Cable-stayed bridge concrete cable tower surface detecting robot based on grabbing claws

Abstract

The invention discloses a cable-stayed bridge concrete cable tower surface detecting robot based on grabbing claws, which comprises a robot body mechanism, a first claw module set, a second claw module set and a crawl driving device, wherein the first claw module set and the second claw module set are arranged on the robot body mechanism, the crawl driving device is used for driving the first claw module set and the second claw module set to alternately crawl; the first claw module set at least comprises a first grabbing claw module and a second grabbing claw module; and the second grabbing claw module set at least comprises a third grabbing claw module and a fourth grabbing claw module, the grabbing claw modules comprise a steering engine, an annular soft shaft and at least three miniature pointed hooks, wherein the annular soft shaft is driven by the steering engine, the miniature pointed hooks are arranged on the annular soft shaft, and the bending directions of the miniature pointed hooks all point to the center of the annular soft shaft. Compared with the prior art, the robot has the advantages of simple structure, light dead weight, lower energy consumption and convenience of climbing and can be suitable for various conditions of climbing on concrete wall surfaces with larger influences of wind-mouthed vibration.

Description

technical field [0001] The patent of the present invention relates to a cable-stayed bridge concrete tower detection robot, specifically, it relates to a cable-stayed bridge cable tower, remote mountain viaduct piers and other rough concrete surface crack fault and internal strength detection robot, which belongs to the robot technology field. Background technique [0002] With the rapid development of our country's transportation industry, cable-stayed bridges and viaducts in remote mountainous areas have been widely used in our country. Among the three parts (cable tower, stay cable and main girder) that make up the cable-stayed bridge, except for the main girder, which can be inspected by a maintenance engineering vehicle, there is a reality that is difficult to inspect for the cable tower and cable stay with a height of several hundred meters. It is difficult for bridge maintenance engineers to see every part of them up close, or even access the parts that need to be in...

AI Technical Summary

Problems solved by technology

[0007] The robot described above can be applied to the general wall surface, but the small steel hooks used cannot provide the "adsorption" force directed to the wall, and the effect on the wall does not form a force seal. During the climbing process, the robot is easily affected by high-altitude wind loads and cable tower vibrations, resulting in instability, and is not suitable for cable-stayed bridge cable tower inspections.

[0008] As the span and height of cable-stayed bridges become larger and larger, the cable towers are also more and more affected by wind vibration. Taking the Sutong Bridge as an example, the cable towers are as high as 300 meters. The moving basket trolley is manually equipped with detection sensors to detect it, which has serious problems such as high cost, poor working environment, and low work efficiency; Stayed cables as climbing paths Check the easily accessible side sections of the pylon, the front section is hard to reach without the cables

For the detection of cable-stayed bridge cables, our research group has applied for a variety of detection robots (application numbers are 200810019166.2, 200810142308.4, 2006101576019.9, 200620016413.X); for the detection of cable-stayed bridge tower surfaces, the application of lasso-driven A plurality of miniature sharp hooks grab the wall, and a claw grabbing wall-climbing robot is designed. The technical solution is published in the invention patent No. 201010290721.2. Each hook of this design is equipped with multiple miniature sharp hooks. The grip is stable, but multiple lassoes are used to transmit power, and the structure is relatively complicated

[0009] To sum up, for high-altitude buildings such as cable-stayed bridge towers and viaduct piers in remote mountainous areas, the current adsorption methods of wall-climbing robots have their limitations.

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