An adaptive cable-climbing deicing robot

Abstract

The present invention discloses an adaptive cable-climbing deicing robot with an inclined cable diameter, comprising an outer frame and a base. The outer frame is vertically and detachably mounted on the base. A crawling drive structure crawls within the outer frame and along the direction in which the cable extends. A cutting deicing structure is provided on the front side of the outer frame along the direction in which the cable extends. The crawling drive structure includes a first crawling clamping mechanism and a second crawling clamping mechanism symmetrically arranged on both sides of the cable. The first crawling clamping mechanism is arranged at the top end of the outer frame, and the second crawling clamping mechanism is liftable on the base. The cutting deicing structure includes a cutting adjustment mechanism slidably arranged on the base and a deicing blade head mechanism arranged on the front side of the outer frame and surrounding the outer periphery of the cable. The cutting adjustment mechanism is transmission-connected to the deicing blade head mechanism. The present invention can adapt to cables of different diameters and inclinations and can automatically adjust the distance from the cable in the radial direction to achieve a better deicing effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of deicing equipment, and in particular relates to an adaptive stay cable climbing deicing robot. Background Art

[0002] As a new type of modern bridge, cable-stayed bridges are widely used in bridge construction in China and around the world for their many advantages, such as large spans, beautiful appearance, and easy construction. Currently, cable-stayed bridges are gradually becoming the main form of long-span bridges. Cables, as one of the main load-bearing components of cable-stayed bridges, are easily frozen into ice when exposed to rain, snow, and icy weather. Prolonged icing increases the load on the cables, affecting their quality. Therefore, timely treatment is necessary to remove ice from the cables. If not handled promptly, ice can dangle from the cables. Excessively thick ice can pose a significant threat to traffic safety and, in severe cases, can even trigger a series of traffic accidents, resulting in significant loss of life and property. Currently, there are three main types of ice and snow removal technologies: electric heating and de-icing, mechanical de-icing, and anti-covering de-icing. Electric heating and de-icing utilizes a local short circuit to generate heat, thereby melting ice and snow. Mechanical de-icing uses mechanical de-icing equipment to remove ice and snow from cables. Anti-covering de-icing utilizes the resistance of ice and snow to adhere to the covering material itself or increases the absorption of solar energy to achieve the desired effect. Using electric heating and anti-covering de-icing for stay cables is not very practical. Mechanical de-icing is not only more applicable but also achieves better de-icing results. However, current mechanical de-icing equipment has difficulty climbing stay cables of varying diameters and inclinations, cannot adapt to the cable diameter and inclination, and is prone to self-rotation, making it impossible to operate fully automatically. Summary of the Invention

[0003] The present invention aims to provide an adaptive cable-climbing deicing robot. This robot can adapt to cables of varying diameters and inclinations and automatically adjust its radial distance from the cable, achieving improved deicing performance. To achieve this objective, the invention employs the following technical advantages:

[0004] According to one aspect of the present invention, the present invention provides an adaptive inclined cable-path climbing and de-icing robot, comprising an outer frame and a base, wherein the outer frame is vertically and detachably mounted on the base, and a crawling drive structure is provided inside the outer frame and crawling along the extension direction of the cable. A cutting and de-icing structure is provided on the front side of the outer frame along the extension direction of the cable, and the crawling drive structure comprises a first crawling clamping mechanism and a second crawling clamping mechanism symmetrically arranged on both sides of the cable, the first crawling clamping mechanism is arranged at the top end inside the outer frame, and the second crawling clamping mechanism can be raised and lowered on the base, the cutting and de-icing structure comprises a cutting adjustment mechanism slidably arranged on the base and a de-icing blade head mechanism arranged on the front side of the outer frame and surrounding the outer periphery of the cable, and the cutting adjustment mechanism is transmission-connected to the de-icing blade head mechanism.

[0005] The above scheme is further preferred, that the first crawling and clamping mechanism includes a first clamping crawling wheel arranged on the upper side of the cable and located on the front and rear sides of the top end inside the outer frame, and a first longitudinal support beam along the extension direction of the cable is respectively arranged on the outer sides of the first clamping crawling wheels on the front and rear sides of the top end inside the outer frame, and a first transverse support beam parallel to the axis of the first clamping crawling wheel is respectively arranged above the first clamping crawling wheels on the front and rear sides of the top end inside the outer frame, the upper sides of the two ends of the first transverse support beam are connected and fixed to the inner top end of the outer frame through a first support column, and the lower sides of the two ends of the first transverse support beam are respectively connected to the two ends of the first longitudinal support beam A first bearing is respectively provided at the front and rear ends of the first longitudinal support beam, and the first compression crawler wheels on the front and rear sides of the top end inside the outer frame are respectively connected to the first bearing through the first support shaft. A first reduction stepper motor is provided on the first longitudinal support beam between the first compression crawler wheels on the front and rear sides of the top end inside the outer frame, and a first driving wheel is provided on the output shaft of the first reduction stepper motor. First driven wheels are respectively provided on the outer ends on the same side of the first support shafts of the first compression crawler wheels on the front and rear sides of the top end inside the outer frame, and the first driving wheels on the output shaft of the first reduction stepper motor are respectively connected to the first driven wheels through the first synchronous belt.

[0006] The above scheme is further preferred, the second crawling and pressing mechanism comprises a crawling support seat, a second pressing crawling wheel, a second deceleration stepping motor and an electric push rod, the lower end of the outer frame vertically slides through the crawling support seat and is connected to the base after passing through the crawling support seat, the crawling support seat is arranged above the base, and is located at the lower side of the cable and the second pressing crawling wheel is respectively arranged above the front and rear sides of the base, and the second pressing crawling wheel is located above the crawling support seat. The two ends of the support beam are fixed to the crawling support seat through the second support column, and the second longitudinal support beam is fixedly provided with the second end between the two ends of the second transverse support beam and along the extension direction of the cable, and the second longitudinal support beam is fixedly provided with the second longitudinal support beam between the two ends of the second transverse support beam and along the extension direction of the cable, and the second support shaft is horizontally passed through the second pressing crawling wheel, and the two ends of the second support shaft are respectively provided on the second longitudinal support beam through the second bearing, and the second reduction stepper motor is provided in the middle of the second longitudinal support beam. A second driven wheel is provided above the front and rear sides of the base and on the end portion on the same side of the second support shaft. A second driving wheel is provided on the output shaft of the first reduction stepper motor and on the same side of the second driven wheel. The second driving wheel on the output shaft of the second reduction stepper motor is respectively connected to the second driven wheel through a second synchronous belt. The cutting adjustment mechanism can be slidably provided on the base below the side near the second reduction stepper motor, and the cutting adjustment mechanism extends to the front side of the outer frame to adjust the distance between the de-icing blade head mechanism and the cable.

[0007] The above scheme is further preferred, wherein the lower end of the second support column is fixed on the crawling support seat, and an upper buffer plate and a lower buffer plate are respectively provided at the top and bottom ends of the second support column, wherein the upper buffer plate is slidably sleeved on the top end of the second support column, and a limiting screw rod for limiting the upward movement of the upper buffer plate is vertically connected to the center of the top end of the second support column, and the top end of the limiting screw rod passes through the through-hole at the end end of the second transverse support beam, and a buffer spring is sleeved on the outer wall of the second support column between the upper buffer plate and the lower buffer plate, and ranging sensors are respectively provided on the crawling support seat and at the top end inside the outer frame.

[0008] The above solution is further preferred in that an L-shaped support baffle is provided on the upper buffer pad at the top end of the second support column.

[0009] The above scheme is further preferred, wherein the de-icing blade head mechanism includes a circular support plate, a de-icing gear plate, a blade head assembly and a de-icing motor, wherein the circular support plate and the de-icing gear plate are respectively composed of two semi-circular disc structures surrounded by the circumference of the cable, the circular support plate is fixedly mounted on the front side wall of the outer frame by bolts, and an annular bearing is mounted on the inner ring of the circular support plate, and the de-icing gear plate is mounted on the front disk surface of the circular support plate through an annular bearing, the de-icing motor is arranged at the middle position of the edge of the base near one side of the de-icing gear plate, and a de-icing drive gear meshing with the de-icing gear plate is arranged on the output shaft of the de-icing motor, and a plurality of radially slidable blade head assemblies are evenly spaced on the front disk surface of the de-icing gear plate, the cutting adjustment mechanism can slide on the base near the lower side of the second reduction stepper motor, and the cutting adjustment mechanism is output to the front side of the outer frame along the extension direction of the cable and then transmitted to the blade head assembly.

[0010] The above scheme is further preferred, that is, the cutting adjustment mechanism includes a third reduction stepper motor, a fourth reduction stepper motor and a pitch adjusting rod, the third reduction stepper motor is slidably arranged on the base, the output shaft of the third reduction stepper motor is transmission-connected to the pitch adjusting rod extending outward along the extension direction of the cable to the circumferential edge of the de-icing gear disk, a first bevel gear which is transmitted to the cutter head assembly is provided on the outer end portion of the pitch adjusting rod, the fourth reduction stepper motor is provided above or below the side of the pitch adjusting rod, a threaded tooth groove is provided on the pitch adjusting rod, a shift drive gear meshing with the threaded tooth groove is provided on the output shaft of the fourth reduction stepper motor, and an arc-shaped strip guide shield is provided on the outside of the pitch adjusting rod.

[0011] The above scheme is further preferred, that the cutter head assembly includes a sliding adjustment screw, a sliding block and a cutting blade, the sliding block is along the disk surface of the de-icing gear disk, and an equally spaced sliding adjustment screw is arranged above the disk surface of the de-icing gear disk and extending in the radial direction, the bottom of the sliding block is guided and slidably arranged on the disk surface of the de-icing gear disk in the radial direction, the cutting blade is arranged on the upper surface of the sliding block and along the extension direction of the cable, and guide support blocks are respectively arranged on both sides of the sliding block, the center thread of the sliding block is sleeved and connected to the sliding adjustment screw, and a second bevel gear is arranged on the end of the sliding adjustment screw near the circumferential edge of the de-icing gear disk, and the first bevel gear on the outer end of the pitch adjustment rod is meshed with the second bevel gear.

[0012] The above solution is further preferred in that a gear encoder for detecting the rotation of the de-icing gear disc is provided on the circumferential edge of the annular support disc.

[0013] The above solution is further preferred in that a central controller, a temperature and humidity sensor, a power supply battery and a wireless communication module are arranged in the receiving space of the base.

[0014] The invention adopts the above technical solution, and the invention has the following technical effects:

[0015] (1) The deicing robot of the present invention is used for deicing cables of cable-stayed bridges. The present invention can perform fully automated deicing and can adapt to cables of different diameters and inclinations. The deicing blade head is fixed on the outer surface of the deicing gear disk and can automatically adjust the radial distance from the cable. The deicing blade head can perform better deicing as the gear rotates, and has good adaptability to extremely cold and severe weather. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of an invented adaptive cable-stayed climbing and de-icing robot;

[0017] Figure 2 This is a front view of an invented adaptive cable-climbing deicing robot;

[0018] Figure 3 1 is a schematic diagram of the overall structure of the creeping drive structure of the present invention;

[0019] Figure 4 It is a schematic diagram of the installation structure of the crawling drive structure and the cutting and deicing structure of the present invention;

[0020] Figure 5 It is a schematic diagram of the overall structure of the second crawling and pressing mechanism of the present invention;

[0021] Figure 6 This is the front view of the second creeping and pressing mechanism of the present invention;

[0022] Figure 7 The present invention Figure 5 A schematic structural diagram of the first axis view;

[0023] Figure 8 The present invention Figure 5 A schematic structural diagram of the second axis view;

[0024] Figure 9 It is a structural schematic diagram of the cutting and deicing structure of the present invention;

[0025] In the accompanying drawings, the outer frame 1, the base 2, the creeping drive structure 3, the cutting and deicing structure 4, the distance sensor 5, the cable 9, the first creeping and pressing mechanism 30, the second creeping and pressing mechanism 31, the cutting adjustment mechanism 40, the deicing blade head mechanism 41,

[0026] a first pressing crawling wheel 300; a first longitudinal support beam 301, a first transverse support beam 302, a first support column 303, a first bearing 304, a first support shaft 305, a first reduction stepping motor 306, a first driving wheel 307, a first driven wheel 308, a first synchronous belt 309, a crawling support seat 310, a second pressing crawling wheel 311, a second reduction stepping motor 312, an electric push rod 313, a lifting support plate 314, a second transverse support beam 315, a second longitudinal support beam 316, a second support shaft 317, a second bearing 318, a second driving wheel 319, a second synchronous belt 319a, a second driven wheel 320, a second support column 321, a buffer plate 323, a buffer spring 324, and an L-shaped support baffle 325;

[0027] A third reduction stepper motor 400, a fourth reduction stepper motor 401, a pitch adjustment rod 402, a first bevel gear 403, a shift drive gear 404, an annular support plate 410, a deicing gear plate 411, a cutter head assembly 412, a deicing motor 413, an annular bearing 414, a deicing drive gear 415, a strip guide shield 416, a gear encoder 417; a sliding adjustment screw 4120, a sliding block 4121, a cutting blade 4122, a guide support block 4123, and a second bevel gear 4124. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the invention more clearly understood, the invention is further described below with reference to the accompanying drawings and by way of preferred embodiments. However, it should be noted that many of the details listed in this specification are merely provided to help the reader gain a thorough understanding of one or more aspects of the invention, and that these aspects of the invention can be practiced even without these specific details.

[0029] like Figure 1 、 Figure 2 and Figure 3As shown, according to the invention, an adaptive inclined cable-path climbing and deicing robot includes an outer frame 1 and a base 2, the outer frame 1 is vertically detachably mounted on the base 2, a crawling drive structure 3 is inside the outer frame 1 and crawls along the extension direction of the cable 9, and a cutting and deicing structure 4 is provided on the front side of the outer frame 1 along the extension direction of the cable 9, the crawling drive structure 3 includes a first crawling clamping mechanism 30 and a second crawling clamping mechanism 31 which are symmetrically arranged on both sides of the cable 9, the first crawling clamping mechanism 30 is arranged at the top end inside the outer frame 1, and the second crawling clamping mechanism 31 can be lifted and lowered on the base 2, the cutting and deicing structure 4 includes a cutting adjustment mechanism 40 which is slidably arranged on the base 2 and a deicing knife head mechanism 41 which is arranged on the front side of the outer frame 1 and surrounds the outer periphery of the cable 9, the cutting adjustment mechanism 40 is transmission-connected to the deicing knife head mechanism 41, the outer frame 1 consists of four vertical fixed guide rails and four horizontal support beams, which are vertically fixed The guide rails are parallel to each other, and the ends of the top ends are connected by horizontal support beams to form a rectangular frame; a central controller, a temperature and humidity sensor, a power supply battery and a wireless communication module are arranged in the receiving space of the base 2, and the power supply battery provides working power for the first crawling and clamping mechanism 30, the second crawling and clamping mechanism 31, the cutting adjustment mechanism 40 and the de-icing blade head mechanism 41; the central controller is a single-chip microcomputer, a PLC controller or a DSP processor, which is used to control the operation of the first crawling and clamping mechanism 30, the second crawling and clamping mechanism 31, the cutting adjustment mechanism 40 and the de-icing blade head mechanism 41, and send the operation parameters to the remote operation control center through the wireless communication module. The operation control center sends the operation instructions to the central controller through the wireless communication module to control the operation of the crawling drive structure 3 and the cutting and de-icing structure 4. The temperature and humidity sensor is used to detect extreme temperature changes in the cable operation environment to determine whether the icing state is reached. The de-icing machine device of the present invention crawls on the cable 9 through the first crawling and clamping mechanism 30 and the second crawling and clamping mechanism 31 which are symmetrically arranged. The rotating cutting de-icing blade head mechanism 41 carried at the front end automatically cuts the ice on the cable 9 to achieve the purpose of de-icing; the distance between the de-icing blade head mechanism 41 and the cable 9 is adjusted by the cutting adjustment mechanism 40, so that the robot has an adaptive distance adjustment function. The second crawling and clamping mechanism 31 can be automatically adjusted according to the diameter of the cable 9, and can climb cables with different diameters and inclinations, thereby cutting ice of different thicknesses. During the de-icing process, the working status of the robot can be monitored in real time by the central controller, which solves the problems in the prior art such as the small load capacity of the de-icing robot, the inability to autonomously adapt to the cable diameter and inclination, the robot being prone to self-rotation, the robot being unable to work fully automatically, and the robot's working status being unable to be monitored.

[0030] In the present invention, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, the first crawling and clamping mechanism 30 includes a first clamping crawling wheel 300 arranged on the upper side of the cable 9 and located on the front and rear sides of the top end inside the outer frame 1, and a first longitudinal support beam 301 is respectively provided on the outer sides of the first clamping crawling wheels 300 on the front and rear sides along the extension direction of the cable 9, and a first transverse support beam 302 parallel to the axis of the first clamping crawling wheel 300 is respectively provided above the first clamping crawling wheels 300 on the front and rear sides of the top end inside the outer frame 1, the upper sides of the two ends of the first transverse support beam 302 are connected and fixed to the inner top end of the outer frame 1 through a first support column 303, and the lower sides of the two ends of the first transverse support beam 302 are respectively connected to the two ends of the first longitudinal support beam 301 Then, first bearings 304 are respectively provided at the front and rear ends of the first longitudinal support beam 301, and the first pressing crawler wheels 300 on the front and rear sides of the top end inside the outer frame 1 are respectively connected to the first bearings 304 through the first support shaft 305. A first reduction stepper motor 306 is provided on the first longitudinal support beam 301 between the first pressing crawler wheels 300 on the front and rear sides of the top end inside the outer frame 1, and a first driving wheel 307 is provided on the output shaft of the first reduction stepper motor 306. A first driven wheel 308 is respectively provided on the outer end portion on the same side of the first support shaft 305 of the first pressing crawler wheels 300 on the front and rear sides of the top end inside the outer frame 1. A driving wheel 307 is connected to the first driven wheel 308 through a first synchronous belt 309; a fixed wheel bracket consisting of a first longitudinal support beam 301 and a first transverse support beam 302 is installed radially along the cable 9 inside the top end of the outer frame 1, and two first compression crawling wheels 300 are horizontally symmetrically installed at the front and rear ends of the fixed wheel bracket. The two first compression crawling wheels 300 are radially perpendicular to the cable 9. Two first bearings 304 are used on both sides of each first compression crawling wheel 300 to be symmetrically fixed to the lower side walls of the two parallel first longitudinal support beams 301; a first support column 303 (the first support column is an elastic rubber column) is used between the two first compression crawling wheels 300 and the first transverse support beam 302. ) reduces the direct stress conduction between the outer frame 1 and the entire fixed wheel bracket, making the robot run more stably; when the robot is running, the two first compression crawling wheels 300 compress the cable 9 of the cable-stayed bridge, bearing most of the gravity of the robot, and the first compression crawling wheel 300 is driven by a first reduction stepper motor 306 to rotate the first synchronous belt 309 (transmission belt), and the first reduction stepper motor 306 is fixed to the outer frame 1 through the first longitudinal support beam 301. The two first reduction stepper motors 306 are driven by the same first reduction stepper motor 306, using the same specification of transmission belt and the first driven wheel 308 (transmission gear) to ensure that the two first reduction stepper motors 306 can run synchronously.

[0031] In the present invention, Figures 1 to 8As shown, the second crawling and clamping mechanism 31 includes a crawling support seat 310, a second clamping crawling wheel 311, a second deceleration stepping motor 312 and an electric push rod 313. The lower end of the outer frame 1 slides vertically through the crawling support seat 310 and is connected to the base 2. A sliding channel opening 6 is provided at the corner of the crawling support seat 310. The lower end of the outer frame 1 slides vertically through the sliding channel opening 6. The crawling support seat 310 is arranged above the base 2. A side limiting guide plate 7 fixed to the base 2 is provided between the outer side of the crawling support seat 310 and the upper surface of the base 2. The side limiting guide plate 7 is arranged to slide relative to the outer side wall of the outer frame 1. At the inner side wall near the side limiting guide plate 7 and along the crawling support seat 310 The upper horizontal fixed limit block 8 is set to slide relative to the inner wall of the outer frame 1. When the outer frame 1 is installed, the side limit guide plate 7 and the limit block 8 guide the limit outer frame 1 to slide up and down in the horizontal and longitudinal directions respectively. The second pressing crawling wheel 311 is set on the lower side of the cable 9 and above the front and rear sides of the base 2, and the second pressing crawling wheel 311 is located above the crawling support seat 310. An electric push rod 313 fixed to the base 2 is set through the center of the crawling support seat 310. A lifting support plate 314 is set above the electric push rod 313 along the extension direction of the cable 9. The output shaft end of the electric push rod 313 is transmission-connected to the bottom of the lifting support plate 314. The lower sides of the front and rear ends of 14 are respectively connected to the front and rear ends of the crawling support seat 310, and second transverse support beams 315 are respectively arranged horizontally above the front and rear ends of the lifting support plate 314, and second support columns 321 are respectively arranged vertically below the two ends of the second transverse support beam 315. The two ends of the second transverse support beam 315 are fixed to the crawling support seat 310 through the second support columns 321, and the lower side walls of the two ends of the second transverse support beam 315 located above the front and rear ends of the lifting support plate 314 are supported and connected to the crawling support seat 310 through the second support columns 321. When the lifting support plate 314 is pushed upward and rises, the lifting support plate 314 drives the crawling support seat 310 to leave the base 2 and rise upward, and pushes The second pressing crawling wheel 311 presses the cable 9, and a second longitudinal support beam 316 is fixedly provided between the two ends of the second transverse support beam 315 along the extension direction of the cable 9. A second support shaft 317 is transversely passed through the second pressing crawling wheel 311, and the two ends of the second support shaft 317 are respectively provided on the second longitudinal support beam 316 through second bearings 318. The second reduction stepping motor 312 is provided in the middle of the second longitudinal support beam 316. A second driven wheel 320 is provided above the front and rear sides of the base 2 and on the same side end of the second support shaft 317. A second driving wheel 319 is provided on the output shaft of the first reduction stepping motor 306 and on the same side of the second driven wheel 320.The second driving wheel 319 on the output shaft of the second deceleration stepper motor 312 is respectively connected to the second driven wheel 320 through the second synchronous belt 319a, and the cutting adjustment mechanism 40 can be slidably set on the base 2 below the side of the second deceleration stepper motor 312. The cutting adjustment mechanism 40 extends to the front side of the outer frame 1 to adjust the distance between the de-icing blade head mechanism 41 and the cable 9; in the present invention, the lower end of the second support column 321 is fixed on the crawling support seat 310, and the two ends of the second transverse support beam 315 are respectively arranged at the upper end of the second support column 321, and an upper buffer plate 323 and a lower buffer plate 323a are respectively provided at the top and bottom ends of the second support column 321, wherein the upper buffer plate 323 is slidably sleeved on the second support column 321 The top of the second support column 321 is vertically connected to a limiting screw 323b at the center of the top end thereof for limiting the upward movement of the upper buffer plate 32. The top end of the limiting screw 323b passes through the through-hole 323c at the end of the second transverse support beam 315. The second transverse support beam 315 is fixed to the upper buffer plate 323 by the limiting screw 323b. A buffer spring 324 is sleeved on the outer wall of the second support column 321 between the upper buffer plate 323 and the lower buffer plate 323a. In the present invention, a distance measuring sensor 5 is respectively provided on the crawling support seat 310 and at the top end of the outer frame 1. An L-shaped support baffle 325 is provided on the upper buffer plate 323 at the top end of the second support column 321. The L-shaped support baffle 325 is used to limit and fix the second longitudinal support beam.

[0032] In the present invention, Figures 1 to 8As shown, the first driving wheel 307, the first driven wheel 308, the second driving wheel 319 and the second driven wheel 320 are all driving gears, and the first synchronous belt 309 and the second synchronous belt 319a are synchronous chains; the first pressing crawler wheel 300 and the second pressing crawler wheel 311 are concave arc rubber wheels; the two concave arc first pressing crawler wheels 300 are horizontally symmetrically installed at the front and rear ends of the fixed wheel bracket, and a pair of concave arc first pressing crawler wheels 300 are symmetrically arranged on the front and rear sides of the outer frame 1 and on the upper and lower sides of the cable 9. and a second pressing crawling wheel 311, four concave arc-shaped pressing crawling wheels are radially perpendicular to the cable 9; a second crawling pressing mechanism 31 symmetrical to the first crawling pressing mechanism 30 is set below the cable 9, and the second pressing crawling wheel 311 in the second crawling pressing mechanism 31 adopts a second reduction stepping motor 312 through a second synchronous belt 319a and a second driving wheel 319 to drive; the pressing fixing frame of the second crawling pressing mechanism 31 is composed of a crawling support seat 310, a lifting support plate 314, a second transverse support beam 315 and a second longitudinal support beam 316. The pressing fixing frame is limited by the card slot on the outer frame 1; the crawling support seat 310, the lifting support plate 314, the second transverse support beam 315 and the second longitudinal support beam 316 can only move in the vertical direction under the push of the electric push rod 313. The second transverse support beam 315 adopts an inner concave channel steel. The second pressing crawling wheel 311 is set on the second longitudinal support beam 316 through the second bearing 318. The second transverse support beam 315 and the second longitudinal support beam 316 are connected by the second support column 321 (shock-absorbing rubber column) and the buffer spring 324. Next, the electric push rod 313 is fixed to the center of the base 2, and the electric push rod 313 drives the lifting support plate 314 to perform lifting movement. At this time, the crawling support seat 310 and the second transverse support beams 315 on the front and rear sides of the lifting support plate 314 drive the second longitudinal support beam 316 to slide up and down along the inner part of the outer frame. At this time, the crawling support seat 310 on the second crawling and clamping mechanism 31, the second deceleration stepping motor 312 on the second longitudinal support beam 316, and the second clamping crawling wheel 311 on the second bearing 318 are also driven to rise and fall accordingly.The second pressing and crawling wheel 311 is pressed and supported on the upper buffer plate 323 at the top of the second support column 321 (shock-absorbing rubber column), so that the entire second crawling and clamping mechanism 31 is pressed tightly against the upper buffer plate 323, and the buffer spring 324 is in a compressed state. When the electric push rod 313 pushes the entire second crawling and clamping mechanism 31 to rise, the pressing and fixing frame of the second crawling and clamping mechanism 31, which is composed of the crawling support seat 310, the lifting support plate 314, the second transverse support beam 315 and the second longitudinal support beam 316, moves away from the base 2 and approaches the cable 9. The second pressing and crawling wheel 311 is pressed tightly against the cable, realizing the cable pressure adjustment of the entire second crawling and clamping mechanism 31. When the entire crawling drive structure 3 crawls on the cable, as the cable diameter changes, the cable squeezes the second pressing and crawling wheel 311, causing the second pressing and crawling wheel 311 to crawl tightly on the cable.

[0033] In the present invention, Figure 1 、 Figure 2 、 Figure 4 and Figure 9 As shown, the de-icing blade head mechanism 41 includes a circular support plate 410, a de-icing gear plate 411, a blade head assembly 412 and a de-icing motor 413. The circular support plate 410 and the de-icing gear plate 411 are respectively composed of two semi-circular disc structures enclosed on the circumference of the cable 9. The circular support plate 410 is fixedly mounted on the front side wall of the outer frame 1 by bolts, and an annular bearing 414 is mounted on the inner ring of the circular support plate 410. The de-icing gear plate 411 is mounted on the front disk surface of the circular support plate 410 through an annular bearing 34. The de-icing motor 413 is arranged at the edge center position of the crawling support seat 310 near the side of the de-icing gear plate 411, and a de-icing gear is arranged on the output shaft of the de-icing motor 413. The de-icing drive gear 415 is engaged with the gear disc 411, and a plurality of radially slidable cutter head assemblies 412 are evenly spaced on the front disk surface of the de-icing gear disc 411. The cutting adjustment mechanism 40 can slide on the base 2 below the side close to the second deceleration stepper motor 312. The cutting adjustment mechanism 40 is output to the front side of the outer frame 1 along the extension direction of the cable 9 and then transmitted with the cutter head assembly 412; when the robot is installed on the cable 9, the first clamping crawler wheel 300 and the second clamping crawler wheel 311 are driven to rotate, and the de-icing motor 413 is started at the same time to drive the de-icing gear disc 411 to rotate, and drive the cutter head assembly 412 on the disk surface of the de-icing gear disc 411 to rotate on the outer wall of the cable 9 to remove the ice on the cable 9.

[0034] In the present invention, Figure 1 、 Figure 2 、 Figure 4 and Figure 9As shown, the cutting adjustment mechanism 40 includes a third deceleration stepper motor 400, a fourth deceleration stepper motor 401 and a pitch-adjusting rod 402. The third deceleration stepper motor 400 can be slidably arranged on the base 2. The output shaft of the third deceleration stepper motor 400 is transmission-connected to the pitch-adjusting rod 402 extending outward along the extension direction of the cable 9 to the circumferential edge of the de-icing gear disk 411. A first bevel gear 403 that is transmission-connected to the cutter head assembly 412 is provided on the outer end portion of the pitch-adjusting rod 402. The fourth deceleration stepper motor 401 is arranged above or below the side of the pitch-adjusting rod 402. A threaded tooth groove 402a is provided on the pitch-adjusting rod 402. A shift drive gear 404 that meshes with the threaded tooth groove 402a is provided on the output shaft of the fourth deceleration stepper motor 401. An arc-shaped strip guide shield 416 is provided on the outside of the pitch-adjusting rod 402 to guide the pitch-adjusting rod 402 to move back and forth on the base 2.

[0035] In the present invention, Figure 1 、 Figure 2 、 Figure 4 and Figure 9 As shown, the cutter head assembly 412 includes a sliding adjustment screw rod 4120, a sliding block 4121 and a cutting blade 4122. The sliding block 4121 is arranged along the disk surface of the de-icing gear disk 411. The sliding adjustment screw rods 4120 are arranged above the disk surface of the de-icing gear disk 411 and extend in the radial direction with equal intervals. The bottom of the sliding block 4121 is arranged on the disk surface of the de-icing gear disk 411 along the radial direction. The cutting blades 4122 are arranged on the upper surface of the sliding block 4121 and along the extension direction of the cable 9. A guide support block 4123 is provided, and the center thread sleeve of the sliding block 4121 is connected to the sliding adjustment screw 4120. A second bevel gear 4124 is provided on the end of the sliding adjustment screw 4120 close to the circumferential edge of the de-icing gear disk 411, and the first bevel gear 403 on the outer end of the pitch adjustment rod 402 is engaged with the second bevel gear 4124; a gear encoder 417 for detecting the rotation of the de-icing gear disk 411 is provided on the circumferential edge of the annular support disk 410, and the gear encoder 417 is used to detect the rotation angle of the de-icing gear disk 411.

[0036] In the present invention, Figures 1 to 9As shown, the pitch-adjusting rod 402 is provided with a threaded tooth groove 402a, and the threaded tooth groove 402a is meshed with the shift drive gear 404. The third reduction stepper motor 400 can be slidably set on the base 2. The third reduction stepper motor 400 is connected to the pitch-adjusting rod 402 through a shaft coupling and drives the pitch-adjusting rod 402 to rotate. The front end of the pitch-adjusting rod 402 is a first bevel gear 403, and the rear end of the pitch-adjusting rod 402 is connected to the third reduction stepper motor 400. The first bevel gear 403 at the front end of the pitch-adjusting rod 402 is meshed with a second bevel gear 4124 on the end of the sliding adjustment screw rod 4120 for transmission. The annular support plate 410 is connected to the outer frame 1, and the de-icing gear plate 411 is arranged on the annular support plate 410 through an annular bearing 414. The de-icing gear plate 411 is connected to the annular support plate 410 through an annular bearing 414. The support plate 410 moves relative to each other, and the de-icing gear plate 411 is installed with multiple groups of cutter head assemblies 412 (generally four groups of cutter head assemblies 412 are set), and each group of sliding blocks 4121 is provided with four cutting blades 4122. The cutting blades 4122 are installed on the disk surface of the de-icing gear plate 411 through the sliding blocks 4121. When the second bevel gear 4124 at the outer end of the sliding adjustment screw 4120 is engaged with the first bevel gear 403 at the outer end of the pitch adjustment rod 402 for transmission, the sliding adjustment screw 4120 is driven when the pitch adjustment rod 402 rotates forward and backward, so that the sliding block 4121 moves back and forth in the radial direction under the drive of the sliding adjustment screw 4120 to adjust the distance, thereby adjusting the radial distance between the cutting blade 4122 and the cable 9. The central control is installed on the outside of the outer frame 1 to perform overall control of the robot and information communication.

[0037] In the present invention, Figures 1 to 9As shown, the working direction of the electric push rod 313 is parallel to the vertical direction of the outer frame 1. When adjusting the distance, the electric push rod 313 pushes the lifting support plate 314 up and down at a constant speed, so that the crawling support seat 310 slides along the guide on the outer frame 1 and drives the second transverse support beam 315 and the second longitudinal support beam 316 to move up and down together, and presses the second clamping crawling wheel 311 tightly on the lower side of the cable 9 to maintain the best climbing force of the robot. The distance adjustment direction is determined according to the data of the distance measuring sensor, and the adjustment distance is adjusted according to the distance measured by the sensor. The distance between the first pressing crawling wheel 300, the second pressing crawling wheel 311 and the cable 9 is measured according to the distance measuring sensor, so as to determine the height of the electric push rod 313 to be extended upward to achieve the best climbing force between the robot and the cable 9. According to the distance between the first pressing crawling wheel 300, the second pressing crawling wheel 311 and the cable 9, the distance between the cutting blade 4122 and the cable 9 is adjusted. Before the adjustment, the de-icing gear plate 411 is driven to rotate by the de-icing motor 413 to make the de-icing gear plate One of the cutter head assemblies 412 on 411 corresponds to the position of the first bevel gear 403 on the pitch adjusting rod 402. Then, the shift drive gear 404 on the fourth reduction stepping motor 401 drives the pitch adjusting rod 402 and the third reduction stepping motor 400 to slide on the inner bottom of the outer frame 1, so that the first bevel gear 403 on the outer end of the pitch adjusting rod 402 is engaged with the second bevel gear 4124 of the cutting blade 4122. At this time, the third reduction stepping motor 400 can be started to drive the pitch adjusting rod 402. Rotate, and drive the sliding adjustment screw rod 4120 to rotate through the first bevel gear 403 on the pitch adjusting rod 402, so that the sliding block 4121 moves radially on the sliding adjustment screw rod 4120, and the cutting blade 4122 on the sliding block 4121 approaches or moves away from the cable 9. After adjusting one of the cutter head assemblies 412, the pitch adjusting rod 402 moves back one position, driving the de-icing gear plate 411 to rotate, waiting for the next cutter head assembly 412 to rotate and reach the meshing position, and then the cutter head assembly 412 reaches the position of the first bevel gear 403 on the pitch adjusting rod 402 and meshes with it, and then adjusts the distance between the cutting blade 4122 and the cable 9 until the last cutter head assembly 412 is adjusted, thereby achieving the optimal position between the cable 9 and the cable 9. After adjusting the distance between the cutting blade 4122 and the cable, the shift drive gear 404 on the fourth reduction stepping motor 401 drives the pitch adjusting rod 402 and the third reduction stepping motor 400 to slide to the original position on the inner bottom of the outer frame 1.

[0038] In the present invention, combined Figures 1 to 9As shown, when in use, the base 2 and the outer frame 1 are disassembled, the first crawling and clamping mechanism 30 of the upper part of the robot is installed on the upper side of the cable 9, and the second crawling and clamping mechanism 31 is installed on the base 2. After the power is turned on, wait for the robot to adjust the distance autonomously, and then install the annular support plate 410 and the de-icing gear plate 411 on the cable. The annular support plate 410 is connected to the outer frame 1 by fastening screws to form a whole. The de-icing motor 413 is installed to the base 2 by fixing screws, and the de-icing gear plate 411 is engaged with the de-icing drive gear 415 on the de-icing motor 413. The power is started again, and the robot adjusts the cutting adjustment mechanism 40, the de-icing blade mechanism 41 and the second crawling and clamping mechanism 31 again. At this time, the adjustment action information can be obtained through the central controller and sent to the operation control center (monitoring end) through the wireless communication module to check the robot status and self-test specific information. If the robot self-tests correctly, the monitoring end sends a working signal, and the robot Entering the standby state, the robot will detect its own status information and environmental information in real time when it is working. After the temperature and humidity sensor measures that the ambient temperature reaches the freezing condition, the robot automatically enters the working mode; when the robot works to the top of the cable, the ranging sensor detects the distance and changes the working direction of the robot. When the robot reaches the bottom of the cable, the ranging sensor detects the distance and changes the working state of the robot. In order to prevent the robot from damaging the mechanism due to excessive stress or resistance when working, the first crawling clamping mechanism 30 and the second crawling clamping mechanism 31 are respectively installed with elastic rubber columns and shock-absorbing springs to reduce the lateral and longitudinal stress of the clamping crawling wheel. It will be used for de-icing tasks of cable-stayed bridge cables. This invention can perform fully automatic de-icing and can adapt to cables of different diameters and inclinations. The de-icing blade head can better de-ice and has good adaptability to extremely cold and severe weather. It has a strong load capacity and can monitor the working state of the robot in real time on the background webpage, and can perform self-inspection and fault handling reporting.

[0039] The above is only a preferred embodiment of the invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the invention. These improvements and modifications should also be regarded as within the scope of protection of the invention.

Claims

1. An adaptive cable-climbing deicing robot, characterized by: The invention comprises an outer frame and a base, wherein the outer frame is vertically detachably mounted on the base, a crawling drive structure is arranged inside the outer frame and crawling along the extension direction of the cable, and a cutting and deicing structure is arranged on the front side of the outer frame along the extension direction of the cable, the crawling drive structure comprises a first crawling clamping mechanism and a second crawling clamping mechanism symmetrically arranged on both sides of the cable, the first crawling clamping mechanism is arranged at the top end inside the outer frame, and the second crawling clamping mechanism can be lifted and lowered on the base, the cutting and deicing structure comprises a cutting adjustment mechanism slidably arranged on the base and a deicing blade head mechanism arranged on the front side of the outer frame and surrounding the outer periphery of the cable, and the cutting adjustment mechanism is transmission-connected to the deicing blade head mechanism; The first crawling and clamping mechanism includes a first clamping crawling wheel arranged on the upper side of the cable and located at the front and rear sides of the top end of the outer frame, a first longitudinal support beam along the extension direction of the cable is respectively arranged on the outer sides of the first clamping crawling wheels on the front and rear sides of the top end of the outer frame, and a first transverse support beam parallel to the axis of the first clamping crawling wheel is respectively arranged above the first clamping crawling wheels on the front and rear sides of the top end of the outer frame, the upper sides of the two ends of the first transverse support beam are connected and fixed to the inner top end of the outer frame through a first support column, the lower sides of the two ends of the first transverse support beam are respectively connected to the two ends of the first longitudinal support beam, First bearings are respectively provided at the front and rear ends of the support beam, and the first compression crawler wheels on the front and rear sides of the top end inside the outer frame are respectively connected to the first bearings through the first support shafts. A first reduction stepper motor is provided on the first longitudinal support beam between the first compression crawler wheels on the front and rear sides of the top end inside the outer frame, and a first driving wheel is provided on the output shaft of the first reduction stepper motor. First driven wheels are respectively provided on the outer ends on the same side of the first support shafts of the first compression crawler wheels on the front and rear sides of the top end inside the outer frame, and the first driving wheels on the output shaft of the first reduction stepper motor are respectively connected to the first driven wheels through first synchronous belts. The lifting mechanism comprises a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism is installed in the lifting mechanism, and the lifting mechanism is installed in the lifting mechanism, and the lifting mechanism is installed in the lifting mechanism, and the lifting mechanism is installed in the lifting mechanism, and the lifting mechanism is installed in the lifting mechanism, and the lifting mechanism is installed in the lifting mechanism. The cam is fixed to the crawling support seat through a second support column, and a second longitudinal support beam is fixedly provided between the two ends of the second transverse support beam and along the extension direction of the cable, and a second support shaft is horizontally passed through the second pressing crawling wheel, and the two ends of the second support shaft are respectively provided on the second longitudinal support beam through a second bearing, and the second reduction stepper motor is provided in the middle of the second longitudinal support beam, and a second driven wheel is provided above the front and rear sides of the base and on the end portion on the same side of the second support shaft, and a second driving wheel is provided on the output shaft of the first reduction stepper motor and on the same side of the second driven wheel, and the second driving wheel on the output shaft of the second reduction stepper motor is respectively connected to the second driven wheel through a second synchronous belt, and the cutting adjustment mechanism can be slidably provided on the base below one side near the second reduction stepper motor, and the cutting adjustment mechanism extends to the front side of the outer frame to adjust the distance between the de-icing blade head mechanism and the cable.

2. The adaptive cable-climbing deicing robot according to claim 1, characterized in that: The lower end of the second support column is fixed on the crawling support seat, and an upper buffer plate and a lower buffer plate are respectively provided at the top and bottom ends of the second support column, wherein the upper buffer plate is slidably sleeved on the top end of the second support column, and a limiting screw rod for limiting the upward movement of the upper buffer plate is vertically connected to the center of the top end of the second support column, and the top end of the limiting screw rod passes through the through-hole at the end end of the second transverse support beam, and a buffer spring is sleeved on the outer wall of the second support column between the upper buffer plate and the lower buffer plate, and a ranging sensor is respectively provided on the crawling support seat and at the top end of the outer frame.

3. The adaptive cable-climbing deicing robot according to claim 2, characterized in that: An L-shaped support baffle is provided on the upper buffer pad at the top end of the second support column.

4. The adaptive cable-climbing deicing robot according to claim 1, characterized in that: The de-icing blade head mechanism includes a circular support plate, a de-icing gear plate, a blade head assembly and a de-icing motor. The circular support plate and the de-icing gear plate are respectively composed of two semi-circular disc structures surrounded by the circumference of the cable. The circular support plate is fixedly mounted on the front side wall of the outer frame by bolts, and an annular bearing is mounted on the inner ring of the circular support plate. The de-icing gear plate is mounted on the front disk surface of the circular support plate through an annular bearing. The de-icing motor is arranged at the middle position of the edge of the base close to one side of the de-icing gear plate, and a de-icing drive gear meshing with the de-icing gear plate is arranged on the output shaft of the de-icing motor. A plurality of radially slidable blade head assemblies are evenly spaced on the front disk surface of the de-icing gear plate. The cutting adjustment mechanism can slide on the base close to the lower side of the second reduction stepper motor. The cutting adjustment mechanism is output to the front side of the outer frame along the extension direction of the cable and then transmitted to the blade head assembly.

5. The adaptive cable-climbing deicing robot according to claim 4, characterized in that: The cutting adjustment mechanism includes a third reduction stepper motor, a fourth reduction stepper motor and a pitch adjustment rod. The third reduction stepper motor is slidably arranged on the base. The output shaft of the third reduction stepper motor is transmission-connected to the pitch adjustment rod extending outward along the extension direction of the cable to the circumferential edge of the de-icing gear disk. A first bevel gear that is transmitted to the cutter head assembly is provided on the outer end portion of the pitch adjustment rod. The fourth reduction stepper motor is arranged above or below the side of the pitch adjustment rod. A threaded tooth groove is provided on the pitch adjustment rod. A shift drive gear meshing with the threaded tooth groove is provided on the output shaft of the fourth reduction stepper motor. An arc-shaped strip guide shield is provided on the outside of the pitch adjustment rod.

6. The adaptive cable-climbing deicing robot according to claim 5, characterized in that: The cutter head assembly includes a sliding adjustment screw, a sliding block and a cutting blade. The sliding block is arranged along the disk surface of the de-icing gear disk, and sliding adjustment screws are evenly spaced and extended above the disk surface of the de-icing gear disk and in a radial direction. The bottom of the sliding block is arranged on the disk surface of the de-icing gear disk for guiding sliding in the radial direction. The cutting blade is arranged on the upper surface of the sliding block and along the extension direction of the cable. Guide support blocks are respectively arranged on both sides of the sliding block. The center thread of the sliding block is sleeved and connected to the sliding adjustment screw. A second bevel gear is arranged on the end of the sliding adjustment screw near the circumferential edge of the de-icing gear disk, and the first bevel gear on the outer end of the pitch adjustment rod is meshed with the second bevel gear.

7. The adaptive cable-climbing deicing robot according to claim 4, characterized in that: A gear encoder for detecting the rotation of the deicing gear disc is provided on the circumferential edge of the annular support disc.

8. The adaptive cable-climbing deicing robot according to any one of claims 1 to 7, characterized in that: A central controller, temperature and humidity sensors, a power supply battery and a wireless communication module are arranged in the receiving space of the base.

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