Large-span steel structure surface walking mechanism

Abstract

The application relates to a large-span steel structure surface walking mechanism, belonging to the technical field of steel structure detection equipment, which comprises a rack, a first walking device and a second walking device are arranged on the rack, a first adsorption device is arranged on the first walking device, and a second adsorption device is arranged on the second walking device, so that the first walking device and the second walking device can be connected to the surface of the steel structure by the first adsorption device and the second adsorption device respectively; the first walking device comprises a multi-degree-of-freedom mechanical arm, one end of the multi-degree-of-freedom mechanical arm is connected with the rack, the other end is connected with the first adsorption device, the connecting point of the multi-degree-of-freedom mechanical arm and the rack is located on the top surface of the rack, and the multi-degree-of-freedom mechanical arm can drive the first adsorption device to move randomly in the coverage range of the multi-degree-of-freedom mechanical arm. The application has the effects of realizing stable fixing and efficient moving on a complex special-shaped surface.

Description

Technical Field

[0001] This application relates to the field of steel structure inspection equipment technology, and in particular to a walking mechanism for the surface of a large-span steel structure. Background Technology

[0002] Large-span steel structures are widely used in construction fields such as bridges, stadiums, and industrial plants. During long-term use, the surface of steel structures is prone to defects such as cracks, corrosion, and fatigue damage. Regular surface inspection is required to detect potential safety hazards in a timely manner. However, the surface morphology of large-span steel structures is complex, usually including planes, curved surfaces, inclined surfaces, vertical surfaces, as well as irregular structures such as ball joints and tubular trusses. In addition, there are large obstacles and discontinuous surfaces, which are difficult to reach by manual inspection and are highly dangerous. Therefore, it is necessary to develop inspection devices that can climb and move autonomously.

[0003] Existing surface inspection devices for large-span steel structures have their walking and adsorption mechanisms located at the bottom of the equipment. They move horizontally or vertically along the surface of the steel structure. Such inspection devices can only move along the surface of the steel structure. When they encounter irregular obstacles such as protruding ball joints, wide welds, or steel beam flanges during their movement, these inspection devices have difficulty crossing them and are prone to getting stuck. They cannot achieve stable fixation and efficient crossing movement on complex irregular surfaces at the same time. Summary of the Invention

[0004] To achieve stable fixation and efficient traversal movement on complex irregular surfaces, this application provides a large-span steel structure surface walking mechanism.

[0005] The technical solution for a large-span steel structure surface walking mechanism provided in this application is as follows: A walking mechanism for a large-span steel structure surface includes a frame, on which a first walking device and a second walking device are provided. The first walking device is provided with a first adsorption device, and the second walking device is provided with a second adsorption device, such that the first walking device and the second walking device can be magnetically connected to the steel structure surface through the first adsorption device and the second adsorption device, respectively. The first walking device includes a multi-degree-of-freedom robotic arm. One end of the multi-degree-of-freedom robotic arm is connected to the frame, and the other end is connected to the first adsorption device. The connection point between the multi-degree-of-freedom robotic arm and the frame is located on the top surface of the frame. The multi-degree-of-freedom robotic arm can drive the first adsorption device to move arbitrarily within the coverage area of ​​the multi-degree-of-freedom robotic arm.

[0006] By adopting the above technical solution, a multi-degree-of-freedom robotic arm mounted on the top surface is used as the main body of the first walking device. This results in more spatial movement freedom and stronger motion response sensitivity. Relying on the spatial movement capability of the multi-degree-of-freedom robotic arm mounted on the top surface, it can avoid various irregular protruding obstacles, preventing walking jamming and greatly improving obstacle crossing adaptability. At the same time, the first walking device and the second walking device work together. The first walking device is responsible for long-distance point adsorption, temporary fixation, and traction of the frame to complete obstacle crossing displacement, focusing on dynamic movement; the second walking device is responsible for static load-bearing and locking of the frame, focusing on stable fixation. This decouples obstacle crossing movement from equipment fixation, taking into account both the efficiency of movement on complex surfaces and the stability of adsorption.

[0007] Optionally, the multi-degree-of-freedom robotic arm includes a first drive arm, a second drive arm, and a third drive arm. The first drive arm is rotatably connected to the second drive arm, and the second drive arm is rotatably connected to the third drive arm. The first drive arm, the second drive arm, and the third drive arm are respectively connected to a first drive member, a second drive member, and a third drive member. The first drive member, the second drive member, and the third drive member are respectively used to drive the first drive arm, the second drive arm, and the third drive arm to rotate.

[0008] By adopting the above technical solution, the multi-degree-of-freedom robotic arm is divided into three independently rotating first drive arm, second drive arm and third drive arm, and each drive arm is equipped with an independent drive component to control the rotation independently, preventing the movement range of a single robotic arm from being limited. The three arm segments can cooperate with each other to complete multiple sets of spatial movements such as folding, pitching and swinging. Without moving the frame, it can flexibly drive the first adsorption device at the end to any spatial point around the frame, expand the adsorption coverage of the first adsorption device, and adapt to the point adsorption needs of non-continuous steel structure surfaces.

[0009] Optionally, the multi-degree-of-freedom robotic arm includes a rotary base, which is rotatably connected to the frame, and the end of the first drive arm away from the second drive arm is rotatably connected to the rotary base.

[0010] By adopting the above technical solution, the rotating seat realizes the circumferential rotation of the three-section drive arm relative to the frame, making up for the shortness of freedom of the three-section drive arm which can only rotate in the vertical plane. This allows the robotic arm to have full-space motion capabilities of horizontal plane rotation and vertical multi-segment bending. Without adjusting the frame orientation, the horizontal adsorption position of the first adsorption device can be changed, adapting to the adsorption points on various irregular steel structure surfaces. This further reduces the frequency of frame adjustment when moving across obstacles and improves the obstacle-crossing capability of the device.

[0011] Optionally, the first adsorption device includes a mounting base, a central rod is provided at the center of the mounting base, a first magnetic chuck is spherically hinged to one end of the central rod away from the mounting base, at least four first telescopic rods are symmetrically arranged around the central rod, one end of the first telescopic rod is fixedly connected to the mounting base, and a second magnetic chuck is spherically hinged to one end of the first telescopic rod away from the mounting base. Both the first magnetic chuck and the second magnetic chuck can be magnetically connected to the surface of the steel structure.

[0012] By adopting the above technical solution, the mounting base provides a unified assembly benchmark for the first adsorption device. The central rod serves as the main force-bearing connector, supporting the first magnetic chuck. The first telescopic rods arranged around the perimeter, together with the second magnetic chuck, form a distributed auxiliary magnetic adsorption structure. For uneven surfaces such as curved steel structures, local rust depressions, and weld protrusions, the extension length of each first telescopic rod can be adjusted individually. In conjunction with the spherical hinge structure at the end of the magnetic chuck, it adaptively fits the plate surface. After the length of the telescopic rod is locked, it can constrain the relative positions of multiple sets of magnetic chucks, preventing displacement when magnetic force is applied, ensuring uniform force application at multiple points, and improving the magnetic stability of irregular surfaces.

[0013] Optionally, an adapter sleeve is provided at the end of the third drive arm away from the second drive arm. Both the third drive arm and the mounting base are rotatably connected to the adapter sleeve, and the rotation axes of the third drive arm and the adapter sleeve are perpendicular to the rotation axes of the mounting base and the adapter sleeve.

[0014] By adopting the above technical solution, the adapter sleeve forms two sets of mutually perpendicular rotating pairs, which respectively realize the orthogonal rotation between the third drive arm and the adapter sleeve, and between the adapter sleeve and the mounting base of the adsorption device. Based on the spatial posture adjustment of the three-segment robotic arm, the mounting base can rotate, which can be adapted to various irregular curved surfaces such as arc surfaces, inclined surfaces, and angled surfaces of steel structures, so that the first magnetic chuck and the second magnetic chuck can be adapted to more shapes of steel structure surfaces and achieve stable adsorption.

[0015] Optionally, the second walking device includes four second telescopic rods, all of which are located at the bottom of the frame and fixedly connected to the frame. The four second telescopic rods are respectively located at the four corners of the frame. The second adsorption device is located at the end of the second telescopic rod away from the frame and is fixedly connected to the second telescopic rod.

[0016] By adopting the above technical solution, the second telescopic rod can extend and retract vertically. When extended, it drives the second adsorption device downward until it contacts the steel structure surface and achieves magnetic fixation. When retracted, it drives the second adsorption device upward to detach from the steel structure surface, realizing the adsorption and release between the frame and the steel structure surface. At the same time, the four second telescopic rods are symmetrically arranged at the four corners of the bottom of the frame and can extend and retract vertically independently. When there are local undulations, tilts or depressions on the steel structure surface, the extension length of each telescopic rod can be adjusted individually to keep the frame always horizontal or in a preset posture, realizing adaptive leveling for complex irregular surfaces. The four-point symmetrical layout can evenly distribute the load of the frame and the working mechanism to the four support points, avoiding excessive force on one side that could cause the telescopic rod to bend or deform or the adsorption to become unstable. Each second telescopic rod can be controlled independently to ensure the balance of the support force. In addition, the active extension and retraction of the second telescopic rods can allow the second adsorption device to actively retract and avoid obstacles when crossing them, avoiding interference with the obstacles. At the same time, it can actively extend and contact the surface when fixation is required, enhancing the reliability of the magnetic connection.

[0017] Optionally, the second adsorption device includes a magnetic base that can be magnetically connected to the surface of the steel structure.

[0018] By adopting the above technical solution, the second adsorption device uses an integrated magnetic base, which has a simple structure and a rapid magnetic opening and closing response. After the four magnetic bases are simultaneously adsorbed, the shear force caused by the detection vibration and the weight of the equipment can be offset after the frame is leveled, ensuring that the frame does not slip or overturn during the fixed-point detection process, thus meeting the stability requirements of high-altitude steel structure detection.

[0019] Optionally, the system may also include a moving component located at the bottom of the frame, on which a working tool is mounted, and the moving component is used to move the working tool in a plane parallel to the lower surface of the frame.

[0020] By adopting the above technical solution, the moving component directly drives the working tool to move horizontally within the bottom plane of the frame, enabling the working tool to be quickly positioned at any horizontal location within the frame's coverage area without moving the entire frame. This reduces the frequency of starting and stopping the traveling mechanism and the number of obstacle-crossing movements, thereby improving continuous operation efficiency. The working tool is directly mounted on the moving component, resulting in a short transmission chain and fast control response, which is conducive to achieving precise positioning. At the same time, this structure provides a simple interface foundation for subsequent replacement of different types of working tools, allowing the working tools to be replaced as needed, significantly improving the flexibility and scene adaptability of the device.

[0021] Optionally, the moving component is provided with a third telescopic rod, the extension direction of the third telescopic rod is perpendicular to the moving direction of the moving component, and the third telescopic rod is provided with a mounting groove, the mounting groove being located at the end of the third telescopic rod away from the moving component, and the working tool is mounted on the third telescopic rod through the mounting groove.

[0022] By adopting the above technical solution, an independent vertical lifting degree of freedom is added on the basis of translation, so that the working tool can adaptively approach the steel structure surface at different heights: when working, the third telescopic rod extends to ensure the optimal distance between the working tool and the surface and improve the quality of work; when not working or crossing obstacles, the third telescopic rod retracts to avoid the working tool from colliding and being damaged by the protruding structure.

[0023] Optionally, the moving component includes a first moving slide and a second moving slide. The first moving slide is fixed to the lower surface of the frame. A first moving slide base is provided on the first moving slide. The second moving slide is fixed on the first moving slide base. A second moving slide base is provided on the second moving slide. The third telescopic rod is fixed on the second moving slide base. The moving directions of the first moving slide and the second moving slide are perpendicular to each other.

[0024] By adopting the above technical solution, the first and second movable slides arranged perpendicularly to each other form a planar cross-shaped movable module, and the third telescopic rod is fixed on the second movable slide. This enables the working tool to be accurately positioned and moved smoothly throughout the entire area of ​​the frame bottom. The cross module structure has good rigidity and high motion accuracy, and can complete full-coverage operations within the frame coverage area without adjusting the overall position of the frame. This significantly reduces the frequency of obstacle-crossing movements of the walking mechanism, thereby reducing energy consumption and extending the life of the walking mechanism. At the same time, since the third telescopic rod is directly fixed to the second movable slide, the load of the lifting movement is directly transmitted to the slide, avoiding the off-center load problem caused by the cantilever structure, and ensuring the stability and positioning accuracy of the tool during operation.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. A multi-degree-of-freedom robotic arm mounted on the top surface is used as the first walking device. It has a large degree of freedom of spatial movement and sensitive action response. It can actively avoid irregular protruding obstacles such as ball joints, wide welds, and steel beam flanges to prevent walking from getting stuck. At the same time, the first walking device is responsible for long-distance adsorption and traction to cross obstacles, while the second walking device is responsible for static load-bearing and locking of the frame. The two functions work together to balance the movement efficiency and adsorption stability on complex surfaces. 2. The multi-degree-of-freedom robotic arm consists of three independently driven arm segments and a rotating base, possessing full-space motion capabilities including horizontal rotation and multi-segment bending in space; without moving the frame, the first adsorption device at the end can reach any spatial point around the frame, significantly expanding the coverage area of ​​the first adsorption device, adapting to the adsorption point requirements of various steel structure surfaces, reducing the frequency of frame adjustment during obstacle crossing, and improving obstacle crossing efficiency. 3. The first adsorption device adopts a structure with a central rod supporting a first magnetic chuck and symmetrically arranged independent telescopic second magnetic chucks around it. With the help of a spherical hinge, the extension length of each telescopic rod can be adjusted individually for uneven working surfaces, so that the magnetic chucks can adaptively fit the board surface. After the telescopic rods are locked, they constrain the relative positions of the multiple magnetic chucks, avoid force deviation, achieve uniform force at multiple points, and improve the magnetic adsorption stability of irregular surfaces. 4. The second walking device uses four independent vertical telescopic rods, symmetrically arranged at the four corners of the bottom of the frame. When extended, they are attracted and fixed, and when retracted, they are released. The length of each rod can be adjusted individually according to the surface undulations and inclinations to achieve adaptive leveling of the frame. The four-point layout evenly distributes the load, avoids deformation due to force on one side, and ensures the stability of high-altitude operations. 5. A cross-shaped moving module consisting of a first and a second moving slide that are perpendicular to each other is set on the lower surface of the frame, which drives the third telescopic rod and the working tools to move freely in the entire plane of the bottom surface of the frame; multiple work tasks can be completed within the coverage area without moving the frame, with a large working range, fewer moves, and high work efficiency; the third telescopic rod independently controls the raising and lowering of the tools, keeps them close to the surface during operation to improve work accuracy, and retracts when crossing obstacles to avoid collisions, realizing independent collaboration between walking and working. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0027] Figure 2 This is a schematic diagram illustrating the structure of the first adsorption device in an embodiment of this application.

[0028] Figure 3 This is a schematic diagram illustrating the structure of the working mechanism in the embodiments of this application.

[0029] Figure 4 yes Figure 3 An enlarged schematic diagram of part A in the middle.

[0030] Figure 5 This is a schematic diagram illustrating the structure of the control system in an embodiment of this application.

[0031] Explanation of reference numerals in the attached drawings: 1. Frame; 2. First walking device; 21. Multi-degree-of-freedom robotic arm; 211. Rotary base; 212. First drive arm; 213. Second drive arm; 214. Third drive arm; 215. First drive component; 216. Second drive component; 217. Third drive component; 22. Adapter sleeve; 3. Second walking device; 31. Second telescopic rod; 4. First suction device; 41. Mounting base; 42. Center rod; 43. First magnetic chuck; 44. First telescopic rod; 45. Second magnetic chuck; 5. Second magnetic chuck Attached devices; 51. Magnetic base; 6. Working mechanism; 61. Moving component; 611. First moving slide; 612. First moving slide; 613. Second moving slide; 614. Second moving slide; 62. Third telescopic rod; 63. Mounting slot; 64. Working tool; 641. Detection device; 7. Control system; 71. Main control module; 72. Sub-control module; 73. Communication module; 74. Drive module; 741. Electromagnet drive circuit; 742. Telescopic rod drive circuit; 743. Drive arm drive circuit. Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0033] This application discloses a large-span steel structure surface walking mechanism.

[0034] like Figure 1 A large-span steel structure surface walking mechanism includes a frame 1, on which a first walking device 2 and a second walking device 3 are provided. The first walking device 2 is connected to the top surface of the frame 1, and the second walking device 3 is connected to the bottom surface of the frame 1. The end of the first walking device 2 away from the frame 1 is connected to a first adsorption device 4, and the end of the second walking device 3 away from the frame 1 is connected to a second adsorption device 5. Both the first adsorption device 4 and the second adsorption device 5 can be magnetically adsorbed and connected to the steel structure surface.

[0035] The first walking device 2 includes four multi-degree-of-freedom robotic arms 21. The four multi-degree-of-freedom robotic arms 21 are respectively located at the center of the four sides of the top surface of the frame 1. One end of each multi-degree-of-freedom robotic arm 21 is rotatably connected to the top surface of the frame 1, and the other end away from the frame 1 is rotatably connected to a first adsorption device 4. The four multi-degree-of-freedom robotic arms 21 can drive their respective first adsorption devices 4 to move arbitrarily within the space covered by the device.

[0036] The multi-degree-of-freedom robotic arm 21 includes a rotary base 211, a first drive arm 212, a second drive arm 213, and a third drive arm 214. The rotary base 211 is mounted at the center of one side of the top surface of the frame 1, and the lower end of the rotary base 211 is rotatably connected to the frame 1. The upper end of the rotary base 211 is rotatably connected to the first drive arm 212. The end of the first drive arm 212 away from the rotary base 211 is rotatably connected to the end of the second drive arm 213. The end of the second drive arm 213 away from the first drive arm 212 is rotatably connected to the end of the third drive arm 214. The first drive arm 212, the second drive arm 213, and the third drive arm 214 are connected in series to form a three-arm series structure, which can move freely in space. The first drive arm 212 is connected to the first drive member 215, which drives the first drive arm 212 to rotate around the axis connecting it to the rotating seat 211; the second drive arm 213 is connected to the second drive member 216, which drives the second drive arm 213 to rotate around the axis connecting it to the first drive arm 212; the third drive arm 214 is connected to the third drive member 217, which drives the third drive arm 214 to rotate around the axis connecting it to the second drive arm 213, thereby realizing multi-degree-of-freedom spatial motion and enabling the first adsorption device 4 to reach any position in space.

[0037] The third drive arm 214 is provided with an adapter sleeve 22 at one end away from the second drive arm 213. The end of the third drive arm 214 is rotatably connected to one side of the adapter sleeve 22, and the other side of the adapter sleeve 22 is rotatably connected to the first adsorption device 4. The rotation axis between the third drive arm 214 and the adapter sleeve 22 is perpendicular to the rotation axis between the adapter sleeve 22 and the first adsorption device 4.

[0038] like Figure 2 The first adsorption device 4 includes a mounting base 41, which is rotatably connected to the adapter sleeve 22. A central rod 42 is provided at the end of the mounting base 41 away from the adapter sleeve 22. The central rod 42 is located at the center of the mounting base 41 and has a fixed length. In this embodiment, the mounting base 41 is also provided with eight first telescopic rods 44, which are arranged around the central rod 42 and are distributed in a matrix with the central rod 42. A first magnetic chuck 43 is connected to the end of the central rod 42 away from the mounting base 41 by a spherical hinge. One end of the first telescopic rod 44 is fixedly connected to the mounting base 41, and a second magnetic chuck 45 is connected to the end away from the mounting base 41 by a spherical hinge. Both the first magnetic chuck 43 and the second magnetic chuck 45 can be magnetically connected to the surface of the steel structure.

[0039] When the first adsorption device 4 approaches the steel structure surface, the first magnetic chuck 43 at the end of the central rod 42 first contacts the surface and determines the central adsorption point. The eight first telescopic rods 44 extend to different lengths according to the actual distance between their respective positions and the surface, so that each second magnetic chuck 45 contacts the corresponding position on the surface in sequence. Since each magnetic chuck is connected to the corresponding rod through a spherical hinge, the magnetic chuck can automatically deflect its angle so that its adsorption surface is in close contact with the local surface. After each telescopic rod extends to the position, its length is locked. The first magnetic chuck 43 and the eight second magnetic chucks 45 together form an adsorption array that matches the contour of the steel structure surface, so that the first adsorption device 4 can stably adsorb onto steel structure surfaces of various shapes.

[0040] like Figure 3 The second walking device 3 includes four second telescopic rods 31, each of which is connected to a second adsorption device 5. The four second telescopic rods 31 are all located on the bottom surface of the frame 1 and are located at the four corners of the bottom surface of the frame 1. One end of each second telescopic rod 31 is fixedly connected to the frame 1, and the extended end of the second telescopic rod 31 is fixedly connected to a second adsorption device 5. The second adsorption device 5 is an integrated magnetic base 51. The lower surface of the magnetic base 51 is the adsorption working surface, which can be magnetically connected to the surface of the steel structure.

[0041] In this embodiment, the first magnetic chuck 43, the second magnetic chuck 45, and the magnetic base 51 all adopt an electromagnet structure. Each electromagnet contains an electromagnetic coil and a soft magnetic core. When energized, the electromagnetic coil generates a magnetic field, enabling the first magnetic chuck 43, the second magnetic chuck 45, and the magnetic base 51 to adhere to the surface of the steel structure. When de-energized, the magnetic field disappears, and the magnetic connection between the first magnetic chuck 43, the second magnetic chuck 45, and the magnetic base 51 and the surface of the steel structure is broken. By adjusting the current of the electromagnet, the magnitude of its magnetic force, i.e., the magnitude of the attraction force, can be changed accordingly. The current and the magnetic force are positively correlated. During the electromagnet's adsorption process, the current gradually increases, and the magnetic force also gradually strengthens, causing the electromagnet to gradually and smoothly adhere to and be fixed to the steel structure surface. During the electromagnet's release process, the current gradually decreases, and the magnetic force also gradually weakens, causing the adsorption device to smoothly detach from the steel structure surface. The process of increasing or decreasing the current and the adsorption force is gradual, avoiding the device from being impacted or the adsorption becoming unstable due to sudden changes in magnetic force.

[0042] When moving, the second telescopic rod 31 of the second walking device 3 retracts, causing the second adsorption device 5 to detach from the surface, and the frame 1 is in a suspended state, only held in place by the adsorption of the first walking device 2; the multi-degree-of-freedom robotic arm 21 of the first walking device 2 drives the frame 1 to move towards the target position. After the frame 1 moves into place, the multi-degree-of-freedom robotic arm 21 drives the frame 1 to approach the steel structure surface, and the second telescopic rod 31 of the second walking device 3 extends, causing the second adsorption device 5 to adsorb onto the new surface, and the frame 1 regains stable fixation. Then the first adsorption device 4 is released, completing one step cycle. This cycle is repeated to achieve step movement across obstacles.

[0043] The bottom surface of the frame 1 is provided with a working mechanism 6. The working mechanism 6 includes a moving component 61, a third telescopic rod 62, and a mounting groove 63. The mounting groove 63 is located at the end of the third telescopic rod 62 away from the moving component 61 and is used to install the working tool 64. The moving component 61 includes a first moving slide 611 and a second moving slide 613 arranged perpendicularly to each other. The first moving slide 611 is fixed to the bottom surface of the frame 1 and a first moving slide block 612 is slidably connected to the first moving slide block 611. The second moving slide block 613 is fixedly connected to the first moving slide block 612 and slides synchronously with the first moving slide block 612 along the length direction of the first moving slide block 611. The length direction of the second moving slide block 613 is perpendicular to the length direction of the first moving slide block 611. A second moving slide block 614 is slidably connected to the second moving slide block 613 and can slide along the length direction of the second moving slide block 613.

[0044] The third telescopic rod 62 is located at the end of the second movable slide block 614 away from the second movable slide table 613. The telescopic direction of the third telescopic rod 62 is perpendicular to the bottom surface of the frame 1. The mounting groove 63 is located at the end of the third telescopic rod 62. Different working tools 64 can be installed in the mounting groove 63 according to the work requirements. In this embodiment, the work tool 64 employs a detection device 641 for detecting defects on the surface of the steel structure. The detection device 641 can be an eddy current detection probe, which is brought close to the surface of the steel structure by a third telescopic rod 62 to collect detection signals of surface defects in real time. In other embodiments, the work tool 64 can be flexibly replaced according to the specific work task, and other devices such as weld detection probes and ultrasonic thickness gauges can be selected. When using a weld detection probe, the device can inspect the weld along the weld direction. When using an ultrasonic thickness gauge, the thickness of the steel structure can be measured at multiple points.

[0045] like Figure 5The system includes a control system 7, which includes a main control module 71, a sub-control module 72, a communication module 73, and a drive module 74. The communication module 73 is wirelessly connected to the main control module 71 and electrically connected to the sub-control module 72. The communication module 73 is used to receive command signals from the main control module 71 and transmit the signals to the sub-control module 72. The sub-control module 72 is electrically connected to the drive module 74 and is used to control the drive module 74 to operate. The drive module 74 includes multiple independent drive circuits, including an electromagnet drive circuit 741, a telescopic rod drive circuit 742, and a drive arm drive circuit 743. The electromagnet drive circuit 741 is electrically connected to the first magnetic chuck 43, the second magnetic chuck 45, and the magnetic base 51, and is used to independently control the energization and de-energization of each electromagnet and the magnitude of the current. The telescopic rod drive circuit 742 is electrically connected to the first telescopic rod 44, the second telescopic rod 31, and the third telescopic rod 62, and is used to independently control the extension, retraction, and extension speed of each telescopic rod. The drive arm drive circuit 743 is electrically connected to the first drive member 215, the second drive member 216, and the third drive member 217, and is used to independently control the rotation angle and rotation speed of each drive arm in the multi-degree-of-freedom robotic arm 21. The sub-control module 72 is also used to collect actuator status information returned by the drive module 74, including the adsorption status feedback of each electromagnet, the position feedback of each telescopic rod, and the angle feedback of each drive component; at the same time, the sub-control module 72 is electrically connected to the detection device 641 to receive the steel structure surface detection data collected by the detection device 641. After summarizing the above status information and detection data, the sub-control module 72 transmits it to the main control module 71 through the communication module 73 to realize the wireless transmission of detection data.

[0046] Sensors are installed at each joint of the multi-degree-of-freedom robotic arm 21 to detect the rotation angle and relative position of each joint in real time, and feed the detection data back to the sub-control module 72. The sub-control module 72 controls the drive elements of the first drive component 215, the second drive component 216, the third drive component 217 and the adapter sleeve 22 through the drive module 74 to adjust them in a coordinated manner, so that the adsorption surface of the first adsorption device 4 is always perpendicular to the steel structure surface to be adsorbed.

[0047] A method for surface work on large-span steel structures, applied to the aforementioned walking mechanism on the surface of large-span steel structures, includes the following steps: S1: In the initial state, the four second telescopic rods 31 of the second walking device 3 extend, causing the second adsorption device 5 to contact the steel structure surface and magnetically connect. At the same time, the four multi-degree-of-freedom robotic arms 21 of the first walking device 2 drive their respective first adsorption devices 4 to adsorb onto the steel structure surface. The frame 1 is stably fixed to the steel structure surface through the first adsorption device 4 and the second adsorption device 5. S2: Control the first adsorption device 4 to disconnect the adsorption, the multi-degree-of-freedom robotic arm 21 moves according to the target movement direction, the rotating seat 211 rotates relative to the frame 1, the first drive arm 212, the second drive arm 213 and the third drive arm 214 unfold in sequence, so that the first adsorption device 4 at the end moves. When it moves to the target location, the first adsorption device 4 descends and approaches the surface. The first magnetic chuck 43 at the end of the central rod 42 contacts the surface first and determines the central adsorption point. The eight first telescopic rods 44 extend to different lengths according to their respective positions and the actual distance from the surface, so that each second magnetic chuck 45 contacts the corresponding position on the surface in sequence. Each magnetic chuck automatically deflects its angle through the spherical hinge, so that its adsorption surface is closely attached to the local surface. After each telescopic rod extends to the position, it locks its length. The first adsorption device 4 completes the adsorption of the target steel structure surface. S3: After the first adsorption device 4 firmly adsorbs, the second adsorption device 5 disconnects from the adsorption, and the four second telescopic rods 31 of the second walking device 3 retract simultaneously, driving the second adsorption device 5 to move upward, so that it completely detaches from the original steel structure surface. S4: The multi-degree-of-freedom robotic arm 21 of the first walking device 2 that has been adsorbed begins to move. Through the joint cooperation of the first drive arm 212, the second drive arm 213 and the third drive arm 214, a continuous pulling force is applied to the frame 1, which drives the frame 1 to move. S5: After the frame 1 moves to the target position, the four second telescopic rods 31 of the second walking device 3 extend again, driving the second adsorption device 5 to move downward until it contacts the steel structure surface at the new position and establishes a magnetic connection. The frame 1 is repositioned by the second walking device 3. Subsequently, the first magnetic chuck 43 and the second magnetic chuck 45 detach from the surface, the first telescopic rods 44 of the first adsorption device 4 retract, and the multi-degree-of-freedom robotic arm 21 retracts to the folded state. S6: Repeat steps S2-S5 to move the frame 1 forward segment by segment on the steel structure surface until the frame 1 reaches the preset target detection area; S7: After the frame 1 reaches the target detection area, the second walking device 3 remains fixed and the frame 1 is stationary. The working mechanism 6 starts to work, that is, the first moving slide 612 of the moving component 61 moves laterally along the first moving slide 611, and the second moving slide 614 moves longitudinally along the second moving slide 613, positioning the detection device 641 directly above the position to be detected. The third telescopic rod 62 extends downward, so that the detection device 641 gradually approaches the steel structure surface until the preset detection distance is reached. The detection device 641 is activated to detect the steel structure surface and collect defect data. S8: After the data acquisition at the current detection position is completed, the third telescopic rod 62 retracts upward, so that the detection device 641 is away from the steel structure surface, avoiding collision with the surface during the movement; S9: Repeat S2-S8, that is, according to the location of the next inspection area, the frame 1 is moved into place by the alternating cooperation of the first walking device 2 and the second walking device 3, and then the working mechanism 6 completes the scanning inspection of the area. This cycle continues until the inspection work of the entire large-span steel structure surface is completed.

[0048] The implementation principle of this application embodiment is as follows: the first walking device 2 and the second walking device 3 achieve step-by-step movement of the frame 1 on the steel structure surface by alternating adsorption and release. The first walking device 2 is located at the top of the frame 1, and its multi-degree-of-freedom robotic arm 21 can drive the first adsorption device 4 to extend in any spatial direction and drive the frame 1 to move after adsorption. The second walking device 3 is located at the bottom of the frame 1 and drives the second adsorption device 5 to rise and fall vertically through the second telescopic rod 31 with independent extension and retraction at the four corners. After the frame 1 moves into place, it extends to adsorb and fix, and retracts and releases when movement is required. The two work together to distribute the moving power and fixing function, so that the device can move stably on irregular surfaces such as curved surfaces and inclined surfaces, and cross discontinuous surfaces or protruding obstacles.

[0049] The first adsorption device 4 is an array consisting of a central first magnetic chuck 43 and eight peripheral independently extendable second magnetic chucks 45. With the help of a spherical hinge, the extension length of each first telescopic rod 44 can be automatically adjusted according to the local undulations of the steel structure surface, so that all the first magnetic chucks 43 and second magnetic chucks 45 are simultaneously attached to the surface positions at different heights, forming an adsorption array that matches the surface contour, realizing multi-point uniform force, and thus maintaining stable adsorption on various irregular surfaces and complex morphologies.

[0050] The working mechanism 6 is independent of the walking system. The moving component 61 moves laterally along the first moving slide 611 via the first moving slide 612 and longitudinally along the second moving slide 613 via the second moving slide 614, thereby driving the detection device 641 to complete two-dimensional scanning within the planar area covered by the frame 1. With the vertical lifting of the third telescopic rod 62, the distance between the detection device 641 and the steel structure surface can be flexibly adjusted to ensure the stability and accuracy of the detection signal. When it is necessary to inspect areas outside the coverage of the frame 1, the frame 1 is moved to a new inspection position by the alternating movement of the first walking device 2 and the second walking device 3. Then, the moving component 61 drives the inspection device 641 to continue to complete the inspection of the remaining area, so as to achieve full coverage inspection of the surface of the large-span steel structure. During the movement, the third telescopic rod 62 remains in a retracted state, keeping the inspection device 641 away from the surface to avoid collision damage.

[0051] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A walking mechanism for a large-span steel structure surface, characterized in that: Includes a frame (1), on which a first walking device (2) and a second walking device (3) are provided. The first walking device (2) is provided with a first adsorption device (4), and the second walking device (3) is provided with a second adsorption device (5), so that the first walking device (2) and the second walking device (3) can be magnetically connected to the surface of the steel structure through the first adsorption device (4) and the second adsorption device (5), respectively. The first walking device (2) includes a multi-degree-of-freedom robotic arm (21). One end of the multi-degree-of-freedom robotic arm (21) is connected to the frame (1), and the other end is connected to the first adsorption device (4). The connection point between the multi-degree-of-freedom robotic arm (21) and the frame (1) is located on the top surface of the frame (1). The multi-degree-of-freedom robotic arm (21) can drive the first adsorption device (4) to move arbitrarily within the coverage area of ​​the multi-degree-of-freedom robotic arm (21).

2. The large-span steel structure surface walking mechanism according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm (21) includes a first drive arm (212), a second drive arm (213), and a third drive arm (214). The first drive arm (212) is rotatably connected to the second drive arm (213), and the second drive arm (213) is rotatably connected to the third drive arm (214). The first drive arm (212), the second drive arm (213), and the third drive arm (214) are respectively connected to a first drive member (215), a second drive member (216), and a third drive member (217). The first drive member (215), the second drive member (216), and the third drive member (217) are respectively used to drive the first drive arm (212), the second drive arm (213), and the third drive arm (214) to rotate.

3. The large-span steel structure surface walking mechanism according to claim 2, characterized in that: The multi-degree-of-freedom robotic arm (21) includes a rotating base (211), which is rotatably connected to the frame (1), and the end of the first drive arm (212) away from the second drive arm (213) is rotatably connected to the rotating base (211).

4. The large-span steel structure surface walking mechanism according to claim 2, characterized in that: The first adsorption device (4) includes a mounting base (41), a central rod (42) is provided at the center of the mounting base (41), a first magnetic chuck (43) is spherically hinged to one end of the central rod (42) away from the mounting base (41), at least four first telescopic rods (44) are symmetrically arranged around the central rod (42), one end of the first telescopic rod (44) is fixedly connected to the mounting base (41), and a second magnetic chuck (45) is spherically hinged to one end of the first telescopic rod (44) away from the mounting base (41). Both the first magnetic chuck (43) and the second magnetic chuck (45) can be magnetically connected to the surface of the steel structure.

5. The large-span steel structure surface walking mechanism according to claim 4, characterized in that: The third drive arm (214) is provided with an adapter sleeve (22) at one end away from the second drive arm (213). The third drive arm (214) and the mounting base (41) are rotatably connected to the adapter sleeve (22), and the rotation axis of the third drive arm (214) and the adapter sleeve (22) is perpendicular to the rotation axis of the mounting base (41) and the adapter sleeve (22).

6. The large-span steel structure surface walking mechanism according to claim 5, characterized in that: The second walking device (3) includes four second telescopic rods (31), all of which are located at the bottom of the frame (1) and are fixedly connected to the frame (1). The four second telescopic rods (31) are respectively located at the four corners of the frame (1). The second adsorption device (5) is located at the end of the second telescopic rod (31) away from the frame (1) and is fixedly connected to the second telescopic rod (31).

7. The large-span steel structure surface walking mechanism according to claim 1, characterized in that: The second adsorption device (5) includes a magnetic base (51) which can be magnetically connected to the surface of the steel structure.

8. The large-span steel structure surface walking mechanism according to claim 1, characterized in that: It also includes a moving component (61) located at the bottom of the frame (1), and a working tool (64) is provided on the moving component (61). The moving component (61) is used to drive the working tool (64) to move in a plane parallel to the lower surface of the frame (1).

9. The large-span steel structure surface walking mechanism according to claim 8, characterized in that: The moving component (61) is provided with a third telescopic rod (62), the extension direction of the third telescopic rod (62) is perpendicular to the moving direction of the moving component (61), the third telescopic rod (62) is provided with a mounting groove (63), the mounting groove (63) is located at the end of the third telescopic rod (62) away from the moving component (61), and the working tool (64) is mounted on the third telescopic rod (62) through the mounting groove (63).

10. The large-span steel structure surface walking mechanism according to claim 9, characterized in that: The moving component (61) includes a first moving slide (611) and a second moving slide (613). The first moving slide (611) is fixed to the lower surface of the frame (1). A first moving slide (612) is provided on the first moving slide (611). The second moving slide (613) is fixed on the first moving slide (612). A second moving slide (614) is provided on the second moving slide (613). The third telescopic rod (62) is fixed on the second moving slide (614). The moving directions of the first moving slide (611) and the second moving slide (613) are perpendicular to each other.

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