CN118029286B - Manipulator for suspension bridge construction - Google Patents
Manipulator for suspension bridge construction Download PDFInfo
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- CN118029286B CN118029286B CN202410435012.0A CN202410435012A CN118029286B CN 118029286 B CN118029286 B CN 118029286B CN 202410435012 A CN202410435012 A CN 202410435012A CN 118029286 B CN118029286 B CN 118029286B
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- 239000000725 suspension Substances 0.000 title claims abstract description 44
- 238000010276 construction Methods 0.000 title claims abstract description 24
- 230000009194 climbing Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000006835 compression Effects 0.000 claims description 35
- 238000007906 compression Methods 0.000 claims description 35
- 239000004020 conductor Substances 0.000 claims description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 229910052742 iron Inorganic materials 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 description 38
- 239000010959 steel Substances 0.000 description 38
- 238000003825 pressing Methods 0.000 description 13
- 238000009434 installation Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention relates to the technical field of manipulators, and provides a manipulator for construction of a suspension bridge, which is higher in automation degree, more flexible and practical in use, and comprises two movable traction components, a climbing component, a first semi-ring frame and a second semi-ring frame, wherein the first semi-ring frame is fixedly connected with an inner arc-shaped rail and an outer arc-shaped rail, the second semi-ring frame is provided with an inner rail groove and an outer rail groove, the inner arc-shaped rail and the outer arc-shaped rail are respectively connected in the inner rail groove and the outer rail groove, a motor cavity is arranged in the middle of the rear end of the second semi-ring frame, a first servo motor is arranged in the motor cavity, a driving spur gear is arranged on an output shaft of the first servo motor, a semi-toothed ring matched with the driving spur gear is arranged on the outer arc-shaped rail, and a first holding frame and a second holding frame are both connected in a sliding manner in the first semi-ring frame and the second semi-ring frame close to the top side.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator for construction of a suspension bridge.
Background
As is well known, a suspension bridge is a bridge which uses cables suspended and anchored on two sides through cable towers as main bearing members of an upper structure, a plurality of suspenders are suspended from the cables, a stiffening girder is arranged between the bridge deck and the suspenders, a combined system is formed by the suspenders and the cables, deflection deformation caused by load is reduced, modern suspension cables are generally multi-strand high-strength steel wires, and a mechanical arm for suspension bridge construction is an auxiliary device for high-strength steel wire traction construction.
Through searching, the invention patent with the Chinese patent application number of CN201610765599.7 discloses a steel wire tractor, which is roughly described as comprising a body, an adjusting device sleeved on the body, a main traction buckle sleeved at the head end of the body, a movable traction component clamped on the main traction buckle, an auxiliary traction buckle arranged on the body, wherein the auxiliary traction buckle is sleeved in the body and can slide on the body to adjust the position, the movable traction component comprises an upper traction device, a lower traction device hinged with the upper traction device, the upper traction device comprises a left support rod, a right support rod, a first movable shaft, a second movable shaft and a third movable shaft, the first movable shaft, the second movable shaft and the third movable shaft are transversely arranged between the left support rod and the right support rod, the upper traction device is hinged with the lower traction device through the third movable shaft, and the lower traction device comprises a first support rod, a second support rod, a transverse movable shaft arranged on the first support rod and the second support rod, and a movable hook arranged on the transverse movable shaft.
The technical scheme of the steel wire tractor provided by the prior art has the advantages that the traction can be formed relative to the steel wire required to be drawn, but the high-altitude installation or the transverse installation of the steel wire is required to be realized in the construction process of the suspension bridge in comprehensive consideration, the degree of automation of the whole structure of the technical scheme of the steel wire tractor is low, more manual interference is required, the practicability is poor, moreover, the high-strength steel wire applicable to the suspension bridge is larger in specification, longer in length and larger in weight, and the applicability of the whole structure of the technical scheme of the steel wire tractor provided by the upper section is lower.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides the manipulator for construction of the suspension bridge, which has higher automation degree, less manual intervention, more flexible use and better practicability when realizing the operation of pulling the high-strength steel wire.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the mechanical arm for construction of the suspension bridge comprises two movable traction components and a climbing component, wherein the climbing component comprises a first semi-ring frame and a second semi-ring frame, an inner arc-shaped track and an outer arc-shaped track are fixedly connected to the first semi-ring frame, an inner track groove and an outer track groove are formed in the second semi-ring frame, the inner arc-shaped track and the outer arc-shaped track are respectively connected in the inner track groove and the outer track groove, a motor cavity is formed in the middle of the rear end of the second semi-ring frame, a first servo motor is arranged in the motor cavity, a driving straight gear is arranged on an output shaft of the first servo motor, the outer arc track is provided with a half-toothed ring matched with the driving spur gear, the first servo motor is used for driving and controlling the rotation of the first half-annular frame relative to the second half-annular frame, a first enclasping frame and a second enclasping frame are respectively and slidably connected at the position close to the top side in the first half-annular frame and the position close to the top side in the second half-annular frame, climbing power belts are respectively arranged at the opposite inner sides of the first enclasping frame and the second enclasping frame, synchronous driving structures are respectively arranged in the first half-annular frame and the second half-annular frame, the two first enclasping frames are respectively matched with the two synchronous driving structures, the two second enclasping frames are also respectively matched with the two synchronous driving structures, the middle part of one side of the second half-annular frame, which is far away from the first half-annular frame, is rotationally connected with an outer hanger, the two movable traction components comprise windlass and traction frames, the windlass is symmetrically arranged on the outer hanging frame, the traction frames are respectively connected with the bottom ends of ropes on the two windlass, the two traction frames are internally and slidably connected with adjusting frames, electric telescopic rods for adjusting and controlling the positions of the adjusting frames are respectively arranged in the two traction frames, a plurality of fixed compression rollers are respectively and rotatably connected with the traction frames, the plurality of fixed compression rollers on the traction frames are positioned on the opposite inner sides of the same sides of the two adjusting frames, the two adjusting frames are respectively and rotatably connected with a plurality of adjusting compression rollers, a plurality of compression grooves are respectively and rotatably arranged on the adjusting compression rollers and the fixed compression rollers, the plurality of pressing grooves are internally provided with flat mouth sections, two traction frames are internally provided with iron blocks, the two iron blocks are respectively positioned at the inner sides of the two traction frames, the outer rack is internally provided with electromagnets, the two synchronous driving structures comprise a first arc-shaped inner rack, a second arc-shaped inner rack and a third servo motor, the two first arc-shaped inner racks are respectively and slidably connected in the first half-ring frame and the second half-ring frame, the first arc-shaped inner rack penetrates through the first holding frame, the two second arc-shaped inner racks are respectively and slidably connected in the first half-ring frame and the second half-ring frame, the second arc-shaped inner rack penetrates through the second holding frame, the two third servo motors are respectively arranged in the first half-ring frame and the second half-ring frame, the two third servo motors are respectively positioned in the first half ring frame and the middle part of the second half ring frame, the output shafts of the two third servo motors are respectively connected with opposite moving gears in a transmission way, the two first arc-shaped inner racks are respectively meshed with the two opposite moving gears, the two second arc-shaped inner racks are respectively meshed with the two opposite moving gears, the opposite moving gears are clamped between the first arc-shaped inner racks and the second arc-shaped inner racks, the two first arc-shaped inner racks are respectively meshed with a first transmission gear, the two first transmission gears are respectively connected in the first half ring frame and the second half ring frame in a rotating way, the first transmission gears are perpendicular to the first arc-shaped inner racks and penetrate through the first holding frame, the two second arc-shaped inner racks are respectively meshed with a second transmission gear, the two second transmission gears are respectively connected in the first semi-circular frame and the second semi-circular frame in a rotating mode, the second transmission gears are perpendicular to the second arc-shaped inner racks and penetrate through the second enclasping frame, the two first enclasping frames are arranged in the right side area and the two second enclasping frames are arranged in the right side area, strip openings are respectively formed in the front side and the rear side of the two first enclasping frames and the two second enclasping frames in a horizontal symmetry mode, the four displacement racks are fixedly connected in the strip openings and meshed with the two first transmission gears and the two second transmission gears respectively.
Preferably, the four climbing power belts all include first auxiliary roller, second auxiliary roller, drive roller and second servo motor, four first auxiliary roller rotates respectively to be connected in two in the first frame and two second frame of enclasping, four second auxiliary roller rotate respectively to be connected in two first frames and two second frames of enclasping, first auxiliary roller, second auxiliary roller are located the both ends of first frame and second frame of enclasping respectively, four the drive roller rotates respectively to be connected in two first frames and two second frames of enclasping respectively, the drive roller is located enclasping outer surface middle part, all sliding connection has enclasping area on four first auxiliary rollers, four enclasping area is located enclasping area, four drive rollers are connected with four second belt transmissions respectively, four second servo motor installs respectively in two first frames of enclasping and two second frames of enclasping, and two second frames of enclasping are located two second frames of enclasping respectively, two second servo motor and are located two sides of two second frames of enclasping respectively and keep away from each other.
Preferably, two electric telescopic rods are provided with hinging parts, the two hinging parts are hinged in the two traction frames respectively, the two hinging parts are located at the upper side of one side, close to each other, of the two traction frames respectively, hook frames are hinged at the bottom end heads of the telescopic rods of the two electric telescopic rods, the two hook frames are respectively and rotatably connected in the two traction frames, strip-shaped openings penetrating through the front side surfaces of the two hook frames in the front and back directions are respectively formed, transmission rods are respectively connected in the strip-shaped openings, the two transmission rods are respectively connected with connecting seats, and the two connecting seats are respectively and fixedly connected with the two adjusting frames.
Preferably, the electromagnet comprises a conductor post which is fixedly connected in the pylon and on which a conductor wire is wound.
Preferably, the front end of the second semi-ring frame is fixedly connected with two limit posts which are bilaterally symmetrical, and the two limit posts are matched with the outer frame.
Preferably, a plurality of weight ports are formed in the fixed pressing rollers and the adjusting pressing rollers, and weight rods are arranged in the weight ports.
One side of the outer hanger, which is far away from the second semi-ring frame, is rotationally connected with a branching block, and the bottom end of the branching block is a gradual change tip.
Preferably, the left end and the right end of one traction frame of the two traction frames are respectively connected with a reverse folding plate frame in a rotating mode, two thread grooves are formed in the other traction frame of the two traction frames, assembly holes are formed in the reverse folding plate frames, and the two assembly holes are matched with the two thread grooves respectively.
(III) beneficial effects
Compared with the prior art, the invention provides the manipulator for construction of the suspension bridge, which has the following beneficial effects:
1. According to the invention, through the design of the climbing assembly, the whole mechanical arm for construction of the suspension bridge is convenient to form installation and position movement relative to the suspension bridge, the high-strength steel wire is convenient to pull in place relative to the suspension bridge, the degree of automation is high, and less manual intervention is required.
2. According to the invention, through the design of the movable traction assembly, the corresponding traction positioning device is formed by matching the high-strength steel wire, so that the traction operation of the high-strength steel wire relative to the suspension bridge is realized, the use is more flexible, and the practicability is better.
Drawings
FIG. 1 is a schematic perspective view of the whole structure of the present invention;
FIG. 2 is a schematic view of a partial enlarged structure of the present invention at A in FIG. 1;
FIG. 3 is a schematic view of a partially sectioned perspective view of the second semi-ring frame, first arcuate inner rack, second arcuate inner rack, etc. of the present invention;
FIG. 4 is a schematic view of a partial enlarged structure at B in FIG. 3 according to the present invention;
FIG. 5 is a schematic exploded perspective view of the second hugging frame, the first auxiliary roller, the second auxiliary roller and the like of the present invention;
FIG. 6 is a schematic view of a partially sectioned perspective view of the first half-ring frame, second half-ring frame, pylon, etc. of the present invention;
FIG. 7 is a schematic view of a partially enlarged structure of the present invention at C in FIG. 6;
FIG. 8 is a schematic view of a partially enlarged structure of the present invention at D in FIG. 6;
FIG. 9 is a schematic perspective view showing the two traction frames of the present invention assembled with each other;
FIG. 10 is a schematic perspective view of the rear side view of the whole of the present invention;
FIG. 11 is a schematic view of a partially cut-away perspective view of the second half-ring frame, the outer hanger frame, the first arcuate inner rack, etc. of the present invention;
FIG. 12 is a schematic view of a partially enlarged construction of the invention at E in FIG. 11;
FIG. 13 is a schematic view showing a perspective view of another angle of the two traction frames of the present invention;
Fig. 14 is a schematic perspective view of the first half ring frame, the inner arc track, the outer arc track and the like.
In the figure: 1. a first half ring frame; 2. a second semi-ring frame; 3. an inner arcuate track; 4. an outer arcuate track; 5. a first clasping frame; 6. a second holding frame; 7. an outer hanger; 8. a traction frame; 9. an adjusting frame; 10. fixing a compression roller; 11. adjusting a press roller; 12. a compaction groove; 13. a flat section; 14. iron blocks; 15. a first auxiliary roller; 16. a second auxiliary roller; 17. a driving roller; 18. tightly holding the belt; 19. a first arcuate inner rack; 20. a second arcuate inner rack; 21. a shift gear; 22. a first transmission gear; 23. a second transmission gear; 24. a displacement rack; 25. a hinge; 26. a hook rack; 27. a transmission rod; 28. a connecting seat; 29. driving a spur gear; 30. a half-toothed ring; 31. a conductor post; 32. a conductor wire; 33. a limit column; 34. a weight bar; 35. a branching block; 36. reverse folding plate frame; 37. a thread groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to fig. 1-14, a mechanical arm for construction of a suspension bridge comprises two movable traction components and a climbing component, wherein the climbing component comprises a first half ring frame 1 and a second half ring frame 2, an inner arc track 3 and an outer arc track 4 are fixedly connected on the first half ring frame 1, an inner track groove and an outer track groove are arranged on the second half ring frame 2, the inner arc track 3 and the outer arc track 4 are respectively connected in the inner track groove and the outer track groove, a motor cavity is arranged in the middle of the rear end of the second half ring frame 2, a first servo motor is arranged in the motor cavity, a driving spur gear 29 is arranged on an output shaft of the first servo motor, a half tooth ring 30 matched with the driving spur gear 29 is arranged on the outer arc track 4, the first servo motor is used for driving and controlling the rotation of the first half ring frame 1 relative to the second half ring frame 2, the first enclasping frame 5 and the second enclasping frame 6 are slidably connected at the position close to the top side in the first half annular frame 1 and the position close to the top side in the second half annular frame 2, climbing power belts are respectively arranged at the opposite inner sides of the two first enclasping frames 5 and the two second enclasping frames 6, the four climbing power belts comprise a first auxiliary roller 15, a second auxiliary roller 16, a driving roller 17 and a second servo motor, the four first auxiliary rollers 15 are respectively and rotatably connected in the two first enclasping frames 5 and the two second enclasping frames 6, the four second auxiliary rollers 16 are respectively and rotatably connected in the two first enclasping frames 5 and the two second enclasping frames 6, the first auxiliary roller 15 and the second auxiliary roller 16 are respectively positioned at two ends of the first enclasping frames 5 and the second enclasping frames 6, the four driving rollers 17 are respectively and rotatably connected in the two first enclasping frames 5 and the two second enclasping frames 6, the driving roller 17 is positioned in the middle of the outer surface of the enclasping belt 18, the four first auxiliary rollers 15 are respectively and slidably connected with the enclasping belts 18, the four enclasping belts 18 are respectively and slidably connected with the four second auxiliary rollers 16, the first auxiliary rollers 15 and the second auxiliary rollers 16 are positioned in the enclasping belts 18, the four driving rollers 17 are respectively and drivingly connected with the four enclasping belts 18, the four second servo motors are respectively arranged in the two first enclasping frames 5 and the two second enclasping frames 6, the four second servo motors are respectively positioned in the middle parts of the side, away from each other, of the enclasping belts 18 of the two first enclasping frames 5 and the two second enclasping frames 6, the four second servo motors are respectively and drivingly connected with the four driving rollers 17, and through the design of a climbing assembly, the whole mechanical arm for construction of a suspension bridge is convenient to form installation and position movement relative to the suspension bridge, the traction of a high-strength steel wire is in place relative to the suspension bridge, the degree of automation is higher, and manual intervention is less.
It should be further noted that, the first semi-ring frame 1 and the second semi-ring frame 2 are respectively provided with a synchronous driving structure, the two first holding frames 5 are respectively matched with the two synchronous driving structures, the two second holding frames 6 are respectively matched with the two synchronous driving structures, the two synchronous driving structures comprise a first arc-shaped inner rack 19, a second arc-shaped inner rack 20 and a third servo motor, the two first arc-shaped inner racks 19 are respectively connected in the first semi-ring frame 1 and the second semi-ring frame 2 in a sliding manner, the first arc-shaped inner rack 19 penetrates through the first holding frames 5, the two second arc-shaped inner racks 20 are respectively connected in the first semi-ring frame 1 and the second semi-ring frame 2 in a sliding manner, the second arc-shaped inner rack 20 penetrates through the second holding frames 6, the two third servo motors are respectively arranged in the first semi-ring frame 1 and the second semi-ring frame 2, the two third servo motors are respectively positioned in the middle parts of the first semi-circular frame 1 and the second semi-circular frame 2, the output shafts of the two third servo motors are respectively connected with a counter gear 21 in a transmission way, the two first arc-shaped inner racks 19 are respectively meshed with the two counter gears 21, the two second arc-shaped inner racks 20 are respectively meshed with the two counter gears 21, the counter gears 21 are clamped between the first arc-shaped inner racks 19 and the second arc-shaped inner racks 20, the two first arc-shaped inner racks 19 are respectively meshed with a first transmission gear 22, the two first transmission gears 22 are respectively connected in the first semi-circular frame 1 and the second semi-circular frame 2 in a rotating way, the first transmission gears 22 are perpendicular to the first arc-shaped inner racks 19 and penetrate through the first holding frame 5, the two second arc-shaped inner racks 20 are respectively meshed with a second transmission gear 23, the two second transmission gears 23 are respectively connected in the first semi-circular frame 1 and the second semi-circular frame 2 in a rotating way, the second transmission gear 23 is perpendicular to the second arc-shaped inner rack 20 and penetrates through the second enclasping frame 6, strip openings are formed in the area, close to the right, inside the two first enclasping frames 5 and the area, close to the right, inside the two second enclasping frames 6, strip openings are formed in the front side and the rear side of the two first enclasping frames 5 and the two second enclasping frames 6 and are horizontally and symmetrically formed, the four strip openings are fixedly connected with displacement racks 24, the four displacement racks 24 are meshed with the two first transmission gears 22 and the two second transmission gears 23 respectively, and synchronous driving and control of the first enclasping frames 5 and the second enclasping frames 6 which correspond to each other can be realized.
The middle part of one side of the second semi-ring frame 2 far away from the first semi-ring frame 1 is rotationally connected with a hanging frame 7, the front end of the second semi-ring frame 2 is fixedly connected with two limit posts 33 which are bilaterally symmetrical, the two limit posts 33 are matched with the hanging frame 7, the two movable traction components comprise windlass and traction frames 8, the two windlass are symmetrically arranged on the hanging frame 7, the two traction frames 8 are respectively connected with the bottom ends of ropes on the two windlass, the two traction frames 8 are respectively connected with an adjusting frame 9 in a sliding manner, the two traction frames 8 are respectively internally provided with an electric telescopic rod for adjusting and controlling the position of the adjusting frame 9, the two electric telescopic rods are respectively provided with a hinge part 25, the two hinge parts 25 are respectively hinged in the two traction frames 8, the two hinge parts 25 are respectively positioned at the upper side positions of one sides of the two traction frames 8 which are mutually close to each other, the bottom end heads of the telescopic rods of the two electric telescopic rods are hinged with hook frames 26, the two hook frames 26 are respectively and rotatably connected in the two traction frames 8, the front side surfaces of the two hook frames 26 are respectively provided with strip-shaped openings penetrating front and back, the two strip-shaped openings are respectively connected with transmission rods 27, the two transmission rods 27 are respectively connected with connecting seats 28, the two connecting seats 28 are respectively and fixedly connected with the two regulation frames 9, the two traction frames 8 are respectively and rotatably connected with a plurality of fixed compression rollers 10, the plurality of fixed compression rollers 10 on the two traction frames 8 are positioned on the same side of the two regulation frames 9 and are respectively and rotatably connected with a plurality of regulation compression rollers 11, the plurality of regulation compression rollers 11 and the plurality of fixed compression rollers 10 are respectively provided with compression grooves 12, the plurality of compression grooves 12 are respectively internally provided with flat opening sections 13, the plurality of fixed compression rollers 10 and the plurality of regulation compression rollers 11 are respectively provided with counterweight holes, the counterweight rods 34 are arranged in the counterweight holes, the standing state of the flat port section 13 is ensured, the iron blocks 14 are arranged on the two traction frames 8, the two iron blocks 14 are respectively positioned on the opposite inner sides of the two traction frames 8, the electromagnet is arranged in the outer frame 7 and comprises a conductor column 31, the conductor column 31 is fixedly connected in the outer frame 7, the conductor column 31 is wound with a conductor wire 32, the movable traction assembly is designed, the corresponding traction positioning device is formed by matching high-strength steel wires, so that the traction operation of the high-strength steel wires relative to a suspension bridge is realized, the use is more flexible, the practicability is better, the branching block 35 is rotationally connected to one side, far away from the second half-ring frame 2, of the outer frame 7, the bottom end of the branching block 35 is gradually changed, the left end and the right end of one traction frame 8 of the two traction frames 8 are rotationally connected with the reverse-folded plate frame 36, the other traction frame 8 is provided with the two thread grooves 37, and the two reverse-folded plate frames 36 are respectively provided with the two thread grooves 37, and the two high-strength steel wires can be matched with the two thread frame 37, so that the large-strength steel wires can be used for realizing the traction of the large-quality combination.
The first servo motor, the electric telescopic rod, the second servo motor and the third servo motor in the embodiment are all conventional equipment which is purchased in the market and is known to those skilled in the art, the corresponding model can be selected or customized according to actual needs, the first servo motor, the electric telescopic rod, the second servo motor and the third servo motor are used in the patent, the structure and the function of the first servo motor are not improved, the setting mode, the installation mode and the electric connection mode of the first servo motor, the second servo motor and the third servo motor are only required to be debugged according to the use specification of the first servo motor, and the second servo motor and the third servo motor are not repeated.
In summary, the working process of the manipulator for construction of the suspension bridge is that, when in use, the conductor wire 32, the first servo motor, the electric telescopic rod, the second servo motor and the third servo motor in the manipulator for construction of the suspension bridge are matched with power supply sources, in the operation process, the first half ring frame 1 and the second half ring frame 2 are firstly adjusted to the state shown in the attached figure 1 through the working of the first servo motor, the mutual separation of the two first holding frames 5 relative to the two second holding frames 6 is respectively realized through the working of the two third servo motors, then the climbing assembly is installed at the position which can enter relative to the vicinity of the position where the high-strength steel wire needs to be assembled on the suspension bridge, namely, the first half ring frame 1 and the second half ring frame 2 in the state shown in the attached figure 1 are sleeved at the position of the corresponding suspension bridge, then, the two third servo motors are used, the relative positions of the two first enclasping frames 5 relative to the two second enclasping frames 6 are respectively closed until the four enclasping belts 18 are contacted with the suspension bridge and form certain mutual pressing force, the process of the relative movement of the first enclasping frames 5 and the second enclasping frames 6 which are mutually matched is realized by the third servo motor, the rotation driving of the corresponding opposite shift gears 21 is realized by the work of the third servo motor, the relative movement of the relative first enclasping frames 5 and the relative second enclasping frames 6 is realized under the linkage action of the first arc-shaped inner racks 19, the second arc-shaped inner racks 20, the first transmission gears 22, the second transmission gears 23 and the displacement racks 24, the rolling driving of the corresponding enclasping belts 18 is realized after that, the whole advancing displacement of the first half-ring frame 1 and the second half-ring frame 2 relative to the suspension bridge is formed, and in the advancing process, the clamping belts 18 on the first half ring frame 1 and the second half ring frame 2 can alternately clamp relative to the suspension bridge and pass over the barrier relative to the suspension bridge through the collocation motions of the first servo motor, the second servo motor and the third servo motor, when the whole climbing assembly moves to a proper position relative to the suspension bridge, the two winches work to realize the release of ropes in the climbing assembly, and the winches realize the parking after the height of the traction frame 8 is reduced to be convenient for positioning and installing high-strength steel wires.
Further, the electric telescopic rod is controlled to work so as to realize the relative distance between the fixed compression roller 10 and the adjusting compression roller 11 which are mutually matched, the high-strength steel wire is inserted into the area between the fixed compression roller 10 and the adjusting compression roller 11 which are mutually far away from each other, the high-strength steel wire is enabled to pass through the area between the fixed compression rollers 10 and the adjusting compression roller 11 and then is rich in a length of the high-strength steel wire, then the electric telescopic rod works again, the adjusting compression rollers 11 are controlled to form relative position approaching to the corresponding fixed compression rollers 10 to form compaction on the high-strength steel wire, the compacted and positioned high-strength steel wire is embedded into the flat opening section 13, then a winch works, the recovery of a rope can be realized, the traction lifting of the high-strength steel wire is achieved, when the high-strength steel wire is lifted, due to the gravity of the self-strength steel wire, the relative rotation trend of the corresponding fixed compression roller 10 and the adjusting compression roller 11 is caused, due to the arrangement of the flat mouth section 13 and the pressing groove 12, under the action of the relative rotation trend between the fixed pressing roller 10 and the adjusting pressing roller 11, the contact part between the pressing groove 12 and the flat mouth section 13 can realize further pressing and positioning of the high-strength steel wire so as to ensure the reliability of clamping and positioning of the high-strength steel wire between the fixed pressing roller 10 and the adjusting pressing roller 11, when the high-strength steel wire is pulled to a proper height, namely, when the high-strength steel wire approaches to the clasping point of the climbing assembly on the suspension bridge, the conductor wire 32 is electrified to cooperate with the conductor column 31 to form a magnetic attraction effect on the iron block 14 so as to ensure the auxiliary limit of the rotation freedom degree of the corresponding traction frame 8, and as the high-strength steel wire passes through the areas between the fixed pressing rollers 10 and the adjusting pressing roller 11 and is rich in a certain length, the rich high-strength steel wire is matched with the suspension bridge to form relative installation, after the high-strength steel wire is installed, the electric telescopic rod controls the adjusting press roll 11 to be far away from the fixed press roll 10, so that the effect of compressing and positioning the high-strength steel wire is disabled, then the winch is operated again to realize the lifting and use of the next high-strength steel wire relative to the suspension bridge, when the high-strength steel wire is pulled and lifted, namely, the climbing assembly is positioned to stay for the suspension bridge, the second half-ring frame 2 is controlled to form rotation adjustment relative to the first half-ring frame 1 through the working of the first servo motor, so that the first half-ring frame 1 and the second half-ring frame 2 can encircle the corresponding part of the suspension bridge in a larger range, the stable clamping of the whole climbing assembly on the suspension bridge is improved, the electric power supply of the conductor wire 32, the first servo motor, the electric telescopic rod, the second servo motor and the third servo motor can be powered by adopting a mode of built-in storage batteries or external guide wires according to practical conditions, and the remote wireless control terminal can be matched with the power-on state and operation control of the conductor wire 32, the first servo motor, the electric telescopic rod, the second servo motor and the third servo motor.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The mechanical arm for construction of the suspension bridge comprises two movable traction components and is characterized by further comprising a climbing component, wherein the climbing component comprises a first half ring frame (1) and a second half ring frame (2), an inner arc-shaped rail (3) and an outer arc-shaped rail (4) are fixedly connected to the first half ring frame (1), an inner rail groove and an outer rail groove are formed in the second half ring frame (2), the inner arc-shaped rail (3) and the outer arc-shaped rail (4) are respectively connected to the inner rail groove and the outer rail groove, a motor cavity is formed in the middle of the rear end of the second half ring frame (2), a first servo motor is installed in the motor cavity, a driving spur gear (29) is installed on an output shaft of the first servo motor, the outer arc track (4) is provided with a half-toothed ring (30) matched with a driving spur gear (29), the first servo motor is used for driving and controlling the rotation of the first half-annular frame (1) relative to the second half-annular frame (2), a first enclasping frame (5) and a second enclasping frame (6) are connected in the first half-annular frame (1) and the second half-annular frame (2) close to the top side in a sliding manner, climbing power belts are arranged on the opposite inner sides of the first enclasping frame (5) and the second enclasping frame (6), synchronous driving structures are arranged in the first half-annular frame (1) and the second half-annular frame (2), the two first enclasping frames (5) are matched with the two synchronous driving structures respectively, the two second enclasping frames (6) are also respectively matched with two synchronous driving structures, the middle part of one side of the second half ring frame (2) far away from the first half ring frame (1) is rotationally connected with an outer hanging frame (7), the two movable traction components respectively comprise a winch and a traction frame (8), the two winches are symmetrically arranged on the outer hanging frame (7), the two traction frames (8) are respectively connected with the bottom ends of ropes on the two winches, the two traction frames (8) are respectively connected with an adjusting frame (9) in a sliding manner, the two traction frames (8) are respectively internally provided with an electric telescopic rod for adjusting and controlling the position of the adjusting frame (9), the two traction frames (8) are respectively rotationally connected with a plurality of fixed compression rollers (10), the two fixed compression rollers (10) on the traction frames (8) are located on the inner opposite sides of the same sides of the two adjusting frames (9), the two adjusting frames (9) are respectively connected with the plurality of adjusting compression rollers (11) in a rotating mode, the plurality of adjusting compression rollers (11) and the plurality of fixed compression rollers (10) are respectively provided with a compression groove (12), the plurality of compression grooves (12) are internally provided with flat opening sections (13), the two traction frames (8) are respectively provided with an iron block (14), the two iron blocks (14) are respectively located on the inner opposite sides of the two traction frames (8), the outer hanging frames (7) are internally provided with electromagnets, and the two synchronous driving structures comprise first arc-shaped inner racks (19), The second arc-shaped inner racks (20) and the third servo motors are respectively connected in the first half ring frame (1) and the second half ring frame (2) in a sliding mode, the first arc-shaped inner racks (19) penetrate through the first holding frame (5), the second arc-shaped inner racks (20) are respectively connected in the first half ring frame (1) and the second half ring frame (2) in a sliding mode, the second arc-shaped inner racks (20) penetrate through the second holding frame (6), the two third servo motors are respectively arranged in the first half ring frame (1) and the second half ring frame (2), the two third servo motors are respectively arranged in the middle portions of the first half ring frame (1) and the second half ring frame (2), the output shafts of the two third servo motors are respectively connected with a pair of moving gears (21), two first arc-shaped inner racks (19) are respectively meshed with the two pair of moving gears (21), two second arc-shaped inner racks (20) are respectively meshed with the two pair of moving gears (21), the pair of moving gears (21) are clamped between the first arc-shaped inner racks (19) and the second arc-shaped inner racks (20), the two first arc-shaped inner racks (19) are respectively meshed with a first transmission gear (22), the two first transmission gears (22) are respectively connected in the first semi-circular frame (1) and the second semi-circular frame (2) in a rotating way, the first transmission gears (22) are perpendicular to the first arc-shaped inner racks (19) and penetrate through the first holding frame (5), the two second arc-shaped inner racks (20) are meshed with second transmission gears (23), the two second transmission gears (23) are respectively and rotatably connected in the first semi-circular frame (1) and the second semi-circular frame (2), the second transmission gears (23) are perpendicular to the second arc-shaped inner racks (20) and penetrate through the second holding frames (6), the two first holding frames (5) are internally provided with strip openings in the areas close to the right side and the two second holding frames (6) are internally provided with strip openings in the areas close to the right side, the strip openings are positioned on the front side and the rear side of the two first holding frames (5) and the two second holding frames (6) and are horizontally and symmetrically provided, the four strip openings are internally fixedly connected with displacement racks (24), the four displacement racks (24) are respectively meshed with two first transmission gears (22) and two second transmission gears (23).
2. The mechanical arm for construction of a suspension bridge according to claim 1, wherein the four climbing power belts comprise a first auxiliary roller (15), a second auxiliary roller (16), a driving roller (17) and a second servo motor, the four first auxiliary rollers (15) are respectively and rotatably connected in the two first enclasping frames (5) and the two second enclasping frames (6), the four second auxiliary rollers (16) are respectively and rotatably connected in the two first enclasping frames (5) and the two second enclasping frames (6), the first auxiliary roller (15) and the second auxiliary roller (16) are respectively positioned at two ends of the first enclasping frames (5) and the second enclasping frames (6), the four driving rollers (17) are respectively and rotatably connected in the two first enclasping frames (5) and the two second enclasping frames (6), the driving roller (17) is positioned in the middle of the outer surface of a enclasping belt (18), the four first auxiliary rollers (15) are respectively and rotatably connected in the two first enclasping frames (5) and the two second enclasping frames (6), the four first auxiliary rollers (16) are respectively connected with the four auxiliary rollers (18) in the four second enclasping frames (18) in a transmission way, the four auxiliary rollers (18) are respectively connected in the two second enclasping frames (18) respectively, the four second servo motors are respectively positioned in the middle of one side, away from each other, of the enclasping belts (18) of the two first enclasping frames (5) and the two second enclasping frames (6), and are respectively connected with the four driving rollers (17) in a transmission way.
3. The manipulator for construction of a suspension bridge according to claim 2, characterized in that two electric telescopic rods are provided with hinging pieces (25), the two hinging pieces (25) are hinged in the two traction frames (8) respectively, the two hinging pieces (25) are located at the upper side positions of one sides of the two traction frames (8) which are close to each other respectively, a hook frame (26) is hinged at the bottom end of each telescopic rod of the two electric telescopic rods, the two hook frames (26) are connected in the two traction frames (8) in a rotating way respectively, strip-shaped openings penetrating through the front side surfaces of the two hook frames (26) in the front and back directions are formed in the two strip-shaped openings, transmission rods (27) are connected in the two transmission rods (27), and connecting seats (28) are fixedly connected with the two adjusting frames (9) respectively.
4. A manipulator for construction of suspension bridges according to claim 3, characterized in that the electromagnet comprises a conductor column (31), the conductor column (31) being fixedly connected in the pylon (7), and a conductor wire (32) being wound around the conductor column (31).
5. The manipulator for construction of a suspension bridge according to claim 4, wherein two laterally symmetrical limiting columns (33) are fixedly connected to the front end of the second semi-ring frame (2), and the two limiting columns (33) are matched with the outer hanging frame (7).
6. The manipulator for construction of a suspension bridge according to claim 5, wherein a plurality of weight ports are formed in the fixed compression roller (10) and the adjusting compression roller (11), and weight rods (34) are arranged in the weight ports.
7. The manipulator for construction of a suspension bridge according to claim 6, wherein a branching block (35) is rotatably connected to one side of the outer bracket (7) far away from the second semi-ring bracket (2), and the bottom end of the branching block (35) is a gradual-change pointed-type.
8. The manipulator for construction of a suspension bridge according to claim 7, wherein the left end and the right end of one traction frame (8) of the two traction frames (8) are respectively and rotatably connected with a reverse folding plate frame (36), two thread grooves (37) are formed in the other traction frame (8) of the two traction frames (8), assembly holes are respectively formed in the two reverse folding plate frames (36), and the two assembly holes are respectively matched with the two thread grooves (37).
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| CN202410435012.0A CN118029286B (en) | 2024-04-11 | 2024-04-11 | Manipulator for suspension bridge construction |
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| CN202410435012.0A CN118029286B (en) | 2024-04-11 | 2024-04-11 | Manipulator for suspension bridge construction |
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