A wall-climbing robot system suitable for bridge maintenance

Abstract

The application discloses a wall-climbing robot system suitable for bridge maintenance and relates to the technical field of detection equipment. The wall-climbing robot system suitable for bridge maintenance comprises a robot body, the robot body comprises a support plate and a traveling device, sliding guide grooves are arranged on the two sides of the support plate, two sliding blocks are arranged on the sliding guide groove of each side, the traveling device comprises a first traveling assembly and a second traveling assembly, the first traveling assembly comprises two M-shaped support frames which are respectively positioned on the two sides of the support plate, a rotating traveling wheel and a pulling shaping assembly, the M-shaped support frame comprises three bearing columns and four bearing rods, the pulling shaping assembly comprises a pulling winch and a pulling rope, the second traveling assembly comprises a rotating disc, a bearing frame which is fixed on the rotating disc, a frame structure, a first roller, a second roller and a traveling track, and the wall-climbing robot system suitable for bridge maintenance has the technical effects that steering flexibility, driving stability, shooting stability and detection accuracy are relatively good.

Description

Technical Field

[0001] This invention relates to the field of testing equipment technology, and in particular to a wall-climbing robot system suitable for bridge maintenance. Background Technology

[0002] Steel box girders are widely used in long-span bridges due to their advantages such as low self-weight, high bending stiffness, good wind resistance, and convenient hoisting. However, due to the long-term loads from vehicles and other factors, steel box girders may suffer from fatigue cracking, weld defects, and other damage, which seriously affect the service performance of long-span bridges. Therefore, it is necessary to detect the fatigue damage state of steel box girders to provide a basis for subsequent maintenance.

[0003] Fatigue damage detection of steel box girders 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 handheld flaw detection instruments. This inspection method has problems such as low inspection efficiency, long period of ineffective work, high labor intensity, low inspection accuracy, long inspection cycle, and potential safety hazards.

[0004] To address the aforementioned issues, Chinese invention patent CN111270608B discloses a wall-climbing robot for inspecting the interior of a steel box girder of a long-span bridge. The robot includes a robot body, a power module, a motion control system, a camera module, and a non-destructive testing module mounted on the robot body. It also includes a lifting mechanism mounted on the robot's base plate, which assists the robot in climbing over the inner right-angled wall of the steel box girder.

[0005] While the above-mentioned solution boasts advantages such as simple structure, strong wall adaptability, and good obstacle-crossing performance, and can also achieve automatic inspection, its limited structural design results in poor maneuverability; and, as... Figure 15 As shown, the inner bottom of the steel box girder is generally equipped with a large number of vertical plates 001 (horizontal ribs) to strengthen the structural strength. The presence of the vertical plates 001 will greatly restrict the movement of the wall-climbing robot in the above scheme, and the presence of the vertical plates 001 will cause the road surface to be uneven, which will greatly reduce the stability of the robot's movement in the above scheme. Frequent vibration during movement will affect the stability of shooting and the accuracy of detection. Summary of the Invention

[0006] This application provides a wall-climbing robot system suitable for bridge maintenance, which solves the technical problems of poor steering flexibility and driving stability of existing wall-climbing robots, as well as the relatively poor shooting stability and detection accuracy caused by the limitation of its own structure and the shape of the driving surface during the driving process. It achieves the technical effect of relatively good steering flexibility, driving stability, shooting stability and detection accuracy of the wall-climbing robot system suitable for bridge maintenance.

[0007] This application provides a wall-climbing robot system suitable for bridge maintenance, including a robot body, which includes a support plate and a traveling device;

[0008] The support plate has sliding guide grooves on both sides, and two sliding blocks are provided on each sliding guide groove;

[0009] The traveling device includes a first traveling component and a second traveling component;

[0010] The first traveling component includes two M-shaped support frames positioned on both sides of the support plate, a rotating traveling wheel, and a pulling shaping component;

[0011] The M-shaped support frame includes 3 support columns and 4 support rods; the support columns and support rods are alternately rotated and connected together to form an M-shaped rod group. The top end of the M-shaped support frame is positioned on a sliding block, the bottom end is positioned with a rotating travel wheel, and torsion springs are positioned at all connection points.

[0012] The pull-shaping assembly includes a pull winch and a pull rope;

[0013] Each pull rope corresponds to a support rod, with one end fixed to the middle of the support rod and the other end positioned on the pull winch.

[0014] The second traveling component includes a rotating disk, a frame structure fixed on the rotating disk, a first roller, a second roller, and a traveling track; the rotating disk is rotatably connected to the bottom of the support plate; the first roller and the second roller are rotatably connected to the load-bearing frame; the traveling track is in the shape of a flexible hose, fitted onto the first roller and the second roller, and is always in a taut state.

[0015] Furthermore, one end of each of the two support rods located at the end of the M-shaped support frame is positioned with a rotating travel wheel, and the other end is rotatably connected to the support column. The support columns corresponding to these two support rods are respectively fixed on two sliding blocks located on one side of the support plate, and the axial direction of these two support columns is the same as the width direction of the support plate.

[0016] The two support rods located in the middle of the M-shaped support frame are rotatably connected at one end to a support column fixed on a sliding block, and at the other end to an unfixed support column, on which a rotating travel wheel is positioned.

[0017] Furthermore, the first roller and the second roller have the same structure. The first roller includes an inner core and a soft tube sleeved and fixed on the inner core. The soft tube is a sponge tube with a diameter of more than 1.5 times the diameter of the inner core.

[0018] Preferably, it also includes a stabilizing travel component;

[0019] The stabilizing travel assembly is positioned on top of the support plate and includes a support frame, a rotating telescopic rod, a floating rod, a buffer spring, and a traveling body;

[0020] The support frame is a frame structure or a plate, and is fixed to the top of the support plate near the center.

[0021] The rotating telescopic rod is an electric telescopic rod, with one end rotatably connected to the support frame, and the axial direction of the rotating shaft is the same as the width direction of the support plate;

[0022] A miniature motor is positioned at the connection point between the rotating telescopic rod and the support frame;

[0023] A limiting groove is provided at the end of the rotating telescopic rod away from the support frame;

[0024] The floating rod is a columnar rod body, which is slidably positioned in the limiting groove, and the sliding direction is the same as the axis of the rotating telescopic rod;

[0025] The buffer spring is located in the limiting groove and is a compression spring. One end abuts against the floating rod and the other end abuts against the bottom of the limiting groove.

[0026] The structure of the traveling body is the same as that of the second traveling component, and it is fixed to the end of the floating rod away from the rotating telescopic rod.

[0027] Preferably, the track is a tubular elastic rubber bladder filled with a liquid medium; due to its own weight, most of the liquid medium will concentrate in the lower half of the track; during travel, the bottom of the track will be embedded in the vertical plate on the inner bottom of the steel box girder.

[0028] Preferably, the liquid medium is a magnetic fluid or water.

[0029] Preferably, the track is made of two tubular pieces sewn together, wherein the thickness of one piece that is in close contact with the second roller and the first roller is more than 1.5 times the thickness of the other piece.

[0030] Preferably, a column support frame is also fixed on the support frame, and a friction column is fixed on the column support frame;

[0031] The friction post is located on one side of the traveling track near the second roller, and is a cylinder made of wound steel wire;

[0032] The bottom of the friction column is at least 0.5 cm lower than the bottom of the second roller;

[0033] As the robot moves, the friction column will first come into contact with the inner bottom and vertical plates of the steel box girder.

[0034] Preferably, the load-bearing frame includes a fixing plate, a first load-bearing accessory, and a second load-bearing accessory;

[0035] The fixing plate is fixed to the bottom of the rotating disk;

[0036] The first and second load-bearing attachments have the same structure and are symmetrically arranged. They are respectively positioned on both sides of the fixed plate and both serve to support the first and second rollers.

[0037] The first load-bearing accessory includes a first arc-shaped rod, a second arc-shaped rod, and a telescopic control rod;

[0038] Both the first and second arc-shaped bars are arc-shaped bars with the same structure, symmetrical arrangement, and their combination forms a figure-eight shape.

[0039] The tops of the first and second arc-shaped rods are rotatably connected to the side of the fixed plate, and the axial direction of the rotation axis is the same as that of the first roller.

[0040] The first roller and the second roller are rotatably connected to the first arc-shaped rod and the second arc-shaped rod, respectively, and the first roller and the second roller are arranged near the ends of the first arc-shaped rod and the second arc-shaped rod that are away from the fixed plate;

[0041] The telescopic control rod is an electric telescopic rod, which is arranged horizontally and has its two ends rotatably connected to the first arc-shaped rod and the second arc-shaped rod, respectively. The axial direction of the rotating shaft is the same as the axial direction of the first roller.

[0042] The connection point between the telescopic control lever and the first and second arc-shaped levers is located slightly above the center of the first and second arc-shaped levers.

[0043] Preferably, in use, the depth to which the vertical plate is embedded in the traveling track can be controlled by controlling the distance between the first roller and the second roller, thereby flexibly adjusting the stability and mobility of the robot's movement.

[0044] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0045] By optimizing and improving the structure of the wall-climbing robot body used for inspection inside steel box girders of long-span bridges in existing technologies, and using two sets of traveling components to cooperate in driving and crossing obstacles, the technical problems of poor turning flexibility and driving stability of existing wall-climbing robots, as well as the relatively poor shooting stability and detection accuracy caused by the limitation of its own structure and the shape of the traveling surface during driving, have been effectively solved. Thus, a wall-climbing robot system suitable for bridge maintenance has achieved relatively good technical results in terms of turning flexibility, driving stability, shooting stability and detection accuracy. Attached Figure Description

[0046] Figure 1This is a structural diagram of a wall-climbing robot system suitable for bridge maintenance;

[0047] Figure 2 This is a schematic diagram of the exterior of a wall-climbing robot system suitable for bridge maintenance;

[0048] Figure 3 This is a schematic diagram of the bottom structure of a wall-climbing robot system suitable for bridge maintenance;

[0049] Figure 4 A simplified structural diagram of the pull-and-shape component;

[0050] Figure 5 Here is a simplified structural diagram of the load-bearing rod;

[0051] Figure 6 This is a schematic diagram of the deformation state of the first moving component;

[0052] Figure 7 A schematic diagram of the mechanism for stabilizing the traveling components;

[0053] Figure 8 A schematic diagram illustrating the stable movement of a wall-climbing robot system suitable for bridge maintenance.

[0054] Figure 9 A schematic diagram showing the positional relationship between the rotating telescopic rod and the floating rod;

[0055] Figure 10 This is a schematic diagram of the external structure of the second advancing component;

[0056] Figure 11 This is a schematic diagram showing the deformation state of the track after it comes into contact with the vertical plate.

[0057] Figure 12 This is a structural schematic diagram of the first load-bearing accessory;

[0058] Figure 13 This is a schematic diagram showing the deformation state of the first load-bearing attachment;

[0059] Figure 14 This is a schematic diagram of the deformation state of the moving track;

[0060] Figure 15 This is a schematic diagram of the internal structure of a steel box girder.

[0061] In the picture:

[0062] Vertical plate 001, support plate 100, sliding guide groove 110, sliding block 120, M-shaped support frame 211, bearing column 212, bearing rod 213, rotating travel wheel 214, pulling and shaping component 215, pulling winch 216, pulling rope 217, rotating disk 221, bearing frame 222, first roller 223, second roller 224, traveling track 225, friction column 226, column bearing frame 227, bearing frame 231, rotating telescopic rod 232, floating rod 233, buffer spring 234, traveling body 235, fixed plate 201, first bearing accessory 202, first arc rod 203, second arc rod 204, telescopic control rod 205. Detailed Implementation

[0063] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0064] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0066] Example 1

[0067] This application relates to a wall-climbing robot system for bridge maintenance, comprising a robot body, a power module, a motion control system, a camera module, and a non-destructive testing (NDT) module mounted on the robot body. The power module supplies power to the motion control system, camera module, and NDT module. The motion control system controls the coordinated operation of the various components of the robot body. The camera module includes a camera pan-tilt unit and a camera, positioned on the robot body. By rotating the camera pan-tilt unit, the camera can acquire surface information of the steel box girder from different angles. The NDT module includes a robotic arm and a NDT probe. The robotic arm is mounted on the robot body and drives the NDT probe to rotate, causing the probe to adhere to the working wall and align with the weld to be inspected. During the robot's movement, the NDT probe can continuously detect weld defects in the steel box girder and transmit the data via cable to an external NDT instrument on the wall-climbing robot.

[0068] like Figures 1 to 3 As shown, the robot body includes a support plate 100 and a traveling device;

[0069] The support plate 100 is a rectangular plate that serves as a load-bearing plate. It has sliding guide grooves 110 on both sides, which act as guide rails. Each sliding guide groove 110 has two sliding blocks 120. The sliding blocks 120 are slidably positioned on the sliding guide grooves 110 and serve to support the M-shaped support frame 211.

[0070] The traveling device is used to propel the entire device forward, move it, and cross obstacles, and includes a first traveling component and a second traveling component.

[0071] The first traveling component is positioned on both sides of the support plate 100 and includes two M-shaped support frames 211, multiple rotating traveling wheels 214, and a pulling and shaping component 215;

[0072] The two M-shaped support frames 211 are identical in structure and size, symmetrically arranged, and positioned on both sides of the support plate 100, serving to provide support for the rotating travel wheel 214;

[0073] like Figure 5 As shown, the main body of the M-shaped support frame 211 is an M-shaped rod group composed of multiple rods spliced ​​together, including load-bearing columns 212 and load-bearing rods 213; the load-bearing columns 212 are cylindrical and serve a connecting function; there are 3 load-bearing columns 212 and 4 load-bearing rods 213 on one M-shaped support frame 211; the load-bearing columns 212 are located between two load-bearing rods 213, and the two are arranged alternately; two load-bearing rods 213 located at the ends of the M-shaped support frame 211 have a rotating travel wheel 214 positioned at one end, and the other end is rotatably connected to the load-bearing column 212, and the load-bearing columns 212 corresponding to these two load-bearing rods 213 are respectively fixed in place. On two sliding blocks 120 on one side of the support plate 100, the axial direction of the two bearing columns 212 is the same as the width direction of the support plate 100; the two bearing rods 213 located in the middle of the M-shaped support frame 211 are rotatably connected at one end to the bearing column 212 fixed on the sliding block 120, and at the other end to the unfixed (third) bearing column 212, on which a rotating travel wheel 214 is positioned; torsion springs are positioned at the connection positions of the bearing column 212 and the bearing rod 213, and the torsion springs are used to accumulate and release elastic potential energy, so that the M-shaped support frame 211 has a tendency to stretch;

[0074] The number of the rotating travel wheels 214 is 6 or 12;

[0075] like Figure 4As shown, the pulling and shaping component 215 is used to control the deformation of the M-shaped support frame 211, thereby realizing the lifting and lowering of the rotating travel wheel 214 and facilitating the robot's obstacle crossing. The main body is a winch structure, and the number is the same as the number of M-shaped support frames 211. It is fixed at the center position on the side of the support plate 100, including a pulling winch 216 and multiple pulling ropes 217.

[0076] The pull winch 216 serves to wind up and release the pull rope 217, and is a combination of a motor and multiple drums. The pull rope 217 corresponds one-to-one with the support rod 213, with one end fixed to the middle of one of the support rods 213 and the other end positioned on the pull winch 216. In use, the displacement and rotation of each support rod 213 can be controlled by controlling the amount of winding of each pull rope 217.

[0077] Preferably, each of the rotating travel wheels 214 has a built-in magnet or electromagnet.

[0078] Preferably, at least one of the rotating travel wheels 214 positioned at the end of the support rod 213 has the ability to rotate automatically.

[0079] The second traveling component is positioned at the bottom of the support plate 100 and includes a rotating disk 221, a bearing frame 222, a first roller 223, a second roller 224, and a traveling track 225;

[0080] The rotating disk 221 is disc-shaped, with a built-in motor, and is rotatably connected to the bottom of the support plate 100 around its own axis, for supporting and fixing the support frame 222;

[0081] The support frame 222 is a frame structure used to support and position the first roller 223 and the second roller 224; the first roller 223 and the second roller 224 are both rollers with built-in motors, which are coaxial and rotatably connected to the support frame 222, and are used to drive the traveling track 225 to rotate by friction; the distance between the first roller 223 and the second roller 224 is greater than the sum of their diameters;

[0082] The traveling track 225 is a rubber tube that fits on the first roller 223 and the second roller 224, and is always taut and close to the first roller 223 and the second roller 224; the whole is a tube with an elongated oval cross section.

[0083] Preferably, in order to further reduce the vibration during the robot's movement and further ensure the robot's movement stability, the first roller 223 and the second roller 224 have the same structure. The first roller 223 includes an inner core and a soft tube sleeved and fixed on the inner core. The soft tube is a sponge tube with a diameter of more than 1.5 times the diameter of the inner core.

[0084] Preferably, the track 225 has rubber-soft magnetic sheets spaced at equal intervals.

[0085] In actual use, the wall-climbing robot system for bridge maintenance according to the embodiments of this application is as follows:

[0086] When the robot is moving normally inside the steel box girder, the 225-point track touches the ground to move.

[0087] When turning or lateral movement is required, the deformation of the M-shaped support frame 211 is controlled to make the rotating travel wheel 214 touch the ground, thereby lifting the support plate 100 and causing the second travel component to leave the ground; then the rotation of the rotating disk 221 is controlled to adjust the direction of the travel track 225.

[0088] like Figure 6 As shown, when it is necessary to overcome an obstacle, the M-shaped support frame 211 is controlled to deform so that the rotating travel wheel 214 touches the ground, thereby supporting the support plate 100 and causing the second travel component to leave the ground; then the rotating travel wheel 214 is controlled to lift and fall in sequence to pass over the obstacle (right-angle wall) and thus overcome the obstacle.

[0089] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages:

[0090] This invention solves the technical problems of poor steering flexibility and driving stability of existing wall-climbing robots, as well as the relatively poor shooting stability and detection accuracy caused by the limitations of their own structure and the shape of the driving surface during driving. It achieves a wall-climbing robot system suitable for bridge maintenance with relatively good steering flexibility, driving stability, shooting stability and detection accuracy.

[0091] Example 2

[0092] To further improve the stability of the entire robot system, ensure the quality of captured images and the accuracy of flaw detection results, and reduce vibration during robot movement, this application embodiment adds a stabilizing travel component based on the above embodiment, specifically:

[0093] like Figure 7 and Figure 8 As shown, the stabilizing travel assembly is positioned on top of the support plate 100 and includes a support frame 231, a rotating telescopic rod 232, a floating rod 233, a buffer spring 234, and a traveling body 235;

[0094] The support frame 231 is a frame structure or a plate, and is fixed to the top of the support plate 100 near the center to provide a positioning base;

[0095] The rotating telescopic rod 232 is an electric telescopic rod, with one end rotatably connected to the support frame 231. The axial direction of the rotating shaft is the same as the width direction of the support plate 100. A micro motor is positioned at the connection point between the rotating telescopic rod 232 and the support frame 231. This micro motor can drive the rotating telescopic rod 232 to rotate (oscillate) relative to the support frame 231. A limiting groove is provided at the end of the rotating telescopic rod 232 away from the support frame 231.

[0096] like Figure 9 As shown, the floating rod 233 is a columnar rod body, which is slidably positioned in the limiting groove, and the sliding direction is the same as the axial direction of the rotating telescopic rod 232;

[0097] The buffer spring 234 is located in the limiting groove and is a compression spring. One end abuts against the floating rod 233 and the other end abuts against the bottom of the limiting groove.

[0098] The structure of the traveling body 235 is the same as that of the second traveling component, and it is fixed to the end of the floating rod 233 away from the rotating telescopic rod 232.

[0099] When the entire device of this application embodiment is in use, the control of the rotating telescopic rod 232 is to rotate so that it remains vertical. At this time, the traveling body 235 abuts against the inner top of the steel box girder, and the second traveling component abuts against the inner bottom of the steel box girder. The traveling body 235 and the second traveling component run synchronously. During the travel process, the buffer spring 234 is always in a compressed state to counteract vibration and shaking.

[0100] Example 3

[0101] To further improve the stability of the entire robot system during movement, reduce the risk of tipping over, further ensure the quality of captured images and the accuracy of flaw detection results, and further reduce vibration during robot system movement, this application embodiment optimizes and improves the structure of the traveling track 225 based on the above embodiments, specifically as follows:

[0102] like Figure 10 and Figure 11 As shown, the traveling track 225 is a tubular elastic rubber bladder filled with a liquid medium. Due to its own weight, most of the liquid medium will concentrate in the lower half of the traveling track 225. During travel, the bottom of the traveling track 225 will be embedded in the vertical plate 001 on the inner bottom of the steel box girder, thereby improving the stability of travel.

[0103] The liquid medium is preferably a magnetic fluid or water.

[0104] Furthermore, the track 225 is made of two tubular pieces sewn together, with the thickness of one piece that is in close contact with the second roller 224 and the first roller 223 being more than 1.5 times the thickness of the other piece; making the track 225 more likely to deform outward.

[0105] To reduce wear on the track 225 and extend its service life, a column support frame 227 is fixed on the support frame 222, and a friction column 226 is fixed on the column support frame 227. The friction column 226 is located on one side of the track 225 near the second roller 224, and is a cylinder made of wound steel wire (equivalent to a columnar steel wool ball). The bottom of the friction column 226 is more than 0.5 cm lower than the bottom of the second roller 224. When the robot moves, the friction column 226 will first contact the inner bottom of the steel box beam and the vertical plate 001, grinding away protruding burrs and other objects that are easy to wear on the track 225.

[0106] Example 4

[0107] To further improve the obstacle-crossing ability of the robot of this application, and thus further improve the robot's passability and applicability, the structure of the support frame 222 has been optimized and improved based on the above embodiments, specifically as follows:

[0108] like Figure 12 and Figure 13 As shown, the support frame 222 includes a fixing plate 201, a first support attachment 202, and a second support attachment;

[0109] The fixing plate 201 is fixed to the bottom of the rotating disk 221;

[0110] The first bearing attachment 202 and the second bearing attachment have the same structure and are symmetrically arranged. They are respectively positioned on both sides of the fixing plate 201 and both serve to support the first roller 223 and the second roller 224. The structure of the second bearing attachment will not be described in detail here.

[0111] The first supporting attachment 202 includes a first arc-shaped rod 203, a second arc-shaped rod 204, and a telescopic control rod 205; both the first arc-shaped rod 203 and the second arc-shaped rod 204 are arc-shaped rods, with identical structures, symmetrical arrangement, and their combination forming a figure-eight shape; the tops of both the first arc-shaped rod 203 and the second arc-shaped rod 204 are rotatably connected to the side of the fixed plate 201, and the axial direction of the rotation axis is the same as the axial direction of the first roller 223; the first roller 223 and the second roller 224 are respectively rotatably connected to the first arc-shaped rod 203 and the second arc-shaped rod 205. On 204, the first roller 223 and the second roller 224 are positioned near the ends of the first arc-shaped rod 203 and the second arc-shaped rod 204 that are away from the fixed plate 201; the telescopic control rod 205 is an electric telescopic rod, arranged laterally, with its two ends rotatably connected to the first arc-shaped rod 203 and the second arc-shaped rod 204 respectively, and the axial direction of the rotation axis is the same as the axial direction of the first roller 223; the connection point between the telescopic control rod 205 and the first arc-shaped rod 203 and the second arc-shaped rod 204 is located at a position slightly above the center of the first arc-shaped rod 203 and the second arc-shaped rod 204;

[0112] When obstacle crossing is required, the telescopic control rod 205 is extended, which causes the first roller 223 and the second roller 224 to move upward, greatly improving the robot's chassis and thus enhancing its obstacle crossing ability.

[0113] Preferred, such as Figure 14 As shown, during actual operation, the depth of the vertical plate 001 embedded in the traveling track 225 can be controlled by adjusting the distance between the first roller 223 and the second roller 224, thereby flexibly adjusting the stability and mobility of the robot's movement.

[0114] Preferably, during actual operation of the robot, the amount of fluid at the bottom of the track 225 can be adjusted by first narrowing the gap between the first roller 223 and the second roller 224 to make the track 225 slack, and then controlling the first roller 223 and the second roller 224 to squeeze the track 225 downward and move away from each other, thereby flexibly adjusting the stability and mobility of the robot's movement.

[0115] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wall-climbing robot system suitable for bridge maintenance, comprising a robot body, characterized in that: The robot body includes a support plate (100) and a traveling device; The support plate (100) is provided with sliding guide grooves (110) on both sides, and two sliding blocks (120) are provided on each side of the sliding guide groove (110); The traveling device includes a first traveling component and a second traveling component; The first traveling component includes two M-shaped support frames (211) positioned on both sides of the support plate (100), a rotating traveling wheel (214), and a pulling shaping component (215); The M-shaped support frame (211) includes 3 support columns (212) and 4 support rods (213); the support columns (212) and support rods (213) are alternately rotated and connected together to form an M-shaped rod group. The top end of the M-shaped support frame (211) is positioned on the sliding block (120), and the bottom end is positioned with a rotating travel wheel (214). Torsion springs are positioned at the connection positions of the support columns (212) and the support rods (213). The pull-shaping assembly (215) includes a pull winch (216) and a pull rope (217); The pull rope (217) corresponds one-to-one with the bearing rod (213), with one end fixed to the middle of the bearing rod (213) and the other end positioned on the pull winch (216); The second traveling assembly includes a rotating disk (221), a frame structure and a support frame (222) fixed on the rotating disk (221), a first roller (223), a second roller (224), and a traveling track (225); the rotating disk (221) is rotatably connected to the bottom of the support plate (100); the first roller (223) and the second roller (224) are rotatably connected to the support frame (222); the traveling track (225) is a flexible tube and is fitted on the first roller (223) and the second roller (224), and is always in a taut state; Two bearing rods (213) located at the ends of the M-shaped support frame (211) have a rotating travel wheel (214) positioned at one end, and the other end is rotatably connected to the bearing column (212). The bearing columns (212) corresponding to these two bearing rods (213) are respectively fixed on two sliding blocks (120) located on one side of the support plate (100), and the axial direction of these two bearing columns (212) is the same as the width direction of the support plate (100). Two support rods (213) located in the middle of the M-shaped support frame (211) are rotatably connected at one end to a support column (212) fixed on a sliding block (120), and at the other end to an unfixed support column (212), on which a rotating travel wheel (214) is positioned.

2. The wall-climbing robot system suitable for bridge maintenance according to claim 1, characterized in that: The first roller (223) and the second roller (224) have the same structure. The first roller (223) includes an inner core and a soft tube sleeved and fixed on the inner core. The soft tube is a sponge tube with a diameter more than 1.5 times the diameter of the inner core.

3. The wall-climbing robot system suitable for bridge maintenance according to claim 1, characterized in that: It also includes a stabilizing travel component; The stabilizing travel assembly is positioned on top of the support plate (100) and includes a support frame (231), a rotating telescopic rod (232), a floating rod (233), a buffer spring (234), and a travel body (235). The support frame (231) is a frame structure or a plate, and is fixed to the top of the support plate (100) near the center. The rotating telescopic rod (232) is an electric telescopic rod, with one end rotatably connected to the bearing frame (231), and the axial direction of the rotating shaft is the same as the width direction of the support plate (100); A micro motor is positioned at the connection point between the rotating telescopic rod (232) and the support frame (231); A limiting groove is provided at the end of the rotating telescopic rod (232) away from the support frame (231); The floating rod (233) is a columnar rod body, which is slidably positioned in the limiting groove, and the sliding direction is the same as the axial direction of the rotating telescopic rod (232); The buffer spring (234) is located in the limiting groove and is a compression spring. One end abuts against the floating rod (233) and the other end abuts against the bottom of the limiting groove. The structure of the traveling body (235) is the same as that of the second traveling component, and it is fixed to the end of the floating rod (233) away from the rotating telescopic rod (232).

4. The wall-climbing robot system suitable for bridge maintenance according to any one of claims 1 to 3, characterized in that: The travel track (225) is a tubular elastic rubber bladder filled with liquid medium. Due to its own gravity, most of the liquid medium will concentrate in the lower half of the travel track (225). During travel, the bottom of the travel track (225) will be embedded in the vertical plate (001) on the inner bottom of the steel box girder.

5. The wall-climbing robot system suitable for bridge maintenance according to claim 4, characterized in that: The liquid medium is a magnetic fluid or water.

6. The wall-climbing robot system suitable for bridge maintenance according to claim 4, characterized in that: The traveling track (225) is made of two tubular pieces sewn together, one of which is in close contact with the second roller (224) and the first roller (223) and is more than 1.5 times thicker than the other piece.

7. The wall-climbing robot system suitable for bridge maintenance according to claim 4, characterized in that: The support frame (222) is also fixed with a column support frame (227), and a friction column (226) is fixed on the column support frame (227); The friction column (226) is located on one side of the traveling track (225) near the second roller (224), and is a cylinder made of wound steel wire; The bottom of the friction column (226) is more than 0.5 cm lower than the bottom of the second roller (224); When the robot moves, the friction column (226) will first come into contact with the inner bottom of the steel box girder and the vertical plate (001).

8. The wall-climbing robot system suitable for bridge maintenance according to claim 4, characterized in that: The support frame (222) includes a fixing plate (201), a first support accessory (202), and a second support accessory; The fixing plate (201) is fixed to the bottom of the rotating disk (221); The first bearing attachment (202) and the second bearing attachment have the same structure and are symmetrically arranged. They are respectively positioned on both sides of the fixed plate (201) and both serve to support the first roller (223) and the second roller (224). The first load-bearing accessory (202) includes a first arc-shaped rod (203), a second arc-shaped rod (204), and a telescopic control rod (205); The first arc-shaped rod (203) and the second arc-shaped rod (204) are both arc-shaped rods. They have the same structure, are symmetrically arranged, and their combination forms a figure-eight shape. The tops of the first arc-shaped rod (203) and the second arc-shaped rod (204) are rotatably connected to the side of the fixed plate (201), and the axial direction of the rotating shaft is the same as that of the first roller (223). The first roller (223) and the second roller (224) are rotatably connected to the first arc-shaped rod (203) and the second arc-shaped rod (204), respectively, and the first roller (223) and the second roller (224) are arranged near the ends of the first arc-shaped rod (203) and the second arc-shaped rod (204) away from the fixed plate (201); The telescopic control rod (205) is an electric telescopic rod, which is arranged horizontally and has its two ends rotatably connected to the first arc rod (203) and the second arc rod (204) respectively. The axial direction of the rotating shaft is the same as the axial direction of the first roller (223). The connection point between the telescopic control lever (205) and the first arc-shaped lever (203) and the second arc-shaped lever (204) is located at the upper part of the center of the first arc-shaped lever (203) and the second arc-shaped lever (204).

9. The wall-climbing robot system suitable for bridge maintenance according to claim 8, characterized in that: In use, the depth at which the vertical plate (001) is embedded in the traveling track (225) can be controlled by adjusting the distance between the first roller (223) and the second roller (224), thereby flexibly adjusting the stability and mobility of the robot's movement.

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