Intelligent combing device for dismantling strands of main cable of suspension bridge and collaborative control method thereof

Abstract

The application belongs to the technical field of main cable dismantling of suspension bridge cable system, and particularly relates to a suspension bridge main cable dismantling strand intelligent carding device and a cooperative control method thereof, which comprises a traction system and a carding mechanism, the traction system is used for driving the carding mechanism to move and carding the dismantling strand, the traction system comprises winches and a fixed support, and the two winches are arranged on the other side bridge of the strand to be carded. The suspension bridge main cable dismantling strand intelligent carding device and the cooperative control method thereof have the effects that the traction system composed of the winches, the fixed support and the guide wheels is arranged, the carding installation plate with the limiting roller shaft and the carding groove is matched, the carding mechanism is stably and controllably driven to automatically walk along the main cable for a long distance by the mini traction equipment, the problems that large hoisting equipment is needed for the whole main cable dismantling, the cost is high and the operation is dangerous in the prior art are solved, and the small drive large and safe traction are realized.

Description

Technical Field

[0001] This invention relates to the field of main cable removal technology for suspension bridge cable systems, and in particular to an intelligent cable strand sorting device and its collaborative control method for main cable removal of suspension bridges. Background Technology

[0002] A suspension bridge is a bridge whose superstructure primarily consists of cables suspended from towers and anchored to the banks or ends of the bridge. Due to its large span capacity, excellent load-bearing performance, and aesthetically pleasing design, it has become the preferred choice for extra-long span bridges. However, due to limitations in construction technology, design loads, and navigational clearance during the early construction of these bridges, they often fail to meet the demands of today's rapidly increasing traffic volume and transportation development, frequently facing the need for demolition and reconstruction in situ or relocation to a new site.

[0003] During the dismantling of a suspension bridge, the main cable typically weighs hundreds of tons. Directly dismantling the entire main cable requires large lifting equipment, resulting in high costs and relatively dangerous operations. Therefore, dismantling the main cable by strand can significantly reduce construction difficulty. However, as the most important load-bearing and force-transmitting component of a suspension bridge, the main cable is inevitably subject to corrosion, local dispersion, and entanglement of the cable strands under the coupled stress of long-term external environment and loads. When dismantling the main cable by strand, it is necessary to straighten the intertwined cable strands before subsequent strand dismantling, hoisting, and lowering. However, research on the straightening of suspension bridge main cable strands is currently scarce both domestically and internationally, and there are no relevant engineering case studies for reference.

[0004] Therefore, conducting research on intelligent strand sorting devices and their collaborative control methods for dismantling the main cables of suspension bridges is of great practical significance and engineering value, providing construction reference for the subsequent dismantling of self-anchored suspension bridges. Summary of the Invention

[0005] Based on existing technical problems, this invention proposes an intelligent cable strand sorting device for dismantling the main cable of a suspension bridge and its collaborative control method.

[0006] This invention proposes a suspension bridge main cable dismantling and strand combing device, comprising a mechanical execution system, an intelligent sensing system, and a central control system. The mechanical execution system includes a traction system and a combing mechanism. The traction system drives the combing mechanism to move and dismantle and comb the cable strands. The traction system includes winches and fixed supports. Two winches are installed on the other side of the bridge on the cable strands to be combed. The fixed support is fixedly installed on the main cable saddle. The surface of the fixed support is provided with two guide wheels distributed vertically. The wire ropes of the two winches extend through the guide wheels to the cable saddle of the cable strands to be combed. One end of each wire rope is fixedly connected to the surface of the combing mechanism.

[0007] The combing mechanism includes a combing mounting plate, and traction ear plates are provided at the top and bottom of the combing mounting plate. The traction ear plates are used to be fixedly connected to the wire rope, so that the combing mechanism can slide on the strands and comb the strands by being wound up by the winch of the wire rope.

[0008] The intelligent sensing system includes a tension sensing module, a motion sensing module, an attitude sensing module, a vibration sensing module, and a selectable path sensing module. The central control system includes a control core unit, a drive and execution unit, and a human-machine interaction and communication unit.

[0009] Preferably, the tension sensing module includes two high-precision tension sensors, respectively installed at the root of the traction ear plates at the top and bottom of the combing mounting plate, for real-time measurement of the traction tension of the wire ropes on both sides; the motion sensing module includes an absolute multi-turn encoder integrated on the drive motors of the two winches, for high-precision feedback of the winding and unwinding length and linear velocity of the wire rope; the attitude sensing module includes an inertial measurement unit fixedly installed inside the combing mounting plate, for real-time monitoring of the pitch and roll angles of the combing mechanism; the vibration sensing module includes a triaxial vibration acceleration sensor installed on the combing mounting plate near the combing groove, for sensing the vibration spectrum signal generated during combing operations; and the optional path sensing module includes a lidar or a TOF camera installed at the front end of the device, for scanning the outline of the main cable and performing forward path sensing.

[0010] The control core unit adopts an industrial-grade programmable logic controller or an embedded industrial control computer as the unit for information processing and command issuance. The drive and execution unit includes frequency converters for two winches, servo drivers for active servo motors, and controllers for electromagnetic clutches. The human-machine interaction and communication unit includes a local human-machine interface touch screen and an industrial wireless communication gateway that supports 4G / 5G networks and is used for parameter setting, status display, alarm prompts, and data interaction with a remote monitoring center.

[0011] Preferably, the guide wheel adopts an I-beam structure, and the upper flange of the I-beam is ground and polished into a "Y-shaped" structure to facilitate the sliding of the wire rope;

[0012] The fixed bracket includes two symmetrical support plates. Bolt holes are provided at both the upper and lower ends of the support plates. The support plates are connected to the main cable saddle by a first bolt and a second bolt. The two guide wheels are fixed to the first bolt and the second bolt by welding respectively. The surface of the combing mounting plate is provided with combing grooves and contact arc grooves. The inner wall of the combing groove is U-shaped. The combing groove is used for sliding sleeve connection of cable strands.

[0013] One side surface of the carding mounting plate is rotatably connected to a roller seat via a pin. One end of the roller seat is rotatably connected to a limit roller via a bearing. One end of the limit roller is rotatably connected to a positioning seat via a bearing. The surface of the positioning seat is fixedly connected to the surface of the carding mounting plate via locking bolts.

[0014] Preferably, a missing circle guide rail is fixedly connected to the other side surface of the combing mounting plate. The missing circle guide rail has an L-shaped cross section. A missing circle combing ring is slidably connected to the surface of the missing circle guide rail. A cam wave is provided on the inner wall of the missing circle combing ring. The cam wave is used to contact the cable strands and push the cable strands to vibrate and separate from the main cable.

[0015] Preferably, the surface of the missing round combing ring is provided with a drive groove, the inner wall of the drive groove is fixedly connected with a missing round toothed ring, and the surface of the combing mounting plate is rotatably connected to a drive shaft through a bearing seat. The two drive shafts are symmetrically distributed with the axis of the missing round guide rail as the center.

[0016] A drive gear is fixedly mounted on the surface of the drive shaft, and the surfaces of the two drive gears mesh with the surface of the missing tooth ring. One end of the drive shaft passes through and extends to one side surface of the comb mounting plate.

[0017] Preferably, a driven synchronous sprocket is fixedly installed at one end of the drive shaft, and a drive shaft is rotatably connected to one side surface of the combing mounting plate via a bearing. Two drive sprockets are fixedly installed on the surface of the drive shaft, and the two drive sprockets are respectively connected to two driven synchronous sprockets via chains.

[0018] Preferably, one end of the drive shaft passes through and extends to the other side surface of the combing mounting plate, a main shaft bevel gear is fixedly sleeved on one end of the drive shaft, a drive bevel gear meshes with the surface of the main shaft bevel gear, a gear shaft is fixedly connected to the surface of the drive bevel gear, and a drive mounting bracket is fixedly connected to the surface of the combing mounting plate, and the surfaces of the two drive mounting brackets are both L-shaped.

[0019] The inner top wall of the drive mounting bracket is fixedly installed with a limit bearing seat, and both limit bearing seats are rotatably connected to the gear shaft through bearings;

[0020] An active servo motor is fixedly mounted on the upper surface of the drive mounting bracket. The output shaft of the active servo motor is connected to one end of the drive shaft via an electromagnetic clutch. A battery that provides power to the active servo motor is fixedly mounted on the surface of the combing mounting plate.

[0021] Preferably, a driven bevel gear is fixedly mounted on one end of the gear shaft, and a driving bevel gear meshes with the surface of the driven bevel gear. A transmission shaft is rotatably connected to the surface of the drive mounting bracket via a bearing, and the driving bevel gear is fixedly sleeved on the surface of the transmission shaft.

[0022] One end of the drive shaft extends to one side surface of one of the drive mounting brackets. A drive gear is fixedly connected to one end of the drive shaft. A power output gear meshes with the surface of the drive gear. A main shaft is rotatably connected to the surface of the drive mounting bracket via a bearing. The surface of the power output gear is fixedly connected to the surface of the main shaft.

[0023] Preferably, a contact main wheel is fixedly connected to the surface of the main wheel shaft, and auxiliary wheel shafts are fixedly connected to both ends of the main wheel shaft via universal joints. Multiple auxiliary wheel shafts are fixedly connected to each other via universal joints. A contact auxiliary wheel is fixedly connected to the surface of the auxiliary wheel shaft, and multiple auxiliary wheel frames that are sleeved with the contact auxiliary wheel are fixedly connected to the inner wall of the contact arc groove. The surface of the auxiliary wheel shaft is rotatably connected to the inner wall of the auxiliary wheel frame via bearings.

[0024] Both ends of the contact arc groove are rotatably connected to a cable shaft via bearings. One end of the cable shaft is fixedly connected to a cable sleeve shaft via a universal joint. Multiple cable sleeve shafts are fixedly connected to each other via universal joints. A cable pulley is rotatably connected to the surface of the cable sleeve shaft via bearings.

[0025] Preferably, a collaborative control method for an intelligent strand combing device for dismantling the main cable of a suspension bridge includes the following steps:

[0026] Step 1: The intelligent synchronization and tension control algorithm of the traction system adopts a master-slave synchronous fuzzy PID control strategy; one winch is used as the master and the other as the slave to build a "speed-tension" dual closed loop; the system uses the speed feedback from the master encoder as the benchmark, and at the same time compares the measured value of the tension sensor on the slave side with the set tension. The difference is calculated by fuzzy PID and outputs a dynamic speed compensation command to adjust the speed and torque of the slave in real time to ensure the smooth walking posture of the combing mechanism.

[0027] Step 2: The system calculates the total traction resistance in real time and runs the traction force adaptive cruise algorithm. When the resistance increases abnormally, it automatically reduces speed or stops and alarms.

[0028] Step 3: Active vibration combing control algorithm of combing mechanism. In the "active combing mode", the system can independently control the speed of the servo motor, decouple the rotation of the missing circle combing ring from the traction speed, and realize independent adjustment of combing intensity.

[0029] Step 4: The system analyzes the vibration acceleration sensor signal in real time and extracts the spectral features through fast Fourier transform. When the algorithm detects a significant increase in low-frequency vibration energy that indicates loosening of the cable strands, it can automatically suggest reducing the combing intensity or increasing the traction speed, forming an adaptive adjustment closed loop based on vibration feedback.

[0030] Step 5: Adaptive control algorithm for travel path and attitude. The system continuously reads the attitude data from the inertial measurement unit. When the roll angle or pitch angle deviation exceeds the set threshold, the attitude closed-loop stabilization algorithm converts the deviation value into a fine-tuning command for the speed difference between the two winches. This command is executed by the traction synchronization control system to achieve automatic correction of the travel attitude. Before operation, the main cable design alignment is imported into the system. Combined with encoder mileage information and the running path planning algorithm, a deceleration curve is planned in advance in the curve section.

[0031] Step Six: Data Monitoring and Fault Diagnosis Algorithm. The system collects and stores all sensor data and equipment status at a fixed frequency; by building an equipment health status model, it uses threshold alarms and trend analysis to provide early warnings of potential faults such as motor wear and wire rope minor damage; all operation data is automatically packaged into an "electronic construction log" and can be uploaded to the cloud via a wireless gateway to achieve full-process digital traceability of the construction process.

[0032] The beneficial effects of this invention are as follows:

[0033] 1. By setting up a traction system consisting of a winch, fixed bracket and guide wheel, and with a carding mounting plate with limit rollers and carding grooves, the effect of driving the carding mechanism to travel a long distance automatically along the main cable in a stable and controllable manner with miniaturized traction equipment is achieved. This solves the problem that the removal of the entire main cable requires large lifting equipment, which is costly and dangerous in the existing technology. It realizes driving large with small equipment and safe traction.

[0034] 2. By setting up a cam-wave-equipped missing-circle combing ring and its walking drive system consisting of a contact main wheel, a contact auxiliary wheel, gears, etc., the missing-circle combing ring is automatically driven to rotate during the device's movement. The cam wave periodically moves and vibrates the strands, separating them from adjacent strands and the main cable. This solves the technical problem of difficulty in manually separating strands due to corrosion and entanglement, and achieves efficient and mechanized strand combing.

[0035] 3. By setting up the contact main wheel shaft and auxiliary wheel shaft connected by universal joint one, the cable sleeve shaft connected by universal joint two, and the cable sleeve pulley, the combing device can flexibly adapt to the curvature and spatial posture of the main cable during movement and combing, maintain good contact and transmission between each contact wheel, pulley and the surface of the main cable, solve the problem of easy jamming and unstable operation of the device on the main cable with complex shape, and ensure the continuity and stability of the combing process. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of an intelligent cable strand combing device for dismantling the main cable of a suspension bridge and its collaborative control method proposed in this invention;

[0037] Figure 2 This is a schematic diagram of the main cable saddle structure of the intelligent cable strand combing device and its collaborative control method for dismantling the main cable of a suspension bridge proposed in this invention.

[0038] Figure 3 This invention relates to an intelligent strand combing device and its collaborative control method for dismantling the main cable strands of a suspension bridge. Figure 2 Enlarged view of the structure at point A in the middle;

[0039] Figure 4 This is a three-dimensional view of the combing installation plate structure of the intelligent combing device for dismantling main cables of a suspension bridge and its collaborative control method proposed in this invention;

[0040] Figure 5 This is a schematic diagram of the combing groove structure of an intelligent combing device and its collaborative control method for removing main cable strands of a suspension bridge proposed in this invention.

[0041] Figure 6 This is a schematic diagram of the missing circle guide rail structure of an intelligent strand combing device and its collaborative control method for dismantling the main cable strands of a suspension bridge proposed in this invention.

[0042] Figure 7 This invention relates to an intelligent strand combing device and its collaborative control method for dismantling the main cable strands of a suspension bridge. Figure 6 Enlarged view of the structure at point B in the middle;

[0043] Figure 8 This invention relates to an intelligent strand combing device and its collaborative control method for dismantling the main cable strands of a suspension bridge. Figure 6 Enlarged view of the structure at point C.

[0044] In the diagram: A01, Main Tower; A02, Main Cable Strand; 1, Winch; 2, Fixed Bracket; 201, Support Plate; 202, First Bolt; 203, Second Bolt; 3, Main Cable Saddle; 4, Guide Wheel; 5, Cable Saddle; 6, Wire Rope; 7, Combing Mounting Plate; 701, Traction Ear Plate; 702, Combing Groove; 703, Contact Arc Groove; 704, Roller Seat; 705, Limiting Roller; 706, Positioning Seat; 707, Locking Bolt; 708, Incomplete Round Guide Rail; 709, Incomplete Round Combing Ring; 7091, Cam Wave; 710, Incomplete Round Toothed Ring; 711, Drive Shaft; 7 12. Drive gear; 713. Driven synchronous sprocket; 714. Drive shaft; 715. Drive sprocket; 716. Main shaft bevel gear; 717. Drive bevel gear; 718. Drive mounting bracket; 719. Limit bearing seat; 720. Driven bevel gear; 721. Drive bevel gear; 722. Transmission shaft; 723. Transmission gear; 724. Power output gear; 725. Main wheel shaft; 726. Contact main wheel; 727. Auxiliary wheel shaft; 728. Contact auxiliary wheel; 729. Auxiliary wheel frame; 730. Sling shaft; 731. Universal joint II; 732. Sling shaft; 733. Sling pulley. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0046] Example 1

[0047] Reference Figures 1-8 A suspension bridge main cable dismantling and strand combing device includes a mechanical execution system, an intelligent sensing system, and a central control system. The mechanical execution system includes a traction system and a combing mechanism. The traction system is used to drive the combing mechanism to dismantle and comb the cable strands. The traction system includes winches 1 and fixed supports 2. Both winches 1 are set on the other side of the bridge on the cable strands to be combed. The fixed supports 2 are fixedly installed on the main cable saddle 3. The surface of the fixed supports 2 is provided with two guide wheels 4 distributed vertically. The steel wire ropes 6 of the two winches 1 extend through the guide wheels 4 to the cable saddle 5 of the cable strands to be combed. One end of each steel wire rope 6 is fixedly connected to the surface of the combing mechanism.

[0048] Furthermore, the guide wheel 4 adopts an I-beam structure, and the upper flange of the I-beam is ground and polished into a "Y-shaped" structure so that the wire rope 6 can slide.

[0049] Furthermore, the fixed bracket 2 includes two symmetrical support plates 201. Bolt holes are provided at both the upper and lower ends of the support plates 201. The support plates 201 are connected to the main cable saddle 3 by the first bolt 202 and the second bolt 203. The two guide wheels 4 are fixed to the first bolt 202 and the second bolt 203 by welding respectively.

[0050] Furthermore, the guide wheel 4 is used to guide and traction the wire rope 6.

[0051] Specifically, during use, the combing mechanism is pulled along the strands by the steel wire rope 6 for combing.

[0052] By setting up a traction system consisting of a winch 1, a fixed bracket 2, and a guide wheel 4, and cooperating with a combing mounting plate 7 with a limit roller 705 and a combing groove 702, the effect of driving the combing mechanism to travel a long distance automatically along the main cable in a stable and controllable manner with a miniaturized traction device is achieved. This solves the problem that the removal of the entire main cable in the prior art requires large lifting equipment, which is costly and dangerous to operate. It realizes the ability to drive a large cable with a small device and ensure safe traction.

[0053] The combing mechanism includes a combing mounting plate 7. The top and bottom of the combing mounting plate 7 are provided with traction ear plates 701. The traction ear plates 701 are used to fix and connect with the wire rope 6, so that the combing mechanism can slide on the strands and comb the strands by being wound by the winch 1 through the wire rope 6.

[0054] The surface of the combing mounting plate 7 is provided with combing grooves 702 and contact arc grooves 703. The inner wall of the combing groove 702 is U-shaped and the combing groove 702 is used for sliding connection of the strands.

[0055] A roller seat 704 is rotatably connected to one side surface of the carding mounting plate 7 via a pin. One end of the roller seat 704 is rotatably connected to a limiting roller 705 via a bearing. One end of the limiting roller 705 is rotatably connected to a positioning seat 706 via a bearing. The surface of the positioning seat 706 is fixedly connected to the surface of the carding mounting plate 7 via a locking bolt 707.

[0056] In use, the carding groove 702 slides and engages with the surface of the strand. Then, the limiting roller 705 is rotated to lock the carding groove 702. The positioning seat 706 is fixed to the carding mounting plate 7 by the locking bolt 707. This achieves the sliding engagement and limiting of the carding mounting plate 7 and the strand by the cooperation of the limiting roller 705 and the carding groove 702, ensuring that the carding groove 702 and the carding mounting plate 7 are always in contact with the strand during the carding process.

[0057] On the other side of the combing mounting plate 7, a missing circle guide rail 708 is fixedly connected. The cross-section of the missing circle guide rail 708 is L-shaped. A missing circle combing ring 709 is slidably connected to the surface of the missing circle guide rail 708. A cam wave 7091 is provided on the inner wall of the missing circle combing ring 709. The cam wave 7091 is used to contact the cable strands and push the cable strands to vibrate and separate from the main cable.

[0058] The surface of the missing round combing ring 709 has a drive groove, and the inner wall of the drive groove is fixedly connected to the missing round toothed ring 710. The surface of the combing mounting plate 7 is rotatably connected to the drive shaft 711 through the bearing seat. The two drive shafts 711 are symmetrically distributed with the axis of the missing round guide rail 708 as the center.

[0059] A drive gear 712 is fixedly mounted on the surface of the drive shaft 711. The surfaces of both drive gears 712 mesh with the surface of the missing tooth ring 710. One end of the drive shaft 711 passes through and extends to one side surface of the comb mounting plate 7.

[0060] One end of the drive shaft 711 is fixedly mounted with a driven synchronous sprocket 713. One side surface of the comb mounting plate 7 is rotatably connected to the drive shaft 714 via a bearing. Two drive sprockets 715 are fixedly mounted on the surface of the drive shaft 714. The two drive sprockets 715 are respectively connected to the two driven synchronous sprockets 713 via chains.

[0061] In use, the two drive sprockets 715 are driven by the drive shaft 714, and the two chains drive the two driven synchronous sprockets 713 to rotate simultaneously, thereby driving the two drive gears 712 to rotate synchronously. The synchronous rotation of the two drive gears 712 in the same direction drives the missing round tooth ring 710 and the missing round combing ring 709 to rotate along the surface of the missing round guide rail 708.

[0062] One end of the drive shaft 714 passes through and extends to the other side surface of the combing mounting plate 7. A main shaft bevel gear 716 is fixedly sleeved on one end of the drive shaft 714. A drive bevel gear 717 meshes with the surface of the main shaft bevel gear 716. A gear shaft is fixedly connected to the surface of the drive bevel gear 717. A drive mounting bracket 718 is fixedly connected to the surface of the combing mounting plate 7. The surfaces of the two drive mounting brackets 718 are both L-shaped.

[0063] The inner top wall of the drive mounting bracket 718 is fixedly installed with a limit bearing seat 719, and both limit bearing seats 719 are rotatably connected to the gear shaft through bearings.

[0064] An active servo motor is fixedly mounted on the upper surface of the drive mounting bracket 718. The output shaft of the active servo motor is connected to one end of the drive shaft 714 via an electromagnetic clutch. A battery that provides power to the active servo motor is fixedly mounted on the surface of the comb mounting plate 7.

[0065] In use, the active servo motor is powered by a battery, and one end of the active shaft 714 is connected to the output shaft of the active servo motor via an electromagnetic clutch, forming a "passive + active" dual-mode drive system.

[0066] During use, the drive bevel gear 717 is rotated and limited by two limit bearing seats 719 to ensure that the drive bevel gear 717 always maintains engagement with the main shaft bevel gear 716.

[0067] One end of the gear shaft is fixedly mounted with a driven bevel gear 720, and the surface of the driven bevel gear 720 is meshed with a driving bevel gear 721. The surface of the drive mounting bracket 718 is rotatably connected to the drive shaft 722 through a bearing, and the driving bevel gear 721 is fixedly sleeved on the surface of the drive shaft 722.

[0068] One end of the drive shaft 722 extends to one side surface of one of the drive mounting brackets 718. A drive gear 723 is fixedly connected to one end of the drive shaft 722. A power output gear 724 meshes with the surface of the drive gear 723. A main wheel shaft 725 is rotatably connected to the surface of the drive mounting bracket 718 via a bearing. The surface of the power output gear 724 is fixedly connected to the surface of the main wheel shaft 725.

[0069] In use, the main shaft 725 drives the power output gear 724 to rotate, the power output gear 724 drives the transmission gear 723 to rotate, the transmission gear 723 drives the transmission shaft 722 to rotate, the transmission shaft 722 drives the driving bevel gear 721 to rotate, the driving bevel gear 721 drives the driven bevel gear 720 to rotate, the driven bevel gear 720 drives the drive bevel gear 717 to rotate, the drive bevel gear 717 drives the main shaft bevel gear 716 to rotate, and the main shaft bevel gear 716 drives the drive shaft 714 to rotate.

[0070] The main wheel shaft 725 is fixedly connected to the surface of the main wheel shaft 726. Both ends of the main wheel shaft 725 are fixedly connected to the auxiliary wheel shaft 727 through universal joints. Multiple auxiliary wheel shafts 727 are fixedly connected to each other through universal joints. The surface of the auxiliary wheel shaft 727 is fixedly connected to the surface of the auxiliary wheel shaft 728. Multiple auxiliary wheel frames 729 that are sleeved with the contact auxiliary wheel 728 are fixedly connected to the inner wall of the contact arc groove 703. The surface of the auxiliary wheel shaft 727 is rotatably connected to the inner wall of the auxiliary wheel frame 729 through bearings.

[0071] During use, as the winch 1 pulls the combing mounting plate 7 from the loose cable saddle 5 to the main cable saddle 3, the contact wheel 726 and the contact wheel 728 rotate in contact with the surface of the main cable, driving the main wheel shaft 725 and the auxiliary wheel shaft 727 to rotate, thereby driving the drive shaft 714 and the missing circle combing ring 709 to rotate, and combing the cable strands.

[0072] Both ends of the contact arc groove 703 are rotatably connected to the cable shaft 730 via bearings. One end of the cable shaft 730 is fixedly connected to the cable sleeve shaft 732 via universal joint 731. Multiple cable sleeve shafts 732 are fixedly connected to each other via universal joint 731. The surface of the cable sleeve shaft 732 is rotatably connected to the cable pulley 733 via bearings.

[0073] In use, the cable sleeve shafts 732 are connected by a universal joint 731, and a cable sleeve pulley 733 is provided. During the cable strand combing process, the cable sleeve shafts 732 and the universal joint 731 cooperate to keep the combing mounting plate 7 in sliding engagement with the main cable, so that the contact main wheel 726 and the contact auxiliary wheel 728 rotate in contact with the surface of the main cable.

[0074] By setting up a contact main wheel 726 shaft 725 and an auxiliary wheel shaft 727 connected by universal joint one, a cable sleeve shaft 732 connected by universal joint two 731, and a cable sleeve pulley 733, the combing device can flexibly adapt to the curvature and spatial posture of the main cable during movement and combing, maintaining good contact and transmission between each contact wheel, pulley and the surface of the main cable. This solves the problem of easy jamming and unstable operation of the device on main cables with complex lines, and ensures the continuity and stability of the combing process.

[0075] By setting up a missing-circle combing ring 709 with a cam wave 7091 and its walking drive system consisting of a contact main wheel 726, a contact auxiliary wheel 728, gears, etc., the missing-circle combing ring 709 is automatically driven to rotate during the movement of the device. The cam wave 7091 periodically moves and vibrates the strands, separating them from adjacent strands and the main cable. This solves the technical problem of difficulty in manually separating strands due to corrosion and entanglement, and realizes efficient and mechanized strand combing.

[0076] The intelligent sensing system includes a tension sensing module, a motion sensing module, an attitude sensing module, a vibration sensing module, and an optional path sensing module.

[0077] The tension sensing module includes two high-precision tension sensors, which are installed at the root of the traction ear plates at the top and bottom of the comb mounting plate, respectively, for real-time measurement of the traction tension of the wire ropes on both sides.

[0078] Specifically, the two high-precision tension sensors are strain gauge tension sensors with a range of 0-20kN, rigidly mounted at the root connection of the traction lugs at the top and bottom of the comb mounting plate, respectively. The signal output is 4-20mA, used to measure the traction tension T of the wire ropes on both sides in real time. L With T R .

[0079] The motion sensing module includes an absolute multi-turn encoder, integrated into the drive motors of the two winches, for high-precision feedback of the wire rope's winding and unwinding length and linear speed.

[0080] Specifically, two absolute multi-turn encoders, with a resolution of no less than 17 bits, are integrated at the rear end of the winch drive motor. They are used to provide feedback on the motor rotation angle and convert it into the wire rope winding / unwinding length S. L S R and linear velocity V L V R .

[0081] The attitude sensing module includes an inertial measurement unit, which is fixedly installed inside the comb mounting plate to monitor the pitch and roll angles of the combing mechanism in real time.

[0082] Specifically, the inertial measurement unit uses a six-axis MEMS inertial measurement unit, which is fixed at the center of gravity inside the comb mounting plate, with a measurement range of ±90°, and is used to output the pitch angle θ and roll angle ϕ of the combing mechanism in real time.

[0083] The vibration sensing module includes a triaxial vibration acceleration sensor, which is installed on the carding mounting plate near the carding groove to sense the vibration spectrum signal generated during the carding operation.

[0084] Specifically, the triaxial vibration accelerometer adopts an ICP type triaxial vibration accelerometer, which is mounted on the side wall of the carding mounting plate near the carding groove via a magnetic base. The frequency response range is 0.5Hz-5kHz, and it is used to collect the vibration time domain signal a(t).

[0085] Optional path awareness modules include LiDAR or TOF cameras, installed at the front end of the device, used to scan the outline of the main cable for forward path awareness.

[0086] The central control system includes a control core unit, a drive and execution unit, and a human-machine interaction and communication unit.

[0087] The core control unit uses an industrial-grade programmable logic controller or an embedded industrial computer as the unit for information processing and command issuance.

[0088] Specifically, in this embodiment, the industrial programmable logic controller uses a Siemens S7-1515 CPU, which is responsible for running the control algorithm.

[0089] The drive and execution unit includes frequency converters for two winches, a servo driver for the active servo motor, and a controller for the electromagnetic clutch.

[0090] Specifically, in this embodiment, a Siemens V90 servo driver is used to drive the active servo motor on the combing ring, as well as a DC 24V electromagnetic clutch.

[0091] The human-machine interaction and communication unit includes a local human-machine interface touch screen and an industrial wireless communication gateway, which supports 4G / 5G networks and is used for parameter setting, status display, alarm prompts and data interaction with a remote monitoring center.

[0092] Specifically, in this embodiment, a 10-inch industrial touchscreen is used as the local HMI, and a 4G industrial router is used to connect to the remote monitoring center.

[0093] A collaborative control method for an intelligent strand sorting device for dismantling the main cable of a suspension bridge includes the following steps:

[0094] Step 1: The intelligent synchronization and tension control algorithm of the traction system adopts a master-slave synchronous fuzzy PID control strategy. One winch is used as the master, and the other as the slave, constructing a dual closed loop of "speed-tension". The system uses the speed feedback from the master encoder as a reference, while simultaneously comparing the measured value from the tension sensor on the slave side with the set tension. The difference is processed by fuzzy PID calculation, outputting a dynamic speed compensation command to adjust the speed and torque of the slave in real time, ensuring the smooth movement of the combing mechanism.

[0095] Step 2: The system calculates the total traction resistance in real time and runs the traction force adaptive cruise algorithm. When the resistance increases abnormally, it automatically reduces speed or stops and alarms.

[0096] Step 3: Active vibration combing control algorithm of combing mechanism. In the "active combing mode", the system can independently control the speed of the servo motor, so that the rotation of the missing circle combing ring 709 is decoupled from the traction speed, and the combing intensity can be independently adjusted.

[0097] Step 4: The system analyzes the vibration acceleration sensor signal in real time and extracts spectral features through Fast Fourier Transform. When the algorithm detects a significant increase in low-frequency vibration energy indicating cable loosening, it can automatically suggest reducing the combing intensity or increasing the traction speed, forming an adaptive adjustment closed loop based on vibration feedback.

[0098] Step 5: Adaptive Control Algorithm for Travel Path and Attitude. The system continuously reads attitude data from the inertial measurement unit. When the roll or pitch angle deviation exceeds a set threshold, the attitude closed-loop stabilization algorithm converts the deviation value into a fine-tuning command for the speed difference between the two winches. This command is executed by the traction synchronization control system to achieve automatic correction of the travel attitude. Before operation, the main cable's designed alignment can be imported into the system. Combined with encoder mileage information and the running path planning algorithm, deceleration curves can be planned in advance for sections such as curves.

[0099] Step Six: Data Monitoring and Fault Diagnosis Algorithms. The system collects and stores all sensor data and equipment status at a fixed frequency. By constructing an equipment health status model, threshold alarms and trend analysis are used to provide early warnings for potential faults such as motor wear and minor damage to wire ropes. All operational data (such as walking trajectory, tension-displacement curves, posture history, and alarm records) are automatically packaged into an "electronic construction log," which can be uploaded to the cloud via a wireless gateway, enabling full-process digital traceability of the construction process.

[0100] Specifically, to ensure the combing mechanism can operate autonomously and without human intervention over long distances on the main cable, this device adopts an onboard battery power supply solution. The system uses an industrial-grade lithium-ion battery pack mounted securely on the combing mounting plate as its core energy source. The DC power output from the battery is first connected to an integrated DC power distribution module. This module not only acts as the main power switch and protection unit but also converts, regulates, and distributes the battery voltage into multiple isolated DC outputs, including 24V, 12V, and 5V. The Siemens S7-1515 PLC's I / O module and local expansion module, the Siemens V90 servo driver for driving the active servo motor, and the 24V DC electromagnetic clutch for switching drive modes are directly connected to the 24V high-power output of the power distribution module via a thick-section shielded power cable. Meanwhile, the six-axis MEMS inertial measurement unit used to sense the spatial attitude of the mechanism, the ICP-type three-axis vibration accelerometer used to monitor the vibration state of the cable strands, and their signal conditioners are connected to the module's 12V output terminal via shielded multi-core signal cables. The core processing circuitry of the LiDAR or TOF camera used for forward path perception is connected to the 5V output terminal. The 17-bit absolute multi-turn encoder used for precise positioning is connected to the 24V or 5V output terminal (depending on its specific interface specification). All cables are bundled and secured according to specifications, and are waterproofed and insulated. Power lines and signal lines are laid separately to reduce interference, thus forming an independent, stable, and safe on-board power supply network to provide continuous power for the entire intelligent combing operation.

[0101] Example 2

[0102] A collaborative control method for an intelligent strand combing device for dismantling the main cable of a suspension bridge is disclosed. The control method is executed by a central control system, and its core algorithm process includes traction synchronization and tension dual closed-loop control, adaptive traction force monitoring, active vibration combing and adaptive adjustment, attitude closed-loop stability control, and fault diagnosis and early warning.

[0103] The specific implementation data is as follows:

[0104] The traction synchronization and tension dual closed-loop control includes signal setting and control law execution (every 20ms cycle). Taking a combing mechanism with a total weight of m=100kg as an example, the signal setting presets the traction speed V.set =0.1m / s (This speed can be appropriately restored as the weight is reduced), tension balance setpoint T set Calculation: Theoretical static tension F of a single rope static =(m*g) / 2=(100*9.8) / 2=490N≈0.49kN; To provide stable tension, a coefficient of 1.5 is taken. Therefore, T set =0.49kN * 1.5 ≈ 0.735kN. For ease of setting, take T... set =0.75kN.

[0105] Among them, the control law execution signal sampling: T L =0.80kN, T R =0.70kN. v L =0.099m / s, v R =0.101m / s; Tension outer ring calculation: e T =T set -T L =0.75-0.80=-0.05kN; Fuzzy PID compensation: set e T The fundamental universe of discourse is [-1kN, 1kN], ec T The basic universe of discourse is [-0.2kN / s, 0.2kN / s]; through fuzzy inference and defuzzification, it is assumed that the output Δv≈0.005m / s (slight compensation); the inner velocity loop is given as: v_L_ref=v_R_ref+Δv=0.1+0.005=0.105m / s.

[0106] Adaptive traction monitoring (parameter linkage adjustment) includes wire rope selection, threshold setting, and monitoring logic.

[0107] In this case, the selection of wire rope involves choosing a suitable specification based on the load. In this embodiment, a wire rope with a rated tensile force F is selected. rated =8kN steel wire rope.

[0108] The threshold settings include the warning threshold: F warn =0.5*8=4.0kN; Emergency stop threshold: F max =0.65*8=5.2kN; Proportional coefficient: k p =0.1s / kN.

[0109] The monitoring logic is the current total traction force F. total =T L +T R =0.80 + 0.70 = 1.5kN, the system is operating safely. Simulated anomaly: If F total If it increases to 4.5kN, then V adj=0.1*(1-0.1*(4.5-4.0))=0.1*0.95=0.095m / s.

[0110] Active vibration management and adaptive regulation include condition assessment and adaptive decision-making.

[0111] Among them, state assessment: assuming C is calculated s =3.0, still greater than the threshold C set =2.5.

[0112] Among them, adaptive decision-making: the system automatically sets the target speed n of the servo motor. ref Reduced from 30 RPM to 15 RPM.

[0113] Attitude closed-loop stability control includes parameter adjustment and control process.

[0114] The parameter adjustment is set to K_{pφ}=0.08(m / s) / °.

[0115] In the control process, the roll angle φ was measured to be -1.5°. φ =0 - (-1.5) = 1.5°. Δv φ =0.08*1.5=0.12m / s. The final value on the left is v_L_ref=0.105+0.12=0.225m / s, and the value on the right is v_R_ref=0.1-0.12=-0.02m / s (approaching zero or braking), which is a rapid correction.

[0116] Fault diagnosis and early warning include baseline calibration and monitoring and diagnosis.

[0117] Among them, the baseline calibration is to calibrate THD_i_normal under no-load / normal load conditions at a load of 100kg, for example, to 4%.

[0118] Monitoring and diagnosis: Assume a safety factor k = 1.5 and a threshold of 1.5 * 4% = 6%. If THD_i = 7% > 6% is detected, an early warning will be triggered.

[0119] Example 3

[0120] Reference Figures 1-8 A method for using an intelligent strand combing device for dismantling the main cable of a suspension bridge, the method being based on the aforementioned device, comprising the following steps:

[0121] Step 1: Installation and commissioning of the traction system. At the main cable saddle 3, securely install the fixing bracket 2 onto the main cable saddle 3 using the first bolt 202 and the second bolt 203 through the bolt holes on its support plate 201. Then, place the two winches 1 at stable locations such as the bridge deck or anchorage on the other side of the span where the cable strand to be combed is located.

[0122] Next, the wire rope 6 of the winch 1 is led out and passed around the upper and lower guide wheels 4 fixed on the fixed bracket 2. The "Y-shaped" polished wing plates facilitate the sliding of the wire rope 6, so that the end of the wire rope 6 hangs down and extends to the starting position of the strand to be combed near the saddle 5.

[0123] Finally, check the braking and operation of winch 1 to ensure that the two wire ropes 6 can be wound up and down independently, synchronously, or differentially.

[0124] Step 2: Installation and initial fixation of the combing mechanism. At the cable saddle 5, align the opening of the combing groove 702 of the combing mounting plate 7 with the cable strand to be combed, and insert it into the cable strand.

[0125] Then rotate the limiting roller 705 on the roller seat 704 so that it rotates into the open side of the combing groove 702 to form a closed ring.

[0126] The positioning seat 706 is fastened to the carding mounting plate 7 using locking bolts 707, thereby fixing the position of the limiting roller 705 and completing the sliding sleeve limiting of the carding mechanism and the strand.

[0127] Then, securely connect the ends of the two winch wire ropes 6 to the traction ear plates 701 at the top and bottom of the comb mounting plate 7, respectively.

[0128] Step 3: Start the traction and automatic combing operation. Simultaneously start the two winches 1 and slowly wind up the wire rope 6. The wire rope 6 changes direction through the guide wheel 4, and the entire traction and combing mechanism slides along the strands from the loose saddle 5 to the main saddle 3.

[0129] During traction, the main contact wheel 726 and multiple auxiliary contact wheels 728 on the comb mounting plate 7 contact the surface of the main cable and roll under the support of the auxiliary wheel frame 729.

[0130] The rotation of the main contact wheel 726 is transmitted to the power output gear 724 via the main wheel shaft 725, universal joint 1, and auxiliary wheel shaft 727. The power output gear 724 drives the transmission gear 723, which in turn drives the driving bevel gear 721 to rotate via the transmission shaft 722. The driving bevel gear 721 drives the driven bevel gear 720, causing the driving bevel gear 717 to rotate under the support of two limit bearing seats 719. The driving bevel gear 717 drives the main shaft bevel gear 716, which in turn drives the drive shaft 714 to rotate.

[0131] The two drive sprockets 715 on the drive shaft 714 drive the two driven synchronous sprockets 713 to rotate synchronously via a chain, thereby causing the two drive shafts 711 and their drive gears 712 to rotate synchronously in the same direction.

[0132] Two drive gears 712 mesh together to drive the missing-circle toothed ring 710, which in turn drives the missing-circle combing ring 709 to rotate stably along the missing-circle guide rail 708. During rotation, the cam wave 7091 on the inner wall of the missing-circle combing ring 709 intermittently contacts, pushes, and vibrates the strands to be combed, gradually separating them from the main cable bundle and from entanglement with other strands. Simultaneously, multiple cable sleeve shafts 732 connected by universal joint 731 and their cable sleeve pulleys 733 contact and follow the surface of the main cable, helping to maintain the relative positional stability between the combing mechanism and the main cable, ensuring the effective application of the combing force.

[0133] When the device is operating in "passive mode," if the vibration signal characteristic value detected by the vibration sensing module remains below the set threshold (indicating severe corrosion or entanglement of the strands, resulting in insufficient combing effect), or if the operator judges based on experience that the combing intensity needs to be increased, the "active combing mode" can be activated. The core of this mode lies in using an electromagnetic clutch to engage the built-in active servo motor with the transmission system of the combing ring, decoupling the rotational speed of the combing action from the traction walking speed, thereby achieving independent and precise control of the combing intensity.

[0134] The specific operation and working principle are as follows:

[0135] Mode switching and power engagement: Commands are manually issued through the human-machine interface, or the central control system (PLC controller) makes automatic decisions based on a preset algorithm, and the system issues a "active combing" command to start. The control core unit then sends a command to the controller of the electromagnetic clutch to close it. At this point, the output shaft of the active servo motor and the active shaft (714) are mechanically connected, and the servo drive system becomes the main power source for the rotation of the combing ring.

[0136] Independent drive and intensity adjustment: After the electromagnetic clutch is engaged, the control system immediately drives the active servo motor to run at a target speed (n_set) that is preset or calculated in real time by an adaptive algorithm. The motor's power is directly transmitted to the drive shaft 714 via the clutch, and then through the chain, drive gear 712, and other transmission chains, drives the incomplete-circle combing ring 709 to rotate at a speed independent of the device's traction speed. At this time, the cam wave 7091 on the inner wall of the combing ring periodically impacts and agitates the strands with higher frequency and energy, forming an active and powerful combing action.

[0137] Vibration feedback-based adaptive closed-loop control: In this mode, the vibration sensing module (a triaxial vibration accelerometer) continuously collects vibration signals generated during operation. The system performs a Fast Fourier Transform (FFT) on the signals, analyzes them in real time, and extracts the low-frequency vibration energy characteristics that characterize the loosening state of the strands. If the energy value remains low, it indicates that the current combing intensity is insufficient to effectively separate the strands, and the control algorithm will automatically increase the target speed n_set of the servo motor to enhance the combing force; conversely, if the energy value exceeds the safety threshold, it indicates that the combing intensity may be too high, posing a risk of damaging the strands, and the algorithm will automatically reduce n_set or trigger an alarm. This process constitutes a real-time, vibration spectrum feedback-based adaptive adjustment closed loop, achieving intelligent and optimized control of the combing intensity.

[0138] Coordination with the traction system: During "active combing mode" operation, the device's traction system (two winches) continues to operate, and its "speed-tension" dual closed-loop synchronous control algorithm (adjusting the slave tension to maintain balance based on the main machine speed) remains effective, ensuring stable device movement. The traction speed (V_set) and combing ring speed (n_set) are uniformly coordinated by the central control system, and both are independently controllable to achieve optimal overall efficiency in combing operations.

[0139] Mode Switching and Exit: When vibration characteristic analysis indicates that the cable strands have loosened sufficiently, or when the device has reached a section with less rust and less entanglement, the "active mode" can be exited. The control system will first control the servo motor to smoothly decelerate to a stop, and then disengage the electromagnetic clutch. Subsequently, the device can automatically revert to the "passive mode" driven by the friction between the contact wheel and the main cable to continue operation, or completely stop the combing action and only perform traction movement.

[0140] In use, the "active combing mode" breaks the dependence of the combing action on the traction walking speed by introducing an independent servo drive unit. It allows the control system to dynamically and precisely adjust the combing force according to the real-time status of the strands fed back by vibration sensors. It is specifically designed to solve the technical problem of insufficient combing force in the "passive mode" due to severe corrosion and tight meshing, greatly enhancing the device's ability to cope with complex working conditions.

[0141] Step 4: Journey Monitoring and Device Retrieval. Monitor the combing mechanism's movement throughout the entire process. The combing posture can be fine-tuned by adjusting the rope winding speed of the winches 1 on both sides. When the combing mechanism is pulled to the predetermined endpoint near the main cable saddle 3, stop winch 1. Loosen the locking bolt 707, rotate the limit roller 705 to open the combing groove 702, and remove the combing mechanism from the combed strand. Then, operate winch 1 in reverse to release the wire rope 6, which can lower the combing mechanism back to the starting point or move it to the next strand to be combed. Repeat the above steps to perform the operation.

[0142] After all the work is completed, the combing mechanism, wire rope 6, guide wheel 4, fixed bracket 2 and winch 1 are dismantled in sequence.

[0143] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A smart strand sorting device for dismantling the main cable of a suspension bridge, comprising a mechanical execution system, an intelligent sensing system, and a central control system, characterized in that: The mechanical execution system includes a traction system and a combing mechanism. The traction system is used to drive the combing mechanism to move and comb the cable strands. The traction system includes a winch (1) and a fixed support (2). The two winches (1) are both set on the other side of the bridge where the cable strands to be combed are. The fixed support (2) is fixedly installed on the main cable saddle (3). The surface of the fixed support (2) is provided with two guide wheels (4) distributed vertically. The wire ropes (6) of the two winches (1) extend through the guide wheels (4) to the cable saddle (5) where the cable strands to be combed are located. One end of each wire rope (6) is fixedly connected to the surface of the combing mechanism. The combing mechanism includes a combing mounting plate (7), and the top and bottom of the combing mounting plate (7) are provided with traction ear plates (701). The traction ear plates (701) are used to be fixedly connected to the wire rope (6), so that the combing mechanism can be driven to slide on the strands by the winch (1) of the wire rope (6) to comb the strands. The intelligent sensing system includes a tension sensing module, a motion sensing module, an attitude sensing module, a vibration sensing module, and a selectable path sensing module. The central control system includes a control core unit, a drive and execution unit, and a human-machine interaction and communication unit.

2. The intelligent strand combing device for dismantling the main cable of a suspension bridge according to claim 1, characterized in that: The tension sensing module includes two high-precision tension sensors, respectively installed at the root of the traction ear plates at the top and bottom of the combing mounting plate, for real-time measurement of the traction tension of the wire ropes on both sides. The motion sensing module includes an absolute multi-turn encoder integrated on the drive motors of the two winches for high-precision feedback of the wire rope's winding and unwinding length and linear velocity. The attitude sensing module includes an inertial measurement unit fixedly installed inside the combing mounting plate for real-time monitoring of the pitch and roll angles of the combing mechanism. The vibration sensing module includes a triaxial vibration acceleration sensor installed on the combing mounting plate near the combing groove for sensing the vibration spectrum signal generated during combing operations. The optional path sensing module includes a lidar or TOF camera installed at the front end of the device for scanning the main cable profile and performing forward path sensing. The control core unit adopts an industrial-grade programmable logic controller or an embedded industrial control computer as the unit for information processing and command issuance. The drive and execution unit includes frequency converters for two winches, servo drivers for active servo motors, and controllers for electromagnetic clutches. The human-machine interaction and communication unit includes a local human-machine interface touch screen and an industrial wireless communication gateway that supports 4G / 5G networks and is used for parameter setting, status display, alarm prompts, and data interaction with a remote monitoring center.

3. The intelligent strand combing device for dismantling the main cable of a suspension bridge according to claim 2, characterized in that: The guide wheel (4) adopts an I-beam structure, and the upper flange of the I-beam is polished into a "Y-shaped" structure so that the wire rope (6) can slide. The fixed bracket (2) includes two symmetrical support plates (201). Bolt holes are provided at both the upper and lower ends of the support plates (201). The support plates (201) are connected to the main cable saddle (3) by the first bolt (202) and the second bolt (203). The two guide wheels (4) are fixed to the first bolt (202) and the second bolt (203) by welding. The surface of the combing mounting plate (7) is provided with a combing groove (702) and a contact arc groove (703). The inner wall of the combing groove (702) is U-shaped. The combing groove (702) is used for sliding sleeve connection of cable strands. One side surface of the combing mounting plate (7) is rotatably connected to a roller seat (704) via a pin. One end of the roller seat (704) is rotatably connected to a limiting roller (705) via a bearing. One end of the limiting roller (705) is rotatably connected to a positioning seat (706) via a bearing. The surface of the positioning seat (706) is fixedly connected to the surface of the combing mounting plate (7) via a locking bolt (707).

4. The intelligent strand combing device for dismantling the main cable of a suspension bridge according to claim 3, characterized in that: The other side surface of the combing mounting plate (7) is fixedly connected to a circular guide rail (708). The cross-section of the circular guide rail (708) is L-shaped. A circular combing ring (709) is slidably connected to the surface of the circular guide rail (708). A cam wave (7091) is provided on the inner wall of the circular combing ring (709). The cam wave (7091) is used to contact the cable strands and push the cable strands to vibrate and separate from the main cable.

5. The intelligent strand sorting device for dismantling the main cable of a suspension bridge according to claim 4, characterized in that: The surface of the missing round combing ring (709) is provided with a drive groove, and the inner wall of the drive groove is fixedly connected with a missing round toothed ring (710). The surface of the combing mounting plate (7) is rotatably connected with a drive shaft (711) through a bearing seat. The two drive shafts (711) are symmetrically distributed with the axis of the missing round guide rail (708) as the center. The drive shaft (711) is fixedly mounted with drive gears (712), and the surfaces of the two drive gears (712) mesh with the surface of the missing tooth ring (710). One end of the drive shaft (711) passes through and extends to one side surface of the comb mounting plate (7).

6. The intelligent strand combing device for dismantling the main cable of a suspension bridge according to claim 5, characterized in that: One end of the drive shaft (711) is fixedly mounted with a driven synchronous sprocket (713). One side surface of the comb mounting plate (7) is rotatably connected to the drive shaft (714) via a bearing. Two drive sprockets (715) are fixedly mounted on the surface of the drive shaft (714). The two drive sprockets (715) are respectively connected to the two driven synchronous sprockets (713) via chains.

7. The intelligent strand combing device for dismantling the main cable of a suspension bridge according to claim 6, characterized in that: One end of the drive shaft (714) extends through and to the other side surface of the combing mounting plate (7). One end of the drive shaft (714) is fixedly sleeved with a main shaft bevel gear (716). The surface of the main shaft bevel gear (716) is meshed with a drive bevel gear (717). The surface of the drive bevel gear (717) is fixedly connected with a gear shaft. The surface of the combing mounting plate (7) is fixedly connected with a drive mounting bracket (718). The surfaces of both drive mounting brackets (718) are L-shaped. The inner top wall of the drive mounting bracket (718) is fixedly installed with a limiting bearing seat (719), and both limiting bearing seats (719) are rotatably connected to the gear shaft through bearings. An active servo motor is fixedly mounted on the upper surface of the drive mounting bracket (718). The output shaft of the active servo motor is connected to one end of the drive shaft (714) via an electromagnetic clutch. A battery that provides power to the active servo motor is fixedly mounted on the surface of the comb mounting plate (7).

8. The intelligent strand combing device for dismantling the main cable of a suspension bridge according to claim 7, characterized in that: One end of the gear shaft is fixedly mounted with a driven bevel gear (720), and the surface of the driven bevel gear (720) is meshed with a driving bevel gear (721). The surface of the drive mounting bracket (718) is rotatably connected to a transmission shaft (722) through a bearing, and the driving bevel gear (721) is fixedly sleeved on the surface of the transmission shaft (722). One end of the drive shaft (722) extends to one side surface of one of the drive mounting brackets (718). A drive gear (723) is fixedly connected to one end of the drive shaft (722). A power output gear (724) meshes with the surface of the drive gear (723). A main wheel shaft (725) is rotatably connected to the surface of the drive mounting bracket (718) through a bearing. The surface of the power output gear (724) is fixedly connected to the surface of the main wheel shaft (725).

9. The intelligent strand combing device for dismantling the main cable of a suspension bridge according to claim 8, characterized in that: The main wheel shaft (725) is fixedly connected to a contact main wheel (726). Both ends of the main wheel shaft (725) are fixedly connected to auxiliary wheel shafts (727) via universal joints. Multiple auxiliary wheel shafts (727) are fixedly connected to each other via universal joints. The surface of the auxiliary wheel shaft (727) is fixedly connected to a contact auxiliary wheel (728). The inner wall of the contact arc groove (703) is fixedly connected to multiple auxiliary wheel frames (729) that are sleeved with the contact auxiliary wheel (728). The surface of the auxiliary wheel shaft (727) is rotatably connected to the inner wall of the auxiliary wheel frame (729) via a bearing. Both ends of the contact arc groove (703) are rotatably connected to the cable shaft (730) via bearings. One end of the cable shaft (730) is fixedly connected to the cable sleeve shaft (732) via universal joint two (731). Multiple cable sleeve shafts (732) are fixedly connected to each other via universal joint two (731). The surface of the cable sleeve shaft (732) is rotatably connected to the cable pulley (733) via bearings.

10. The collaborative control method for an intelligent strand combing device for dismantling the main cable of a suspension bridge according to claim 9, characterized in that, Includes the following steps: Step 1: The intelligent synchronization and tension control algorithm of the traction system adopts a master-slave synchronous fuzzy PID control strategy; one winch is used as the master and the other as the slave to build a "speed-tension" dual closed loop; the system uses the speed feedback from the master encoder as the benchmark, and at the same time compares the measured value of the tension sensor on the slave side with the set tension. The difference is calculated by fuzzy PID and outputs a dynamic speed compensation command to adjust the speed and torque of the slave in real time to ensure the smooth walking posture of the combing mechanism. Step 2: The system calculates the total traction resistance in real time and runs the traction force adaptive cruise algorithm. When the resistance increases abnormally, it automatically reduces speed or stops and alarms. Step 3: Active vibration combing control algorithm of combing mechanism. In the "active combing mode", the system can independently control the speed of the servo motor, so that the rotation of the missing circle combing ring (709) is decoupled from the traction speed, and the combing intensity can be independently adjusted. Step 4: The system analyzes the vibration acceleration sensor signal in real time and extracts spectral features through fast Fourier transform; When the algorithm detects a significant increase in low-frequency vibration energy that characterizes strand loosening, it can automatically suggest reducing the combing intensity or increasing the traction speed, forming an adaptive adjustment closed loop based on vibration feedback. Step 5: Adaptive control algorithm for walking path and attitude. The system continuously reads the attitude data from the inertial measurement unit. When the roll angle or pitch angle deviation exceeds the set threshold, the attitude closed-loop stabilization algorithm converts the deviation value into a fine-tuning command for the speed difference between the two winches. This command is executed by the traction synchronization control system to achieve automatic correction of the walking attitude. Before operation, the main cable design alignment is imported into the system, and combined with encoder mileage information and running path planning algorithm, speed reduction curves are planned in advance in the curve section. Step Six: Data Monitoring and Fault Diagnosis Algorithm. The system collects and stores all sensor data and equipment status at a fixed frequency. By constructing an equipment health status model and utilizing threshold alarms and trend analysis, early warnings are issued for potential faults such as motor wear and minor damage to wire ropes. All operational data is automatically packaged into an "electronic construction log," which can be uploaded to the cloud via a wireless gateway, enabling full-process digital traceability of the construction process.

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