Water-air cross-medium wall-climbing robot for bridge inspection

Abstract

The utility model discloses a water-air cross medium wall-climbing robot for bridge inspection, which relates to the technical field of bridge inspection and comprises a bottom frame, buoys are symmetrically fixed at the bottom end of the bottom frame, a base frame is fixed at the upper end of the bottom frame, front vector motors are fixed on two sides of one end of the base frame, and rear vector motors are arranged on two sides of the other end of the base frame. An adsorption chassis is arranged in the center of the upper end of the base frame, a negative pressure fan is arranged on the inner side of the adsorption chassis, gear motors are fixed to the four end corners of the outer side of the adsorption chassis, and a rubber anti-skid wheel is fixed to the output end of each gear motor. According to the water-air cross-medium wall-climbing robot for bridge inspection, through the overall structural matching design, water-air amphibious rapid movement can be achieved to be close to a bridge pier, meanwhile, negative pressure can be generated to adsorb the robot to the wall face of the bridge pier, and then the robot is driven to achieve wall face rapid crawling to execute the inspection task.

Description

Technical Field

[0001] This utility model relates to the field of bridge inspection technology, and in particular to a water-air cross-medium climbing robot for bridge inspection. Background Technology

[0002] Due to the long-term load-bearing capacity of bridge piers in waterways, fatigue cracking and weld defects may occur on the surface of the piers and steel beams, severely affecting the service performance of the bridge. Therefore, it is necessary to detect fatigue damage to provide a basis for subsequent maintenance.

[0003] Currently, fatigue damage detection of bridge piers is mainly carried out through regular manual inspections. This involves using ladders to allow inspectors to reach the target wall, and then conducting inspections by visual inspection or using handheld flaw detection instruments. However, this method has problems such as difficulty in reaching the target bridge pier, slow mobility between inspection points, and high labor intensity. Therefore, this application proposes a water-air cross-medium wall-climbing robot for bridge inspection. Utility Model Content

[0004] Based on this, it is necessary to address the aforementioned technical problems by providing a water-and-air cross-medium wall-climbing robot for bridge inspection. Through the overall structural design, bridge pier inspection can be carried out without manual intervention. This robot can not only move quickly in water and air to approach the bridge pier, but also, with the adsorption chassis, sealing ring, negative pressure fan, and flipping components, generate negative pressure to adsorb the robot onto the bridge pier wall. Then, through the geared motor and rubber anti-slip wheels, the robot can quickly climb the wall to perform inspection tasks, greatly improving inspection efficiency.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A water-and-air cross-medium wall-climbing robot for bridge inspection, which is applied to bridge inspection;

[0007] The device includes a base frame, with pontoons symmetrically fixed to the bottom end of the base frame, a base frame fixed to the top end of the base frame, front vector motors fixed to both sides of one end of the base frame, and rear vector motors fixed to both sides of the other end of the base frame. A deflection assembly is provided between each rear vector motor and the base frame. An adsorption chassis is located at the center of the top end of the base frame, with a negative pressure fan installed inside the adsorption chassis. A reduction motor is fixed to each of the four corners of the outer side of the adsorption chassis, and a rubber anti-slip wheel is fixed to the output end of each reduction motor. A flipping assembly is provided between the base frame and the adsorption chassis. A first camera is installed at the top end of the base frame, between the two front vector motors.

[0008] As a preferred embodiment of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model, a waterproof box is fixed inside the base frame, and an energy storage module, a control module and a communication module are respectively arranged inside the waterproof box.

[0009] As a preferred embodiment of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model, each deflection component includes a plug, and the lower end of each rear vector motor is provided with a plug. Both plugs are fixed to the base frame. An arm is attached to the side of each plug away from the base frame. A deflection motor is fixed to the outer side of the arm away from the plug. A support is fixed to the outer side of the arm and between the plug and the deflection motor. A first shaft seat is rotatably connected to the upper end of the support. The rear vector motor is fixed to the first shaft seat, and the output end of the deflection motor is fixed to the first shaft seat.

[0010] As a preferred embodiment of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model, a second camera is installed on the outside of each deflection motor, a direct drive motor is fixed on the inside of each arm, and the output ends of the two direct drive motors are respectively fixed to two plugs.

[0011] As a preferred embodiment of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model, a fourth axle seat is provided on both sides of the first camera, both of the second fourth axle seats are fixed to the base frame, and one end of the adsorption chassis is rotatably connected to the two fourth axle seats.

[0012] As a preferred embodiment of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model, a sealing ring is fixed at the upper end of the adsorption chassis and outside the negative pressure fan, and an air groove is opened inside the adsorption chassis and below the negative pressure fan.

[0013] As a preferred embodiment of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model, the flipping assembly includes a second axle seat. The second axle seat is fixed at the center of the end of the base away from the fourth axle seat. A linear actuator cylinder is rotatably connected to the outer side of the upper end of the second axle seat. A mounting base is fixed at the bottom end of the adsorption chassis and at the lower end of the air groove. A third axle seat is fixed at the bottom end of the mounting base. The telescopic end of the linear actuator cylinder is rotatably connected to the third axle seat.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The water-and-air cross-medium wall-climbing robot for bridge inspection provided by this utility model, through its overall structural design, eliminates the need for manual inspection of bridge piers. This robot can not only move quickly in water and air to approach the bridge piers, but also, with the help of the adsorption chassis, sealing ring, negative pressure fan and flipping component, it can generate negative pressure to adsorb the robot onto the wall of the bridge pier. Then, through the geared motor and rubber anti-slip wheels, the robot can quickly climb the wall to perform inspection tasks, which greatly improves the inspection efficiency. Attached Figure Description

[0016] To more clearly illustrate the solutions in this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the overall structure of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model;

[0018] Figure 2 This is a schematic diagram of the inner side of the chassis of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model.

[0019] Figure 3 A schematic diagram of the outer structure of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model;

[0020] Figure 4 A schematic diagram of the deflection assembly of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model;

[0021] Figure 5 A schematic diagram of the inner side of the adsorption chassis of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model.

[0022] Figure 6 A schematic diagram of the bottom end of the adsorption chassis of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model;

[0023] Figure 7 A schematic diagram of the structure of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model after the adsorption chassis has been flipped.

[0024] Figure 8 A schematic diagram of the overall structure of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model after it has been flipped over.

[0025] Figure 9This is a schematic diagram of the direct-drive motor of the water-air cross-medium wall-climbing robot for bridge inspection provided by this utility model.

[0026] The markings in the diagram are explained as follows:

[0027] 1. Base frame; 2. Float; 3. Waterproof tank; 4. Base frame; 5. Front vector motor; 6. End cap; 7. Arm; 8. Support; 9. First axle seat; 10. Rear vector motor; 11. Deflection motor; 12. First camera; 13. Second camera; 14. Second axle seat; 15. Linear actuator; 16. Adsorption chassis; 17. Sealing ring; 18. Negative pressure fan; 19. Air groove; 20. Gear motor; 21. Rubber anti-slip wheel; 22. Mounting base; 23. Third axle seat; 24. Fourth axle seat; 25. Direct drive motor. Detailed Implementation

[0028] As described in the background section, currently, fatigue damage detection of bridge piers is mainly carried out through manual periodic inspections. This involves using ladders to allow inspectors to reach the target wall, and then conducting inspections by visual inspection or using handheld flaw detection instruments. However, this method has problems such as difficulty in reaching the target bridge pier, slow movement between inspection points, and high labor intensity.

[0029] To solve this technical problem, this utility model provides a water-air cross-medium wall-climbing robot for bridge inspection, which is applied to bridge inspection.

[0030] The system includes a base frame 1, with floats 2 symmetrically fixed to the bottom of the base frame 1. A base frame 4 is fixed to the top of the base frame 1. Front vector motors 5 are fixed to both sides of one end of the base frame 4, and rear vector motors 10 are set to both sides of the other end of the base frame 4. A deflection component is set between each rear vector motor 10 and the base frame 4. An adsorption chassis 16 is set at the center of the top of the base frame 4. A negative pressure fan 18 is installed inside the adsorption chassis 16. A reduction motor 20 is fixed to the four corners of the outer side of the adsorption chassis 16. A rubber anti-slip wheel 21 is fixed to the output end of each reduction motor 20. A flipping component is set between the base frame 1 and the adsorption chassis 16. A first camera 12 is installed at the top of the base frame 4 and between the two front vector motors 5.

[0031] The water-and-air cross-medium wall-climbing robot for bridge inspection provided by this utility model, through its overall structural design, eliminates the need for manual inspection of bridge piers. This robot can not only move quickly in water and air to approach the bridge piers, but also generate negative pressure to attract the robot to the wall of the bridge pier, thereby enabling the robot to quickly climb the wall to perform inspection tasks, which greatly improves inspection efficiency.

[0032] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] Example 1:

[0035] Please refer to Figure 1-9 A water-and-air cross-medium wall-climbing robot for bridge inspection includes a base frame 1. Floats 2 are symmetrically fixed to the bottom end of the base frame 1 to provide buoyancy when the robot is on the water surface. A base frame 4 is fixed to the upper end of the base frame 1. To provide forward propulsion when the robot is floating on the water surface and to facilitate flight in the air, front vector motors 5 are fixed to both sides of one end of the base frame 4, and rear vector motors 10 are installed to both sides of the other end of the base frame 4.

[0036] In order to change the pitch angle of the two rear vector motors 10 and thus propel the robot to navigate on the water, a deflection component is provided between each rear vector motor 10 and the base frame 4.

[0037] Specifically, each deflection assembly includes a plug 6, and each rear vector motor 10 has a plug 6 at its lower end. Both plugs 6 are fixed to the base frame 4. An arm 7 is attached to the side of each plug 6 away from the base frame 4. A deflection motor 11 is fixed to the outer side of the arm 7 away from the plug 6. A support 8 is fixed to the outer side of the arm 7 and between the plug 6 and the deflection motor 11. A first bearing 9 is rotatably connected to the upper end of the support 8. The rear vector motor 10 is fixed to the first bearing 9. The output end of the deflection motor 11 is located at the connection between the support 8 and the first bearing 9. The output end of the deflection motor 11 is fixed to the first bearing 9. Thus, the deflection motor 11 can easily drive the rear vector motor 10 to rotate around the connection between the first bearing 9 and the support 8, thereby driving the rear vector motor 10 to adjust the pitch angle.

[0038] To facilitate remote transmission of images when the robot performs inspection tasks, a first camera 12 is installed on the upper part of the base frame 4 and between the two front vector motors 5, and a second camera 13 is installed on the outside of each deflection motor 11.

[0039] When the robot moves amphibiously and approaches the bridge pier, in order to enable the robot to adhere to the bridge pier wall and crawl on the wall to perform efficient inspection tasks, an adsorption chassis 16 is set at the center of the upper end of the base frame 4. In order to support the adsorption chassis 16, a fourth shaft seat 24 is set on both sides of the first camera 12. Both fourth shaft seats 24 are fixed to the base frame 4. One end of the adsorption chassis 16 is rotatably connected to the two fourth shaft seats 24. A negative pressure fan 18 is installed inside the adsorption chassis 16. In order to facilitate the air extraction of the negative pressure fan 18, an air groove 19 is opened inside the adsorption chassis 16 and at the lower end of the negative pressure fan 18. A reduction motor 20 is fixed at each of the four corners of the outer side of the adsorption chassis 16. A rubber anti-slip wheel 21 is fixed at the output end of each reduction motor 20. A flipping component is set between the base frame 1 and the adsorption chassis 16.

[0040] Specifically, the flipping assembly includes a second bearing 14. The second bearing 14 is fixed at the center of the end of the base frame 1 away from the fourth bearing 24. A linear actuator 15 is rotatably connected to the outer side of the upper end of the second bearing 14. A mounting base 22 is fixed at the bottom end of the adsorption chassis 16 and at the lower end of the air groove 19. A third bearing 23 is fixed at the bottom end of the mounting base 22. The telescopic end of the linear actuator 15 is rotatably connected to the third bearing 23.

[0041] When the adsorption chassis 16 is rotated by the flipping component and attached to the pier wall, a sealing ring 17 is fixed at the upper end of the adsorption chassis 16 and outside the negative pressure fan 18 in order to further increase the clamping force.

[0042] Example 2:

[0043] The water-air cross-medium wall-climbing robot for bridge inspection provided in Example 1 has been further optimized, specifically, as follows: Figure 2 , Figure 8 and Figure 9 As shown, in order to power and remotely control the various electrical components in this robot, a waterproof box 3 is fixed inside the base frame 1. An energy storage module, a control module and a communication module are respectively installed inside the waterproof box 3.

[0044] In order to connect the robotic arm 7 to the plug 6, and to prevent the rear vector motor 10 from contacting the wall after the robot is adsorbed onto the pier wall, each robotic arm 7 is fixed with a direct drive motor 25 on its inner side, and the output ends of the two direct drive motors 25 are fixed to the two plugs 6 respectively.

[0045] All of the above electrical components are electrically connected to the energy storage module, control module, and communication module, and the existing publicly available power connection technologies will not be described in detail here.

[0046] The operation of the water-and-air cross-medium wall-climbing robot for bridge inspection provided by this utility model is as follows: When the pulling direction of the two front vector motors 5 and the two rear vector motors 10 is vertically upward, as... Figure 1 As shown, with the help of the control module, the robot can fly normally in quadcopter control mode;

[0047] When the pulling direction of the two rear vector motors 10 is adjusted to the pitch angle and the two front vector motors 5 are turned off, the two floats 2 provide buoyancy for the robot, enabling the robot to move on the water surface. At the same time, differential steering can be achieved by controlling the two rear vector motors 10 to output different powers.

[0048] Once the robot moves and approaches the bridge pier wall, the linear actuator 15 extends its telescopic end, which in turn drives the adsorption chassis 16 to rotate 90 degrees around the fourth axle 24. Figure 7 As shown, at this time, the negative pressure fan 18 is activated to generate negative pressure, causing the sealing ring 17 to fit tightly against the wall for adsorption. Combined with the suction from the air tank 19, once sufficient suction is generated, the linear actuator 15 is controlled to retract its telescopic end, thus causing the entire robot to flip onto the wall. Figure 8 As shown, at this time, the two direct drive motors 25 are started to rotate, which in turn drives the two rear vector motors 10 to rotate around the output end of the direct drive motor 25, thus preventing the two rear vector motors 10 from contacting the wall. Then, the reduction motor 20 is started to drive the rubber anti-slip wheel 21 to rotate, so as to enable the robot to quickly crawl on the pier wall to perform inspection tasks.

Claims

1. A water-and-air cross-medium wall-climbing robot for bridge inspection, characterized in that, The system includes a base frame (1), with floats (2) symmetrically fixed at the bottom end of the base frame (1), a base frame (4) fixed at the top end of the base frame (1), front vector motors (5) fixed on both sides of one end of the base frame (4), and rear vector motors (10) set on both sides of the other end of the base frame (4). A deflection assembly is set between each rear vector motor (10) and the base frame (4). An adsorption chassis (16) is set at the center of the upper end of the base frame (4). A negative pressure fan (18) is installed inside the adsorption chassis (16). A reduction motor (20) is fixed at each of the four corners of the outer side of the adsorption chassis (16). A rubber anti-slip wheel (21) is fixed at the output end of each reduction motor (20). A flipping assembly is set between the base frame (1) and the adsorption chassis (16). A first camera (12) is installed at the upper end of the base frame (4) and between the two front vector motors (5).

2. The water-and-air cross-medium wall-climbing robot for bridge inspection according to claim 1, characterized in that, A waterproof box (3) is fixed inside the base frame (1), and an energy storage module, a control module and a communication module are respectively installed inside the waterproof box (3).

3. The water-and-air cross-medium wall-climbing robot for bridge inspection according to claim 1, characterized in that, Each of the deflection components includes a plug (6), and each of the rear vector motors (10) has a plug (6) at its lower end. Both plugs (6) are fixed to the base frame (4). Each plug (6) has an arm (7) attached to the side away from the base frame (4). A deflection motor (11) is fixed to the outer side of the arm (7) away from the plug (6). A support (8) is fixed to the outer side of the arm (7) and between the plug (6) and the deflection motor (11). A first bearing (9) is rotatably connected to the upper end of the support (8). The rear vector motor (10) is fixed to the first bearing (9). The output end of the deflection motor (11) is fixed to the first bearing (9).

4. The water-and-air cross-medium wall-climbing robot for bridge inspection according to claim 3, characterized in that, Each of the deflection motors (11) is equipped with a second camera (13) on its outer side, and each of the arms (7) is fixed with a direct drive motor (25) on its inner side. The output ends of the two direct drive motors (25) are respectively fixed to two plugs (6).

5. The water-and-air cross-medium wall-climbing robot for bridge inspection according to claim 1, characterized in that, The first camera (12) is provided with a fourth shaft seat (24) on both sides. Both of the fourth shaft seats (24) are fixed to the base frame (4). One end of the adsorption chassis (16) is rotatably connected to the two fourth shaft seats (24).

6. The water-and-air cross-medium wall-climbing robot for bridge inspection according to claim 5, characterized in that, A sealing ring (17) is fixed at the upper end of the adsorption chassis (16) and outside the negative pressure fan (18), and an air groove (19) is provided inside the adsorption chassis (16) and at the lower end of the negative pressure fan (18).

7. The water-and-air cross-medium wall-climbing robot for bridge inspection according to claim 6, characterized in that, The flipping assembly includes a second bearing (14). The second bearing (14) is fixed at the center of the end of the base frame (1) away from the fourth bearing (24). A linear actuator (15) is rotatably connected to the outer side of the upper end of the second bearing (14). A mounting base (22) is fixed at the bottom end of the adsorption base (16) and at the lower end of the air groove (19). A third bearing (23) is fixed at the bottom end of the mounting base (22). The telescopic end of the linear actuator (15) is rotatably connected to the third bearing (23).

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