Double-portal-frame self-walking wheel type main cable maintenance platform and self-walking method

Abstract

The invention relates to a double-portal-frame self-walking wheel type main cable maintenance platform and a self-walking method. The double-portal-frame self-walking wheel type main cable maintenance platform comprises an outer portal frame and an inner portal frame which are connected in a sleeved mode. The outer portal frame comprises an outer front door frame, an outer rear door frame and a guide rail A; the inner portal frame comprises an inner front door frame, an inner rear door frame and a middle truss frame, a guide rail B is mounted between the top surfaces of the inner front door frame and the inner rear door frame, and a front guide wheel device is arranged in the outer front door frame; supporting and clamping mechanisms are correspondingly arranged in the outer portal frame and the inner portal frame; a step of a self-walking method; the maintenance platform straddles the main cable, and the effective clean clamping space in the maintenance platform can be suitable for maintenance of most of the main cables; the maintenance platform can be spliced into different lengths according to different use requirements, so that the adaptability is high; according to the method, the effective load of the maintenance platform can be guaranteed, the high-altitude obstacle crossing capacity of the maintenance platform is improved, meanwhile, the maintenance platform can be effectively fixed to the main cable in the advancing process, and the influence of high-altitude wind load on the maintenance platform is reduced.

Description

Technical Field

[0001] The invention relates to a double-gantry self-propelled wheeled main cable maintenance platform and a self-propelled method, belonging to the technical field of main cable detection and maintenance of suspension bridges. Background Art

[0002] With the improvement of my country's transportation infrastructure, the pace of suspension bridge construction will gradually slow down, and suspension bridges will shift from the peak construction period to the operation and maintenance period; the main cable, as the main load-bearing component of the suspension bridge, has been subjected to various adverse environmental erosions for a long time, and has successively experienced defects such as cracking of the protective layer, damage to the wire winding, displacement of the cable clamp, and rust of the steel wire; if the main cable defects cannot be treated in time, it will affect the normal use function of the suspension bridge and the safety of public transportation.

[0003] In order to accurately evaluate the corrosion of the longitudinal steel wire inside the main cable, at present, main cable opening and maintenance is one of the research hotspots of main cable operation and maintenance technology; however, the existing large-scale maintenance vehicles or maintenance platforms have simple structures, single functions, and low effective load, which makes the maintenance personnel rely on the existing maintenance platforms to only carry out some simple daily maintenance; Chinese invention application 2023108662235 discloses a main cable protection wheeled movable catwalk construction platform for a serving suspension bridge, which uses a towing cable clamp (or temporary cable clamp) to move. If the towing cable clamp is used, damage to the cable clamp is inevitable during the movement. After the main cable opening and maintenance is completed, it is often necessary to perform secondary inspection and tensioning of the axial force of each cable clamp screw to avoid displacement of the cable clamp, and the operation is time-consuming and labor-intensive; if the towing temporary cable clamp is used, the temporary cable clamp must be continuously disassembled and assembled during the movement. Not only will the main cable protective layer be damaged when the cable clamp is disassembled and assembled, but this travel method is inefficient and requires a large amount of manpower to assist in the operation at high altitude, which poses a safety hazard.

[0004] To solve this problem, Chinese invention application 202010209705X discloses a suspension bridge main cable maintenance platform, including a platform frame arranged outside the main cable, a traveling device installed on the platform frame, a traction device for driving the traveling device to move along the main cable, and a supporting and clamping device, the supporting and clamping device including a main supporting mechanism and two lateral clamping mechanisms, one end of the main supporting mechanism is connected to the platform frame, and the other end of the main supporting mechanism is in contact with or separated from the upper surface of the main cable; one end of the two lateral clamping mechanisms is respectively connected to the platform frame, and the other ends are respectively in contact with or separated from the left and right side surfaces of the main cable.

[0005] However, the above technical solution still has defects in actual use. The supporting clamping device will be completely separated from the main cable during travel, and the friction generated on the main cable when the maintenance platform is moving cannot be controlled, which will cause the walking device to damage the outer protective layer of the main cable during travel. At the same time, during the traction process, the maintenance platform itself will twist, making it difficult for the main cable maintenance platform to land in the center of the main cable, and it may overturn in severe cases. If it is not handled in time, it will affect the normal maintenance function of the main cable maintenance platform and cause public transportation safety. Summary of the invention

[0006] In view of the above problems, the technical problem to be solved by the present invention is to provide a double-gantry self-propelled wheeled main cable maintenance platform and method which can prevent main cable damage, is easy to assemble and has strong climbing ability.

[0007] The technical solution adopted by the present invention is as follows:

[0008] The present invention discloses a double-gantry self-propelled wheeled main cable maintenance platform, which comprises an outer gantry and an inner gantry which are connected with each other; the outer gantry comprises an outer front gantry, an outer rear gantry and a guide rail A installed between the top surfaces of the outer front gantry and the outer rear gantry; the inner gantry comprises an inner front gantry, an inner rear gantry and a middle truss frame installed between the lower parts of the inner front gantry and the inner rear gantry, a guide rail B is installed between the top surfaces of the inner front gantry and the inner rear gantry, a guide rail C is installed above the middle truss frame, and a guide rail adapted to the main cable is correspondingly arranged in the outer front gantry A front guide wheel device is provided; supporting and clamping mechanisms compatible with the main cable are correspondingly arranged in the outer front door frame, the outer rear door frame, the inner front door frame and the inner rear door frame; the supporting and clamping mechanisms are connected with the controller by electrical signals; a traveling mechanism A and a sliding support wheel group A corresponding to and matching the guide rail B are arranged in sequence on the bottom surface of the top beam of the outer rear door frame, and a traveling mechanism B and a sliding support wheel group B corresponding to and matching the guide rail A are arranged in sequence on the top surface of the top beam of the inner front door frame; a sliding support wheel group C slidably matched with the guide rail C is arranged at the bottom of the outer rear door frame support leg.

[0009] The present invention discloses a self-propelled method for a double-gantry self-propelled wheeled main cable maintenance platform. An outer gantry and an inner gantry are connected to form a maintenance platform. The maintenance platform is arranged on the main cable, and two traveling wheels are arranged on the upper surface of the main cable. The self-propelled method for the maintenance platform adopts the following steps:

[0010] S1. Use the controller to separate the support and clamping mechanism of the outer gantry of the maintenance platform from the main cable, and tightly hold the support and clamping mechanism of the inner gantry with the main cable, so that the inner gantry is fixed on the main cable;

[0011] S2. The driving motors of the travel mechanism A of the outer rear gantry and the travel mechanism B of the inner front gantry drive the transmission gears to rotate. The transmission gears rotate along the tooth marks A and B respectively. The driving motors of the travel mechanism A and the travel mechanism B rotate in opposite directions, driving the outer gantry to slide forward relative to the main cable. The front guide wheel device ensures that the outer gantry automatically corrects the deviation when traveling. When sliding to the specified distance, the outer gantry stops.

[0012] S3, controlling the supporting clamping mechanism of the outer gantry to hold the main cable tightly through the controller, so that the outer gantry is fixed on the main cable; and controlling the supporting clamping mechanism of the inner gantry to separate from the main cable through the controller;

[0013] S4, the driving motors of the travel mechanism A of the outer rear gantry and the travel mechanism B of the inner front gantry drive the transmission gears to rotate, and the transmission gears rotate along the tooth marks A and B respectively, and the driving motors of the travel mechanism A and the travel mechanism B rotate in opposite directions, driving the inner gantry to slide forward relative to the main cable; when sliding to the specified distance, the inner gantry stops;

[0014] S5. Control the supporting clamping mechanism of the inner gantry to hold the main cable tightly through the controller, so that the maintenance platform is fixed on the main cable as a whole;

[0015] S6. Repeat S1-S5, and alternately open and close the supporting clamping mechanisms of the outer gantry and the inner gantry, so that the maintenance platform creeps on the main cable.

[0016] The present invention provides a self-propelled method for a double-gantry self-propelled wheeled main cable maintenance platform, wherein corresponding ends of the inner gantries of the front maintenance platform and the rear maintenance platform are connected by bolts of an upper splicing plate and a lower splicing plate, and the self-propelled method of the two groups of maintenance platforms adopts the following steps:

[0017] S1. Separate the support and clamping mechanism of the outer gantry of the front maintenance platform from the main cable through the controller, and tightly hold the inner gantry of the front maintenance platform and the support and clamping mechanism of the rear maintenance platform with the main cable, so that the inner gantry of the front maintenance platform and the rear maintenance platform are fixed on the main cable;

[0018] S2. The driving motors of the travel mechanism A of the outer rear gantry and the travel mechanism B of the inner front gantry drive the transmission gears to rotate. The transmission gears rotate along the tooth marks A and B respectively. The driving motors of the travel mechanism A and the travel mechanism B rotate in opposite directions, driving the outer gantry of the front maintenance platform to slide forward relative to the main cable. The front guide wheel device ensures that the outer gantry of the front maintenance platform automatically corrects the deviation when traveling. When the outer gantry of the front maintenance platform slides to the specified distance, it stops.

[0019] S3, controlling the support clamping mechanism of the outer gantry of the front maintenance platform to hold the main cable tightly through the controller, so that the outer gantry of the front maintenance platform is fixed on the main cable;

[0020] The controller controls the main cables of the support clamping mechanism of the inner gantry of the front and rear inspection platforms to separate, and keeps the support clamping mechanism of the outer gantry of the rear inspection platform tightly holding the main cables, so that the outer gantry of the rear inspection platform is fixed on the main cables;

[0021] S4, the driving motors of the travel mechanism A of the outer rear door frame of the front inspection platform and the travel mechanism B of the inner front door frame drive the transmission gears to rotate, and the transmission gears rotate along the tooth marks A and B respectively, and the driving motors of the travel mechanism A and the travel mechanism B rotate in opposite directions, driving the inner gantries at the front and rear ends to slide forward relative to the main cable; when sliding to the specified distance, the inner gantries at the front and rear ends stop;

[0022] S5. Control the supporting clamping mechanism of the inner gantry of the front maintenance platform and the rear maintenance platform to hold the main cable tightly through the controller, so that the front maintenance platform and the rear maintenance platform are fixed on the main cable as a whole;

[0023] Only the supporting clamping mechanism of the outer gantry of the rear maintenance platform is separated from the main cable through the controller, and the supporting clamping mechanism of the inner gantry of the rear maintenance platform and the front maintenance platform are kept tightly holding the main cable, so that the inner gantry of the rear maintenance platform and the front maintenance platform are fixed on the main cable;

[0024] S6. The driving motors of the travel mechanism A of the outer rear gantry and the travel mechanism B of the inner front gantry drive the transmission gears to rotate. The transmission gears rotate along the tooth marks A and B respectively. The driving motors of the travel mechanism A and the travel mechanism B rotate in opposite directions, driving the outer gantry of the rear maintenance platform to slide forward relative to the main cable. The front guide wheel device ensures that the outer gantry of the rear maintenance platform automatically corrects the deviation when traveling. After sliding to a specified distance, the outer gantry (1) of the rear maintenance platform stops.

[0025] S7, the controller controls the supporting clamping mechanism of the outer gantry (1) of the rear maintenance platform to clamp the main cable tightly, so that the outer gantry of the rear maintenance platform is fixed on the main cable;

[0026] S8, repeat S1-S7, alternately open and close the supporting clamping mechanism 5 of the outer gantry and the inner gantry, so that the front maintenance platform and the rear maintenance platform can creep on the main cable.

[0027] The positive effects of the present invention are as follows:

[0028] (1) The maintenance platform of the present invention straddles the main cable, and its internal effective net clamping space can be used for maintenance of most main cables; at the same time, the maintenance platform is connected by splicing the upper splicing plate and the lower splicing plate, and can be spliced ​​into different lengths according to different usage requirements, and has strong adaptability.

[0029] (2) The maintenance platform of the present invention uses the main cable as support and is provided with maintenance paths and covers, thereby ensuring the load-bearing capacity of the maintenance platform and enabling the maintenance platform to carry a variety of maintenance-related equipment, and realizing main cable maintenance operations such as reinforcing protective coatings, adding maintenance facilities, replacing cable clamps, and opening cables for maintenance.

[0030] (3) The present invention enables the maintenance platform to creep and climb on the main cable by alternately opening and closing the supporting clamping mechanisms of the outer gantry and the inner gantry, which not only avoids damage to the main cable during the travel process, but also effectively transmits mechanical torque and improves the climbing ability of the overall structure.

[0031] (4) The maintenance platform of the present invention reduces damage to the protective layer of the main cable through "point contact" of multiple sets of supporting and clamping mechanisms on the main cable, thereby avoiding accidents caused by insufficient contact of a certain hydraulic cylinder with the main cable.

[0032] (5) The maintenance platform of the present invention adopts transmission gears and tooth-mark meshing transmission, which can not only effectively transmit mechanical torque and improve the climbing ability of the overall structure; but also effectively record the number of gear rotations, the distance traveled, etc., and then accurately record the take-off and landing points of each clamping system, laying the foundation for the automated movement of the maintenance platform.

[0033] (6) The self-propelled method of the present invention can not only ensure the effective load of the maintenance platform, but also improve the high-altitude obstacle-crossing ability of the maintenance platform, thereby preventing the maintenance platform from colliding with the main cable's auxiliary components such as cable clamps, air clamps, and handrails when moving, thereby enabling the maintenance platform to move to any position of the main cable for inspection and maintenance; at the same time, the self-propelled method can also effectively fix the maintenance platform on the main cable during its movement, thereby reducing the impact of high-altitude wind loads on it. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Attached Figure 1 This is a schematic diagram of the structure of the maintenance platform of the present invention;

[0035] Attached Figure 2 This is a schematic diagram of the external gantry structure of the maintenance platform of the present invention;

[0036] Attached Figure 3 This is a schematic diagram of the gantry structure in the maintenance platform of the present invention;

[0037] Attached Figure 4 This is a schematic diagram of the front view structure of the gantry in the maintenance platform of the present invention;

[0038] Attached Figure 5 This is a schematic diagram of the top view of the gantry structure in the maintenance platform of the present invention;

[0039] Attached Figure 6 This is a schematic diagram of the shaft side structure of the front guide wheel device of the maintenance platform of the present invention;

[0040] Attached Figure 7 This is a front view structural diagram of the front guide wheel device of the maintenance platform of the present invention;

[0041] Attached Figure 8 It is a schematic diagram of the side structure of the front guide wheel device of the maintenance platform of the present invention;

[0042] Attached Fig. 9 This is a schematic diagram of the main support structure of the maintenance platform of the present invention;

[0043] Attached Fig.10 This is a schematic diagram of the front view structure of the main support mechanism of the maintenance platform of the present invention;

[0044] Attached Fig.11 It is a structural schematic diagram of the upper splicing plate and the lower splicing plate on the maintenance platform of the present invention;

[0045] Attached Fig.12 It is a schematic diagram of the structure of the lateral clamping mechanism and the sliding support wheel group C of the maintenance platform of the present invention;

[0046] Attached Fig.13 It is a structural schematic diagram of the torsion self-adjusting device of the present invention;

[0047] Attached Fig.14 This is a schematic diagram of the axial structure of the lateral hydraulic cylinder of the present invention;

[0048] Attached Fig.15 This is a schematic diagram of the splicing structure of the first embodiment of the maintenance platform of the present invention;

[0049] Attached Fig.16 This is a schematic diagram of the splicing structure of the second embodiment of the maintenance platform of the present invention;

[0050] Attached Fig.17 This is a schematic diagram of the torsion self-adjusting structure of the maintenance platform frame of the present invention;

[0051] Attached Fig.18 This is a schematic diagram of the traveling structure of the main cable maintenance platform in Embodiment 1 of the maintenance platform method of the present invention;

[0052] Attached Fig.19 This is a schematic diagram of the traveling structure of the main cable maintenance platform of the maintenance platform embodiment 2 of the present invention;

[0053] In the attached picture:

[0054] 1 external gantry,

[0055] 10 outer front door frame, 11 outer rear door frame, 12 guide rail A, 13 supporting slide block, 141 limit block A, 142 limit block B, 143 limit block C, 15 upper splicing plate, 16 lower splicing plate, 17 inspection road, 181 tooth mark A, 182 tooth mark B, 19 cover plate, 191 hook, 192 seat;

[0056] 2 inner gantry,

[0057] 20 inner front door frame, 21 inner rear door frame, 22 middle truss frame, 23 guide rail B, 24 guide rail C; 3 main cable;

[0058] 4 front guide wheel device,

[0059] 41 supporting hydraulic cylinder, 42 rotating bearing, 43 guide wheel frame, 44 walking wheel, 431 supporting plate, 432 supporting plate A, 433 supporting plate B, 434 pressure-resistant platform A, 435 pressure-resistant platform B, 436 paddle A, 437 paddle B, 438 pull rod A, 439 buffer rod A, 440 high-pressure spring A, 441 pull rod B, 442 buffer rod B, 443 high-pressure spring B, 444 blocking piece;

[0060] 5 Support clamping mechanism,

[0061] 51 main support mechanism, 511 main hydraulic cylinder, 512 elevation hydraulic cylinder, 513 universal ball, 514 support seat, 515 arc support plate;

[0062] 52 lateral clamping mechanism, 521 fixed seat, 522 lateral hydraulic cylinder, 523 clamping seat, 524 fractal vise, 525 tiger claw, 526 arc groove, 527 rotating shaft, 528 worm gear, 529 driving gear, 530 internal gear, 531 worm, 532 torsion motor;

[0063] 53 reverse support rod;

[0064] 61 travel mechanism A, 62 travel mechanism B, 601 drive motor, 602 transmission gear;

[0065] 71 sliding support wheel set A, 72 sliding support wheel set B, 73 sliding support wheel set C, 701 splicing plate, 702 rotating shaft, 703 upper sliding wheel, 704 lower sliding wheel;

[0066] 8 middle section frame. DETAILED DESCRIPTION

[0067] As attached Figure 1-5As shown, the double-gantry self-propelled wheeled main cable maintenance platform of the present invention comprises an outer gantry 1 and an inner gantry 2 which are connected with each other; the outer gantry 1 comprises an outer front gantry 10, an outer rear gantry 11 and a guide rail A12 installed between the top surfaces of the outer front gantry 10 and the outer rear gantry 11; the inner gantry 2 comprises an inner front gantry 20, an inner rear gantry 21 and a middle truss frame 22 installed between the lower parts of the inner front gantry 20 and the inner rear gantry 21, a guide rail B23 is installed between the top surfaces of the inner front gantry 20 and the inner rear gantry 21, a guide rail C24 is installed above the middle truss frame 22, a front guide wheel device 4 adapted to the main cable 3 is correspondingly arranged in the outer front gantry 10; a supporting clamping mechanism 5 adapted to the main cable 3 is correspondingly arranged in the outer front gantry 10, the outer rear gantry 11, the inner front gantry 20 and the inner rear gantry 21. ; The supporting clamping mechanism 5 is connected with the controller by electrical signals; a traveling mechanism A61 and a sliding support wheel group A71 which cooperate with and correspond to the guide rail B23 are sequentially arranged on the bottom surface of the top beam of the outer rear door frame 11, and a traveling mechanism B62 and a sliding support wheel group B72 which cooperate with and correspond to the guide rail A12 are sequentially arranged on the top surface of the top beam of the inner front door frame 20; a sliding support wheel group C73 which slides with the guide rail C24 is arranged at the bottom of the supporting leg of the outer rear door frame 11; a limiting assembly is arranged on the guide rails A12, B23 and C24; the limiting assembly comprises a limiting block A141 fixedly arranged at both ends of the guide rail A12, a limiting block B142 fixedly installed at both ends of the guide rail B23 and a limiting block C143 fixedly installed at both ends of the guide rail C24; it ensures that the inner and outer gantries 1 and 2 can be safely connected and slid.

[0068] As attached Figure 6 , 7 As shown in Figures 8 and 9, the front guide wheel device 4 of the maintenance platform of the present invention is fixedly installed in the outer front portal frame 10, which includes a guide wheel frame 43, a supporting hydraulic oil cylinder 41 installed in the middle of the top surface of the guide wheel frame 43 through a rotating bearing 42, a running wheel 44 symmetrically rotated and installed at the bottom of the guide wheel frame 43, and a buffer assembly connected to the running wheel 44; the top of the supporting hydraulic oil cylinder 41 is fixedly connected to the upper crossbeam of the outer front portal frame 10; the extension and contraction of the supporting hydraulic oil cylinder 41 can make the running wheel 44 contact or separate from the upper surface of the main cable 3;

[0069] The guide wheel frame 43 includes a supporting plate 431, a support plate A432 vertically fixedly installed on both sides of one end of the supporting plate 431, a support plate B433 vertically fixedly installed on both sides of the other end of the supporting plate 431, a pressure-resistant platform A434 fixedly installed between the two support plates A432, and a pressure-resistant platform B435 fixedly installed between the two support plates B433; the rotating bearing 42 is located in the middle of the top surface of the supporting plate 431, so that the walking wheel 44 can rotate on the horizontal plane with the guide wheel frame 43 relative to the supporting hydraulic cylinder 41.

[0070] The buffer assembly includes a paddle A436 hinged on the inner side of each support plate A432, a paddle B437 hinged on the inner side of two support plates B433, a pull rod A438 fixedly installed between one end of the two paddles A436, a plurality of buffer rods A439 with a gap passing through the pressure-resistant platform A434 and the bottom of which is fixedly installed on the pull rod A438, a high-pressure spring A440 sleeved on each buffer rod A439, a pull rod B441 fixedly installed between one end of the two paddles B437, a plurality of buffer rods B442 with a gap passing through the pressure-resistant platform B435 and the bottom of which is fixedly installed on the pull rod B441, and a high-pressure spring B443 sleeved on each buffer rod B442; A blocking piece 444 is fixedly installed on the top of the rod A439 and the buffer rod B442; the pull rod A438 and the pull rod B441 are arranged adjacent to each other, so that the pull rod A438 and the pull rod B441 correspondingly drive the buffer rod A439 and the buffer rod B442, and the buffer rod A439 and the buffer rod B442 correspondingly compress the high-pressure spring A440 and the high-pressure spring B443, so as to realize a slight adjustment of the traveling wheel 44 in the vertical direction, so as to increase the obstacle surmounting ability of the front guide wheel device 4; the two walking wheels 44 are respectively installed between the outer ends of the two paddles A436 and the paddle B437; the walking wheel 44 is a concave wheel, so that the walking wheel 44 can be clamped on the main cable 3 when walking, and can roll along the main cable 3.

[0071] As attached Figure 9-14 As shown, the support and clamping mechanism 5 of the maintenance platform of the present invention is arranged on the rear side of the front guide wheel device 4; the support and clamping mechanism 5 includes a main support mechanism 51 that contacts or separates from the upper surface of the main cable 3 and lateral clamping mechanisms 52 that are symmetrically arranged on both sides of the main cable 3; that is, two groups of lateral clamping mechanisms 52 are arranged, and the two groups of lateral clamping mechanisms 52 are symmetrically arranged with the main cable 3 as the axis; when the main support mechanism 51 and the two lateral clamping mechanisms 52 are in close contact with the upper surface and the left and right sides of the main cable 3 respectively, the maintenance platform can be clamped and fixed on the main cable 3; when the main support mechanism 51 and the two lateral clamping mechanisms 52 are separated from the upper surface and the left and right sides of the main cable 3 at the same time, the maintenance platform can slide relative to the main cable 3 through the front guide wheel device 4, the traveling mechanism and the sliding support wheel group, thereby realizing the maintenance platform to perform cable opening detection at any position of the main cable 3.

[0072] The main support mechanism 51 includes a main hydraulic cylinder 511 and an elevation hydraulic cylinder 512 which are vertically arranged. The tops of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512 are fixedly connected to the upper cross beams of the outer gantry 1 and the inner gantry 2 respectively. A universal ball 513 is installed at the lower rod end of the elevation hydraulic cylinder 512. A support seat 514 is installed at the bottom of the universal ball 513 and the bottom rod end of the main hydraulic cylinder 511. By changing the different telescopic amounts of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512, the support seat 514 can adjust its elevation angle along with the main cable 3. At the same time, an arc-shaped support plate 515 matching the shape of the upper surface of the main cable 3 is arranged on the bottom surface of the support seat 514. The arc-shaped support plate 515 can further realize contact or separation with the upper surface of the main cable 3 under the telescopic action of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512, and can balance the pressure of the main hydraulic cylinder 511 and the elevation hydraulic cylinder 512 on the upper surface of the main cable 3.

[0073] The lateral clamping mechanism 52 includes a fixing seat 521 which is laterally fixed to the columns of the outer gantry 1 and the inner gantry 2, a torsion self-adjusting device installed on the fixing seat 521, a lateral hydraulic cylinder 522 which is laterally installed on the torsion self-adjusting device, and a clamping seat 523 which is fixedly installed at the rod end of the lateral hydraulic cylinder 522 and corresponds to the side of the main cable 3, so that the entire lateral clamping mechanism 52 can be rotated by relying on the torsion self-adjusting device, and then the angle of contact with the side of the main cable 3 can be adjusted according to actual needs to ensure the contact area with the side of the main cable 3; a fractal vise 524 is arranged on the outside of the clamping seat 523, and a plurality of tiger claws 525 corresponding to the side of the main cable 3 are arranged on the outside of the fractal vise 524, which can further realize contact or separation with the side of the main cable 3 with different curvatures under the telescopic action of the lateral hydraulic cylinder 522; the arc support plate 515 and the tiger claw 525 are both arc rubber pads, which can balance the pressure of the hydraulic mechanism on the top or side of the main cable 3.

[0074] In order to enhance the vertical stiffness of the columns of the outer gantry 1 and the inner gantry 2, a reverse support rod 53 is bolted to the middle of the columns on the left and right sides of the frames of the outer gantry 1 and the inner gantry 2. The reverse support rod 53 is a rigid rod. By setting the reverse support rod 53, a reaction force group can be formed with the two lateral clamping mechanisms 52, so that the maintenance platform can be locked in the vertical direction on the main cable 3.

[0075] The torsion self-adjusting device includes an arc groove 526 arranged on a fixed seat 521, a rotating shaft 527 rotatably installed in the arc groove 526, a worm gear 528 rotatably installed on the rotating shaft 527, a driving gear 529 fixedly installed on one side of the worm gear 528, an internal gear 530 meshing with the driving gear 529, and a worm 531 mounted on the lateral hydraulic cylinder 522 and meshing with the worm gear 528, wherein the internal gear 530 is fixed to the fixed seat 521, the arc groove 526 is located on the inner ring of the internal gear 530, the rotating shaft 527 is fixed to the cylinder end of the lateral hydraulic cylinder 522; one end of the worm gear 531 is connected to a torsion motor 532 mounted on the lateral hydraulic cylinder 522. The torsion motor 532 drives the worm 531 to drive the worm wheel 528 and the driving gear 529 to rotate. The driving gear 529 rotates along the inner gear 530, thereby driving the lateral hydraulic cylinder 522 to rotate, so that the lateral clamping mechanism 52 rotates counterclockwise or clockwise along the arc groove 526.

[0076] As attached Figure 2-3 , 9-12, the travel mechanism A61 and the travel mechanism B62 of the maintenance platform of the present invention have the same structure and are both in two groups, and the travel mechanism A61 or the travel mechanism B62 includes a driving motor 601 and a transmission gear 602 installed on the transmission shaft of the driving motor 601;

[0077] The driving motor 601 of the traveling mechanism A61 is fixedly mounted on the bottom surface of the left top beam of the outer rear door frame 11, and the sliding support wheel set A71 is fixedly mounted on the bottom surface of the right top beam of the outer rear door frame 11 corresponding to the traveling mechanism A61;

[0078] The driving motor 601 of the traveling mechanism B62 is fixedly mounted on the top surface of the right top beam of the inner front door frame 20, and the sliding support wheel group B72 is fixedly mounted on the top surface of the left top beam of the inner front door frame 20 corresponding to the traveling mechanism B62;

[0079] The guide rails A12, B23 and C24 are I-shaped guide rails; the guide rails A12 are four in parallel, and tooth marks A181 are provided on the surfaces of the lower flange plates of the two inner guide rails A12. The tooth marks A181 of each guide rail A12 mesh with a transmission gear 602 of a set of travel mechanisms B62. The driving motor 601 of the travel mechanism B62 enables the inner gantry 2 to slide forward as a whole relative to the outer gantry 1 through the transmission gear 602.

[0080] Two guide rails B23 are arranged in parallel, and a tooth mark B182 is arranged on the lower surface of the upper flange plate of each guide rail B23. The tooth mark B182 of each guide rail B23 meshes with a set of transmission gears 602 of the travel mechanism A61. The driving motor 601 of the travel mechanism A61 makes the outer gantry 1 slide forward as a whole relative to the inner gantry 2 through the transmission gear 602. The tooth marks A181 and the tooth marks B182 facilitate the effective transmission of mechanical torque and improve the climbing ability of the overall structure;

[0081] As attached Figure 1-3 As shown in 12, the structures of the sliding support wheel group A71, the sliding support wheel group B72 and the sliding support wheel group C73 of the maintenance platform of the present invention are the same; the sliding support wheel group A71 and the sliding support wheel group B72 are both two groups, and one group of sliding support wheel group C73 is installed at the bottom of each leg of the outer rear door frame 11, for a total of four groups;

[0082] The sliding support wheel set A71, the sliding support wheel set B72 or the sliding support wheel set C73 comprises two splicing plates 701, two upper sliding wheels 703 installed at the upper part between the two splicing plates 701 through a rotating shaft 702, and a lower sliding wheel 704 rotatably installed at the lower inner part of each splicing plate 701; the two upper sliding wheels 703 are symmetrically arranged, and the two lower sliding wheels 704 are symmetrically arranged;

[0083] The top ends of the two splicing plates 701 of the sliding support wheel group A71 are fixedly mounted on the bottom surface of the right top beam of the outer rear door frame 11; the two upper sliding wheels 703 are located on the upper surface of the upper flange of the guide rail B23, and the two lower sliding wheels 704 are located on the lower surface of the upper flange of the guide rail B23;

[0084] The top ends of the two splicing plates 701 of the sliding support wheel group B72 are fixedly mounted on the top surface of the left top beam of the inner front door frame 20; the two upper sliding wheels 703 are located on the lower surface of the lower flange of the guide rail A12, and the two lower sliding wheels 704 are located on the upper surface of the lower flange of the guide rail A12;

[0085] The top ends of the two splicing plates 701 of the sliding support wheel group C73 are fixedly installed at the bottom of the corresponding legs of the outer rear door frame 11; the two upper sliding wheels 703 are located on the upper surface of the upper flange of the guide rail C24, and the two lower sliding wheels 704 are located on the lower surface of the upper flange of the guide rail C24.

[0086] As attached Figure 2 , 3 As shown in FIGS. 9 and 11 , the maintenance platform of the present invention is provided with upper splicing plates 15 and lower splicing plates 16 corresponding to the front and rear ends of the inner gantry 2 at the front and rear ends of the outer front door frame 10, so as to facilitate the assembly of the maintenance platform and then hoist it as a whole;

[0087] Inspection paths 17 are arranged on both sides of the bottom of the outer front portal frame 10 and both sides of the bottom of the inner gantry 2, so as to facilitate the repair and maintenance of relevant equipment and the main cable; a plurality of cover plates 19 are arranged between the corresponding inspection paths 17, one end of the cover plate 19 is hinged to the inspection path 17 on one side, and a hook 191 is arranged on the other end of the cover plate 19, and the hook 191 is adapted to the groove of the holder 192 on the other side of the inspection path 17, that is, the cover plate 19 is a rotating opening and closing structure. When the cover plate 19 is opened, the inspection platform of the present invention can be conveniently hoisted onto the main cable 3; after the support clamping mechanism 5 fixes the inspection platform on the main cable 3, the cover plate 19 can be closed to prevent objects from falling under the main cable 3 when the maintenance personnel are working.

[0088] Support slide blocks 13 are installed at the four corners of the top of the inner front gantry 20; the lower flanges of the two outer guide rails A12 are slidably arranged in the support slide blocks 13, so that the outer gantry 1 and the inner gantry 2 can be safely connected and slid;

[0089] Four groups of supporting slide blocks 13 are arranged in parallel on the top of the outer front door frame 10, each group of supporting slide blocks 13 consists of two, and each group of supporting slide blocks 13 is welded to a lower flange of the corresponding parallel guide rail A12 to form a whole, so as to ensure that the outer front door frame 10 and the outer rear door frame 11 can move as a whole.

[0090] Embodiment 1:

[0091] like Fig.15 As shown, according to the different lengths of the main cable 3, one group of the maintenance platforms of the present invention can be used, or two or more groups of the maintenance platforms of the present invention can be spliced ​​together. When an even number of maintenance platforms are used for splicing, the maintenance platforms on both sides are symmetrically arranged in sequence; when an odd number of maintenance platforms are used for splicing, the maintenance platforms on both sides are symmetrically arranged in sequence, and the arrangement direction of the middle maintenance platform is arranged along the travel direction of the main cable 3; the maintenance platforms are connected and fixed by bolts of an upper splicing plate 15 and a lower splicing plate 16.

[0092] The outer gantry 1 and the inner gantry 2 are connected to form a maintenance platform, and the maintenance platform is set on the main cable 3. Two running wheels 44 are set on the upper surface of the main cable 3. Fig.13 , 14 As shown in 17, the specific process of adjusting by using the torsion self-adjusting device is as follows:

[0093] S1. Use the gyro sensor to sense whether the maintenance platform frame is twisted. If it is detected that the maintenance platform frame is twisted clockwise, perform steps S2-S6 in sequence; if it is detected that the maintenance platform frame is twisted counterclockwise, perform the reverse operations of steps S2-S6 in sequence; if no twisting occurs, perform self-propelled operation.

[0094] S2, the support clamping mechanism 5 of the outer gantry 1 of the maintenance platform is separated from the main cable 3 through the controller, and the lateral hydraulic cylinder 522 of the lateral clamping mechanism 52 is rotated clockwise, and the support clamping mechanism 5 of the inner gantry 2 is tightly held with the main cable 3, so that the inner gantry 2 is fixed on the main cable 3;

[0095] S3, using the controller to make the lateral clamping mechanism 52 of the outer gantry 1 of the maintenance platform tightly hold the main cable 3, while the main supporting mechanism 51 of the outer gantry 1 remains separated from the main cable 3;

[0096] S4, the lateral clamping mechanism 52 of the outer gantry 1 is rotated counterclockwise by the controller, so that the lateral clamping mechanism 52 drives the entire outer gantry 1 of the maintenance platform to twist counterclockwise; after twisting to a certain angle, the main support mechanism 51 of the outer gantry 1 of the maintenance platform is tightly held with the main cable 3 by the controller; (because the rear end inner gantry 2 is holding the main cable 3, it cannot be twisted too much at once, and can only be twisted at a small angle.)

[0097] S5, using the controller to make the lateral clamping mechanism 52 of the inner gantry 2 of the maintenance platform tightly hold the main cable 3, while the main supporting mechanism 51 of the inner gantry 2 remains separated from the main cable 3;

[0098] S6, the lateral clamping mechanism 52 of the inner gantry 2 is rotated counterclockwise by the controller, so that the lateral clamping mechanism 52 drives the inner gantry 2 of the entire maintenance platform to twist counterclockwise;

[0099] After twisting to the same angle as the outer gantry 1, the main support mechanism 51 of the inner gantry 2 of the maintenance platform is tightly held with the main cable 3 through the controller;

[0100] S7. Use the gyro sensor to sense whether the maintenance platform frame is back to normal. If not, repeat steps S2-S6. If it is back to normal, do not perform the above operations.

[0101] Embodiment 2:

[0102] like Fig.16 As shown, in order to reduce the overall deadweight of the structure, a structure combining two groups of the maintenance platforms of the present invention and the middle section frame 8 can also be adopted. The maintenance platforms on both sides are arranged symmetrically, and the middle section frame 8 is arranged with one or more groups of middle section frames 8 according to the different lengths of the maintenance main cable 3 to meet the detection requirements; the maintenance platform and the middle frame 8 are both connected and fixed by bolts of the upper splicing plate 15 and the lower splicing plate 16.

[0103] As attached Fig.18 As shown, the self-propelled method of the double-gantry self-propelled wheeled main cable maintenance platform of the present invention is to form a maintenance platform by sleeve-connecting the outer gantry 1 and the inner gantry 2, and to set the maintenance platform on the main cable 3, and two running wheels 44 are set on the upper surface of the main cable 3. The self-propelled method of the maintenance platform adopts the following steps:

[0104] S1, separate the support clamping mechanism 5 of the outer gantry 1 of the maintenance platform from the main cable 3 through the controller, and tightly hold the support clamping mechanism 5 of the inner gantry 2 from the main cable 3, so that the inner gantry 2 is fixed on the main cable 3;

[0105] S2, the driving motor 601 of the traveling mechanism A61 of the outer rear gantry 11 and the traveling mechanism B62 of the inner front gantry 20 drives the transmission gear 602 to rotate, and each transmission gear 602 rotates along the tooth mark A181 and the tooth mark B182 respectively, and the driving motor 601 of the traveling mechanism A61 and the traveling mechanism B62 rotate in opposite directions, driving the outer gantry 1 to slide forward relative to the main cable 3, and the front guide wheel device 4 ensures that the outer gantry 1 automatically corrects the deviation when traveling; the outer gantry 1 stops after sliding to the specified distance;

[0106] S3, controlling the supporting clamping mechanism 5 of the outer gantry 1 to hold the main cable 3 tightly through the controller, so that the outer gantry 1 is fixed on the main cable 3; the controller controls the supporting clamping mechanism 5 of the inner gantry 2 to separate from the main cable 3;

[0107] S4, the driving motors 601 of the travel mechanism A61 of the outer rear gantry 11 and the travel mechanism B62 of the inner front gantry 20 drive the transmission gears 602 to rotate, and the transmission gears 602 rotate along the tooth marks A181 and the tooth marks B182 respectively, and the driving motors 601 of the travel mechanisms A61 and B62 rotate in opposite directions, driving the inner gantry 2 to slide forward relative to the main cable 3; the inner gantry 2 stops after sliding to a specified distance;

[0108] S5, controlling the supporting clamping mechanism 5 of the inner gantry 2 to hold the main cable 3 tightly through the controller, so that the maintenance platform is fixed on the main cable 3 as a whole;

[0109] S6. Repeat S1-S5, and alternately open and close the supporting clamping mechanisms 5 of the outer gantry 1 and the inner gantry 2, so that the maintenance platform creeps on the main cable 3.

[0110] As attached Fig.19 As shown, the self-propelled method of the double-gantry self-propelled wheeled main cable maintenance platform of the present invention, the corresponding ends of the inner gantry 2 of the front maintenance platform 100 and the rear maintenance platform 200 are connected by bolts through the upper splicing plate 15 and the lower splicing plate 16, and the self-propelled method of the two groups of maintenance platforms adopts the following steps:

[0111] S1, separate the supporting clamping mechanism 5 of the outer gantry 1 of the front maintenance platform 100 from the main cable 3 through the controller, and tightly hold the supporting clamping mechanism 5 of the inner gantry 2 of the front maintenance platform 100 and the rear maintenance platform 200 with the main cable 3, so that the inner gantry 2 of the front maintenance platform 100 and the rear maintenance platform 200 are fixed on the main cable 3;

[0112] S2, the driving motor 601 of the traveling mechanism A61 of the outer rear gantry 11 of the front maintenance platform 100 and the traveling mechanism B62 of the inner front gantry 20 drive the transmission gear 602 to rotate, and each transmission gear 602 rotates along the tooth mark A181 and the tooth mark B182 respectively and correspondingly, and the driving motor 601 of the traveling mechanism A61 and the traveling mechanism B62 rotate in opposite directions, driving the outer gantry 1 of the front maintenance platform 100 to slide forward relative to the main cable 3, and the front guide wheel device 4 ensures that the outer gantry 1 of the front maintenance platform 100 automatically corrects the deviation when traveling; when sliding to the specified distance, the outer gantry 1 of the front maintenance platform 100 stops;

[0113] S3, controlling the supporting clamping mechanism 5 of the outer gantry 1 of the front maintenance platform 100 to hold the main cable 3 tightly through the controller, so that the outer gantry 1 of the front maintenance platform 100 is fixed on the main cable 3;

[0114] The controller controls the support clamping mechanism 5 of the inner gantry 2 of the front maintenance platform 100 and the rear maintenance platform 200 to separate from the main cable 3, and keeps the support clamping mechanism 5 of the outer gantry 1 of the rear maintenance platform 200 tightly hugged with the main cable 3, so that the outer gantry 1 of the rear maintenance platform 200 is fixed on the main cable 3;

[0115] S4, the driving motors 601 of the travel mechanism A61 of the outer rear door frame 11 of the front inspection platform 100 and the travel mechanism B62 of the inner front door frame 20 drive the transmission gears 602 to rotate, and the transmission gears 602 rotate along the tooth marks A181 and the tooth marks B182 respectively, and the driving motors 601 of the travel mechanism A61 and the travel mechanism B62 rotate in opposite directions, driving the inner gantries 2 at the front and rear ends to slide forward relative to the main cable 3; when sliding to the specified distance, the inner gantries 2 at the front and rear ends stop;

[0116] S5, controlling the support clamping mechanism 5 of the inner gantry 2 of the front maintenance platform 100 and the rear maintenance platform 200 to hold the main cable 3 tightly through the controller, so that the front maintenance platform 100 and the rear maintenance platform 200 are fixed on the main cable 3 as a whole;

[0117] Only the supporting and clamping mechanism 5 of the outer gantry 1 of the rear maintenance platform 200 is separated from the main cable 3 through the controller, and the supporting and clamping mechanism 5 of the inner gantry 2 of the rear maintenance platform 200 and the front maintenance platform 100 are kept tightly holding the main cable 3, so that the inner gantry 2 of the rear maintenance platform 200 and the front maintenance platform 100 are fixed on the main cable 3;

[0118] S6, the driving motor 601 of the traveling mechanism A61 of the outer rear gantry 11 of the rear maintenance platform 200 and the traveling mechanism B62 of the inner front gantry 20 drive the transmission gear 602 to rotate, and each transmission gear 602 rotates along the tooth mark A181 and the tooth mark B182 respectively and correspondingly, and the driving motor 601 of the traveling mechanism A61 and the traveling mechanism B62 rotate in opposite directions, driving the outer gantry 1 of the rear maintenance platform 200 to slide forward relative to the main cable 3, and the front guide wheel device 4 ensures that the outer gantry 1 of the rear maintenance platform 200 automatically corrects the deviation when traveling; after sliding to the specified distance, the outer gantry 1 of the rear maintenance platform 200 stops;

[0119] S7, the controller controls the supporting clamping mechanism 5 of the outer gantry 1 of the rear maintenance platform 200 to hold the main cable 3 tightly, so that the outer gantry 1 of the rear maintenance platform 200 is fixed on the main cable 3;

[0120] S8. Repeat S1-S7, and alternately open and close the supporting clamping mechanisms 5 of the outer gantry 1 and the inner gantry 2 to enable the front maintenance platform 100 and the rear maintenance platform 200 to creep on the main cable 3.

[0121] The maintenance platform of the present invention straddles the main cable, and its internal effective net clamping space can be used for maintenance of most main cables; at the same time, the maintenance platform is connected by splicing the upper splicing plate 15 and the lower splicing plate 16, and can be spliced ​​into different lengths according to different usage requirements, and has strong adaptability; the maintenance platform of the present invention uses the main cable as a support, and is provided with a maintenance road 17 and a cover plate 19, which ensures the load-bearing capacity of the maintenance platform, so that the maintenance platform can be equipped with a variety of maintenance-related equipment, and can realize main cable maintenance operations such as reinforcement and protective coating, additional maintenance facilities, replacement of cable clamps, and cable opening and maintenance; the present invention uses the support and clamping mechanism 5 of the outer gantry 1 and the inner gantry 2 to alternately open and close, so that the maintenance platform can be The maintenance platform creeps and climbs on the main cable 3, which not only avoids damage to the main cable during the travel process, but also effectively transmits mechanical torque and improves the climbing ability of the overall structure; the maintenance platform of the present invention uses "point contact" of multiple groups of supporting clamping mechanisms 5 on the main cable to reduce damage to the protective layer of the main cable; avoids accidents caused by insufficient contact of a certain hydraulic cylinder with the main cable; the maintenance platform of the present invention adopts transmission gears and tooth-mark meshing transmission, which can not only effectively transmit mechanical torque and improve the climbing ability of the overall structure; but also can effectively record the number of gear rotations, the distance traveled, etc., and then can accurately record the take-off and landing points of each clamping system, laying the foundation for the automated travel of the maintenance platform. The self-propelled method of the present invention can not only ensure the effective load of the maintenance platform, that is, no matter it is moving or fixed, there are multiple groups of supporting and clamping mechanisms 5 to hold the main cable 3 tightly, but also improve the high-altitude obstacle-crossing ability of the maintenance platform, and avoid the maintenance platform from colliding with the main cable's auxiliary components such as cable clamps, air clamps, handrails, etc. around the main cable when it is moving, so that the maintenance platform can move to any position of the main cable for inspection and maintenance; at the same time, the self-propelled method can also effectively fix the maintenance platform on the main cable 3 during its movement, thereby reducing the impact of high-altitude wind load on it.

[0122] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any changes that adopt the design principles of the present invention and are made through non-creative labor on this basis should fall within the protection scope of the present invention.

Claims

1. A double-gantry self-propelled wheeled main cable maintenance platform, characterized in that: It comprises an outer gantry (1) and an inner gantry (2) which are connected to each other; the outer gantry (1) comprises an outer front gantry (10), an outer rear gantry (11), and a guide rail A (12) installed between the top surfaces of the outer front gantry (10) and the outer rear gantry (11); The inner gantry (2) comprises an inner front gantry (20), an inner rear gantry (21) and a middle truss frame (22) installed between the lower parts of the inner front gantry (20) and the inner rear gantry (21); a guide rail B (23) is installed between the top surfaces of the inner front gantry (20) and the inner rear gantry (21); a guide rail C (24) is installed above the middle truss frame (22); a front guide wheel device (4) adapted to the main cable (3) is correspondingly arranged in the outer front gantry (10); a supporting clamping mechanism (5) adapted to the main cable (3) is correspondingly arranged in the outer front gantry (10), the outer rear gantry (11), the inner front gantry (20) and the inner rear gantry (21); the supporting clamping mechanism (5) is connected to the controller by electrical signals; A travel mechanism A (61) and a sliding support wheel group A (71) that match and correspond to the guide rail B (23) are sequentially arranged on the bottom surface of the top beam of the outer rear door frame (11), and a travel mechanism B (62) and a sliding support wheel group B (72) that match and correspond to the guide rail A (12) are sequentially arranged on the top surface of the top beam of the inner front door frame (20); A sliding support wheel set C (73) which is slidably matched with the guide rail C (24) is provided at the bottom of the supporting leg of the outer rear door frame (11); A limit assembly is provided on the guide rail A (12), the guide rail B (23) and the guide rail C (24).

2. The double-gantry self-propelled wheeled main cable maintenance platform according to claim 1 is characterized in that: The front guide wheel device (4) is fixedly installed in the outer front door frame (10), and comprises a guide wheel frame (43), a supporting hydraulic oil cylinder (41) installed in the middle of the top surface of the guide wheel frame (43) through a rotating bearing (42), a running wheel (44) symmetrically rotated and installed at the bottom of the guide wheel frame (43), and a buffer assembly connected to the running wheel (44); the top end of the supporting hydraulic oil cylinder (41) is fixedly connected to the upper crossbeam of the outer front door frame (10); The guide wheel frame (43) comprises a supporting plate (431), a support plate A (432) vertically fixedly mounted on both sides of one end of the supporting plate (431), a support plate B (433) vertically fixedly mounted on both sides of the other end of the supporting plate (431), a pressure-resistant platform A (434) fixedly mounted between the two support plates A (432), and a pressure-resistant platform B (435) fixedly mounted between the two support plates B (433); the rotating bearing (42) is mounted in the middle of the top surface of the supporting plate (431); The buffer assembly comprises a paddle A (436) hinged on the inner side of each support plate A (432), a paddle B (437) hinged on the inner sides of two support plates B (433), a pull rod A (438) fixedly installed between one ends of the two paddles A (436), a plurality of buffer rods A (439) having a gap passing through the pressure-resistant platform A (434) and having a bottom fixedly installed on the pull rod A (438), a high-pressure spring A (440) sleeved on each buffer rod A (439), and a pull rod B (441) fixedly installed between one ends of the two paddles B (437). ), a plurality of buffer rods B (442) having a gap passing through the pressure-resistant platform B (435) and having their bottoms fixedly mounted on the pull rod B (441), and a high-pressure spring B (443) mounted on each buffer rod B (442); a baffle (444) is fixedly mounted on the top of the buffer rod A (439) and the buffer rod B (442); the pull rod A (438) and the pull rod B (441) are arranged adjacent to each other, and two running wheels (44) are respectively and correspondingly mounted between the outer ends of the two paddles A (436) and the paddle B (437); the running wheels (44) are concave wheels.

3. The double-gantry self-propelled wheeled main cable maintenance platform according to claim 1 is characterized in that: The supporting and clamping mechanism (5) is arranged on the rear side of the front guide wheel device (4); The supporting and clamping mechanism (5) comprises a main supporting mechanism (51) in contact with or separated from the upper surface of the main cable (3) and lateral clamping mechanisms (52) symmetrically arranged on both sides of the main cable (3); the two groups of lateral clamping mechanisms (52) are symmetrically arranged with the main cable (3) as the axis; The main support mechanism (51) comprises a main hydraulic cylinder (511) and an elevation hydraulic cylinder (512) which are arranged vertically. The tops of the main hydraulic cylinder (511) and the elevation hydraulic cylinder (512) are fixedly connected to the upper cross beams of the outer gantry (1) and the inner gantry (2) respectively. A universal ball (513) is installed at the lower rod end of the elevation hydraulic cylinder (512). A support seat (514) is installed at the bottom of the universal ball (513) and the bottom rod end of the main hydraulic cylinder (511). The bottom surface of the support seat (514) is provided with an arc-shaped support plate (515) matching the shape of the upper surface of the main cable (3). The lateral clamping mechanism (52) comprises a fixing seat (521) fixed to the columns of the outer gantry (1) and the inner gantry (2) in a transverse direction, a torsion self-adjusting device installed on the fixing seat (521), a lateral hydraulic cylinder (522) installed in a transverse direction on the torsion self-adjusting device, and a clamping seat (523) fixedly installed at the rod end of the lateral hydraulic cylinder (522) and corresponding to the side of the main cable (3), a fractal vise (524) is arranged outside the clamping seat (523), and a plurality of tiger claws (525) corresponding to the side of the main cable (3) are arranged outside the fractal vise (524); The arc-shaped support plate (515) and the tiger claw (525) are both arc-shaped rubber pads; A reverse support rod (53) is bolted to the middle of the columns on the left and right sides of the outer gantry (1) and the inner gantry (2) frames, and the reverse support rod (53) is a rigid rod.

4. The double-gantry self-propelled wheeled main cable maintenance platform according to claim 3 is characterized in that: The torsion self-adjusting device comprises an arc-shaped groove (526) arranged on a fixing seat (521), a rotating shaft (527) rotatably mounted in the arc-shaped groove (526), ​​a worm gear (528) rotatably mounted on the rotating shaft (527), a driving gear (529) fixedly mounted on one side of the worm gear (528), an internal gear (530) meshing with the driving gear (529), and a worm (531) mounted on the lateral hydraulic cylinder (522) and meshing with the worm gear (528); The internal gear (530) is fixed to the fixing seat (521), the arc groove (526) is located on the inner ring of the internal gear (530), the rotating shaft (527) is fixed to the cylinder end of the lateral hydraulic cylinder (522); one end of the worm (531) is connected to the torsion motor (532) installed on the lateral hydraulic cylinder (522).

5. The double-gantry self-propelled wheeled main cable maintenance platform according to claim 1 is characterized in that: The travel mechanism A (61) and the travel mechanism B (62) have the same structure and are both composed of two groups. The travel mechanism A (61) or the travel mechanism B (62) comprises a driving motor (601) and a transmission gear (602) installed on a transmission shaft of the driving motor (601); The driving motor (601) of the traveling mechanism A (61) is fixedly mounted on the bottom surface of the left top beam of the outer rear door frame (11), and the sliding support wheel group A (71) is fixedly mounted on the bottom surface of the right top beam of the outer rear door frame (11) corresponding to the traveling mechanism A (61); The driving motor (601) of the traveling mechanism B (62) is fixedly mounted on the top surface of the right top beam of the inner front door frame (20), and the sliding support wheel group B (72) and the traveling mechanism B (62) are fixedly mounted on the top surface of the left top beam of the inner front door frame (20) correspondingly; Guide rail A (12), guide rail B (23) and guide rail C (24) are all I-shaped guide rails; The guide rails A (12) are four in number and are arranged in parallel. The lower flange surfaces of the two inner guide rails A (12) are provided with tooth marks A (181). The tooth marks A (181) of each guide rail A (12) are meshed with a transmission gear (602) of a group of travel mechanisms B (62). The driving motor (601) of the travel mechanism B (62) causes the inner gantry (2) to slide forward as a whole relative to the outer gantry (1) through the transmission gear (602). Two guide rails B (23) are arranged in parallel, and a tooth mark B (182) is arranged on the lower surface of the upper flange plate of each guide rail B (23). The tooth mark B (182) of each guide rail B (23) is meshed with a transmission gear (602) of a group of travel mechanisms A (61). The driving motor (601) of the travel mechanism A (61) causes the outer gantry (1) to slide forward as a whole relative to the inner gantry (2) through the transmission gear (602).

6. The double-gantry self-propelled wheeled main cable maintenance platform according to claim 4 is characterized in that: The structures of the sliding support wheel group A (71), the sliding support wheel group B (72) and the sliding support wheel group C (73) are the same; the sliding support wheel group A (71) and the sliding support wheel group B (72) are both two groups, and one group of sliding support wheel group C (73) is installed at the bottom of each leg of the outer rear door frame (11), for a total of four groups; The sliding support wheel set A (71), the sliding support wheel set B (72) or the sliding support wheel set C (73) comprises two splicing plates (701), two upper sliding wheels (703) installed at the upper part between the two splicing plates (701) via a rotating shaft (702), and a lower sliding wheel (704) rotatably installed at the lower inner part of each splicing plate (701); the two upper sliding wheels (703) are symmetrically arranged, and the two lower sliding wheels (704) are symmetrically arranged; The top ends of the two splicing plates (701) of the sliding support wheel group A (71) are fixedly mounted on the bottom surface of the right top beam of the outer rear door frame (11); the two upper sliding wheels (703) are located on the upper surface of the upper flange of the guide rail B (23), and the two lower sliding wheels (704) are located on the lower surface of the upper flange of the guide rail B (23); The top ends of the two splicing plates (701) of the sliding support wheel group B (72) are fixedly mounted on the top surface of the left top beam of the inner front door frame (20); the two upper sliding wheels (703) are located on the lower surface of the lower flange of the guide rail A (12), and the two lower sliding wheels (704) are located on the upper surface of the lower flange of the guide rail A (12); The top ends of the two splicing plates (701) of the sliding support wheel group C (73) are fixedly mounted on the bottom ends of the corresponding legs of the outer rear door frame (11); the two upper sliding wheels (703) are located on the upper surface of the upper flange of the guide rail C (24), and the two lower sliding wheels (704) are located on the lower surface of the upper flange of the guide rail C (24).

7. The double-gantry self-propelled wheeled main cable maintenance platform according to claim 4 is characterized in that: The limiting assembly comprises limiting blocks A (141) fixedly arranged at both ends of the guide rail A (12), limiting blocks B (142) fixedly installed at both ends of the guide rail B (23), and limiting blocks C (143) fixedly installed at both ends of the guide rail C (24).

8. The double-gantry self-propelled wheeled main cable maintenance platform according to claim 1 is characterized in that: An upper splicing plate (15) and a lower splicing plate (16) corresponding to the front and rear ends of the inner gantry (2) are arranged at the front and rear ends of the outer front door frame (10); Inspection paths (17) are arranged on both sides of the bottom of the outer front door frame (10) and on both sides of the bottom of the inner gantry frame (2), and a plurality of cover plates (19) are arranged between the corresponding inspection paths (17). One end of the cover plate (19) is hinged to the inspection path (17) on one side, and a hook (191) is arranged on the other end of the cover plate (19). The hook (191) is adapted to a groove of a holder (192) on the other side of the inspection path (17).

9. A self-propelled method for a double-gantry self-propelled wheeled main cable maintenance platform, characterized in that: The outer gantry (1) and the inner gantry (2) are connected to form a maintenance platform, the maintenance platform is arranged on the main cable (3), two running wheels (44) are arranged on the upper surface of the main cable (3), and the self-propelled method of the maintenance platform adopts the following steps: S1. Using a controller, the support and clamping mechanism (5) of the outer gantry (1) of the maintenance platform is separated from the main cable (3), and the support and clamping mechanism (5) of the inner gantry (2) is tightly clamped to the main cable (3), so that the inner gantry (2) is fixed on the main cable (3); S2, the driving motors (601) of the travel mechanism A (61) of the outer rear gantry (11) and the travel mechanism B (62) of the inner front gantry (20) drive the transmission gears (602) to rotate, and the transmission gears (602) respectively rotate along the tooth marks A (181) and the tooth marks B (182), and the driving motors (601) of the travel mechanism A (61) and the travel mechanism B (62) rotate in opposite directions, driving the outer gantry (1) to slide forward relative to the main cable (3), and the front guide wheel device (4) ensures that the outer gantry (1) automatically corrects the deviation when moving; when sliding to a specified distance, the outer gantry (1) stops; S3, controlling the supporting clamping mechanism (5) of the outer gantry (1) and the main cable (3) to be tightly held by the controller, so that the outer gantry (1) is fixed on the main cable (3); and controlling the supporting clamping mechanism (5) of the inner gantry (2) to be separated from the main cable (3); S4, the driving motors (601) of the travel mechanism A (61) of the outer rear gantry (11) and the travel mechanism B (62) of the inner front gantry (20) drive the transmission gears (602) to rotate, and the transmission gears (602) respectively rotate along the tooth marks A (181) and the tooth marks B (182), and the driving motors (601) of the travel mechanism A (61) and the travel mechanism B (62) rotate in opposite directions, driving the inner gantry (2) to slide forward relative to the main cable (3); when the inner gantry (2) slides to a specified distance, it stops; S5, controlling the supporting clamping mechanism (5) of the inner gantry (2) to hold the main cable (3) tightly by means of a controller, so that the maintenance platform is fixed on the main cable (3) as a whole; S6, repeat S1-S5, alternately open and close the supporting clamping mechanisms (5) of the outer gantry (1) and the inner gantry (2), so that the maintenance platform creeps on the main cable (3).

10. A self-propelled method for a double-gantry self-propelled wheeled main cable maintenance platform, characterized in that: The corresponding ends of the inner gantry (2) of the front inspection platform (100) and the rear inspection platform (200) are connected by bolts through an upper splicing plate (15) and a lower splicing plate (16). The self-propelled method of the two groups of inspection platforms adopts the following steps: S1, separating the supporting clamping mechanism (5) of the outer gantry (1) of the front maintenance platform (100) from the main cable (3) through the controller, and tightly holding the supporting clamping mechanism (5) of the inner gantry (2) of the front maintenance platform (100) and the rear maintenance platform (200) with the main cable (3), so that the inner gantry (2) of the front maintenance platform (100) and the rear maintenance platform (200) are fixed on the main cable (3); S2, the driving motors (601) of the travel mechanism A (61) of the outer rear door frame (11) of the front maintenance platform (100) and the travel mechanism B (62) of the inner front door frame (20) drive the transmission gears (602) to rotate, and the transmission gears (602) respectively rotate along the tooth marks A (181) and the tooth marks B (182), and the driving motors (601) of the travel mechanism A (61) and the travel mechanism B (62) rotate in opposite directions, driving the outer gantry (1) of the front maintenance platform (100) to slide forward relative to the main cable (3), and the front guide wheel device (4) ensures that the outer gantry (1) of the front maintenance platform (100) automatically corrects the deviation when moving; after sliding to a specified distance, the outer gantry (1) of the front maintenance platform (100) stops; S3, controlling the supporting clamping mechanism (5) of the outer gantry (1) of the front maintenance platform (100) to clamp the main cable (3) through the controller, so that the outer gantry (1) of the front maintenance platform (100) is fixed on the main cable (3); The controller controls the support clamping mechanism (5) and the main cable (3) of the inner gantry (2) of the front maintenance platform (100) and the rear maintenance platform (200) to separate, and keeps the support clamping mechanism (5) and the main cable (3) of the outer gantry (1) of the rear maintenance platform (200) tightly held, so that the outer gantry (1) of the rear maintenance platform (200) is fixed on the main cable (3); S4, the driving motors (601) of the travel mechanism A (61) of the outer rear door frame (11) of the front inspection platform (100) and the travel mechanism B (62) of the inner front door frame (20) drive the transmission gears (602) to rotate, and the transmission gears (602) respectively rotate along the tooth marks A (181) and the tooth marks B (182), and the driving motors (601) of the travel mechanism A (61) and the travel mechanism B (62) rotate in opposite directions, driving the inner gantries (2) at the front and rear ends to slide forward relative to the main cable (3); after sliding to a specified distance, the inner gantries (2) at the front and rear ends stop; S5, controlling the supporting clamping mechanism (5) of the inner gantry (2) of the front maintenance platform (100) and the rear maintenance platform (200) to clamp the main cable (3) through the controller, so that the front maintenance platform (100) and the rear maintenance platform (200) are fixed on the main cable (3) as a whole; Only the supporting clamping mechanism (5) of the outer gantry (1) of the rear maintenance platform (200) is separated from the main cable (3) by a controller, and the supporting clamping mechanism (5) of the inner gantry (2) of the rear maintenance platform (200) and the front maintenance platform (100) are kept tightly holding the main cable (3), so that the inner gantry (2) of the rear maintenance platform (200) and the front maintenance platform (100) are fixed on the main cable (3); S6, the driving motors (601) of the travel mechanism A (61) of the outer rear gantry (11) of the rear maintenance platform (200) and the travel mechanism B (62) of the inner front gantry (20) drive the transmission gears (602) to rotate, and the transmission gears (602) respectively rotate along the tooth marks A (181) and the tooth marks B (182), and the driving motors (601) of the travel mechanism A (61) and the travel mechanism B (62) rotate in opposite directions, driving the outer gantry (1) of the rear maintenance platform (200) to slide forward relative to the main cable (3), and the front guide wheel device (4) ensures that the outer gantry (1) of the rear maintenance platform (200) automatically corrects the deviation when moving; after sliding to a specified distance, the outer gantry (1) of the rear maintenance platform (200) stops; S7, the controller controls the supporting clamping mechanism (5) of the outer gantry (1) of the rear maintenance platform (200) to hold the main cable (3) tightly, so that the outer gantry (1) of the rear maintenance platform (200) is fixed on the main cable (3); S8, repeating S1-S7, the supporting clamping mechanism 5 of the outer gantry (1) and the inner gantry (2) are alternately opened and closed, so that the front maintenance platform (100) and the rear maintenance platform (200) can creep on the main cable (3).

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