipe (27), wherein the delivery pipe (27) is inserted into the liquid storage tank (25), and the nozzle (28) is mounted on the support plate (15) on one side relative to the pump body (26).

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