Chain type climbing device on concrete surface of high tower and high pier and using method of chain type climbing device

Abstract

The invention discloses a chain type climbing device for a high tower and high pier concrete surface and a using method thereof.The chain type climbing device for the high tower and high pier concrete surface comprises climbing modules, connecting modules and a control system, and a circle of chain type climbing device is formed in the modular connecting mode of the single climbing modules and the connecting modules; the climbing modules and the connecting modules with the telescopic capacity are arranged in a module mode, have the advantages of being light in weight and capable of being prefabricated in a standardized mode, are assembled according to the number required on site, are flexible and efficient, overcome the self-gravity through friction force between the rubber surface and the concrete surface, and climb upwards along the surface of a structure; state data in the climbing process are obtained through the sensor module, operation of the power motor and the electric winch is correspondingly controlled in the control terminal, automatic climbing movement under self-adaption concrete member section change is achieved, the requirements for inspection operation of pier columns and tower columns in different operation environments and structural forms in existing operation are met, and adaptability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge engineering. More specifically, the present invention relates to a chain climbing device for the concrete surface of high towers and high piers and a method for using the same. Background Art

[0002] At present, for the piers of concrete structures involved in the currently operating bridges, due to their high piers and large spans, it is impossible to inspect the piers comprehensively with the naked eye, and equipment or instruments need to be used for inspection. Among them, most of the mechanical equipment for inspection, such as aerial work platforms, boom lifts, and bridge inspection vehicles, although having certain inspection functions, are greatly affected by terrain and environment and cannot approach for inspection. At the same time, among small equipment such as telescopes and drones, due to distance, obstacles, etc., they cannot conduct comprehensive inspections and the inspection data obtained is limited. However, the piers bear all the loads of the superstructure and transfer them to the pile foundation during the entire operation of the bridge, and the importance of their inspection is self-evident.

[0003] When the concrete of the structure is exposed to the atmosphere for a long time, the following diseases will occur: (1) The concrete surface will gradually weather and erode, resulting in phenomena such as rough surface, cracking, and peeling; (2) The carbonation is aggravated, thereby reducing its strength and durability; (3) If the steel bars inside the concrete are exposed to the air, it will also cause steel bar corrosion, resulting in the damage of the concrete; during daily inspections, general maintenance personnel usually neglect the inspection of piers, which will cause the diseases of piers to deepen with time, early causing potential safety hazards and affecting traffic safety.

[0004] The existing pier structural forms are circular or square, and very few are special-shaped structures, such as oval, curved, and parabolic. The small portable equipment for inspecting the surface diseases of such concrete is not yet mature, with poor mobility and low automation, and cannot adapt to and meet the existing inspection requirements and standards. Summary of the Invention

[0005] An object of the present invention is to solve at least the above problems and provide at least the advantages described hereinafter.

[0006] Another object of the present invention is to provide a chain climbing device for the concrete surface of high towers and high piers and a method for using the same, so as to solve the technical problem that the existing climbing devices cannot adapt to the variable cross-sections of high towers and high piers.

[0007] To achieve these objects and other advantages of the present invention, on the one hand, the present invention provides a chain climbing device for the concrete surface of high towers and high piers, including: Climbing module, which includes a plurality of pulley groups arranged vertically. A connecting bracket is provided between adjacent pulley groups. A rubber belt is sleeved and connected circumferentially along the outside of the plurality of pulley groups. The rubber belt is in close contact with the concrete surface of the high tower and high pier. A power motor for driving the rotation of the pulley group is provided on the connecting bracket. Under the rotation of the pulley group, the rubber belt rolls along the concrete surface by using friction; Connecting module, which is respectively connected and arranged between every two adjacent climbing modules. A plurality of connecting modules and climbing modules are connected and closed around the outside of the high tower and high pier to form an integrated body. A spring telescopic component is arranged inside the connecting module to expand and contract along the set direction between adjacent climbing modules to adapt to the variable diameter section of the high tower and high pier. A construction platform is erected on the connecting module; Control system, which includes a sensor module and a control terminal. The sensor module includes a weighing sensor and a camera respectively connected to the connecting module. The weighing sensor is used to obtain the weight data of the construction platform and transmit it to the control terminal. The camera is used to shoot towards the concrete surface of the high tower and high pier, obtain the concrete surface state information and transmit it to the control terminal. The control terminal is communicatively connected to the power motor to control the operation of the power motor. The control terminal is also communicatively connected to the spring telescopic component to control the telescopic state of the spring telescopic component.

[0008] Preferably, the connecting module includes a sub-connecting block and a mother-connecting block which are arranged in cooperation. Each climbing module is connected with a sub-connecting block at one end of the connecting bracket and a mother-connecting block at the other end. Adjacent climbing modules are connected into an integrated body through the sub-connecting block and the mother-connecting block. The spring telescopic component is arranged in the sub-connecting block and / or the mother-connecting block.

[0009] Preferably, the sub-connecting block includes an inner sleeve, a sliding cylinder, and an outer sub-sleeve arranged in sequence along the coaxial direction. The mother-connecting block includes an inner sleeve, a sliding cylinder, and an outer mother-sleeve arranged in sequence along the coaxial direction. The adjacent outer sub-sleeve and outer mother-sleeve are connected by a mother and son buckle, and a locking device for locking the connection state of the mother and son buckle is arranged between the outer ends. The middle part of the connecting bracket is connected with a steel rod through a bearing along the axial direction of the rubber belt. Both ends of the steel rod extend out of the climbing module and are respectively fixedly connected with the inner sleeves at the corresponding ends. Opposite ends of the inner sleeve and the outer sub-sleeve or outer mother-sleeve are symmetrically provided with sliding grooves. Both ends of the sliding cylinder are respectively located in a pair of sliding grooves. An annular spring is respectively arranged along the axial direction on the inner side of each sliding cylinder. Both ends of the annular spring are respectively connected with the corresponding ends of the inner sleeve and the outer sub-sleeve or outer mother-sleeve by an electric traction device. The electric traction device is communicatively connected to the control terminal and is used to pull the corresponding ends of the annular spring to realize the length change of the sub-connecting block and / or the mother-connecting block.

[0010] Preferably, the electric traction device includes a traction rope, a positioning bracket, an electric winch, and a coil number measurement sensor. The electric winch and the positioning bracket are fixedly arranged in sequence on the inner sides of the ends of the inner sleeve, the outer sub-sleeve, and the outer mother-sleeve close to the sliding cylinder towards the sliding cylinder. The positioning bracket is provided with a fixed pulley along the axial direction of the sliding cylinder at the radially inner end of the sliding cylinder. One end of the traction rope is connected to the corresponding end of the annular spring, and the other end of the traction rope is connected to the electric winch at the corresponding end after passing around the fixed pulley. The electric winch and the coil number measurement sensor are respectively in communication connection with the control terminal. The control terminal calculates the retraction and extension distance of the annular spring by using the data of the coil number measurement sensor, and controls the electric winch to retract and release the traction rope.

[0011] Preferably, the pulley group includes a main sprocket and a plurality of sub-sprockets circumferentially arranged on the outer side of the main sprocket. The main sprocket and the sub-sprockets are respectively installed and connected to the connection bracket through bearings. The power motor is installed on the connection bracket. A sub-chain belt is wound between the main sprocket and each sub-sprocket. The main chain belt is meshed and sleeved on the outer sides of the plurality of sub-sprockets. The main chain belt is connected to the inner side of the rubber belt. The control terminal is in communication connection with the power motor and is used to control the rotation of the power motor to synchronously drive the rubber belt to move and closely adhere to the surface of the high tower and high pier concrete.

[0012] Preferably, the sensor module further includes a distance measurement sensor. The distance measurement sensor is connected to the connection module through a mounting shell and is installed at a position higher than the climbing module. The distance measurement sensor is used to detect the distance towards the surface of the high tower and high pier concrete in real time.

[0013] On the other hand, the present invention also provides a use method of a chain climbing device for the surface of high tower and high pier concrete, including the following steps: S1. Connect the climbing module through the connection module, wind around the surface of the high tower and high pier concrete in a horizontal plane to form a closed loop, form the chain climbing device, and install a construction platform on the connection module; S2. Obtain the detected distance through the distance measurement sensor, obtain the state of the concrete surface through the camera shooting, and obtain the weight data through the weighing sensor; S3. The control terminal drives the power motor to rotate so that the climbing module moves up or down. At the same time, after the control terminal obtains and controls the data in step S3, it calculates the expansion and contraction amount of the spring expansion and contraction component to adapt to the cross-sectional change of the high tower and high pier during the movement; S4. After the chain climbing device reaches the designated position, the control terminal locks the power motor and the spring telescopic assembly. When it needs to return after the construction is completed, the control terminal starts the power motor and the spring telescopic assembly. The chain climbing device returns to the ground along the original path, turns off the power supply to end the operation, and is disassembled and recycled.

[0014] 8. Preferably, when calculating the telescopic amount of the annular spring, it is calculated in the following way: A1. Establish the state information of the high tower and high pier structure in the control terminal, obtain the data of the radial dimensions and circumferences of multiple points on the circumference of the concrete surface in the horizontal plane direction changing with height. The number of the climbing modules provided on the chain climbing device is a, and the number of the connection modules is a - 1. When installed at the bottom of the high tower and high pier structure, determine the elongation amount t of each spring telescopic assembly. A2. The distance between the climbing module and the concrete surface on the path during upward movement is obtained in real time through the distance measuring sensor, and the distance change value is calculated. The circumference corresponding to the current radial dimension change value is derived in the control terminal, and the circumference change value ΔL of the current chain climbing device is calculated. At the same time, the control terminal sends a numerical signal for retracting and extending to the spring telescopic assembly, so that the spring telescopic assembly in each connection module extends or releases a length t = ΔL / (a - 1). When the value of t calculated is negative, it represents tightening the spring telescopic assembly; when the value of t calculated is positive, it represents releasing the spring telescopic assembly. A3. When an obstacle is detected on the concrete surface in the corresponding detection area by one of the cameras, the corresponding distance measuring sensor measures the difference s between the distance from the obstacle and the distance from the concrete in the previous detection time unit, which is the protruding dimension of the obstacle. One of the spring telescopic assemblies relative to the obstacle is set as the adjustment center section, and the corresponding elongation length is set as 2πs / 3. The corresponding elongation lengths of the two spring telescopic assemblies adjacent to the adjustment center section are set as 1πs / 6. After passing over the obstacle, the three spring telescopic assemblies retract to the normal climbing length stage.

[0015] The present invention has at least the following beneficial effects: The chain-type climbing device on the surface of the high tower and high pier concrete of the present invention includes a climbing module, a connection module, and a control system. By using the modular connection method of a single climbing module and a connection module, a ring-shaped chain-type climbing device is formed. The climbing module and the connection module with telescopic ability are arranged in a modular way, which has the characteristics of light weight and can be prefabricated standardly. It is assembled according to the quantity required on-site, which is flexible and efficient. It climbs upward along the surface of the structure by overcoming its own gravity through the friction between the rubber surface and the concrete surface. The state data during the climbing process is obtained through the sensor module, and the operation of the power motor and the electric hoist is correspondingly controlled in the control terminal, so as to realize the automatic climbing movement under the change of the cross-section of the adaptive concrete component, meet the inspection operation requirements of pier columns and tower columns with different structural forms in the current operation, and the operation environment is on concrete components such as in mountainous areas, rivers or with a large height, and has strong adaptability.

[0016] Other advantages, objectives and features of the present invention will be partially reflected by the following description, and will also be understood by those skilled in the art through the research and practice of the present invention. Brief Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of the chain-type climbing device of the present invention arranged on the outside of the high tower and high pier concrete component; Figure 2 It is a schematic structural diagram of the assembly of the climbing module and the connection module of the present invention; Figure 3 It is a schematic structural diagram of the telescopic spring assembly of the present invention; Figure 4 It is a side view structural diagram of the pulley group of the present invention; Reference numerals in the description of the drawings: 1. Climbing module, 2. Connection module, 3. Sensor module, 4. Connecting bracket, 5. Rubber belt, 6. Sub-connection block, 7. Mother connection block, 8. Inner sleeve, 9. Sliding cylinder, 10. Outer sub-sleeve, 11. Outer mother sleeve, 12. Locking device, 13. Chute, 14. Annular spring, 15. Traction rope, 16. Positioning bracket, 17. Electric hoist, 18. Fixed pulley, 19. Main sprocket, 20. Sub-sprocket, 21. Sub-chain belt, 22. Main chain belt, 30. Concrete component. Detailed Embodiment

[0018] The following further detailed description of the present invention is made in conjunction with the drawings, so that those skilled in the art can implement it with reference to the text of the specification.

[0019] It should be noted that the experimental methods described in the following implementation schemes are all conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial channels unless otherwise specified; in the description of the present invention, the orientation or positional relationship indicated by terms such as "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be construed as a limitation to the present invention.

[0020] As Figure 1-2 , as shown in Figures 4, the present invention provides a chain climbing device for the surface of high tower and high pier concrete, including: A climbing module 1, which includes a plurality of pulley groups arranged vertically. A connecting bracket is arranged between adjacent pulley groups. A rubber belt 5 is sleeved and connected circumferentially along the outside among the plurality of pulley groups. The rubber belt 5 is in close contact with the surface of the high tower and high pier concrete. A power motor for driving the rotation of the pulley group is arranged on the connecting bracket. Under the rotation of the pulley group, the rubber belt 5 rolls along the concrete surface by using friction. A connecting module 2, which is respectively connected and arranged between every two adjacent climbing modules 1. A plurality of connecting modules 2 and the climbing modules 1 are connected and closed in a loop on the outside of the high tower and high pier to form an integral body. A spring telescopic component is arranged inside the connecting module 2 to stretch and contract along the setting direction between adjacent climbing modules 1 to adapt to the variable diameter section of the high tower and high pier. A construction platform is erected on the connecting module 2. A control system, which includes a sensor module 3 and a control terminal. The sensor module 3 includes a weighing sensor and a camera respectively connected to the connecting module 2. The weighing sensor is used to obtain the weight data of the construction platform and transmit it to the control terminal. The camera is used to shoot towards the surface of the high tower and high pier concrete, obtain the surface state information of the concrete and transmit it to the control terminal. The control terminal is communicatively connected to the power motor to control the operation of the power motor. The control terminal is also communicatively connected to the spring telescopic component to control the telescopic state of the spring telescopic component.

[0021] The sensor module 3 of the control system is installed on the connection module 2. A circle of climbing modules 1 and connection modules 2 are arranged around the surface of the concrete member 30. The adjacent climbing modules 1 are detachably connected through the connection module 2. The connection module 2 can expand and contract in the surrounding direction to adapt to the change of the outer diameter of the concrete member 30 in the horizontal direction. The construction platform is arranged according to the relevant data of the control system under the no-load state, including but not limited to the ring platform, single-point / multi-point platform. The current load-bearing data of the platform is monitored by the load cell. Under the allowable maximum bearing capacity of the platform, concrete detection devices, monitoring devices, concrete repair devices, automatic painting devices, special sensors and other equipment can be installed on the platform. The climbing module 1 remotely starts the operation of the power motor through the control terminal. The power motor is installed on the connection bracket 4. The drive shaft of the power motor drives the pulley group to rotate, thereby driving the rubber belt 5 to rotate. When the power motor does not rotate, the friction force between the rubber belt 5 and the contacting concrete surface is utilized to realize the stopping of a circle of climbing modules 1 and connection modules 2 on the outer surface of the high tower and high pier. During the upward movement of the climbing module 1, the state of the concrete surface is photographed by the camera for visual monitoring. When an obstacle is found or the outer diameter changes, the climbing state of the climbing module 1 and the telescopic state of the spring telescopic component inside the connection module 2 are adjusted in time at the control terminal to realize the safety of the entire chain climbing device passing obstacles and the moving adaptability of the variable cross-section of the concrete member 30.

[0022] The chain climbing device on the concrete surface of the high tower and high pier of the present invention provides a support basis for the apparent inspection, monitoring or local repair of the existing in-service bridge structure, especially for the piers / columns and other structures such as high towers, high piers, mountainous areas, rivers, etc. that cannot be inspected or repaired by existing equipment. The power and the stopping state are provided by the friction force between the concrete surface itself and the rubber. Through the control terminal, manual operation and automatic operation can be switched back and forth, and the operating state can also be viewed in real time wirelessly, and the relevant sensor data can be obtained conveniently and quickly. The climbing module 1 and the connection module 2 with telescopic ability are set in a modular way, with the characteristics of light weight and standardized prefabrication. They are assembled according to the quantity required on site, which is flexible and efficient. The friction force between the rubber surface and the concrete surface overcomes its own gravity, and it climbs upward along the surface of the structure. Its working environment is adaptable to mountainous areas, rivers or concrete members 30 with a large height.

[0023] In another technical solution, as Figure 2 shown, the connection module 2 includes a sub-connection block 6 and a mother-connection block 7 which are arranged in cooperation. Each climbing module 1 is connected with a sub-connection block 6 at one end of the connection bracket and a mother-connection block 7 at the other end. The adjacent climbing modules 1 are connected into a whole through the sub-connection block 6 and the mother-connection block 7. The spring telescopic component is arranged in the sub-connection block 6 and / or the mother-connection block 7.

[0024] The connection module 2 adopts the connection form of male and female buttons to realize the quick plug-in assembly of the sub-connection block 6 and the mother-connection block 7. Spring telescopic components can be respectively arranged in the sub-connection block 6 and the mother-connection block 7 to improve the telescopic balance on both sides of the connection module 2, and the adjustment length range of each spring telescopic component can be made more precise.

[0025] In another technical solution, as Figure 2-3 shown, the sub-connection block 6 includes an inner sleeve 8, a sliding cylinder 9, and an outer sub-sleeve 10 arranged in sequence along the coaxial direction. The mother-connection block 7 includes an inner sleeve 8, a sliding cylinder 9, and an outer mother-sleeve 11 arranged in sequence along the coaxial direction. The adjacent outer sub-sleeve 10 and outer mother-sleeve 11 are connected by male and female buttons, and a locking device 12 for locking the connection state of the male and female buttons is arranged between the outer ends. The middle part of the connecting bracket is connected with a steel rod through a bearing along the axial direction of the rubber belt 5. The two ends of the steel rod penetrate out of the climbing module 1 and are respectively fixedly connected with the inner sleeve 8 at the corresponding ends. Opposite ends of the inner sleeve 8 and the outer sub-sleeve 10 or the outer mother-sleeve 11 are symmetrically provided with sliding grooves 13. The two ends of the sliding cylinder 9 are respectively located in a pair of sliding grooves 13. An annular spring 14 is respectively arranged along the axial direction on the inner side of each sliding cylinder 9. The two ends of the annular spring 14 are respectively connected with an electric traction device to the inner sleeve 8 and the outer sub-sleeve 10 or the outer mother-sleeve 11 at the corresponding ends. The electric traction device is communicatively connected with the control terminal and is used to retract and pull the corresponding end of the annular spring 14 to realize the length change of the sub-connection block 6 and / or the mother-connection block 7.

[0026] The locking device 12 can be set as a pair of locking plates on the outer sub-sleeve 10 and the outer mother-sleeve 11 respectively. An arc-shaped groove is respectively arranged on the opposite sides of the pair of locking plates. A buckle rope or a hinged metal fastener is connected to one of the locking plates, and the fastener is rotationally clamped in the groove of the other locking plate to realize locking. The combined structure of the inner sleeve 8, the sliding cylinder 9, and the outer mother-sleeve 11 or the combined structure of the inner sleeve 8, the sliding cylinder 9, and the outer sub-sleeve 10. The two ends of the sliding cylinder 9 can slide in the sliding grooves 13 opposite to the inner sleeve 8 and the outer mother-sleeve 11 respectively. Under the action of the electric traction device of the annular spring 14, it undergoes telescopic deformation to adapt to different required surrounding circumferences. At the same time, the annular spring 14 itself pulls the structures on both sides to be locked under the action of restoring deformation.

[0027] In another technical solution, as Figure 3As shown, the electric traction device includes a traction rope 15, a positioning bracket 16, an electric winch 17, and a revolution counting sensor. The inner sleeve 8, the outer sub-sleeve 10, and the inner side of the end of the outer mother sleeve 11 close to the sliding cylinder 9 are sequentially provided with an electric winch 17 and a positioning bracket 16 facing the sliding cylinder 9. A fixed pulley 18 is arranged along the axial direction of the sliding cylinder 9 at the radial inner end of the positioning bracket 16 on the sliding cylinder 9. One end of the traction rope 15 is connected to the corresponding end of the annular spring 14, and the other end of the traction rope 15 is connected to the electric winch 17 at the corresponding end after passing around the fixed pulley 18. The electric winch 17 and the revolution counting sensor are respectively in communication connection with the control terminal. The control terminal calculates the retracting and pulling distance of the annular spring 14 by using the data of the revolution counting sensor and controls the electric winch 17 to wind and unwind the traction rope 15.

[0028] The arranged fixed pulley 18 changes the winding direction of the traction rope 15. By monitoring the number of revolutions of the drum of the electric winch 17 through the revolution counting sensor, the electric winch 17 controls the retracting and releasing length of the traction rope 15 to match the adjustment dimension range required by the spring telescopic assembly. The annular spring 14 pulls the outer sub-sleeve 10 and the outer mother sleeve 11 on both sides through the traction rope 15. Under the action of the sliding cylinder 9, the outer sub-sleeve 10 and the outer mother sleeve 11 approach each other to shorten the distance or move away from each other. The positioning brackets 16 on both sides of the annular spring 14 form a limiting structure on both sides of the annular spring 14 to ensure the safety of the telescopic movement of the annular spring 14.

[0029] In another technical solution, as Figure 4 shown, the pulley group includes a main sprocket 19 and a plurality of sub-sprockets 20 circumferentially arranged on the outer side of the main sprocket 19. The main sprocket 19 and the sub-sprockets 20 are respectively installed and connected to the connection bracket through bearings. A power motor is installed on the connection bracket. A sub-chain belt 21 is wound between the main sprocket 19 and each sub-sprocket 20. A main chain belt 22 is commonly engaged and sleeved on the outside of the plurality of sub-sprockets 20. The main chain belt 22 is connected to the inner side of the rubber belt 5. The control terminal is in communication connection with the power motor and is used to control the rotation of the power motor to synchronously drive the rubber belt 5 to move and closely adhere to the surface of the high tower and high pier concrete.

[0030] Generally, one pulley group is arranged on each side of the connection bracket 4 on each connection module 2. The main sprocket 19 and the sub-sprockets 20 are respectively installed and connected to the central steel rod of the connection bracket through bearings. The connection bracket and the central steel rod do not rotate. When the power motor rotates in a certain clockwise or counterclockwise direction, it drives the main sprocket 19 to rotate. Under the action of the sub-chain belt 21, the plurality of sub-sprockets 20 rotate synchronously, thereby driving the main chain belt 22 to rotate, and the rubber belt 5 rotates synchronously, and the climbing module 1 realizes climbing.

[0031] In another technical solution, as Figure 2As shown in the figure, the sensor module 3 further includes a ranging sensor. The ranging sensor is connected to the connection module 2 through a mounting shell and is installed at a position higher than the climbing module 1. The ranging sensor is used to detect the distance towards the surface of the high tower and high pier concrete in real time. The outer dimensions of the current concrete member 30 can be inferred from the distance change data to guide the size adjustment of the spring telescopic assembly.

[0032] The present invention also provides a usage method of a chain climbing device for the surface of high tower and high pier concrete. As Figure 1-4 shown, it includes the following steps: S1. Connect the climbing module 1 through the connection module 2, and wind it around the surface of the high tower and high pier concrete in a horizontal plane to form a closed loop, thereby forming the chain climbing device. Install a construction platform on the connection module 2; S2. Obtain the detected distance through the ranging sensor, obtain the surface state of the concrete by shooting with the camera, and obtain the weight data through the weighing sensor; S3. The control terminal drives the power motor to rotate so that the climbing module 1 moves up or down. At the same time, after the control terminal obtains the data in step S3, it calculates the telescopic amount of the annular spring 14, and drives the electric hoist 17 to take in or release the corresponding length of the annular spring 14 to adapt to the cross-sectional change of the high tower and high pier during the movement; S4. After the chain climbing device reaches the designated position, the control terminal locks the power motor and the electric hoist 17. When it is necessary to return after the construction is completed, the control terminal starts the power motor and the electric hoist 17. The chain climbing device returns to the ground along the original route, shuts down the power supply to end the operation, and performs disassembly and recycling.

[0033] The usage method of the chain climbing device for the surface of high tower and high pier concrete of the present invention utilizes the modular connection method of a single climbing module 1 and a connection module 2 to form a ring-shaped chain climbing device, which is installed efficiently and quickly. The state data during the climbing process is obtained through the sensor module 3, and the operation of the power motor and the electric hoist 17 is correspondingly controlled in the control terminal to realize automatic climbing and moving under the condition of adapting to the cross-sectional change of the concrete member 30, meeting the inspection operation requirements of pier columns and tower columns with different structural forms in current operation.

[0034] In another technical solution, as Figure 1-3 shown, when calculating the telescopic amount of the annular spring 14, it is calculated in the following manner: A1. Establish the state information of the high tower and high pier structure in the control terminal, obtain the data of the changes in the radial dimensions and circumferences of multiple points on the circumference of the concrete surface in the horizontal direction with height. The number of the climbing modules 1 provided on the chain climbing device is a, and the number of the connecting modules 2 is a - 1. When installed at the bottom of the high tower and high pier structure, determine the elongation t of each of the annular springs 14. A2. Real-time obtain the distance between the climbing module 1 and the concrete surface during upward movement through the distance measuring sensor, calculate the distance change value, derive the corresponding circumference under the corresponding radial dimension change value in the control terminal, calculate the circumference change value ΔL of the current chain climbing device. Meanwhile, the control terminal sends a numerical signal for retracting and releasing the towing rope 15 to the electric winch 17, so that the towing rope 15 in each of the connecting modules 2 extends or retracts a length of t = ΔL / (a - 1). When the value calculated for t is negative, it represents tightening the towing rope 15, and when the value calculated for t is positive, it represents releasing the towing rope 15. A3. When an obstacle is detected on the concrete surface in the corresponding detection area by one of the cameras, the corresponding distance measuring sensor measures the difference s between the distance to the obstacle and the distance to the concrete in the previous detection time unit, which is the protruding size of the obstacle. An adjustment center section is set for one of the annular springs 14 relative to the obstacle, and the corresponding elongation length is set to 2πs / 3. The corresponding elongation lengths of the two annular springs 14 adjacent to the adjustment center section are set to 1πs / 6. After passing over the obstacle, the three annular springs 14 retract to the normal climbing length stage.

[0035] Collect the parameter data corresponding to the structure of the pier column or tower column itself, and correspond the outer circumference with the height. During the upward movement of the connecting module 2, the distance measuring sensor starts from the bottom of the concrete member 30 of the pier column or tower column as the initial comparison value. As the height increases, the distance change measured by the distance measuring sensor can be corresponded with the outer circumference of the concrete member 30 at the corresponding height. At this time, the change in the outer circumference of the concrete member 30 is the length change value that the whole set of climbing module 1 and connecting module 2 needs to be adjusted. Multiple connecting modules 2 are adjusted simultaneously to improve the balance of the overall climbing device structure and reduce the safety risk supported by local friction. The distance measuring sensor can be set closely to the top of the connecting module 2 to ensure the continuity of the spacing quantity measurement, and the power motor and the electric winch 17 are controlled in real time to perform corresponding operation changes. For the connecting module 2 closest to or directly opposite to the obstacle, it is approximately considered that the obstacle is in a semi-spherical shape, and the deformation shape is set to two-thirds of the entire thickness s of the obstacle. For the two adjacent connecting modules 2 on the left and right, the sum of the deformation shapes is set to one-third of the entire thickness s of the obstacle. Combining with the telescopic ability of the annular spring 14, the obstacle is smoothly passed over.

[0036] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those skilled in the art, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the illustrated examples described herein.

Claims

1. A chain climbing device for the concrete surface of a high tower or high pier, characterized in that: include: The climbing module includes a plurality of vertically arranged pulley groups, a connecting bracket is arranged between adjacent pulley groups, a connecting rubber belt is sleeved circumferentially on the outer sides of the plurality of pulley groups, the rubber belt is closely attached to the concrete surface of the high tower and high pier, a power motor for driving the pulley group to rotate is arranged on the connecting bracket, and the rubber belt rolls along the concrete surface by friction when the pulley group rotates; A connection module is provided between each two adjacent climbing modules. A plurality of connection modules are connected to the climbing module in a closed manner around the outside of the high tower and high pier as a whole. A spring expansion component is provided inside the connection module to expand and contract along the setting direction between adjacent climbing modules to adapt to the variable diameter section of the high tower and high pier. A construction platform is set on the connection module. The control system includes a sensor module and a control terminal. The sensor module includes a weighing sensor and a camera respectively connected to the connection module. The weighing sensor is used to obtain weight data of the construction platform and transmit it to the control terminal. The camera is used to shoot toward the concrete surface of the high tower and high pier, obtain concrete surface status information and transmit it to the control terminal. The control terminal is connected to the power motor for communication to control the operation of the power motor. The control terminal is also connected to the spring telescopic assembly for communication to control the telescopic state of the spring telescopic assembly.

2. The chain climbing device for the concrete surface of a high tower and high pier as claimed in claim 1, characterized in that: The connecting module includes a sub-connecting block and a mother connecting block which are arranged to cooperate with each other. Each climbing module is connected to a sub-connecting block at one end of the connecting bracket and a mother connecting block at the other end. Adjacent climbing modules are connected as a whole through the sub-connecting block and the mother connecting block. The spring expansion and contraction assembly is arranged in the sub-connecting block and / or the mother connecting block.

3. The chain climbing device for the concrete surface of a high tower and high pier as claimed in claim 2, characterized in that: The sub-connecting block comprises an inner sleeve, a sliding cylinder, and an outer sub-sleeve which are arranged in sequence along a coaxial direction, and the female connecting block comprises an inner sleeve, a sliding cylinder, and an outer female sleeve which are arranged in sequence along a coaxial direction, the adjacent outer sub-sleeves are connected to the outer female sleeve by a sub-and-sub buckle, and a locking device for locking the sub-and-sub buckle connection state is arranged between the outer ends, a steel rod is connected to the middle part of the connecting bracket through a bearing along the axial direction of the rubber belt, two ends of the steel rod pass through the outside of the climbing module and are fixedly connected to the inner sleeve at the corresponding end, the inner sleeve and the opposite ends of the outer sub-sleeve or the outer female sleeve are symmetrically provided with sliding grooves, the two ends of the sliding cylinder are respectively located in a pair of sliding grooves, annular springs are respectively arranged on the inner side of each sliding cylinder along the axial direction, and the two ends of the annular spring are respectively connected to the inner sleeve and the outer sub-sleeve or the outer female sleeve at the corresponding end with an electric traction device, the electric traction device is communicatively connected to the control terminal, and is used to retract and pull the corresponding end of the annular spring to realize the length change of the sub-connecting block and / or the female connecting block.

4. The chain climbing device for the concrete surface of a high tower and high pier as claimed in claim 3, characterized in that: The electric traction device includes a traction rope, a positioning bracket, an electric winch, and a turns metering sensor. The inner sides of the ends of the inner sleeve, the outer sub-sleeve, and the outer mother sleeve close to the slide are fixedly provided with an electric winch and a positioning bracket toward the slide in sequence. The positioning bracket is provided with a fixed pulley at the radial inner end of the slide along the axial direction of the slide. One end of the traction rope is connected to the corresponding end of the annular spring, and the other end of the traction rope is connected to the electric winch at the corresponding end after passing around the fixed pulley. The electric winch and the turns metering sensor are respectively communicated with the control terminal. The control terminal calculates the pulling distance of the annular spring using the data of the turns metering sensor, and controls the electric winch to retract and release the traction rope.

5. The chain climbing device for the concrete surface of a high tower and high pier as claimed in claim 3, characterized in that: The pulley assembly includes a main sprocket and a plurality of secondary sprockets arranged circumferentially around the outer side of the main sprocket. The main sprocket and the secondary sprockets are respectively installed and connected to the connecting bracket through bearings. The power motor is installed on the connecting bracket. A secondary chain belt is wound around the main sprocket and each secondary sprocket. The main chain belt is engaged and sleeved on the outer sides of the plurality of secondary sprockets. The main chain belt is connected to the inner side of the rubber belt. The control terminal is communicatively connected to the power motor for controlling the rotation of the power motor to synchronously drive the rubber belt to move tightly against the concrete surface of the high tower pier.

6. The chain climbing device for the concrete surface of a high tower and high pier as claimed in claim 1, characterized in that: The sensor module also includes a distance measuring sensor, which is connected to the connection module through a mounting shell and is installed at a position higher than the climbing module. The distance measuring sensor is used to detect the distance in real time toward the concrete surface of the high tower and high pier.

7. The method for using the chain climbing device for the concrete surface of a high tower and high pier as claimed in claim 6, characterized in that: The steps include: S1, connect the climbing module through the connecting module, wrap around the concrete surface of the high tower and high pier in a horizontal plane to form a closed loop, form the chain climbing device, and install the construction platform on the connecting module; S2, obtaining the detection distance through the distance measuring sensor, obtaining the concrete surface state through the camera, and obtaining the weight data through the weighing sensor; S3, the control terminal drives the power motor to rotate so that the climbing module moves up or down. At the same time, the control terminal obtains and controls the data of step S3 and then calculates the expansion and contraction amount of the spring expansion and contraction assembly to adapt to the cross-sectional changes of the high tower and high pier during the movement; S4. After the chain climbing device reaches the designated position, the control terminal locks the power motor and the spring telescopic assembly. When the construction is completed and it needs to return, the control terminal starts the power motor and the spring telescopic assembly, and the chain climbing device returns to the ground along the original route. The power is turned off to end the operation, and the device is disassembled and recycled.

8. The method for using the chain climbing device for the concrete surface of a high tower and high pier as claimed in claim 7, characterized in that: When calculating the expansion and contraction amount of the annular spring, the calculation is performed in the following manner: A1. Establish the status information of the high tower and high pier structure in the control terminal, obtain the radial size of multiple points on the circumference of the concrete surface in the horizontal direction and the change data of the circumference with the height. The number of the climbing modules arranged on the chain climbing device is a, and the number of the connecting modules is a-1. When the device is installed at the bottom of the high tower and high pier structure, determine the elongation t of each spring telescopic assembly; A2. The distance between the climbing module and the concrete surface on the path when the climbing module moves upward is obtained in real time through the distance measuring sensor, and the distance change value is calculated. The circumference corresponding to the corresponding radial dimension change value is derived in the control terminal, and the circumference change value ΔL of the current chain climbing device is calculated. At the same time, the control terminal sends a retractable numerical signal to the spring telescopic component, so that the spring telescopic component in each of the connecting modules is extended or released by a length t= ΔL / (a-1), wherein when the calculated value of t is a negative number, it represents tightening the spring telescopic component, and when the calculated value of t is a positive number, it represents releasing the spring telescopic component; A3. When one of the cameras detects that there is an obstacle on the concrete surface of the corresponding detection area, the corresponding ranging sensor measures the distance to the obstacle and compares the difference s between the distance to the concrete in the previous detection time unit, which is the protruding size of the obstacle. The spring telescopic assembly at one location relative to the obstacle is set as the adjustment center segment, and the corresponding extension length is set to 2πs / 3. The corresponding extension lengths of the two spring telescopic assemblies adjacent to the adjustment center segment are set to 1πs / 6. After crossing the obstacle, the spring telescopic assemblies at the three locations retract to the normal climbing length stage.

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