Cable climbing robot special for bridge main cable and having fire-fighting and cooling functions

Abstract

The invention belongs to the technical field of bridge safety protection, and particularly discloses a special bridge main cable climbing robot with a fire-fighting cooling function, which comprises an arc-shaped main body frame, an elastic climbing driving device arranged on the inner side of the arc-shaped main body frame, a fire-fighting cooling device arranged on the outer side of the arc-shaped main body frame, a data transceiving device, a controller and a power supply, the power supply is electrically connected with the data transceiving device and the controller respectively, and the controller is connected with the crawling driving device and the fire-fighting cooling device respectively; the data receiving and transmitting device is in wireless connection with the remote control device and transmits instructions to the controller, the controller controls the crawling driving device and / or the fire-fighting cooling device to execute corresponding actions according to the instructions, and therefore remote automatic fire-fighting cooling operation of the cable crawling robot on the main cable is achieved. The cable clamp can quickly pass through the cable clamp to directly reach a main cable ignition area for fire protection and cooling, damage of high temperature to the main cable is reduced, more time is won for firefighters, and therefore bridge structure safety and normal traffic operation are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge safety protection, and specifically relates to a special cable climbing robot for bridge main cables with fire fighting and cooling functions, which is mainly used for pre-fire fighting and cooling of bridge main cables when a sudden fire occurs in a cable bridge. Background Art

[0002] With the rapid development of bridge construction technology in my country, cable bridge structures such as suspension bridges and cable-stayed bridges are widely used in large-scale obstacle scenes such as crossing rivers, lakes and seas, and their construction numbers continue to rise. The main span structure of a suspension bridge mainly includes three key parts: the main cable with equal cross-section, the bridge system and the suspender. Among them, the main cable is the core load-bearing component of the suspension bridge and is called the "lifeline" of the suspension bridge. Therefore, it is very important to protect the safety of the main cable.

[0003] According to my country's traffic data statistics, the probability of fuel vehicle accidents is between 0.01% and 0.02%, and the frequency of traffic fires is about 0.5 to 1.5 times per 10 million kilometers of driving. The number of motor vehicles in China has exceeded 435 million in 2023 and is growing. In addition, the traffic volume of cable bridges has increased year by year, and the maximum daily traffic volume of some bridges exceeds 100,000 vehicles. Based on such a large number of big data sample probability statistics, cable bridges are prone to fire accidents. The main cable of a cable bridge is generally composed of a large number of steel wire ropes or cables. Although the mechanical properties of steel are excellent, its fire resistance is poor. Under normal circumstances, when the cable is heated at a temperature below 300°C, its tensile strength is less affected by temperature. However, once the temperature reaches 400°C, the mechanical properties of steel will decline rapidly. At a high temperature of 600°C, the elastic modulus of steel will drop to half of that at room temperature. Therefore, when a fire occurs in the bridge, if the main cable catches fire or is affected by the fire and is damaged by the high temperature, the stability of the entire bridge structure will be destroyed, traffic will be paralyzed, the economic losses will be immeasurable, and it may even cause catastrophic consequences such as bridge collapse.

[0004] At present, the research on fire protection of the main cable of cable bridges is mostly focused on wrapping fireproof materials on its surface. This passive fire protection method has many disadvantages: first, it will increase the cross-sectional area of ​​the main cable, resulting in an increase in wind load; second, it will increase the load-bearing burden of the main cable, which will have a negative impact on its seismic resistance; third, in the face of major fires such as fires in oil tankers, its fire protection effect is extremely limited, and it is difficult to effectively protect the main cable from high temperature damage, and it cannot meet the higher requirements for main cable fire protection. In view of this, it is urgent to develop a new type of device with active and flexible characteristics and stronger fire protection, so that when a sudden fire occurs on a bridge, the main cable can be quickly pre-fired and cooled to minimize the damage to the main cable caused by high temperature, while buying more valuable time for the rescue operations of firefighters and ensuring the safety of the bridge structure and the normal operation of traffic.

[0005] In view of this, this invention is proposed. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a special cable-climbing robot for bridge main cables with fire-fighting and cooling functions. The main frame structure of the cable-climbing robot adopts an open-loop design and is combined with an elastically deformable crawling drive device. Through such a design, the cable-climbing robot can pass through the cable clamp position without hindrance and smoothly reach the fire area of ​​the main cable, thereby implementing fire-fighting and cooling operations in the fire area, effectively reducing the damage to the main cable caused by high temperature, and the above actions are remotely automated, thereby buying more rescue time for fire rescue personnel, greatly improving the efficiency and effectiveness of responding to bridge main cable fires, and ensuring the safety and stability of the bridge structure and the normal operation of traffic.

[0007] The purpose of the present invention is to be solved by the following technical solutions:

[0008] The present invention provides a special cable climbing robot for a bridge main cable with a fire-fighting and cooling function, comprising an arc-shaped main frame adapted to the outer peripheral shape of the bridge main cable, a crawling drive device for driving the cable climbing robot to move along the length direction of the bridge main cable is installed on the inner side of the arc-shaped main frame, and a plurality of groups of fire-fighting and cooling devices are arranged on the outer side, and a data transceiver, a controller and a power supply are also provided on the arc-shaped main frame, the power supply is electrically connected to the data transceiver and the controller respectively, and the controller is connected to the crawling drive device and the fire-fighting and cooling device respectively;

[0009] Among them, the data transceiver device is wirelessly connected to a remote control device placed on the ground. The remote control device sends a command signal to the controller through the data transceiver device. The controller controls the crawling drive device and / or the fire-fighting and cooling device to perform corresponding actions according to the received command signal, so as to realize the remote automated fire-fighting and cooling operation of the cable-climbing robot on the main cable of the bridge.

[0010] Furthermore, the crawling drive device includes at least one group of active crawling mechanisms and multiple groups of driven crawling mechanisms, the active crawling mechanisms and driven crawling mechanisms are evenly distributed along the inner arc surface of the arc-shaped main frame, and the driven crawling mechanisms are symmetrically distributed around the active crawling mechanisms.

[0011] Furthermore, the active crawling mechanism and the driven crawling mechanism both include a fixed plate fixedly connected to the arc-shaped main frame, and rollers are symmetrically arranged on the upper and lower sides of the fixed plate close to the main cable of the bridge. The upper and lower rollers are connected to the fixed plate in an "eight" shape through an elastic cantilever mechanism. With the help of the elastic deformation of the elastic cantilever mechanism and the arc-shaped notch in the arc-shaped main frame, the cable-climbing robot can smoothly pass through the cable clamp of the main cable of the bridge.

[0012] Furthermore, the outer surface of each roller is covered with a roller cover made of heat-insulating protective material;

[0013] Among them, a driving component is arranged inside the roller of the active crawling mechanism, and the driving component includes a first motor, an external gear and an internal gear fixed to the roller, the output end of the first motor is fixedly connected to the external gear, the external gear is meshed with the internal gear, and the first motor is controlled by a controller.

[0014] Furthermore, a brake is arranged outside the roller of the active crawling mechanism, the brake is electrically connected to the controller, and the brake is controlled by the controller.

[0015] Further, the elastic cantilever mechanism includes an articulated seat connected to the fixed plate, and the four corners of the articulated seat are respectively articulated with a first connecting rod frame, a second connecting rod frame, a third connecting rod frame and a fourth connecting rod frame, the first connecting rod frame and the second connecting rod frame have the same length and are arranged away from the center of the fixed plate, the third connecting rod frame and the fourth connecting rod frame have the same length, and the length of the fourth connecting rod frame is smaller than the first connecting rod frame;

[0016] The first link frame and the second link frame are provided with rollers at one end away from the hinge seat, and the middle part of the first link frame and the end of the fourth link frame, as well as the middle part of the second link frame and the end of the third link frame are all rotatably connected through a link, and at the same time, the first link frame and the middle part of the second link frame and one end located at the hinge seat, and the two ends of the third link frame and the fourth link frame are all rotatably connected through a cross bar, thereby forming a cuboid link structure;

[0017] The cross bar in the middle of the first and second connecting rod frames and the cross bar at one end of the third and fourth connecting rod frames close to the articulated seat, as well as the cross bar at one end of the third and fourth connecting rod frames away from the articulated seat and the connecting slider are all connected through elastic parts. The connecting slider is screwed on the bidirectional screw, and the bidirectional screw is vertically arranged on the fixed plate.

[0018] Furthermore, the fire-fighting and cooling device includes a box made of high-temperature resistant metal material for containing fire-fighting and cooling materials. A plurality of injection ducts are evenly arranged on the upper and lower parts of the box. A nozzle is installed at the outlet end of each injection duct, and the opening of each nozzle faces the side of the main cable of the bridge. The injection action is controlled by a controller.

[0019] Furthermore, it also includes several sets of image acquisition mechanisms installed on the crawling drive device, which are respectively connected to the data transceiver and the controller, and are used to transmit the collected real-time image data of the bridge main cable and its surrounding environment to the remote control device on the ground via the data transceiver, and the controller can control the shooting parameters of the image acquisition mechanism according to the received instructions.

[0020] Furthermore, each set of the image acquisition mechanism includes a rotating bearing, a second motor, a universal joint, a cross pin and a high-definition camera, wherein the high-definition camera is hinged to the universal joint through the cross pin, and a rotating bearing and a second motor are arranged inside the universal joint, and the second motor drives the universal joint, the cross pin and the high-definition camera to rotate in the horizontal direction by driving the rotating bearing;

[0021] The cross pin is a shell structure with a cavity, in which a third motor is arranged. A driving bevel gear is provided at the end of the output shaft of the third motor, and a driven bevel gear is provided on the inner side of the hinge between the cross pin and the universal joint. The driving bevel gear and the driven bevel gear are meshed with each other. The driving bevel gear is driven to rotate by the third motor, thereby driving the driven bevel gear, the cross pin and the high-definition camera connected thereto to rotate in a vertical direction.

[0022] Furthermore, the remote control device includes a high-definition display screen and a combination button, wherein the high-definition display screen is used to display the image collected by the image acquisition mechanism in real time, and the combination button is used to control the fire-fighting cooling device of the creeping drive device and the image acquisition mechanism respectively;

[0023] Among them, the combination buttons include a first button for controlling the acceleration, deceleration, steering and braking of the creeping drive device; a second button for controlling the start, stop and flow regulation of the fire cooling device; and a third button for controlling the focal length adjustment, shooting angle switching and image clarity adjustment of the image acquisition mechanism.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The cable climbing robot provided by the present invention can reach the main cable fire area efficiently and unimpededly through the cable clamp to carry out firefighting and cooling, effectively reduce the damage of high temperature to the main cable to ensure the stability of the bridge structure and normal traffic, and realize remote automated operation through the data transceiver and remote control device, improve the safety and flexibility of the operation, and buy more time for firefighters. Specifically, the roller structure of the crawling drive device is arranged in an eight-shaped shape, which can not only cross the cable clamp but also be close to the main cable in real time under the action of elastic force to maintain stability. In addition, the roller sleeve is provided with an insulating roller to prevent damage by high temperature during operation, ensuring the reliability of the cable climbing robot itself; the high temperature resistant box of the firefighting and cooling device and the reasonably arranged spray components can accurately extinguish fires under the action of the controller; the image acquisition mechanism transmits the surrounding image data in real time, and cooperates with the high-definition display screen and control buttons of the remote control device to accurately monitor the on-site conditions, making the entire firefighting and cooling operation more intelligent and accurate, greatly enhancing the ability to respond to bridge main cable fires. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are incorporated in and constitute a part of this specification and, together with the description, serve to explain the principles of the present invention.

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is a schematic diagram of the cable climbing robot in use state of the present invention;

[0029] Figure 2 It is a schematic diagram of the overall structure of the cable climbing robot of the present invention;

[0030] Figure 3 This is a schematic diagram of the main structure of the cable climbing robot of the present invention;

[0031] Figure 4 1. It is a schematic diagram of the structure of the cable climbing robot from a top view of the present invention;

[0032] Figure 5 It is a side view structural diagram of the cable climbing robot of the present invention;

[0033] Figure 6 It is a schematic diagram of the active crawling mechanism in the cable-climbing robot of the present invention;

[0034] Figure 7 It is a side view structural diagram of the active crawling mechanism of the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of the driving component in the roller in the active crawling mechanism of the present invention;

[0036] Fig. 9 It is a schematic diagram of a driven crawling mechanism in the cable-climbing robot of the present invention;

[0037] Fig.10 It is a schematic diagram of the connection structure between the arc-shaped main frame of the cable climbing machine of the present invention and the fire-fighting cooling device;

[0038] Fig.11 It is an exploded schematic diagram of the image acquisition mechanism of the present invention;

[0039] Fig.12 It is a schematic diagram of the cross pin structure in the image acquisition mechanism of the present invention;

[0040] Fig.13 It is a schematic diagram of the structure of the remote control device of the present invention.

[0041] in:

[0042] 1 is an arc-shaped main frame;

[0043] 2 is a crawling drive device; 2-1 is an active crawling mechanism; 2-2 is a driven crawling mechanism; 20 is a fixed plate; 21 is a roller; 22 is an elastic cantilever mechanism; 23 is a roller sleeve; 24 is a driving assembly; 25 is a brake; 220 is an articulated seat; 221 is a first connecting rod frame; 222 is a second connecting rod frame; 223 is a third connecting rod frame; 224 is a fourth connecting rod frame; 225 is a connecting rod; 226 is a cross bar; 227 is a connecting slider; 228 is an elastic member; 229 is a bidirectional lead screw; 240 is a first motor; 241 is an external gear; 242 is an internal gear;

[0044] 3 is a fire-fighting cooling device; 30 is a box; 31 is a spray conduit; 32 is a nozzle;

[0045] 4 is a data transceiver;

[0046] 5 is a controller;

[0047] 6 is a power supply;

[0048] 7 is a remote control device; 70 is a high-definition display screen; 71 is a combination button; 710 is a first button; 711 is a second button; 712 is a third button;

[0049] 8 is an image acquisition mechanism; 80 is a rotary bearing; 81 is a second motor; 82 is a universal joint; 83 is a cross pin; 84 is a high-definition camera; 830 is a second motor; 831 is a driving bevel gear; 832 is a driven bevel gear;

[0050] A is the main cable of the bridge. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices consistent with some aspects of the present invention as detailed in the appended claims.

[0052] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0053] The present invention provides a special cable-climbing robot for bridge main cables with fire-fighting and cooling functions. The actual situation of the existence of cable clamps on the main cables of cable bridges is fully taken into consideration during design. An open-loop method is innovatively adopted as a whole. This method enables the cable-climbing robot to leave space for the cable clamps when walking on the main cable A of the bridge, so that it can smoothly reach the target fire-affected area and effectively cope with the complex bridge environment.

[0054] See also Figures 1 to 13 The cable climbing robot provided by the embodiment of the present invention includes an arc-shaped main frame 1 with a notch and adapted to the outer peripheral shape of the bridge main cable A. The arc-shaped main frame 1 presents a superior arc shape, which can firmly embrace the bridge main cable A and build a stable foundation for the cable climbing robot to walk; a crawling drive device 2 is installed on the inner side of the arc-shaped main frame 1, and the crawling drive device 2 drives the cable climbing robot to move up and down along the length direction of the bridge main cable A through the friction generated by the bridge main cable A; a plurality of groups of firefighting cooling devices 3 are arranged on the outer side of the arc-shaped main frame 1, which can implement firefighting cooling operations when the bridge main cable A encounters a fire; at the same time, the arc-shaped main frame 1 is also equipped with a data transceiver 4, a controller 5 and a power supply 6. Among them, the power supply 6 is electrically connected to the data transceiver 4 and the controller 5 respectively to provide power support for the operation of the entire cable climbing robot, and the controller 5 is connected to the crawling drive 2 and the firefighting cooling device 3 respectively, and the data transceiver 4 establishes a wireless communication link with the remote control device 7 placed on the ground. After such setting, the remote control device 7 can send a command signal to the controller 5 with the help of the data transceiver device 4. The controller 5 accurately controls the crawling drive device 2 and / or the fire-fighting and cooling device 3 to perform corresponding actions according to the received command signal, and finally realizes the remote automated fire-fighting and cooling operation of the cable-climbing robot on the main cable A of the bridge, so as to reduce the damage of high temperature to the main cable A of the bridge, and at the same time buy more time for the firefighters who are mainly involved in the subsequent fire fighting, thereby effectively ensuring the safety of the main cable of the bridge and the normal operation of the bridge traffic.

[0055] Specifically, in the embodiment of the present invention, the arc-shaped main frame 1 serves as the basic support of the entire cable-climbing robot, and it is necessary to ensure sufficient structural strength and reduce its own weight to reduce energy consumption and increase operating efficiency and endurance. Therefore, the arc-shaped main frame 1 is constructed of four identical arc-shaped skeletons, which are symmetrically arranged up and down in pairs and symmetrical around the joint point, and the arc skeletons are made of high-temperature resistant structural steel.

[0056] In the present invention, the crawling drive device 2 is the core component that ensures that the cable-climbing robot can move smoothly on the bridge main cable A. It is composed of at least one set of active crawling mechanisms 2-1 and multiple sets of driven crawling mechanisms 2-2. These active crawling mechanisms 2-1 and driven crawling mechanisms 2-2 are evenly distributed along the inner arc surface of the arc-shaped main frame 1. The specific number of layouts can be set according to actual conditions, but when arranged, the driven crawling mechanisms 2-2 should be symmetrically distributed around the active crawling mechanisms 2-1 to maintain the stability of the cable-climbing robot during operation.

[0057] As shown in the embodiment of the present invention Figures 1 to 4 As shown in the figure, the crawling drive device 2 includes a set of active crawling mechanisms 2-1 and two sets of driven crawling mechanisms 2-2. Among them, the active crawling mechanism 2-1 is installed at the junction of the left and right arc skeletons of the arc-shaped main frame 1, and the two sets of driven crawling mechanisms 2-2 are respectively arranged at the two ends of the arc-shaped main frame 1. Through this layout, the active crawling mechanism 2-1 and the driven crawling mechanism 2-2 cooperate with each other. While the active crawling mechanism 2-1 provides the main driving force, the driven crawling mechanism 2-2 assists in support and coordinated movement, jointly ensuring that the cable climbing robot maintains a stable posture and a balanced operating state when walking on the main cable A of the bridge, so as to smoothly reach the target fire area.

[0058] Specifically, Figure 6 , 7 As shown in Figures 9, in the embodiments of the present invention, the active crawling mechanism 2-1 and the driven crawling mechanism 2-2 both include a fixed plate 20 fixedly connected to the arc-shaped main frame 1, and rollers 21 are symmetrically arranged on the upper and lower sides of the fixed plate 20 close to the bridge main cable A. The upper and lower rollers 21 are connected to the fixed plate 20 in an eight-shaped shape through an elastic cantilever mechanism 22. It is this unique eight-shaped connection and the elastic deformation ability of the elastic cantilever mechanism 22 itself, combined with the design feature of the arc-shaped notch on the arc-shaped main frame 1, that enables the cable-climbing robot to pass smoothly when it runs on the bridge main cable A and encounters a cable clamp.

[0059] It should be noted that when the cable-climbing robot passes through the cable clamp, the elastic cantilever mechanism 22 will be elastically deformed in a timely manner according to the shape of the cable clamp. For example, when the roller 21 hits the raised part of the cable clamp, the elastic cantilever mechanism 22 will be squeezed and shrunk and deformed, so that the roller 21 can smoothly pass through the obstruction of the cable clamp; and after passing through the cable clamp, the elastic cantilever mechanism 22 can rely on its own elasticity to restore to its original state, and continue to ensure the normal crawling of the robot. At the same time, the arc-shaped notch of the arc-shaped main frame 1 also provides a certain avoidance space for the robot to pass through the cable clamp, avoiding the situation where it cannot pass due to structural interference. Through the coordinated cooperation between these components, it is fully guaranteed that the cable-climbing robot can shuttle between various positions on the main cable A of the bridge without obstacles, including smoothly passing through the cable clamp, so as to better perform related tasks such as fire fighting and cooling.

[0060] In the embodiment of the present invention, the structures of the elastic cantilever mechanisms 22 of the active crawling mechanism 2-1 and the driven crawling mechanism 2-2 are completely the same, and include an articulated seat 220 connected to the fixed plate 20, and the four corners of the articulated seat 220 are respectively articulated with a first connecting rod frame 221, a second connecting rod frame 222, a third connecting rod frame 223 and a fourth connecting rod frame 224. Among them, the lengths of the first connecting rod frame 221 and the second connecting rod frame 222 are not only the same, but also far away from the center position of the fixed plate 20 in terms of layout, the lengths of the third connecting rod frame 223 and the fourth connecting rod frame 224 are the same, and they are close to the center position of the fixed plate 20 in terms of layout, and the length of the fourth connecting rod frame 224 is smaller than that of the first connecting rod frame 221; the first connecting rod frame 221 and the second connecting rod frame 222 are provided with rollers 21 at one end away from the articulated seat 220, and the middle part of the first connecting rod frame 221 and the end of the fourth connecting rod frame 224 are connected. The first connecting rod frame 221 and the second connecting rod frame 222, as well as the middle part of the second connecting rod frame 222 and the end part of the third connecting rod frame 223 are all rotatably connected by a connecting rod 225. At the same time, the first connecting rod frame 221 and the middle part of the second connecting rod frame 222 and one end located at the hinged seat 220, and both ends of the third connecting rod frame 223 and the fourth connecting rod frame 224 are all rotatably connected by a cross bar 226, thereby forming a rectangular connecting rod structure, which has good stability and deformation adaptability, and can maintain overall continuity and functionality under different force conditions.

[0061] Furthermore, the crossbar 226 in the middle of the first link frame 221 and the second link frame 222 and the crossbar 226 at one end of the third link frame 223 and the fourth link frame 224 close to the hinge seat 220, and the crossbar 226 at one end of the third link frame 223 and the fourth link frame 224 away from the hinge seat 220 and the connecting slider 227 are all connected through an elastic member 228, and the connecting slider 227 is screwed on the bidirectional lead screw 229, and the bidirectional lead screw 229 is vertically arranged on the fixed plate 20. Among them, the elastic member 228 can be a spring, and the elastic member 228 gives the entire structure elastic deformation ability, so that when encountering obstacles such as cable clamps, the elastic cantilever mechanism 22 can adapt to the shape change through the telescopic deformation of the elastic member 228, ensuring that the roller 21 can smoothly cross. The connecting slider 227 is screwed on a bidirectional lead screw 229 vertically arranged on the fixed plate 20. By rotating the bidirectional lead screw 229, the position of the connecting slider 227 can be adjusted, and then the preload force of the elastic member 228 can be adjusted, thereby realizing the regulation of the overall elastic performance of the elastic cantilever mechanism 22, so as to meet the requirements of contact pressure, passing capacity, etc. between the cable climbing robot and the bridge main cable A under different working conditions, and ensure the efficient and stable operation of the cable climbing robot on the bridge main cable A.

[0062] In the embodiment of the present invention, the outer surface of all rollers 21 is covered with roller covers 23 made of heat-insulating protective materials, the purpose of which is to provide effective heat-insulating protection for the rollers 21. Taking the material of the roller cover 23 as an example, nitrile rubber is selected, which not only has good wear resistance, but also can effectively resist the wear caused by factors such as friction during the contact and rolling operation between the roller 21 and the bridge main cable A, thereby extending the service life of the roller 21; and its outstanding heat-insulating performance can block the external heat from being transferred to the roller 21 when the cable climbing robot performs tasks, especially in the case of a high-temperature environment (for example, when performing firefighting and cooling operations on the bridge main cable A, there may be high-temperature heat sources around), so as to avoid the roller 21 from experiencing performance degradation, deformation, or even damage due to heat.

[0063] In the embodiment of the present invention, the difference between the active crawling mechanism 2-1 and the driven crawling mechanism 2-2 is that a driving assembly 24 is specially provided inside the roller 21 of the active crawling mechanism 2-1, and the driving assembly 24 includes a first motor 240, an external gear 241 and an internal gear 242 fixedly connected to the roller 21. The output end of the first motor 240 is fixedly connected to the external gear 241, and the external gear 241 is meshed with the internal gear 242. The first motor 240 is controlled by the controller 5. At the same time, a brake 25 is arranged outside the roller 21 of the active crawling mechanism 2-1. The brake 25 is electrically connected to the controller 5 and can work under the regulation of the controller 5, that is, through the control of the controller 5 on the brake 25, the roller 21 of the active crawling mechanism 2-1 can be stopped in time and accurately, and precise braking can be achieved, thereby ensuring the safety and stability of the cable climbing robot during operation.

[0064] like Figure 2 , 4 As shown in Figures 10, the fire-fighting cooling device 3 in the embodiment of the present invention is symmetrically arranged with the active crawling mechanism 2-1 as the center, and two groups are provided. Each group of fire-fighting cooling devices 3 is equipped with a box 30 specifically used to hold fire-fighting cooling materials. The box 30 is made of high-temperature resistant metal so that it has excellent high-temperature resistance. The box 30 is fixedly connected to the arc-shaped main frame 1 to ensure that the fire-fighting cooling device 3 is always in a stable state during the operation of the cable-climbing robot; multiple injection ducts 31 are evenly arranged on the upper and lower parts of the box 30, and the layout design of these injection ducts 31 is intended to achieve all-round and multi-angle coverage of the bridge main cable A; a nozzle 32 is installed at the outlet end of each injection duct 31, and the opening of each nozzle 32 faces the side of the bridge main cable A. Such a design can ensure that the fire-fighting cooling material can accurately act on the bridge main cable A when spraying, and the nozzle 32 spraying action is controlled by the controller 5.

[0065] Preferably, the fire-fighting cooling device 3, the data transceiver device 4, the controller 5 and the power supply 6 of the cable-climbing robot of the present invention are wrapped with heat-insulating materials on the outside. For example, the fire-fighting cooling device 3 is wrapped with polyimide aerogel (PIA) on the outside to prevent damage by high temperature during operation and ensure the safety of each component. The details will not be repeated here.

[0066] Furthermore, considering the particularity and complexity of the firefighting operation environment of the bridge main cable, in order to ensure that the operator far away from the scene can accurately and efficiently control the cable climbing robot to perform related tasks, the present invention adds an image acquisition mechanism 8 and a positioning device in the design of the cable climbing robot. The image acquisition mechanism 8 and the positioning device are respectively connected to the data transceiver 4 and the controller 5, and are used to transmit the collected real-time image data and positioning data of the bridge main cable A and its surrounding environment to the remote control device 7 on the ground via the data transceiver 4, and the controller 5 can control the shooting parameters of the image acquisition mechanism 8 according to the received instructions. It should be noted that the image acquisition mechanism 8 should be set to prevent interference with other components.

[0067] Specifically, Fig.11 , 12 As shown, each set of image acquisition mechanism 8 includes a rotating bearing 80 connected to the end of the fixed plate 20, a second motor 81, a universal joint 82, a cross pin 83 and a high-definition camera 84. The high-definition camera 84 is hinged to the universal joint 82 through the cross pin 83. The universal joint 82 is provided with a rotating bearing 80 and a second motor 81. The second motor 81 drives the rotating bearing 80 to drive the universal joint 82, the cross pin 83 and the high-definition camera 84 to rotate in the horizontal direction. The cross pin 83 is a shell structure with an internal cavity, and the internal A third motor 830 is provided, and a driving bevel gear 831 is provided at the end of the output shaft of the third motor 830. A driven bevel gear 832 is provided inside the hinge of the cross pin 83 and the universal joint 82. The driving bevel gear 831 and the driven bevel gear 832 are meshed with each other. The driving bevel gear 831 is driven to rotate by the third motor 830, thereby driving the driven bevel gear 832, the cross pin 83 and the high-definition camera 84 connected thereto to rotate in the vertical direction, and the second motor 81 and the third motor 830 are both controlled by the controller 5. Through this two-dimensional rotation mechanism driven by the second motor 81 in the horizontal direction and by the third motor 830 in the vertical direction, the high-definition camera 84 can flexibly adjust the shooting angle to realize comprehensive image acquisition of the bridge main cable A and its surrounding environment from different heights and different directions, thereby providing accurate real-time image data for the remote control device 7, so that the operator can more accurately understand the on-site situation and control the cable climbing robot to perform related tasks.

[0068] like Fig.13As shown, in the embodiment of the present invention, the remote control device 7 includes a high-definition display screen 70 and a combination button 71. The high-definition display screen 70 is used to display the image collected by the image acquisition mechanism 8 in real time. The combination button 71 is used to control the crawling drive device 2, the fire-fighting cooling device 3 and the image acquisition mechanism 8 respectively. Specifically, the combination button 71 includes a first button 710 for controlling the acceleration, deceleration, steering and braking of the crawling drive device 2; a second button 711 for controlling the start, stop and flow adjustment of the fire-fighting cooling device 3; and a third button 712 for controlling the focal length adjustment, shooting angle switching and image clarity adjustment of the image acquisition mechanism 8. In other words, through the coordinated work of the high-definition display screen 70 and the combination button 71, the operator can accurately control the cable climbing robot to perform various tasks as if he were on the scene, even if he is far away from the site of the bridge main cable A, including daily inspection of the bridge main cable A, fire early warning monitoring and fire-fighting cooling operations when a fire occurs, etc., which greatly improves the work efficiency and safety of the maintenance and emergency treatment of the bridge main cable A.

[0069] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0070] It should be understood that the present invention is not limited to what has been described above and that various modifications and changes may be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims

1. A special cable climbing robot for bridge main cables with fire-fighting and cooling functions, characterized in that: The invention comprises an arc-shaped main frame (1) adapted to the outer peripheral shape of a bridge main cable (A), a crawling drive device (2) for driving a cable-climbing robot to move along the length direction of the bridge main cable (A) is installed on the inner side of the arc-shaped main frame (1), and a plurality of groups of fire-fighting and cooling devices (3) are arranged on the outer side. The arc-shaped main frame (1) is also equipped with a data transceiver device (4), a controller (5) and a power supply (6), the power supply (6) is electrically connected to the data transceiver device (4) and the controller (5), respectively, and the controller (5) is connected to the crawling drive device (2) and the fire-fighting and cooling device (3), respectively; The data transceiver (4) is wirelessly connected to a remote control device (7) placed on the ground, and the remote control device (7) sends a command signal to the controller (5) through the data transceiver (4). The controller (5) controls the crawling drive device (2) and / or the fire-fighting and cooling device (3) to perform corresponding actions according to the received command signal, so as to realize the remote automated fire-fighting and cooling operation of the cable-climbing robot on the main cable (A) of the bridge.

2. The special cable climbing robot for main cables of bridges with fire-fighting and cooling function according to claim 1 is characterized in that: The crawling drive device (2) comprises at least one group of active crawling mechanisms (2-1) and a plurality of groups of driven crawling mechanisms (2-2); the active crawling mechanisms (2-1) and the driven crawling mechanisms (2-2) are evenly distributed along the inner arc surface of the arc-shaped main frame (1), and the driven crawling mechanisms (2-2) are symmetrically distributed around the active crawling mechanisms (2-1).

3. The special cable climbing robot for bridge main cable with fire-fighting and cooling function according to claim 2 is characterized in that: The active crawling mechanism (2-1) and the driven crawling mechanism (2-2) both comprise a fixed plate (20) fixedly connected to the arc-shaped main frame (1); rollers (21) are symmetrically arranged on the upper and lower sides of the fixed plate (20) close to the bridge main cable (A); the upper and lower rollers (21) are connected to the fixed plate (20) in an eight-shaped manner via an elastic cantilever mechanism (22); with the help of the elastic deformation of the elastic cantilever mechanism (22) and the arc-shaped gap with the arc-shaped main frame (1), the cable-climbing robot can smoothly pass through the cable clamp of the bridge main cable (A).

4. The special cable climbing robot for bridge main cables with fire-fighting and cooling function according to claim 3 is characterized in that: The outer surface of each roller (21) is covered with a roller cover (23) made of heat-insulating protective material; Wherein, a driving assembly (24) is arranged inside the roller (21) of the active crawling mechanism (2-1), and the driving assembly (24) comprises a first motor (240), an external gear (241), and an internal gear (242) fixedly connected to the roller (21); the output end of the first motor (240) is fixedly connected to the external gear (241), the external gear (241) is meshed with the internal gear (242), and the first motor (240) is controlled by a controller (5).

5. The special cable climbing robot for bridge main cable with fire-fighting and cooling function according to claim 3 is characterized in that: The rollers (21) of the active crawling mechanism (2-1) are each provided with a brake (25) outside thereof. The brake (25) is electrically connected to the controller (5), and the brake (25) is controlled by the controller (5).

6. The special cable climbing robot for main cables of bridges with fire-fighting and cooling function according to claim 3 is characterized in that: The elastic cantilever mechanism (22) comprises an articulated seat (220) connected to the fixed plate (20), and the four corners of the articulated seat (220) are respectively articulated with a first connecting rod frame (221), a second connecting rod frame (222), a third connecting rod frame (223) and a fourth connecting rod frame (224), the first connecting rod frame (221) and the second connecting rod frame (222) are of the same length and are arranged away from the center of the fixed plate (20), the third connecting rod frame (223) and the fourth connecting rod frame (224) are of the same length, and the length of the fourth connecting rod frame (224) is smaller than that of the first connecting rod frame (221); A roller (21) is provided at one end of the first connecting rod frame (221) and the second connecting rod frame (222) away from the hinge seat (220); the middle part of the first connecting rod frame (221) and the end of the fourth connecting rod frame (224), and the middle part of the second connecting rod frame (222) and the end of the third connecting rod frame (223) are all rotatably connected through a connecting rod (225); at the same time, the middle part of the first connecting rod frame (221) and the second connecting rod frame (222) and one end located at the hinge seat (220), and both ends of the third connecting rod frame (223) and the fourth connecting rod frame (224) are all rotatably connected through a cross bar (226), thereby forming a cuboid connecting rod structure; The cross bar (226) in the middle of the first connecting rod frame (221) and the second connecting rod frame (222) and the cross bar (226) at one end of the third connecting rod frame (223) and the fourth connecting rod frame (224) close to the hinge seat (220), as well as the cross bar (226) at one end of the third connecting rod frame (223) and the fourth connecting rod frame (224) away from the hinge seat (220) are all connected to the connecting slider (227) through an elastic member (228), and the connecting slider (227) is screwed on the bidirectional lead screw (229), and the bidirectional lead screw (229) is vertically arranged on the fixed plate (20).

7. The special cable climbing robot for main cables of bridges with fire-fighting and cooling function according to claim 1 is characterized in that: The fire-fighting cooling device (3) comprises a box (30) made of high-temperature resistant metal material for containing fire-fighting cooling materials. A plurality of spray ducts (31) are evenly arranged at the upper and lower parts of the box (30). A nozzle (32) is installed at the outlet end of each spray duct (31), and the opening of each nozzle (32) faces the side of the bridge main cable (A). The spraying action is controlled by a controller (5).

8. The special cable climbing robot for main cables of bridges with fire-fighting and cooling functions according to any one of claims 1 to 7, characterized in that: The invention also comprises a plurality of sets of image acquisition mechanisms (8) installed on the crawling drive device (2), wherein the image acquisition mechanisms (8) are respectively connected to the data transceiver device (4) and the controller (5), and are used to transmit the collected real-time image data of the bridge main cable (A) and its surrounding environment to the remote control device (7) on the ground via the data transceiver device (4), and the controller (5) can control the shooting parameters of the image acquisition mechanism (8) according to the received instructions.

9. The special cable climbing robot for main cables of bridges with fire-fighting and cooling function according to claim 8 is characterized in that: Each set of the image acquisition mechanism (8) comprises a rotating bearing (80), a second motor (81), a universal joint (82), a cross pin (83) and a high-definition camera (84); the high-definition camera (84) is hinged to the universal joint (82) via the cross pin (83); a rotating bearing (80) and a second motor (81) are arranged inside the universal joint (82); the second motor (81) drives the rotating bearing (80) to drive the universal joint (82), the cross pin (83) and the high-definition camera (84) to rotate in a horizontal direction; The cross pin (83) is a shell structure with a cavity, in which a third motor (830) is arranged. The output shaft end of the third motor (830) is provided with a driving bevel gear (831). A driven bevel gear (832) is arranged inside the hinge between the cross pin (83) and the universal joint (82). The driving bevel gear (831) and the driven bevel gear (832) are meshed with each other. The driving bevel gear (831) is driven to rotate by the third motor (830), thereby driving the driven bevel gear (832), the cross pin (83) and the high-definition camera (84) connected thereto to rotate in a vertical direction.

10. The special cable climbing robot for main cables of bridges with fire-fighting and cooling function according to claim 8, characterized in that: The remote control device (7) comprises a high-definition display screen (70) and a combination button (71), wherein the high-definition display screen (70) is used to display images collected by the image collection mechanism (8) in real time, and the combination button (71) is used to control the creeping drive device (2), the fire-fighting cooling device (3) and the image collection mechanism (8) respectively; The combination button (71) comprises a first button (710) for controlling the acceleration, deceleration, steering and braking of the creeping drive device (2); a second button (711) for controlling the start, stop and flow regulation of the fire-fighting cooling device (3); and a third button (712) for controlling the focus adjustment, shooting angle switching and image clarity adjustment of the image acquisition mechanism (8).

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