A flying climbing robot for detecting cracks in a long-span bridge concrete structure

Abstract

The application provides a flying climbing robot for detecting cracks of a long-span bridge concrete structure, comprising: a wing plate device including a left wing plate and a right wing plate; a connecting rod power set device arranged between the left wing plate and the right wing plate and providing power for up-and-down rotation of the left wing plate and the right wing plate; a camera device for controlling the flying climbing robot and collecting information; a propeller device arranged on the left wing plate and the right wing plate and providing power for the flying climbing robot when moving in the air; a wheel set device arranged below the left wing plate and the right wing plate and providing power for the flying climbing robot when moving on the ground; and an electric control device including a main control board, a power distribution board, a capacitor board and a power supply, wherein the main control board is used for controlling the connecting rod power set device, the camera device, the propeller device and the wheel set device, and the capacitor board is used for storing power for the flying climbing robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge performance evaluation, and particularly relates to a flying climbing robot for detecting cracks in a large-span bridge concrete structure. BACKGROUND

[0002] With the development of the bridge industry, super-long span bridges have gradually emerged. As cable systems, cable-stayed bridges and suspension bridges have large spanning capacity and become important structural forms of modern large-span bridges. The tower column and the cable tower play a decisive role in the stability of the whole bridge. The construction scale of cable-stayed bridges and suspension bridges is large, the main span is more than 100 meters, the span is more than 1,000 meters, and the height of the main cable tower is more than 100 meters. The cable towers of large-span bridges in China are mostly made of reinforced concrete. The tower columns of large-span bridges are numerous and large in size, and are mostly distributed in areas that are difficult for humans to reach, such as rivers, lakes, sea level, and valley centers.

[0003] During the long-term use of such large buildings, material fatigue of concrete and steel structures is inevitable. First, as the main load-bearing component, the reinforced concrete cable tower will exhibit creep under long-term load, that is, deformation along the direction of the force. When the deformation stress exceeds the tensile strength of the concrete, cracks may occur. Second, concrete materials have a common problem: long concrete structures have a slow heat conduction rate, resulting in a large temperature difference between the inside and outside of the large-volume concrete during the initial hardening period, causing the internal thermal expansion to greatly exceed the expansion deformation of the concrete surface, resulting in a large tensile stress on the surface of the concrete, which cracks when the external temperature changes during use. Finally, concrete components subjected to monotonic short-term loads may develop fatigue cracks after repeated loading when the tensile strain exceeds the ultimate tensile value. This results in the possibility of extending cracks or even collapse of the building during special periods such as earthquakes, and therefore, the detection of the quality of the building becomes a top priority.

[0004] Existing bridge performance evaluation is usually detected by manual detection, but for some large-span bridge towers and piers, manual detection is difficult to reach, the cost of detection is high, and the work is difficult to carry out. The efficiency and quality of traditional visual detection are low, and therefore, the technical problem to be solved at present is to replace manual detection with special machinery for bridge performance evaluation and monitoring. SUMMARY

[0005] The present application is made to solve the above problems, and aims to provide a flying climbing robot for detecting cracks in a large-span bridge concrete structure.

[0006] The application provides a flying climbing robot for detecting cracks in a large-span bridge concrete structure, which has the following features: a wing plate device including a left wing plate and a right wing plate; a connecting rod power set device arranged between the left wing plate and the right wing plate and providing power for the up-and-down rotation of the left wing plate and the right wing plate; a camera device for controlling the flying climbing robot and collecting information; a propeller device arranged on the left wing plate and the right wing plate and providing power for the flying climbing robot when it is moving in the air; a wheel set device arranged below the left wing plate and the right wing plate and providing power for the flying climbing robot when it is moving on the ground; and an electric control device including a main control board, a power distribution board, a capacitor board and a power supply, wherein the main control board is used for controlling the connecting rod power set device, the camera device, the propeller device and the wheel set device, and the capacitor board is used for storing power for the flying climbing robot.

[0007] In the flying climbing robot for detecting cracks in a large-span bridge concrete structure provided by the application, the connecting rod power set device can further have the following features: the connecting rod power set device includes a middle plate body, a transmission mechanism motor, a plurality of gears, a plurality of connecting rods and a plurality of rocker arms, the plurality of gears include a power output gear, a reduction large gear, a right power gear and a left power gear, the transmission mechanism motor drives the power output gear to rotate, the power output gear is engaged with the reduction large gear, the reduction large gear rotates coaxially with the right power gear, the right power gear is engaged with the left power gear, the connecting rods include a left connecting rod and a right connecting rod, one end of the left connecting rod is connected with the left power gear, one end of the right connecting rod is connected with the right power gear, the plurality of rocker arms include a left rocker arm and a right rocker arm, the left rocker arm is connected with the other end of the left connecting rod, and the right rocker arm is connected with the other end of the right connecting rod.

[0008] In the flying climbing robot for detecting cracks in a large-span bridge concrete structure provided by the application, the power output gear can further have the following features: the size of the power output gear is smaller than that of the reduction large gear, so that the transmission mechanism motor can transmit greater torque.

[0009] In the flying climbing robot for detecting cracks in a large-span bridge concrete structure provided by the application, the power output gear, the reduction large gear, the right power gear, the left power gear, the left connecting rod, the right connecting rod, the left rocker arm and the right rocker arm can further have the following features: all of them are made of alloy quenched and tempered steel in carbon steel, and can bear various working loads.

[0010] In the flying climbing robot for detecting cracks in a large-span bridge concrete structure provided by the application, the camera device can further have the following features: the camera device includes a front-view positioning camera and a bottom scanning camera, the front-view positioning camera is arranged on the front side of the flying climbing robot and provides a first perspective for a ground worker controlling the robot, and the bottom scanning camera is arranged on the bottom of the flying climbing robot and is used for scanning when collecting information from the concrete surface of a bridge pier, a cable tower or the like.

[0011] In the flying climbing robot for detecting cracks in concrete structures of large-span bridges provided by the application, the propeller device can further comprise a plurality of propellers, the plurality of propellers are symmetrically arranged on the left wing plate and the right wing plate, and the bottom of each propeller is provided with a propeller motor for driving the propeller.

[0012] In the flying climbing robot for detecting cracks in concrete structures of large-span bridges provided by the application, the propeller device can further comprise a plurality of propellers, the plurality of propellers are symmetrically arranged on the left wing plate and the right wing plate, and the bottom of each propeller is provided with a propeller motor for driving the propeller.

[0013] In the flying climbing robot for detecting cracks in concrete structures of large-span bridges provided by the application, the left wing plate and the right wing plate are made of carbon plate material, which can withstand the flight weight of the flying climbing robot during flight, reduce the mass of the flying climbing robot, and thus relieve the pressure of the propeller motor.

[0014] In the flying climbing robot for detecting cracks in concrete structures of large-span bridges provided by the application, the wheel set device can further comprise an omnidirectional wheel set and a wheel set motor, the omnidirectional wheel set comprises an inner disc and an outer disc, the size of the inner disc is smaller than that of the outer disc, so as to ensure the effectiveness of the function of the omnidirectional wheel in the inclined state, the wheel set motor is arranged in the middle of the inner disc and is used to drive the inner disc and the outer disc to move, the omnidirectional wheel set is connected to the left wing plate and the right wing plate through an omnidirectional wheel support above the omnidirectional wheel set, and the inner disc and the outer disc of the omnidirectional wheel set form an angle of 10°-20° with the horizontal plane.

[0015] In the flying climbing robot for detecting cracks in concrete structures of large-span bridges provided by the application, the omnidirectional wheel can be made of a mixed material of styrene-butadiene rubber and ethylene-propylene-diene rubber, and the ratio of the styrene-butadiene rubber to the ethylene-propylene-diene rubber is 3:(6-8), so as to improve the friction force of the omnidirectional wheel set when it contacts the concrete plane.

[0016] Effects and advantages of the application

[0017] The flying climbing robot for detecting cracks in concrete structures of large-span bridges provided by the application can well replace manual work, evaluate and monitor the performance of the bridge, fly in the air, crawl on the ground, easily enter the detection parts with large height difference from the bridge deck, such as bridge piers and cable towers, has a small size, does not need to occupy the bridge deck during calling, does not need to block the bridge deck for operation, can avoid causing traffic inconvenience, and can greatly shorten the time consumed in the journey and improve the efficiency by only flying the flying climbing robot, even without the bridge deck on which the bridge pier and the cable tower are located, remotely controlling, adjusting the posture through image transmission, and performing quality inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a bottom-up perspective view of a flying climbing robot according to an embodiment of the present invention;

[0019] Figure 2 is a top perspective view of a flying climbing robot according to an embodiment of the present invention;

[0020] Figure 3 is a side view of a flying climbing robot according to an embodiment of the present invention;

[0021] Figure 4 is a side view of the left wing plate in an embodiment of the present invention;

[0022] Figure 5 is a side view of the right wing plate in an embodiment of the present invention;

[0023] Figure 6 2 is a schematic structural diagram of a connecting rod power group device in an embodiment of the present invention;

[0024] Figure 7 is a schematic structural diagram of an electronic control device in an embodiment of the present invention; and

[0025] Figure 8 2 is a schematic structural diagram of a camera device in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and drawings specifically illustrate the flying climbing robot for detecting cracks in the concrete structure of a large-span bridge of the present invention.

[0028] Figure 1 It is a bottom-up stereoscopic view of the flying climbing robot in an embodiment of the present invention. Figure 2 3D is a top perspective view of a flying climbing robot in an embodiment of the present invention. Figure 3 2 is a side view of a flying climbing robot according to an embodiment of the present invention.

[0029] like Figures 1-3As shown, the flying climbing robot 100 for detecting cracks in large-span bridge concrete structure in the embodiment includes a wing plate device 10, a connecting rod power set device 20, a camera device 40, a propeller device 50, a wheel set device 60, and an electric control device 70.

[0030] The flying climbing robot 100 of the present application has a size of about 65 cm in length and about 50 cm in width. In the bridge pier construction specification, the minimum size of the top width of the gravity type bridge pier body is 60 cm, and thus the size of the robot is suitable for crack detection and detection of most concrete bridge piers.

[0031] The robot has a height of about 20 cm in the unfolded state and a height of about 33 cm in the folded climbing state, which provides great convenience for the robot to pass through narrow parts, for example, when the robot passes through the gap of the cable of the large-span bridge, the smaller size enables the robot to have a high degree of freedom.

[0032] Figure 4 FIG. 6 is a side view of the left wing plate in the embodiment of the present application. Figure 5 FIG. 7 is a side view of the right wing plate in the embodiment of the present application.

[0033] As shown in FIG. 1, Figures 4-5 The wing plate device 10 includes a left wing plate 11 and a right wing plate 12.

[0034] The left wing plate 11 and the right wing plate 12 are made of carbon plate material, about 65 cm in length and about 25 cm in width, and can withstand the flight weight of the flying climbing robot 100 when flying, while reducing the mass of the flying climbing robot 100, thereby relieving the pressure of the propeller motor 51. The carbon fiber plate has high strength, the mass is only 1 / 5 of that of steel, has high toughness, in addition, the carbon fiber plate as the arc-shaped shell of the middle plate also has a certain shock resistance and protects the internal devices.

[0035] Figure 6 FIG. 8 is a structural schematic view of the connecting rod power set device in the embodiment of the present application.

[0036] As shown in FIG. 1, Figure 6 The connecting rod power set device 20 is arranged between the left wing plate 11 and the right wing plate 12 and provides power for the up-down rotation of the left wing plate 11 and the right wing plate 12.

[0037] The connecting rod power set device 20 includes a middle plate body 32, a transmission mechanism motor 21, a plurality of gears, a plurality of connecting rods, and a plurality of rocker arms.

[0038] The several gears include a power output gear 23, a reduction gear 24, a right power gear 26 and a left power gear 27, the transmission mechanism motor 21 drives the power output gear 23 to rotate, the power output gear 23 is engaged with the reduction gear 24, the size of the power output gear 23 is smaller than that of the reduction gear 24, so that the transmission mechanism motor 21 can transmit greater torque, the reduction gear 24 rotates coaxially with the right power gear 26, the right power gear 26 is engaged with the left power gear 27, the left power gear 27 and the right power gear 26 are provided with gear supports 25 on one side, and the motor is also provided with a motor support 22 on one side, so as to fix the positions of the left power gear 27, the right power gear 26 and the motor.

[0039] The connecting rods include a left connecting rod 28 and a right connecting rod 29, one end of the left connecting rod 28 is connected with the left power gear 27, one end of the right connecting rod 29 is connected with the right power gear 26, the several rocker arms include a left rocker arm 30 and a right rocker arm 31, the left rocker arm 30 is connected with the other end of the left connecting rod 28, the right rocker arm 31 is connected with the other end of the right connecting rod 29, the left rocker arm 30 and the right rocker arm 31 are provided with rocker arm supports 33 below, and the rocker arm supports 33 are used for connecting the wheel set device 60.

[0040] The power output gear 23, the reduction gear 24, the right power gear 26, the left power gear 27, the left connecting rod 28, the right connecting rod 29, the left rocker arm 30 and the right rocker arm 31 are made of alloy quenched and tempered steel in carbon steel, can bear various working loads, and the alloy quenched and tempered steel also has good hardenability, is very suitable for the power structure which is not too large in the force of the flying climbing robot 100.

[0041] The power output gear 23 is driven to rotate by the transmission mechanism motor 21, the power output gear 23 drives the reduction gear 24 to move reversely, so as to change the rotating speed, accurately control the rotating angles of the two sides of the rotor, the reduction gear 24, the left power gear 27 and the right power gear 26 are connected with the rotating shaft through a key, so that the rotating movement of the reduction gear 24 is transmitted to the left power gear 27 and the right power gear 26 through the key and the shaft (not shown in the figure).

[0042] The left power gear 27 and the right power gear 26 are symmetrically distributed, the left connecting rod 28 and the right connecting rod 29 are also symmetrically distributed, when the left power gear 27 rotates, the left connecting rod 28 can be driven to move around the fixed point of the left power gear 27, when the right power gear 26 rotates, the right connecting rod 29 can be driven to move around the fixed point of the right power gear 26.

[0043] The left connecting rod 28 and the left rocker arm 30, and the right connecting rod 29 and the right rocker arm 31 are respectively connected through hinges, and the middle sections of the left rocker arm 30 and the right rocker arm 31 are also connected with the gear supports 25 through hinges, so that the two ends of the left rocker arm 30 and the right rocker arm 31 make circular motion around the fixed points of the supports.

[0044] When the rotation of the transmission motor 21 is transmitted to the left power gear 27 and the right power gear 26, the left power gear 27 and the right power gear 26 drive the left connecting rod 28 and the right connecting rod 29 to the highest point, and the left rocker 30 and the right rocker 31 on both sides are in a downward folding state, which can drive the left wing plate 11 and the right wing plate 12 to also fold downward.

[0045] When the left connecting rod 28 and the right connecting rod 29 move downward, the left rocker 30 and the right rocker 31 on both sides are in a flat state, so that the left wing plate 11 and the right wing plate 12 are flat, and the robot is in a flight posture.

[0046] The middle plate body 32 is divided into two layers, the lower layer is provided with a middle frame 75, the upper layer is 10 cm high, the lower layer is 12 cm high, the total length is 40 cm, and the width is 18 cm.

[0047] Figure 7 It is a structure diagram of the camera device in the embodiment of the application.

[0048] As shown in Figure 7 , the camera device 40 is used for controlling the flight climbing robot 100 and collecting information.

[0049] The camera device 40 includes a front view positioning camera 41 and a bottom scanning camera 42, the front view positioning camera 41 is arranged on the front side of the flight climbing robot 100, and is used for providing a first view angle of flight for a ground worker controlling the robot, so as to make a judgment and control on the aerial posture of the robot, and the bottom scanning camera 42 is arranged on the bottom of the flight climbing robot 100, and is used for scanning when collecting information on the concrete surface of the pier, the cable tower and the like.

[0050] The propeller device 50 is arranged on the left wing plate 11 and the right wing plate 12, and provides power for the flight climbing robot 100 when moving in the air, controls the flight posture, and provides normal pressure when climbing on an inclined plane or a vertical plane, so that the robot is in close contact with the scanned plane.

[0051] The propeller device 50 includes four propellers, the four propellers are symmetrically arranged on the left wing plate 11 and the right wing plate 12, each propeller has at least four propeller blades 52, so as to provide lift for the flight climbing robot 100, and the bottom of each propeller is provided with a propeller motor 51 for driving the propeller.

[0052] The wheel set device 60 is arranged below the left wing plate 11 and the right wing plate 12, and provides power for the flight climbing robot 100 when moving on the ground, controls the climbing posture, and relative to the forward and backward movement and the left and right turning of the robot itself, a large friction force can be generated between the tire and the plane, so as to maintain the stability of the climbing posture.

[0053] The wheel set device 60 comprises an omni-directional wheel set and a wheel set motor 61, the omni-directional wheel set comprises an inner disc 63 and an outer disc 62, and realizes 360-degree free movement, the size of the inner disc 63 is smaller than that of the outer disc 62, so that the effectiveness of the function of the omni-directional wheel in the inclined state is ensured, and the wheel set motor 61 is arranged in the middle of the inner disc 63 and is used for driving the inner disc 63 and the outer disc 62 to move.

[0054] The omni-directional wheel adopts a mixed material of styrene butadiene rubber and ethylene propylene diene rubber, the ratio of the styrene butadiene rubber and the ethylene propylene diene rubber is 3:7, so that the friction force when the omni-directional wheel set contacts with the concrete plane is improved, and the wear resistance is better, and the stability of the vertical climbing posture of the robot is facilitated and long-term use is facilitated.

[0055] The omni-directional wheel set device 60 is connected with the left wing plate 11 and the right wing plate 12 through the rocker support 33, and the inner disc 63 and the outer disc 62 of the omni-directional wheel set are 15° with the horizontal plane.

[0056] The rocker support 33 adopts SLA photosensitive resin material and can be manufactured through 3D printing, so that production is facilitated.

[0057] Figure 8 It is a structure schematic view of the electric control device in the embodiment of the application.

[0058] As shown in Figure 8 The electric control device 70 comprises a main control board 71, a distribution board 74, a capacitor board 72 and a power supply 73, the main control board 71 is used for controlling the connecting rod power set device 20, the camera device 40, the propeller device 50 and the wheel set device 60, and the capacitor board 72 is used for storing the electric quantity of the flying and climbing robot 100.

[0059] The main control board 71 and the capacitor board 72 are arranged on the middle plate body 32, and the distribution board 74 and the power supply 73 are arranged in the middle frame 75 below the middle plate body 32.

[0060] The way of processing visual information after the camera device 40 of the application shoots a picture is as follows:

[0061] The image big data from the actual scene is from different shooting equipment, has different shooting styles, and has different camera internal parameters, and for this, it is not necessary to adjust the light and shade, rotate the visual angle, adjust the size and other complex operations for each specific original image, but only needs to convert the color image into a gray scale image through the unified parameter set in advance, and normalize the gray scale value to 0-1, the program will automatically divide it into sub-units with the same size and crack image, form a sufficient sub-unit set, and enhance the database.

[0062] The final function of predicting the damage state and the remaining life is achieved by training the relationship between the previous damage state and the repeated load or the aging degree of the concrete. The function is realized based on a convolutional neural network. Unlike a conventional neural network that cannot extract high-level features, the architecture of deep learning can provide a higher level of representation for features. In the field of computer vision, the input of the convolutional neural network is generally an image, the input of the first layer of the convolutional neural network is a three-dimensional tensor, and the convolutional neural network contains a large number of layers. The output generated by the operation of each layer is the input of the next layer.

[0063] In short, we imitate the human neural network to identify the cracks in the concrete on the basis of computer image recognition, and match the stress size, so as to achieve the effect that the life length can be accurately predicted after the cracks in any concrete plane are identified, and the performance of the bridge concrete member is evaluated and monitored.

[0064] The use process of the flying climbing robot 100 is as follows:

[0065] The rotation of the propeller blades 52 of the flying climbing robot 100 is controlled by the electric control device 70, so that the flying climbing robot 100 climbs upward, and the flying climbing robot 100 moves in the horizontal direction by changing the rotation direction of part of the propellers.

[0066] When the robot flies horizontally to the detection position, it needs to be changed into a vertical climbing posture. The posture changing process is the key in the whole process. First, the robot flies horizontally forward until the front wheels touch the scanning surface. While keeping the forward power, the rotation speed of the left and right rear propellers is changed to make the rear of the robot descend. Then the left wing plate 11 and the right wing plate 12 are controlled to flip down by the connecting rod power set device 20. The four wheels gradually approach the scanning surface to provide friction. Finally, all the four propellers are reversed to provide normal pressure perpendicular to the measured plane. At this time, the posture changing process is completed.

[0067] Subsequently, the wheel set device 60 is controlled, so that the flying climbing robot 100 advances, retreats and turns on the ground, and detects the cracks in the concrete structure at the same time.

[0068] The distance between the bottom scanning camera 42 and the scanned plane is fixed during scanning. During use, the inclination angle of the left wing plate 11 and the right wing plate 12 can be controlled by the connecting rod power set device 20 according to the actual situation, so as to change the distance between the lower scanning camera and the scanned plane. The application range is very wide, and the plane scanning modeling can be carried out in a high-precision moving mode under micro-motion control.

[0069] Considering that the crack images taken at different distances will be confused in length during post-processing, thus leading to misjudgment of crack gap size and length, if the crack skeleton line is long and the extension range is large, the left wing plate 11 and the right wing plate 12 can be rotated by a large angle to increase the distance between the camera and the plane, otherwise, if the crack scale is small and not easy to identify, a small angle can be rotated to reduce the distance between the camera and the plane.

[0070] In the process of specifically scanning the bridge pier, a multiple up-and-down moving full-plane covering mode is adopted, that is, after the flying climbing robot 100 moves from the bottom end to the top end at the sideline, the flying climbing robot 100 is turned and scans the side next to the previous scanning route, and finally the multiple straight line scanning results are combined to obtain the full-plane scanning result.

[0071] Finally, the vertical climbing posture is changed into the horizontal flying posture, that is, the inverse process, first, the posture of the rear part of the robot is corrected by changing the rotating speed of the left and right rear paddles, and then the horizontal flying posture is restored by controlling the left wing plate 11 and the right wing plate 12 to turn upward through the connecting rod power set device 20, that is, the four paddle directions are changed, and the flying climbing robot 100 flies back to the specified position.

[0072] Effects of the embodiment

[0073] The flying climbing robot for detecting the crack of the large-span bridge concrete structure can not only fly in the air, but also climb on the ground, can easily enter the detection part with a large height difference from the bridge surface, such as the bridge pier and the cable tower, has a small size, does not need to occupy the bridge surface road during the calling process, does not need to block the bridge surface operation, and avoids causing traffic inconvenience, the flying climbing robot only needs to be put into flight, even does not need to be on the bridge surface where the bridge pier and the cable tower are located, and can be remotely controlled, the posture is adjusted through the image transmission, and the quality inspection work is performed, so that the time consumed in the journey can be greatly shortened.

[0074] In the application, the inner disc and the outer disc of the omni-directional wheel set are 15° with the horizontal plane, are matched with the reinforced concrete cable tower usually used in the suspension bridge in China, and the wheel set and the scanned surface can be in a specific angle when the left and right plates are turned downward, so that the wheel set can be well attached.

[0075] The flying climbing robot can change the posture between the vertical climbing and the horizontal flying, and is convenient for better realizing the scanning detection work of the crack of the concrete structure.

[0076] The flying climbing robot can control the left wing plate and the right wing plate to turn upward and downward through the connecting rod power set device, which is convenient for identifying and predicting the crack, and can construct a full-plane topographic model according to the several photos taken by the scanning camera.

[0077] Compared with the traditional unmanned aerial vehicle image acquisition mode, the flight climbing robot is more stable in the process of image acquisition, effectively reduces the instability of the unmanned aerial vehicle attitude influenced by the wind, and eliminates the uncertainty of the distance between the camera and the scanning surface.

[0078] The omnidirectional wheel in the application adopts mixed materials of styrene butadiene rubber and ethylene propylene diene rubber, and the ratio of styrene butadiene rubber and ethylene propylene diene rubber is 3:7, which can not only improve the friction force when the omnidirectional wheel group contacts with the concrete plane, but also has good wear resistance, so as to facilitate the stability of the vertical climbing posture of the robot and long-term use.

[0079] The power output gear, the reduction gear, the right power gear, the left power gear, the left connecting rod, the right connecting rod, the left rocker and the right rocker in the application all adopt alloy quenched and tempered steel in carbon modulated steel, which can bear various working loads, and the alloy quenched and tempered steel also has good hardenability, so it is very suitable for the power structure in the flight climbing robot which is not under great stress.

[0080] It should be understood by those skilled in the art that the application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the application, and various changes and improvements can be made without departing from the spirit and scope of the application, and these changes and improvements all fall within the scope of the application. The scope of protection of the application is defined by the appended claims and their equivalents.

Claims

1. A flying climbing robot for detecting cracks in concrete structures of long-span bridges, characterized in that: include: A wing panel device, comprising a left wing panel and a right wing panel; A connecting rod power group device is provided between the left wing plate and the right wing plate to provide power for the up and down rotation of the left wing plate and the right wing plate; A camera device, used to control the flying and climbing robot and collect information; Propeller devices are provided on the left wing plate and the right wing plate to provide power for the flying climbing robot when it moves in the air; A wheel assembly is provided under the left wing plate and the right wing plate to provide power for the flying climbing robot when it moves on the ground; as well as The electric control device includes a main control board, a distribution board, a capacitor board and a power supply. The main control board is used to control the connecting rod power group device, the camera device, the propeller device and the wheel group device. The capacitor board is used to store electricity for the flying climbing robot. Wherein, the connecting rod power group device includes a middle plate, a transmission mechanism motor, a plurality of gears, a plurality of connecting rods and a plurality of rocking arms, the plurality of gears include a power output gear, a reduction gear, a right power gear and a left power gear, the transmission mechanism motor drives the power output gear to rotate, the power output gear is meshed with the reduction gear, the reduction gear rotates coaxially with the right power gear, the right power gear is meshed with the left power gear, the connecting rod includes a left connecting rod and a right connecting rod, one end of the left connecting rod is connected to the left power gear, and one end of the right connecting rod is connected to the right power gear, the plurality of rocking arms include a left rocking arm and a right rocking arm, the left rocking arm is connected to the other end of the left connecting rod, and the right rocking arm is connected to the other end of the right connecting rod, The wheel assembly device includes an omnidirectional wheel assembly and a wheel assembly motor. The omnidirectional wheel assembly includes an inner disc and an outer disc. The inner disc is smaller than the outer disc, thereby ensuring the functional effectiveness of the omnidirectional wheel in a tilted state. The wheel assembly motor is arranged in the middle of the inner disc to drive the inner disc and the outer disc to move. The top of the omnidirectional wheel assembly is connected to the left wing plate and the right wing plate through an omnidirectional wheel support. The inner disc and the outer disc of the omnidirectional wheel assembly are 10°-20° with the horizontal plane.

2. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The size of the power output gear is smaller than the large reduction gear, so that the transmission mechanism motor can transmit a larger torque.

3. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The power output gear, reduction gear, right power gear, left power gear, left connecting rod, right connecting rod, left rocker and right rocker are all made of alloy quenched and tempered steel in carbon tempered steel and can withstand various working loads.

4. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The camera device includes a forward-looking positioning camera and a bottom scanning camera. The forward-looking positioning camera is arranged at the front side of the flying climbing robot to provide a first-person perspective of the flight for ground workers who operate the robot. The bottom scanning camera is arranged at the bottom of the flying climbing robot to scan the concrete surface of bridge piers and cable towers when collecting information.

5. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The propeller device includes a plurality of propellers, which are symmetrically arranged on the left wing plate and the right wing plate. A propeller motor for driving the propeller is provided at the bottom of each propeller.

6. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 5 is characterized in that: in, There are four propellers, and each propeller has at least four propeller blades, thereby providing lift for the flying climbing robot.

7. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The left wing plate and the right wing plate are made of carbon plate material, which can bear the flight weight of the flying climbing robot while reducing the mass of the flying climbing robot, thereby alleviating the pressure on the propeller motor.

8. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The omnidirectional wheel adopts a mixed material of styrene-butadiene rubber and EPDM rubber, and the ratio of the styrene-butadiene rubber to the EPDM rubber is 3: (6-8), thereby improving the friction force when the omnidirectional wheel group contacts the concrete plane.

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