CN111270608B - Wall-climbing robot for detection in steel box girder of large-span bridge - Google Patents
Wall-climbing robot for detection in steel box girder of large-span bridge Download PDFInfo
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- CN111270608B CN111270608B CN202010157815.6A CN202010157815A CN111270608B CN 111270608 B CN111270608 B CN 111270608B CN 202010157815 A CN202010157815 A CN 202010157815A CN 111270608 B CN111270608 B CN 111270608B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 34
- 239000010959 steel Substances 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000007689 inspection Methods 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 239000000523 sample Substances 0.000 claims abstract description 11
- 230000007547 defect Effects 0.000 claims abstract description 6
- 230000009194 climbing Effects 0.000 abstract description 5
- 230000007704 transition Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 206010016256 fatigue Diseases 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D2/00—Bridges characterised by the cross-section of their bearing spanning structure
- E01D2/04—Bridges characterised by the cross-section of their bearing spanning structure of the box-girder type
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D2101/00—Material constitution of bridges
- E01D2101/30—Metal
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a wall-climbing robot for detecting in a steel box girder of a long-span bridge. The robot comprises a robot body, and further comprises a motion control system, a camera module and a nondestructive inspection module which are arranged on the robot body; the motion control system comprises a magnetic wheel mechanism, a motor, a singlechip main control module and a motor driving module, wherein the magnetic wheel mechanism is connected with the motor, and the singlechip main control module controls the motor driving module to drive the motor to rotate; the single chip microcomputer main control module is electrically connected with the camera module, and the camera module acquires apparent information of different directions in the steel box girder; and the nondestructive inspection module continuously detects the weld defects of the steel box girder. The wall climbing robot can realize the transition of the inner right-angle wall surface and has the advantages of simple structure, strong wall surface adaptability, good obstacle crossing performance and the like. Meanwhile, the robot can automatically patrol and examine by carrying on the camera and the nondestructive inspection probe, so that the detection efficiency and the accuracy of the steel box girder are improved.
Description
Technical Field
The invention relates to the technical field of wall climbing robots, in particular to a wall climbing robot for detection in a steel box girder of a large-span bridge.
Background
The steel box girder has the advantages of small dead weight, large bending rigidity, good wind resistance, convenient hoisting and the like, and is widely applied to large-span bridges. However, due to the fact that the bridge bears vehicle load for a long time and the like, the steel box girder may have diseases such as fatigue cracking and weld defects, and service performance of the large-span bridge is seriously affected. Therefore, the fatigue damage state of the steel box girder needs to be detected, and a basis is provided for subsequent maintenance.
At present, the fatigue damage detection of the steel box girder is mainly realized through manual regular detection, and mainly by means of a ladder stand, a detector reaches a target wall surface, and then the detector carries out detection operation through naked eyes or a handheld flaw detector and the like. However, the detection method has the problems of low detection efficiency, long invalid operation time, high labor intensity, low detection accuracy, long inspection cycle, potential safety hazard and the like. Therefore, a wall-climbing robot for detecting in a steel box girder needs to be developed to solve the problems of manual detection and provide a brand new means for detecting the state of a bridge.
Disclosure of Invention
The invention aims to provide a wall-climbing robot for detecting in a steel box girder of a long-span bridge.
The scheme of the invention comprises the following specific contents:
a wall-climbing robot for detecting in a long-span bridge steel box girder comprises a robot body, a motion control system, a camera module and a nondestructive inspection module, wherein the motion control system, the camera module and the nondestructive inspection module are installed on the robot body; the motion control system comprises a magnetic wheel mechanism, a motor, a singlechip main control module and a motor driving module, wherein the magnetic wheel mechanism is connected with the motor, and the singlechip main control module controls the motor driving module to drive the motor to rotate; the single chip microcomputer main control module is respectively and electrically connected with the camera module and the nondestructive inspection module, and the camera module acquires apparent information of different directions in the steel box girder; and the nondestructive inspection module continuously detects the weld defects of the steel box girder.
Further, the robot body comprises an upper supporting plate, a component supporting plate and a robot bottom plate, wherein the upper supporting plate is fixedly connected with the component supporting plate, and the component supporting plate is fixedly connected with the robot bottom plate; the motor driving module is installed on the robot bottom plate, and the singlechip main control module is installed on the component supporting plate.
Furthermore, the motion control system also comprises an ultrasonic module and an inertia measurement unit which are respectively connected with the singlechip main control module.
Furthermore, the motion control system further comprises a motor support and a coupler, a motor mounting hole is formed in the motor support, and a motor output shaft penetrates through the motor mounting hole and is connected with the magnetic wheel mechanism through the coupler.
Furthermore, the nondestructive inspection module comprises a mechanical arm and a nondestructive inspection probe, and the nondestructive inspection probe is arranged on the mechanical arm.
Furthermore, the camera module comprises a camera holder and a camera, and the camera is connected with the single chip microcomputer main control module and is installed on the camera holder.
Furthermore, the robot is also provided with a lifting mechanism, and the lifting mechanism is installed on the robot body through a steering engine supporting plate and used for assisting the robot to climb over the inner right-angle wall surface of the steel box girder.
Furthermore, the lifting mechanism comprises a steering engine, a steering wheel, a U-shaped bracket and an auxiliary wheel; the steering engine is arranged on the robot body through a steering engine supporting plate; the steering engine is provided with a threaded hole and is fixedly connected with the steering engine supporting plate through a screw; the steering wheel is connected with a rotating shaft of the steering engine; the U-shaped support is fixed on the rudder disk, and the auxiliary wheel is arranged on the U-shaped support.
Furthermore, the wall-climbing robot further comprises a power module, wherein the power module is installed on the robot body, is connected with the motion control system and the camera module, and supplies power to the motion control system and the camera module.
Furthermore, the magnetic wheel mechanism comprises a front wheel and a rear wheel, and the two lifting mechanisms are arranged between the front wheel and the rear wheel and are respectively close to the front wheel and the rear wheel.
The invention has the beneficial effects that:
1. the wall climbing robot can transition inner right-angle wall obstacles and can be used for realizing autonomous traversal of the inner wall surface of the steel box girder;
2. the invention provides an effective operation tool for detecting in a steel box girder, which is beneficial to solving the defects of low detection efficiency, high labor intensity and the like of manual detection.
Drawings
FIG. 1 is a schematic of the overall design of the present invention;
FIG. 2 is a schematic diagram of the module connection according to the present invention;
fig. 3 is a schematic view of a camera module according to an embodiment of the present invention;
FIG. 4 is a schematic view of a non-destructive inspection module in an example of the invention;
FIG. 5 is a schematic view of the lifting mechanism;
wherein: 1-a camera pan-tilt; 2-upper supporting plate; 3, a mechanical arm; 4-nondestructive inspection probe; 5-a magnetic wheel mechanism; 501-front wheels; 502-rear wheel; 6-a lifting mechanism; 601-a steering engine; 602-a rudder disc; 603-U-shaped bracket; 604-an auxiliary wheel; 7-robot base plate; 8-a motor bracket; 9-motor drive plate; 10-a motor; 11-hexagonal shaft coupling; 12-an inertial measurement unit; 13-an ultrasonic module; 14-a component support plate; 15-a camera; 16-a wireless transmission module; 17-a single chip microcomputer main control module; 18-a power supply module; 19-steering engine supporting plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the wall-climbing robot includes a robot body, a power module 18 mounted on the robot body, a motion control system, a camera module, and a nondestructive inspection module. The robot body comprises an upper supporting plate 2, a component supporting plate 14 and a robot bottom plate 7, wherein the upper supporting plate 2 is fixedly connected with the component supporting plate 14 through a stud, and the component supporting plate 14 is connected with the robot bottom plate 7 through a stud. The power module 18 is installed between the component support plate 14 and the robot base plate 7 and supplies power to modules such as a motion control system, a camera module, and a nondestructive inspection module.
The motion control system comprises a magnetic wheel mechanism 5, a motor 10, a motor bracket 8, an ultrasonic module 13, a singlechip main control module 17, an inertia measurement unit 12 and a motor driving module 9; the motor 10, the singlechip main control module 17 and the motor drive module 9 are all connected with a power supply module 18. The motor support 8 is fixedly connected with the robot bottom plate 7, a motor mounting hole is formed in the motor support 8, and an output shaft of the motor 10 penetrates through the motor mounting hole and is connected with the magnetic wheel mechanism 5 through a coupler 11. The magnetic wheel mechanism 5 is used for adsorbing and walking the inner wall surface of the steel box girder, and the motor 10 rotates to drive the coupler 11 and the magnetic wheel mechanism 5 to rotate, so that the robot travels and turns. The motor driving module 9 is fixedly connected with the inertia measuring unit 12 through a stud and is installed on the upper surface of the robot bottom plate 7, and the singlechip main control module 17 is installed on the upper surface of the component supporting plate 14 through a stud. As shown in fig. 2, the main control module 17 of the single chip microcomputer is respectively connected with the motor driving module 9, the inertia measurement unit 12 and the ultrasonic module 13 through wires to control the movement of the magnetic wheel mechanism 5 and collect data of the inertia measurement unit 12 and the ultrasonic module 13, thereby realizing the collection and control of the movement speed.
As shown in fig. 3, the camera module includes a camera head 1 and a camera 15. The camera tripod head 1 is arranged on the upper supporting plate 2, and the camera 15 is fixed on the camera tripod head 1; through the rotation of camera cloud platform 1, apparent information in the inside different position of steel box girder can be acquireed to camera 15. As shown in fig. 2, the camera head 1 and the camera 15 are respectively connected to the power module 18 and the single chip microcomputer main control module 17, and the single chip microcomputer main control module 17 controls the rotation of the camera head 1 and collects data of the camera 15.
As shown in fig. 4, the nondestructive inspection module includes a robot arm 3, a nondestructive inspection probe 4. The mechanical arm 3 is arranged on a robot bottom plate 7 and is connected with a power supply module 18 and a singlechip main control module 17, and the nondestructive inspection probe 4 is arranged at the tail end of the mechanical arm 3. The nondestructive inspection probe 4 is driven to rotate by the mechanical arm 3, so that the probe is tightly attached to the working wall surface and is aligned to a welding line to be detected; subsequently, the nondestructive inspection probe 4 can continuously detect the weld defects of the steel box girder in the advancing process of the robot, and transmits data to a nondestructive inspection instrument outside the wall-climbing robot through a cable.
Because steel case roof beam exists in the right angle wall structure, traditional wall climbing robot can't cross interior right angle wall, influences the degree of accuracy that detects, and in order to promote the precision that detects, the robot still is equipped with hoist mechanism 6, and hoist mechanism 6 passes through steering wheel backup pad 19 to be installed on robot bottom plate 7, can be used to the interior right angle wall that auxiliary robot crossed steel case roof beam. The two lifting mechanisms 6 are arranged between the front wheels 501 and the rear wheels 502, so that the wall-climbing robot can move forwards or backwards to cross a right-angle wall surface. As shown in fig. 5, the lifting mechanism 6 includes a steering engine 601, a rudder disk 602, a U-shaped bracket 603, and an auxiliary wheel 604; a steering engine 601 of the lifting mechanism 6 is mounted on the robot bottom plate 7 through a steering engine supporting plate 19, and the steering engine 601 is connected with the single-chip microcomputer main control module 17; the U-shaped bracket 603 is arranged on the rudder disk 602, and the steering engine 601 is provided with a threaded hole and is fixedly connected with the steering engine supporting plate 19 through a screw; the steering wheel 602 is connected with a rotating shaft of the steering engine 601; the auxiliary wheel 604 is mounted on a U-shaped bracket 603. When the robot turns over the inner right-angle wall surface from the front, the front wheel 501 is supported by the lifting mechanism 6 close to the front wheel 501, so that the front wheel 501 leaves the original moving plane and moves to the right-angle wall surface, and the turning over of the inner right-angle wall surface is realized; when the robot moves backward, turning over the inner right-angle wall surface from the rear, the lifting mechanism 6 near the rear wheel supports the rear wheel, so that the rear wheel 502 leaves the original moving plane, moves to the right-angle wall surface, and thus, turns over the inner right-angle wall surface.
The robot is also provided with a wireless transmission module 16 connected with a singlechip main control module 17, and the wireless transmission module 16 is arranged on a component supporting plate 14 and used for wireless transmission of data.
Claims (7)
1. A wall-climbing robot for detecting in a long-span bridge steel box girder comprises a robot body, and is characterized by further comprising a motion control system, a camera module and a nondestructive inspection module, wherein the motion control system, the camera module and the nondestructive inspection module are mounted on the robot body; the motion control system comprises a magnetic wheel mechanism (5), a motor (10), a singlechip main control module (17) and a motor driving module (9), the magnetic wheel mechanism (5) is connected with the motor (10), and the singlechip main control module (17) controls the motor driving module (9) to drive the motor (10) to rotate; the single chip microcomputer main control module (17) is respectively electrically connected with the camera module and the nondestructive inspection module, and the camera module acquires apparent information of different directions in the steel box girder; the nondestructive inspection module continuously detects the weld defects of the steel box girder;
the robot is also provided with a lifting mechanism (6), and the lifting mechanism (6) is arranged on the robot body through a steering engine supporting plate (19) and is used for assisting the robot to cross the inner right-angle wall surface of the steel box girder;
the lifting mechanism (6) comprises a steering engine (601), a rudder disc (602), a U-shaped bracket (603) and an auxiliary wheel (604); the steering engine (601) is arranged on the robot body through a steering engine supporting plate (19); the steering engine (601) is provided with a threaded hole and is fixedly connected with the steering engine supporting plate (19) through a screw; the rudder disc (602) is connected with a rotating shaft of the steering engine (601); the U-shaped bracket (603) is fixed on the rudder disc (602), and the auxiliary wheel (604) is arranged on the U-shaped bracket (603);
the magnetic wheel mechanism (5) comprises a front wheel (501) and a rear wheel (502), and the number of the lifting mechanisms (6) is two, the two lifting mechanisms are arranged between the front wheel (501) and the rear wheel (502) and are respectively close to the front wheel (501) and the rear wheel (502).
2. The wall-climbing robot for the detection in the large-span bridge steel box girder according to claim 1 is characterized in that the robot body comprises an upper supporting plate (2), a component supporting plate (14) and a robot bottom plate (7), wherein the upper supporting plate (2) is fixedly connected with the component supporting plate (14), and the component supporting plate (14) is fixedly connected with the robot bottom plate (7); the motor driving module (9) is installed on the robot bottom plate (7), and the singlechip main control module (17) is installed on the component supporting plate (14).
3. The wall-climbing robot for detecting the inside of the steel box girder of the large-span bridge according to claim 1, wherein the motion control system further comprises an ultrasonic module (13) and an inertia measuring unit (12) which are respectively connected with the single-chip microcomputer main control module (7).
4. The wall-climbing robot for detecting in the steel box girder of the large-span bridge according to claim 1, wherein the motion control system further comprises a motor bracket (8) and a coupler (11), a motor mounting hole is formed in the motor bracket (8), and an output shaft of the motor (10) penetrates through the motor mounting hole and is connected with the magnetic wheel mechanism (5) through the coupler (11).
5. The wall-climbing robot for the internal detection of the long-span bridge steel box girder according to claim 1 is characterized in that the nondestructive inspection module comprises a mechanical arm (3) and a nondestructive inspection probe (4), and the nondestructive inspection probe (4) is installed on the mechanical arm (3).
6. The wall-climbing robot for detection in the long-span bridge steel box girder according to claim 1, wherein the camera module comprises a camera pan-tilt (1) and a camera (15), and the camera (15) is connected with the single chip microcomputer main control module (17) and is installed on the camera pan-tilt (1).
7. The wall-climbing robot for the detection in the steel box girder of the long-span bridge according to claim 1, characterized in that the wall-climbing robot further comprises a power module (18), and the power module (18) is installed on the robot body, connected with the motion control system and the camera module, and used for supplying power to the motion control system and the camera module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010157815.6A CN111270608B (en) | 2020-03-09 | 2020-03-09 | Wall-climbing robot for detection in steel box girder of large-span bridge |
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| CN202010157815.6A CN111270608B (en) | 2020-03-09 | 2020-03-09 | Wall-climbing robot for detection in steel box girder of large-span bridge |
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| CN111270608B true CN111270608B (en) | 2021-11-16 |
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| CN113371092B (en) * | 2021-07-01 | 2022-12-27 | 江苏省特种设备安全监督检验研究院 | Laser-guided multi-degree-of-freedom damage detection wall-climbing robot device |
| CN113638315A (en) * | 2021-08-11 | 2021-11-12 | 中铁大桥局集团有限公司 | Steel box girder welding seam inspection robot |
| CN114523852A (en) * | 2022-02-28 | 2022-05-24 | 湖北三六重工有限公司 | Novel maintenance vehicle with braking function applied to bridge steel box girder |
| CN114775422B (en) * | 2022-06-20 | 2022-09-23 | 江苏润扬大桥发展有限责任公司 | Inside U rib of steel case roof beam detects operating system |
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