Detection and repair climbing robot for surface of ultra-long cylindrical structure and detection and repair method thereof

Abstract

The invention discloses a detection and repair climbing robot for a surface of an ultra-long cylindrical structure and a detection and repair method thereof. The robot comprises a climbing mechanism,wherein the climbing mechanism comprises an annular gear ring, a magnetic attraction device, an electric push rod piston rod, an electric push rod cylinder barrel, an electric push rod piece, an electric push rod motor, a magnetic attraction stepping motor and a camera carrier component; the camera carrier component is arranged on the annular gear ring; a lead screw motor is arranged on the cameracarrier component; a guide rail plate is fixedly arranged on a part, corresponding to the lead screw motor, of the camera carrier component; a sliding block slides on the guide rail plate and is connected with an output lead screw of the lead screw motor; a detachable camera component or a detachable repairing component is arranged on the sliding block; the robot further comprises an image receiving and splicing system, a control system and a power system; and the control system and the power system are connected through a circuit.

Description

technical field [0001] The invention belongs to the technical field of construction robots, and in particular relates to a climbing robot for detecting and repairing the surface of an ultra-long cylindrical structure and a method for detecting and repairing the same. Background technique [0002] In building construction, it is often encountered in the construction of super-long cylindrical mechanism components, such as the lifting cylinder of a dam crane. The piston rod is made of metal. If there are defects on the surface, the normal operation of the lifting cylinder will be affected. [0003] At present, the mainstream detection method on the construction site is to use the erection of brackets, and to carry out manual detection and repair. The method of manual detection takes too long, and there is a certain risk of personal injury when working at heights. Therefore, it is necessary to design a device that can automatically detect and repair the super-long cylindrical st...

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Problems solved by technology

[0004] For example, the invention patent application "A super-long cylindrical structure surface detection robot" (application number: CN201810731765.0) discloses a robot that can detect the super-long cylindrical structure surface, but this design only has the detection function, if it finds Defects on the surface of the cylindrical structure still have to be repaired manually, and the automatic control repair cannot be completed.

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