CN110578293A - Concrete box girder inspection robot - Google Patents

Concrete box girder inspection robot Download PDF

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Publication number
CN110578293A
CN110578293A CN201910918682.7A CN201910918682A CN110578293A CN 110578293 A CN110578293 A CN 110578293A CN 201910918682 A CN201910918682 A CN 201910918682A CN 110578293 A CN110578293 A CN 110578293A
Authority
CN
China
Prior art keywords
arm
box girder
concrete box
inspection robot
sleeve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910918682.7A
Other languages
Chinese (zh)
Inventor
王波
王梓宇
荆国强
汪正兴
王翔
刘鹏飞
吴肖波
马长飞
伊建军
汪泽洋
周志昆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Railway Major Bridge Engineering Group Co Ltd MBEC
China Railway Bridge Science Research Institute Ltd
Original Assignee
China Railway Major Bridge Engineering Group Co Ltd MBEC
China Railway Bridge Science Research Institute Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Railway Major Bridge Engineering Group Co Ltd MBEC, China Railway Bridge Science Research Institute Ltd filed Critical China Railway Major Bridge Engineering Group Co Ltd MBEC
Priority to CN201910918682.7A priority Critical patent/CN110578293A/en
Publication of CN110578293A publication Critical patent/CN110578293A/en
Pending legal-status Critical Current

Links

Classifications

    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00Structural or constructional details of bridges
    • E01D19/10Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
    • E01D19/106Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D2/00Bridges characterised by the cross-section of their bearing spanning structure
    • E01D2/04Bridges characterised by the cross-section of their bearing spanning structure of the box-girder type

Abstract

The invention relates to the field of bridge detection, and discloses a concrete box girder inspection robot which comprises a bearing trolley, wherein the bearing trolley comprises a shell, a traveling mechanism and four damping mechanisms, and the shell is connected with the traveling mechanism through the four damping mechanisms. Still include image acquisition device, it sets up on the casing. Still include at least one device of detecting a flaw, it includes folding arm and matrix radar, folding arm one end with the casing rotates to be connected, the other end with the matrix radar rotates to be connected, the matrix radar is used for hugging closely the wall implementation of concrete box girder inner space and detects. The invention can effectively solve the problems of low efficiency and inaccuracy caused by the fact that a folding tool is required to be used for detecting the bridge on the bridge floor and the folding tool is matched with manpower to carry out visual detection in the steel box girder in the prior art.

Description

Concrete box girder inspection robot
Technical Field
The invention relates to the field of bridge detection, in particular to a concrete box girder inspection robot.
Background
the box girder bridge is an important component for the construction of high-speed railway lines. The traditional concrete box girder is easy to have the defects of block falling, exposed ribs, cracks and the like after a period of operation service. The concrete box girder is required for inspection.
at present, the traditional concrete box girder inspection and management and maintenance modes mainly comprise two modes, namely a mode I: the inspection personnel utilize the box girder inner space to walk and advance, reach the pier top of the pier through the manhole at the bottom of the box girder, and stand on the fence at the pier top to inspect the appearance of the box girder. The second method comprises the following steps: the working platform provided by various bridge inspection vehicles on the bridge floor or the comprehensive inspection cross-country vehicle on the ground under the bridge is utilized, and inspectors can inspect all parts of the box girder in an all-round manner.
Although the two inspection methods are the mainstream inspection methods at present, there are many limitations, and the first method has the following main problems: the field diseases are easily leaked and inspected due to large space limitation; the objectivity is poor, and no data support exists; the worker has high working strength. The second method has limitations and restrictions that: railway deck maintenance cars are limited to skylight time; the state of the bridge structure under the dynamic load of the train cannot be observed; the bridge deck or the under-bridge maintenance vehicle is severely restricted by the terrain. The middle part of the high-speed railway box girder is a railway main line, and the flanges on the two remaining sides are provided with a plurality of accessory equipment such as cable troughs, walking plates, electric poles, railings, shielding plates, sound barriers and the like. Utilize bridge floor space operation to detect case roof beam side and bottom, detection device need cross a lot of facilities such as protective screen, railing and electric pole through folding device and just can detect, and not only the degree of difficulty is big, and the risk is higher.
disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a concrete box girder inspection robot which can effectively solve the problem of low efficiency caused by the fact that a folding tool is required to detect a bridge on a bridge floor in the prior art.
in order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
A concrete box girder inspection robot, comprising: the bearing trolley comprises a shell, a travelling mechanism and four damping mechanisms, wherein the shell is connected with the travelling mechanism through the four damping mechanisms; the image acquisition device is arranged on the shell; still include at least one device of detecting a flaw, it includes folding arm and matrix radar, folding arm one end with the casing rotates to be connected, the other end with the matrix radar rotates to be connected, the matrix radar is used for hugging closely the wall implementation of concrete box girder inner space and detects.
On the basis of the above technical solution, each of the shock absorbing mechanisms includes: one end of the damping spring is connected with the travelling mechanism, and the other end of the damping spring is connected with the shell; the outer sleeve is sleeved on the damping spring, one end of the outer sleeve is connected with the traveling mechanism, and the length of the outer sleeve is smaller than that of the outer sleeve.
On the basis of the above technical solution, each of the shock absorbing mechanisms further includes: the permanent magnet is arranged inside the damping spring, and one end of the permanent magnet is connected with the shell; and the damping sleeve is arranged in the damping spring, one end of the outer sleeve is connected with the traveling mechanism, and the other end of the outer sleeve is sleeved at the other end of the permanent magnet.
On the basis of the technical scheme, each folding arm comprises a first arm, a second arm and two first servo motors, the first arm and the second arm are connected through one first servo motor, the other end of the first arm is connected with the shell through one first servo motor, and the second arm is movably connected with the matrix radar.
on the basis of the technical scheme, a first torsion spring is further arranged at the joint of the first arm and the second arm and used for enabling the first arm and the second arm to be in a first set angle when the first arm and the second arm are not subjected to external force.
On the basis of the technical scheme, a torque sensor is arranged at the first torsion spring, and a vibration sensor is arranged on the travelling mechanism.
On the basis of the technical scheme, a second torsion spring is arranged at the joint of the second arm and the matrix radar and used for enabling the second arm and the matrix radar to form a second set angle when not subjected to external force.
On the basis of the technical scheme, each matrix radar is rectangular, and four corners of a detection surface of each matrix radar are respectively provided with a caster wheel.
On the basis of the technical scheme, the travelling mechanism comprises two steering wheels and a steering mechanism, the steering mechanism comprises a second servo motor, a connecting rod and two steering rods, one ends of the two steering rods are respectively connected with the two rotating shafts of the steering wheels in a perpendicular mode, the other ends of the two steering rods are connected with the connecting rod in a perpendicular mode, a rack is arranged on the connecting rod, and the second servo motor is connected with the rack through gear transmission.
On the basis of the technical scheme, the device further comprises a control module and a controller, the bearing trolley, the image acquisition device and the flaw detection device are in signal connection with the control module and receive control signals of the control module, and the controller is in signal connection with the control module and used for sending the control signals to the control module.
Compared with the prior art, the invention has the advantages that: when using this concrete box girder to patrol and examine the robot, patrol and examine the robot with whole concrete box girder and put into the space of the inside relative law of concrete box girder and no debris, gather the surface damage of concrete box girder inner space through image acquisition device, whether there is the concrete crack through matrix radar detection concrete thickness and inside on the device of detecting a flaw, defects such as damaged swell in surface and inside reinforcing bar corrosion defect, thereby avoided must checking the concrete box girder on the bridge floor and cooperate the manual work to carry out visual detection inside the steel box girder, in order to accelerate the detection construction progress.
Drawings
Fig. 1 is a schematic structural diagram of a concrete box girder inspection robot in an embodiment of the invention;
FIG. 2 is a perspective schematic structural view of a concrete box girder inspection robot according to an embodiment of the present invention;
FIG. 3 is a perspective view of a shock absorbing mechanism according to an embodiment of the present invention;
Fig. 4 is an enlarged schematic structural view of a traveling mechanism in an embodiment of the invention.
In the figure: 1. carrying a trolley; 11. a housing; 12. a traveling mechanism; 121. a steering wheel; 1221. a second servo motor; 1222. a connecting rod; 1223. a steering lever; 13. a damping mechanism; 131. a damping spring; 132. an outer sleeve; 133. a permanent magnet; 134. a damping sleeve; 2. an image acquisition device; 21. a camera; 22. a three-axis pan-tilt; 3. a flaw detection device; 31. a folding arm; 311. a first arm; 312. a second arm; 313. a first servo motor; 32. matrix radar.
Detailed Description
the present invention will be described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is a schematic structural diagram of a concrete box girder inspection robot in an embodiment of the invention; fig. 2 is a perspective structural schematic diagram of a concrete box girder inspection robot in the embodiment of the invention. Referring to fig. 1 and 3, an embodiment of the present invention provides a concrete box girder inspection robot, including:
The bearing trolley 1 comprises a shell 11, a travelling mechanism 12 and four damping mechanisms 13, wherein the shell 11 is connected with the travelling mechanism 12 through the four damping mechanisms 13. And the image acquisition device 2 is arranged on the shell 11. And the flaw detection device 3 comprises a folding arm 31 and a matrix radar 32, one end of the folding arm 31 is rotatably connected with the shell 11, the other end of the folding arm is rotatably connected with the matrix radar 32, and the matrix radar 32 is used for closely attaching the wall surface of the inner space of the concrete box girder to carry out detection.
When using this concrete box girder to patrol and examine the robot, patrol and examine the robot with whole concrete box girder and put into the space of the inside relative law of concrete box girder and no debris, gather the inside surface damage of concrete box girder through image acquisition device 2, whether there is the concrete crack through matrix radar 32 detection concrete thickness and inside on the device 3 of detecting a flaw, damaged swell in surface and inside reinforcing bar corrosion defect, thereby avoided among the prior art must inspect the concrete box girder on the bridge floor and cooperate the manual work to carry out visual inspection inside the steel box girder, in order to accelerate the detection construction progress.
In addition, this concrete box girder inspection robot can also utilize its flaw detection device 3 to detect concrete box girder upper portion on the bridge floor, can also align in the construction place of concrete box girder and carry out the detection of two sides to ensure in time to discover whether concrete box girder has concrete crack, surface damage swell and inside reinforcing bar corrosion defect.
In this embodiment, a base station is provided in the inspection area, a data exchanger and a charger are provided in the base station, and the inspection robot can supplement power and exchange data information with the data exchanger when passing through the base station.
The image acquisition device 2 comprises a camera 21 and a three-axis holder 22, wherein the camera 21 is matched with a picture which can be shot more clearly and stably through the three-axis holder 22 and the camera 21 by the three-axis holder 22. The defects and cracks on the inner surface of the concrete box girder can be found more clearly by an inspector.
In the present embodiment, the housing 11 is constructed by using a light-weight material such as aluminum alloy or carbon fiber as a skeleton, so that the weight of the housing 11 can be reduced.
fig. 3 is a perspective view schematically illustrating a shock absorbing mechanism according to an embodiment of the present invention, and as shown in fig. 3, each shock absorbing mechanism 13 preferably includes: a damper spring 131 having one end connected to the traveling mechanism 12 and the other end connected to the housing 11; an outer sleeve 132 which is fitted over the damper spring 131 and one end of the outer sleeve 132 is connected to the traveling mechanism 12, the outer sleeve 132 being smaller than the length of the outer sleeve 132.
In this embodiment, the traveling mechanism 12 is connected to the housing 11 through the damping spring 131, so that the housing 11 can be kept stable, and the influence of the traveling mechanism 12 on the detection device on the housing 11 when the traveling mechanism encounters an uneven foreign object. In use, a certain amount of damping material, such as silicone oil, may be added to the outer sleeve 132 to make the damping spring 131 bubble in the damping material, so as to provide a certain damping effect to the damping spring 131 when the damping spring 131 is extended or compressed, thereby keeping the housing 11 stable. In addition, the damping force can be adjusted by adjusting the amount of damping material, namely, the hardness of the shock absorber is changed.
Preferably, each shock-absorbing mechanism 13 further comprises: a permanent magnet 133 which is provided inside the damper spring 131, and one end of the permanent magnet 133 is connected to the housing 11; and a damping sleeve 134 which is provided inside the damping spring 131, and one end of the outer sleeve 132 is connected to the traveling mechanism 12 and the other end thereof is fitted over the other end of the permanent magnet 133.
In this embodiment, the permanent magnet 133 and the damping sleeve 134 cooperate with each other, so that when the damping spring 131 extends or shortens in a bumpy environment of the housing 11, the permanent magnet 133 and the damping sleeve 134 generate electromagnetic induction to generate electromagnetic damping, thereby dissipating vibration energy, generating a force to keep the spring in an existing state, and further enabling the housing 11 to have better stability.
Referring again to fig. 2, preferably, each folding arm 31 includes a first arm 311, a second arm 312 and two first servo motors 313, the first arm 311 and the second arm 312 are connected by one first servo motor 313, the other end of the first arm 311 is connected with the housing 11 by one first servo motor 313, and the second arm 312 is movably connected with the matrix radar 32.
In this embodiment, the concrete box girder inspection robot includes 3 inspection devices 3 respectively provided at both sides and the top of the housing 11. When the folding arm 31 needs to be adjusted in position or angle, the first servomotor 313 drives to change the position or angle of the first and second arms.
Preferably, a first torsion spring is further disposed at the connection between the first arm 311 and the second arm 312, and is used for making the first arm 311 and the second arm 312 have a first set angle when no external force is applied.
In this embodiment, a first torsion spring is further disposed at a connection position of the first arm 311 and the second arm 312, so that the first arm 311 and the second arm 312 form a first set angle when not subjected to an external force, and when the first servo motor 313 does not operate, the torsion spring is used for providing a constant torque, so that a detection surface of the matrix radar 32 is tightly attached to a wall surface to be detected; when the folding arm 31 needs to adjust the position or angle, the first servo motor 313 overcomes the torque of the torsion spring to drive the folding arm to change the position or angle. Often in the case of an overly narrow passage, the folding arms will be retracted to facilitate passage through the narrower passage.
Preferably, a second torsion spring is disposed at the connection position of the second arm 312 and the matrix radar 32, and is used for making the second arm 312 and the matrix radar 32 form a second set angle when no external force is applied.
In the present embodiment, the design can make the detection plane parallel to the wall surface to be detected all the time, with a certain adjustment capability, under the condition that the detection plane is slightly changed.
preferably, a torque sensor is arranged at the first torsion spring, and a vibration sensor is arranged on the traveling mechanism 12.
In this embodiment, when the inspection robot moves to the variable cross-section position, the torque of the first torsion spring changes, and the torque sensor detects the change of the torque. Because the light in the box girder is not good, and other reference objects do not exist inside, accurate positioning is difficult to realize, auxiliary positioning can be carried out according to the known structure of the box girder by adopting the mode that the first torsion spring is provided with the torque sensor, in addition, the same mode is adopted, the vibration sensor is arranged on the travelling mechanism 12, the vibration generated by the running of the inspection robot to the joint between the box girder sections can be detected, the position of the inspection robot is determined by combining with the image collected by the image collecting device 2, and when a section with problems is found, the position where the problems exist can be accurately found. In addition, the detected change of the moment can adjust the included angle of the folding arm 31 through a servo motor so as to adapt to the section of a new box girder.
Preferably, each matrix radar 32 is rectangular, and casters are provided at four corners of the detection surface of the matrix radar 32.
In this embodiment, the four corners of the detection surface of the matrix radar 32 are respectively provided with the caster, so that the detection surface of the matrix radar 32 can be always tightly attached to the wall surface under the action of the first torsion spring, and the detection surface of the matrix radar 32 is not scratched.
Fig. 4 is an enlarged schematic structural diagram of the traveling mechanism in the embodiment of the present invention, and as shown in fig. 4, preferably, the traveling mechanism 12 includes two steering wheels 121 and a steering mechanism, the steering mechanism includes a second servo motor 1221, a connecting rod 1222 and two steering rods 1223, one end of each of the two steering rods 1223 is vertically connected to a rotating shaft of each of the two steering wheels 121, the other end of each of the two steering rods 1223 is vertically connected to the connecting rod 1222, a rack is disposed on the connecting rod 1222, and the second servo motor 1221 is connected to the rack through a gear transmission.
In this embodiment, this steering mechanism simple structure drives gear revolve through second servo motor's operation to driving the rack and rotating, realizing turning to of front wheel, can realizing turning to of whole robot of patrolling and examining, consequently can realize realizing turning to under the condition that does not increase whole robot volume of patrolling and examining, with the inside detection that adapts to the case roof beam that has the radian bridge.
preferably, the device also comprises a control module and a controller, wherein the carrying trolley 1, the image acquisition device 2 and the flaw detection device 3 are in signal connection with the control module and receive control signals of the control module, and the controller is in signal connection with the control module and is used for sending the control signals to the control module. In the embodiment, the design can enable an inspector to inspect the interior of the box girder on the bridge floor. The detection data of the image acquisition device 2 and the flaw detection device 3 are transmitted to the data exchanger when the inspection robot passes through the base station, so that the problem of poor signal transmission at a long distance in the concrete is solved.
In addition, in all the embodiments, the concrete box girder inspection robot comprises a power module for providing power; and the counterweight module ensures the overall stability of the robot under various folding arm azimuth states.
The invention also provides working steps of the concrete box girder inspection robot, which comprise the following steps:
1. And the inspection range is set, and the running distance of the inspection robot can be calculated by matching the torque sensor arranged at the first torsion spring with the vibration sensor arranged on the travelling mechanism.
2. And setting the inspection speed, the inspection times and the starting time of the inspection robot.
3. And comprehensively checking the box girder of the appointed section within the appointed time, comprehensively recording data, and marking the disease data.
4. Set up the basic station at the interval of patrolling and examining, set up data exchanger and charger at the basic station, when patrolling and examining the robot and passing through the basic station, supply electric power to transmit detection data for data exchanger, data exchanger is transmitting data transmission for ground detection personnel through wired data transmission.
To sum up, when using this concrete box girder to patrol and examine the robot, patrol and examine the robot with whole concrete box girder and put into the space of the inside relative law of concrete box girder and no debris, gather the inside surface damage of concrete box girder through image acquisition device 2, whether there is the concrete crack through matrix radar 32 detection concrete thickness and inside on the device of detecting a flaw 3, damaged swell in surface and inside reinforcing bar corrosion defect, thereby avoided prior art must inspect the concrete box girder on the bridge floor and cooperate the manual work to carry out visual inspection inside the steel box girder, in order to accelerate to detect the construction progress. The base station is arranged in the inspection area, the data exchanger and the charger are arranged in the base station, and when the inspection robot passes through the base station, the inspection robot can supplement power and exchange data information with the data exchanger.
the present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention. Those not described in detail in this specification are within the skill of the art.

Claims (10)

1. The utility model provides a concrete box girder inspection robot which characterized in that includes:
The bearing trolley (1) comprises a shell (11), a travelling mechanism (12) and four damping mechanisms (13), wherein the shell (11) is connected with the travelling mechanism (12) through the four damping mechanisms (13);
an image acquisition device (2) disposed on the housing (11);
At least one flaw detection device (3), it includes folding arm (31) and matrix radar (32), folding arm (31) one end with casing (11) rotate to be connected, the other end with matrix radar (32) rotate to be connected, matrix radar (32) are used for hugging closely the wall implementation detection of concrete box girder inner space.
2. A concrete box girder inspection robot according to claim 1, wherein each of the shock-absorbing mechanisms (13) includes:
a damping spring (131) having one end connected to the traveling mechanism (12) and the other end connected to the housing (11);
An outer sleeve (132) sleeved on the damping spring (131), wherein one end of the outer sleeve (132) is connected with the walking mechanism (12), and the length of the outer sleeve (132) is smaller than that of the outer sleeve (132).
3. A concrete box girder inspection robot according to claim 2, wherein each of the shock-absorbing mechanisms (13) further includes:
A permanent magnet (133) provided inside the damper spring (131), and one end of the permanent magnet (133) is connected to the housing (11);
And the damping sleeve (134) is arranged inside the damping spring (131), one end of the outer sleeve (132) is connected with the traveling mechanism (12), and the other end of the outer sleeve is sleeved on the other end of the permanent magnet (133).
4. the concrete box girder inspection robot according to claim 1, wherein: each folding arm (31) comprises a first arm (311), a second arm (312) and two first servo motors (313), the first arm (311) and the second arm (312) are connected through one first servo motor (313), the other end of the first arm (311) is connected with the shell (11) through one first servo motor (313), and the second arm (312) is movably connected with the matrix radar (32).
5. The concrete box girder inspection robot according to claim 4, wherein: and a first torsion spring is further arranged at the joint of the first arm (311) and the second arm (312) and used for enabling the first arm (311) and the second arm (312) to be at a first set angle when not subjected to external force.
6. The concrete box girder inspection robot according to claim 5, wherein a torque sensor is arranged at the first torsion spring, and a vibration sensor is arranged on the traveling mechanism (12).
7. The concrete box girder inspection robot according to claim 4, wherein: and a second torsion spring is arranged at the joint of the second arm (312) and the matrix radar (32) and is used for enabling the second arm (312) and the matrix radar (32) to form a second set angle when not subjected to external force.
8. The concrete box girder inspection robot according to claim 1, wherein: each matrix radar (32) is rectangular, and four corners of a detection surface of each matrix radar (32) are respectively provided with a caster.
9. The concrete box girder inspection robot according to claim 1, wherein the traveling mechanism (12) comprises two steering wheels (121) and a steering mechanism, the steering mechanism comprises a second servo motor (1221), a connecting rod (1222) and two steering rods (1223), one ends of the two steering rods (1223) are respectively and vertically connected with rotating shafts of the two steering wheels (121), the other ends of the two steering rods are respectively and vertically connected with the connecting rod (1222), a rack is arranged on the connecting rod (1222), and the second servo motor (1221) is connected with the rack through gear transmission.
10. The concrete box girder inspection robot according to any one of claims 1 to 9, wherein: the device is characterized by further comprising a control module and a controller, wherein the bearing trolley (1), the image acquisition device (2) and the flaw detection device (3) are in signal connection with the control module and receive control signals of the control module, and the controller is in signal connection with the control module and used for sending control signals to the control module.
CN201910918682.7A 2019-09-26 2019-09-26 Concrete box girder inspection robot Pending CN110578293A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910918682.7A CN110578293A (en) 2019-09-26 2019-09-26 Concrete box girder inspection robot

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Application Number Priority Date Filing Date Title
CN201910918682.7A CN110578293A (en) 2019-09-26 2019-09-26 Concrete box girder inspection robot

Publications (1)

Publication Number Publication Date
CN110578293A true CN110578293A (en) 2019-12-17

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CN201910918682.7A Pending CN110578293A (en) 2019-09-26 2019-09-26 Concrete box girder inspection robot

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111226764A (en) * 2020-03-18 2020-06-05 福建省云宇机电有限公司 Unmanned irrigation machine for plain farmland
CN111270608A (en) * 2020-03-09 2020-06-12 浙江大学 Wall-climbing robot for detection in steel box girder of large-span bridge
CN111608076A (en) * 2020-05-27 2020-09-01 广东瀚阳轨道信息科技有限公司 Box girder internal detection system and method
CN111794069A (en) * 2020-07-28 2020-10-20 湖南翰坤实业有限公司 Automatic maintenance machine for road surface
CN111851233A (en) * 2020-07-28 2020-10-30 湖南翰坤实业有限公司 Automatic filling equipment for road surface pits

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111270608A (en) * 2020-03-09 2020-06-12 浙江大学 Wall-climbing robot for detection in steel box girder of large-span bridge
CN111226764A (en) * 2020-03-18 2020-06-05 福建省云宇机电有限公司 Unmanned irrigation machine for plain farmland
CN111608076A (en) * 2020-05-27 2020-09-01 广东瀚阳轨道信息科技有限公司 Box girder internal detection system and method
CN111794069A (en) * 2020-07-28 2020-10-20 湖南翰坤实业有限公司 Automatic maintenance machine for road surface
CN111851233A (en) * 2020-07-28 2020-10-30 湖南翰坤实业有限公司 Automatic filling equipment for road surface pits

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