Unmanned detection device and method for circumferential welding seam of steel box arch rib

Abstract

The invention belongs to the field of bridge construction and maintenance, and particularly relates to a steel box arch rib circumferential weld unmanned detection device and method. The rotating shaft is arranged on the machine body in a penetrating mode in the first direction, and the machine body rotates around the rotating shaft without limiting the rotating range; the four crawler belt sets are symmetrically arranged at the two ends, in the first direction, of the machine body respectively, the adjacent crawler belt sets are arranged at intervals, the crawler belt sets and the machine body are arranged at intervals, all the crawler belt sets are coaxially connected with the machine body through the rotating shafts, and all the crawler belt sets can rotate relative to the rotating shafts respectively. The unmanned detection device and method for the circumferential weld of the steel box arch rib are high in magnetic attraction capacity and high in stability when passing through an external corner.

Description

Technical Field

[0001] The invention belongs to the technical field of bridge construction, and in particular relates to an unmanned detection device and method for circumferential welds of steel box arch ribs. Background Art

[0002] The steel box arch ribs of large bridges are constructed from multiple segments welded mid-air, resulting in numerous circumferential welds. During bridge construction and operation, these welds require regular inspection to ensure structural safety. Existing manual inspection methods involve extensive high-altitude, high-temperature work, which is both dangerous and uneconomical. Therefore, unmanned mechanical equipment is often used for inspection.

[0003] Existing unmanned mechanical wall-climbing equipment requires more than half of the structure's cantilever to extend beyond the steel structure. Because the arch ribs themselves have a certain inclination in mid-air, this extension of the cantilever results in different magnetic attraction forces on both sides of the track, increasing the unbalanced force. This magnetic attraction method cannot effectively guarantee the load-bearing capacity of robots, making them unsuitable for carrying heavy equipment such as batteries and testing instruments. Furthermore, the arch rib structure of large bridges is directly beneath the roadway. If the wall-climbing equipment falls, it will not only cause serious damage to the equipment itself, but also cause harm to third-party vehicles and personnel. Summary of the Invention

[0004] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides an unmanned detection device and method for the circumferential welds of steel box arch ribs, which can cleverly pass through the external corners and is not easy to fall off.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] On the one hand, the present invention provides an unmanned inspection device for the circumferential welds of steel box arch ribs, comprising a fuselage; a rotating shaft passing through the fuselage along a first direction, and the fuselage rotates around the rotating shaft without limiting the rotation range; and four groups of track groups, respectively symmetrically arranged at both ends of the fuselage along the first direction, with intervals between adjacent track groups and between the track groups and the fuselage, each track group being coaxially connected to the fuselage through the rotating shaft, and each track group can rotate separately relative to the rotating shaft.

[0007] Preferably, the fuselage is a hollow structure, and the hollow structure inside the fuselage is equipped with a battery, a first electric drive rotating device and a wireless transmission device. Each track group is respectively provided with a second electric drive rotating device, a third electric drive rotating device, a fourth electric drive rotating device and a fifth electric drive rotating device. The wireless transmission device is electrically connected to the battery, and the battery is electrically connected to the first electric drive rotating device, the second electric drive rotating device, the third electric drive rotating device, the fourth electric drive rotating device and the fifth electric drive rotating device respectively.

[0008] Preferably, the first electric drive rotating device is electrically connected to the fuselage, and the four groups of crawler groups are electrically connected to the second electric drive rotating device, the third electric drive rotating device, and the fourth electric drive rotating device respectively, to control the fuselage and the four groups of crawler groups to rotate around the rotating axis respectively.

[0009] Preferably, the track group includes: two power wheels; a track with magnetic attraction, the track being sleeved on the outer periphery of the two power wheels to form a closed loop; and a track beam extending along a second direction perpendicular to the first direction, the two power wheels being rotatably connected to the two ends of the track beam respectively, the second electric drive rotating device, the third electric drive rotating device, the fourth electric drive rotating device, and the fifth electric drive rotating device being connected to each of the track beams respectively, and each of the track beams being rotatably connected to the protruding rotating shaft, so that the rotating shaft drives the four tracks to rotate.

[0010] Preferably, the outside of the fuselage is also equipped with an electrically connected visual recognition device and a central controller. The visual recognition device can automatically identify the weld image and transmit the identified weld image to the central controller for processing. The central controller issues walking, reverse and turning instructions to the power wheels of the four crawler groups based on the processing results, so that the power wheels drive the fuselage to walk, reverse and turn along the weld.

[0011] Preferably, the fuselage is equipped with a TOFD ultrasonic detection device, which includes a rotating arm, a sliding groove and a TOFD detection head. The sliding groove is opened on one side of the fuselage along a first direction, the rotating arm is slidably connected in the sliding groove, and the TOFD detection head is movably connected to the rotating arm along the vertical direction.

[0012] Preferably, the rotating arm includes two first robotic arms and a second robotic arm, one end of the first robotic arm is slidably connected to the sliding slot, the other end of the first robotic arm is hinged to one end of the second robotic arm, and the other end of the second robotic arm is fixedly connected to the TOFD detection head.

[0013] Preferably, it also includes a drone, an electromagnetic suction device, a safety belt and a winch device. The drone is equipped with the electromagnetic suction device and adsorbed on the upper surface of the arch rib. The fixed end of the winch device is connected to the electromagnetic suction device, the retractable end is connected to one end of the safety belt, and the fuselage is connected to the other end of the safety belt, so as to safely anchor the fuselage.

[0014] On the other hand, the present invention provides an unmanned detection method for the circumferential welds of steel box arch ribs, based on the above-mentioned unmanned detection device for the circumferential welds of steel box arch ribs, comprising the following steps:

[0015] S001. The four crawler groups drive the machine body to the edge of the steel plate on the side of the external corner through the rotating shaft, and continue to move outward until the axis position of the rotating shaft coincides with the outer extension line of the center line of the external corner;

[0016] S002, the crawler groups symmetrical to the two ends of the first direction are flipped in sequence, and any one crawler group releases the magnetic attraction, while the other three crawler groups provide the magnetic attraction. The crawler group that releases the magnetic attraction rotates around the rotation axis by its own electric drive rotation device. When the crawler that releases the magnetic attraction reaches the steel plate on the other side of the positive corner, it applies magnetic attraction to it;

[0017] S003. When two symmetrical sets of crawler assemblies among the four sets of crawler assemblies are attached to the steel plate on one side of the positive corner, and the other two symmetrical sets of crawler assemblies are attached to the steel plate on the other side of the positive corner, the fuselage rotates around the rotation axis and flips over to be parallel to the plane where the steel plate on the other side of the positive corner is located;

[0018] S004, the remaining two symmetrical crawler groups that have not been flipped are flipped in sequence according to the flipping method of the crawler group in step S002;

[0019] S005. When all four sets of tracks are located on the steel plate on the other side of the positive corner, the fuselage moves forward to complete the safe transition of the fuselage at the positive corner.

[0020] Preferably, the method further comprises the following steps:

[0021] The UAV is equipped with an electromagnetic suction device that is attached to the upper surface of the arch rib. The electromagnetic suction device retracts and extends the safety belt through the hoisting device on it. During the walking process of steps S001 to S005, the drone is safely anchored by connecting the safety belt to the electromagnetic suction device.

[0022] When the wall-climbing robot reaches the center of the lower surface of the arch rib, it stops detecting. At this time, the electromagnetic suction device releases its magnetic attraction force. The drone equipped with the electromagnetic suction device circles around the arch rib from under it and continues to stay at the center of the upper surface of the arch rib. At this time, the electromagnetic suction device continues to provide magnetic attraction force.

[0023] The fuselage continues to be inspected under the protection of the safety belt. When the inspection of one circumferential weld is completed, the drone and the fuselage move to the next circumferential weld position and start the inspection again.

[0024] The beneficial effects of the present invention are as follows: the unmanned inspection device and method for circumferential welds of steel box arch ribs provided by the present invention have a novel structure. The four-track structure not only provides a high load-bearing capacity, but also ensures that more track area is attached to both sides of the external corner when traversing the external corner. The body flipping is asynchronous with the track, further ensuring stable flipping. Furthermore, due to its high load-bearing capacity and high stability, the robot is more suitable for carrying various equipment such as batteries, transmission equipment, visual recognition equipment, and testing instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of an unmanned inspection device for the circumferential welds of steel box arch ribs;

[0026] Figure 2 This is a flow chart of the process of turning over the outer corner of the unmanned inspection device for the circumferential weld of the steel box arch rib;

[0027] Figure 3 Schematic diagram of the safety protection principle without human detection.

[0028] In the picture:

[0029] 1. Fuselage; 11. Visual recognition device; 12. Rotating arm; 13. TOFD detection head; 14. Sliding groove; 2. Track assembly; 21. Track; 22. Track beam; 23. Power wheel; 3. Rotating shaft; 4. Arch rib; 5. Safety belt; 6. UAV; 61. Electromagnetic suction device.

[0030] The following is a detailed description of the embodiments of the present invention with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0032] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0033] The present invention will be further described below with reference to the accompanying drawings and examples.

[0034] like Figure 1As shown, this embodiment provides an unmanned inspection device for the circumferential welds of a steel box arch rib 4, comprising a fuselage 1; a rotating shaft 3 passing through the fuselage 1 along a first direction, and the fuselage 1 rotates around the rotating shaft 3 without limiting the rotation range; and four groups of track groups 2, respectively symmetrically arranged at both ends of the fuselage 1 along the first direction, with intervals between adjacent track groups 2 and between the track groups 2 and the fuselage 1, each track group 2 being coaxially connected to the fuselage 1 through the rotating shaft 3, and each track group 2 can rotate separately relative to the rotating shaft 3.

[0035] The beneficial effects of the present invention are as follows: the unmanned inspection device and method for circumferential welds of steel box arch ribs 4 provided by the present invention have a novel structure. The four tracks 2 provide a high load-bearing capacity and, when navigating a positive corner, ensure that more tracks 21 are attached to both sides of the positive corner. Furthermore, the body 1 flips asynchronously with the tracks 21, further ensuring stable flipping. Furthermore, due to its high load-bearing capacity and high stability, the robot is particularly suitable for carrying various equipment such as batteries, transmission equipment, visual recognition equipment, and testing instruments.

[0036] In one embodiment, the fuselage 1 is a hollow structure, and the hollow structure inside the fuselage 1 is equipped with a battery, a first electric drive rotating device and a wireless transmission device. Each of the track groups 2 is respectively provided with a second electric drive rotating device, a third electric drive rotating device, a fourth electric drive rotating device and a fifth electric drive rotating device. The wireless transmission device is electrically connected to the battery, and the battery is electrically connected to the first electric drive rotating device, the second electric drive rotating device, the third electric drive rotating device, the fourth electric drive rotating device and the fifth electric drive rotating device respectively.

[0037] Furthermore, the first electric drive rotating device is electrically connected to the fuselage 1, and the four groups of the crawler groups 2 are electrically connected to the second electric drive rotating device, the third electric drive rotating device, and the fourth electric drive rotating device, respectively, to control the fuselage 1 and the four groups of the crawler groups 2 to rotate around the rotating shaft 3.

[0038] Specifically, the track group 2 includes: two power wheels 23; a track 21 with magnetic attraction, and the track 21 is sleeved on the outer periphery of the two power wheels 23 to form a closed loop; and a track 21 beam, extending along a second direction perpendicular to the first direction, and the two power wheels 23 are respectively rotatably connected to the two ends of the track 21 beam, and the second electric drive rotating device, the third electric drive rotating device, the fourth electric drive rotating device, and the fifth electric drive rotating device are respectively connected to each of the track 21 beams, and each of the track 21 beams is rotatably connected to the protruding rotating shaft 3, so that the rotating shaft 3 drives the four tracks 21 to rotate.

[0039] This embodiment consists of a fuselage 1, four sets of track assemblies 2 and a rotating shaft 3. The fuselage 1 is box-shaped and is equipped with a battery and a wireless transmission device. The rotating shaft 3 passes through the middle position of both sides of the fuselage 1 along the first direction and is connected to the first electric drive rotating device inside the fuselage 1 to achieve powered rotation of the rotating shaft 3 and the fuselage 1. The track assembly 2 consists of a track 21 with magnetic attraction, a track 21 beam and a power wheel 23. The four track 21 are symmetrically installed on both sides of the fuselage 1. The power wheel 23 drives the track 21 to rotate to achieve the movement of the fuselage 1. The track 21 beam connects the two power wheels 23 of each track 21 to form a whole. The track 21 beam is connected to the protruding rotating shaft through the second electric drive rotating device, the third electric drive rotating device, the fourth electric drive rotating device and the fifth electric drive rotating device to achieve powered rotation of the rotating shaft and the four track 21.

[0040] In this embodiment, the fuselage 1 is also equipped with an electrically connected visual recognition device 11 and a central controller on the outside. The visual recognition device 11 can automatically identify the weld image and transmit the identified weld image to the central controller for processing. The central controller issues walking, reverse, and turning instructions to the power wheels 23 of the four track groups 2 based on the processing results, so that the power wheels 23 drive the fuselage 1 to walk, reverse, and turn along the weld.

[0041] Specifically, the fuselage 1 is also equipped with a visual recognition device 11, which can automatically identify welds. The visual recognition device 11 transmits the identified weld images to the fuselage 1 for processing. Based on the processing results, the fuselage 1 issues instructions such as moving and reversing to the four tracks 21 and power wheels 23, enabling the fuselage 1 to move, reverse, and turn along the welds. Turning is achieved by moving one track 21 backward while the other track 21 moves forward.

[0042] In this embodiment, the fuselage 1 is equipped with a TOFD ultrasonic detection device, which includes a rotating arm 12, a sliding groove 14 and a TOFD detection head 13. The sliding groove 14 is opened on one side of the fuselage 1 along a first direction, the rotating arm 12 is slidably connected in the sliding groove 14, and the TOFD detection head 13 is movably connected to the rotating arm 12 along the vertical direction.

[0043] The rotating arm 12 includes two first robotic arms and a second robotic arm, one end of the first robotic arm is slidably connected to the sliding slot 14, the other end of the first robotic arm is hinged to one end of the second robotic arm, and the other end of the second robotic arm is fixedly connected to the TOFD detection head 13.

[0044] Specifically, the fuselage 1 is also equipped with a TOFD ultrasonic testing device. This testing method can detect thick welds from one side of the weld. The TOFD ultrasonic testing device includes a rotating arm 12, a sliding slot 14, and a TOFD test head 13. The rotating arm 12 can slide left and right along the fuselage 1 within the sliding slot 14 to change the position of the test head. The rotating arm 12 consists of a two-degree-of-freedom robotic arm that can adjust the vertical position of the TOFD test head 13.

[0045] like Figure 3 As shown, this embodiment also includes a drone 6, an electromagnetic suction device, a safety belt 5 and a winch device. The drone 6 is equipped with the electromagnetic suction device and adsorbed on the upper surface of the arch rib 4. The fixed end of the winch device is connected to the electromagnetic suction device, and the retractable end is connected to one end of the safety belt 5. The fuselage 1 is connected to the other end of the safety belt 5, thereby safely anchoring the fuselage 1.

[0046] like Figure 2 As shown, for a steel structure with a rectangular cross-section such as a steel box arch rib 4, the unmanned inspection device for the circumferential welds of the steel box arch rib 4 needs to travel around the cross-section in a circular motion. To this end, this embodiment also provides an unmanned inspection method for the circumferential welds of the steel box arch rib 4, specifically a method for traversing a positive angle, including:

[0047] S001. The four tracks 2 drive the fuselage 1 via the rotating shaft 3 to the edge of the steel plate on the outer corner side and continue to move outward until the axis of the rotating shaft 3 coincides with the outer extension of the centerline of the outer corner. Specifically, the four tracks 2 drive the fuselage 1 to the edge of the steel plate and continue to move outward until the center of the rotating shaft 3 coincides with the outer extension of the centerline of the outer corner. Because the fuselage 1 has four tracks 21, the load-bearing capacity is doubled compared to two tracks 21. Therefore, even if half of the fuselage 1 is extended, sufficient load-bearing capacity can be guaranteed.

[0048] S002, the crawler groups 2 symmetrical to the two ends of the first direction are flipped in sequence, and any one crawler group 2 releases the magnetic attraction, while the other three crawler groups 2 provide the magnetic attraction. The crawler group 2 that releases the magnetic attraction rotates around the rotating shaft 3 by its own electric drive rotation device. When the crawler 21 that releases the magnetic attraction reaches the steel plate on the other side of the positive corner, it applies magnetic attraction to it;

[0049] S003. When two symmetrical sets of crawler assemblies 2 among the four sets of crawler assemblies 2 are attached to the steel plate on one side of the positive corner, and the other two symmetrical sets of crawler assemblies 2 are attached to the steel plate on the other side of the positive corner, the fuselage 1 rotates around the rotation axis 3 and flips over to be parallel to the plane where the steel plate on the other side of the positive corner is located;

[0050] S004, the remaining two symmetrical crawler groups 2 that have not been flipped are flipped in sequence according to the flipping method of the crawler group 2 in step S002;

[0051] S005. When all four sets of crawlers 21 are located on the steel plate on the other side of the positive corner, the fuselage 1 moves forward, completing the safe transition of the fuselage 1 at the positive corner.

[0052] like Figure 3 As shown, in order to further ensure the safety of the magnetic wall-climbing robot, the drone 6 and the safety belt 5 are further used to provide a pulling force for the device, including:

[0053] The drone 6 is equipped with an electromagnetic suction device and is adsorbed on the upper surface of the arch rib 4. The electromagnetic suction device retracts and extends the safety belt 5 through the hoisting device on it. During the walking process of steps S001 to S005, the fuselage 1 is safely anchored by connecting the safety belt 5 to the electromagnetic suction device;

[0054] When the wall-climbing robot crawls to the center of the lower surface of the arch rib 4, it stops detecting. At this time, the electromagnetic suction device releases the magnetic suction force. The drone 6 equipped with the electromagnetic suction device goes around the arch rib 4 from under the arch rib 4 and continues to stay at the center of the upper surface of the arch rib 4. At this time, the electromagnetic suction device continues to provide magnetic suction force. This method ensures that if the wall-climbing robot falls, the swing radius is minimized and it will not hit the arch rib 4.

[0055] The fuselage 1 continues to be inspected under the protection of the safety belt 5. When one circumferential weld is inspected, the drone 6 and the fuselage 1 move to the next circumferential weld position and restart the inspection.

[0056] To ensure the safety of unmanned inspection, this method utilizes a drone 6 equipped with an electromagnetic suction device, connected to the wall-climbing robot via a safety belt 5. By varying the winding pattern of the safety belt 5 during the inspection process, the robot's safe movement can be effectively guaranteed. The magnetic wall-climbing robot of the present invention possesses strong magnetic suction capabilities, maintains high stability when navigating outside corners, and is protected throughout by the safety belt 5, significantly improving the safety of unmanned inspection.

[0057] This unmanned safety protection method adds a layer of defense to the safety of the fuselage 1. Compared to other safety devices, this method offers the following advantages: It provides more effective protection for the safety belt 5; it solves the problem of the belt 5 swinging too far; and the position of the magnetic device can be flexibly changed, enabling unmanned inspection.

[0058] In summary, this embodiment presents an unmanned device and method for inspecting the circumferential welds of a steel arch rib 4, enabling the robot to navigate external corners. The robot consists of a body 1 and four sets of tracks 2. By sequentially flipping the four tracks 2 and the body 1, the robot can smoothly navigate the external corners of a steel arch rib 4. The robot is equipped with an ultrasonic weld detection device and a visual recognition device 11, enabling automated inspection of the circumferential welds of the arch rib 4.

[0059] 1. Preparation for testing

[0060] 1. Assembly and commissioning of unmanned inspection device for circumferential welds of steel box arch rib 4

[0061] An unmanned inspection system for circumferential welds of steel arch ribs (4) was constructed. The machine body (1) is a box-shaped structure. Made of high-strength, lightweight aluminum alloy, it is a rectangular parallelepiped measuring 30 cm long, 20 cm wide, and 15 cm high. The four tracks (2) are made of wear-resistant rubber, 10 cm wide, and feature a special textured surface for increased friction. A high-performance battery is installed internally to power the entire system, and the wireless transmission system has been fully commissioned to ensure proper communication with an external control terminal.

[0062] Four sets of track assemblies 2 are respectively installed on both sides of the fuselage 1. The track assembly 2 consists of a track 21 with magnetic attraction, a track 21 beam and a power wheel 23. Sufficient magnetic attraction is provided by a combination of strong permanent magnets and electromagnets. The permanent magnet provides the basic adsorption force, and the electromagnet can adjust the size and direction of the magnetic attraction as needed. The track 21 beam is connected to the power wheel 23 and is connected to the extended rotating shaft 3 through the first electric drive rotating device. The rotating shaft 3 passes through the middle position of both sides of the fuselage 1 and is connected to the first electric drive rotating device inside the fuselage 1.

[0063] The fuselage 1 is also equipped with a visual recognition device 11, which has been calibrated to accurately identify welds. A TOFD ultrasonic testing device is also installed on the fuselage 1. Its rotating arm 12 can slide left and right along the fuselage 1 within a sliding slot 14. The rotating arm 12 consists of a two-degree-of-freedom robotic arm, which can flexibly adjust the vertical position of the TOFD test head 13.

[0064] 2. UAV 6 Preparation

[0065] A drone 6 is selected and equipped with an electromagnetic suction device and a winch device (for retracting and releasing the safety belt 5). The magnetic suction force of the electromagnetic suction device is adjusted and tested to ensure that it can stably adhere to the upper surface of the steel box arch rib 4.

[0066] In this embodiment, a suction force of at least 50 kg can be provided. The drone 6 is connected to the wall-climbing robot via a high-strength safety belt 5 . The safety belt 5 is 10 meters long and has a certain degree of flexibility and strength to accommodate the robot's movement on the surface of the arch rib 4 .

[0067] 2. Testing process

[0068] 1. Start detection and transition to the positive corner

[0069] The fuselage 1 is placed at the starting detection position of the steel box arch rib 4, and the robot is started. The visual recognition device 11 starts to automatically recognize the weld, and the robot moves along the weld according to the recognition result.

[0070] When the robot moves to the positive corner position of the steel box arch rib 4, it operates according to the method of crossing the positive corner.

[0071] First, the fuselage 1 moves to the edge of the steel plate and continues to move outward until the center position of the rotation axis 3 coincides with the outer extension line of the center line of the external angle. Due to the design of the four crawlers 21, even if half of the fuselage 1 is extended outward at this time, sufficient load-bearing capacity can be guaranteed.

[0072] Taking the left track 21 as an example, the magnetic attraction is first released, and the track 21's own second electric drive rotation device rotates around the axis. When the track 21 reaches the other side of the steel plate, the magnetic attraction is applied. During this process, the other three tracks 21 continue to provide magnetic attraction. Then, the left and right tracks 21 are symmetrically flipped in this way.

[0073] When two of the four tracks 21 are attached to the original steel plate and two are attached to the other steel plate, the fuselage 1 begins to rotate about the rotation axis 3 and flips to be parallel to the other steel plate. The remaining two tracks 21 flip in the same way as before, and finally all four tracks 21 are located on the other steel plate, moving forward, completing the safe transition of the fuselage 1 to the positive angle position.

[0074] 2. Detection operation

[0075] As the robot continues its circumferential movement along the arch rib 4, the TOFD ultrasonic testing device's TOFD head 13, working in conjunction with the rotating arm 12 and sliding slot 14, continuously adjusts its position to accommodate welds of varying thicknesses. The visual recognition device 11 continuously identifies weld images and transmits them to the fuselage 1 for processing. Based on the image information and the pre-set inspection path, the fuselage 1 issues instructions to the four tracks 21, powered wheels 23, to move, reverse, or turn. For example, when turning, one track 21 moves backward while the other moves forward.

[0076] 3. Implementation of safety protection measures

[0077] The drone 6 is equipped with an electromagnetic suction device and is attached to the upper surface of the arch rib 4. The fuselage 1 is safely anchored to the electromagnetic suction device through the safety belt 5 during the movement. The hoisting device retracts and extends the safety belt 5 in time according to the movement of the robot.

[0078] When the robot body 1 reaches the center of the lower surface of arch rib 4, the inspection stops. The electromagnetic suction device releases its magnetic attraction, and drone 6, equipped with the electromagnetic suction device, circles around arch rib 4 from below, then remains at the center of the upper surface, reactivating the magnetic suction device. If the robot unexpectedly slips during the inspection, the safety belt 5 and the drone's ability to adjust its position at any time allow it to be pulled back and secured to the surface of arch rib 4.

[0079] 4. Next round of testing

[0080] After one circumferential weld is inspected, the drone 6 and the fuselage 1 move to the next circumferential weld position and repeat the above inspection and safety protection operations until the circumferential weld inspection of the entire steel box arch rib 4 is completed.

[0081] Through this specific embodiment, the actual application process of the fuselage 1 in the unmanned inspection of the circumferential welds of the steel box arch rib 4 is demonstrated, including special function operations, positive angle transition, detection function realization and effective implementation of safety protection measures.

[0082] The above examples of the present invention are described in detail, but the content is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An unmanned detection device for circumferential welds of steel box arch ribs, characterized in that: include: body; A rotation axis is provided through the body along a first direction, and the body rotates around the rotation axis without limiting the rotation range; as well as Four groups of crawler groups are symmetrically arranged at both ends of the fuselage along the first direction, and are spaced apart between adjacent crawler groups and between the crawler groups and the fuselage. Each crawler group is coaxially connected to the fuselage through the rotating shaft, and each crawler group can rotate relative to the rotating shaft.

2. The unmanned detection device for circumferential welds of steel box arch ribs according to claim 1, characterized in that: The fuselage is a hollow structure, and the hollow structure inside the fuselage is equipped with a battery, a first electric drive rotating device and a wireless transmission device. Each track group is respectively provided with a second electric drive rotating device, a third electric drive rotating device, a fourth electric drive rotating device and a fifth electric drive rotating device. The wireless transmission device is electrically connected to the battery, and the battery is electrically connected to the first electric drive rotating device, the second electric drive rotating device, the third electric drive rotating device, the fourth electric drive rotating device and the fifth electric drive rotating device respectively.

3. The unmanned detection device for the circumferential weld of a steel box arch rib according to claim 2, characterized in that: The first electric drive rotating device is electrically connected to the fuselage, and the four groups of crawler groups are electrically connected to the second electric drive rotating device, the third electric drive rotating device, and the fourth electric drive rotating device respectively, to control the fuselage and the four groups of crawler groups to rotate around the rotating axis respectively.

4. The unmanned detection device for circumferential welds of steel box arch ribs according to claim 3, characterized in that: The crawler assembly comprises: two powered wheels; A crawler track having magnetic attraction, wherein the crawler track is sleeved on the outer periphery of the two power wheels to form a closed loop; and The track beam is extended along a second direction perpendicular to the first direction. The two power wheels are rotatably connected to the two ends of the track beam respectively. The second electric drive rotating device, the third electric drive rotating device, the fourth electric drive rotating device, and the fifth electric drive rotating device are respectively connected to the track beams. Each track beam is rotatably connected to the extended rotating shaft, so that the rotating shaft drives the four tracks to rotate.

5. The unmanned detection device for the circumferential weld of a steel box arch rib according to claim 3, characterized in that: The outside of the fuselage is also equipped with an electrically connected visual recognition device and a central controller. The visual recognition device can automatically identify the weld image and transmit the identified weld image to the central controller for processing. The central controller issues walking, reverse and turning instructions to the power wheels of the four crawler groups based on the processing results, so that the power wheels drive the fuselage to walk, reverse and turn along the weld.

6. The unmanned detection device for circumferential welds of steel box arch ribs according to claim 1, characterized in that: The fuselage is equipped with a TOFD ultrasonic detection device, which includes a rotating arm, a sliding groove and a TOFD detection head. The sliding groove is opened on one side of the fuselage along a first direction, the rotating arm is slidably connected in the sliding groove, and the TOFD detection head is movably connected to the rotating arm along a vertical direction.

7. The unmanned detection device for the circumferential weld of a steel box arch rib according to claim 6, characterized in that: The rotating arm includes two first robotic arms and a second robotic arm, one end of the first robotic arm is slidably connected to the sliding slot, the other end of the first robotic arm is hinged to one end of the second robotic arm, and the other end of the second robotic arm is fixedly connected to the TOFD detection head.

8. The unmanned detection device for circumferential welds of steel box arch ribs according to claim 6, characterized in that: It also includes a drone, an electromagnetic suction device, a safety belt and a winch device. The drone is equipped with the electromagnetic suction device and adsorbed on the upper surface of the arch rib. The fixed end of the winch device is connected to the electromagnetic suction device, the retractable end is connected to one end of the safety belt, and the fuselage is connected to the other end of the safety belt, so as to safely anchor the fuselage.

9. An unmanned inspection method for circumferential welds of steel box arch ribs, based on the unmanned inspection device for circumferential welds of steel box arch ribs according to any one of claims 1 to 8, characterized in that: S001. The four crawler groups drive the machine body to the edge of the steel plate on the side of the external corner through the rotating shaft, and continue to move outward until the axis position of the rotating shaft coincides with the outer extension line of the center line of the external corner; S002, the crawler groups symmetrical to the two ends of the first direction are flipped in sequence, and any one crawler group releases the magnetic attraction, while the other three crawler groups provide the magnetic attraction. The crawler group that releases the magnetic attraction rotates around the rotation axis by its own electric drive rotation device. When the crawler that releases the magnetic attraction reaches the steel plate on the other side of the positive corner, it applies magnetic attraction to it; S003. When two symmetrical sets of crawler assemblies among the four sets of crawler assemblies are attached to the steel plate on one side of the positive corner, and the other two symmetrical sets of crawler assemblies are attached to the steel plate on the other side of the positive corner, the fuselage rotates around the rotation axis and flips over to be parallel to the plane where the steel plate on the other side of the positive corner is located; S004, the remaining two symmetrical crawler groups that have not been flipped are flipped in sequence according to the flipping method of the crawler group in step S002; S005. When all four sets of tracks are located on the steel plate on the other side of the positive corner, the fuselage moves forward to complete the safe transition of the fuselage at the positive corner.

10. The unmanned inspection method for circumferential welds of steel box arch ribs according to claim 9, characterized in that: The following steps are also included: The UAV is equipped with an electromagnetic suction device that is attached to the upper surface of the arch rib. The electromagnetic suction device retracts and extends the safety belt through the hoisting device on it. During the walking process of steps S001 to S005, the drone is safely anchored by connecting the safety belt to the electromagnetic suction device. When the wall-climbing robot reaches the center of the lower surface of the arch rib, it stops detecting. At this time, the electromagnetic suction device releases its magnetic attraction force. The drone equipped with the electromagnetic suction device circles around the arch rib from under it and continues to stay at the center of the upper surface of the arch rib. At this time, the electromagnetic suction device continues to provide magnetic attraction force. The fuselage continues to be inspected under the protection of the safety belt. When the inspection of one circumferential weld is completed, the drone and the fuselage move to the next circumferential weld position and start the inspection again.

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