Magnetic type main tower inspection wall-climbing robot

Abstract

The invention relates to the technical field of main tower maintenance, aims to solve the problems that in the prior art, continuous power input is needed for maintaining the posture of a wall climbing vehicle for main tower maintenance on a plane, the endurance time is short, and the equipment falling risk exists after energy is suddenly interrupted, and provides a magnetic type main tower inspection wall climbing robot. Comprising a set of magnetic type walking mechanisms, and the magnetic type walking mechanisms are attracted to a walking plane and can smoothly walk on the walking plane; the two magnetic type walking mechanisms are connected through a series connection support. The magnetic type walking mechanism comprises a magnetic type chassis, a permanent magnet type magnetic wheel is mounted on the magnetic type chassis, and the permanent magnet type magnetic wheel is used for being adsorbed on the surface of the main tower; the series connection support is connected with a detection equipment interface which is used for being connected with intelligent detection equipment. The robot can keep the posture under the condition of power interruption, and the falling risk of the robot during energy interruption is eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of main tower maintenance, and in particular to a magnetic main tower inspection wall-climbing robot. Background Art

[0002] The main tower structure of modern large-span bridges is usually large in size. Steel box girders or concrete covered with steel shells are usually used to construct the main tower. The main tower is an important load-bearing and force-transmitting component of suspension bridges, cable-stayed bridges and other types of bridges. Its health is particularly important and requires regular maintenance.

[0003] At present, the maintenance of the main tower is mostly carried out by arranging a mechanical crane arm or a fixed wire rope hanging point on the top of the tower, and connecting the wire rope to the mechanical crane arm or the wire rope hanging point, and connecting the hanging basket through the wire rope to perform the lifting operation of the hanging basket. The hanging basket is lifted and lowered along the wire rope on the outer surface of the main tower to inspect the main tower. The above method has problems such as poor safety, low maintenance efficiency, large detection blind area (negative angle area cannot be reached), and no distinction between inspection and maintenance.

[0004] After studying the characteristics of the main tower, in order to achieve full coverage, improve efficiency, and achieve the purpose of separation of inspection and maintenance, the industry has conducted many aspects of research on the main tower or similar large-angle plane detection equipment, and achieved corresponding results, such as negative pressure wall climbing vehicles and rotor pneumatic wall climbing vehicles. However, since their posture maintenance on the plane requires continuous power input, there is a problem of short endurance and the risk of equipment falling after a sudden interruption of energy. Therefore, it is necessary to develop a new technology that can maintain posture on the plane without relying on power input. Summary of the invention

[0005] The present invention aims to provide a magnetic main tower inspection wall-climbing robot to solve the problems in the prior art that the wall-climbing vehicle used for main tower maintenance requires continuous power input to maintain its posture on a plane, has a short endurance time, and has the risk of equipment falling when the energy is suddenly interrupted.

[0006] The present invention is achieved by adopting the following technical solutions:

[0007] The present invention provides a magnetic main tower inspection wall-climbing robot, comprising a group of magnetic walking mechanisms, wherein the magnetic walking mechanisms are adsorbed on a walking plane, and the magnetic walking mechanisms can walk smoothly on the walking plane;

[0008] The two magnetic walking mechanisms are connected via a series bracket;

[0009] The magnetic walking mechanism comprises a magnetic chassis, on which a permanent magnetic wheel is installed, and the permanent magnetic wheel is used to be adsorbed on the surface of the main tower;

[0010] The series bracket is connected with a detection device interface, and the detection device interface is used to connect an intelligent detection device.

[0011] As the preferred technical solution:

[0012] The permanent magnet type magnetic attraction wheel is internally provided with a permanent magnet.

[0013] As the preferred technical solution:

[0014] The permanent magnet magnetic attraction wheel is equipped with a power battery.

[0015] As the preferred technical solution:

[0016] A detection device mounting bracket is connected to the series bracket, one end of the detection device mounting bracket is fixedly connected to the series bracket, and the other end of the detection device mounting bracket extends toward one of the magnetic chassis and is connected to the detection device interface.

[0017] As the preferred technical solution:

[0018] A receiving controller is also provided on the magnetic chassis, and the receiving controller is used to receive instructions and control the posture adjustment of the robot. The receiving controller is connected to the permanent magnet magnetic wheel.

[0019] As the preferred technical solution:

[0020] The series brackets are flat series brackets or angle series brackets.

[0021] As the preferred technical solution:

[0022] When the series brackets are flat series brackets, the two magnetic walking mechanisms are located on the same plane, and the robot walks in one plane.

[0023] As the preferred technical solution:

[0024] When the series brackets are angular series brackets, the two magnetic walking mechanisms are respectively located on two adjacent walking planes, and the robot walks on two adjacent planes.

[0025] As the preferred technical solution:

[0026] The bending angle of the corner series bracket is adapted to the angle between two adjacent walking planes.

[0027] As the preferred technical solution:

[0028] The corner series brackets are rounded bends.

[0029] As the preferred technical solution:

[0030] A connecting seat is disposed on the top surface of the magnetic chassis, and the series bracket is connected to the connecting seat.

[0031] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0032] 1. The present invention presses the magnetic chassis against the surface of the main tower through the permanent magnet built into the permanent magnetic wheel, thereby providing sufficient friction for the robot. The permanent magnetic wheel moves under the action of the built-in power battery. The magnetic main tower inspection and climbing robot of the present invention can maintain its posture in the event of power interruption, eliminating the risk of the robot falling when the energy is interrupted.

[0033] 2. The magnetic main tower inspection wall-climbing robot of the present invention can be widely used on main towers with steel shells, thereby improving the inspection efficiency of the main tower surface and enhancing the practicality of the main tower inspection equipment.

[0034] 3. The present invention can change the shape of the robot through different types of serial brackets, so that it can move in a single plane or in adjacent double planes.

[0035] 4. Intelligent detection equipment can be installed on the magnetic main tower inspection wall-climbing robot of the present invention. The robot, as an intelligent detection vehicle, can perform intelligent detection of the main tower through the intelligent detection equipment, which can realize the separation of inspection and maintenance operations, and can improve the inspection efficiency and inspection frequency of the main tower surface and its ancillary facilities. Fixed-point maintenance can also be carried out regularly and in a planned manner for the detected diseases, which is of great significance to the scientific maintenance of the main tower surface and its ancillary facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic structural diagram of the magnetic main tower inspection wall-climbing robot described in the present invention.

[0037] Figure 2 It is a structural schematic diagram of the magnetic suction type walking mechanism described in the present invention.

[0038] Icons: 1-magnetic walking mechanism, 2-tandem bracket, 101-magnetic chassis, 102-permanent magnetic wheel, 3-detection equipment mounting bracket, 4-detection equipment interface, 5-receiving controller, 6-connecting seat. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Example 1

[0041] like Figure 1 and Figure 2 As shown, this embodiment proposes a magnetic main tower inspection wall-climbing robot, including a group of magnetic walking mechanisms 1, two of the magnetic walking mechanisms 1 are connected by a series bracket 2, the magnetic walking mechanisms 1 are adsorbed on the walking plane, and the magnetic walking mechanisms 1 can walk smoothly on the walking plane.

[0042] The series bracket 2 is a flat series bracket or an angle series bracket. The flat series bracket is a straight rod structure, and the angle series bracket is a bent rod structure. Figure 1 The one shown in the figure is an angle tandem bracket.

[0043] When the series bracket 2 is a flat series bracket, the two magnetic walking mechanisms 1 are located on the same plane and can be used for walking within one plane; when the series bracket 2 is an angle series bracket, the two magnetic walking mechanisms 1 are respectively located on two adjacent walking planes, and the bending angle of the angle series bracket is adapted to the angle between the two adjacent walking planes. Preferably, the bending angle of the angle series bracket is equal to the angle between the two adjacent walking planes. Preferably, the angle series bracket is a rounded bend. By changing the shape of the series bracket 2, different forms of magnetic main tower inspection wall-climbing robots can be formed to adapt to walking on different planes. Therefore, the series bracket 2 is not limited to the aforementioned flat series bracket and angle series bracket. The robot has many combination forms and can adapt to various types of large-angle planes, and even walking on negative angle surfaces.

[0044] The magnetic walking mechanism 1 includes a magnetic chassis 101, on which a permanent magnetic wheel 102 is installed. The permanent magnetic wheel 102 has a built-in permanent magnet. The permanent magnet attracts the steel bars in the main tower or the steel shell of the main tower, so that the permanent magnetic wheel 102 is adsorbed on the surface of the main tower.

[0045] The magnetic chassis 101 is pressed against the surface of the main tower by the permanent magnetic wheel 102 to provide sufficient friction for the robot. After the robot has sufficient friction, it moves on the surface of the main tower by the permanent magnetic wheel 102 .

[0046] The permanent magnet magnetic attraction wheel 102 has a built-in power battery. The power source of the permanent magnet magnetic attraction wheel 102 is the power battery, and the wheel moves under the action of the power battery.

[0047] The present invention adopts permanent magnet technology, so that the robot can maintain its posture on a large-angle plane (steel structure or steel shell) without additional power, eliminating the risk of energy interruption equipment falling. After the energy is terminated, it can rely on gravity to slowly descend along the surface of the main tower to the height for manual recovery.

[0048] The top surface of the magnetic chassis 101 is provided with a connection seat 6, and the series bracket 2 is connected to the connection seat 6. In this embodiment, two series brackets 2 are connected between the two magnetic chassis 101, and the two series brackets 2 are arranged parallel to each other.

[0049] A detection equipment mounting bracket 3 is connected to the series bracket 2, one end of the detection equipment mounting bracket 3 is fixedly connected to the series bracket 2, and the other end of the detection equipment mounting bracket 3 extends toward one of the magnetic chassis 101 and is connected to a detection equipment interface 4. The detection equipment interface 4 can be connected to different intelligent detection equipment. The robot of the present invention serves as a carrier of intelligent detection equipment. It performs intelligent detection of the main tower through intelligent detection equipment. It has rich scalability and can realize the separation of inspection and maintenance operations. It can improve the inspection efficiency and inspection frequency of the main tower surface and its ancillary facilities. It can also carry out regular and planned fixed-point maintenance for the detected diseases, which is of great significance to the scientific maintenance of the main tower surface and its ancillary facilities.

[0050] A receiving controller 5 is also provided on the magnetic chassis 101. The receiving controller 5 is used to receive instructions and control the posture adjustment of the robot. The receiving controller 5 is connected to the permanent magnetic wheel 102. The receiving controller 5 can control the permanent magnetic wheel 102 to move forward, backward and turn, so as to realize the free movement of the robot on the surface of the main tower.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A magnetic main tower inspection wall climbing robot, characterized in that: It includes a set of magnetic walking mechanisms, which are adsorbed on a walking plane and can walk smoothly on the walking plane; The two magnetic walking mechanisms are connected via a series bracket; The magnetic walking mechanism comprises a magnetic chassis, on which a permanent magnetic wheel is installed, and the permanent magnetic wheel is used to be adsorbed on the surface of the main tower; The series bracket is connected with a detection device interface, and the detection device interface is used to connect an intelligent detection device.

2. The magnetic main tower inspection wall-climbing robot according to claim 1 is characterized in that: The permanent magnet type magnetic attraction wheel is internally provided with a permanent magnet.

3. The magnetic main tower inspection wall-climbing robot according to claim 1 is characterized in that: The permanent magnet magnetic attraction wheel is equipped with a power battery.

4. The magnetic main tower inspection wall-climbing robot according to claim 1 is characterized in that: A detection device mounting bracket is connected to the series bracket, one end of the detection device mounting bracket is fixedly connected to the series bracket, and the other end of the detection device mounting bracket extends toward one of the magnetic chassis and is connected to the detection device interface.

5. The magnetic main tower inspection wall-climbing robot according to claim 1 is characterized in that: A receiving controller is also provided on the magnetic chassis, and the receiving controller is used to receive instructions and control the posture adjustment of the robot. The receiving controller is connected to the permanent magnet magnetic wheel.

6. The magnetic main tower inspection wall-climbing robot according to claim 1 is characterized in that: The series brackets are flat series brackets or angle series brackets.

7. The magnetic main tower inspection wall-climbing robot according to claim 6 is characterized in that: When the series brackets are flat series brackets, the two magnetic walking mechanisms are located on the same plane, and the robot walks in one plane.

8. The magnetic main tower inspection wall-climbing robot according to claim 6 is characterized in that: When the series brackets are angular series brackets, the two magnetic walking mechanisms are respectively located on two adjacent walking planes, and the robot walks on two adjacent planes.

9. The magnetic main tower inspection wall-climbing robot according to claim 6 is characterized by: The bending angle of the corner series bracket is adapted to the angle between two adjacent walking planes.

10. The magnetic main tower inspection wall-climbing robot according to claim 1, characterized in that: A connecting seat is disposed on the top surface of the magnetic chassis, and the series bracket is connected to the connecting seat.

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