Bridge main cable special climbing robot with fire extinguishing and cooling functions

Abstract

The application belongs to the technical field of bridge safety protection, and specifically discloses a bridge main cable special cable-climbing robot with a fire-fighting and cooling function, which comprises an arc-shaped main body frame, an elastic crawling driving device is arranged on the inner side of the arc-shaped main body frame, a fire-fighting and cooling device is arranged on the outer side of the arc-shaped main body frame, and a data transceiving device, a controller and a power supply are further arranged, the power supply is electrically connected with the data transceiving device and the controller respectively, the controller is connected with the crawling driving device and the fire-fighting and cooling device respectively, the data transceiving device is wirelessly connected with a remote control device and transmits instructions to the controller, and the controller controls the crawling driving device and / or the fire-fighting and cooling device to perform corresponding actions according to the instructions, so as to realize remote and automatic fire-fighting and cooling operation of the cable-climbing robot on the main cable. The cable-climbing robot can quickly and unobstructedly pass through a cable clamp and directly reach a main cable fire area for fire-fighting and cooling, the damage of high temperature to the main cable is reduced, more time is gained for fire-fighting personnel, and therefore, the safety of a bridge structure and the normal operation of traffic are ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of bridge safety protection, and particularly relates to a bridge main cable special climbing robot with fire extinguishing and cooling functions, which is mainly used for pre-fire extinguishing and cooling of the bridge main cable when a cable bridge breaks out in fire. BACKGROUND

[0002] With the rapid development of bridge construction technology in China, cable bridge structures such as suspension bridges and cable-stayed bridges are widely used in large obstacle scenes such as crossing rivers, lakes and seas, and the number of constructions continues to rise. The main span structure of the suspension bridge mainly includes three key parts of the equal cross-section main cable, the bridge way system and the suspender, and the main cable as the core load-bearing component of the suspension bridge is called the "lifeline" of the suspension bridge, so it is very important to protect the safety of the main cable.

[0003] Cable bridge is prone to fire accidents, and the main cable of the cable bridge is generally composed of a large number of steel wire ropes or steel cables. Although steel has excellent mechanical properties, it has poor fire resistance. Under normal circumstances, the tensile strength of the cable is less affected by temperature when the heating temperature is below 300℃, but once the temperature reaches 400℃, the mechanical properties of steel will rapidly decline, and the elastic modulus of steel will be reduced to half of the normal temperature at 600℃. Therefore, when the bridge body catches fire, if the main cable catches fire or is affected by the fire, it will be damaged under the action of high temperature, the stability of the whole bridge structure will be destroyed, the traffic will be paralyzed, the economic loss will be incalculable, and even disastrous consequences such as bridge collapse may occur.

[0004] At present, the research on the fire prevention of the main cable of the cable bridge mainly focuses on winding fireproof materials on the surface of the main cable. This passive fire prevention 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 and have a negative impact on its seismic capacity; third, in the face of major fires such as oil tank truck fires, its fire prevention effect is very limited, and it is difficult to effectively protect the main cable from high temperature damage, and it cannot meet the higher requirements for fire prevention of the main cable. In view of this, it is urgent to develop a new device with active and flexible characteristics and stronger fire prevention, so as to quickly pre-fire extinguish and cool the main cable when the bridge breaks out in fire, minimize the damage of high temperature to the main cable, and gain more valuable time for the rescue action of the fire fighters, and ensure the safety of the bridge structure and the normal operation of the traffic.

[0005] Therefore, the present application is proposed. SUMMARY

[0006] The bridge main cable special cable-climbing robot with the fire extinguishing and cooling function provided by the present application has an open-loop design for the main body frame structure and is combined with the elastically deformable crawling driving device, so that the cable-climbing robot can pass through the cable clamp position without any obstruction, smoothly reach the main cable fire area, and implement the fire extinguishing and cooling operation for the fire area, thereby effectively reducing the damage of high temperature to the main cable, and the above operation is remote automatic operation, thereby saving more rescue time for the fire rescue personnel, greatly improving the efficiency and effect of the bridge main cable fire response, and ensuring the safety and stability of the bridge structure and the normal operation of the traffic.

[0007] The present application aims to solve the above problems by the following technical solutions.

[0008] The present application provides a bridge main cable special cable-climbing robot with fire extinguishing and cooling function, comprising an arc-shaped main body frame adapted to the outer peripheral shape of the bridge main cable, a crawling driving 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 body frame, and a plurality of groups of fire extinguishing and cooling devices are arranged on the outer side of the arc-shaped main body frame, and a data transceiver device, a controller and a power supply are further provided on the arc-shaped main body frame, the power supply is electrically connected with the data transceiver device and the controller respectively, and the controller is connected with the crawling driving device and the fire extinguishing and cooling device respectively.

[0009] The data transceiver device is wirelessly connected with a remote control device placed on the ground, the remote control device sends an instruction signal to the controller through the data transceiver device, and the controller controls the crawling driving device and / or the fire extinguishing and cooling device to perform corresponding actions according to the received instruction signal, so as to realize the remote automatic fire extinguishing and cooling operation of the cable-climbing robot on the bridge main cable.

[0010] Further, the crawling driving device comprises at least one group of active crawling mechanisms and a plurality of groups of driven crawling mechanisms, the active crawling mechanisms and the driven crawling mechanisms are uniformly distributed along the inner arc surface of the arc-shaped main body frame, and the driven crawling mechanisms are symmetrically distributed around the active crawling mechanisms.

[0011] Further, the active crawling mechanism and the driven crawling mechanism each comprise a fixed plate fixedly connected with the arc-shaped main body frame, a plurality of rollers are symmetrically arranged on the side close to the bridge main cable, the rollers are connected with the fixed plate in a figure-eight shape through an elastic suspension mechanism, and the cable-climbing robot can smoothly pass through the cable clamp of the bridge main cable by virtue of the elastic deformation of the elastic suspension mechanism and the arc-shaped gap of the arc-shaped main body frame.

[0012] Further, an outer surface of each roller is sleeved with a roller sleeve made of heat insulation protective material.

[0013] The driving assembly is arranged inside the rollers of the active crawling mechanism, and comprises a first motor, an external gear and an internal gear fixed to the roller.

[0014] Further, the rollers of the active crawling mechanism are externally provided with a brake, which is electrically connected to the controller and controlled by the controller.

[0015] Further, the elastic suspension mechanism comprises a hinged seat connected to the fixed plate, and the hinged seat is respectively hinged with a first connecting rod frame, a second connecting rod frame, a third connecting rod frame and a fourth connecting rod frame at four corners.

[0016] The first connecting rod frame and the second connecting rod frame are provided with rollers at one end away from the hinged seat, and the middle part of the first connecting rod frame and the fourth connecting rod frame and the middle part of the second connecting rod frame and the third connecting rod frame are rotationally connected by connecting rods, and the middle part of the first connecting rod frame and the second connecting rod frame and the ends of the third connecting rod frame and the fourth connecting rod frame are rotationally connected by cross bars, thereby forming a cuboid connecting rod structure.

[0017] The cross bars in the middle part of the first connecting rod frame and the second connecting rod frame are connected to the cross bars at one end close to the hinged seat of the third connecting rod frame and the fourth connecting rod frame, and the cross bars at one end away from the hinged seat of the third connecting rod frame and the fourth connecting rod frame are connected to the connecting sliding blocks, and the connecting sliding blocks are screwed on the bidirectional lead screws vertically arranged on the fixed plate.

[0018] Further, the fire extinguishing and cooling device comprises a box body made of high-temperature-resistant metal material for containing fire extinguishing and cooling materials, and a plurality of spray pipes are uniformly arranged at the upper and lower parts of the box body, and a nozzle is mounted at the outlet end of each spray pipe, and the opening of each nozzle faces the side of the bridge main cable, and the spraying action is controlled by the controller.

[0019] Further, a plurality of image acquisition mechanisms are mounted on the crawling driving device, and the image acquisition mechanisms are respectively connected to the data transceiver device and the controller, and are used to transmit the real-time image data of the bridge main cable and its surrounding environment collected by the image acquisition mechanisms to the remote control device on the ground through the data transceiver device, and the controller can control the shooting parameters of the image acquisition mechanisms according to the received instructions.

[0020] Further, each set of the image acquisition mechanism comprises a rotating bearing, a second motor, a universal joint, a cross pin and a high-definition camera, the high-definition camera is hinged with the universal joint through the cross pin, the universal joint is internally provided with the rotating bearing and the second motor, the second motor drives the rotating bearing to drive the universal joint, the cross pin and the high-definition camera to rotate along the horizontal direction;

[0021] The cross pin is a shell structure with a cavity, a third motor is arranged in the cavity, a driving bevel gear is arranged at the output shaft end of the third motor, a driven bevel gear is arranged inside 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 third motor drives the driving bevel gear to rotate, thereby driving the driven bevel gear, the cross pin and the high-definition camera connected therewith to rotate along the vertical direction.

[0022] Further, the remote control device comprises a high-definition display screen and a combination key, the high-definition display screen is used for displaying the image collected by the image acquisition mechanism in real time, and the combination key is used for controlling the crawling driving device, the fire extinguishing and cooling device and the image acquisition mechanism respectively.

[0023] The combination key comprises a first key for controlling the acceleration, deceleration, steering and braking of the crawling driving device, a second key for controlling the starting, stopping and flow adjustment of the fire extinguishing and cooling device, and a third key for controlling the focal length adjustment, shooting angle switching and image definition adjustment of the image acquisition mechanism.

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

[0025] The cable-climbing robot provided by the present application can efficiently and barrier-free pass through the cable clamp to reach the main cable fire area for fire extinguishing and cooling, effectively reduce the damage of high temperature to the main cable to protect the stability of the bridge structure and the normal traffic, and realize remote automatic operation through the data transceiver device and the remote control device, thereby improving the operation safety and flexibility and providing more time for the fire-fighting personnel. Specifically, the roller structure of the crawling driving device is arranged in an eight-shaped layout, which can not only cross the cable clamp but also tightly adhere to the main cable in real time under the action of the elastic force, thereby maintaining the stability. In addition, the roller is provided with a heat insulation roller, which can prevent the high temperature from damaging the cable-climbing robot during operation, thereby ensuring the reliability of the cable-climbing robot. The high-temperature-resistant box body and the reasonably arranged spraying components of the fire extinguishing and cooling device can accurately extinguish the fire under the action of the controller. The image acquisition mechanism can transmit the surrounding image data in real time, and the high-definition display screen and the control key of the remote control device can accurately monitor the site condition, so that the whole fire extinguishing and cooling operation is more intelligent and accurate, and the bridge main cable fire response capability is greatly enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate the embodiments of the present application and, together with the description, serve to explain the principles of the application.

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0028] Fig. 1 is a schematic diagram of a use state structure of the cable climbing robot of the present application;

[0029] Fig. 2 is a schematic diagram of the overall structure of the cable climbing robot of the present application;

[0030] Fig. 3 is a schematic diagram of the front view structure of the cable climbing robot of the present application;

[0031] Fig. 4 is a schematic diagram of the top view structure of the cable climbing robot of the present application;

[0032] Fig. 5 is a schematic diagram of the side view structure of the cable climbing robot of the present application;

[0033] Fig. 6 is a schematic diagram of the active climbing mechanism in the cable climbing robot of the present application;

[0034] Fig. 7 is a schematic diagram of the side view structure of the active climbing mechanism of the present application;

[0035] Fig. 8 is a schematic diagram of the inner drive assembly structure of the roller in the active climbing mechanism of the present application;

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

[0037] Fig. 10 is a schematic diagram of the connection structure of the arc-shaped main body frame and the fire extinguishing and cooling device in the cable climbing robot of the present application;

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

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

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

[0041] Among them:

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

[0043] 2 is a crawling driving device; 2-1 is a main 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 a hinged 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 sliding block; 228 is an elastic piece; 229 is a bidirectional screw; 240 is a first motor; 241 is an external gear; 242 is an internal gear;

[0044] 3 is a fire extinguishing and cooling device; 30 is a box body; 31 is a spray guide pipe; 32 is a nozzle;

[0045] 4 is a data transceiver device;

[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 key; 710 is a first key; 711 is a second key; 712 is a third key;

[0049] 8 is an image acquisition mechanism; 80 is a rotating 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 a bridge main cable. DETAILED DESCRIPTION

[0051] The exemplary embodiments will be described in detail hereinbelow with reference to the drawings. In the following description, the same numbers refer to the same or similar elements throughout the drawings. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Rather, they are merely examples of apparatuses consistent with some aspects of the present application as detailed in the appended claims.

[0052] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings and examples.

[0053] The bridge main cable robot with fire extinguishing and cooling function provided by the present application fully considers the actual situation of the cable clamp existing in the cable bridge main cable in the design, and innovatively adopts an open loop mode. This mode allows the cable robot to leave space for the cable clamp when walking on the bridge main cable A, so as to smoothly reach the target fire area and effectively cope with complex bridge environment.

[0054] Referring to Figs. 1-13 The cable-climbing robot provided by the embodiment of the present application comprises an arc-shaped main frame 1 with a gap and matched with the outer shape of the bridge main cable A, which presents an optimal arc shape and can stably embrace the bridge main cable A to build a stable foundation for the cable-climbing robot to walk; a crawling driving device 2 is installed on the inner side of the arc-shaped main frame 1, which drives the cable-climbing robot to move up and down along the length direction of the bridge main cable A through the friction force generated with the bridge main cable A; a plurality of groups of fire-fighting and cooling devices 3 are arranged on the outer side of the arc-shaped main frame 1, which can implement fire-fighting and cooling operation when the bridge main cable A encounters fire; at the same time, 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 with the data transceiver device 4 and the controller 5 respectively to provide power support for the operation of the whole cable-climbing robot, the controller 5 is connected with the crawling driving device 2 and the fire-fighting and cooling device 3 respectively, and the data transceiver device 4 establishes a wireless communication link with a remote control device 7 placed on the ground. After the arrangement, the remote control device 7 can send an instruction signal to the controller 5 through the data transceiver device 4, and the controller 5 can accurately control the crawling driving device 2 and / or the fire-fighting and cooling device 3 to perform corresponding actions according to the received instruction signal, so as to finally realize the remote and automatic fire-fighting and cooling operation of the cable-climbing robot on the bridge main cable A, so as to reduce the damage of high temperature to the bridge main cable A, and at the same time, to gain more time for the subsequent fire-fighting personnel mainly involved in fire extinguishing, thereby effectively guaranteeing the safety of the bridge main cable and the normal operation of the bridge traffic.

[0055] Specifically, in the embodiment of the present application, the arc-shaped main frame 1 as the basic support of the whole cable-climbing robot should not only ensure sufficient structural strength, but also reduce the self-weight to reduce energy consumption, increase operation efficiency and endurance. Therefore, the arc-shaped main frame 1 is constructed by four identical circular arc skeletons, the four circular arc skeletons are symmetrically arranged up and down and symmetrically arranged left and right around the joint point, and the circular arc skeletons are made of high-temperature-resistant structural steel.

[0056] In the present application, the crawling driving device 2 is the core component for ensuring that the cable-climbing robot can smoothly move on the bridge main cable A, which is composed of at least one group of active crawling mechanism 2-1 and a plurality of groups of driven crawling mechanism 2-2. These active crawling mechanisms 2-1 and driven crawling mechanisms 2-2 are uniformly distributed along the inner arc surface of the arc-shaped main frame 1, and the specific number of arrangement can be set according to the actual situation, but 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 accompanying drawings of the embodiment of the present application, Figs. 1-4As shown, the crawling drive device 2 includes one set of active crawling mechanisms 2-1 and two sets of driven crawling mechanisms 2-2. The active crawling mechanisms 2-1 are installed at the junctions of the two arc-shaped skeletons on the left and right sides of the arc-shaped main frame 1, while the two sets of driven crawling mechanisms 2-2 are respectively located at both ends of the arc-shaped main frame 1. Through this arrangement, the active crawling mechanisms 2-1 and the driven crawling mechanisms 2-2 cooperate with each other. While the active crawling mechanism 2-1 provides the main driving force, the driven crawling mechanisms 2-2 provide auxiliary support and coordinated movement, jointly ensuring that the cable-climbing robot maintains a stable posture and balanced operation when walking on the main cable A of the bridge, thus successfully reaching the target fire-affected area.

[0058] Specifically, such as Fig. 6 , 7 As shown in Figure 9, in this embodiment of the invention, both the active crawling mechanism 2-1 and the driven crawling mechanism 2-2 include 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 near the main cable A of the bridge. The upper and lower rollers 21 are connected to the fixed plate 20 in a figure-eight shape through the elastic cantilever mechanism 22. It is this unique figure-eight connection and the elastic deformation capability 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 main cable A of the bridge 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 elastically deform according to the shape of the cable clamp. For example, when the roller 21 encounters the protruding part of the cable clamp, the elastic cantilever mechanism 22 will be squeezed and deformed, allowing the roller 21 to smoothly pass over the obstacle of the cable clamp; after passing through the cable clamp, the elastic cantilever mechanism 22 can return to its original state by its own elasticity, ensuring the robot's normal crawling. At the same time, the arc-shaped notch of the arc-shaped main frame 1 also provides a certain amount of clearance for the robot to pass through the cable clamp, avoiding situations where it cannot pass due to structural interference. Through the coordinated cooperation between these components, the cable-climbing robot can move unimpeded through various positions on the main cable A of the bridge, including smoothly passing through the cable clamp, thereby better performing related tasks such as fire cooling.

[0060] In the embodiment of the present application, the elastic suspension mechanism 22 of the active crawling mechanism 2-1 and the driven crawling mechanism 2-2 are completely the same in structure, which comprises a hinge seat 220 connected with the fixed plate 20, and the four corners of the hinge seat 220 are respectively hinged 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 away from the center position of the fixed plate 20 in layout, the lengths of the third connecting rod frame 223 and the fourth connecting rod frame 224 are the same, and close to the center position of the fixed plate 20 in layout, and the length of the fourth connecting rod frame 224 is less than that of the first connecting rod frame 221; the ends away from the hinge seat 220 of the first connecting rod frame 221 and the second connecting rod frame 222 are provided with the roller 21, and 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 rotationally connected through the connecting rod 225, and the middle part of the first connecting rod frame 221 and the second connecting rod frame 222 and the end of the third connecting rod frame 223 and the fourth connecting rod frame 224 located at one end of the hinge seat 220 are all rotationally connected through the cross rod 226, thereby forming a cuboid connecting rod structure, which has good stability and deformation adaptability, and can maintain the integrity and functionality under different stress conditions.

[0061] Further, the cross rod 226 of the middle part of the first connecting rod frame 221 and the second connecting rod frame 222, the cross rod 226 close to one end of the hinge seat 220 of the third connecting rod frame 223 and the fourth connecting rod frame 224, and the cross rod 226 away from one end of the hinge seat 220 of the third connecting rod frame 223 and the fourth connecting rod frame 224 are all connected with the connecting sliding block 227 through the elastic member 228, the connecting sliding block 227 is screwed on the bidirectional screw rod 229, and the bidirectional screw rod 229 is vertically arranged on the fixed plate 20. Among them, the elastic member 228 can adopt a spring, and the elastic deformation ability of the whole structure is given through the elastic member 228, so that when obstacles such as cable clamps are encountered, the elastic suspension mechanism 22 can adapt to shape changes through the expansion and deformation of the elastic member 228, and ensure that the roller 21 can smoothly cross. And the connecting sliding block 227 is screwed on the bidirectional screw rod 229 vertically arranged on the fixed plate 20, and the position of the connecting sliding block 227 can be adjusted through the rotation of the bidirectional screw rod 229, and then the pre-tightening force of the elastic member 228 is adjusted, so as to realize the regulation and control of the overall elastic performance of the elastic suspension mechanism 22, so as to meet the requirements of the contact pressure, passing capacity and other aspects of 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 this embodiment of the invention, all rollers 21 are covered with roller sleeves 23 made of heat-insulating protective material on their outer surface, the purpose of which is to provide effective heat insulation protection for the rollers 21. Taking the nitrile rubber material of the roller sleeves 23 as an example, it not only has good wear resistance, but also effectively resists wear caused by friction and other factors during the contact and rolling operation of the rollers 21 with the main bridge cable A, thus extending the service life of the rollers 21; moreover, its outstanding heat insulation performance can prevent external heat from being transferred to the rollers 21 when the cable-climbing robot is performing tasks, especially in high-temperature environments (such as when fire cooling operations are carried out on the main bridge cable A, where there may be high-temperature heat sources nearby), thus preventing the rollers 21 from experiencing performance degradation, deformation, or even damage due to heat.

[0063] In this embodiment of the invention, the active crawling mechanism 2-1 differs from the driven crawling mechanism 2-2 in that each roller 21 of the active crawling mechanism 2-1 is equipped with a dedicated drive assembly 24. This drive 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 meshes with the internal gear 242. The first motor 240 is controlled by a controller 5. Simultaneously, a brake 25 is configured on the outside of each roller 21 of the active crawling mechanism 2-1. This brake 25 is electrically connected to the controller 5 and can operate under the control of the controller 5. That is, by controlling the brake 25 through the controller 5, the roller 21 of the active crawling mechanism 2-1 can be stopped from rotating in a timely and accurate manner, achieving precise braking and thus ensuring the safety and stability of the cable-climbing robot during operation.

[0064] like Fig. 2 , 4 As shown in Figure 10, in this embodiment of the invention, the fire-fighting cooling device 3 is symmetrically arranged around the active crawling mechanism 2-1, with two sets in total. Each set of fire-fighting cooling devices 3 is equipped with a box 30 specifically for holding fire-fighting cooling materials. The box 30 is made of high-temperature resistant metal to give it 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 remains stable during the operation of the cable-climbing robot. Multiple spray ducts 31 are evenly arranged on the upper and lower parts of the box 30. The layout design of these spray ducts 31 is designed to achieve all-round and multi-angle coverage of the main cable A of the bridge. Each spray duct 31 has a nozzle 32 installed at its outlet end, and the opening of each nozzle 32 faces the main cable A of the bridge. This design ensures that the fire-fighting cooling material can accurately act on the main cable A of the bridge when sprayed. The spraying action of the nozzle 32 is controlled by the controller 5.

[0065] Preferably, the cable-climbing robot of the present application is wrapped by a heat insulation material outside the fire cooling device 3, the data transceiver device 4, the controller 5, the power supply 6 and the like, for example, the polyimide aerogel (PIA) is wrapped outside the fire cooling device 3, so as to prevent being damaged by high temperature during operation and ensure the safety of each component, which will not be described in detail.

[0066] Further, considering the particularity and complexity of the bridge main cable fire-fighting operation environment, in order to ensure that the operator away from the scene can accurately and efficiently control the cable-climbing robot to perform related tasks, the image acquisition mechanism 8 and the positioning device are additionally provided in the design of the cable-climbing robot. The image acquisition mechanism 8 and the positioning device are respectively connected with the data transceiver device 4 and the controller 5, for transmitting the real-time image data and positioning data of the bridge main cable A and its surrounding environment collected by the image acquisition mechanism 8 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, and it should be noted that the image acquisition mechanism 8 is prevented from interfering with other components when being set.

[0067] Specifically, as shown in Fig. 11 、 12 Each set of image acquisition mechanism 8 includes a rotating bearing 80 connected with 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 with the universal joint 82 through the cross pin 83, and the rotating bearing 80 and the 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 the horizontal direction; the cross pin 83 is a shell structure with an internal cavity, and a third motor 830 is arranged inside the cross pin 83. The output shaft end of the third motor 830 is provided with a driving bevel gear 831, and 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, and the driving bevel gear 831 is driven to rotate by the third motor 830, so as to drive the driven bevel gear 832, the cross pin 83 and the high-definition camera 84 connected therewith 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 double-dimension rotating mechanism driven by the second motor 81 in the horizontal direction and the third motor 830 in the vertical direction, the high-definition camera 84 can flexibly adjust the shooting angle, realize comprehensive image acquisition of the bridge main cable A and its surrounding environment from different heights and different directions, and provide 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] As shown in Fig. 13As shown, in the embodiment of the present application, the remote control device 7 comprises 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 collection mechanism 8 in real time, and the combination button 71 is used to control the crawling driving device 2, the fire extinguishing and cooling device 3 and the image collection mechanism 8 respectively. Specifically, the combination button 71 comprises a first button 710 for controlling the acceleration, deceleration, steering and braking of the crawling driving device 2; a second button 711 for controlling the starting, stopping and flow adjustment of the fire extinguishing and cooling device 3; and a third button 712 for controlling the focal length adjustment, shooting angle switching and image definition adjustment of the image collection mechanism 8. That is to say, through the cooperative 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 spot, including daily inspection, fire warning monitoring and fire extinguishing and cooling operation of the bridge main cable A, when the operator is away from the scene of the bridge main cable A, greatly improving the work efficiency and safety of the maintenance and emergency treatment of the bridge main cable A.

[0069] The above description is merely a specific implementation of the present application, which enables those skilled in the art to understand or implement the present application. 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 application.

[0070] It should be understood that the present application is not limited to the above described and that various modifications and changes can be made without departing from the scope thereof. The scope of the present application is limited only by the claims appended hereto.

Claims

1. A bridge main cable climbing robot with fire-fighting and cooling function, characterized in that, The system includes an arc-shaped main frame (1) adapted to the outer shape of the main cable (A) of the bridge. The inner side of the arc-shaped main frame (1) is equipped with a crawling drive device (2) for driving the cable-climbing robot to move along the length direction of the main cable (A) of the bridge. The outer side is equipped with several sets of fire-fighting and cooling devices (3). 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. 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 the remote control device (7) placed on the ground. The remote control device (7) sends command signals to the controller (5) through the data transceiver (4). The controller (5) controls the crawling drive device (2) and / or the fire cooling device (3) to perform corresponding actions according to the received command signals, so as to realize the remote automated fire cooling operation of the cable climbing robot on the main cable (A) of the bridge. The fire cooling device (3) includes a box (30) made of high-temperature resistant metal material for holding fire cooling materials. Multiple spray pipes (31) are evenly arranged on the upper and lower parts of the box (30). Each spray pipe (31) has a nozzle (32) installed at its outlet end. The opening of each nozzle (32) faces the main cable (A) of the bridge. Its spraying action is controlled by the controller (5). It also includes several sets of image acquisition mechanisms (8) installed on the crawling drive device (2). Each set of image acquisition mechanisms (8) includes a rotary 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) through the cross pin (83). The universal joint (82) is provided with a rotary bearing (80) and a second motor (81) inside. The second motor (81) drives the universal joint (82), the cross pin (83), and the high-definition camera (84) to rotate in the horizontal direction by driving the rotary bearing (80). The cross pin (83) is a hollow shell structure with a third motor (830) inside. The output shaft end of the third motor (830) is provided with a driving bevel gear (831). A driven bevel gear (832) is provided on the inner side of the hinge between the cross pin (83) and the universal joint (82). The driving bevel gear (831) and the driven bevel gear (832) mesh with each other. The third motor (830) drives the driving bevel gear (831) to rotate, 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.

2. The bridge main cable climbing robot with fire-fighting and cooling function according to claim 1, characterized in that, The crawling drive device (2) includes at least one set of active crawling mechanisms (2-1) and multiple sets of driven crawling mechanisms (2-2). The 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), and the driven crawling mechanisms (2-2) are symmetrically distributed around the active crawling mechanism (2-1).

3. The bridge main cable climbing robot with fire-fighting and cooling function according to claim 2, characterized in that, Both the active crawling mechanism (2-1) and the driven crawling mechanism (2-2) include a fixed plate (20) fixedly connected to the arc-shaped main frame (1). The fixed plate (20) has rollers (21) symmetrically arranged on the upper and lower sides near the main cable (A) of the bridge. The upper and lower rollers (21) are connected to the fixed plate (20) in a figure-eight shape through the elastic cantilever mechanism (22). With the help of the elastic deformation of the elastic cantilever mechanism (22) and the arc-shaped gap of the arc-shaped main frame (1), the cable-climbing robot can pass smoothly through the cable clamp of the main cable (A).

4. The bridge main cable climbing robot with fire-fighting and cooling function according to claim 3, characterized in that, Each roller (21) is fitted with a roller sleeve (23) made of heat-insulating protective material on its outer surface; The active crawling mechanism (2-1) has a drive assembly (24) inside each of the rollers (21). The drive assembly (24) includes a first motor (240), an external gear (241), and an internal gear (242) fixedly connected to the rollers (21). The output end of the first motor (240) is fixedly connected to the external gear (241). The external gear (241) meshes with the internal gear (242). The first motor (240) is controlled by a controller (5).

5. The bridge main cable climbing robot with fire-fighting and cooling function according to claim 3, characterized in that, The active crawling mechanism (2-1) has brakes (25) on the outside of the rollers (21). The brakes (25) are electrically connected to the controller (5) and are controlled by the controller (5).

6. The bridge main cable climbing robot with fire-fighting and cooling function according to claim 3, characterized in that, The elastic cantilever mechanism (22) includes a hinge seat (220) connected to a fixed plate (20). The four corners of the hinge seat (220) are respectively hinged to a first link frame (221), a second link frame (222), a third link frame (223), and a fourth link frame (224). The first link frame (221) and the second link frame (222) are of the same length and are located away from the center of the fixed plate (20). The third link frame (223) and the fourth link frame (224) are of the same length, and the length of the fourth link frame (224) is less than that of the first link frame (221). Rollers (21) are provided at the ends of the first link frame (221) and the second link frame (222) away from the hinge seat (220). The middle part of the first link frame (221) and the end of the fourth link frame (224), and the middle part of the second link frame (222) and the end of the third link frame (223) are rotatably connected by a link (225). At the same time, the middle parts of the first link frame (221) and the second link frame (222) and the end located at the hinge seat (220), and the two ends of the third link frame (223) and the fourth link frame (224) are rotatably connected by a crossbar (226), thereby forming a cuboid-like link structure. The crossbar (226) in the middle of the first link frame (221) and the second link frame (222) and the crossbar (226) near the hinge seat (220) of the third link frame (223) and the fourth link frame (224), as well as the crossbar (226) away from the hinge seat (220) of the third link frame (223) and the fourth link frame (224) and the connecting slider (227) are all connected by elastic elements (228). The connecting slider (227) is screwed onto the bidirectional lead screw (229), which is vertically set on the fixed plate (20).

7. The bridge main cable climbing robot with fire-fighting and cooling function according to any one of claims 1 to 6, characterized in that, The image acquisition mechanism (8) is connected to the data transceiver (4) and the controller (5) respectively, and is used to transmit the real-time image data of the main cable (A) of the bridge and its surrounding environment to the remote control device (7) on the ground via the data transceiver (4). The controller (5) can control the shooting parameters of the image acquisition mechanism (8) according to the received instructions.

8. The bridge main cable climbing robot with fire-fighting and cooling function according to claim 7, characterized in that, The remote control device (7) includes a high-definition display screen (70) and combination buttons (71). The high-definition display screen (70) is used to display images acquired by the image acquisition mechanism (8) in real time. The combination buttons (71) are used to control the crawling drive device (2), the fire cooling device (3), and the image acquisition mechanism (8) respectively. The combination button (71) includes a first button (710) for controlling the crawling drive device (2) to accelerate, decelerate, turn and brake; a second button (711) for controlling the fire cooling device (3) to start, stop and adjust the flow rate; and a third button (712) for controlling the image acquisition mechanism (8) to adjust the focal length, switch the shooting angle and adjust the image clarity.

Images