CN112012113B

CN112012113B - Multifunctional bridge detection robot and working method

Info

Publication number: CN112012113B
Application number: CN202010839217.7A
Authority: CN
Inventors: 姚华; 杨杰; 古昊
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2021-11-12
Anticipated expiration: 2040-08-19
Also published as: CN112012113A

Abstract

The invention discloses a multifunctional bridge detection robot, which is characterized in that: the four-crawler-belt circular traveling mechanism comprises a frame, four front crawler-belt driving mechanisms, four rear crawler-belt driving mechanisms, four front circular traveling mechanisms and four rear circular traveling mechanisms; the frame comprises a front ring, a rear ring and four column beams; the four front crawler driving mechanisms and the four rear crawler driving mechanisms are respectively arranged on the four column beams; the four front annular travelling mechanisms are arranged on the front ring and can move along the front ring in the annular direction, and are respectively provided with a polishing device, a cleaning device, a blow-drying device and a spraying device; the four rear annular travelling mechanisms are arranged on the rear ring and can move along the annular direction of the rear ring; four rear cameras are respectively arranged on the four rear annular travelling mechanisms, and four detectors are respectively arranged on the four rear annular travelling mechanisms. The invention can realize multifunctional detection and maintenance operation. The invention also discloses a working method.

Description

Multifunctional bridge detection robot and working method

Technical Field

The invention belongs to a multifunctional bridge detection robot and a working method.

Background

The stay cable is one of core components of cable bridges such as arch bridges, cable-stayed bridges, suspension bridges and the like. The stay cable is exposed in the air for a long time, and has the phenomena of corrosion, fatigue, wire breakage, fracture and the like under the influence of factors such as wind, rain, vibration, sunlight irradiation, ultraviolet irradiation, artificial damage and the like. The working state of the stay cable is one of important signs whether the bridge is in a safe state, and the regular detection and maintenance of the stay cable system are necessary. In the past, a detection mode that a winch drags an inspection vehicle or a manual detection method that a climbing vehicle detects a guy cable is often adopted in engineering. The method has the advantages that the detection personnel are in overhead operation, safety accidents are easily caused, traffic needs to be closed, and a robot for multifunctional detection of the bridge guy cable is urgently needed to be developed.

Disclosure of Invention

In order to overcome one or more defects in the prior art, the invention provides a multifunctional bridge detection robot.

In order to achieve the purpose, the invention provides a multifunctional bridge detection robot, which is characterized in that: the crawler belt type crawler belt conveyor comprises a frame (1), four front crawler belt driving mechanisms (2), four rear crawler belt driving mechanisms (3), four front annular traveling mechanisms (4) and four rear annular traveling mechanisms (5); the frame (1) comprises a front ring (1-1), a rear ring (1-2) and four column beams (1-3), the front ring (1-1) and the rear ring (1-2) are concentric and arranged at intervals, the four column beams (1-3) are uniformly distributed along the circumferential direction of the front ring (1-1), the front ends of the four column beams (1-3) are fixedly connected with the front ring (1-1), and the rear ends of the four column beams (1-3) are fixedly connected with the rear ring (1-2); the four front crawler driving mechanisms (2) are respectively arranged on the four column beams (1-3), the four rear crawler driving mechanisms (3) are respectively arranged on the four column beams (1-3), and the front crawler driving mechanisms (2) and the rear crawler driving mechanisms (3) are distributed in the front and back direction; the four front circumferential travelling mechanisms (4) are arranged on the front ring (1-1) and can move circumferentially along the front ring (1-1), the four front circumferential travelling mechanisms (4) are respectively provided with a grinding device (9), a cleaning device (10), a drying device (11) and a spraying device (12), and the four front circumferential travelling mechanisms (4) are respectively provided with four front cameras (6); the four rear annular travelling mechanisms (5) are arranged on the rear ring (1-2) and can move annularly along the rear ring (1-2); four rear cameras (7) are respectively installed on the four rear annular travelling mechanisms (5), four detectors (8) are respectively installed on the four rear annular travelling mechanisms (5), and the detectors (8) are used for detecting the breakage defects of the stay cables.

Preferably, the front track driving mechanism (2) comprises a front connecting rod (2-1), a rear connecting rod (2-2), a telescopic rod (2-3), a spring (2-4), a sliding block (2-5), a first driving unit (2-6), a second driving unit (2-7), a track support (2-8), a driving track wheel (2-9), a track (2-10) and a driven track wheel (2-11); the front connecting rod (2-1) is parallel to the rear connecting rod (2-2), the column beam (1-3) is parallel to the crawler belt bracket (2-8), and a parallel four-bar linkage mechanism is formed among the front connecting rod (2-1), the rear connecting rod (2-2), the column beam (1-3) and the crawler belt bracket (2-8); the driving crawler wheels (2-9) and the driven crawler wheels (2-11) are respectively and rotatably arranged at two ends of a crawler support (2-8), the crawler (2-10) is wound on the driving crawler wheels (2-9) and the driven crawler wheels (2-11), and the second driving unit (2-7) is connected with the driving crawler wheels (2-9) and is used for driving the driving crawler wheels (2-9) to rotate; the telescopic rod (2-3) comprises a first rod piece (2-31) and a second rod piece (2-32), one end of the first rod piece (2-31) is sleeved with one end of the second rod piece (2-32) in a sliding mode, the other end of the first rod piece (2-31) is hinged to the column beam (1-3), two ends of the spring (2-4) are connected with the first rod piece (2-31) and the second rod piece (2-32) respectively, the spring (2-4) is compressed when the telescopic rod (2-3) is contracted, the sliding block (2-5) is matched with the column beam (1-3) in a sliding mode, and the first driving unit (2-6) is connected with the sliding block (2-5) and used for driving the sliding block (2-5) to slide along the length direction of the column beam (1-3).

Preferably, the front track driving mechanism (2) and the rear track driving mechanism (3) are the same in structure.

Preferably, the front ring (1-1) is formed by detachably fixing two symmetrical half rings (101), the outer circular wall of the front ring (1-1) is provided with an outer gear ring (1-11), and two ring grooves (1-12) are symmetrically arranged on two sides of the front ring (1-1); the front annular travelling mechanism (4) comprises a travelling frame (4-1), two gears (4-2), four idler wheels (4-3) and a third driving unit (4-4), the two gears (4-2) are meshed with an outer gear ring (1-11), the two gears (4-2) and the four idler wheels (4-3) are rotatably arranged on the travelling frame (4-1), the third driving unit (4-4) is connected with the two gears (4-2) and drives the two gears (4-2) to rotate in the same direction, and the four idler wheels (4-3) are symmetrically arranged in two annular grooves (1-12).

Preferably, the third driving unit (4-4) comprises a third motor (4-41), a third driving pulley (4-42), a third synchronous belt (4-43) and a third driven pulley (4-44), the output end of the third motor (4-41) is connected with the third driving pulley (4-42), the third driving pulley (4-42) is connected with the third driven pulley (4-44) through the third synchronous belt (4-43), and the third driving pulley (4-42) and the third driven pulley (4-44) are respectively and coaxially connected with the two gears (4-2).

Preferably, the front ring (1-1) and the rear ring (1-2) have the same structure, and the rear annular walking mechanism (5) and the front annular walking mechanism (4) have the same structure.

Preferably, both ends of the two half rings (101) are provided with connecting parts (102) extending inwards in the radial direction; the connecting parts (102) of the two half rings (101) are detachably fixed through bolt assemblies (103, 104).

Furthermore, a row of track tensioning wheels (2-12) are arranged on the track supports (2-8), and the row of track tensioning wheels (2-12) are in contact fit with the inner wall of the crawling section of the track (2-10).

Another objective of the present invention is to provide a working method, which uses the multifunctional bridge inspection robot in any one of the above technical solutions, and includes the following steps:

s10, mounting the detection robot on a cable, and enabling the four front track driving mechanisms and the four rear track driving mechanisms to clamp the cable;

s20, the detection robot is in communication connection with a PC or remote control equipment, and the PC or remote control equipment is used for controlling the detection robot to execute actions and displaying the cable breakage defect data and the cable appearance image data collected by the detection robot;

s30, connecting the ground trolley with a cleaning device pipe and a spraying device channel, and supplying water and paint to the robot through the ground trolley;

s40, starting the four front crawler driving mechanisms (2) and the four rear crawler driving mechanisms (3) to move forwards simultaneously to enable the detection robot to move upwards along the inhaul cable, and collecting inhaul cable breakage defect data along the way by a detector on the detection robot; when the detector (8) detects that the fracture defect exists at a certain position in the ascending process, stopping the upward movement of the detection machine and entering the step S50; when the four detectors (8) do not detect the fracture defect in the whole upward process, the step S60 is carried out;

s50, starting the four rear circular travelling mechanisms (5) to work, synchronously moving in the circular direction of the rear rings (1-2) at a constant speed in the same direction, and starting the four rear cameras (7) to record or photograph;

s60, when the detection robot ascends to the top, the four front track driving mechanisms (2) and the four rear track driving mechanisms (3) are started to move reversely to enable the detection robot to move downwards along the guy cable, and a rear camera on the detection robot collects guy cable appearance image data along the way; when the rear camera collects a rusty image at a certain position in the descending process, stopping the downward movement of the detection machine and entering the step S70; when the camera does not acquire the rusty image after four cameras go up in the whole course, the step S80 is carried out;

s70, the method comprises the following steps: s71, starting the four front annular traveling mechanisms (4) to work, synchronously moving in the same speed and direction along the front rings (1-1) in an annular manner, enabling the polishing device to face a rust position on the inhaul cable, setting a processing area, stopping the four front annular traveling mechanisms (4) at the same time, and starting the polishing device to polish the processing area; s72, starting the four front annular travelling mechanisms (4) to work, synchronously and uniformly move in the same direction along the front rings (1-1) in an annular manner, enabling the cleaning device to face the treatment area on the inhaul cable, stopping the four front annular travelling mechanisms (4) at the same time, and starting the cleaning device to clean the treatment area; 73. starting the four front annular travelling mechanisms (4) to work, synchronously moving in the same speed and direction along the front rings (1-1) in an annular manner, enabling the blow-drying device to be opposite to the processing area on the inhaul cable, stopping the four front annular travelling mechanisms (4) at the same time, and then starting the blow-drying device to blow the processing area; s74, starting the four front annular travelling mechanisms (4) to work, synchronously and uniformly move in the same direction along the front rings (1-1) in an annular manner, enabling the spraying device to face the processing area on the inhaul cable, stopping the four front annular travelling mechanisms (4) at the same time, and starting the spraying device to spray paint on the processing area;

and S80, when the detection robot descends to the bottom, the detection robot is taken down from the guy cable.

Drawings

Fig. 1 is a front view of the inspection robot of the present invention.

Fig. 2 is a rear view of the inspection robot of the present invention.

Fig. 3 is a perspective view of the inspection robot of the present invention.

Fig. 4 is a perspective view (viewed from another direction) of the inspection robot of the present invention.

FIG. 5 is an assembled perspective view of the frame, four front track drives and four rear track drives.

Fig. 6 is a front view of fig. 5.

Fig. 7 is an enlarged view at a in fig. 6.

Fig. 8 is an assembled state view between the pillar beam, the front track drive mechanism, and the rear track drive mechanism.

Fig. 9 is an enlarged view at B in fig. 8.

Fig. 10 is a perspective view of the assembled state between the pillar beam and the front track drive mechanism (or the rear track drive mechanism).

Fig. 11 is a perspective view showing an assembled state among the front ring, the polishing device, the cleaning device, the blow-drying device, the painting device, the four front cameras 6, and the like.

Fig. 12 is a perspective view (when viewed from the other direction) of the assembled state between the front ring, the polishing device, the cleaning device, the blow-drying device, the painting device, and the four front cameras 6, and the like.

Fig. 13 is a front view of fig. 12.

Fig. 14 is a perspective view of the front ring traveling mechanism (or the rear ring traveling mechanism).

Fig. 15 is a perspective view of an assembled state among the rear ring, four detectors, four rear cameras, and the like.

FIG. 16 is a perspective view showing an assembled state among the rear ring, four detectors, four rear cameras, and the like

(when viewed from the other direction).

Fig. 17 is a rear view of fig. 15.

Fig. 18 is a cross-sectional view taken along line C-C of fig. 17.

Fig. 19 is a schematic structural diagram of the control system of the present invention.

Detailed Description

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

the first embodiment is as follows: referring to fig. 1-19, a multifunctional bridge inspection robot includes a frame 1, four front crawler driving mechanisms 2, four rear crawler driving mechanisms 3, four front annular traveling mechanisms 4, and four rear annular traveling mechanisms 5. Referring to fig. 5, the frame 1 includes a front ring 1-1, a rear ring 1-2, and four column beams 1-3, the front ring 1-1 and the rear ring 1-2 are concentric and spaced front and rear, the four column beams 1-3 are uniformly distributed along the circumference of the front ring 1-1, the front ends of the four column beams 1-3 are fixedly connected to the front ring 1-1, and the rear ends of the four column beams 1-3 are fixedly connected to the rear ring 1-2. Because the front ring 1-1 and the rear ring 1-2 are fixedly connected through the four column beams 1-3 to form the cylinder frame, the frame 1 has the advantages of simple structure, low weight, reliable strength, difficult deformation, convenient assembly, easy processing and manufacture and low cost on the premise of meeting the bearing function.

Referring to fig. 6-7, preferably, the front ends of the four column beams 1-3 are detachably and fixedly connected with the front ring 1-1 through bolts (or bolt assemblies); the rear ends of the four column beams 1-3 are detachably and fixedly connected with the rear rings 1-2 through bolts (or bolt components). Preferably, the chassis 1 may be provided with front and rear radars. When climbing, the current radar obtains a small distance signal when ascending to the top or controls to stop ascending when encountering an obstacle which cannot be crossed. When the rear radar goes down to the top, a small distance signal is obtained to control the rear radar to stop going down. Therefore, the collision can be prevented and the work is safe.

Referring to fig. 5-7, the four front track driving mechanisms 2 are respectively mounted on four column beams 1-3, and the four rear track driving mechanisms 3 are respectively mounted on the four column beams 1-3; the four front track drives 2 and the four rear track drives 3 are distributed one behind the other. The four front crawler driving mechanisms 2 are respectively used for cooperatively crawling in four directions of the cable, and the four rear crawler driving mechanisms 3 are respectively used for cooperatively crawling in four directions of the cable. Specifically, the four front track driving mechanisms 2 and the four rear track driving mechanisms 3 work synchronously and have the same force application direction. Compared with the conventional walking wheel crawling, the crawler-type crawling cable is adopted, the crawling friction force can be increased due to the large contact area between the crawler and the outer wall surface of the cable, and meanwhile, the flexible deformation of the crawler can protect the outer wall surface of the cable, so that the crawling capability is strong, the operation is stable, and crawling and blocking can be avoided; secondly, the four front crawler driving mechanisms 2 and the four rear crawler driving mechanisms 3 are distributed front and back, so that four drives can be realized respectively front and back, 8 drives can simultaneously exert force (exert force in full time), the driving capability is strong, the bearing capacity is strong, more detection and maintenance devices can be assembled, a preposed condition is provided for realizing multiple functions, and the problem of crawling difficulty is solved; due to the adoption of front-back driving and full-time force application, the influence of respective external interference and self-interference degree of the stay cable borne by the robot during high-altitude operation can be overcome, the phenomenon of powerless crawling, deviation or jolt is avoided, and the stability of crawling up and down is ensured.

The four front annular travelling mechanisms 4 are arranged on the front ring 1-1 and can move in the annular direction of the front ring 1-1, the four front annular travelling mechanisms 4 are respectively provided with a grinding device 9, a cleaning device 10, a blow-drying device 11 and a spraying device 12, and the four front annular travelling mechanisms 4 are respectively provided with four front cameras 6.

The grinding device 9, the cleaning device 10, the blow-drying device 11 and the spraying device 12 can adopt the prior art structure and are respectively arranged on the four front annular travelling mechanisms 4. Because the four front annular travelling mechanisms 4 can move along the front ring 1-1 in an annular mode and are used for driving the grinding device 9, the cleaning device 10, the blow-drying device 11 and the spraying device 12 to move along the front ring 1-1 in an annular mode respectively, the grinding device 9, the cleaning device 10, the blow-drying device 11 and the spraying device 12 are used for respectively grinding, cleaning, blow-drying and spraying the rusted position of the stay rope, and therefore the outer layer protection of the rusted part of the stay rope is achieved. Because the four front annular travelling mechanisms 4 can move along the front ring 1-1 in an annular manner and rotate around the front ring for 360 degrees, the grinding device 9, the cleaning device 10, the blow-drying device 11 and the spraying device 12 rotate around the stay cable 360 degrees, and grinding, cleaning, blow-drying and spraying treatment on any surface position on the outer wall surface of the stay cable for 360 degrees can be respectively realized. In addition, because the four front circular travelling mechanisms 4 are respectively provided with the four front cameras 6, the four front cameras 6 can move circularly along the front rings 1-1 and rotate around the front rings for 360 degrees, the high efficiency and the accuracy of acquiring the map image by directly facing any surface position on the outer wall surface of the inhaul cable for 360 degrees can be respectively realized, the detection and the accuracy efficiency are improved, and the detection time is saved. When the detection robot crawls up and down along the inhaul cable, the four front cameras 6 can adopt image data of the inhaul cable along the way and are used for detecting whether the outer surface of the inhaul cable has the phenomena of corrosion, fatigue, wire breakage, fracture and the like. Meanwhile, during maintenance, the four front cameras 6 can observe the progress and effect of polishing, cleaning, blow-drying and spraying treatment, so that the working condition can be monitored at any time, and an operator can master and adjust the progress, time, position and process switching of each process according to the working condition.

The four rear annular travelling mechanisms 5 are arranged on the rear ring 1-2 and can move annularly along the rear ring 1-2; four rear cameras 7 are respectively installed on the four rear annular travelling mechanisms 5, four detectors 8 are respectively installed on the four rear annular travelling mechanisms 5, and the detectors 8 are used for detecting the fracture defects of the inhaul cables. Because the four rear circular traveling mechanisms 5 can move circularly along the rear rings 1-2, the four rear cameras 7 can rotate 360 degrees around the rear rings, and meanwhile, the four detectors 8 can rotate 360 degrees around the rear rings. When the detection robot crawls up and down along the inhaul cable, the four rear cameras 7 can adopt image data of the inhaul cable along the way and are used for detecting whether the outer surface of the inhaul cable has the phenomena of corrosion, fatigue, wire breakage, fracture and the like; the four detectors 8 can detect or detect whether the cable breakage defect exists along the way. Meanwhile, when the images can be collected along the way by the four rear cameras 7 to find abnormality, the crawling can be stopped, and then the four rear cameras 7 and the four detectors 8 are driven by the four rear annular walking mechanisms 5 to move around the rear ring in 360-degree annular directions to accurately detect, so that whether the stay cable is corroded, fatigued, broken and the like or not can be detected more accurately.

Preferably, the four detectors 8 may employ an ultrasonic flaw detector, an X-ray flaw detector, a magnetic flux leakage flaw detector, and a gamma-ray flaw detector, respectively. One or more of the mixed detection inhaul cables can be started according to the type of the inhaul cable to detect whether cracks and other internal defects exist in the inhaul cable.

Referring to fig. 8 to 10, preferably, the front track driving mechanism 2 includes a front link 2-1, a rear link 2-2, a telescopic link 2-3, a spring 2-4, a slider 2-5, a first driving unit 2-6, a second driving unit 2-7, a track frame 2-8, driving wheels 2-9, tracks 2-10, and driven wheels 2-11. The front connecting rod 2-1 is parallel to the rear connecting rod 2-2, the column beam 1-3 is parallel to the track support 2-8, the front connecting rod 2-1, the rear connecting rod 2-2, the column beam 1-3 and the track support 2-8 form a parallel four-bar linkage, specifically, two ends of the front connecting rod 2-1 are respectively hinged with the track support 2-8 and the column beam 1-3, and two ends of the rear connecting rod 2-2 are respectively hinged with the track support 2-8 and the column beam 1-3. The driving track wheels 2-9 and the driven track wheels 2-11 are rotatably installed at both ends of the track frames 2-8, respectively, the tracks 2-10 are wound around the driving track wheels 2-9 and the driven track wheels 2-11, and the second driving unit 2-7 is connected to the driving track wheels 2-9 and drives the driving track wheels 2-9 to rotate.

The telescopic rod 2-3 comprises a first rod piece 2-31 and a second rod piece 2-32, one end of the first rod piece 2-31 is slidably sleeved with one end of the second rod piece 2-32, the other end of the first rod piece 2-31 is hinged with the column beam 1-3, two ends of the spring 2-4 are respectively connected with the first rod piece 2-31 and the second rod piece 2-32, the spring 2-4 is compressed when the telescopic rod 2-3 is contracted, the sliding block 2-5 is slidably matched with the column beam 1-3, and the first driving unit 2-6 is connected with the sliding block 2-5 and is used for driving the sliding block 2-5 to slide along the length direction of the column beam 1-3. And the four front track drives 2 are identical in construction to the four rear track drives 3. Referring to fig. 8 to 10, preferably, the telescopic bars 2-3 are distributed across the front link 2-1 (or the rear link 2-2). The telescopic rod 2-3 and the front connecting rod 2-1 (or the rear connecting rod 2-2) form a cross structure to form a more stable support for the crawler belt bracket 2-8.

Preferably, the first driving unit 2-6 employs an electric cylinder. Preferably, the second driving unit 2-7 employs a second motor.

As can be seen in fig. 8-10, the front link 2-1, the rear link 2-2, the pillar beam 1-3 and the track frame 2-8 form a parallel four-bar linkage mechanism therebetween so as to be deformable; when the first driving unit 2-6 drives the sliding block 2-5 to slide (forwards or backwards) along the length direction of the column beam 1-3, the sliding block 2-5 drives the track support 2-8 to move through the telescopic rod 2-3 so as to deform the parallel four-bar linkage, the tracks 2-10 on the track support 2-8 are kept parallel and can be displaced along the radial direction of the inhaul cable, and then the tracks 2-10 are attached to or released from the inhaul cable; and the control slide block 2-5 can be adapted to the guy cables with different diameters according to different sliding displacement positions on the column beam 1-3, and the magnitude of the guy cable holding force can be effectively adjusted.

Referring to fig. 8-10, in addition, since the telescopic rod 2-3 comprises a first rod member 2-31 and a second rod member 2-32, one end of the first rod member 2-31 is slidably sleeved with one end of the second rod member 2-32, the other end of the first rod member 2-31 is hinged with the column beam 1-3, two ends of the spring 2-4 are respectively connected with the first rod member 2-31 and the second rod member 2-32, and the spring 2-4 is compressed when the telescopic rod 2-3 is contracted, the telescopic rod 2-3 elastically and telescopically supports the track support 2-8, so as to realize that the cable can be flexibly clamped to automatically adapt to the change of the diameter of the cable; when the diameter of the inhaul cable changes or meets an obstacle, the telescopic rod 2-3 can be used for compressing the spring 2-4 to contract, so that the robot can smoothly pass through, and meanwhile, the spring 2-4 provides enough pressure to enable the crawler belt 2-10 to be kept close to the inhaul cable.

Referring to fig. 8-10, preferably, one end of the first rod 2-31 has a sliding rod 2-33, one end of the second rod 2-32 has a sliding hole 2-321, the sliding rod 2-33 is inserted into the sliding hole 2-321 and is in clearance fit and can slide, the inner wall of the sliding hole 2-321 is provided with a strip-shaped groove 2-322, the limit pin 2-34 is inserted into the strip-shaped groove 2-322 and can slide along the length direction of the strip-shaped groove 2-322, the limit pin 2-34 is fixed on the sliding rod 2-33, the spring 2-4 is sleeved on the sliding rod 2-33, one end of the spring 2-4 is abutted against one end of the first rod 2-31, and one end of the spring 2-4 is abutted against one end of the second rod 2-32. When the telescopic rod 2-3 is stretched and retracted, and the first rod piece 2-31 and the second rod piece 2-32 slide relatively, the limiting pin 2-34 slides in the strip-shaped groove 2-322, so that the telescopic rod 2-3 can be prevented from being completely separated, safety and reliability are realized, and the telescopic rod can work within a reasonable range.

Referring to fig. 8-10, preferably, the column beam 1-3 is provided with a strip-shaped sliding groove 1-31, the sliding block 2-5 is slidably matched with the strip-shaped sliding groove 1-31, and the strip-shaped sliding groove 1-31 is used for limiting the bidirectional limit position of the sliding block 2-5 sliding along the length direction of the column beam 1-3.

Referring to fig. 8-10, when the parallel four-bar linkage mechanism formed by the front link 2-1, the rear link 2-2, the column beam 1-3 and the track support 2-8 deforms, the track 2-10 on the track support 2-8 is always parallel to the inhaul cable, and when the parallel four-bar linkage mechanism is used for inhaul cables with different diameters, the front and the rear of the working section of the track 2-10 can be simultaneously clung to the inhaul cable and can stably climb.

Preferably, the front ring 1-1 is formed by detachably fixing two symmetrical half rings 101, the outer circumferential wall of the front ring 1-1 is provided with an outer gear ring 1-11, and two ring grooves 1-12 are symmetrically formed on two sides of the front ring 1-1.

Referring to fig. 14-15, the front ring-shaped traveling mechanism 4 includes a traveling frame 4-1, two gears 4-2, four rollers 4-3, and a third driving unit 4-4, the two gears 4-2 are engaged with the outer gear ring 1-11, the two gears 4-2 and the four rollers 4-3 are rotatably mounted on the traveling frame 4-1, the third driving unit 4-4 is connected with the two gears 4-2 and drives the two gears 4-2 to rotate in the same direction, and the four rollers 4-3 are symmetrically mounted in the two ring grooves 1-12 (see fig. 16). When the third driving unit 4-4 drives the two gears 4-2 to rotate in the same direction, the four rollers 4-3 are symmetrically arranged in the two ring grooves 1-12 and guide rolling motion in the two ring grooves, and the two gears 4-2 and the four rollers 4-3 are clamped on the front ring 1-1, so that the front ring walking mechanism 4 is high in bearing and driving capacity, free of derailment and stable in transmission, and meanwhile, the reliability and safety during ring detection or maintenance are guaranteed.

Referring to fig. 14, preferably, the third driving unit 4-4 includes a third motor 4-41, a third driving pulley 4-42, a third timing belt 4-43 and a third driven pulley 4-44, an output end of the third motor 4-41 is connected to the third driving pulley 4-42, the third driving pulley 4-42 is connected to the third driven pulley 4-44 through the third timing belt 4-43, and the third driving pulley 4-42 and the third driven pulley 4-44 are coaxially connected to the two gears 4-2, respectively. Specifically, the third motor 4-41 drives the third driving pulley 4-42 to rotate, the third driving pulley 4-42 drives the third driven pulley 4-44 to rotate through the third synchronous belt 4-43, and the third driving pulley 4-42 and the third driven pulley 4-44 are coaxially connected with the two gears 4-2 respectively, so that the two gears 4-2 rotate in the same direction and move circumferentially in the same direction on the outer gear ring 1-11, and due to the double-gear transmission, the precision and the stability of the movement of the front circumferential travelling mechanism 4 are improved, and meanwhile, the working performance can be prevented from being influenced by the vibration generated during circumferential detection or maintenance.

Preferably, the front ring 1-1 and the rear ring 1-2 have the same structure, and the rear annular walking mechanism 5 and the front annular walking mechanism 4 have the same structure. Since the working principle of the rear annular traveling mechanism 5 is the same as that of the front annular traveling mechanism 4, the description is omitted.

As can be seen in fig. 6-7, preferably, both ends of the two half rings 101 have connecting portions 102 extending radially inward; the connecting parts 102 of the two half rings 101 are detachably fixed through bolt assemblies (103, 104). Specifically, the bolt assembly (103, 104) includes a bolt 103 and a nut 104.

Referring to fig. 7-9, further, a row of track tensioning wheels 2-12 is arranged on the track support 2-8, and the row of track tensioning wheels 2-12 is in contact fit with the inner wall of the crawling section of the track 2-10.

Referring to fig. 7-9, preferably, the front track driving mechanism 2 has two front connecting rods 2-1 symmetrically distributed, two rear connecting rods 2-2 symmetrically distributed, two telescopic rods 2-3 symmetrically distributed, and two springs 2-4 symmetrically distributed, so that the bearing strength can be greatly improved, and the stress is more stable.

When the device is used, the device also comprises a remote control device (or a PC) and a ground trolley, wherein the remote control device (or the PC) is in communication connection with the detection robot. Preferably a wireless communication link may be used. And a water supply system and a paint supply system are arranged on the ground trolley. The remote control device (or PC) has a display, a processor, instruction and data input means (such as a mouse, keyboard or/and touch screen input). And the PC or the remote control equipment is used for controlling the detection robot to execute corresponding actions (such as crawling, image acquisition, defect detection, maintenance work and the like) and can display the cable breakage defect data and the cable appearance image data acquired by the detection robot.

Preferably, the cleaning device 10 comprises a first electromagnetic valve and a cleaning spray head, and the cleaning spray head is connected with a cleaning liquid supply system pipeline through the first electromagnetic valve. The cleaning spray head is arranged on a walking frame 4-1 of one of the front annular walking mechanisms 4; and the pipeline of the cleaning liquid supply system is arranged on a ground trolley or the cleaning liquid supply system and the cleaning spray head are arranged on a walking frame 4-1 of the same front annular walking mechanism 4. The first electromagnetic valve is electrically connected to a remote control device (or a PC), and the remote control device (or the PC) controls the operating state of the first electromagnetic valve to control the cleaning nozzle of the cleaning device 10 to open or close, so as to clean the stay wire or close the cleaning. Preferably, the spray coating device 12 includes a second solenoid valve and a spray head connected to the supply of coating material system line through the second solenoid valve. The spray head is mounted on the travelling frame 4-1 of another front annular travelling mechanism 4, and the paint supply system is mounted on a ground trolley or the paint supply system and the spray head are mounted on the travelling frame 4-1 of the same front annular travelling mechanism 4. The second electromagnetic valve is electrically connected with a remote control device (or a PC), and the remote control device (or the PC) controls the working state of the second electromagnetic valve to control the spraying nozzle of the spraying device 12 to open or close, so as to realize the spraying of the guy wire or the closing of the spraying. Preferably, the drying device can adopt a hot air blower, so that the drying efficiency can be improved.

Referring to fig. 12, preferably, the grinding device 9 includes a feeding mechanism 9-1, a grinding motor 9-2 and a grinding head 9-3, the feeding mechanism 9-1 (which can be fed by sliding a nut with a lead screw or by linear displacement of a rack with a gear) is used for radial movement of a feeding seat 9-4 along a cable, the grinding motor 9-2 is fixed on the feeding seat 9-4, and the grinding motor 9-2 is connected with the grinding head 9-3 and drives the grinding head 9-3 to move for grinding. Preferably, a plurality of polishing heads 9-3 are arranged, and the polishing motor 9-2 is connected with each polishing head 9-3 through a belt transmission mechanism 9-5 and drives each polishing head 9-3 to rotate simultaneously.

Example two: a working method is provided, wherein the multifunctional bridge detection robot in the first embodiment is adopted, and the working method comprises the following steps:

s40, starting the four front crawler driving mechanisms 2 and the four rear crawler driving mechanisms 3 to move forwards simultaneously to enable the detection robot to move upwards along the inhaul cable, and collecting inhaul cable breakage defect data along the way by a detector on the detection robot; when the detector 8 detects that a fracture defect exists at a certain position in the ascending process, stopping the upward movement of the detection machine and entering the step S50; when the four detectors 8 do not detect the fracture defect in the whole upward process, the process goes to step S60;

s50, starting the four rear ring walking mechanisms 5 to work, synchronously moving the four rear ring walking mechanisms in the same direction and at the same time in the ring direction of the rear rings 1-2, and starting the four rear cameras 7 to record or photograph (so that 360-degree image acquisition of the defect position of the stay cable can be realized, image data of the defect part can be acquired more finely in a targeted manner, and the internal and external data can be analyzed in a combined manner);

s60, when the detection robot ascends to the top, the four front track driving mechanisms 2 and the four rear track driving mechanisms 3 are started to move reversely to enable the detection robot to move downwards along the guy cable, and a rear camera on the detection robot collects guy cable appearance image data along the way; when the rear camera collects a rusty image at a certain position in the descending process, stopping the downward movement of the detection machine and entering the step S70; when the camera does not acquire the rusty image after four cameras go up in the whole course, the step S80 is carried out;

s70, the method comprises the following steps: s71, starting the four front ring travelling mechanisms 4 to work, synchronously moving the four front ring travelling mechanisms 4 in the same direction and at the same speed along the front ring 1-1 in a ring manner, enabling the polishing devices to face the rust positions on the inhaul cables, setting a processing area, stopping the four front ring travelling mechanisms 4 to work at the same time, and starting the polishing devices to polish the processing area; s72, starting the four front ring travelling mechanisms 4 to work, synchronously moving the four front ring travelling mechanisms 4 in the same direction and in the same direction along the front rings 1-1 in a ring manner, enabling the cleaning device to face the treatment area on the inhaul cable, stopping the four front ring travelling mechanisms 4 from working at the same time, and starting the cleaning device to clean the treatment area; 73. starting the four front annular travelling mechanisms 4 to work, synchronously moving the four front annular travelling mechanisms 4 in the same direction and at the same speed along the front rings 1-1 in an annular manner, enabling the blow-drying device to face the processing area on the inhaul cable, stopping the four front annular travelling mechanisms 4 at the same time, and starting the blow-drying device to blow-dry the processing area; s74, starting the four front annular travelling mechanisms 4 to work, synchronously moving in the same direction and at the same speed along the front rings 1-1 in an annular mode, enabling the spraying device to face the processing area on the inhaul cable, stopping the four front annular travelling mechanisms 4 to work at the same time, and starting the spraying device to spray paint on the processing area;

The invention has at least the following beneficial effects:

firstly, the four front crawler driving mechanisms are used for driving the front crawler driving mechanisms to tightly climb and the four rear crawler driving mechanisms are used for driving the rear crawler driving mechanisms to tightly climb, eight drives are used for simultaneously exerting force, the crawling capability is strong, the slipping is avoided, the bearing capability is strong, more instruments and equipment can be assembled, a preposed condition is provided for realizing multiple functions, the influences of respective external interference and the self interference degree of the inhaul cable born by the robot during high-altitude operation can be overcome, the high-slope crawling is difficult, the deviation or the jolt is avoided, and the stable up-and-down crawling is ensured;

secondly, the frame of the invention adopts the structure that the front ring 1-1 and the rear ring 1-2 are fixedly connected through the four column beams 1-3 to form a cylinder frame, so that the frame 1 has the advantages of simple structure, low weight, reliable strength, difficult deformation, convenient assembly, easy processing and manufacture and low cost on the premise of meeting the bearing function;

thirdly, the crawler-type climbing cable is adopted, and due to the fact that the crawler and the outer wall surface of the cable have a large contact area, the climbing friction force can be increased, and meanwhile the outer wall surface of the cable can be protected through flexible deformation of the crawler, the crawler-type climbing cable is high in climbing capacity and stable in operation, and the technical problems of climbing, clamping and slipping can be avoided;

fourthly, the four front annular travelling mechanisms 4 can move along the front ring 1-1 in an annular manner and are used for respectively driving the polishing device 9, the cleaning device 10, the blow-drying device 11 and the spraying device 12 to move along the front ring 1-1 in the annular manner, and the polishing device 9, the cleaning device 10, the blow-drying device 11 and the spraying device 12 are used for respectively polishing, cleaning, blow-drying and spraying the rusty position of the stay cable so as to protect the outer layer of the rusty part of the stay cable, realize the accurate polishing, cleaning, blow-drying and spraying of the rusty position on the stay cable, and repair 360-degree no dead angle; meanwhile, the four front cameras monitor the working condition at any time, and an operator can control and adjust the progress, effect, time, position and process switching of each process according to the working condition, so that the working efficiency is very high, and the effect and quality of processing of each process can be ensured;

fifthly, the four rear cameras 7 can adopt image data of the stay cable along the way and are used for detecting whether the outer surface of the stay cable has the phenomena of corrosion, fatigue, wire breakage, fracture and the like; the four detectors 8 can detect or detect whether the cable breakage defect exists along the way; meanwhile, when the four rear cameras 7 can acquire images along the way and find abnormality, after crawling can be stopped, the four rear cameras 7 and the four detectors 8 are driven to move circularly by 360 degrees around the rear ring through the four rear circular walking mechanisms 5 to accurately detect, whether the stay cable is rusted, fatigued, broken and the like is detected more accurately, and 360-degree dead-angle-free comprehensive and accurate acquisition and detection can be achieved;

sixthly, the front track driving mechanism and the rear track driving mechanism are supported by a parallel four-bar linkage, and the first driving unit 2-6 is used for driving the sliding block 2-5 to slide (forwards or backwards) along the length direction of the column beam 1-3 and driving the track support 2-8 to move through the telescopic rod 2-3, so that the parallel four-bar linkage is deformed, and therefore, the front track driving mechanism and the rear track driving mechanism can be suitable for inhaul cables with different diameters, and the size of the force of holding the inhaul cables can be effectively adjusted; the telescopic rod 2-3 and the spring 2-4 are combined to form elastic and telescopic support for the crawler belt support 2-8 so as to realize flexible clamping of the inhaul cable and enable the inhaul cable to automatically adapt to the change of the diameter of the inhaul cable, when the diameter of the inhaul cable changes or meets an obstacle, the telescopic rod 2-3 can be used for compressing the spring 2-4 to contract so that the robot can smoothly pass through, and meanwhile, the spring 2-4 provides enough counterforce pressure to enable the crawler belt 2-10 to be kept close to the inhaul cable;

seventh, the invention can realize multifunctional detection and maintenance operation, replace manual work, and has stable and reliable performance and high working efficiency.

Claims

1. The utility model provides a multi-functional inspection robot of bridge which characterized in that: the crawler belt type crawler belt conveyor comprises a frame (1), four front crawler belt driving mechanisms (2), four rear crawler belt driving mechanisms (3), four front annular traveling mechanisms (4) and four rear annular traveling mechanisms (5);

the frame (1) comprises a front ring (1-1), a rear ring (1-2) and four column beams (1-3), the front ring (1-1) and the rear ring (1-2) are concentric and arranged at intervals, the four column beams (1-3) are uniformly distributed along the circumferential direction of the front ring (1-1), the front ends of the four column beams (1-3) are fixedly connected with the front ring (1-1), and the rear ends of the four column beams (1-3) are fixedly connected with the rear ring (1-2);

the four front crawler driving mechanisms (2) are respectively arranged on the four column beams (1-3), the four rear crawler driving mechanisms (3) are respectively arranged on the four column beams (1-3), and the front crawler driving mechanisms (2) and the rear crawler driving mechanisms (3) are distributed in the front and back direction;

the four front circumferential travelling mechanisms (4) are arranged on the front ring (1-1) and can move circumferentially along the front ring (1-1), the four front circumferential travelling mechanisms (4) are respectively provided with a grinding device (9), a cleaning device (10), a drying device (11) and a spraying device (12), and the four front circumferential travelling mechanisms (4) are respectively provided with four front cameras (6);

the four rear annular travelling mechanisms (5) are arranged on the rear ring (1-2) and can move annularly along the rear ring (1-2); four rear cameras (7) are respectively arranged on the four rear annular travelling mechanisms (5), four detectors (8) are respectively arranged on the four rear annular travelling mechanisms (5), and the detectors (8) are used for detecting the breakage defects of the stay cables;

the front ring (1-1) is formed by detachably fixing two symmetrical half rings (101), an outer gear ring (1-11) is arranged on the outer circular wall of the front ring (1-1), and two ring grooves (1-12) are symmetrically arranged on two side surfaces of the front ring (1-1);

the front annular travelling mechanism (4) comprises a travelling frame (4-1), two gears (4-2), four idler wheels (4-3) and a third driving unit (4-4), the two gears (4-2) are meshed with an outer gear ring (1-11), the two gears (4-2) and the four idler wheels (4-3) are rotatably arranged on the travelling frame (4-1), the third driving unit (4-4) is connected with the two gears (4-2) and used for driving the two gears (4-2) to rotate in the same direction, and the four idler wheels (4-3) are symmetrically arranged in two annular grooves (1-12).

2. The multifunctional bridge detection robot of claim 1, wherein: the front crawler driving mechanism (2) comprises a front connecting rod (2-1), a rear connecting rod (2-2), a telescopic rod (2-3), a spring (2-4), a sliding block (2-5), a first driving unit (2-6), a second driving unit (2-7), a crawler support (2-8), a driving crawler wheel (2-9), a crawler (2-10) and a driven crawler wheel (2-11);

the front connecting rod (2-1) is parallel to the rear connecting rod (2-2), the column beam (1-3) is parallel to the crawler belt bracket (2-8), and a parallel four-bar linkage mechanism is formed among the front connecting rod (2-1), the rear connecting rod (2-2), the column beam (1-3) and the crawler belt bracket (2-8);

the driving crawler wheels (2-9) and the driven crawler wheels (2-11) are respectively and rotatably arranged at two ends of a crawler support (2-8), the crawler (2-10) is wound on the driving crawler wheels (2-9) and the driven crawler wheels (2-11), and the second driving unit (2-7) is connected with the driving crawler wheels (2-9) and is used for driving the driving crawler wheels (2-9) to rotate;

the telescopic rod (2-3) comprises a first rod piece (2-31) and a second rod piece (2-32), one end of the first rod piece (2-31) is sleeved with one end of the second rod piece (2-32) in a sliding mode, the other end of the first rod piece (2-31) is hinged to the column beam (1-3), two ends of the spring (2-4) are connected with the first rod piece (2-31) and the second rod piece (2-32) respectively, the spring (2-4) is compressed when the telescopic rod (2-3) is contracted, the sliding block (2-5) is matched with the column beam (1-3) in a sliding mode, and the first driving unit (2-6) is connected with the sliding block (2-5) and used for driving the sliding block (2-5) to slide along the length direction of the column beam (1-3).

3. The multifunctional bridge detection robot of claim 1 or 2, wherein: the front crawler driving mechanism (2) and the rear crawler driving mechanism (3) have the same structure.

4. The multifunctional bridge detection robot of claim 3, wherein: the third driving unit (4-4) comprises a third motor (4-41), a third driving pulley (4-42), a third synchronous belt (4-43) and a third driven pulley (4-44), the output end of the third motor (4-41) is connected with the third driving pulley (4-42), the third driving pulley (4-42) is connected with the third driven pulley (4-44) through the third synchronous belt (4-43), and the third driving pulley (4-42) and the third driven pulley (4-44) are respectively coaxially connected with the two gears (4-2).

5. The multifunctional bridge detection robot of claim 4, wherein: the front ring (1-1) and the rear ring (1-2) are identical in structure, and the rear annular travelling mechanism (5) and the front annular travelling mechanism (4) are identical in structure.

6. The multifunctional bridge inspection robot of claim 1, 4 or 5, wherein: both ends of the two half rings (101) are provided with connecting parts (102) extending inwards in the radial direction; the connecting parts (102) of the two half rings (101) are detachably fixed through bolt assemblies (103, 104).

7. The multifunctional bridge detection robot of claim 2, wherein: a row of track tensioning wheels (2-12) are arranged on the track supports (2-8), and the row of track tensioning wheels (2-12) are in contact fit with the inner wall of the crawling section of the track (2-10).

8. A working method, which adopts the multifunctional bridge detection robot as claimed in any one of claims 1-7, and comprises the following steps: