A robot for wrapping belts on main cables of cable-stayed bridges

Abstract

The present invention discloses a cable-stayed bridge main cable wrapping robot, which is mounted on the outer ring of the main cable body and climbs upward at a uniform speed along the main cable body. The robot comprises a climbing mechanism, a winding mechanism, and a pressurizing mechanism, wherein the climbing mechanism and the winding mechanism are fixedly connected by a connecting rod 1, and the climbing mechanism and the pressurizing mechanism are fixedly connected by a connecting rod 2; the climbing mechanism is used to drive the winding mechanism and the pressurizing mechanism to climb upward along the main cable body, and clean the outer surface of the main cable body at the same time, the winding mechanism wraps the wrapping tape around the outer surface of the main cable body during the climbing process, and the pressurizing mechanism pressurizes the main cable body wrapped with the wrapping tape, so that the wrapping tape fits the main cable body. The present invention can autonomously realize the cleaning, wrapping tape and pressurizing treatment of the main cable surface of the cable-stayed bridge, and reduce the risk of manual operation.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a main cable tape wrapping robot for a cable-stayed bridge. Background Art

[0002] A cable-stayed bridge is a bridge that uses steel cables or concrete cables to lift the bridge deck. These steel cables or concrete cables are called cable stays. Strictly speaking, each cable bears the load of a statically indeterminate structure. The main cable of a cable-stayed bridge is one of its core load-bearing components. Together with the towers and main beams, it constitutes the main structural system of the bridge. However, in order to reduce the environmental erosion of the main cable during use, it is usually necessary to wrap a layer of tape around the outside of the main cable to protect it.

[0003] The surface wrapping protection of the main cable of a cable-stayed bridge usually needs to be done manually, but due to the height of the main cable, manual operation has a high safety risk. In addition, the dirt on the surface of the main cable needs to be cleaned in advance, which not only increases the labor intensity of the staff, but also prolongs the operation time. After the wrapping is completed, the staff also needs to apply pressure to the wrapping tape to ensure that it is tightly fixed on the surface of the main cable. This process is also time-consuming and labor-intensive. In order to solve the above problems, a robot that can automatically wrap the main cable of a cable-stayed bridge is needed. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a cable-stayed bridge main cable wrapping robot, which can autonomously clean, wrap and pressurize the surface of the main cable of the cable-stayed bridge.

[0005] Technical solution: To achieve the above-mentioned purpose, the present invention provides a cable-stayed bridge main cable tape wrapping robot, which is mounted on the outer ring of the main cable body and climbs upward at a uniform speed along the main cable body. The robot comprises a climbing mechanism, a winding mechanism and a pressurizing mechanism, wherein the climbing mechanism and the winding mechanism are fixedly connected by a connecting rod 1, and the climbing mechanism and the pressurizing mechanism are fixedly connected by a connecting rod 2; the climbing mechanism is used to drive the winding mechanism and the pressurizing mechanism to climb upward along the main cable body, and clean the outer surface of the main cable body at the same time, the winding mechanism wraps the tape around the outer surface of the main cable body during the climbing process, and the pressurizing mechanism pressurizes the main cable body wrapped with the tape to make the tape fit the main cable body.

[0006] Wherein, the climbing mechanism includes two parts, the upper part is a cleaning unit, and the lower part is a power unit. The cleaning unit and the power unit are fixedly connected by an L-shaped rod.

[0007] Among them, the power unit main body includes a fixed plate, which is an annular structure, which is sleeved on the outer ring of the main cable body and has no direct contact with the outer ring of the main cable body; multiple groups of mounting rods are fixed on the fixed plate, and support arms are movably connected at both ends of the mounting rods, and the outer ends of the support arms are provided with crawling wheels that fit the main cable body; a rotating motor is provided inside the crawling wheel, and power is provided by the battery inside the power box, so that the crawling wheel rotates and further climbs along the main cable body; the power box is arranged on the fixed plate.

[0008] Among them, the support arm and the mounting rod are movably connected through an electric push rod, and the electric push rod includes an electric push rod 1 hinged to the mounting rod and an electric push rod 2 hinged to the support arm; the electric push rod 2 is retracted and extended in the inner cavity of the electric push rod 1, driving the rotation of the support arm, so that the crawling wheel can be tightly attached to the outer surface of the main cable body.

[0009] The cleaning unit includes a cleaning scraper and a water distribution tank, wherein the cleaning scraper is fixed at one end of the L-shaped rod and is arranged close to the main cable body. A plurality of water spray heads are arranged in the inner circle of the water distribution tank. The water source of the water distribution tank comes from a water storage tank arranged on the fixed plate. The water distribution tank is connected to the water storage tank through a water pipe.

[0010] A booster pump is installed in the water tank. By starting the booster pump, the water in the water tank can be transported to the water distribution tank through the water pipe, and further sprayed on the outer surface of the main cable body through the sprinkler head. The cleaning scraper moves synchronously on the outer surface of the main cable body, so as to clean the outer surface of the main cable body.

[0011] Among them, the winding mechanism includes a tape box, the lower end of the tape box is connected to the guide ring through a connecting column, a track is provided in the guide ring, and a freely movable guide strip is provided in the track; the bottom surface of the guide strip is fixedly connected to a gear ring, and is rotatably connected to a bonding roller through a driving connecting rod; a gear motor is installed on both sides of the tape box through a fixed frame, and a main gear is fixed to the output end of the gear motor, and the main gear is coupled to the gear ring. When the gear motor is working, the gear ring, the bonding roller and the guide strip are driven to make circular motion on the guide ring through the main gear.

[0012] Among them, the laminating roller is used to guide the tape to be wound on the main cable body. The tape is stacked in order in the tape box. Under the action of external force, one end extending from the outlet is fixed at the bottom of the main cable body. Driven by the main gear, the laminating roller makes a circular motion on the guide ring while guiding the tape to be wound on the main cable body. At the same time, as the climbing mechanism climbs upward with the winding mechanism, the laminating roller guides the tape to be wound upward at a uniform speed on the main cable body.

[0013] Among them, the pressurizing mechanism includes an installation ring and a pressurizing ring, wherein the installation ring is fixed at one end of the connecting rod 2, and multiple groups of spring push rods are arranged between the installation ring and the pressurizing ring. The spring push rods apply thrust to the pressurizing ring, so that the pressurizing ring is tightly attached to the outer surface of the main cable body, thereby realizing the pressurization treatment of the wrapping tape wrapped around the outer surface of the main cable body.

[0014] Among them, the climbing mechanism, winding mechanism and pressurizing mechanism are all composed of left and right parts, and the left and right parts are semicircular structures as a whole. One end of the splicing is rotatably connected by a pin, and the other end is fixedly connected by a screw nut. When the robot needs to be installed on the main cable body, open the fixed end of the screw nut, rotate the pin to rotate the connecting end, further put it on the main cable body, and then lock the fixed end of the screw nut to realize that the robot is put on the outer ring of the main cable body.

[0015] Beneficial effects: The present invention has the following advantages: 1. The robot of the present invention can autonomously complete the surface cleaning of the main cable body of the cable-stayed bridge and the uniform winding of the tape through the mutual cooperation between the climbing mechanism and the winding mechanism, which not only improves the work efficiency, but also reduces the maintenance cost, and at the same time reduces the safety risk of personnel in high-altitude operations;

[0016] 2. The robot described in the present invention applies pressure to the surface of the main cable body after being wrapped with the tape through a pressurizing mechanism, so that the tape fits the main cable body, which helps to eliminate gaps caused by the uneven surface of the main cable body or the material characteristics of the tape, thereby enabling the tape to play a better protective role and improving the durability and waterproof performance of the main cable body. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic front view of the three-dimensional structure of the present invention;

[0018] Figure 2 It is a schematic side view of the three-dimensional structure of the present invention;

[0019] Figure 3 It is a rear view schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the climbing mechanism of the present invention;

[0021] Figure 5 It is a three-dimensional structural schematic diagram of the winding mechanism of the present invention;

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the pressurizing mechanism of the present invention;

[0023] Figure 7 For the present invention Figure 2 A schematic diagram of the structure enlargement at the center A;

[0024] Figure 8 For the present invention Figure 4 A magnified schematic diagram of the structure at point B in the middle.

[0025] 1. Main cable body;

[0026] 2. Connecting rod 1; 3. Connecting rod 2;

[0027] 4. Climbing mechanism; 401. Power box; 402. Mounting rod; 403. Support arm; 404. Electric push rod 1; 405. Electric push rod 2; 406. Electric crawling wheel; 407. Fixing plate; 408. L-shaped rod; 409. Cleaning scraper; 410. Water storage tank; 411. Water guide pipe; 412. Water distribution tank; 413. Sprinkler head;

[0028] 5. Winding mechanism; 501. Tape box; 502. Box cover; 503. Connecting column; 504. Fixing frame; 505. Motor; 506. Gear; 507. Guide ring; 508. Gear ring; 509. Guide strip; 510. Driving connecting rod; 511. Laminating roller; 512. Tape outlet; 513. Anti-slip buckle;

[0029] 6. Pressurizing mechanism; 601. Mounting ring; 602. Fixing cylinder; 603. Sliding rod; 604. Spring; 605. Pressurizing ring. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is described in detail below in conjunction with the embodiments and drawings.

[0031] The positional relationship between the cable-stayed bridge main cable wrapping robot and the main cable body 1 of the present invention is as follows: Figure 1-3 As shown, the robot is mounted on the outer ring of the main cable body 1 and moves upward at a uniform speed along the main cable body 1. The robot includes a climbing mechanism 4, a winding mechanism 5, and a pressurizing mechanism 6, wherein the climbing mechanism 4 and the winding mechanism 5 are fixedly connected by a connecting rod 1 2, and the climbing mechanism 4 and the pressurizing mechanism 6 are fixedly connected by a connecting rod 2 3. The climbing mechanism 4 is used to drive the winding mechanism 5 and the pressurizing mechanism 6 to climb upward along the main cable body 1, and at the same time clean the outer surface of the main cable body 1. The winding mechanism 5 wraps the outer surface of the main cable body 1 with a tape during the climbing process, and the pressurizing mechanism 6 presses the wrapped main cable body 1 to make the tape fit the main cable body 1.

[0032] like Figure 4As shown, the climbing mechanism 4 includes two parts, the upper part is a cleaning unit, and the lower part is a power unit. The cleaning unit and the power unit are connected by an L-shaped rod 408. The main body of the power unit includes a fixing plate 407. The fixing plate 407 is an annular structure, which is sleeved on the outer ring of the main cable body 1 and does not directly contact the outer ring of the main cable body 1. Four groups of mounting rods 402 are fixed on the fixing plate 407. The two ends of the mounting rods 402 are movably connected to support arms 403. The outer ends of the support arms 403 are provided with crawling wheels 406. The support arms 403 are movably connected to the mounting rods 402 through electric push rods. The electric push rods include electric push rod 1 404 hinged to the mounting rod 402 and electric push rod 2 405 hinged to the support arm 403. As shown Figure 8 As shown, the electric push rod 2 405 is extended and retracted in the inner cavity of the electric push rod 1 404, which can drive the rotation of the support arm 403, so that the crawling wheel 406 can be closely attached to the outer surface of the main cable body 1. A rotating motor is arranged inside the crawling wheel 406, and the battery inside the power box 401 provides power, so that the crawling wheel 406 rotates and further climbs along the main cable body 1.

[0033] The power box 401 is divided into two groups and is arranged on the fixed plate 407. One end of the L-shaped rod 408 is fixed to the power box 401, and the other end is fixed to the cleaning scraper 409 of the cleaning unit. The cleaning scraper 409 is arranged close to the main cable body 1. Above the cleaning scraper 409, the cleaning unit is also provided with a water distribution tank 412. The inner circle of the water distribution tank 412 is provided with multiple groups of water spray heads 413. The water source of the water distribution tank 412 comes from the water storage tank 410 arranged on the fixed plate 407. The water distribution tank 412 is connected to the water storage tank 410 through a water guide pipe 411. A booster pump is installed in the water storage tank 410. By starting the booster pump, the water in the water storage tank 410 can be transported to the water distribution tank 412 through the water guide pipe 411, and further sprayed on the outer surface of the main cable body 1 through the water spray head 413. The cleaning scraper 409 moves synchronously on the outer surface of the main cable body 1, so as to realize the cleaning of the outer surface of the main cable body 1. A sewage collecting bag is also provided on the periphery of the cleaning scraper 409 .

[0034] like Figure 5 As shown, the winding mechanism 5 includes a tape box 501 fixed to one end of the connecting rod 2, and the other end of the connecting rod 2 is fixed to the power box 401. A roller is provided inside the tape box 501, and the tape is sleeved on the roller. Under the action of external force, the tape rotates around the roller, and the tape extends from the outlet 512 of the tape box 501. Figure 7 As shown, the tape box 501 also has a box cover 502 for conveniently taking and placing the tape.

[0035] The lower end of the tape box 501 is connected to the guide ring 507 through the connecting column 503. The guide ring 507 is provided with a track, and the track is provided with a freely movable guide bar 509. The bottom surface of the guide bar 509 is fixedly connected with a gear ring 508, and is rotatably connected with a laminating roller 511 through a driving connecting rod 510. Gear motors 505 are installed on both sides of the tape box 501 through fixed frames 504. The output end of the gear motor 505 is fixed with a main gear 506, and the main gear 506 is coupled with the gear ring 508. When the gear motor 505 is working, the main gear 506 drives the gear ring 508, the laminating roller 511, and the guide bar 509 to make a circular motion on the guide ring 507. The gear motor 505 is powered by the power box 401.

[0036] The laminating roller 511 is used to guide the tape to be wound on the main cable body 1. The tape is stacked in order in the tape box 501. One end of the tape extending from the outlet 512 under the action of external force is fixed to the bottom of the main cable body 1 after passing the laminating roller 511. The laminating roller 511 guides the tape to be wound on the main cable body 1 while making a circular motion on the guide ring 507 driven by the main gear 506. At the same time, as the climbing mechanism 4 climbs upward with the winding mechanism 5, the laminating roller 511 guides the tape to be wound upward at a uniform speed on the main cable body 1. The anti-skid buckle 513 on the laminating roller 511 prevents the tape from getting stuck and falling off during the wrapping process, specifically, the tape passes through the space formed by the laminating roller 511 and the anti-skid buckle 513.

[0037] like Figure 6 As shown, the pressurizing mechanism 6 includes a mounting ring 601 and a pressurizing ring 605, wherein the mounting ring 601 is fixed at one end of the connecting rod 23, and a plurality of groups of spring push rods are arranged between the mounting ring 601 and the pressurizing ring 605, and the spring push rods include a fixed tube 602 fixedly connected to the mounting ring 601, and a sliding rod 603 fixedly connected to the pressurizing ring 605, the sliding rod 603 is telescopically connected to the fixed tube 602, and the sliding rod 603 is applied with thrust by the spring 604 inside the fixed tube 602, so that the pressurizing ring 605 is tightly attached to the outer surface of the main cable body 1, thereby realizing the pressurization treatment of the wrapping tape wrapped on the outer surface of the main cable body 1, so that it can be more fully wrapped on the outer surface of the main cable body 1.

[0038] The climbing mechanism 4, the winding mechanism 5, and the pressurizing mechanism 6 are divided into two parts in the left and right directions when viewed horizontally. One end of the two parts is connected by a rotation pin, and the other end is fixedly connected by a screw nut. When the robot needs to be installed on the main cable body 1, the fixed end of the screw nut is opened, the connecting end is rotated by rotating the pin, and after further being mounted on the main cable body 1, the fixed end of the screw nut is locked.

[0039] Working principle: first, put the robot on the main cable body 1, pull one end of the wrapping tape out from the wrapping tape outlet 512, and fix it to the bottom end of the main cable body 1 after passing through the anti-slip buckle 513 on the bonding roller 511; adjust the electric push rod so that the crawling wheel 406 is in close contact with the outer surface of the main cable body 1; start the crawling wheel 406, the motor 505, and the booster pump in the water tank 410. At this time, the rotation of the crawling wheel 406 drives the robot to move upward at a uniform speed. The booster pump transports the water in the water tank 410 to the water distribution tank 412 through the water pipe 411, and sprays it on the outer surface of the main cable body 1 from the water nozzle 413. As the robot moves upward, the cleaning scraper 409 cleans the outer surface of the main cable body 1 after being wetted. At the same time, the bonding roller 511 guides the wrapping tape to be wound upward at a uniform speed on the main cable body 1. Under the action of the pressure ring 605, the wrapping tape is fully wrapped around the outer surface of the main cable body 1, thereby completing the wrapping tape on the outer surface of the main cable body 1.

Claims

1. A cable-stayed bridge main cable wrapping robot, the robot is mounted on the outer ring of the main cable body (1) and climbs upward along the main cable body (1) at a uniform speed, characterized in that: The robot comprises a climbing mechanism (4), a winding mechanism (5), and a pressurizing mechanism (6), wherein the climbing mechanism (4) and the winding mechanism (5) are fixedly connected via a connecting rod 1 (2), and the climbing mechanism (4) and the pressurizing mechanism (6) are fixedly connected via a connecting rod 2 (3); the climbing mechanism (4) is used to drive the winding mechanism (5) and the pressurizing mechanism (6) to climb upward along the main cable body (1), while cleaning the outer surface of the main cable body (1); the winding mechanism (5) winds a wrapping tape around the outer surface of the main cable body (1) during the climbing process; and the pressurizing mechanism (6) pressurizes the main cable body (1) wrapped with the wrapping tape, so that the wrapping tape fits the main cable body (1); The winding mechanism (5) comprises a tape wrapping box (501), the lower end of the tape wrapping box (501) is connected to a guide ring (507) via a connecting column (503), a track is provided inside the guide ring (507), and a freely movable guide strip (509) is provided inside the track; a gear ring (508) is fixedly connected to the bottom surface of the guide strip (509), and a laminating roller (511) is rotatably connected to the guide strip (509) via a driving connecting rod (510); a gear motor (505) is installed on both sides of the tape wrapping box (501) via a fixing frame (504), a main gear (506) is fixed to the output end of the gear motor (505), and the main gear (506) is coupled to the gear ring (508), and when the gear motor (505) is working, the main gear (506) drives the gear ring (508), the laminating roller (511), and the guide strip (509) to perform circular motion on the guide ring (507); The pressurizing mechanism (6) comprises a mounting ring (601) and a pressurizing ring (605), wherein the mounting ring (601) is fixed to one end of the second connecting rod (3), and a plurality of groups of spring push rods are provided between the mounting ring (601) and the pressurizing ring (605), wherein the spring push rods apply a thrust to the pressurizing ring (605), so that the pressurizing ring (605) is closely attached to the outer surface of the main cable body (1), thereby achieving pressurization of the wrapping tape wrapped around the outer surface of the main cable body (1).

2. The cable-stayed bridge main cable wrapping robot according to claim 1, characterized in that: The climbing mechanism (4) comprises an upper and lower part, the upper part being a cleaning unit and the lower part being a power unit, the cleaning unit and the power unit being fixedly connected via an L-shaped rod (408).

3. The cable-stayed bridge main cable wrapping robot according to claim 2, characterized in that: The power unit body comprises a fixing plate (407), which is an annular structure and is sleeved on the outer ring of the main cable body (1) without directly contacting the outer ring of the main cable body (1); a plurality of groups of mounting rods (402) are fixed on the fixing plate (407), and support arms (403) are movably connected at both ends of the mounting rods (402), and a crawling wheel (406) that fits the main cable body (1) is provided at the outer end of the support arm (403); a rotating motor is provided inside the crawling wheel (406), and power is provided by a storage battery inside the power box (401), so that the crawling wheel (406) rotates and further climbs along the main cable body (1); the power box (401) is arranged on the fixing plate (407).

4. The cable-stayed bridge main cable wrapping robot according to claim 3, characterized in that: The support arm (403) is movably connected to the mounting rod (402) via an electric push rod, which includes an electric push rod 1 (404) hinged to the mounting rod (402) and an electric push rod 2 (405) hinged to the support arm (403); the electric push rod 2 (405) is retracted in the inner cavity of the electric push rod 1 (404), driving the support arm (403) to rotate, so that the crawling wheel (406) can be closely attached to the outer surface of the main cable body (1).

5. The cable-stayed bridge main cable wrapping robot according to claim 3, characterized in that: The cleaning unit comprises a cleaning scraper (409) and a water distribution tank (412), wherein the cleaning scraper (409) is fixed to one end of an L-shaped rod (408) and is arranged close to the main cable body (1); a plurality of groups of water spray heads (413) are arranged on the inner circle of the water distribution tank (412); the water source of the water distribution tank (412) comes from a water storage tank (410) arranged on a fixed plate (407); and the water distribution tank (412) and the water storage tank (410) are connected via a water guide pipe (411).

6. The cable-stayed bridge main cable wrapping robot according to claim 5, characterized in that: A booster pump is installed in the water storage tank (410). By starting the booster pump, water in the water storage tank (410) can be transported to the water distribution tank (412) through the water pipe (411), and further sprayed onto the outer surface of the main cable body (1) through the water spray head (413). The cleaning scraper (409) moves synchronously on the outer surface of the main cable body (1), thereby cleaning the outer surface of the main cable body (1).

7. The cable-stayed bridge main cable wrapping robot according to claim 1, characterized in that: The laminating roller (511) is used to guide the tape to be wound around the main cable body (1). The tape is stacked in order in the tape box (501). Under the action of external force, one end extending from the outlet (512) is fixed to the bottom of the main cable body (1). Driven by the main gear (506), the laminating roller (511) makes a circular motion on the guide ring (507) while guiding the tape to be wound around the main cable body (1). At the same time, as the climbing mechanism (4) leads the winding mechanism (5) to climb upward, the laminating roller (511) guides the tape to be wound upward at a uniform speed on the main cable body (1).

8. The cable-stayed bridge main cable wrapping robot according to claim 1, characterized in that: The climbing mechanism (4), winding mechanism (5), and pressurizing mechanism (6) are each formed by splicing two parts, the left and right parts are both semicircular structures as a whole, wherein one end of the splicing is rotatably connected by a pin shaft, and the other end is fixedly connected by a screw nut. When the robot needs to be installed on the main cable body (1), the fixed end of the screw nut is opened, the pin shaft is rotated to rotate the connecting end, and after further being sleeved on the main cable body (1), the fixed end of the screw nut is locked, so that the robot is sleeved on the outer ring of the main cable body (1).

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