Climbing robot for detection and repair of super long cylindrical structure surface and detection and repair method
A structural surface and robot technology, applied in the field of construction robots, can solve problems such as inability to complete automatic control repairs, achieve the effect of reducing labor costs and improving work efficiency
Inactive Publication Date: 2021-08-17
WUHAN UNIV OF SCI & TECH
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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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[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0036] It should be noted that the main structure of the present invention is basically the same as the main structure of the published invention patent application "A super-long cylindrical structure surface detection robot" (application number: CN201810731765.0), in order to simplify the expression to clarify the improvements made by the present invention Part of the content, here mainly describes the other parts of the two.
[0037] Such as figure 1 , 2 A climbing robot for detecting and repairing the surface of an ultra-long cylindrical structure, including a climbing mechanism, the climbing mechanism includes an annular ring gear 5, a magnetic adsorption device 6, an electric push rod piston rod 3, an electric push rod cylinder 1, Electric push rod rod 2, electric push rod driving motor, and magnetic force adsorption stepper motor 7; the...
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A climbing robot for detecting and repairing the surface of an ultra-long cylindrical structure, including a climbing mechanism, the climbing mechanism includes an annular ring gear, a magnetic adsorption device, an electric push rod piston rod, an electric push rod cylinder, and an electric push rod rod , an electric push rod motor, and a magnetic adsorption stepping motor; also includes a camera carrier part, the camera carrier part is installed on the ring gear, a screw motor is installed on the camera carrier part, and the screw motor A guide rail plate is fixedly installed on the corresponding part of the camera carrier part, and a slider is slid on the guide rail plate, and the slider is connected with the output screw rod of the screw motor, and a detachable Camera parts or detachable repair parts; the device also includes an image receiving and stitching system, a control system, and a power system, and they are connected through circuits. The invention also includes a method for detecting and repairing by using the climbing robot.
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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IPC IPC(8): B24B5/04B24B49/12B24B45/00B24B47/04B62D57/024G01N21/952G01N21/88
CPCB24B5/045B24B45/006B24B47/04B24B49/12B62D57/024G01N21/8851G01N21/952G01N2021/887
Inventor 郭炜民陈新元李小娟李朝朝
Owner WUHAN UNIV OF SCI & TECH