Pier column climbing maintenance robot

Abstract

A pier column climbing maintenance robot belongs to the technical field of bridges and comprises a climbing mechanism and a maintenance mechanism which are connected into a whole. The climbing mechanism comprises a climbing ring, a lifting mechanism and a telescopic pedal mechanism, and the lifting mechanism is vertically mounted on the double-layer climbing ring; the telescopic pedal mechanisms are uniformly distributed on each layer of climbing ring along the radial direction; the maintenance mechanism comprises a film rolling mechanism, a film guiding rod, a driving mechanism, a transmission assembly, a spraying assembly, a telescopic mechanism, a supporting ring, a support, a riding wheel assembly and a clamping mechanism. The riding wheel assembly is installed on the climbing ring on the upper layer, and the film roll mechanism is supported by the supporting ring. The transmission assembly is driven by the driving mechanism to move; the driving mechanism is installed on the climbing ring on the upper layer, and the clamping mechanism is installed on the support. The spraying assembly is erected at the output end of the telescopic mechanism and the support. The telescopic mechanism is installed on the support, and the support is connected with the driving mechanism. The device is suitable for climbing pier column film covering, spraying and maintaining operation, efficient, safe and reliable, and continuous operation can be achieved.

Description

Technical Field

[0001] This utility model relates to the field of bridges, and in particular to a pier climbing and maintenance robot. Background Technology

[0002] Bridge piers are an important component of bridge engineering. The cross-section of bridge piers is mostly circular, but there are also elliptical, square or other polygonal shapes. The maintenance of bridge piers directly affects their quality, which requires climbing operations to regularly inspect and maintain the pier system.

[0003] Currently, the mulching and curing of bridge piers relies on manual installation. A crane transports personnel and tools to the top of the pier, where manual installation of pulleys is followed by the placement of the curing membrane on ropes. The membrane is then manually rotated around the pier by the controlled pulley system. This method has several drawbacks: First, it requires manual labor and other large machinery (such as cranes), resulting in high costs, complex operation, and uncontrollable mulching quality. Second, it is inefficient and labor-intensive. Third, manual work at height poses significant safety hazards. For example, CN112225019A discloses a pier concrete curing material covering and wrapping device and method, which uses a winch that can be manually operated by a single person and rotates around the pier, allowing for quick and efficient mulching work. However, this method still presents significant safety risks associated with working at height. Therefore, a new type of pier curing device is needed.

[0004] Therefore, developing an integrated device for climbing and maintaining piers has become an urgent problem for engineers in this field. Utility Model Content

[0005] This utility model aims to overcome the shortcomings of existing technologies by providing a pier climbing and maintenance robot. The climbing ring of this design is set with two or three or more layers, and a maintenance mechanism is set on the top layer. The climbing and maintenance work is carried out in a coordinated manner. The climbing and maintenance robot has the advantages of high efficiency, safety and reliability, high construction efficiency, continuous operation, and controllable quality.

[0006] A column climbing and maintenance robot includes a climbing mechanism and a maintenance mechanism connected as one unit;

[0007] The climbing mechanism includes:

[0008] The climbing ring is designed with two layers to support the lifting mechanism and the telescopic foot pedal mechanism;

[0009] The lifting mechanism has M units vertically installed on the double-layer climbing ring, where M≥2, with the fixed part installed on the lower climbing ring and the movable part installed on the upper climbing ring.

[0010] The telescopic foot pedal mechanism has N units evenly distributed radially on each layer of the climbing ring, where N≥2, and is used to fix or release the pier. By controlling the telescopic foot pedal mechanism and the lifting mechanism, the double-layer climbing ring can be alternately fixed and moved.

[0011] The maintenance mechanism includes a membrane roll mechanism, a membrane guide rod, a drive mechanism, a transmission assembly, a spray assembly, a telescopic mechanism, a support ring, a bracket, a support roller assembly, and a clamping mechanism;

[0012] The roller assembly is installed on the upper climbing ring to support and limit the support ring;

[0013] The support ring supports the film roll mechanism and is driven to rotate by the transmission assembly;

[0014] The film guide rod is connected to the film roll mechanism via a curing membrane;

[0015] The transmission components are driven to move by the drive mechanism;

[0016] The drive mechanism is installed on the upper climbing ring;

[0017] The clamping mechanism is mounted on the bracket and is used to clamp and release the membrane guide rod;

[0018] The spray assembly is mounted on the output end of the telescopic mechanism and the support frame;

[0019] The telescopic mechanism is mounted on the bracket and is used to drive the spray assembly;

[0020] The bracket is connected to the drive mechanism.

[0021] A column climbing and maintenance robot includes a climbing mechanism and a maintenance mechanism connected as one unit;

[0022] The climbing mechanism includes:

[0023] The climbing ring is set to have three or more layers to support the lifting mechanism and the telescopic foot pedal mechanism;

[0024] The lifting mechanism has M units evenly distributed vertically on the climbing rings of two adjacent layers, where M≥2. Its fixed part is installed on the climbing ring of the lower layer of the adjacent layer, and its movable part is installed on the climbing ring of the upper layer of the adjacent layer.

[0025] The telescopic foot pedal mechanism has N units evenly distributed radially on each layer of the climbing ring, where N≥2, and is used to fix or release the pier. By controlling the telescopic foot pedal mechanism and the lifting mechanism, the multi-layer climbing ring can be alternately fixed and moved on the pier.

[0026] The maintenance mechanism includes a membrane roll mechanism, a membrane guide rod, a drive mechanism, a transmission assembly, a spray assembly, a telescopic mechanism, a support ring, a bracket, a support roller assembly, and a clamping mechanism;

[0027] The roller assembly is installed on the topmost climbing ring to support and limit the support ring;

[0028] The support ring supports the film roll mechanism and is driven to rotate by the transmission assembly;

[0029] The film guide rod is connected to the film roll mechanism via a curing membrane;

[0030] The transmission components are driven to move by the drive mechanism;

[0031] The drive mechanism is installed on the upper climbing ring;

[0032] The clamping mechanism is mounted on the bracket and is used to clamp and release the membrane guide rod;

[0033] The spray assembly is mounted on the output end of the telescopic mechanism and the support frame;

[0034] The telescopic mechanism is mounted on the bracket and is used to drive the spray assembly;

[0035] The bracket is connected to the drive mechanism.

[0036] The advantages of this application compared to the prior art are:

[0037] 1. Highly efficient automated operation: By replacing manual climbing and spraying with membranes with robots, the efficiency of pier maintenance is significantly improved, and the time and labor costs required for traditional manual operations are reduced.

[0038] 2. High safety: Avoids the risks of manual high-altitude operations, especially suitable for maintenance scenarios of large bridges or high-rise building piers.

[0039] 3. Strong adaptability: The climbing ring adopts a detachable polygonal design (such as a regular nonagon) to adapt to cylindrical, quadrilateral and other polygonal piers; the telescopic foot pedal mechanism can be adjusted in number and shape (such as arc surface or plane) to ensure stable attachment to different pier surfaces.

[0040] 4. The membrane roll mechanism is fixed to the climbing ring, enabling coordinated climbing and film covering operations. It adapts to film covering, and the gear drives the outer gear ring to rotate. The support ring rotates to drive the curing membrane to wrap around the pier. In conjunction with the film guide rod and pneumatic gripper, the curing membrane is spirally wound without manual intervention, resulting in uniform coverage without air bubbles.

[0041] 5. The sprinkler system uses a telescopic mechanism to adjust the position of the water pipes, ensuring that the sprinkler coverage extends to the surface of the pier.

[0042] 6. High safety: Avoids the risks of manual high-altitude operations, especially suitable for the maintenance of large bridges or high-rise building piers.

[0043] 7. Collaborative operation control: Climbing, mulching, and spraying can be carried out simultaneously or asynchronously to ensure a continuous and efficient maintenance process.

[0044] The proposed solution will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0045] Figure 1 This is an isometric drawing of the climbing mechanism with a double-layer climbing ring in this application;

[0046] Figure 2 An isometric view of the telescopic foot pedal mechanism;

[0047] Figure 3 This is an isometric drawing of the climbing mechanism with three climbing rings in this application;

[0048] Figure 4 Axonometric drawing of the maintenance facility installed on the climbing mechanism;

[0049] Figure 5 An isometric view of the interconnections between the telescopic mechanism, spray assembly, clamping mechanism, and support frame;

[0050] Figure 6 An isometric view showing the relationship between the clamping mechanism and the spray assembly;

[0051] Figure 7 A schematic diagram showing the specific structure of the transmission assembly and the roller assembly;

[0052] Figure 8 This is an isometric drawing of the support roller assembly;

[0053] Figure 9 A diagram showing the climbing robot's working status during a double-layer climbing cycle;

[0054] Figure 10 A diagram showing the climbing robot's climbing operation with a three-layer climbing ring.

[0055] Figure 11 This is a diagram showing the working state of the membrane spraying system.

[0056] In the diagram: 1. Membrane roll mechanism; 2. Membrane guide rod; 3. Drive mechanism; 4. Transmission assembly; 41. Gear; 42. External gear ring; 5. Spray assembly; 51. Positioning rod; 52. Soft water pipe; 53. Support plate; Telescopic mechanism; 61. Push plate; 7. Support ring; 8. Bracket; 9. Roller assembly; 91. Vertical positioning assembly; 912. Roller bearing bracket A; 913. Bearing A; 914. Roller shaft A; 92. Radial positioning assembly; 922. Roller bearing bracket B; 923. Bearing B; 924. Roller shaft B; 10. Clamping mechanism; 11. Climbing ring; 12. Lifting mechanism; 13. Telescopic foot pedal mechanism; 14. Pier column; 21. Adapter flange; 31. Foot pedal; 32. Linear drive mechanism. Detailed Implementation

[0057] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application have the ordinary meaning as understood by those skilled in the art.

[0058] Reference Figure 1 The pier climbing and maintenance robot provided in this embodiment includes a climbing mechanism and a maintenance mechanism connected as one unit;

[0059] The climbing mechanism includes:

[0060] The climbing ring 11 is configured in two layers to support the lifting mechanism 12 and the telescopic foot pedal mechanism 13;

[0061] The lifting mechanism 12 has M units vertically installed on the double-layer climbing ring, M≥2, with its fixed part installed on the lower climbing ring 11 and its movable part installed on the upper climbing ring 11.

[0062] The telescopic foot pedal mechanism 13 has N radially evenly distributed on each layer of climbing ring, where N≥2, and is used to fix or release the pier 14. By controlling the telescopic foot pedal mechanism 13 and the lifting mechanism 12, the double-layer climbing ring can be alternately fixed and moved.

[0063] The maintenance mechanism includes a membrane roll mechanism 1, a membrane guide rod 2, a drive mechanism 3, a transmission assembly 4, a spray assembly 5, a telescopic mechanism 6, a support ring 7, a bracket 8, a support roller assembly 9, and a clamping mechanism 10.

[0064] The roller assembly 9 is installed on the upper climbing ring 11 to support and limit the support ring 7.

[0065] The support ring 7 supports the film roll mechanism 1 and is driven to rotate by the transmission assembly 4;

[0066] The film guide rod 2 is connected to the film roll mechanism 1 via the curing film;

[0067] Transmission component 4 is driven by drive mechanism 3 to move;

[0068] Drive mechanism 3 is installed on the upper climbing ring 11;

[0069] The clamping mechanism 10 is mounted on the bracket 8 and is used to clamp and release the membrane guide rod 2;

[0070] The spray assembly 5 is mounted on the output end of the telescopic mechanism 6 and the bracket 8;

[0071] The telescopic mechanism 6 is mounted on the bracket 8 and is used to drive the spray assembly 5;

[0072] The bracket 8 is connected to the drive mechanism 3.

[0073] The dual climbing rings in this implementation plan adopt an alternating climbing mechanism: by alternating the fixing and movement of the upper and lower climbing rings, combined with the lifting mechanism 12 of electric cylinder, electric push rod or pneumatic cylinder, the robot can achieve stable ascent and descent, breaking through the limitations of traditional single-point fixing.

[0074] In this implementation scheme, the lifting mechanism 12 and the telescopic foot pedal mechanism 13 may have different values ​​for M and N. The telescopic foot pedal mechanism 13 can dynamically adjust the contact surface according to the shape of the pier (such as an arc surface to adapt to a cylindrical pier), and achieve firm attachment by utilizing the dual effects of friction and pressure.

[0075] The climbing mechanism in this embodiment is scalable: the number of climbing rings, the number of electric lifting cylinders, and the distribution of telescopic foot pedals can all be flexibly adjusted according to the size of the pier, demonstrating strong expandability. The modular design of each component supports rapid disassembly and maintenance.

[0076] In this embodiment, the climbing mechanism consists of two layers of climbing rings. Each climbing ring is a regular nonagon, or any polygon, depending on the shape of the internal support column 14 (e.g., a column of equal diameter). To ensure the strength and stability of the climbing ring 11 and reduce its weight, I-beam profiles are used, or other aluminum profiles can be used. Each climbing ring 11 is a ring structure formed by connecting multiple sections of profiles end to end.

[0077] Each climbing ring 11 can be disassembled and assembled. For example, the climbing ring 11 is composed of multiple sections of profile connected end to end, and adjacent climbing rings 11 are connected by bolts and nuts. When climbing the target pier 14, it is assembled around the target pier 14. After the operation is completed, it can be disassembled for easy transportation and carrying. Optionally, the climbing ring is made of I-shaped aluminum material, which combines strength and light weight, making it easy to transport and assemble.

[0078] On each climbing ring 11, there are telescopic foot pedal mechanisms 13 evenly distributed. The number of telescopic foot pedal mechanisms 13 depends on the shape of the pier and the material of the cylinder, and there are at least two. Figure 2 The diagram shows that there are three telescopic foot pedal mechanisms 13 per layer. Each telescopic foot pedal mechanism 13 includes a foot pedal 31 and a linear drive mechanism 32. The foot pedal 31 is mounted on the movable part of the linear drive mechanism, and the fixed part of the linear drive mechanism is mounted on the climbing ring 1. The foot pedal 31 has a contact surface that matches the outer side of the pier 4. The shape of the contact surface of the foot pedal 31 also matches the target pier, and can be an arc surface or a plane.

[0079] Figure 2A telescopic foot pedal mechanism is shown, with the shape of the foot pedal 31 conforming to the shape of the pier 14. The linear drive mechanism 32 is a cylinder or an electric cylinder. When the telescopic rod extends, the foot pedal 31 contacts the surface of the pier 14. The cylinder maintains a continuous output, causing the foot pedal 31 to apply pressure to the pier. Due to the presence of pressure and the coefficient of friction of the foot pedal surface, the climbing mechanism can be firmly fixed to the pier 14 under the action of multiple telescopic foot pedal mechanisms 13.

[0080] The pier climbing and maintenance robot provided in this embodiment has two climbing rings, each with the same structure. Three lifting mechanisms 12 are evenly distributed between the two climbing rings. Optionally, the lifting mechanism 12 is an electric cylinder, an electric push rod, or a pneumatic cylinder. The number of lifting mechanisms 12 depends on the selection of the electric cylinder or electric push rod; there can be any number, but at least two. The fixing part of the electric cylinder or electric push rod is installed on the lower climbing ring 11, and the telescopic rod of the electric cylinder or electric push rod is fixed to the upper climbing ring 11. Similarly, to ensure structural strength, the electric lifting cylinder is connected to the upper climbing ring 11 via a connecting flange 21.

[0081] The telescopic foot pedal mechanism 13 and the lifting mechanism 12 work together. Figure 2 The pedal 31 on display is for service Figure 9 The cylindrical pier shown has an arc-shaped foot surface.

[0082] like Figure 9 As shown, a method for climbing a pier using a two-layer climbing ring pier climbing robot, as described in any of the above-mentioned embodiments, is provided, comprising the following steps:

[0083] When climbing upwards, the foot pedal 31 of the telescopic foot pedal mechanism 13 on the lower climbing ring 11 applies pressure to the surface of the pier 14 to fix the pier 14. The foot pedal 31 of the telescopic foot pedal mechanism 13 on the upper climbing ring 11 remains detached from the pier 14. Then, the lifting mechanism 12 is controlled to extend its telescopic rod upwards. At this time, because the fixed part of the lifting mechanism 12 is connected to the lower climbing ring 11 and the lower climbing ring 11 is fixed, the telescopic rod of the lifting mechanism 12 pushes the upper climbing ring 11 upwards. When the telescopic rod of the lifting mechanism 12 reaches its travel, the telescopic foot pedal 31 of the upper climbing ring 11 is controlled to extend upwards. The foot pedal 31 of the foot pedal mechanism 13 applies pressure to the surface of the pier 14 to fix the pier 14. Then, the telescopic foot pedal mechanism 13 on the lower climbing ring 11 is controlled to release the pier 14. Then, the telescopic rod of the lifting mechanism 13 retracts. Since the telescopic rod of the lifting mechanism 12 is connected to the upper climbing ring 1 and fixed by the upper climbing ring 11, and since the foot pedal 31 of the telescopic foot pedal mechanism 13 on the lower climbing ring 1 releases the pier, the fixed part of the lifting mechanism 12 and the lower climbing ring 11 are both in a relaxed state. At this time, the telescopic rod of the lifting mechanism 12 retracts, and the lower climbing ring 1 is driven to move upward until the stroke is reached.

[0084] The lower climbing ring 11 and the upper climbing ring 11 are alternately fixed and moved along the pier 14 under the coordinated action of the telescopic foot pedal mechanism 3 and the lifting mechanism 2, and so on, so as to achieve climbing upward along the pier 14.

[0085] During the descent, the upper climbing ring 11 and the lower climbing ring 11 are alternately fixed and moved along the pier 14 under the coordinated action of the telescopic foot pedal mechanism 13 and the lifting mechanism 12, so as to climb down along the pier 14.

[0086] For safety reasons, when the climbing ring 11 has only two layers, if one of the pneumatic climbing foot pedals malfunctions, the pier climbing mechanism cannot guarantee its safety. Losing the clamping force on one side can easily cause it to lose balance, leading to a fall and resulting in economic and safety losses. To improve the fault tolerance and reliability of the climbing mechanism, it can be expanded into a multi-layered climbing ring, such as three or more layers. However, considering that a multi-layered climbing ring would increase the system's weight, leading to lower efficiency and more complex control, the structure of the multi-layered climbing ring is also protected in this embodiment.

[0087] Reference Figure 3 The pier climbing and maintenance robot for three or more floors includes a climbing mechanism and a maintenance mechanism connected as one unit;

[0088] The climbing mechanism includes:

[0089] The climbing ring 11 is set to have three or more layers to support the lifting mechanism 12 and the telescopic foot pedal mechanism 13;

[0090] The lifting mechanism 12 has M units evenly distributed vertically on the climbing rings of two adjacent layers, where M≥2. Its fixed part is installed on the climbing ring 11 of the lower layer of the adjacent layer, and its movable part is installed on the climbing ring 11 of the upper layer of the adjacent layer.

[0091] Telescopic foot pedal mechanism 13, N of which are radially distributed on each climbing ring, N≥2, is used to fix the pier 14 or release the pier 14. By controlling the telescopic foot pedal mechanism 13 and the lifting mechanism 12, the multi-layer climbing rings are alternately fixed and moved on the pier.

[0092] The maintenance mechanism includes a membrane roll mechanism 1, a membrane guide rod 2, a drive mechanism 3, a transmission assembly 4, a spray assembly 5, a telescopic mechanism 6, a support ring 7, a bracket 8, a support roller assembly 9, and a clamping mechanism 10.

[0093] The roller assembly 9 is installed on the uppermost climbing ring 11 to support and limit the support ring 7.

[0094] The support ring 7 supports the film roll mechanism 1 and is driven to rotate by the transmission assembly 4;

[0095] The film guide rod 2 is connected to the film roll mechanism 1 via the curing film;

[0096] Transmission component 4 is driven by drive mechanism 3 to move;

[0097] Drive mechanism 3 is installed on the upper climbing ring 11;

[0098] The clamping mechanism 10 is mounted on the bracket 8 and is used to clamp and release the membrane guide rod 2;

[0099] The spray assembly 5 is mounted on the output end of the telescopic mechanism 6 and the bracket 8;

[0100] The telescopic mechanism 6 is mounted on the bracket 8 and is used to drive the spray assembly 5;

[0101] The bracket 8 is connected to the drive mechanism 3.

[0102] The multi-layer climbing ring in this implementation scheme adopts an alternating climbing mechanism: by first fixing two layers, then climbing or descending one layer, three or six lifting mechanisms 12 work together to control the robot to achieve stable ascent and descent, breaking through the limitations of traditional single-point fixing.

[0103] In this implementation scheme, the lifting mechanism 12 and the telescopic foot pedal mechanism 13 may have different values ​​for M and N. The telescopic foot pedal mechanism 13 can dynamically adjust the contact surface according to the shape of the pier (such as an arc surface to adapt to a cylindrical pier), and achieve firm attachment by utilizing the dual effects of friction and pressure.

[0104] The climbing mechanism of this embodiment is scalable: the number of climbing layers, the number of lifting mechanisms, and the distribution of telescopic foot pedal mechanisms can all be flexibly adjusted according to the size of the pier, making it highly scalable.

[0105] In this embodiment, the climbing mechanism consists of three layers of climbing rings, defined as an upper layer, a middle layer, and a lower layer. M lifting mechanisms 12 are installed on the upper and middle climbing rings 11, and M lifting mechanisms 12 are installed on the middle and lower climbing rings 11. The lifting mechanisms 12 arranged vertically are alternately set.

[0106] Each climbing ring is a regular nonagon, but can also be any polygon, depending on the shape of the internal piers. To ensure the strength and stability of climbing ring 1 while reducing its own weight, I-beam profiles are used, or other aluminum profiles can also be used. Each climbing ring is a ring structure formed by connecting multiple sections of profiles at their ends.

[0107] Each climbing ring can be disassembled and assembled. For example, climbing ring 1 is made up of multiple sections of profile connected together. Adjacent climbing rings 1 are connected by bolts and nuts. When climbing the target pier, they are assembled around the target pier. After the operation is completed, they can be disassembled for easy transportation and carrying.

[0108] On each climbing ring 11, there are telescopic foot pedal mechanisms 13 evenly distributed. The number of telescopic foot pedal mechanisms 13 depends on the shape of the pier and the material of the cylinder, and there are at least two. Figure 3 The diagram shows that there are 3 telescopic foot pedal mechanisms 13 on each floor.

[0109] The telescopic foot pedal mechanism 13 includes a foot pedal 31 and a linear drive mechanism 32. The foot pedal 31 is mounted on the movable part of the linear drive mechanism, and the fixed part of the linear drive mechanism is mounted on the climbing ring 11. The foot pedal 31 has a contact surface that matches the outer side of the pier 14. The shape of the contact surface of the foot pedal 31 also matches the target pier, and can be an arc surface or a plane.

[0110] Figure 2 A telescopic foot pedal mechanism 13 is shown, the shape of which matches the shape of the pier 14.

[0111] The linear drive mechanism 32 is a pneumatic cylinder or an electric cylinder. When the telescopic rod extends, the foot pedal 31 contacts the surface of the pier. The telescopic rod of the pneumatic cylinder maintains a continuous output, causing the foot pedal 31 to apply pressure to the pier. Due to the presence of pressure and the coefficient of friction of the foot pedal surface, under the action of multiple telescopic foot pedal mechanisms 13, the climbing robot can be firmly fixed on the pier 14.

[0112] The pier climbing and maintenance robot provided in this embodiment has three climbing rings, each with the same structure. Three lifting mechanisms 12 are evenly distributed between adjacent climbing rings (for example, three lifting mechanisms 12 are installed on the upper and middle climbing rings, and three on the middle and lower climbing rings). Optionally, the lifting mechanism 12 is an electric cylinder, an electric push rod, or a pneumatic cylinder. The number of lifting mechanisms 12 depends on the selection of the electric cylinder or electric push rod, and can be any number, with at least two on adjacent layers. The fixing part of the electric cylinder or electric push rod is installed on the middle or lower climbing ring 11, and the telescopic rod of the corresponding electric cylinder or electric push rod is installed on the upper or middle climbing ring 11. Similarly, to ensure structural strength, the electric lifting cylinder is connected to the upper or middle climbing ring 11 via a connecting flange 21.

[0113] like Figure 3 and Figure 10 As shown, the pier climbing maintenance robot performs climbing operations on a cylindrical pier. Taking a cylindrical pier as an example, the same applies to square or polygonal piers, suitable for common bridge or building main support piers. Similarly, to adapt to different pier shapes, the climbing ring 11 can be adjusted to a quadrilateral or any polygon, and the number of cylinder foot pedal mechanisms can also be adjusted accordingly, all of which fall within the scope of this patent protection.

[0114] The telescopic foot pedal mechanism 13 and the lifting mechanism 12 work together. Figure 3 The pedal 31 on display is for service Figure 10 The cylindrical pier shown has an arc-shaped foot surface.

[0115] like Figure 10 As shown, a method for climbing piers using a three-layer climbing ring pier climbing robot technology solution described above is provided.

[0116] In a three-layer climbing ring system, two layers are fixed, while one layer ascends or descends, controlled by three or six lifting mechanisms working in concert. The method includes the following steps:

[0117] Climbing upwards, the upper and middle telescopic foot pedal mechanisms 13 apply pressure to the surface of the pier 14 to fix the pier 14. Then, the lower lifting mechanism 12 is controlled to extend its movable part upwards. At this time, the fixed part of the lifting mechanism 12 is connected to the lower climbing ring 11, and the lower climbing ring 11 is in a relaxed state. Therefore, the telescopic rod of the lower lifting mechanism 12 retracts, and the lower climbing ring 11 is driven to move upwards. After reaching the travel range, the foot pedal 31 of the lower telescopic foot pedal mechanism 13 is controlled to apply pressure to the surface of the pier 14 to fix the pier 14. Then, the foot pedal 31 of the middle telescopic foot pedal mechanism 13 is controlled to release the pier 14, and the telescopic rod of the upper lifting mechanism 12 retracts. As the lower lifting mechanism 2 retracts, its telescopic rod extends synchronously. Under the combined action of the upper and lower lifting mechanisms 12, the middle climbing ring 11 moves upward. After the telescopic rods of the upper and lower lifting mechanisms 12 reach their travel range, the foot pedal 31 of the middle telescopic foot pedal mechanism 13 is controlled to apply pressure to the surface of the pier 14, thus fixing the pier 14. Finally, the foot pedal 31 of the upper telescopic foot pedal mechanism 13 is controlled to release the pier 14. The telescopic rod of the upper lifting mechanism 12 extends, and after the upper climbing ring 11 moves upward to its travel range, the foot pedal 31 of the upper telescopic foot pedal mechanism 13 is controlled to apply pressure to the surface of the pier 14, thus fixing the pier 14. This cycle repeats, enabling the climbing upward along the pier 14.

[0118] During the descent, the three-layer climbing rings are alternately fixed and moved on the pier 14 under the coordinated action of the telescopic foot pedal mechanism 13 and the lifting mechanism 12, thus enabling the downward climbing along the pier 14.

[0119] This method improves the fault tolerance of the pier climbing robot, thereby enhancing operational safety.

[0120] In the aforementioned climbing maintenance robot solution, the robot also collaboratively performs film covering and spraying maintenance operations during the climbing process.

[0121] For maintenance organizations using the two types of climbing maintenance robots, refer to Figure 4 The transmission assembly provided in this embodiment includes a gear 41 and an external gear ring 42. The external gear ring 42 is mounted on the support ring 7. The gear 41 meshes with the external gear ring 42. The gear 41 is powered by the drive mechanism 3.

[0122] Optionally, the drive mechanism 3 is a geared motor, which drives the gear 41 via the motor and reducer, and the gear 41 drives the external gear ring 42 to rotate, thereby driving the support ring 7 to rotate under the support and limit of the roller assembly 9. The drive mechanism 3 adopts an integrated design of motor and reducer, which is compact, has low vibration, low energy consumption, and has the advantages of achieving spiral winding of the curing film, uniform coverage, and no air bubbles.

[0123] Membrane roll mechanism 1 is existing technology, mainly used to fix the curing membrane. It contains bearings, which allow the curing membrane roll to rotate smoothly, pulling out the curing membrane. (See reference) Figure 5 In the initial stage of film covering, one end of the curing film is fixed to the film-guiding rod 2. Therefore, when the support ring 7 is driven to rotate by the external gear ring 42, the film rolling mechanism 1 also rotates, and the curing film is pulled open. When the film rolling mechanism 1 rotates around the pier 14, the curing film is wrapped around the pier 14. The film-guiding rod 2 is fixed by the clamping mechanism 10 (e.g., pneumatic gripper). After the curing film has been wrapped around once, the film rolling mechanism 1 passes around the film-guiding rod 2, and the film-guiding rod 2 is covered and fixed by the curing film. After the pneumatic gripper releases the film-guiding rod 2, the spiral winding of the curing film is completed during the synchronous up and down movement of the climbing ring 11 until the film covering is completed.

[0124] To accommodate the maintenance work of different pier columns 14, the clamping mechanism 10 is installed on a linear mechanism that can drive the clamping mechanism 10 to reciprocate, and the linear mechanism is installed on the bracket 8.

[0125] Furthermore, referring to Figure 5 and Figure 6 The telescopic mechanism 6 is a rack and pinion structure, a cylinder, or an electric push rod. The spray assembly 5 includes a positioning rod 51, a soft water pipe 52, and a support plate 53; the positioning rod 51 is installed on the support plate 53, and the soft water pipe 52 is fixed to the support plate 53 and supported on the bracket 8. The rack, piston rod of the cylinder, or telescopic rod of the electric push rod of the telescopic mechanism 6 is connected to a vertically arranged push plate 61, and the support plate 53 is horizontally arranged. The push plate 61 and the support plate 53 are interlocked in a cross shape through their respective grooves.

[0126] The two grooves intersect in a cross shape, allowing the push plate to be pushed forward by a rack, piston rod, or telescopic rod without affecting the retraction of the rack, piston rod, or telescopic rod. This allows the soft water pipe 52 to remain on the pier 14 for immediate spraying operations. The positioning rod 51 is used to secure the soft water pipe 52 to the pier 14 with a curing membrane after it approaches the pier 14, preventing it from falling off due to gravity. In this way, the entire spraying assembly 5 is fixed to the pier 14.

[0127] Furthermore, referring to Figure 7 and Figure 8 The roller assembly 9 includes a vertical positioning assembly 91;

[0128] The vertical positioning assembly 91 includes a roller bearing bracket A912, a bearing A913, and a roller shaft A914; the roller bearing bracket A912 is fixed to the climbing ring 11, the bearing A913 is rotatably mounted on the horizontally arranged roller shaft A914, the roller shaft A914 is mounted on the roller bearing bracket A912, and the lower surface of the inner edge of the support ring 7 contacts the outer ring surface of the bearing A913.

[0129] Here, it is further specified that there is a limiting rotatable ball at the top of the roller bearing bracket 912, and the inner edge of the upper surface of the support ring 7 is in contact with the surface of the limiting rotatable ball. With this configuration, the support ring 7 is limited in the vertical direction by the bearing 913 and the limiting rotatable ball, so as to achieve smooth vibration rotation and improve the coating efficiency.

[0130] And / or the roller assembly 9 includes a radial positioning assembly 92;

[0131] The radial positioning component 92 includes a roller bearing bracket B922, a bearing B923, and a roller shaft B924. The roller bearing bracket B922 is fixed to the climbing ring 11. The bearing B923 is rotatably mounted on the vertically arranged roller shaft B924. The roller shaft B924 is mounted on the roller bearing bracket B922. The inner end face of the inner edge of the support ring 7 contacts the outer ring surface of the bearing B923. By restricting the position of the support ring 7 in the radial direction and cooperating with the vertical positioning component 91, reliable and safe full-circumference rotation and smooth up-and-down movement of the support ring 7 are achieved. This ensures that the film roll mechanism 1 does not wobble, and that the curing film spirally winds along with the vertical movement of the climbing ring 11, resulting in uniform coverage without air bubbles and improving the coating effect.

[0132] Reference Figure 11 During the climbing process of the climbing mechanism climbing the pier, the membrane curing process is as follows: First, based on the vertical climbing motion of the aforementioned climbing ring 11, the curing mechanism moves upward with the climbing ring 11. When the curing mechanism moves upward to the top of the pier 14, the telescopic mechanism 6 controls the spraying assembly 5 to retract onto the pier 14, the positioning rod 51 abuts against the outer surface of the pier 14, the soft water pipe 52 is placed on the top of the pier 14, and the drive mechanism 3 drives the transmission assembly 4 to rotate the support ring 7. The membrane roll mechanism 1 also rotates synchronously, and the curing membrane is stretched. When the membrane roll mechanism 1 rotates around the pier 14, the curing membrane is wrapped around the pier 14, and the membrane guide rod 2 is fixed by the clamping mechanism 10. After the curing membrane has been wrapped around once, the membrane roll mechanism 1 passes around the membrane guide rod 2 and the positioning rod 51. The membrane guide rod 1 and the positioning rod 51 are covered and fixed by the curing membrane. The clamping mechanism 10 is controlled to release and loosen the membrane guide rod 2, and the telescopic mechanism 6 is controlled to retract. With the climbing ring 1 moving vertically in sync, the membrane roll mechanism 1 moves to spirally wrap the curing membrane around the outer surface of the pier 14 until the membrane covering is completed.

[0133] Since the spraying component 5 is positioned and the soft water pipe 52 is fixed to the top of the pier 14, when watering is required regularly, water is injected into the soft water pipe 52, and water is scattered from the top of the pier 14 to the outer surface of the pier 14 to achieve spraying maintenance.

[0134] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention, and such modifications or alterations shall still fall within the scope of the present invention.

Claims

1. A column climbing and maintenance robot, characterized in that: Includes an integrated climbing mechanism and maintenance mechanism; The climbing mechanism includes: The climbing ring (11) is set in two layers to support the lifting mechanism (12) and the telescopic foot pedal mechanism (13); The lifting mechanism (12) has M units vertically installed on the double-layer climbing ring, M≥2, with its fixed part installed on the lower climbing ring (11) and its movable part installed on the upper climbing ring (11); The telescopic foot pedal mechanism (13) has N units evenly distributed radially on each climbing ring, where N≥2, and is used to fix the pier (14) or release the pier (14). By controlling the telescopic foot pedal mechanism (13) and the lifting mechanism (12), the double climbing rings are alternately fixed and moved. The maintenance mechanism includes a membrane roll mechanism (1), a membrane guide rod (2), a drive mechanism (3), a transmission assembly (4), a spray assembly (5), a telescopic mechanism (6), a support ring (7), a bracket (8), a support roller assembly (9), and a clamping mechanism (10). The roller assembly (9) is installed on the upper climbing ring (11) to support and limit the support ring (7); The support ring (7) supports the film roll mechanism (1) and is driven to rotate by the transmission assembly (4); The film guide rod (2) is connected to the film roll mechanism (1) through the curing film; The transmission component (4) is driven by the drive mechanism (3) to move; The drive mechanism (3) is installed on the upper climbing ring (11); The clamping mechanism (10) is mounted on the bracket (8) for clamping and releasing the membrane guide rod (2); The spray assembly (5) is mounted on the output end of the telescopic mechanism (6) and the bracket (8); The telescopic mechanism (6) is mounted on the bracket (8) and is used to drive the spray assembly (5); The bracket (8) is connected to the drive mechanism (3).

2. A column climbing and maintenance robot, characterized in that: Includes an integrated climbing mechanism and maintenance mechanism; The climbing mechanism includes: The climbing ring (11) is set to have three or more layers to support the lifting mechanism (12) and the telescopic foot pedal mechanism (13); The lifting mechanism (12) has M units evenly distributed vertically on the climbing rings of two adjacent layers, M≥2. Its fixed part is installed on the climbing ring of the lower layer of the adjacent layer, and its movable part is installed on the climbing ring (11) of the upper layer of the adjacent layer. Telescopic foot pedal mechanism (13) is evenly distributed in the radial direction on each climbing ring, N≥2, used to fix the pier (14) or release the pier (14). By controlling the telescopic foot pedal mechanism (13) and the lifting mechanism (12), the multi-layer climbing ring is alternately fixed and moved on the pier (14); The maintenance mechanism includes a membrane roll mechanism (1), a membrane guide rod (2), a drive mechanism (3), a transmission assembly (4), a spray assembly (5), a telescopic mechanism (6), a support ring (7), a bracket (8), a support roller assembly (9), and a clamping mechanism (10). The roller assembly (9) is installed on the uppermost climbing ring (11) to support and limit the support ring (7); The support ring (7) supports the film roll mechanism (1) and is driven to rotate by the transmission assembly (4); The film guide rod (2) is connected to the film roll mechanism (1) through the curing film; The transmission component (4) is driven by the drive mechanism (3) to move; The drive mechanism (3) is installed on the upper climbing ring (11); The clamping mechanism (10) is mounted on the bracket (8) for clamping and releasing the membrane guide rod (2); The spray assembly (5) is mounted on the output end of the telescopic mechanism (6) and the bracket (8); The telescopic mechanism (6) is mounted on the bracket (8) and is used to drive the spray assembly (5); The bracket (8) is connected to the drive mechanism (3).

3. The pier climbing and maintenance robot according to claim 1 or 2, characterized in that: The lifting mechanism (12) is an electric cylinder, an electric push rod, or a pneumatic cylinder; the telescopic foot pedal mechanism (13) includes a foot pedal (31) and a linear drive mechanism (32). The foot pedal (31) is installed on the movable part of the linear drive mechanism (32), and the fixed part of the linear drive mechanism (32) is installed on the climbing ring (11). The foot pedal (31) has a contact surface that matches the outer side of the pier.

4. The column climbing and maintenance robot according to claim 1 or 2, characterized in that: The drive mechanism (3) is a geared motor, and the transmission component (4) includes a gear (41) and an external gear ring (42). The gear (41) is installed at the output end of the geared motor, and the external gear ring (42) is installed on the support ring (7). The gear (41) meshes with the external gear ring (42).

5. A pier climbing and maintenance robot according to claim 1 or 2, characterized in that: The clamping mechanism (10) is a pneumatic gripper.

6. The column climbing and maintenance robot according to claim 1 or 2, characterized in that: The telescopic mechanism (6) is a gear and rack structure, a cylinder, or an electric push rod.

7. A pier climbing and maintenance robot according to claim 1 or 2, characterized in that: The spray assembly (5) includes a positioning rod (51), a soft water pipe (52) and a support plate (53); the positioning rod (51) is installed on the support plate (53), and the soft water pipe (52) is fixed to the support plate (53) and erected on the bracket (8).

8. The pier climbing and maintenance robot according to claim 7, characterized in that: The output end of the telescopic mechanism (6) is connected to a vertically arranged push plate (61), and the support plate (53) is horizontally arranged. The push plate (61) and the support plate (53) are connected in a cross-shaped manner through their respective grooves.

9. A pier climbing and maintenance robot according to claim 1 or 2, characterized in that: The roller assembly (9) includes a vertical positioning assembly (91); The vertical positioning assembly (91) includes a roller bearing bracket A (912), a bearing A (913), and a roller shaft A (914); the roller bearing bracket A (912) is fixed to the climbing ring (11), the bearing A (913) is rotatably mounted on the horizontally arranged roller shaft A (914), the roller shaft A (914) is mounted on the roller bearing bracket A (912), and the lower surface of the inner edge of the support ring (7) contacts the outer ring surface of the bearing A (913).

10. The pier climbing and maintenance robot according to claim 9, characterized in that: The roller assembly (9) includes a radial positioning assembly (92); The radial positioning assembly (92) includes a roller bearing bracket B (922), a bearing B (923), and a roller shaft B (924). The roller bearing bracket B (922) is fixed to the climbing ring (11). The bearing B (923) is rotatably mounted on the vertically arranged roller shaft B (924). The roller shaft B (924) is mounted on the roller bearing bracket B (922). The inner end face of the inner edge of the support ring (7) contacts the outer ring surface of the bearing B (923).

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