Pull rod assembly capable of passing through crisscross cable clamp and sling maintenance robot

Abstract

The invention provides a pull rod assembly capable of passing through a cross cable clamp and a sling maintenance robot, and relates to the technical field of robots, the robot comprises two racks, the two racks are symmetrically arranged, locking parts are arranged on the racks, and the two racks are connected through the pull rod assembly; the at least two driving wheels are respectively arranged on the first rack and the second rack, and the two driving wheels are oppositely arranged; and the overhauling device is arranged on the rack and faces the sling. The locking connecting rod can be automatically unlocked under the extrusion effect of the cross cable clamp, one end of the pull rod assembly is automatically separated from the locking component, the cross cable clamp installed on the sling can pass through in two directions, and after passing, the pull rod assembly is automatically reset and locked under the effect of the torsion elastic piece. When the sling maintenance robot passes through the cross cable clamp, the pull rod assembly does not need external energy, is completely and passively realized, and is safer and more reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more particularly, to a tie rod assembly that can pass through a cross-shaped cable clamp and a sling maintenance robot. Background Art

[0002] In modern large suspension bridge structures, stay cables and slings are used as the main load-bearing components. The stay and sling cables are exposed to the air for a long time, subjected to the irradiation of ultraviolet rays, rain showers, and the corrosion of harmful gases. At the same time, under the action of live loads and the like, there are alternating tensile stresses, and the outer sheaths of the stay and sling cables are prone to diseases such as damage and local wire corrosion.

[0003] At present, the maintenance work of the cable body mainly relies on manual inspection, which is complex in operation and has potential safety hazards. In addition, existing stay and sling maintenance robots can only pass through slings without cable clamps or stay and sling cables equipped with T-shaped cable clamps, and there is no safe and reliable passing method for slings equipped with cross-shaped cable clamps, resulting in their inability to meet the maintenance requirements of this type of sling. Therefore, it is of great significance to study a sling maintenance robot that can pass through a cross-shaped cable clamp to achieve automation and full coverage of sling maintenance. Summary of the Invention

[0004] The purpose of the present invention is to provide a tie rod assembly that can pass through a cross-shaped cable clamp and a sling maintenance robot to improve the above problems. To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0005] In a first aspect, the present application provides a tie rod assembly that can pass through a cross-shaped cable clamp. The tie rod assembly is centrosymmetric and includes:

[0006] A tie rod link, the tie rod link is perpendicular to the cross-shaped cable clamp, and rotating shafts are symmetrically arranged at both ends of the tie rod link. Compression elastic members are respectively provided on the upper and lower sides of the middle part of the tie rod link;

[0007] A locking link, one end of the locking link is connected to the rotating shaft, and the other end is connected to the compression elastic member in the middle of the tie rod link; a limiting post is provided at the end of the locking link connected to the rotating shaft, and the limiting post protrudes towards the tie rod link;

[0008] Locking members, the locking members are respectively located at both ends of the tie rod link, and each locking member is provided with an unlocking opening; the rotating shaft is located in the unlocking opening, and the tie rod link and the rotating shaft are separated on both sides of the locking member;

[0009] A limiting arc plate is provided on the locking component, located between the locking component and the locking link, and at the same time on one side of the unlocking opening; the limiting post of the locking link abuts against the limiting arc plate, so that the locking link is fixed in the unlocking opening, and the unlocking opening faces away from the compression elastic member connected to the locking link it fixes.

[0010] A torsional elastic member is provided on the locking component. The torsional elastic member abuts against the pull rod link and stores energy by deforming when the pull rod link rotates.

[0011] Optionally, the torsional elastic member is provided at one end of the locking component away from the unlocking opening. One end of the torsional elastic member is connected to the locking component, and the other end abuts against the pull rod link.

[0012] Optionally, the unlocking opening includes an outlet end and a limiting end; the limiting arc plate (142) takes the limiting end of the unlocking opening as the center of the circle.

[0013] Optionally, the limiting post has a triangular structure, and the end thereof abutting against the limiting arc plate is a triangular tip.

[0014] In a second aspect, the present application provides a sling maintenance robot capable of passing through a cross-shaped cable clamp, including the above-mentioned pull rod assembly.

[0015] Optionally, the sling maintenance robot capable of passing through a cross-shaped cable clamp further includes:

[0016] Two frames, the two frames are symmetrically arranged, the locking component is arranged on the frame, and the two frames are connected by the pull rod assembly;

[0017] At least two driving wheels, the two driving wheels are respectively arranged on the first frame and the second frame, the two driving wheels are arranged facing each other, and a gap for accommodating the sling is left between the two driving wheels;

[0018] A maintenance device is arranged on the frame and faces the sling.

[0019] Optionally, three locking components are arranged on each side of each frame, the three locking components are arranged longitudinally, and the two frames are connected by six pull rod assemblies.

[0020] Optionally, inclined surfaces facing the sling are provided at the upper and lower ends of each frame, and the two inclined surfaces at the same end face each other to form a V-shaped guiding structure.

[0021] Optionally, the maintenance device includes a camera, a sensor and a repair device.

[0022] Optionally, the driving wheel is a V-shaped rubber wheel.

[0023] The beneficial effects of the present invention are as follows:

[0024] Through the special design of the locking link and the locking component in the tie rod assembly of the present invention, the locking link can be automatically unlocked under the extrusion of the cross-shaped cable clamp, and one end of the tie rod assembly is automatically separated from the locking component. Thus, through the cross-shaped cable clamp installed on the sling, relying on the action of the torsional elastic member, the tie rod assembly automatically resets and locks. During the process of the sling maintenance robot passing through the cross-shaped cable clamp, the tie rod assembly does not require external energy supply and is completely passive, which is safer and more reliable.

[0025] Other features and advantages of the present invention will be described in the subsequent specification, and part of them will become obvious from the specification or be understood by implementing the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0027] Figure 1 It is a schematic structural diagram of the sling maintenance robot in the embodiment of the present application;

[0028] Figure 2 It is a schematic structural diagram of the tie rod assembly in the embodiment of the present application;

[0029] Figure 3 It is a schematic diagram of the tie rod assembly passing through the cross-shaped cable clamp in the embodiment of the present application;

[0030] Figure 4 It is a top view of the sling maintenance robot in the embodiment of the present application;

[0031] Figure 5 It is a schematic diagram of the sling maintenance robot running on the sling in the embodiment of the present application;

[0032] Figure 6 It is a schematic diagram of the unlocking state of the locking link in the embodiment of the present application.

[0033] Symbol description: 1 - sling maintenance robot; 11 - tie rod assembly; 111 - tie rod link; 112 - locking link; 113 - limit post; 114 - rotating shaft; 115 - compression elastic member; 12 - frame; 13 - driving wheel; 14 - locking component; 141 - torsional elastic member; 142 - limit arc plate; 15 - maintenance device; 2 - sling; 3 - cross-shaped cable clamp; 4 - cable. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and illustrated herein generally can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but is merely representative of selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0035] It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In modern large suspension bridge structures, stay cables and suspension cables are used as the main load-bearing components. The stay cables and suspension cables are exposed to the air for a long time, and are subjected to the effects of ultraviolet radiation, rainwater washing, and corrosion by harmful gases. At the same time, under the action of live loads and the like, there are alternating tensile stresses, and the stay cables and suspension cables are prone to diseases such as damage to the outer sheath and local corrosion of steel wires. After the sheath of the cable body is damaged, the internal steel wires are exposed to the air, and the oil stains attached to the surface of the cable body may penetrate into the cable interior, accelerating the corrosion of the steel wires. If not maintained regularly, it will eventually lead to the failure of the stay cables and suspension cables due to the corrosion failure of the steel wires, and even accidents such as the collapse of the bridge deck.

[0037] At present, the maintenance work of the cable body mainly relies on manual inspection. For example, in a cable-stayed bridge, a winch is installed on the bridge tower, and the maintenance personnel ride on a track trolley to rise along the stay cable and check by visual inspection. This method is complex in operation, has potential safety hazards, and the movement of the platform on the stay cable will cause a certain degree of damage to the stay cables and suspension cables. In addition, the existing stay cable and suspension cable inspection robot 1 can only pass through the suspension cables without cable clips or the stay cables with T-shaped cable clips, and there is no safe and reliable passing method for the suspension cables with cross-shaped cable clips, resulting in its inability to meet the inspection requirements of this type of suspension cable.

[0038] Embodiment 1

[0039] As Figure 1 and Figure 2 shown, to solve the existing technical problems, the present application first provides a tie rod assembly 11 that can pass through a cross-shaped cable clip 3. The tie rod assembly 11 is centrosymmetric and includes:

[0040] The pull rod link 111 is perpendicular to the cross-shaped cable clamp 3, and rotating shafts 114 are symmetrically arranged at both ends of the pull rod link 111. Compression elastic members 115 are respectively arranged on the upper and lower sides of the middle part of the pull rod link 111;

[0041] The locking link 112, one end of the locking link 112 is connected to the rotating shaft 114, and the other end is connected to the compression elastic member 115 in the middle of the pull rod link 111; A limiting post 113 is arranged at the end of the locking link 112 connected to the rotating shaft 114, and the limiting post 113 protrudes towards the pull rod link 111;

[0042] The locking member 14 is respectively located at both ends of the pull rod link 111, and an unlocking opening is arranged on each locking member 14; The rotating shaft 114 is located in the unlocking opening, and the pull rod link 111 and the rotating shaft 114 are separated on both sides of the locking member 14;

[0043] The limiting arc plate 142 is arranged on the locking member 14, located between the locking member 14 and the locking link 112, and at the same time on the side of the unlocking opening close to the compression elastic member 115; The limiting post 113 of the locking link 112 abuts against the limiting arc plate 142, so that the locking link 112 is fixed in the unlocking opening, and the unlocking opening faces away from the compression elastic member 115 connected to the locking link 112 it fixes;

[0044] The torsion elastic member 141 is arranged on the locking member 14, the torsion elastic member 141 abuts against the pull rod link 111, and deforms and stores energy when the pull rod link 111 rotates.

[0045] See Figure 2 and Figure 3 As shown in Figure 6 and Figure 3When the pull rod assembly 11 passes through the cross-cable clamp 3, the torsion elastic member 141 releases energy to make the pull rod assembly 11 rotate counterclockwise around its left end, and the right end of the pull rod link 111 rebounds to the unlocking opening. At the same time, the locking link 112 rotates and resets under the action of the compression elastic member 115, and the limit column 113 abuts against the limit arc plate 142 again to achieve re-locking, completing the process of the pull rod assembly 11 passing through the cross-cable clamp 3. When the pull rod assembly 11 passes through the cross-cable clamp 3 from the opposite direction, the working mechanism is similar. The pull rod assembly 11 of the present application can pass through the cross-cable clamp 3 in both directions, and the passing process does not require external energy supply, and is completely passive, safe and reliable.

[0046] See also Figure 2 As an optional embodiment, the torsion elastic member 141 is disposed on the locking member 14 at one end away from the unlocking opening, one end of the torsion elastic member 141 is connected to the locking member 14, and the other end is against the pull rod link 111. The torsion elastic member 141 can be a torsion spring.

[0047] The compression elastic member 115 can specifically be a compression spring. The compression elastic member 115 is arranged on the outside of the pull rod link 111, that is, on the same side as the locking link 112. The projection of the locking link 112 in the longitudinal direction does not overlap with the pull rod link 111. Therefore, when the cross-cable clamp 3 squeezes the locking link 112, the rotation of the locking link 112 will not be hindered by the pull rod link 111.

[0048] As an optional embodiment, the unlocking opening includes an outlet end and a limiting end; the limiting end is shaped like an arc that matches the rotating shaft, so that the rotating shaft can just be stuck in the limiting end, and the size of the unlocking opening gradually increases from the limiting end to the outlet end, so that the rotating shaft can be easily disengaged from the unlocking opening after unlocking; the limiting arc plate 142 takes the limiting end of the unlocking opening as the center of the circle, that is, the center of the circle of the limiting arc plate 142 in the locked state coincides with the rotation center of the locking link 112, so that the limiting column 113 slides along the surface of the limiting arc plate 142 when rotating, and maintains a state of contact with the limiting arc plate 142, and the contact surfaces of the two can be plated with a material with a smaller friction coefficient.

[0049] See also Figure 6 As an optional embodiment, the limiting column 113 is triangular in structure, and the end thereof that contacts the limiting arc plate 142 is a triangular tip. This design reduces the contact area between the limiting column 113 and the limiting arc plate 142, so that the limiting column 113 can be unlocked or locked when it rotates slightly, thereby realizing the unlocking and locking of the locking link 112 more quickly and accurately.

[0050] Example 2

[0051] like Figure 1 andFigure 4 As shown in the figure, the present application also provides a sling inspection robot capable of passing through a cross-shaped cable clamp, including the tie rod assembly 11 described in Embodiment 1. The sling inspection robot 1 further includes:

[0052] Two frames 12, the two frames 12 are symmetrically arranged, and the locking member 14 is arranged on the frame 12, and the two frames 12 are connected by the tie rod assembly 11;

[0053] At least two driving wheels 13, the two driving wheels 13 are respectively arranged on the first frame 12 and the second frame 12, the two driving wheels 13 are arranged facing each other, and there is a gap for accommodating the sling 2 between the two driving wheels 13;

[0054] An inspection device 15, the inspection device 15 is arranged on the frame 12 and faces the sling 2.

[0055] As Figure 5 shown, the sling inspection robot 1 of the present application runs on the sling 2 equipped with a cross-shaped cable clamp 3 on a large suspension bridge. The upper end of the sling 2 is connected to the stay cable 4, and different slings 2 are connected by the cross-shaped cable clamp 3 to play a shock-absorbing role. Currently, all sling 2 crawling robots can only move on slings 2 without cable clamps and cannot cross cable clamps perpendicular to the sling 2. Their obstacle-crossing functions are basically aimed at small obstacles on the sling 2, and the obstacle crossing is achieved by making the driving wheels 13 have elastic telescopic ability. Some other robots achieve obstacle crossing by switching positions between adjacent slings 2. Robots with better obstacle-crossing effects have complex structures and large sizes and rely on the active control of each servo mechanism. However, the sling inspection robot 1 of the present application completely realizes obstacle crossing passively, has a small size, and is safe and reliable.

[0056] As Figure 4 shown, the frame 12 is a semi-enclosed structure. The two sides of the two frames 12 are connected by the tie rod assembly 11 to form the robot body. The sling 2 to be inspected is located in the middle of the robot body. The driving wheels 13 are arranged in the middle of the frame 12. The two driving wheels 13 clamp the sling 2 and can move along the sling 2.

[0057] See Figure 1, As an alternative embodiment, three locking components 14 are provided on each side of each of the racks 12. The three locking components 14 are arranged longitudinally. Two racks 12 are connected by six tie rod assemblies 11. Every two opposite tie rod assemblies 11 form a group, and there are three groups in total. It can be foreseen that the spacing between the three tie rod assemblies 11 is smaller than the spacing of the cross cable clamps 3. When the sling inspection robot 1 moves along the sling 2, the three tie rod assemblies 11 are alternately opened and closed and can sequentially pass through the cross cable clamps 3. To ensure sufficient clamping ability for the sling 2, two pairs of drive wheels 13 are provided, and each pair of drive wheels 13 is located between two groups of tie rod assemblies 11.

[0058] An inclined surface facing the sling 2 is provided at both the upper and lower ends of each of the racks 12. The two inclined surfaces at the same end face each other to form a V-shaped guiding structure 121. During the movement of the robot, if the top touches the cross cable clamp 3, due to the guiding effect of the inclined surface, the robot will be forced to rotate and adjust its direction during forward movement, automatically ensuring that the tie rod assembly 11 is aligned with the cross cable clamp 3 without the need for an additional steering mechanism.

[0059] As an alternative embodiment, the inspection device 15 includes a camera, a detection sensor, and a repair device. Refer to Figure 4 , and a plurality of inspection devices 15 are arranged at different positions on the rack 12 to surround the sling 2, ensuring that the information collection and repair area covers the entire surface of the sling 2 for defect inspection of the sling 2.

[0060] As an alternative embodiment, the drive wheel 13 is a V-shaped rubber wheel driven by a motor. The V-shaped rubber wheel has a V-shaped groove, and the sling 2 is stuck in the V-shaped groove, thereby realizing the guiding function and keeping the V-shaped rubber wheel moving along the sling 2. The surface material of the V-shaped rubber wheel is preferably a rubber material with a relatively large friction coefficient to enhance the clamping ability.

[0061] The above is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A pull rod assembly capable of passing through a cross-cable clamp, characterized in that: The pull rod assembly (11) is centrally symmetrical and comprises: A pull rod connecting rod (111), wherein the pull rod connecting rod (111) is perpendicular to the cross cable clamp (3), and rotation shafts (114) are symmetrically arranged at both ends of the pull rod connecting rod (111), and compression elastic parts (115) are respectively arranged on the upper and lower sides of the middle part of the pull rod connecting rod (111); A locking link (112), one end of the locking link (112) is connected to the rotating shaft (114), and the other end is connected to a compression elastic member (115) in the middle of the pull rod link (111); a limiting column (113) is provided at the end of the locking link (112) connected to the rotating shaft (114), and the limiting column (113) protrudes in the direction of the pull rod link (111); Locking components (14), the locking components (14) are respectively located at two ends of the pull rod connecting rod (111), and each locking component (14) is provided with an unlocking opening; the rotating shaft (114) is located in the unlocking opening, and the pull rod connecting rod (111) and the rotating shaft (114) are separated on both sides of the locking component (14); a limiting arc plate (142), the limiting arc plate (142) being arranged on the locking component (14), being located between the locking component (14) and the locking link (112), and being located at one side of the unlocking opening; the limiting column (113) of the locking link (112) abuts against the limiting arc plate (142), so that the locking link (112) is fixed in the unlocking opening, and the unlocking opening faces away from the compression elastic member (115) connected to the locking link (112) fixed thereto; A torsion elastic member (141), wherein the torsion elastic member (141) is arranged on the locking member (14), and the torsion elastic member (141) abuts against the pull rod connecting rod (111), and deforms to store energy when the pull rod connecting rod (111) rotates.

2. The pull rod assembly capable of passing through a cross cable clamp according to claim 1, characterized in that: The torsion elastic member (141) is arranged on an end of the locking member (14) away from the unlocking opening, one end of the torsion elastic member (141) is connected to the locking member (14), and the other end is against the pull rod connecting rod (111).

3. The pull rod assembly capable of passing through a cross cable clamp according to claim 1, characterized in that: The unlocking opening comprises an exit end and a limiting end; the limiting arc plate (142) takes the limiting end of the unlocking opening as the center of a circle.

4. The pull rod assembly capable of passing through a cross cable clamp according to claim 1, characterized in that: The limiting column (113) has a triangular structure, and the end thereof that abuts against the limiting arc plate (142) is a triangular tip.

5. A sling maintenance robot capable of passing through a cross-cable clamp, characterized in that: It comprises the tie rod assembly (11) according to any one of claims 1 to 4.

6. The sling maintenance robot capable of passing through a cross-cable clamp according to claim 5, characterized in that: Also includes: Two frames (12), the two frames (12) are symmetrically arranged, the locking component (14) is arranged on the frames (12), and the two frames (12) are connected via the pull rod assembly (11); at least two driving wheels (13), the two driving wheels (13) being respectively arranged on the first frame (12) and the second frame (12), the two driving wheels (13) being arranged facing each other, and a gap for accommodating the sling (2) being left between the two driving wheels (13); An inspection device (15), wherein the inspection device (15) is arranged on the frame (12) and faces the sling (2).

7. The sling maintenance robot capable of passing through a cross-cable clamp according to claim 6, characterized in that: Three locking components (14) are respectively arranged on both sides of each of the frames (12), and the three locking components (14) are arranged in the longitudinal direction. The two frames (12) are connected via six tie rod assemblies (11).

8. The sling maintenance robot capable of passing through a cross-cable clamp according to claim 6, characterized in that: The upper and lower ends of each frame (12) are provided with inclined surfaces facing the sling (2), and the two inclined surfaces at the same end are opposite to each other to form a V-shaped guide structure (121).

9. The sling maintenance robot capable of passing through a cross-cable clamp according to claim 6, characterized in that: The inspection device (15) comprises a camera, a sensor and a repair device.

10. The sling maintenance robot capable of passing through a cross-cable clamp according to claim 6, characterized in that: The driving wheel (13) is a V-shaped rubber wheel.

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