An inspection machine for a bridge body

Abstract

The embodiment of the application provides a kind of overhaul machine of bridge main body, for providing a kind of can carry out close-range fine inspection and the better control ability overhaul machine, comprising: load overhaul robot, anchoring traction robot and winch;Anchoring traction robot includes drive module and clamping module, drive module is used to drive anchoring traction robot to move to the preset position of track, clamping module is used to fix anchoring traction robot in the preset position of track;When multiple anchoring traction robots are fixed in different preset positions of track respectively, multiple winches are controlled by winding or winding up traction rope, the position of load overhaul robot, so that load overhaul robot carries out overhaul to bridge main body. Load overhaul robot can carry out close-range fine inspection to bridge main body under the traction of traction rope.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of bridge maintenance, and specifically to a bridge body maintenance machine. Background Art

[0002] Currently, bridge maintenance and inspections are primarily performed manually. When inspecting bridge towers, a trolley with a basket mounted on the top of the bridge is often used, with inspectors transported along the tower surface via a rope. This trolley can easily cause secondary damage to the tower surface and requires workers to work at heights of hundreds of meters for extended periods. When inspecting bridge piers, inspectors are often transported along the pier surface. This manual method presents a harsh working environment, heavy workload, low efficiency, traffic obstruction, and safety risks.

[0003] In addition to manual inspections, drone inspections can also be used. When inspecting bridge towers, remote photography and a rough visual inspection are performed to detect surface defects. When inspecting piers, remote photography and a rough visual inspection are performed to detect surface defects above the water level. Drone inspections cannot provide precise inspections of the bridge's main surface. Drone inspections also place high demands on operators due to issues such as blind spots and interference with satellite positioning signals.

[0004] Therefore, in order to detect the apparent damage and cracking of the bridge body and to solve the local repair problems, it is necessary to study a maintenance machine that can perform close-range precision inspection and has good maneuverability. Summary of the Invention

[0005] An embodiment of the present application provides a bridge body maintenance machine, which is used to provide a maintenance machine that can perform close-range precision inspection and has good maneuverability.

[0006] An embodiment of the present application provides a bridge body maintenance machine, comprising: at least one load maintenance robot, a plurality of anchor traction robots, and a plurality of winches;

[0007] Part or all of at least one load maintenance robot is connected to part or all of the plurality of anchoring and traction robots via a traction rope, and each anchoring and traction robot is connected to at least one load maintenance robot via a traction rope;

[0008] A plurality of winches are provided on the load inspection robot and / or the anchor traction robot, and each winch is used to reel in or unreel a set of traction ropes to change the relative position between the load inspection robot and the anchor traction robot;

[0009] The anchoring and traction robot includes a driving module and a clamping module. The driving module is used to drive the anchoring and traction robot to move to a preset position on the track, and the clamping module is used to fix the anchoring and traction robot at the preset position on the track.

[0010] When multiple anchoring and traction robots are fixed at different preset positions on the track, multiple winches control the position of the load maintenance robot by winding or reeling in the traction ropes, so that the load maintenance robot can inspect the bridge body.

[0011] In one implementation of the embodiment of the present application, the bridge body maintenance machine includes a plurality of load maintenance robots, and the plurality of load maintenance robots include a first group of load maintenance robots and a second group of load maintenance robots;

[0012] The first group of load maintenance robots is connected to the anchor traction robot through a traction rope, and is connected to the second group of load maintenance robots through a traction rope; the second group of load maintenance robots is only connected to the first group of load maintenance robots through a traction rope, and is not connected to the anchor traction robot through a traction rope.

[0013] In one implementation of the embodiment of the present application, the first group of load maintenance robots includes a first load maintenance robot and a second load maintenance robot, and the second group of load maintenance robots includes a third load maintenance robot;

[0014] The first load maintenance robot, the second load maintenance robot and the third load maintenance robot are connected to each other by a traction rope;

[0015] The multiple anchoring and traction robots are divided into two groups, namely a first group of anchoring and traction robots and a second group of anchoring and traction robots; the first group of anchoring and traction robots are connected to the first load maintenance robot through a traction rope; the second group of anchoring and traction robots are connected to the second load maintenance robot through a traction rope.

[0016] In one implementation of the embodiment of the present application, the bridge body maintenance machine includes a plurality of load maintenance robots;

[0017] Each load maintenance robot is connected to some of the multiple anchoring and traction robots through a traction rope; at least one of the multiple anchoring and traction robots is connected to two or more load maintenance robots through a traction rope.

[0018] In one implementation of the embodiment of the present application, the plurality of load maintenance robots include a first load maintenance robot and a second load maintenance robot, and the plurality of anchoring and traction robots include a first anchoring and traction robot, a second anchoring and traction robot, and a third anchoring and traction robot;

[0019] The first load maintenance robot and the first anchor traction robot are connected by a traction rope; the second load maintenance robot and the second casting maintenance robot are connected by a traction rope;

[0020] The third anchoring and traction robot is connected to the first load maintenance robot and the second load maintenance robot through a traction rope.

[0021] In an implementation form of the load maintenance robot, the load maintenance robot comprises a suction module;

[0022] The suction module is arranged at the bottom of the load maintenance robot, and the suction module is capable of sucking to form a negative pressure, so that the load maintenance robot is adsorbed on the surface of the bridge body.

[0023] In an implementation form of the load maintenance robot, the load maintenance robot comprises a duct propulsion module;

[0024] The duct propulsion module is arranged at the back of the load maintenance robot, and the duct propulsion module is capable of forming a thrust force, and the thrust force is directed from the back of the load maintenance robot to the bottom of the load maintenance robot.

[0025] In an implementation form of the load maintenance robot, the load maintenance robot comprises a main vehicle;

[0026] The main vehicle comprises a vehicle body and at least three wheels, the wheels are arranged at the edges of the vehicle body, the suction module is arranged at the bottom of the vehicle body, and the duct propulsion module is arranged at the back of the vehicle body.

[0027] In an implementation form of the load maintenance robot, the load maintenance robot comprises a maintenance mechanical arm and a vision module;

[0028] The vision module is installed at the end of the maintenance mechanical arm.

[0029] In an implementation form of the load maintenance robot, the load maintenance robot comprises a winch, a drum, an in-out line port structure, an adjusting motor, a transmission member, a bidirectional screw rod and an adjusting nut;

[0030] The output end of the winch motor is connected to the drum, and the drum is rotated to wind or unwind the traction rope;

[0031] The output end of the adjusting motor is connected to the input end of the transmission member, and the output end of the transmission member is connected to the bidirectional screw rod;

[0032] The adjusting nut cooperates with the bidirectional screw rod, when the bidirectional screw rod rotates in the same direction, the adjusting nut reciprocates along the axis of the bidirectional screw rod, and the preset distance between the two ends of the reciprocation is less than or equal to the axial thickness of the drum;

[0033] The first end of the in-out line port structure is fixedly connected to the adjusting nut, and the traction rope passes through the in-out line port structure;

[0034] The winch further comprises a sliding block and a guide rail;

[0035] The guide rail is arranged in parallel with the bidirectional screw rod, the second end of the in-out line port structure is fixedly connected to the sliding block, and the sliding block is capable of sliding along the guide rail, so that the in-out line port structure is capable of moving between the guide rail and the bidirectional screw rod.

[0036] In one implementation of the embodiment of the present application, the hoisting motor and the adjustment motor are the same motor.

[0037] In one implementation of the embodiment of the present application, the clamping module includes a pair of claws and a worm gear;

[0038] The two groups of claws of a claw pair are opened and closed by the drive of two groups of worm gears. The worm wheels of the two groups of worm gears are fixed at the roots of the claws, and the worm gears of the two groups of worm gears are connected by the same shaft.

[0039] In one implementation of the embodiment of the present application, the driving module of the anchoring and traction robot includes a plurality of rotor mechanisms;

[0040] The multiple rotor mechanisms are evenly distributed around the clamping module or symmetrically distributed around the axis of the claw pair.

[0041] The driving module also includes a rolling ball-shaped housing;

[0042] The rotor mechanism is arranged in a spherical shell, and the spherical shell is a hollow structure.

[0043] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0044] In an embodiment of the present application, the anchoring and traction robot is capable of moving to and anchoring at a preset position on the track. While the anchoring and traction robot is anchored at the preset position on the track, a winch is used to wind up and unwind the traction rope, thereby controlling the position of the load inspection robot relative to the anchoring and traction robot, thereby controlling the position of the load inspection robot relative to the bridge structure. Compared to using a drone, the use of a traction rope is more stable, enabling better maneuverability and a higher load capacity. Driven by the traction rope, the load inspection robot can perform close-up, precise inspections of the bridge structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 1 is a schematic diagram of a working state of a bridge main body maintenance machine according to an embodiment of the present application;

[0046] Figures 2-3 Schematic diagram of another working state of the bridge main body maintenance machine according to an embodiment of the present application;

[0047] Figure 4 is a perspective view of a load maintenance robot of a bridge main body maintenance machine according to an embodiment of the present application;

[0048] Figure 5 is a perspective view of a winch of a bridge body maintenance machine according to an embodiment of the present application;

[0049] Figure 6is a perspective view of a palm-foot clamping module of a bridge body inspection machine according to an embodiment of the present application;

[0050] Figure 7 is a perspective view of an anchoring and traction robot of a bridge main body maintenance machine according to an embodiment of the present application;

[0051] Reference numerals:

[0052] 1-Load maintenance robot; 101-Adsorption module; 102-Ducted propulsion module; 103-Maintenance robotic arm;

[0053] 2-anchoring traction robot; 3-cable; 4-traction rope;

[0054] 5-Winch; 501-Reel; 502-Inlet and outlet structure; 503-Synchronous belt; 504-Bidirectional screw; 505-Adjusting nut; 506-Winch motor; 507-Slider; 508-Guide rail;

[0055] 6-clamping module; 601-claw; 602-flexible covering material; 603-worm gear; 604-synchronous belt; 605-clamping drive motor; 606-speed reducer;

[0056] 7-Rope traction module; 8-Drive module; 9-Vision module; 10-Water surface; 11-Guild; 12-Bridge tower; 13-Bridge pier. DETAILED DESCRIPTION

[0057] The terms "first," "second," "third," "fourth," and the like in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0058] The bridge body includes a bridge tower 12 and a bridge pier 13. The bridge tower 12 can also be called a bridge main tower. The bridge body maintenance machine of the embodiment of the application can be used to repair only the bridge tower 12 or the bridge pier 13, or can be used to repair the bridge tower 12 and the bridge pier 13 at the same time.

[0059] The track can be either cable 3 or railing 11. When inspecting bridge tower 12, the track is cable 3. Cable-stayed bridges have stay cables, while suspension bridges have main cables and suspension cables. Here, cable 3 can be either. When inspecting bridge pier 13, the track is railing 11. The anchoring and traction robot 2 can move along or off the track.

[0060] The key load-bearing components of cable-stayed bridges are the towers 12 and piers 13, typically constructed from reinforced concrete modules. The towers 12 bear the tension of multiple cables, while the piers 13 bear the weight of the entire bridge. Cracks and damage to the main structure of the bridge can pose a significant safety hazard. Promptly identifying and repairing damage to the main structure can significantly reduce rainwater infiltration and effectively extend the life of the bridge.

[0061] Currently, maintenance and inspection of bridge piers 13 are primarily performed manually, with inspectors typically patrolling along the pier 13. This method is labor-intensive, inefficient, and poses safety risks. Maintenance and inspection of bridge main towers are primarily performed manually, with a hanging basket mounted on the bridge roof and carried by ropes, which allow inspectors to patrol along the pier 12. This method can easily cause secondary damage to the pier 12 surface, and workers spend long periods working at heights of hundreds of meters, in a harsh environment, with a heavy workload, low efficiency, and traffic obstruction, posing safety risks.

[0062] Some units also use drone inspections, which can only take long-distance photos and conduct rough appearance inspections of surface defects on the bridge tower 12 and the bridge pier 13 above the water surface 10. They cannot perform precise inspections or repairs on the surface of the bridge pier 13. There are also problems such as blind spots in detection and interference with satellite positioning signals, which place extremely high demands on the operators.

[0063] To improve bridge safety supervision and operation and maintenance, the development of intelligent robotic equipment capable of autonomously climbing, inspecting, and repairing the surfaces of large-span bridges online is a critical and pressing issue for the bridge maintenance industry, one with significant social significance and significant economic benefits. The application of bridge maintenance robots can significantly reduce worker risks, improve the efficiency and quality of bridge inspections, and reduce maintenance costs. These robots facilitate long-term monitoring of the bridge's operating condition, as well as the prevention and treatment of defects.

[0064] Aiming at the disease and damage detection and repair needs of the bridge main body, a bionic climbing bridge main body maintenance robot system with independent intellectual property rights is developed, which has the characteristics of high speed, high load, high reliability, full coverage detection, and self-repairing, etc. The problem of self-detection and repair of the bridge main body is solved. The bridge maintenance personnel can remotely control the robot to climb and climb on the bridge tower 12 and autonomously overcome obstacles. The robot carries detection equipment to observe and inspect the surface and interior of the bridge tower 12, and transmits the observation data back to the control background for analysis and evaluation. At the same time, the robot carries special tools for repairing the bridge main body to repair the bridge tower 12 locally, so as to realize the integrated operation service of efficient preliminary inspection, damage assessment and local repair of the bridge main body, become a convenient tool in the bridge inspection field, greatly improve the efficiency, accuracy and safety of the bridge tower 12 inspection work.

[0065] The embodiment of the application provides a bridge main body maintenance robot, which comprises at least one load maintenance robot 1, a plurality of anchoring traction robots 2 and a plurality of winches 5.

[0066] Part or all of the at least one load maintenance robot 1 is connected with part or all of the plurality of anchoring traction robots 2 through the traction rope 4, and each anchoring traction robot 2 is connected with at least one load maintenance robot 1 through the traction rope 4. The two ends of a group of traction ropes 4 have two possibilities, one is that the two ends of the traction rope 4 are both load maintenance robots 1, and the other is that one end of the traction rope 4 is an anchoring traction robot 2 and the other end is a load maintenance robot 1. The connection between the anchoring traction robot 2 and the load maintenance robot 1 can be one-to-one, one-to-many or many-to-one, that is, one anchoring traction robot 2 is connected with only one load maintenance robot 1, one load maintenance robot 1 is connected with only one anchoring traction robot 2, one anchoring traction robot 2 is connected with only one load maintenance robot 1, and one load maintenance robot 1 is connected with only one anchoring traction robot 2, one anchoring traction robot 2 is connected with multiple load maintenance robots 1, and multiple anchoring traction robots 2 are connected with one load maintenance robot 1.

[0067] A plurality of winches 5 are arranged on the load maintenance robot 1 and / or the anchoring traction robot 2, and each winch 5 is used to wind up or wind off a set of traction ropes 4, so as to change the relative position between the load maintenance robot 1 and the anchoring traction robot 2. The set of traction ropes 4 can be one traction rope 4 or a plurality of traction ropes 4 cooperating with each other, and here, the set of traction ropes 4 is taken as one traction rope 4 for example. The plurality of winches 5 can be all installed on the load maintenance robot 1, can be respectively installed on each anchoring traction robot 2, or can be partially installed on the load maintenance robot 1 and partially installed on the anchoring traction robot 2. The controllers of the plurality of winches 5 communicate with each other, or the plurality of winches 5 are controlled by the same controller, so as to accurately control the relative position between the load maintenance robot 1 and the plurality of anchoring traction robots 2.

[0068] The anchoring traction robot 2 comprises a driving module 8 and a clamping module 6. The driving module 8 is used to drive the anchoring traction robot 2 to move to a preset position of the track, and the clamping module 6 is used to fix the anchoring traction robot 2 at the preset position of the track. The driving module 8 and the clamping module 6 are fixedly connected. The driving module 8 provides power so that the anchoring traction robot 2 can reach the preset position of the track. After the anchoring traction robot 2 reaches the preset position of the track, the clamping module 6 clamps the track, so that the anchoring traction robot 2 is fixed at the preset position of the track. When it is needed to replace to the next preset position, the clamping module 6 releases the track, and the driving module 8 provides power so that the anchoring traction robot 2 goes to the next preset position.

[0069] When the plurality of anchoring traction robots 2 are respectively fixed at different preset positions of the track, the plurality of winches 5 control the position of the load maintenance robot 1 by winding up or winding off a plurality of sets of traction ropes 4, so as to make the load maintenance robot 1 maintain the bridge body. The plurality of anchoring traction robots 2 are fixed at different preset positions. Under the winding up or winding off of the winches 5, the length of the traction ropes 4 being released changes, so that the position of the load maintenance robot 1 changes. By controlling the length of the traction ropes 4 being released, the load maintenance robot 1 can be accurately dispatched and positioned.

[0070] The load maintenance robot 1 can also be called a bridge maintenance robot, a bridge load maintenance robot 1 or a maintenance robot.

[0071] In the embodiment of the present application, the anchoring traction robot 2 can move to a preset position of the track and be anchored at the preset position. When the anchoring traction robot 2 is anchored at the preset position of the track, the position of the load maintenance robot 1 relative to the anchoring traction robot 2 is controlled by winding and unwinding the traction rope 4 by the winch 5, and the position of the load maintenance robot 1 relative to the bridge body is also controlled. Using the traction rope 4, compared with using a drone, it is more stable, better controllable, and has higher load capacity. The load maintenance robot 1 can perform close-range precision inspection on the bridge body under the traction of the traction rope 4.

[0072] Because the working environment of the bridge tower 12 and the bridge pier 13 is different, generally speaking, the maintenance robots used when maintaining the bridge tower 12 and the bridge pier 13 have different forms, which are illustrated as follows:

[0073] I. Maintenance of the bridge pier 13

[0074] The maintenance robot of the bridge body can only include one load maintenance robot 1. Multiple anchoring traction robots 2 take the rail 11 of the bridge as a track, and the load maintenance robot 1 is connected with each anchoring traction robot 2 through the traction rope 4. The anchoring traction robot 2 is anchored on the rail 11, and the load maintenance robot 1 is pulled tight under the action of its own gravity. The winch 5 winds or unwinds the traction rope 4, so that the load maintenance robot 1 scans and detects on the surface of the bridge pier 13, and the detection range can include the part above the water surface 10 and the part below the water surface 10.

[0075] The maintenance robot of the bridge body can include multiple load maintenance robots 1, which include a first group of load maintenance robots and a second group of load maintenance robots.

[0076] The first group of load maintenance robots is connected with the anchoring traction robot 2 through the traction rope 4, and is connected with the second group of load maintenance robots through the traction rope 4; the second group of load maintenance robots is only connected with the first group of load maintenance robots through the traction rope 4, and is not connected with the anchoring traction robot 2 through the traction rope 4.

[0077] Since the distance between the bridge railing 11 and the water surface 10 is generally large, the distance between the anchoring traction robot 2 and the load maintenance robot 1 is also large, and the length of the traction rope 4 is relatively long. At this time, the traction rope 4 is easily affected by external forces such as wind and becomes unstable. Especially when inspecting the part below the water surface 10, the load maintenance robot 1 and the traction rope 4 will also be impacted by the water flow, causing the load maintenance robot 1 to move uncontrollably. In order to improve the stability of the load maintenance robot 1, the load maintenance robot 1 is divided into a first group of load maintenance robots and a second group of load maintenance robots. The first group of load maintenance robots can be attached to the surface of the bridge pier 13 to stabilize the traction rope 4 and the second group of load maintenance robots. There are many ways of attachment, such as vacuum adsorption, magnetic adsorption, duct push and compaction, etc. The first group of load maintenance robots is responsible for stability, and the second group of load maintenance robots is responsible for inspection.

[0078] like Figure 1 As shown, in one implementation, the first group of load-servicing robots includes a first load-servicing robot and a second load-servicing robot, and the second group of load-servicing robots includes a third load-servicing robot;

[0079] The first load maintenance robot, the second load maintenance robot and the third load maintenance robot are connected to each other via a traction rope 4;

[0080] Multiple anchoring and traction robots 2 are divided into two groups, namely the first group of anchoring and traction robots and the second group of anchoring and traction robots; the first group of anchoring and traction robots are connected to the first load maintenance robot through a traction rope; the second group of anchoring and traction robots are connected to the second load maintenance robot through a traction rope 4.

[0081] In one implementation, the bridge body maintenance machine includes: a load maintenance robot 1, an anchoring traction robot 2, and a traction guide system between the load maintenance robot 1 and the anchoring traction robot 2. The traction guide system includes a traction rope 4, which can be a steel wire rope, a hemp rope, a nylon rope, etc. The anchoring traction robot 2 carries a high-load palm-foot clamping module 6, which can be moved to a preset position on the track to form an anchor point. The load maintenance robot 1 is equipped with a high-load adsorption module 101. The load maintenance robot 1 and the anchoring traction robot 2 are respectively connected by traction ropes 4. The anchoring traction robots 2 are respectively installed on the guardrails on both sides of the bridge. The railing 11 can also be called a guardrail. Thus, while being pulled and lifted by the traction rope 4, the load maintenance robot 1 can quickly scan the surface area of ​​the bridge pier 13 and identify possible defects on the pier 13. When the robot detects an abnormal defect at a specific point, it moves to the corresponding position and then uses its built-in suction module 101 to adhere to the surface of the pier 13 before further repairing the pier 13. By forming a multi-machine group, the robot can complete the inspection of large areas of the bridge pier 13 surface. Based on the traditional parallel rope-driven robot, its anchor point is designed to be movable, greatly expanding the robot's detection range and workspace. At the same time, it retains the parallel rope-driven robot's characteristics of high payload, low motion inertia, high scalability, and high fault tolerance. Furthermore, because the load maintenance robot 1 can simultaneously cross a large area of ​​the bridge pier 13 surface to perform maintenance work and its mobility is not dependent on the surface of the pier 13, the robot's obstacle-crossing ability and maintenance efficiency are greatly improved.

[0082] 2. Maintenance of bridge tower 12:

[0083] The bridge body maintenance machine includes a plurality of load maintenance robots 1;

[0084] Each payload maintenance robot 1 is connected to some of the multiple anchoring and traction robots 2 via a traction rope 4; at least one of the multiple anchoring and traction robots 2 is connected to two or more payload maintenance robots 1 via a traction rope 4. Each payload maintenance robot 1 can be connected to one or more anchoring and traction robots 2. At least one anchoring and traction robot 2 is connected to two or more payload maintenance robots 1.

[0085] like Figures 2-3 As shown, in one implementation, the plurality of load maintenance robots 1 include a first load maintenance robot and a second load maintenance robot, and the plurality of anchor traction robots 2 include a first anchor traction robot, a second anchor traction robot, and a third anchor traction robot. Optionally, there are three first anchor traction robots, two second anchor traction robots, and one third anchor traction robot.

[0086] The first load maintenance robot and the first anchor traction robot are connected by a traction rope 4; the second load maintenance robot and the second anchor traction robot are connected by a traction rope 4;

[0087] The third anchor traction robot is connected to the first and second load maintenance robots via a traction rope 4. The three first and third anchor traction robots are located at the four corners of a quadrilateral, within which the first load maintenance robots perform maintenance. The three second and third anchor traction robots are located at the four corners of a quadrilateral, within which the second load maintenance robots perform maintenance. The first and second load maintenance robots are located on different sides of the bridge tower 12.

[0088] In one implementation, when inspecting one side of the bridge tower 12, the inspection machine of the bridge body includes: a load inspection equipment robot, four anchoring traction robots 2, and a traction guide system between the load inspection robot 1 and the anchoring traction robot 2. The traction guide system includes a traction rope 4, which can be a steel wire rope, a hemp rope, a nylon rope, etc. The anchoring traction robot 2 carries a high-load adsorption module 101, which can be moved to a preset position on the track to form an anchor point. The load inspection robot 1 carrying the inspection equipment is equipped with a high-load adsorption module 101. The load inspection robot 1 and the anchoring traction robot 2 are connected by steel wire ropes. The four anchoring traction robots 2 are respectively installed on the bridge cables. Thus, the four anchor points can be arranged into a quadrilateral area. Through wire traction and lifting, the workspace of the load maintenance robot 1 can cover this quadrilateral area. For bridge tower 12 inspection, the maintenance robot can quickly scan this quadrilateral area to identify possible tower 12 defects. For bridge tower 12 repair, when the load maintenance robot 1 detects an abnormal defect at a specific point, it can move to the corresponding position and then use its built-in suction module 101 to suction onto the surface of the bridge tower 12 before further repairing the bridge tower 12. When the surface inspection of the bridge tower 12 within the quadrilateral area is completed, the four anchoring and traction robots 2 release their palm and foot clamping modules 6 and move upward along the cable axis, forming a new quadrilateral surface area of ​​the bridge tower 12 to be inspected. After the traction and anchoring robots are anchored, the winch 5 pulls the load maintenance robot 1 to the new quadrilateral area for further inspection. This reciprocating process continues until it reaches the top of the cable-stayed bridge. By forming a multi-machine group collaboration, the large-scale surface area of ​​the bridge tower 12 can be inspected and maintained. Based on the traditional parallel rope-driven robot, its anchor point is designed to be movable, greatly expanding the robot's detection range and workspace. At the same time, the high load, low motion inertia, high scalability, and high fault tolerance characteristics of the parallel rope-driven robot are retained. Furthermore, because the load-bearing inspection robot 1 can simultaneously perform inspection work across a large area of ​​the bridge tower 12 surface, and its movement ability is not dependent on the bridge tower 12 surface, the robot's obstacle crossing ability and inspection efficiency are greatly improved.

[0089] After describing the two different working environments of the bridge tower 12 and the bridge pier 13 , the structural devices and the like on the load maintenance robot 1 and the anchor pulling robot 2 are described.

[0090] In one implementation of the embodiment of the present application, the load maintenance robot 1 includes an adsorption module 101;

[0091] The suction module 101 is located at the bottom of the load-carrying inspection robot 1. It is capable of creating negative pressure through suction, allowing the load-carrying inspection robot 1 to adhere to the surface of the bridge structure. The bottom of the load-carrying inspection robot 1 refers to the side of the load-carrying inspection robot 1 facing the bridge structure during operation. The suction module 101 includes an air pump and a suction cup. The suction cup is located at the bottom of the load-carrying inspection robot 1. Adsorption here does not refer to chemical or physical adsorption of microscopic matter, but rather to low-pressure or vacuum adsorption by the suction cup under low pressure or vacuum. Vacuum adsorption technology uses atmospheric pressure as a force. Within a closed volume formed between the suction cup and the workpiece, a certain amount of gas molecules is extracted through a vacuum source to reduce the pressure, creating a pressure differential between the inside and outside of the suction cup. This pressure differential adsorbs the workpiece, allowing the load-carrying inspection robot 1 to adhere to the bridge structure. The suction module 101 can include multiple suction cups, which can be arranged in a rectangular array or a circular array, for example. The suction cup is also called a nozzle.

[0092] In one implementation of the embodiment of the present application, the load maintenance robot 1 includes a ducted propulsion module 102. The ducted propulsion module 102 may also be referred to as an auxiliary adsorption ducted propulsion module 102 or a ducted auxiliary surfacing module.

[0093] The ducted propulsion module 102 is located on the back of the payload inspection robot 1. The ducted propulsion module 102 is capable of generating thrust, with the thrust directed from the back of the payload inspection robot 1 toward the bottom of the payload inspection robot 1. The back of the payload inspection robot 1 refers to the side of the payload inspection robot 1 facing away from the bridge body during operation. The direction from the back of the payload inspection robot 1 to the bottom of the payload inspection robot 1, that is, from the payload inspection robot 1 to the bridge body. The ducted propulsion module 102 includes a ducted fan, and the ducted air outlet is located at the end of the ducted propulsion module 102 away from the body of the payload inspection robot 1. This ensures that the airflow generated by the ducted propulsion module 102 flows from the back of the payload inspection robot 1 away from the payload inspection robot 1, and the force exerted by the airflow on the payload inspection robot 1 is directed toward the back of the payload inspection robot 1. Under the action of the thrust generated by the ducted propulsion module 102, pressure is generated between the payload inspection robot 1 and the bridge body, which in turn generates friction, preventing the payload inspection robot 1 from moving on the surface of the bridge body.

[0094] The adsorption module 101 and the ducted propulsion module 102 enable the load maintenance robot 1 to perform fixed-point inspection and maintenance. The maintenance machine of the embodiment of the present application can be used in industries such as large-scale wall exterior maintenance.

[0095] In one implementation of the embodiment of the present application, the load maintenance robot 1 includes a main vehicle;

[0096] The vehicle consists of a body and at least three wheels, with the wheels positioned at the edges. The suction module 101 is located at the bottom of the body, and the ducted propulsion module 102 is located at the back of the body. Four wheels are used as an example, with the four wheels located at the four corners of the body. The wheels enable the load inspection robot 1 to move across the surface of the bridge without wearing out the bridge surface. A motor can be installed on the body to drive the wheels. A winch 5 can also be installed on the body.

[0097] In one implementation of the embodiment of the present application, the load maintenance robot 1 includes a maintenance robot arm 103 and a vision module 9;

[0098] A vision module 9 is mounted at the end of the inspection robot arm 103. The inspection robot arm 103 is flexible and can bend, enabling a variety of inspection and maintenance operations. The vision module 9 may include a camera, image sensor, etc., and is used to capture images of the bridge surface to detect surface defects.

[0099] like Figure 4 As shown, in one implementation of the embodiment of the present application, the load maintenance robot 1 is composed of an adsorption module 101, an inspection robot arm 103, a duct propulsion module 102 and a main vehicle. The load maintenance robot 1 itself has no mobility, and its movement is achieved by the traction of the traction rope 4 on its body. When the load maintenance robot 1 traverses the surface of the bridge body, the visual module 9 performs synchronous rapid visual inspection on the surface of the bridge tower 12. When the load maintenance robot 1 finds that there is a defect on the surface of the bridge tower 12 or the bridge pier 13, the adsorption module 101 of the load maintenance robot 1 will automatically approach the surface of the bridge tower 12 or the bridge pier 13 and stably adsorb it, and then further fine-tune the defective area and perform repair work. The visual module 9 can also be called a visual perception module or a visual guidance module.

[0100] In one implementation of the embodiment of the present application, the hoist 5 includes a hoisting motor 506, a reel 501, a wire inlet and outlet structure 502, an adjustment motor, a transmission member, a bidirectional screw 504 and an adjustment nut 505;

[0101] The output end of the hoisting motor 506 is connected to the reel 501, and the reel 501 rotates to reel in or unreel the traction rope 4. The hoisting motor 506 provides power to drive the reel 501 to rotate to reel in or unreel the traction rope 4.

[0102] The output of the adjustment motor is connected to the input of the transmission member, and the output of the transmission member is connected to a bidirectional screw 504. Bidirectional screw 504 is often referred to as a reciprocating screw shaft, horizontal screw shaft, reciprocating screw, bidirectional screw shaft, or self-reversing screw. Bidirectional screw 504 can be used in cable reels for various winches, as well as various water wheels and pipe reels for various coiled tubing vehicles. Cable and pipe reels with bidirectional screw 504 can evenly and orderly wind cables, hoses, and coiled tubing onto reel 501, thereby improving the technical level of the equipment. Using bidirectional screw 504 can reduce damage to the traction rope 4 and extend its service life.

[0103] The adjustment nut 505 cooperates with the bidirectional screw 504. When the bidirectional screw 504 rotates in the same direction, the adjustment nut 505 reciprocates along the axis of the bidirectional screw 504. A predetermined distance is defined between the two ends of the reciprocating motion. The predetermined distance is less than or equal to the axial thickness of the reel 501. The predetermined distance is less than or equal to the axial thickness of the reel 501, thereby preventing the traction rope 4 from being unable to be reeled into the reel 501.

[0104] The first end of the access port structure 502 is fixedly connected to the adjustment nut 505, and the traction rope 4 passes through the access port structure 502. The traction rope 4 passes through the access port structure 502, so that the access port structure 502 can drive the traction rope 4 to move along the bidirectional screw 504 along with the adjustment nut 505.

[0105] In one implementation of the embodiment of the present application, the hoist 5 further includes a slider 507 and a guide rail 508;

[0106] The guide rail 508 is arranged parallel to the bidirectional screw 504. The second end of the wire inlet and outlet structure 502 is fixedly connected to the slider 507. The slider 507 can slide along the guide rail 508, so that the wire inlet and outlet structure 502 can move between the guide rail 508 and the bidirectional screw 504. The bidirectional screw 504 cooperates with the slider 507 and the guide rail 508 to produce precise reciprocating motion, so that the traction rope 4 is more evenly wound on the reel 501.

[0107] In one implementation of the present invention, the hoisting motor 506 and the adjustment motor are the same motor. By connecting the output end of the motor to the input end of the transmission member and the reel 501 at the same time, and setting the transmission ratio of the transmission member, the motor can be used as both the hoisting motor 506 and the adjustment motor.

[0108] like Figure 5As shown, the hoist 5 consists of a hoisting motor 506, a reel 501, a synchronous belt 503, and a bidirectional screw 504. The hoisting motor 506 transmits power to the reel 501, which rotates to reel in and out the traction rope 4. Simultaneously, the traction rope 4 enters or exits the line through the access port 502. Simultaneously, the hoisting motor 506 transmits power to the reduction mechanism of the synchronous belt 503, which in turn rotates the bidirectional screw 504. The bidirectional screw 504, in turn, causes the access port 502 to swing back and forth. This design ensures that the rope is evenly distributed on the reel 501, preventing any tangles.

[0109] In one implementation of the embodiment of the present application, the clamping module 6 includes a pair of claws and a worm gear 603;

[0110] The two sets of claws 601 in a claw pair open and close under the drive of two sets of worm gears 603. The worm wheels of the two worm gears 603 are fixed to the base of the claws 601, and the worms of the two worm gears 603 are connected by a common shaft. The input end of the worms is connected to the output end of the motor. The connection of the worms of the two worm gears 603 on the same shaft enables the two sets of claws 601 in a claw pair to open and close synchronously. The surface of the claws 601 can be covered with a flexible covering material 602 to prevent damage to the track.

[0111] like Figure 6 As shown, the gripping module 6 is a palm-foot gripping module 6. The palm-foot gripping module 6 primarily consists of a gripping claw pair, a gripping drive motor 605, and two symmetrical transmission systems. The gripping claw pair includes two sets of gripping claws 601, each set comprising one gripping claw 601. To increase the frictional force when the gripping claw pair grips the rail surface, the surface of the gripping claw 601 contacting the rail is covered with a flexible covering material 602. The transmission system utilizes a three-stage transmission mechanism to transfer energy and force from the output of the gripping drive motor 605: a planetary transmission from the reducer 606, a gripping claw pair 604, and a worm gear 603. The output of the gripping drive motor 605 is connected to the input of the planetary transmission of the reducer 606, which in turn is connected to the input of the worm gear 603 via the gripping claw pair 604. The worm gear 603 is used in the final transmission joint. Due to the self-locking nature of the worm gear transmission, the gripping claw pair cannot be backdriven. This means the gripper pair can maintain the joint's position without changing when the gripping drive motor 605 is not driving it. This design offers significant energy savings. In particular, when the robot is held in a certain position, the gripping drive motor 605 can be deactivated, reducing energy consumption while the robot remains securely anchored to the track. The use of the palm-foot gripping module 6 enables the payload maintenance robot 1 to carry extremely large amounts of maintenance equipment.

[0112] In an implementation manner of the embodiment of the present application, the driving module 8 of the anchoring traction robot 2 comprises a plurality of rotary wing mechanisms;

[0113] The plurality of rotary wing mechanisms are uniformly distributed in a central circle of the clamping module 6, that is, the plurality of rotary wing mechanisms are distributed at the vertices of a regular polygon, and the clamping module 6 is located at the circumcircle center of the regular polygon; or the plurality of rotary wing mechanisms are symmetrically distributed about the axis of the claw pair, and when the claw pair clamps the track, the axis of the claw pair is parallel to or coincides with the axis of the track.

[0114] In an implementation manner of the embodiment of the present application, the driving module 8 of the anchoring traction robot 2 further comprises a spherical shell;

[0115] The rotary wing mechanism is arranged in the spherical shell, and the spherical shell is a hollow structure. The spherical shell can protect the rotary wing mechanism and avoid collision between the rotary wing mechanism and the track.

[0116] The bridge main body inspection machine of the embodiment of the present application is movable and adopts parallel rope driving. The bridge main body inspection machine is composed of three parts: a load inspection robot 1 carrying an inspection device, a plurality of anchoring traction robots 2, and a traction guide system between the load inspection robot 1 and the anchoring traction robot 2. The traction guide system comprises a traction rope 4 and a winch 5, and the traction rope 4 can be a steel wire rope. The anchoring traction robot 2 carries a high-load clamping module 6, and the anchoring traction robot 2 can be moved to a specified position to form an anchoring point. The load inspection robot 1 carrying the inspection device is also provided with a suction module 101 and a duct propulsion module 102. The clamping module 6 can be a palm-foot clamping module 6.

[0117] The load inspection robot 1 and the anchoring traction robot 2 are connected by steel wire ropes respectively. One anchoring traction robot 2 is released every 20-30 meters on each track. In this way, a plurality of anchoring traction robots 2 are anchored on the track at a certain interval, and the working space of the load inspection robot 1 can cover the surface of the bridge main body through traction and lifting by the steel wire ropes. The load inspection robot 1 can quickly scan and detect the surface of the bridge main body to find possible diseases of the bridge tower 12 or the bridge pier 13. When the load inspection robot 1 detects abnormal diseases at a specific point, the load inspection robot 1 can be moved to the corresponding position, and then attached to the surface of the bridge main body by using the suction module 101 and the duct propulsion module 102 carried by the load inspection robot 1, and then further perform the bridge main body surface repair work.

[0118] As Figure 7As shown, the anchoring and traction robot 2 primarily consists of a gripping module 6, a vision module 9, a rope pulling module 7, a drive module 8, and a drone frame. The drive module 8 comprises a spherical housing, propellers, a rotor motor, and a motor mount. The rotor motor drives the propellers to rotate at high speed, generating lift that propels the anchoring and traction robot 2 upward. The spherical housing effectively protects the propellers from collisions with the external environment. Its hollow structure allows for large airflow, providing lift. The gripping module 6 is mounted directly above the drone frame. It has yaw angular freedom relative to the drone frame to adjust the track's position. This allows the anchoring and traction robot 2 to adjust its gripping position to secure the track after hovering. The vision module 9 guides the anchoring and traction robot 2 and gripping module 6 to the desired position during gripping. The rope pulling module 7 includes a pulley, around which the traction rope 4 is wound. The drive module 8 can also be referred to as the rotor drive module 8. The rolling ball shell can also be called a roller circular shell or a roller spherical shell. The anchoring and traction mobile robot can also be called a track anchoring mobile robot.

[0119] This embodiment of the present application utilizes a multi-machine collaborative system to perform maintenance on bridge towers 12 and piers 13. Its key feature is that it utilizes a conventional parallel rope-driven robot with a removable anchor point, significantly expanding the robot's detection range and workspace. This system retains the high payload, low inertia, scalability, and fault tolerance characteristics of the parallel rope-driven robot. Because the load-carrying maintenance robot 1 avoids contact with the bridge's surface during movement, its obstacle-crossing capabilities and maintenance efficiency are significantly improved.

[0120] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A bridge main body maintenance machine, characterized in that: include: At least one load maintenance robot (1), a plurality of anchoring and pulling robots (2) and a plurality of winches (5); Part or all of the at least one load maintenance robot (1) is connected to part or all of the plurality of anchoring and traction robots (2) via a traction rope (4), and each of the anchoring and traction robots (2) is connected to at least one of the load maintenance robots (1) via a traction rope (4); A plurality of the hoists (5) are provided on the load maintenance robot (1) and / or the anchor traction robot (2), and each of the hoists (5) is used to reel in or unreel a group of the traction ropes (4) to change the relative position between the load maintenance robot (1) and the anchor traction robot (2); The anchoring and traction robot (2) comprises a driving module (8) and a clamping module (6), wherein the driving module (8) is used to drive the anchoring and traction robot (2) to move to a preset position on a track, and the clamping module (6) is used to fix the anchoring and traction robot (2) at the preset position on the track; When the plurality of anchoring traction robots (2) are respectively fixed at different preset positions on the track, the plurality of winches (5) control the position of the load maintenance robot (1) by winding or reeling in the traction rope (4), so that the load maintenance robot (1) can perform maintenance on the bridge body.

2. The bridge main body maintenance machine according to claim 1, characterized in that: Comprising a plurality of load maintenance robots (1), the plurality of load maintenance robots (1) comprising a first group of load maintenance robots and a second group of load maintenance robots; The first group of load maintenance robots is connected to the anchor traction robot (2) via the traction rope (4), and is also connected to the second group of load maintenance robots via the traction rope (4); the second group of load maintenance robots is only connected to the first group of load maintenance robots via the traction rope (4), and is not connected to the anchor traction robot (2) via the traction rope (4).

3. The bridge main body maintenance machine according to claim 2, characterized in that: The first group of load maintenance robots includes a first load maintenance robot and a second load maintenance robot, and the second group of load maintenance robots includes a third load maintenance robot; The first load maintenance robot, the second load maintenance robot and the third load maintenance robot are connected to each other via a traction rope (4); The plurality of anchoring and traction robots (2) are divided into two groups, namely a first group of anchoring and traction robots and a second group of anchoring and traction robots; the first group of anchoring and traction robots is connected to a first load maintenance robot via a traction rope (4); and the second group of anchoring and traction robots is connected to a second load maintenance robot via a traction rope (4).

4. The bridge main body maintenance machine according to claim 1, characterized in that: including a plurality of load maintenance robots (1); Each load maintenance robot (1) is connected to some of the multiple anchoring and traction robots (2) via a traction rope (4); and at least one of the multiple anchoring and traction robots (2) is connected to two or more load maintenance robots (1) via a traction rope (4).

5. The bridge main body maintenance machine according to claim 4, characterized in that: The plurality of load maintenance robots (1) include a first load maintenance robot and a second load maintenance robot, and the plurality of anchoring and traction robots (2) include a first anchoring and traction robot, a second anchoring and traction robot, and a third anchoring and traction robot; The first load maintenance robot and the first anchor traction robot are connected via a traction rope (4); the second load maintenance robot and the second anchor traction robot are connected via a traction rope (4); The third anchoring traction robot is connected to the first load maintenance robot and the second load maintenance robot via a traction rope (4).

6. The bridge main body maintenance machine according to claim 1, characterized in that: The load maintenance robot (1) comprises an adsorption module (101); The adsorption module (101) is arranged at the bottom of the load maintenance robot (1), and the adsorption module (101) can form negative pressure by suction, so that the load maintenance robot (1) is adsorbed on the surface of the bridge body.

7. The bridge main body maintenance machine according to claim 6, characterized in that: The load maintenance robot (1) comprises a ducted propulsion module (102); The ducted propulsion module (102) is arranged on the back of the load maintenance robot (1), and the ducted propulsion module (102) can generate thrust, and the thrust direction is from the back of the load maintenance robot (1) to the bottom of the load maintenance robot (1).

8. The bridge main body maintenance machine according to claim 7, characterized in that: The load maintenance robot (1) includes a main vehicle; The main vehicle comprises a vehicle body and at least three wheels, wherein the wheels are arranged at the edges of the vehicle body, the adsorption module (101) is arranged at the bottom of the vehicle body, and the ducted propulsion module (102) is arranged at the back of the vehicle body.

9. The bridge main body maintenance machine according to claim 1, characterized in that: The load maintenance robot (1) includes a maintenance robot arm (103) and a vision module (9); A visual module (9) is installed at the end of the maintenance robot arm (103).

10. The bridge main body maintenance machine according to claim 1, characterized in that: The hoist (5) comprises a hoisting motor (506), a reel (501), a wire inlet and outlet structure (502), an adjustment motor, a transmission member, a bidirectional screw (504) and an adjustment nut (505); The output end of the hoisting motor (506) is connected to the reel (501), and the reel (501) rotates to reel in or unreel the traction rope (4); The output end of the adjustment motor is connected to the input end of the transmission member, and the output end of the transmission member is connected to the bidirectional screw (504); The adjusting nut (505) cooperates with the bidirectional screw (504), and when the bidirectional screw (504) rotates in the same direction, the adjusting nut (505) reciprocates along the axis of the bidirectional screw (504), with a preset distance between the two ends of the reciprocating motion, and the preset distance is less than or equal to the axial thickness of the reel (501); The first end of the wire access port structure (502) is fixedly connected to the adjustment nut (505), and the traction rope (4) passes through the wire access port structure (502); The hoist (5) further includes a slider (507) and a guide rail (508); The guide rail (508) is arranged parallel to the bidirectional screw (504), and the second end of the wire inlet and outlet structure (502) is fixedly connected to the slider (507), and the slider (507) can slide along the guide rail (508) so that the wire inlet and outlet structure (502) can move between the guide rail (508) and the bidirectional screw (504).

11. The bridge main body maintenance machine according to claim 10, characterized in that: The hoisting motor (506) and the adjustment motor are the same motor.

12. The bridge main body maintenance machine according to claim 1, characterized in that: The clamping module (6) comprises a pair of claws and a worm gear (603); The two groups of claws (601) of a claw pair are opened and closed under the drive of the two groups of worm gears (603), the worm wheels of the two groups of worm gears (603) are fixed at the roots of the claws (601), and the worm gears of the two groups of worm gears (603) are connected by the same shaft.

13. The bridge main body maintenance machine according to claim 12, characterized in that: The driving module (8) of the anchoring and traction robot (2) includes a plurality of rotor mechanisms; The plurality of rotor mechanisms are evenly distributed around the circumference of the clamping module (6) or symmetrically distributed around the axis of the claw pair; The driving module (8) further comprises a spherical shell; The rotor mechanism is arranged in the spherical shell, and the spherical shell is a hollow structure.

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