Magnetic wheel device of steel bridge maintenance and detection wall-climbing robot

Abstract

The invention provides a magnetic wheel device of a steel bridge maintenance and detection wall-climbing robot, and belongs to the technical field of bridge maintenance in civil engineering. The technical problems that an inspection robot in the prior art is poor in flexibility, large in track occupied space and few in practical scene are solved. According to the technical scheme, the magnetic wheel device of the steel bridge maintenance and detection wall-climbing robot comprises a motor, a shaft body, a plurality of magnetic modules, a hub part and an IMU sensor, the output end of the motor is connected with a center hole of the hub part through the shaft body, and the magnetic modules are evenly fixed to the inner side of a rim of the hub part by a circle. And the IMU sensor is fixed on the inner side of a central disc of the hub. The robot has the beneficial effects that by arranging the magnetic module, the original mode of adopting a track is abandoned, the occupied space is small, the flexibility is high, meanwhile, the robot can be better attracted to the surfaces of steel structures at different positions in combination with data of the IMU sensor, the robot can cross obstacles according to needs, and the applicability of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge maintenance in civil engineering, and particularly to a magnetic wheel device for a wall-climbing robot for steel bridge maintenance and inspection. Background Art

[0002] A steel bridge is a bridge mainly constructed with steel materials, which has the characteristics of high strength and high stiffness. Compared with a concrete bridge, it can reduce the beam height and self-weight. As China gradually enters the "post-construction market", bridge reinforcement and maintenance have also entered a golden period. Fatigue cracking is one of the main problems faced by steel bridges at the present stage. The expansion of fatigue cracks will cause component fracture and endanger the safety of the overall structure. Therefore, regular inspection and maintenance are required.

[0003] At present, the detection of diseases such as steel structure welds and surface corrosion mainly relies on manual labor. Manual detection has problems such as low efficiency, missed detection, and false detection, and it is not easy to carry out operations in the narrow space of the steel box girder. To solve the disadvantages of manual inspection, many attempts have been made in intelligent inspection at home and abroad, including rail-type inspection robots, suspended inspection robots, quadruped robots, etc. To a certain extent, they have replaced manual labor to complete most of the inspection tasks. However, the tracks of such inspection robots, such as rail-type inspection robots, occupy a relatively large space, the inspection route is restricted by the tracks, and the flexibility is poor. In addition, the laying and installation of the tracks greatly increase the inspection cost. In addition, the existing inspection robots have poor applicability to different steel structure surfaces, and the staff cannot control the robot to operate according to the specific scenario, resulting in fewer applicable scenarios, and the robot structure is also relatively complex, which is not conducive to wide application. Summary of the Invention

[0004] The purpose of the present invention is to overcome the problems in the background art and provide a magnetic wheel device for a wall-climbing robot for steel bridge maintenance and inspection with high flexibility, less space occupation, simple structure, and wide applicable scenarios.

[0005] To achieve the above-mentioned invention purpose, the technical solution adopted by the present invention is specifically as follows: A magnetic wheel device for a wall-climbing robot for steel bridge maintenance and inspection, including a motor, a shaft body, a magnetic module, a hub part, and an IMU sensor. The output end of the motor is connected to the central hole of the hub part through the shaft body. A plurality of magnetic modules are provided and are evenly fixed on the inner circumference of the rim of the hub part. The IMU sensor is fixed on the inner side of the central disk of the hub.

[0006] Furthermore, the motor and the shaft body are fixedly connected. The motor can drive the shaft body to rotate through a reasonable connection method, such as welding, threaded connection, or pin connection.

[0007] Further, the shaft body is positioned and engaged with the central hole of the hub portion through a protruding shoulder. The central hole of the hub portion and the protruding shoulder can be positioned and engaged with different matching sizes and shapes, facilitating the rotation of the shaft body to drive the rotation of the hub portion.

[0008] Further, the magnetic module is fixedly connected to the rim. The magnetic module includes a coil groove and an electromagnet disposed in the coil groove. The adsorption surface of the magnetic module faces the outside of the rim, that is, the adsorption surface is on the side of the magnetic module away from the center of the rim. Since each electromagnet has a corresponding magnetic force direction, and the electromagnets in the magnetic module can independently control the opening and closing of the magnetic force, it is convenient to adjust the magnetic force of each electromagnet to change the adsorption direction of the magnetic wheel, realizing the controllability of the adsorption magnetic force direction of the magnetic wheel.

[0009] Further, the wire interface of the copper coil in the magnetic module is arranged on the side close to the motor, and the plane where the end of the wire interface is located is aligned with the side wall of the rim, which is convenient for the positioning and installation of the electromagnet in the magnetic module.

[0010] Further, the IMU sensor is provided with mounting holes. The IMU sensor is fixed to the inner side of the central disc of the hub portion through bolts and the mounting holes thereon, so that the IMU sensor can be placed in a reasonable position and is not easily detached.

[0011] Further, the line interface of the IMU sensor is arranged on the side close to the motor, which is convenient for the reasonable arrangement of the wires inside the robot.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] (1) For the magnetic wheel device of the wall-climbing robot for maintenance and inspection of steel bridges in civil engineering, by setting the IMU sensor, the accuracy and practicability of the device are enhanced. Relying on the data collected by the sensor, it is convenient for the staff to accurately judge the spatial position of the robot, improve the accuracy of the robot's spatial position, facilitate the staff to control the operation of the robot according to the specific scenario, adapt to various working environments, and improve the work efficiency.

[0014] (2) For the magnetic wheel device of the wall-climbing robot for maintenance and inspection of steel bridges in civil engineering, compared with the prior art that the track of the rail-type inspection robot occupies a certain space, this device can discard the track, saving space and installation steps. By setting the magnetic module and equipping the electromagnet inside the wheel, it is convenient to adjust the magnetic force direction of the electromagnet, making the inspection robot no longer restricted by the track, reducing the cost of laying the track in the inspection activity, improving the flexibility of the inspection robot. At the same time, compared with the ordinary permanent magnetic wheel, the adsorption direction of the magnetic wheel is controllable. Combining with the data of the IMU sensor, while enabling the wall-climbing robot to be more firmly adsorbed on the surface of the steel bridge for operation, it is convenient to cross obstacles and improve the applicability of the robot.

[0015] (3) The present invention provides a magnetic wheel device for a steel bridge maintenance inspection wall-climbing robot, which solves the problems of poor flexibility, large space occupation, complex machine structure, and few applicable scenarios of existing bridge maintenance inspection devices. It improves the flexibility of the inspection device, facilitates the staff to control the robot operation according to specific scenarios, improves the efficiency of inspection and maintenance, reduces space occupation, is more lightweight and miniaturized, reduces the complexity of the robot structure, can effectively promote the development of domestic bridge maintenance inspection robots, and at the same time improves the applicability of the steel bridge wall-climbing robot. By using an IMU sensor to judge the spatial position, the electromagnetic force is regulated to control the magnetic adsorption direction of the wheels, realizing the adsorption on the steel structure surface, facilitating the crossing of uneven obstacles on the steel bridge surface, and adapting to various working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation to the present invention.

[0017] Figure 1 It is a schematic diagram of the whole of the present invention.

[0018] Figure 2 It is a schematic diagram of the magnetic module in the present invention.

[0019] Figure 3 It is a schematic diagram of the IMU sensor in the present invention.

[0020] Figure 4 It is a schematic diagram of the engagement between the shaft body and the hub center plate in the present invention.

[0021] Among them, the reference numerals are: 1, motor; 2, shaft body; 3, magnetic module; 4, hub part; 5, IMU sensor; 6, wheel rim; 7, protruding shoulder; 8, mounting hole; 9, wire interface; 10, coil groove; 11, adsorption surface; 12, circuit interface; 13, center plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. Of course, the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0023] Embodiment

[0024] As Figures 1-4As shown in the figure, this embodiment provides a magnetic wheel device for a steel bridge maintenance inspection wall-climbing robot, which includes a motor 1, a shaft body 2, a magnetic module 3, a hub part 4, and an IMU sensor 5. The output end of the motor 1 is connected to the central hole of the hub part 4 through the shaft body 2. A plurality of magnetic modules 3 are provided and are evenly fixed on the inner side of the rim 6 of the hub part 4 for one week. The IMU sensor 5 is fixed on the inner side of the central disc 13 of the hub.

[0025] The motor 1 and the shaft body 2 are fixedly connected. By a reasonable connection method, the motor 1 drives the shaft body 2 to rotate. For example, welding, threaded connection, and pin connection are all acceptable. The central hole of the shaft body 2 and the hub part 4 are positioned and engaged through a protruding shaft shoulder 7. The central hole of the hub part 4 and the protruding shaft shoulder 7 can be positioned and engaged with different matching sizes and shapes, which is convenient for the shaft body 2 to drive the hub part 4 to rotate when rotating.

[0026] The magnetic module 3 is fixedly connected to the rim 6. The magnetic module 3 includes a coil groove 10 and an electromagnet arranged in the coil groove 10. The adsorption surface 11 of the magnetic module faces the outside of the rim 6, that is, the adsorption surface 11 is on the side of the magnetic module 3 away from the center of the rim 6. Since each electromagnet has a corresponding magnetic force direction, and the electromagnets in the magnetic module 3 can independently control the opening and closing of the magnetic force, it is convenient to adjust the magnetic force of each electromagnet to change the adsorption direction of the magnetic wheel, realizing the controllability of the adsorption magnetic force direction of the magnetic wheel. The wire interface 9 of the copper coil in the magnetic module 3 is arranged close to the motor 1, and the plane where the end of the wire interface 9 is located is aligned with the side wall of the rim 6, which is convenient for the positioning and installation of the electromagnet in the magnetic module 3.

[0027] The IMU sensor 5 is provided with a mounting hole 8. The IMU sensor 5 is fixed to the inner side of the central disc 13 of the hub part 4 through bolts and the mounting hole 8 thereon, so that the IMU sensor 5 is placed in a reasonable position and is not easy to fall off. The line interface 12 of the IMU sensor 5 is arranged close to the motor 1, which is convenient for the reasonable arrangement of the wires inside the robot.

[0028] In summary, for the magnetic wheel device of the steel bridge maintenance inspection wall-climbing robot, in the case of use, by setting the IMU sensor 5, the accuracy and practicability of the device are enhanced. Relying on the data collected by the IMU sensor 5, it is convenient for the staff to accurately judge the spatial position of the robot, improving the spatial position accuracy.

[0029] Secondly, by setting the magnetic module 3, electromagnets are equipped inside the wheel, which is convenient for adjusting the magnetic force direction of the electromagnets. Combining with the data of the IMU sensor 5, it can better adsorb on the steel structure surfaces at different positions, cross obstacles, improve the applicability of the robot, improve the work efficiency, and enable the wall-climbing robot to firmly adsorb on the steel bridge surface for operation.

[0030] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A magnetic wheel device for a steel bridge maintenance and inspection wall-climbing robot, characterized in that: The invention comprises a motor (1), a shaft (2), a magnetic module (3), a hub part (4) and an IMU sensor (5), wherein the output end of the motor (1) is connected to the central hole of the hub part (4) through the shaft (2), a plurality of magnetic modules (3) are arranged and evenly fixed around the inner side of a wheel rim (6) of the hub part (4), and the IMU sensor (5) is fixed on the inner side of a central disk (13) of the hub.

2. The magnetic wheel device of a steel bridge maintenance and inspection wall-climbing robot according to claim 1 is characterized in that: The motor (1) and the shaft (2) are fixedly connected.

3. The magnetic wheel device of the steel bridge maintenance and inspection wall-climbing robot according to claim 2 is characterized in that: The shaft body (2) and the center hole of the hub part (4) are positioned and engaged via a protruding shaft shoulder (7).

4. The magnetic wheel device of the steel bridge maintenance and inspection wall-climbing robot according to claim 1 is characterized in that: The magnetic module (3) is fixedly connected to the wheel rim (6), the magnetic module (3) comprises a coil slot (10) and an electromagnet arranged in the coil slot (10), and the adsorption surface (11) of the magnetic module faces the outside of the wheel rim (6).

5. The magnetic wheel device of the steel bridge maintenance and inspection wall-climbing robot according to claim 4 is characterized in that: The wire interface (9) of the copper coil in the magnetic module (3) is arranged on a side close to the motor (1), and the plane where the end of the wire interface (9) is located is aligned with the side wall of the wheel rim (6).

6. The magnetic wheel device of a steel bridge maintenance and inspection wall-climbing robot according to claim 1, characterized in that: The IMU sensor (5) is provided with a mounting hole (8), and the IMU sensor (5) is fixed to the inner side of the center disk (13) of the hub part (4) through bolts and the mounting hole (8) thereon.

7. The magnetic wheel device of the steel bridge maintenance and inspection wall-climbing robot according to claim 6 is characterized in that: The line interface (12) of the IMU sensor (5) is arranged on a side close to the motor (1).

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