Climbing mechanism for double track of suspension bridge

Abstract

The embodiment of the present application provides a climbing mechanism of a double-track suspension bridge, which is used for adapting to the double-track spacing change, the first track matching part and the second track matching part are respectively used for driving the climbing mechanism to move along the track direction in different tracks, the first variable track movable part and the second variable track movable part are slidably matched in the vertical direction of the track, and the variable track adjusting part is used for driving the first variable track movable part and the second variable track movable part to relatively move in the vertical direction of the track, so that the spacing of the first track matching part and the second track matching part can adapt to the spacing of the track. The variable track adjusting part is used for driving the first variable track movable part and the second variable track movable part to relatively move in the vertical direction of the track, and then driving the first track matching part and the second track matching part to relatively move in the vertical direction of the track, so that the first track matching part and the second track matching part can adapt to the requirement of the double-track spacing change.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the field of climbing mechanism, in particular to a kind of climbing mechanism of suspension bridge double track. BACKGROUND

[0002] To eliminate major accident hazards, the main cable of suspension bridge needs regular maintenance. Manual maintenance of main cable is low in efficiency and high in risk, so realizing machine maintenance of main cable becomes a new trend. Realizing the climbing of main cable handrail rope is one of the key technologies for realizing machine maintenance of main cable. Since the diameters of main cables of different suspension bridges can be different, the spacing between the two handrail ropes arranged in parallel exists difference, and the main cable detection machine of prior art cannot meet the requirement that the climbing mechanism adapts to the change of double-track spacing. SUMMARY

[0003] The embodiment of the present application provides a kind of climbing mechanism of suspension bridge double track, for adapting to the change of double-track spacing.

[0004] The first aspect of the embodiment of the present application provides a kind of climbing mechanism of suspension bridge double track, including the first track matching part and the first track variable active part fixedly connected in the vertical direction of track;

[0005] Further comprising the second track matching part and the second track variable active part fixedly connected in the vertical direction of track;

[0006] The first track matching part and the second track matching part run in different tracks respectively, for driving the climbing mechanism to move along the track direction;

[0007] Further comprising the track variable adjusting part connected with the first track variable active part and the second track variable active part;

[0008] The first track variable active part and the second track variable active part slide in the vertical direction of track, and the track variable adjusting part is used to drive the first track variable active part and the second track variable active part to move relatively in the vertical direction of track, so that the spacing of the first track matching part and the second track matching part adapts to the spacing of the track.

[0009] Based on the first aspect of the embodiment of the present application, in the first implementation manner of the first aspect of the embodiment of the present application, the first track variable active part includes first optical axis, first track variable connecting plate and first linear bearing, the first linear bearing is fixedly arranged on the first track variable connecting plate, one end of the first optical axis is connected with the first track variable connecting plate, the other end of the first optical axis is connected with the first track matching part, and the length extension direction of the first optical axis is perpendicular to the track direction;

[0010] The second rail-changing movable part comprises a second optical axis, a second rail-changing connecting plate, and a second linear bearing fixedly arranged on the second rail-changing connecting plate, one end of the second optical axis is connected to the second rail-changing connecting plate, the other end of the second optical axis is connected to the second rail-matching part, and the length extension direction of the second optical axis is perpendicular to the rail direction.

[0011] The first optical axis is matched with the second linear bearing, and the second optical axis is matched with the first linear bearing.

[0012] According to the first aspect or the first implementation manner of the first aspect of the embodiment of the present application, in the second implementation manner of the first aspect of the embodiment of the present application, the first rail-matching part, the first rail-changing connecting plate, and the plurality of first optical axes enclose a rectangle, the first rail-matching part and the first rail-changing connecting plate are arranged in parallel, and the plurality of first optical axes are parallel to each other.

[0013] The second rail-matching part, the second rail-changing connecting plate, and the plurality of second optical axes enclose a rectangle, the second rail-matching part and the second rail-changing connecting plate are arranged in parallel, and the plurality of second optical axes are parallel to each other.

[0014] According to any one of the first aspect, the first implementation manner, and the second implementation manner of the first aspect of the embodiment of the present application, in the third implementation manner of the first aspect of the embodiment of the present application, the rail-changing adjusting part comprises an electric cylinder, a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod.

[0015] The first end of the electric cylinder, the first end of the first connecting rod, and the first end of the second connecting rod are hinged, the second end of the electric cylinder, the first end of the third connecting rod, and the first end of the fourth connecting rod are hinged.

[0016] The second end of the first connecting rod is hinged to the first rail-changing movable part, the second end of the second connecting rod is hinged to the second rail-changing movable part, the second end of the third connecting rod is hinged to the first rail-changing movable part, and the second end of the fourth connecting rod is hinged to the second rail-changing movable part.

[0017] According to any one of the first aspect, the first implementation manner, the second implementation manner, and the third implementation manner of the first aspect of the embodiment of the present application, in the fourth implementation manner of the first aspect of the embodiment of the present application, the first rail-matching part comprises a first electric motor, a first upper rail-matching part, and a first lower rail-matching part, the first upper rail-matching part comprises a first upper gripping assembly, and the first lower rail-matching part comprises a first lower gripping assembly.

[0018] The first upper gripping assembly and the first lower gripping assembly alternately grip and release the track, and the first motor drives the first upper track matching part and the first lower track matching part to move relatively along the track direction, so that the climbing mechanism moves forward along the track like a worm;

[0019] The second track matching part comprises a second motor, a second upper track matching part and a second lower track matching part, the second upper track matching part comprises a second upper gripping assembly, and the second lower track matching part comprises a second lower gripping assembly;

[0020] The second upper gripping assembly and the second lower gripping assembly alternately grip and release the track, and the second motor drives the second upper track matching part and the second lower track matching part to move relatively along the track direction, so that the climbing mechanism moves forward along the track like a worm.

[0021] According to any one of the first aspect, the first implementation manner, the second implementation manner, the third implementation manner or the fourth implementation manner of the first aspect of the present application, in a fifth implementation manner of the first aspect of the present application, the first track changing active part comprises a first upper track changing active part and a first lower track changing active part, and the second track changing active part comprises a second upper track changing active part and a second lower track changing active part;

[0022] The first upper track matching part is fixedly connected with the first upper track changing active part, and the first lower track matching part is fixedly connected with the first lower track changing active part;

[0023] The second upper track matching part is fixedly connected with the second upper track changing active part, and the second lower track matching part is fixedly connected with the second lower track changing active part;

[0024] The first upper track changing active part and the second upper track changing active part are in sliding fit in the track vertical direction, and the first lower track changing active part and the second lower track changing active part are in sliding fit in the track vertical direction.

[0025] According to any one of the first aspect, the first implementation manner, the second implementation manner, the third implementation manner, the fourth implementation manner or the fifth implementation manner of the first aspect of the present application, in a sixth implementation manner of the first aspect of the present application, the first upper track matching part further comprises a first upper track connecting plate, the first lower track matching part further comprises a first lower track connecting plate, and a sliding rail and a sliding block are arranged between the first upper track connecting plate and the first lower track connecting plate;

[0026] The second upper track matching part further comprises a second upper track connecting plate, the second lower track matching part further comprises a second lower track connecting plate, and a sliding rail and a sliding block are arranged between the second upper track connecting plate and the second lower track connecting plate.

[0027] In the seventh implementation manner of the first aspect of the embodiment, two groups of the first upper gripping assemblies are arranged at two ends of the first upper rail connecting plate, and two groups of the first lower gripping assemblies are arranged at two ends of the first lower rail connecting plate.

[0028] The first upper rail connecting plate has a length greater than the first lower rail connecting plate, and the first lower gripping assembly is arranged between the two groups of the first upper gripping assemblies.

[0029] Two groups of the second upper gripping assemblies are arranged at two ends of the second upper rail connecting plate, and two groups of the second lower gripping assemblies are arranged at two ends of the second lower rail connecting plate.

[0030] The second upper rail connecting plate has a length greater than the second lower rail connecting plate, and the second lower gripping assembly is arranged between the two groups of the second upper gripping assemblies.

[0031] In the eighth implementation manner of the first aspect of the embodiment, the first motor drives the first upper rail matching part and the first lower rail matching part to relatively move along the rail direction through a gear and a rack.

[0032] The second motor drives the second upper rail matching part and the second lower rail matching part to relatively move along the rail direction through a gear and a rack.

[0033] In the ninth implementation manner of the first aspect of the embodiment, two ends of the first rail matching part and the second rail matching part are respectively hinged to a first end of the guide mechanism.

[0034] A second end of the guide mechanism is provided with a roller.

[0035] From the above technical solutions, the embodiment has the following advantages:

[0036] In the embodiment, the main cable handrail rope is used as the rail, and the first rail matching part and the second rail matching part run in two rails respectively. The first rail matching part and the first rail changing movable part are fixedly connected in the rail vertical direction, and the second rail matching part and the second rail changing movable part are fixedly connected in the rail vertical direction. The rail changing adjusting part is used for driving the first rail changing movable part and the second rail changing movable part to relatively move in the rail vertical direction, thereby driving the first rail matching part and the second rail matching part to relatively move in the rail vertical direction, so that the first rail matching part and the second rail matching part can adapt to the requirement of the double-rail spacing change. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is the assembly view of the climbing mechanism of the double track of the suspension bridge of the embodiment of the present application;

[0038] Figure 2 is the sectional view of the climbing mechanism of the double track of the suspension bridge of the embodiment of the present application;

[0039] Figure 3 is an exploded view of the climbing mechanism of the double track of the suspension bridge of the embodiment of the present application;

[0040] Figure 4 is another exploded view of the climbing mechanism of the double track of the suspension bridge of the embodiment of the present application;

[0041] Figure 5 is the exploded view of the upper layer of the climbing mechanism of the climbing mechanism of the double track of the suspension bridge of the embodiment of the present application;

[0042] Figure 6 is the exploded view of the lower layer of the climbing mechanism of the climbing mechanism of the double track of the suspension bridge of the embodiment of the present application;

[0043] 1, first track matching part; 101, first motor; 102, first upper track matching part; 103, first lower track matching part; 104, first upper gripping assembly; 105, first lower gripping assembly; 106, first upper track connecting plate; 107, first lower track connecting plate;

[0044] 2, first track changing movable part; 201, first optical axis; 202, first track changing connecting plate; 203, first linear bearing; 204, first upper optical axis; 205, first upper track changing connecting plate; 206, first upper linear bearing; 207, first lower optical axis; 208, first lower track changing connecting plate; 209, first lower linear bearing;

[0045] 3, second track matching part; 301, second motor; 302, second upper track matching part; 303, second lower track matching part; 304, second upper gripping assembly; 305, second lower gripping assembly; 306, second upper track connecting plate; 307, second lower track connecting plate;

[0046] 4, second track changing movable part; 401, second optical axis; 402, second track changing connecting plate; 403, second linear bearing; 404, second upper optical axis; 405, second upper track changing connecting plate; 406, second upper linear bearing; 407, second lower optical axis; 408, second lower track changing connecting plate; 409, second lower linear bearing;

[0047] 5, track changing adjusting part; 501, first connecting rod; 502, second connecting rod; 503, third connecting rod; 504, fourth connecting rod; 505, electric cylinder;

[0048] 601 slide rail; 602 slide block; 603 gear; 604 rack; 605 guide mechanism; 606 roller; 607 guide link; 608 damping spring; 609 pin shaft;

[0049] 7 track. DETAILED DESCRIPTION

[0050] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms herein is merely for distinguishing between the similar objects and the same can be referenced in the same way by one of the other terms. Further, the terms "comprise", "comprising", "containing", "including", "comprises", "comprising", "containing", "including" and the like are to be construed as being inclusive (meaning and / or) and not exclusive, unless specifically indicated otherwise. It is intended that the embodiments described herein encompass each and every combination of features described herein.

[0051] As shown in Figures 1 to 6 the embodiments of the present application provide a climbing mechanism for double tracks of a suspension bridge, comprising a first track matching part 1 and a first track changing active part 2 fixedly connected in the vertical direction of the track;

[0052] Further comprising a second track matching part 3 and a second track changing active part 4 fixedly connected in the vertical direction of the track;

[0053] The first track matching part 1 and the second track matching part 3 respectively run in different tracks 7, for driving the climbing mechanism to move along the track direction;

[0054] Further comprising a track changing adjusting part 5 connected between the first track changing active part 2 and the second track changing active part 4;

[0055] The first track changing active part 2 and the second track changing active part 4 are slidingly matched in the vertical direction of the track, and the track changing adjusting part 5 is used for driving the first track changing active part 2 and the second track changing active part 4 to relatively move in the vertical direction of the track, so that the interval of the first track matching part 1 and the second track matching part 3 is adapted to the interval of the track 7.

[0056] The track direction and the vertical direction of the track are perpendicular to each other.

[0057] In one implementation of this application, the first track-changing movable part 2 includes a first optical axis 201, a first track-changing connecting plate 202, and a first linear bearing 203. The first linear bearing 203 is fixedly disposed on the first track-changing connecting plate 202. One end of the first optical axis 201 is connected to the first track-changing connecting plate 202, and the other end of the first optical axis 201 is connected to the first track mating part 1. The length extension direction of the first optical axis 201 is perpendicular to the track direction.

[0058] The second track-changing movable part 4 includes a second optical axis 401, a second track-changing connecting plate 402, and a second linear bearing 403. The second linear bearing 403 is fixedly installed on the second track-changing connecting plate 402. One end of the second optical axis 401 is connected to the second track-changing connecting plate 402, and the other end of the second optical axis 401 is connected to the second track mating part 3. The length extension direction of the second optical axis 401 is perpendicular to the track direction.

[0059] The first optical axis 201 is engaged with the second linear bearing 403, and the second optical axis 401 is engaged with the first linear bearing 203.

[0060] like Figure 2 As shown, in one implementation of this application embodiment, the first track mating part 1, the first track changing connecting plate 202 and the multiple first optical axes 201 are enclosed in a rectangle, the first track mating part 1 and the first track changing connecting plate 202 are arranged in parallel, and the multiple first optical axes 201 are parallel to each other;

[0061] The second track mating part 3, the second track changing connecting plate 402, and the multiple second optical axes 401 are arranged in a rectangle. The second track mating part 3 and the second track changing connecting plate 402 are arranged in parallel, and the multiple second optical axes 401 are parallel to each other.

[0062] The first track mating part 1 and the first track changing connecting plate 202 can be connected by multiple first optical axes 201, such as 2, 3, 4, 5, or 6 first optical axes 201. Here, we take 4 first optical axes 201 as an example. Two first optical axes 201 are respectively provided at both ends of the first track mating part 1 to strengthen the connection between the first track mating part 1 and the first track changing connecting plate 202.

[0063] The second track mating part 3 and the second track changing connecting plate 402 can be connected by multiple second optical axes 401, such as 2, 3, 4, 5, or 6 second optical axes 401. Here, we take 4 second optical axes 401 as an example. Two second optical axes 401 are respectively provided at both ends of the second track mating part 3 to strengthen the connection between the second track mating part 3 and the second track changing connecting plate 402.

[0064] In one implementation of this application, the track adjustment unit 5 includes an electric cylinder 505, a first connecting rod 501, a second connecting rod 502, a third connecting rod 503, and a fourth connecting rod 504.

[0065] The first end of the electric cylinder 505, the first end of the first connecting rod 501 and the first end of the second connecting rod 502 are hinged, and the second end of the electric cylinder 505, the first end of the third connecting rod 503 and the first end of the fourth connecting rod 504 are hinged;

[0066] The second end of the first connecting rod 501 is hinged with the first rail-changing movable part 2, the second end of the second connecting rod 502 is hinged with the second rail-changing movable part 4, the second end of the third connecting rod 503 is hinged with the first rail-changing movable part 2, and the second end of the fourth connecting rod 504 is hinged with the second rail-changing movable part 4.

[0067] It should be noted that the first connecting rod 501, the second connecting rod 502, the third connecting rod 503 and the fourth connecting rod 504 can also be referred to as rail-changing connecting rods. The rail-changing adjusting part 5 can also adopt other structures, for example, the two ends of the electric cylinder 505 are connected with the first rail-changing movable part 2 and the second rail-changing movable part 4 respectively, and the specific structure is not limited.

[0068] In an implementation manner of the embodiment of the application, the first rail cooperation part 1 comprises a first motor 101, a first upper rail cooperation part 102 and a first lower rail cooperation part 103, the first upper rail cooperation part 102 comprises a first upper gripping assembly 104, and the first lower rail cooperation part 103 comprises a first lower gripping assembly 105;

[0069] The first upper gripping assembly 104 and the first lower gripping assembly 105 alternately grip and release the rail 7, and the first motor 101 drives the first upper rail cooperation part 102 and the first lower rail cooperation part 103 to relatively move along the rail direction, so that the climbing mechanism moves forward along the rail 7;

[0070] The second rail cooperation part 3 comprises a second motor 301, a second upper rail cooperation part 302 and a second lower rail cooperation part 303, the second upper rail cooperation part 302 comprises a second upper gripping assembly 304, and the second lower rail cooperation part 303 comprises a second lower gripping assembly 305;

[0071] The second upper gripping assembly 304 and the second lower gripping assembly 305 alternately grip and release the rail 7, and the second motor 301 drives the second upper rail cooperation part 302 and the second lower rail cooperation part 303 to relatively move along the rail direction, so that the climbing mechanism moves forward along the rail 7.

[0072] When the peristaltic crawling is adopted, the climbing mechanism can be divided into two layers, an upper layer and a lower layer. The upper layer includes the first upper track matching part 102 and the second upper track matching part 302, and the lower layer includes the first lower track matching part 103 and the second lower track matching part 303. It should be noted that the peristaltic crawling is not necessarily adopted, and the climbing mechanism is not necessarily divided into two layers. For example, a wheel with a large friction coefficient is used to roll along the track 7, thereby driving the climbing mechanism to move along the track 7; or a traction rope is used to pull the climbing mechanism to move along the track 7, and the specific implementation is not limited.

[0073] In an implementation manner of the embodiment of the application, the first track-changing movable part 2 includes a first upper track-changing movable part and a first lower track-changing movable part, and the second track-changing movable part 4 includes a second upper track-changing movable part and a second lower track-changing movable part.

[0074] The first upper track matching part 102 and the first upper track-changing movable part are fixedly connected; and the first lower track matching part 103 and the first lower track-changing movable part are fixedly connected.

[0075] The second upper track matching part 302 and the second upper track-changing movable part are fixedly connected; and the second lower track matching part 303 and the second lower track-changing movable part are fixedly connected.

[0076] The first upper track-changing movable part and the second upper track-changing movable part are in sliding cooperation in the vertical direction of the track; and the first lower track-changing movable part and the second lower track-changing movable part are in sliding cooperation in the vertical direction of the track.

[0077] The first upper track-changing movable part includes a first upper optical shaft 204, a first upper track-changing connecting plate 205, and a first upper linear bearing 206. The first upper linear bearing 206 is fixedly arranged on the first upper track-changing connecting plate 205. One end of the first upper optical shaft 204 is connected to the first upper track-changing connecting plate 205, and the other end of the first upper optical shaft 204 is connected to the first upper track matching part 102. The length extension direction of the first upper optical shaft 204 is perpendicular to the track direction.

[0078] The second upper track-changing movable part includes a second upper optical shaft 404, a second upper track-changing connecting plate 405, and a second upper linear bearing 406. The second upper linear bearing 406 is fixedly arranged on the second upper track-changing connecting plate 405. One end of the second upper optical shaft 404 is connected to the second upper track-changing connecting plate 405, and the other end of the second upper optical shaft 404 is connected to the second upper track matching part 302. The length extension direction of the second upper optical shaft 404 is perpendicular to the track direction.

[0079] The first upper optical shaft 204 cooperates with the second upper linear bearing 406, and the second upper optical shaft 404 cooperates with the first upper linear bearing 206.

[0080] The first lower rail-changing movable part comprises a first lower optical axis 207, a first lower rail-changing connecting plate 208, and a first lower linear bearing 209. The first lower linear bearing 209 is fixedly arranged on the first lower rail-changing connecting plate 208. One end of the first lower optical axis 207 is connected to the first lower rail-changing connecting plate 208, and the other end of the first lower optical axis 207 is connected to the first lower rail-matching part 103. The length extension direction of the first lower optical axis 207 is perpendicular to the rail direction.

[0081] The second lower rail-changing movable part comprises a second lower optical axis 407, a second lower rail-changing connecting plate 408, and a second lower linear bearing 409. The second lower linear bearing 409 is fixedly arranged on the second lower rail-changing connecting plate 408. One end of the second lower optical axis 407 is connected to the second lower rail-changing connecting plate 408, and the other end of the second lower optical axis 407 is connected to the second lower rail-matching part 303. The length extension direction of the second lower optical axis 407 is perpendicular to the rail direction.

[0082] The first lower optical axis 207 is matched with the second lower linear bearing 409, and the second lower optical axis 407 is matched with the first lower linear bearing 209.

[0083] It should be noted that the setting scheme of the first rail-changing movable part 2 and the second rail-changing movable part 4 can be:

[0084] A. The first rail-changing movable part 2 only comprises the first upper rail-changing movable part, the second rail-changing movable part 4 only comprises the second upper rail-changing movable part, and the first upper rail-changing movable part and the second upper rail-changing movable part are slidingly matched in the rail vertical direction.

[0085] B. The first rail-changing movable part 2 only comprises the first lower rail-changing movable part, the second rail-changing movable part 4 only comprises the second lower rail-changing movable part, and the first lower rail-changing movable part and the second lower rail-changing movable part are slidingly matched in the rail vertical direction.

[0086] C. The first rail-changing movable part 2 comprises the first upper rail-changing movable part and the first lower rail-changing movable part, and the second rail-changing movable part 4 comprises the second upper rail-changing movable part and the second lower rail-changing movable part. The first upper rail-changing movable part and the second upper rail-changing movable part are slidingly matched in the rail vertical direction. The first lower rail-changing movable part and the second lower rail-changing movable part are slidingly matched in the rail vertical direction.

[0087] In an implementation manner of the embodiment of the application, the first upper rail-matching part 102 further comprises a first upper rail connecting plate 106, the first lower rail-matching part 103 further comprises a first lower rail connecting plate 107, and a sliding rail 601 and a sliding block 602 are arranged between the first upper rail connecting plate 106 and the first lower rail connecting plate 107.

[0088] The second upper rail fitting part 302 further comprises a second upper rail connecting plate 306, the second lower rail fitting part 303 further comprises a second lower rail connecting plate 307, and a sliding rail 601 and a sliding block 602 are arranged between the second upper rail connecting plate 306 and the second lower rail connecting plate 307.

[0089] The first upper rail connecting plate 106 is fixedly connected with the sliding rail 601, and the first lower rail connecting plate 107 is fixedly connected with the sliding block 602; or the first upper rail connecting plate 106 is fixedly connected with the sliding block 602, and the first lower rail connecting plate 107 is fixedly connected with the sliding rail 601.

[0090] The second upper rail connecting plate 306 is fixedly connected with the sliding rail 601, and the second lower rail connecting plate 307 is fixedly connected with the sliding block 602; or the second upper rail connecting plate 306 is fixedly connected with the sliding block 602, and the second lower rail connecting plate 307 is fixedly connected with the sliding rail 601.

[0091] In addition to the connection by the sliding block 602 and the sliding rail 601, a linear bearing or the like can be used to connect between the first upper rail fitting part 102 and the first lower rail fitting part 103 and between the second upper rail fitting part 302 and the second lower rail fitting part 303, and the specific mode is not limited.

[0092] In an implementation manner of the embodiment, two groups of the first upper gripping assemblies 104 are arranged at two ends of the first upper rail connecting plate 106, and two groups of the first lower gripping assemblies 105 are arranged at two ends of the first lower rail connecting plate 107.

[0093] The length of the first upper rail connecting plate 106 is greater than that of the first lower rail connecting plate 107, and the first lower gripping assembly 105 is arranged between the two groups of the first upper gripping assemblies 104.

[0094] Two groups of the second upper gripping assemblies 304 are arranged at two ends of the second upper rail connecting plate 306, and two groups of the second lower gripping assemblies 305 are arranged at two ends of the second lower rail connecting plate 307.

[0095] The length of the second upper rail connecting plate 306 is greater than that of the second lower rail connecting plate 307, and the second lower gripping assembly 305 is arranged between the two groups of the second upper gripping assemblies 304.

[0096] As shown in the figure, Figure 3 In an implementation manner of the embodiment, the first motor 101 drives the first upper rail fitting part 102 and the first lower rail fitting part 103 to relatively move along the rail direction through the gear 603 and the rack 604.

[0097] The second motor 301 drives the second upper rail fitting part 302 and the second lower rail fitting part 303 to relatively move along the rail direction through the gear 603 and the rack 604.

[0098] Gear 603 is disposed at the output end of the first motor 101. The first upper track mating part 102 is fixedly connected to the first motor 101, and the first lower track mating part 103 is fixedly connected to the rack 604; or, the first upper track mating part 102 is fixedly connected to the rack 604, and the first lower track mating part 103 is fixedly connected to the first motor 101.

[0099] Gear 603 is disposed at the output end of the second motor 301. The second upper track mating part 302 is fixedly connected to the second motor 301, and the second lower track mating part 303 is fixedly connected to the rack 604; or, the second upper track mating part 302 is fixedly connected to the rack 604, and the second lower track mating part 303 is fixedly connected to the second motor 301.

[0100] It should be noted that ropes, worm gears, etc., can be used to replace gears 603 and racks 604. An electric motor can also be called a motor.

[0101] In one implementation of this application embodiment, a guide mechanism 605 is also included;

[0102] The first end of the guide mechanism 605 is hinged to both ends of the first track mating part 1 and the second track mating part 3 respectively;

[0103] A roller 606 is provided at the second end of the guide mechanism 605.

[0104] The main body of the guiding mechanism 605 is a guiding link 607. The first track mating part 1 and the second track mating part 3 are respectively hinged to the first end of the guiding link 607. A roller 606 is provided at the second end of the guiding link 607. The guiding mechanism 605 may also include a shock-absorbing spring 608, one end of which is connected to the guiding link 607, and the other end of which is connected to either the first track mating part 1 or the second track mating part 3. The roller 606 can also be called a guide wheel.

[0105] like Figure 4 As shown, this application embodiment provides a climbing mechanism for a double track of a suspension bridge, including an upper climbing mechanism, a lower climbing mechanism, and a track adjustment unit 5;

[0106] It should be noted that the climbing object of the suspension bridge double track climbing mechanism provided in this application embodiment is two parallel tracks 7; if the distance between the two parallel tracks 7 is set to D, adaptable to the change of double track distance means that when the double track distance D becomes larger or smaller, the climbing structure of the mechanism can match the double track distance D.

[0107] The climbing mechanism comprises three parts, the upper layer of the climbing mechanism, the lower layer of the climbing mechanism and the rail changing adjusting part 5; the upper layer of the climbing mechanism is divided into left and right parts, and the left and right parts are identical in position and can slide linearly relative to each other, and the sliding direction is perpendicular to the rail 7; the lower layer of the climbing mechanism is also divided into left and right parts, and the left and right parts are identical in position and can slide linearly relative to each other, and the sliding direction is perpendicular to the rail 7; the rail changing adjusting part 5 can be assembled in the upper layer of the climbing mechanism or / and the lower layer of the climbing mechanism, and its function is to provide power for the relative linear sliding of the left and right parts of the upper layer of the climbing mechanism or / and the relative linear sliding of the left and right parts of the lower layer of the climbing mechanism;

[0108] The purpose of the relative linear sliding of the left and right parts of the upper layer of the climbing mechanism or / and the relative linear sliding of the left and right parts of the lower layer of the climbing mechanism is to adapt to the change of the double-rail spacing D;

[0109] As shown in Figure 5 , the upper layer of the climbing mechanism comprises a first upper module and a second upper module;

[0110] As shown in Figure 6 , the lower layer of the climbing mechanism comprises a first lower module and a second lower module;

[0111] The first upper module comprises a first upper rail matching part 102 and a first upper rail changing movable part, a sliding rail 601, a guide mechanism 605 and a rack 604;

[0112] The second upper module comprises a second upper rail matching part 302 and a second upper rail changing movable part, a sliding rail 601, a guide mechanism 605 and a rack 604;

[0113] The second upper rail matching part 302 comprises a first upper rail connecting plate 106 and two first upper gripping assemblies 104.

[0114] The second upper rail changing movable part comprises a first upper rail changing connecting plate 205 and four first upper optical shafts 204 and four first upper linear bearings 206.

[0115] The four first upper optical shafts 204 are fixedly connected between the first upper rail connecting plate 106 and the first upper rail changing connecting plate 205 and are parallel to each other; the four first upper linear bearings 206 are fixedly installed on the first upper rail changing connecting plate 205 and the shaft axes thereof are parallel to the four first upper optical shafts 204; the two first upper gripping assemblies 104 can grip and release the same rail 7 and are respectively fixed to the front and rear ends of the first upper rail connecting plate 106;

[0116] Two guiding mechanisms 605 are respectively assembled at the front and rear ends of the first upper rail connecting plate 106, and each guiding mechanism 605 comprises a guiding wheel, a guiding connecting rod 607 and a damping spring 608. One end of the guiding connecting rod 607 is connected to the first upper rail connecting plate 106 through a hinge, and the other end is connected to the guiding wheel through a hinge. The guiding wheel can rotate freely around the hinge axis. One end of the damping spring 608 is connected to the first upper rail connecting plate 106 through a hinge, and the other end is connected to the guiding connecting rod 607 through a hinge. The guiding wheel is provided with a groove structure. When the climbing mechanism climbs along the double rails, the groove part of the guiding wheel envelops one rail and applies a certain pressure to the rail through the damping spring 608.

[0117] The rail 7 can also be referred to as a guide rail.

[0118] The second upper module is substantially mirror-symmetric to the first upper module.

[0119] The second upper rail matching part 302 comprises a second upper rail connecting plate 306 and two second upper gripping assemblies 304.

[0120] The second upper rail changing movable part comprises a second upper rail changing connecting plate 405 and four second upper light shafts 404 and four second upper linear bearings 406.

[0121] The four second upper light shafts 404 are fixedly connected between the second upper rail changing connecting plate 405 and the second upper rail connecting plate 306 and are parallel to each other. The four second upper linear bearings 406 are fixedly installed on the second upper rail changing connecting plate 405 and have shaft axes parallel to the four second upper light shafts 404. The two second upper gripping assemblies 304 can grip and release the same rail 7 and are respectively fixed at the front and rear ends of the first upper rail connecting plate 106.

[0122] Two guiding mechanisms 605 are respectively assembled at the front and rear ends of the second upper rail connecting plate 306, and each guiding mechanism 605 comprises a guiding wheel, a guiding connecting rod 607 and a damping spring 608. One end of the guiding connecting rod 607 is connected to the second upper rail connecting plate 306 through a hinge, and the other end is connected to the guiding wheel through a hinge. The guiding wheel can rotate freely around the hinge axis. One end of the damping spring 608 is connected to the second upper rail connecting plate 306 through a hinge, and the other end is connected to the guiding connecting rod 607 through a hinge. The guiding wheel is provided with a groove structure. When the climbing mechanism climbs along the double rails, the groove part of the guiding wheel envelops the other rail and applies a certain pressure to the rail 2 through the damping spring 608.

[0123] It should be noted that the guiding mechanism 605 is arranged on the upper layer of the climbing mechanism, which is only for the convenience of installing and removing the climbing mechanism to the target rail, and is not necessary for adapting to the double rail spacing and the climbing function.

[0124] The first upper module and the second upper module are assembled and can slide linearly along the 8 optical axes; 4 first upper optical axes 204 are matched with 4 second upper linear bearings 406 respectively; 4 second upper optical axes 404 are matched with 4 first upper linear bearings 206 respectively;

[0125] The first lower module comprises a first motor 101 and a first lower track matching part 103, a first lower track changing movable part, a sliding block 602 and a gear 603.

[0126] The second lower module comprises a second motor 301 and a second lower track matching part 303, a second lower track changing movable part, a sliding block 602 and a gear 603.

[0127] The first lower module comprises a first lower track connecting plate 107, a first lower track changing connecting plate 208, 4 first lower optical axes 207, 4 first lower linear bearings 209 and 2 first lower gripping assemblies 105; the 4 first lower optical axes 207 are fixedly connected between the first lower track connecting plate 107 and the first lower track changing connecting plate 208 and are parallel to each other; the 4 first lower linear bearings 209 are fixedly installed on the first lower track changing connecting plate 208 and the axis is parallel to the 4 first lower optical axes 207.

[0128] The second lower module is substantially mirror-symmetrical to the first lower module.

[0129] The second lower track matching part 303 comprises a second lower track connecting plate 307 and 2 second lower gripping assemblies 305.

[0130] The second lower track changing movable part comprises a second lower track changing connecting plate 408, 4 second lower optical axes 407 and 4 second lower linear bearings 409.

[0131] The 4 second lower optical axes 407 are fixedly connected between the second lower track changing connecting plate 408 and the second lower track connecting plate 307 and are parallel to each other; the 4 second lower linear bearings 409 are fixedly installed on the second lower track changing connecting plate 408 and the axis is parallel to the 4 second lower optical axes 407.

[0132] One gear 603 is coaxially assembled on the first motor 101, and the first motor 101 is fixed on the first lower track connecting plate 107; the other gear 603 is coaxially assembled on the second motor 301, and the second motor 301 is fixed on the second lower track connecting plate 307.

[0133] The first lower module and the second lower module are assembled and can slide linearly along the 8 optical axes; 4 first lower optical axes 207 are matched with 4 second lower linear bearings 409 respectively; 4 second lower optical axes 407 are matched with 4 first lower linear bearings 209 respectively.

[0134] A sliding rail 601 and a rack 604 are fixedly arranged below the first upper track connecting plate 106.

[0135] The second upper rail connecting plate 306 is fixedly provided with a slide rail 601 and a rack 604 below; each matched slide rail 601 and rack 604 have consistent movement directions and are perpendicular to all optical axes of the upper layer and the lower layer of the climbing mechanism;

[0136] The first lower rail connecting plate 107 is fixedly provided with two collinear slide blocks 602;

[0137] The second lower rail connecting plate 307 is fixedly provided with two collinear slide blocks 602;

[0138] When the upper layer and the lower layer of the climbing mechanism are assembled, the two collinear slide blocks 602 fixedly provided on the first lower rail connecting plate 107 cooperate with the slide rail 601 fixedly provided below the first upper rail connecting plate 106, the two collinear slide blocks 602 fixedly provided on the second lower rail connecting plate 307 cooperate with the slide rail 601 fixedly provided below the second upper rail connecting plate 306, the rack 604 fixedly provided below the first upper rail connecting plate 106 cooperates with the gear 603 coaxially assembled on the first motor 101, and the rack 604 fixedly provided below the second upper rail connecting plate 306 cooperates with the gear 603 coaxially assembled on the second motor 301; when the first motor 101 and / or the second motor 301 drive the gear 603, the upper layer of the climbing mechanism can move linearly along the slide rail 601 relative to the lower layer of the climbing mechanism;

[0139] It should be noted that the upper layer and the lower layer of the climbing mechanism are connected through the cooperation of the slide blocks 602 and the slide rails 601, that is, the upper layer of the climbing mechanism can linearly slide relative to the lower layer of the climbing mechanism, and the sliding direction is parallel to the target climbing track; the upper layer and the lower layer of the climbing mechanism are also provided with a “gear 603 and rack 604 mechanism” (only an embodiment), and the function of the “gear 603 and rack 604 mechanism” is to provide power for the linear sliding of the upper layer of the climbing mechanism relative to the lower layer of the climbing mechanism;

[0140] It should be noted that the climbing mechanism can be provided with only one of the first motor 101 or the second motor 301, or provided with both the first motor 101 and the second motor 301.

[0141] The track changing adjusting part 5 includes a first connecting rod 501, a second connecting rod 502, a third connecting rod 503, a fourth connecting rod 504, an electric cylinder 505, and two pin shafts 609; the electric cylinder 505 can also be referred to as a track changing electric cylinder 505, and the pin shaft 609 can also be referred to as a track changing pin shaft 609.

[0142] The first connecting rod 501 is connected with the first upper rail-changing connecting plate 205 at one end through a hinge, the second connecting rod 502 is connected with the second upper rail-changing connecting plate 405 at one end through a hinge, and the other end of the first connecting rod 501 and the other end of the second connecting rod 502 are connected through a pin shaft 609 and form a rail-changing hinge;

[0143] The third connecting rod 503 is connected with the first upper rail-changing connecting plate 205 at one end through a hinge, the fourth connecting rod 504 is connected with the second upper rail-changing connecting plate 405 at one end through a hinge, and the other end of the third connecting rod 503 and the other end of the fourth connecting rod 504 are connected through a pin shaft 609 and form a rail-changing hinge;

[0144] The electric cylinder 505 is connected with the pin shaft 609 at one end through a hinge and is connected with the pin shaft 609 at the other end through a hinge; when the electric cylinder 505 is elongated, the two pin shafts 609 are relatively far away, at the same time, in the upper layer of the climbing mechanism, the first upper gripping assembly 104 is relatively far away from the second upper gripping assembly 304, and in the lower layer of the climbing mechanism, the first lower gripping assembly 105 is relatively far away from the second lower gripping assembly 305;

[0145] When the electric cylinder 505 is shortened, the two pin shafts 609 are relatively close, at the same time, in the upper layer of the climbing mechanism, the first upper gripping assembly 104 is relatively close to the second upper gripping assembly 304, and in the lower layer of the climbing mechanism, the first lower gripping assembly 105 is relatively close to the second lower gripping assembly 305;

[0146] The climbing mechanism can climb along the double rails by the following steps:

[0147] 1) Adjust the distance between the gripping assemblies to adapt to the distance between the double rails through the rail-changing adjusting part 5;

[0148] 2) The two first upper gripping assemblies 104 and the two first lower gripping assemblies 105 hold one rail, and the two second upper gripping assemblies 304 and the two second lower gripping assemblies 305 hold the other rail;

[0149] 3) The two first lower gripping assemblies 105 and the two second lower gripping assemblies 305 release the holding of the rails, the first motor 101 and the second motor 301 drive the gear 603 to rotate in a specified direction, and the lower layer of the climbing mechanism moves along the slide rail 601;

[0150] 4) The two first lower gripping assemblies 105 and the two second lower gripping assemblies 305 hold the rails, and the two first upper gripping assemblies 104 and the two second upper gripping assemblies 304 release the holding of the rails, the first motor 101 and the second motor 301 drive the gear 603 to rotate in a specified direction, and the upper layer of the climbing mechanism moves along the slide rail 601; repeat the above steps to realize the climbing of the climbing mechanism along the double rails.

[0151] The upper layer of the climbing mechanism and the lower layer of the climbing mechanism are provided with gripping assemblies, which can grip and release the target track to be climbed; the gripping assemblies of the upper layer of the climbing mechanism and the lower layer of the climbing mechanism alternately grip and release the target track to be climbed, and the upper layer of the climbing mechanism can slide linearly relative to the lower layer of the climbing mechanism, so that the mechanism realizes climbing on the target track in an alternating peristaltic manner; the gripping assembly can also be referred to as a clamping jaw.

[0152] The above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A double track climbing mechanism for a suspension bridge, characterized by, The first track matching part (1) and the first track changing movable part (2) are fixedly connected in the vertical direction of the track; The second track matching part (3) and the second track changing movable part (4) are fixedly connected in the vertical direction of the track; The first track matching part (1) and the second track matching part (3) run on different tracks (7) respectively, and are used to drive the climbing mechanism to move along the track direction; The track changing adjusting part (5) is connected to the first track changing movable part (2) and the second track changing movable part (4); The first track changing movable part (2) and the second track changing movable part (4) are slidingly matched in the vertical direction of the track, and the track changing adjusting part (5) is used to drive the first track changing movable part (2) and the second track changing movable part (4) to move relatively in the vertical direction of the track, so that the distance between the first track matching part (1) and the second track matching part (3) is adapted to the distance between the tracks (7); The first track changing movable part (2) comprises a first optical axis (201), a first track changing connecting plate (202) and a first linear bearing (203), and the first linear bearing (203) is fixedly arranged on the first track changing connecting plate (202); The second track changing movable part (4) comprises a second optical axis (401), a second track changing connecting plate (402) and a second linear bearing (403), and the second linear bearing (403) is fixedly arranged on the second track changing connecting plate (402); The track changing adjusting part (5) comprises an electric cylinder (505), a first connecting rod (501), a second connecting rod (502), a third connecting rod (503) and a fourth connecting rod (504); The first track matching part (1) comprises a first motor (101), a first upper track matching part (102) and a first lower track matching part (103), and the first upper track matching part (102) comprises a first upper gripping assembly (104); The second track matching part (3) comprises a second motor (301), a second upper track matching part (302) and a second lower track matching part (303), and the second upper track matching part (302) comprises a second upper gripping assembly (304); The first track changing movable part (2) comprises a first upper track changing movable part and a first lower track changing movable part, and the second track changing movable part (4) comprises a second upper track changing movable part and a second lower track changing movable part; The first upper track matching part (102) and the first upper track changing movable part are fixedly connected, and the first lower track matching part (103) and the first lower track changing movable part are fixedly connected; The second upper track matching part (302) and the second upper track changing movable part are fixedly connected, and the second lower track matching part (303) and the second lower track changing movable part are fixedly connected; The first upper track changing movable part and the second upper track changing movable part are slidingly matched in the vertical direction of the track, and the first lower track changing movable part and the second lower track changing movable part are slidingly matched in the vertical direction of the track; The first upper rail matching part (102) further comprises a first upper rail connecting plate (106), and the first lower rail matching part (103) further comprises a first lower rail connecting plate (107); The second upper rail matching part (302) further comprises a second upper rail connecting plate (306), and the second lower rail matching part (303) further comprises a second lower rail connecting plate (307).

2. The double track cable-stayed bridge climbing mechanism according to claim 1, characterized in that, One end of the first optical axis (201) is connected to the first rail changing connecting plate (202), the other end of the first optical axis (201) is connected to the first rail matching part (1), and the length extension direction of the first optical axis (201) is perpendicular to the rail direction; One end of the second optical axis (401) is connected to the second rail changing connecting plate (402), the other end of the second optical axis (401) is connected to the second rail matching part (3), and the length extension direction of the second optical axis (401) is perpendicular to the rail direction; The first optical axis (201) cooperates with the second linear bearing (403), and the second optical axis (401) cooperates with the first linear bearing (203).

3. The double track cable-stayed bridge climbing mechanism according to claim 2, characterized in that, The first rail matching part (1), the first rail changing connecting plate (202) and a plurality of first optical axes (201) enclose a rectangle, the first rail matching part (1) and the first rail changing connecting plate (202) are arranged in parallel, and a plurality of first optical axes (201) are parallel to each other; The second rail matching part (3), the second rail changing connecting plate (402) and a plurality of second optical axes (401) enclose a rectangle, the second rail matching part (3) and the second rail changing connecting plate (402) are arranged in parallel, and a plurality of second optical axes (401) are parallel to each other.

4. The double track cable-stayed bridge climbing mechanism according to claim 3, characterized in that, The first end of the electric cylinder (505), the first end of the first connecting rod (501) and the first end of the second connecting rod (502) are hinged, and the second end of the electric cylinder (505), the first end of the third connecting rod (503) and the first end of the fourth connecting rod (504) are hinged; The second end of the first connecting rod (501) is hinged with the first rail changing movable part (2), the second end of the second connecting rod (502) is hinged with the second rail changing movable part (4), the second end of the third connecting rod (503) is hinged with the first rail changing movable part (2), and the second end of the fourth connecting rod (504) is hinged with the second rail changing movable part (4).

5. The double track cable-stayed bridge climbing mechanism according to any one of claims 1 to 4, characterized in that, The first lower rail matching part (103) comprises a first lower gripping assembly (105); The first upper gripping assembly (104) and the first lower gripping assembly (105) alternately grip and release the rail (7), and the first motor (101) drives the first upper rail matching part (102) and the first lower rail matching part (103) to move relatively along the rail direction, so that the climbing mechanism peristaltically moves along the rail (7); The second lower rail matching part (303) comprises a second lower gripping assembly (305); The second lower rail matching part (303) comprises a second lower gripping assembly (305); The second upper gripping assembly (304) and the second lower gripping assembly (305) alternately grip and release the track (7), and the second motor (301) drives the second upper track matching part (302) and the second lower track matching part (303) to move relatively along the track direction, so that the climbing mechanism peristaltically moves along the track (7).

6. The double track cable-stayed bridge climbing mechanism according to claim 5, characterized in that, A slide rail (601) and a slide block (602) are arranged between the first upper track connecting plate (106) and the first lower track connecting plate (107); A slide rail (601) and a slide block (602) are arranged between the second upper track connecting plate (306) and the second lower track connecting plate (307).

7. The double track cable-stayed bridge climbing mechanism according to claim 6, characterized in that, Two groups of the first upper gripping assembly (104) are arranged at both ends of the first upper track connecting plate (106), and two groups of the first lower gripping assembly (105) are arranged at both ends of the first lower track connecting plate (107); The length of the first upper track connecting plate (106) is greater than that of the first lower track connecting plate (107), and the first lower gripping assembly (105) is arranged between the two groups of the first upper gripping assembly (104); Two groups of the second upper gripping assembly (304) are arranged at both ends of the second upper track connecting plate (306), and two groups of the second lower gripping assembly (305) are arranged at both ends of the second lower track connecting plate (307); The length of the second upper track connecting plate (306) is greater than that of the second lower track connecting plate (307), and the second lower gripping assembly (305) is arranged between the two groups of the second upper gripping assembly (304).

8. The double track cable-stayed bridge climbing mechanism according to claim 5, characterized in that, The first motor (101) drives the first upper track matching part (102) and the first lower track matching part (103) to move relatively along the track direction through a gear (603) and a rack (604); The second motor (301) drives the second upper track matching part (302) and the second lower track matching part (303) to move relatively along the track direction through a gear (603) and a rack (604).

9. The double track cable-stayed bridge climbing mechanism according to claim 5, characterized in that, A guide mechanism (605) is further included; Both ends of the first track matching part (1) and the second track matching part (3) are respectively hinged to a first end of the guide mechanism (605); A second end of the guide mechanism (605) is provided with a roller (606).

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