Automatic maintenance equipment and method for adsorption type mechanical arm of steel box girder

Abstract

The invention discloses automatic maintenance equipment and method for a steel box girder adsorption type mechanical arm. The maintenance equipment comprises a working base table, a mechanical main arm, an auxiliary mechanical arm, a working mechanical arm and a control terminal. The working mechanical arm comprises a bolt reinforcing mechanical arm, a steel plate reinforcing mechanical arm and a drilling mechanical arm. And the control terminal is integrated in the working base table and is used for controlling the mechanical main arm and the bolt reinforcing mechanical arm, the steel plate reinforcing mechanical arm or the drilling mechanical arm in the working mechanical arm to cooperatively work, so that the bolt reinforcing mechanical arm, the steel plate reinforcing mechanical arm or the drilling mechanical arm can reach corresponding target positions to carry out crack repairing operation. Therefore, fatigue crack arrest reinforcing methods such as drilling, steel plate reinforcing and bolt reinforcing can be selected according to operation requirements, the construction efficiency is effectively improved, carrying is convenient, and the flexibility is improved.

Description

Technical Field

[0001] The invention relates to steel box girder adsorption type mechanical arm automatic maintenance equipment and method, belonging to the technical field of steel box girder automatic maintenance. Background Art

[0002] Steel box girders are widely used in long-span bridges due to their excellent mechanical properties. To address the challenges of low installation efficiency, poor equipment portability, and limited flexibility in existing fatigue crack arrest and reinforcement technologies, a suction-based robotic arm repair device for steel box girders was developed. Summary of the Invention

[0003] The purpose of the present invention is to provide an automated maintenance device and method for steel box girders using an adsorption-type robotic arm, which can select fatigue crack arrest reinforcement methods such as drilling, steel plate reinforcement, and bolt reinforcement according to the operation requirements, effectively improving construction efficiency, and is easy to carry and improves flexibility.

[0004] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0005] An automatic maintenance device for steel box beam adsorption-type mechanical arms includes a working platform, a main mechanical arm, an auxiliary mechanical arm, a working mechanical arm, and a control terminal, wherein:

[0006] The working mechanical arm includes a bolt reinforcement mechanical arm, a steel plate reinforcement mechanical arm and a drilling mechanical arm;

[0007] One end of the main robotic arm is connected to the work base, and the other end is connected to the steel plate reinforcement robotic arm. Both sides of the steel plate reinforcement robotic arm are respectively connected to the bolt reinforcement robotic arm and the drilling robotic arm through an auxiliary robotic arm;

[0008] The working end of the steel plate reinforcement robot arm is provided with a magnetic steel plate adsorption head, the working end of the bolt reinforcement robot arm is provided with a bolt reinforcement head, and the working end of the drilling robot arm is provided with a drill bit;

[0009] The control terminal is integrated inside the work base and is used to control the coordinated work of the main robotic arm and the bolt reinforcement robotic arm, steel plate reinforcement robotic arm or drilling robotic arm in the working robotic arm, so that the bolt reinforcement robotic arm, steel plate reinforcement robotic arm or drilling robotic arm can reach the corresponding target position to perform crack repair operations.

[0010] Preferably, three cameras are further included, corresponding to the first to third cameras, wherein:

[0011] The first camera is mounted on the drilling robot arm and is equipped with a first image recognition module. The first camera is used to capture images of the front side of the drill bit and transmit the captured images to the first image recognition module according to a data acquisition cycle. The first image recognition module recognizes whether the drill bit is aligned with a preset drilling mark position in the area where the crack to be repaired is located based on the image feedback from the first camera.

[0012] A second camera is mounted on the steel plate reinforcement robot arm and is equipped with a second image recognition module. The second camera is used to capture images of the front side of the magnetic steel plate adsorption head and transmit the captured images to the second image recognition module according to a data acquisition cycle. The second image recognition module identifies whether the magnetic steel plate adsorption head is aligned with a preset steel plate reinforcement portion in the area where the crack to be repaired is located based on the images fed back by the second camera.

[0013] The third camera is installed on the bolt reinforcement robot arm, and the third camera is equipped with a third image recognition module; the third camera is used to capture the image of the front side of the bolt reinforcement head and can transmit the collected image to the third image recognition module according to the data acquisition cycle; the third image recognition module recognizes whether the bolt reinforcement head is aligned with the bolt reinforcement position preset in the area where the crack to be repaired is located based on the image feedback from the third camera.

[0014] Preferably, the control terminal further includes a main arm control module and a working arm control module; wherein:

[0015] The working arm control module includes a drilling and crack arrest control module, a steel plate reinforcement control module and a bolt reinforcement control module;

[0016] The working arm control module can selectively trigger the drilling crack arrest control module, the steel plate reinforcement control module, and the bolt reinforcement control module according to the shape of the crack to be repaired;

[0017] When the working arm control module selects to trigger the drilling crack arrest control module according to the shape of the crack to be repaired, the main arm control module controls the mechanical main arm to drive the drilling mechanical arm to adjust its posture toward the drilling mark position according to the planning strategy, until it is recognized according to the image captured by the first camera that the drill bit is aligned with the drilling mark position and the distance of the drill bit relative to the drilling mark position is within a preset range, the mechanical main arm is stopped, and the drilling mechanical arm is started to control the drill bit to drill a hole at the drilling mark position;

[0018] When the working arm control module selects to trigger the steel plate reinforcement control module according to the shape of the crack to be repaired, the main arm control module controls the mechanical main arm to drive the steel plate reinforcement mechanical arm to adjust its posture toward the steel plate reinforcement part according to the planning strategy, until it is recognized according to the image taken by the second camera that the magnetic steel plate adsorption head is aligned with the steel plate reinforcement part and the distance between the magnetic steel plate adsorption head and the steel plate reinforcement part is within a preset range, the mechanical main arm is stopped, the steel plate reinforcement mechanical arm is started, and the magnetic steel plate adsorption head is pushed forward so that the reinforcement steel plate carried by the magnetic steel plate adsorption head is adhered to the steel plate reinforcement part and pressed against the reinforcement steel plate, and then the magnetic steel plate adsorption head is controlled to lose its magnetism to complete the release of the reinforced steel plate;

[0019] When the working arm control module selects to trigger the bolt reinforcement control module according to the shape of the crack to be repaired, the main arm control module controls the mechanical main arm to first drive the drilling mechanical arm to move toward the bolt reinforcement part according to the planning strategy, until it can be identified from the image taken by the first camera that the drill bit is aligned with the bolt reinforcement part and the distance of the drill bit relative to the bolt reinforcement part is within a preset range, the mechanical main arm is stopped, and the drilling mechanical arm is started to control the drill bit to drill bolt holes in the bolt reinforcement part; then the drilling mechanical arm is controlled to drive the drill bit to reset, and the mechanical main arm is started again to drive the bolt reinforcement mechanical arm to move toward the bolt reinforcement part, until it can be identified from the image taken by the third camera that the bolt reinforcement head is aligned with the bolt hole and the distance of the bolt reinforcement head relative to the bolt hole is within a preset range, the mechanical main arm is stopped, and the bolt reinforcement mechanical arm is started to control the bolt reinforcement head to assemble the bolt in the bolt hole.

[0020] Preferably, the robotic main arm includes a first robotic arm, a second robotic arm and a robotic main arm joint; one end of the first robotic arm is connected to the work base through the robotic main arm joint, and a displacement compensation device is installed on the robotic main arm joint, and the other end is connected to the steel plate reinforced robotic arm through the second robotic arm.

[0021] Preferably, each subsidiary robotic arm is connected to the steel plate reinforced robotic arm via a latch joint.

[0022] Preferably, a power-off electromagnet is installed at the bottom of the shell of the working base; the power-off electromagnet is connected to the power supply device through a wire; and the control terminal can control the electrical connection / disconnection between the power-off electromagnet and the power supply device.

[0023] Preferably, the steel plate reinforcement robot arm includes a reciprocating linear motion mechanism and a magnetic steel plate adsorption head connected to the power output end of the reciprocating linear motion mechanism, the magnetic steel plate adsorption head is made of a de-energized electromagnet, and the magnetic steel plate adsorption head is connected to the power supply device through a wire;

[0024] Under the control of the control terminal, the magnetic steel plate adsorption head is electrically connected to the power supply device and the reinforced steel plate is adsorbed by magnetic attraction; the reciprocating linear moving mechanism feeds the magnetic steel plate adsorption head toward the target position until the reinforced steel plate is pressed and pasted to the target position, cutting off the electrical connection between the magnetic steel plate adsorption head and the power supply device, and controlling the reciprocating linear moving mechanism to drive the magnetic steel plate adsorption head to reset.

[0025] Preferably, the bolt reinforcement robot arm includes a first rotary motor and a bolt reinforcement head connected to the power output end of the first rotary motor; a bolt bin for storing reinforcement bolts is provided in the bolt reinforcement head;

[0026] Under the control of the control terminal, the first rotary motor drives the reinforcement bolt to rotate so as to tighten the reinforcement bolt in the bolt hole formed at the target position.

[0027] Preferably, the drilling robot arm includes a drill bit actuator, a drill wheel, and a gun barrel. The drill bit actuator is positioned between the drill bit actuator and the gun barrel via a rotating shaft, and the drill bit actuator has a plurality of drill bit compartments evenly distributed around the straight line where the rotating shaft is located, each drill bit compartment storing a drill bit. By rotating the drill bit wheel, any drill bit is caused to be located between the power output end of the drill bit actuator and the gun barrel and to be collinear with the power output end of the drill bit actuator and the axis of the gun barrel.

[0028] Under the control of the control terminal, the drill actuator first pushes the drill bit aligned with the power output end of the drill actuator into the barrel, and then drives the drill bit placed in the barrel to rotate to perform drilling operations at the target position, and finally stops rotating, causing the drill bit in the barrel to reset in the drill wheel.

[0029] Another technical purpose of the present invention is to provide a steel box girder suction-type robotic arm automated maintenance method, which is implemented based on the above-mentioned steel box girder suction-type robotic arm automated maintenance equipment, and includes three crack repair modes: the first crack repair mode corresponds to the drilling crack arrest mode; the second crack repair mode corresponds to the steel plate reinforcement mode; and the third crack repair mode corresponds to the bolt reinforcement mode; wherein:

[0030] When the drilling crack arrest mode is adopted, the color calibration is first performed at the preset drilling mark position in the area where the crack to be repaired is located. Then, the control terminal controls the main arm of the robot to drive the drilling robot arm to adjust its posture toward the drilling mark position according to the planned strategy until the drill bit is aligned with the drilling mark position. Then, the drill bit is translated until the drill bit is pressed against the drilling mark position, the posture adjustment of the main arm of the robot is stopped, and the drilling robot arm is started to drive the drill bit to perform drilling operations at the drilling mark position.

[0031] When the steel plate reinforcement mode is adopted, the outline of the reinforced steel plate is first marked at the preset steel plate reinforcement position in the area where the crack to be repaired is located; then the magnetic steel plate adsorption head is used to adsorb the reinforced steel plate by magnetic attraction, and then the mechanical main arm is controlled to drive the steel plate reinforcement mechanical arm to adjust its posture toward the steel plate reinforcement position according to the planned strategy, until the reinforced steel plate adsorbed by the magnetic steel plate adsorption head is aligned with the outline of the reinforced steel plate marked at the steel plate reinforcement position, then the posture adjustment of the mechanical main arm is stopped, and the steel plate reinforcement mechanical arm is started to stick the reinforced steel plate to the steel plate reinforcement position, and the magnetic steel plate adsorption head is controlled to lose the magnetic attraction function, release the reinforced steel plate, and continue to press the reinforced steel plate through the steel plate reinforcement mechanical arm until the reinforced steel plate is firmly adhered to the steel plate reinforcement position;

[0032] When using the bolt reinforcement mode, first start the robotic main arm to drive the working robotic arm to adjust its posture until the drill bit installed at the front end of the drilling robotic arm is aligned with the bolt reinforcement part, then move the drill bit horizontally until the drill bit is tight against the bolt reinforcement part, stop the posture adjustment of the robotic main arm, and start the drilling robotic arm to drive the drill bit to drill bolt holes in the bolt reinforcement part, then retract the drill bit to the initial position, and then start the robotic main arm again to drive the working robotic arm to adjust its posture until the bolt reinforcement head at the front end of the bolt reinforcement robotic arm is aligned with the drilled bolt hole, then move the bolt reinforcement head forward to embed the front end of the fastening bolt assembled in the bolt reinforcement head into the bolt hole, and then rotate the bolt reinforcement head to tighten the fastening bolt in the bolt hole.

[0033] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0034] 1. The steel box girder adsorption-type robotic arm automated maintenance equipment of the present invention integrates three maintenance and reinforcement methods: drilling crack arrest, steel plate reinforcement and bolt reinforcement, and can deal with complex fatigue crack problems.

[0035] 2. In the automated steel box girder repair equipment with an adsorption-type robotic arm, the control terminal can communicate with the main robotic arm and each working robotic arm via Wi-Fi, enabling remote control of the robotic arms. Furthermore, the control terminal incorporates algorithms designed specifically for each working robotic arm, enabling automated and intelligent fatigue crack repair.

[0036] 3. The present invention solves the problem of traditional maintenance methods, which is that the equipment is not portable and flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is the overall structural diagram of the steel box girder adsorption type mechanical arm automated maintenance equipment of the present invention;

[0038] Figure 2This is the overall structural diagram of the steel box girder adsorption type robotic arm automated maintenance equipment of the present invention in another direction;

[0039] Figure 3 yes Figure 1 Schematic diagram of the structure of the drilling robot arm;

[0040] Figure 4 yes Figure 1 Schematic diagram of the structure of the bolt-reinforced robotic arm;

[0041] Figure 5 yes Figure 1 Schematic diagram of the structure of the working robot arm;

[0042] Figure 6 This is a schematic diagram of a first application scenario of the steel box girder adsorption-type robotic arm automated maintenance equipment of the present invention;

[0043] Figure 7 This is a schematic diagram of a second application scenario of the steel box girder adsorption-type robotic arm automated maintenance equipment of the present invention;

[0044] In the figure: 1. Working base; 2. Joint of the main robot arm; 3. Electromagnet with power failure; 4. Control terminal; 5. First robot arm; 6. Second robot arm; 7. Pin joint of the auxiliary robot arm; 8. Auxiliary robot arm; 9. Bolt-reinforced robot arm; 10. Steel plate-reinforced robot arm; 11. Drilling robot arm; 12. Image recognition device; 13. Small electromagnet with power failure; 14. Rotating motor; 15. Reinforcement end; 16. Drill wheel; 17. Gun barrel; 18. Displacement compensation device. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way serves as any limitation on the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement of components and steps, expressions and numerical values described in these embodiments do not limit the scope of the present invention. Technologies, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered part of the specification. In all examples shown and discussed here, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values.

[0046] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0047] like Figure 1-7 As shown, the steel box girder adsorption-type robotic arm automated maintenance equipment of the present invention integrates maintenance and reinforcement methods such as drilling crack arrest, steel plate reinforcement, and bolt reinforcement to solve the problems of low installation efficiency, poor equipment portability, and low flexibility during the implementation of existing fatigue crack arrest and reinforcement technologies. The equipment includes a working base 1, a main robotic arm, an auxiliary robotic arm, a working robotic arm, and a control terminal 4, wherein: The working robotic arm includes a bolt reinforcement robotic arm 9, a steel plate reinforcement robotic arm 10 and a drilling robotic arm 11; one end of the robotic main arm is connected to the working base 1, and the other end is connected to the steel plate reinforcement robotic arm 10. The two sides of the steel plate reinforcement robotic arm 10 are respectively connected to the bolt reinforcement robotic arm 9 and the drilling robotic arm 11 through an auxiliary robotic arm; the working end of the steel plate reinforcement robotic arm 10 is provided with a magnetic steel plate adsorption head 13, the working end of the bolt reinforcement robotic arm 9 is provided with a bolt reinforcement head, and the working end of the drilling robotic arm 11 is provided with a drill bit.

[0048] The working robotic arm includes a bolt reinforcement robotic arm 9, a steel plate reinforcement robotic arm 10 and a drilling robotic arm 11; one end of the robotic main arm is connected to the working base 1, and the other end is connected to the steel plate reinforcement robotic arm 10. The two sides of the steel plate reinforcement robotic arm 10 are respectively connected to the bolt reinforcement robotic arm 9 and the drilling robotic arm 11 through an auxiliary robotic arm; the working end of the steel plate reinforcement robotic arm 10 is provided with a magnetic steel plate adsorption head 13, the working end of the bolt reinforcement robotic arm 9 is provided with a bolt reinforcement head, and the working end of the drilling robotic arm 11 is provided with a drill bit.

[0049] The control terminal 4, integrated within the work platform 1, is used to control the coordinated operation of the main robotic arm and the working robotic arms (bolt reinforcement arm 9, steel plate reinforcement arm 10, or drilling arm 11), enabling the bolt reinforcement arm 9, steel plate reinforcement arm 10, or drilling arm 11 to reach the corresponding target location for crack repair. The communication connection between the control terminal and the main robotic arm and each working robotic arm can be connected via Wi-Fi, enabling remote control of the robotic arms. In this case, the control terminal is referred to as a remote Wi-Fi terminal.

[0050] The working platform 1 is provided with an electromagnet 3 for power failure, which is connected to the power supply device via a wire. The control terminal 4 can control the electrical connection / disconnection between the electromagnet 3 and the power supply device. After the device is placed in a suitable position and powered on, it is controlled by a remote WIFI terminal and attached to the cross diaphragm of the steel box beam to ensure that the device has a stable working foundation. Figure 2 shown.

[0051] In the present invention, the main robot arm includes a first robot arm 5, a second robot arm 6, and a robot arm joint 2; one end of the first robot arm 5 is connected to the work platform 1 through the robot arm joint 2, and the robot arm joint 2 is equipped with a displacement compensation device 18, and the other end is connected to the steel plate reinforcement robot arm 10 through the second robot arm 6. The robot arm joint 2 is a pin joint, and the robot arm joint is equipped with a displacement compensation device to accurately locate the working position when the steel box girder vibrates under the action of vehicle load, such as Figure 1 shown.

[0052] Each auxiliary manipulator arm is connected to the steel plate reinforcement manipulator arm 10 via a latch joint 7, allowing the auxiliary manipulator arm to rotate on the steel plate reinforcement manipulator arm to facilitate operation. In the accompanying drawings, the auxiliary manipulator arm has a two-link structure, including a first and a second link, which are positioned and connected by a latch.

[0053] In the present invention, the steel plate reinforcement robot arm 10 includes a reciprocating linear motion mechanism and a magnetic steel plate adsorption head 13 connected to the power output end of the reciprocating linear motion mechanism. The magnetic steel plate adsorption head 13 is made of an electromagnet with a de-energized band, and the magnetic steel plate adsorption head 13 is connected to the power supply device through a wire. Under the control of the control terminal 4, the magnetic steel plate adsorption head 13 is electrically connected to the power supply device and the reinforced steel plate is adsorbed by magnetic attraction; the reciprocating motion mechanism feeds the magnetic steel plate adsorption head 13 toward the target position until the reinforced steel plate is pressed and attached to the target position, cuts off the electrical connection between the magnetic steel plate adsorption head 13 and the power supply device, and controls the reciprocating motion mechanism to drive the magnetic steel plate adsorption head 13 to reset.

[0054] In the present invention, the bolt reinforcement robot arm 9 includes a first rotary motor 141 and a bolt reinforcement head connected to the power output end of the first rotary motor 14; a bolt bin for storing reinforcement bolts is provided in the bolt reinforcement head; under the control of the control terminal 4, the first rotary motor 141 drives the reinforcement bolt to rotate so as to tighten the reinforcement bolt in the bolt hole formed at the target position. The bolt reinforcement head is designed as a bolt bin and can store one reinforcement bolt for backup; the front end of the bolt reinforcement head is provided with a hexagonal clamping device to clamp the reinforcement bolt and perform the reinforcement operation through the first rotary motor 141, such as Figure 4 As shown, the power required by the bolt reinforcement robot to tighten the reinforcement bolts is provided by the first rotary motor 141. The hexagonal gripping device at the front end can feed back the diagonal diameter data of the hexagonal reinforcement bolts to the control terminal, which controls the first rotary motor 141 to provide the corresponding power for the tightening operation. The time for tightening the reinforcement bolts is controlled by the control terminal. When the reinforcement bolts are tightened, the bolt reinforcement head senses a large resistance and feeds back to the control terminal, which controls the first rotary motor 141 to stop.

[0055] In the present invention, the drilling robot arm 11 includes a drill actuator, a drill wheel 16 and a barrel 17. The drill wheel 16 is positioned between the drill actuator and the barrel 17 by a rotating shaft, and the drill wheel 16 has a number of drill bins evenly distributed around the straight line where the rotating shaft is located, and each drill bin stores a drill bit; by rotating the drill wheel 16, any drill bit is caused to be between the power output end of the drill actuator and the barrel and to be collinear with the power output end of the drill actuator and the axis of the barrel; under the control of the control terminal 4, the drill actuator first pushes the drill bit aligned with the power output end of the drill actuator into the barrel 17, and then drives the drill bit placed in the barrel 17 to rotate, so as to perform drilling operations at the target position, and finally stops rotating, and causes the drill bit in the barrel to reset in the drill wheel 16. The drill wheel has four sizes of drill bits in reserve, corresponding to different hole diameters to be drilled, such as Figure 3 The power required for drilling by the drilling robot arm is provided by the drill actuator; the drilling time is controlled by the control terminal. When drilling is completed, the drill senses a sudden drop in resistance and feeds this back to the control terminal, which controls the drill actuator to stop.

[0056] To ensure that the working robot arm can reach the target position to perform crack repair operations under the drive of the main robot arm, the present invention adopts an image recognition device. The image recognition device includes three cameras, corresponding to the first to third cameras, wherein:

[0057] The first camera is mounted on the drilling robot arm 11 and is equipped with a first image recognition module. The first camera is used to capture images of the front side of the drill bit and transmit the captured images to the first image recognition module according to a data acquisition cycle. The first image recognition module recognizes whether the drill bit is aligned with a preset drilling mark position in the area where the crack to be repaired is located based on the image feedback from the first camera.

[0058] The second camera is mounted on the steel plate reinforcement robot arm 10 and is equipped with a second image recognition module. The second camera is used to capture images of the front side of the magnetic steel plate adsorption head and transmit the captured images to the second image recognition module according to a data acquisition cycle. The second image recognition module recognizes whether the magnetic steel plate adsorption head is aligned with a preset steel plate reinforcement portion in the area where the crack to be repaired is located based on the image feedback from the second camera.

[0059] The third camera is installed on the bolt reinforcement robot arm 9, and the third camera is equipped with a third image recognition module; the third camera is used to capture the image of the front side of the bolt reinforcement head and can transmit the collected image to the third image recognition module according to the data acquisition cycle; the third image recognition module recognizes whether the bolt reinforcement head is aligned with the preset bolt reinforcement position in the area where the crack to be repaired is located based on the image feedback from the third camera.

[0060] In order to realize the automation and intelligent control of each working robot arm, the present invention sets a main arm control module and a working arm control module in the control terminal 4 through algorithm design; wherein:

[0061] Working arm control module, including drilling and crack arrest control module, steel plate reinforcement control module and bolt reinforcement control module;

[0062] The working arm control module can trigger the drilling crack arrest control module, steel plate reinforcement control module, and bolt reinforcement control module according to the shape of the crack to be repaired;

[0063] When the working arm control module selects to trigger the drilling crack arrest control module according to the shape of the crack to be repaired, the main arm control module controls the main arm to drive the drilling robot arm 11 to adjust its posture toward the drilling mark position according to the planning strategy, until it is recognized according to the image captured by the first camera that the drill bit is aligned with the drilling mark position and the distance between the drill bit and the drilling mark position is within a preset range, the main arm is stopped, and the drilling robot arm 11 is started to control the drill bit to drill a hole at the drilling mark position;

[0064] When the working arm control module selects to trigger the steel plate reinforcement control module according to the shape of the crack to be repaired, the main arm control module controls the mechanical main arm to drive the steel plate reinforcement mechanical arm 10 to adjust its posture toward the steel plate reinforcement part according to the planning strategy, until it is recognized according to the image taken by the second camera that the magnetic steel plate adsorption head is aligned with the steel plate reinforcement part and the distance between the magnetic steel plate adsorption head and the steel plate reinforcement part is within a preset range, the mechanical main arm is stopped, the steel plate reinforcement mechanical arm 10 is started, and the magnetic steel plate adsorption head is pushed forward so that the reinforcement steel plate carried by the magnetic steel plate adsorption head is adhered to the steel plate reinforcement part and pressed against the reinforcement steel plate, and then the magnetic steel plate adsorption head is controlled to lose its magnetism to complete the release of the reinforced steel plate;

[0065] When the working arm control module selects to trigger the bolt reinforcement control module according to the shape of the crack to be repaired, the main arm control module controls the mechanical main arm to first drive the drilling mechanical arm 11 to move toward the bolt reinforcement part according to the planning strategy, until it can be identified from the image taken by the first camera that the drill bit is aligned with the bolt reinforcement part and the distance of the drill bit relative to the bolt reinforcement part is within the preset range, the mechanical main arm is stopped, and the drilling mechanical arm 11 is started to control the drill bit to drill bolt holes in the bolt reinforcement part; then the drilling mechanical arm 11 is controlled to drive the drill bit to reset, and the mechanical main arm is started again to drive the bolt reinforcement mechanical arm 9 to move toward the bolt reinforcement part, until it can be identified from the image taken by the third camera that the bolt reinforcement head is aligned with the bolt hole and the distance of the bolt reinforcement head relative to the bolt hole is within the preset range, the mechanical main arm is stopped, and the bolt reinforcement mechanical arm 9 is started to control the bolt reinforcement head to assemble the bolt in the bolt hole.

[0066] Based on the above-mentioned steel box girder adsorption type robotic arm automated maintenance equipment, the present invention provides a steel box girder adsorption type robotic arm automated maintenance method, including three crack repair modes: the first crack repair mode corresponds to the drilling crack arrest mode; the second crack repair mode corresponds to the steel plate reinforcement mode; the third crack repair mode corresponds to the bolt reinforcement mode; wherein:

[0067] When the drilling crack arrest mode is adopted, the color calibration is first performed at the preset drilling mark position in the area where the crack to be repaired is located. Then, the control terminal 4 controls the mechanical main arm to drive the drilling mechanical arm 11 to adjust its posture toward the drilling mark position according to the planned strategy until the drill bit is aligned with the drilling mark position. Then, the drill bit is translated until the drill bit is pressed against the drilling mark position, the posture adjustment of the mechanical main arm is stopped, and the drilling mechanical arm 11 is started to drive the drill bit to perform drilling operation at the drilling mark position;

[0068] When the steel plate reinforcement mode is adopted, the outline of the reinforced steel plate is first marked at the preset steel plate reinforcement position in the area where the crack to be repaired is located; then the magnetic steel plate adsorption head 13 is used to adsorb the reinforced steel plate by magnetic attraction, and then the mechanical main arm is controlled to drive the steel plate reinforcement mechanical arm 10 to adjust its posture toward the steel plate reinforcement position according to the planned strategy, until the reinforced steel plate adsorbed on the magnetic steel plate adsorption head 13 is aligned with the outline of the reinforced steel plate marked at the steel plate reinforcement position, the posture adjustment of the mechanical main arm is stopped, and the steel plate reinforcement mechanical arm 10 is started to stick the reinforced steel plate to the steel plate reinforcement position, the magnetic steel plate adsorption head 13 is controlled to lose the magnetic attraction function, release the reinforced steel plate, and continue to press the reinforced steel plate through the steel plate reinforcement mechanical arm 10 until the reinforced steel plate is firmly adhered to the steel plate reinforcement position;

[0069] When using the bolt reinforcement mode, first start the robotic main arm to drive the working robotic arm to adjust its posture until the drill bit installed at the front end of the drilling robotic arm 11 is aligned with the bolt reinforcement part, then move the drill bit horizontally until the drill bit is tight against the bolt reinforcement part, stop the posture adjustment of the robotic main arm, and start the drilling robotic arm 11 to drive the drill bit to drill bolt holes in the bolt reinforcement part, then retract the drill bit to the initial position, and then start the robotic main arm again to drive the working robotic arm to adjust its posture until the bolt reinforcement head at the front end of the bolt reinforcement robotic arm 9 is aligned with the drilled bolt hole, then move the bolt reinforcement head forward to embed the front end of the fastening bolt assembled in the bolt reinforcement head into the bolt hole, and then rotate the bolt reinforcement head to tighten the fastening bolt in the bolt hole.

Claims

1. A steel box girder adsorption type robotic arm automated maintenance equipment, characterized in that: The invention comprises a working base (1), a main mechanical arm, an auxiliary mechanical arm, a working mechanical arm and a control terminal (4), wherein: The working mechanical arm comprises a bolt reinforcement mechanical arm (9), a steel plate reinforcement mechanical arm (10) and a drilling mechanical arm (11); one end of the mechanical main arm is connected to the working base (1), and the other end is connected to the steel plate reinforcement mechanical arm (10); both sides of the steel plate reinforcement mechanical arm (10) are respectively connected to the bolt reinforcement mechanical arm (9) and the drilling mechanical arm (11) through an auxiliary mechanical arm; The working end of the steel plate reinforcement robot arm (10) is provided with a magnetic steel plate adsorption head (13), the working end of the bolt reinforcement robot arm (9) is provided with a bolt reinforcement head, and the working end of the drilling robot arm (11) is provided with a drill bit; The control terminal (4) is integrated inside the working base (1) and is used to control the main arm of the robot and the bolt reinforcement robot arm (9), the steel plate reinforcement robot arm (10) or the drilling robot arm (11) in the working robot arm to work together, so as to enable the bolt reinforcement robot arm (9), the steel plate reinforcement robot arm (10) or the drilling robot arm (11) to reach the corresponding target position to perform crack repair operations.

2. The steel box girder adsorption type robotic arm automated maintenance equipment according to claim 1, characterized in that: It also includes three cameras, corresponding to the first to third cameras, wherein: The first camera is mounted on the drilling robot arm (11), and the first camera is equipped with a first image recognition module; the first camera is used to capture an image of the front side of the drill bit and can transmit the captured image to the first image recognition module according to a data acquisition cycle; the first image recognition module recognizes whether the drill bit is aligned with a preset drilling mark position in the area where the crack to be repaired is located based on the image fed back by the first camera; The second camera is installed on the steel plate reinforcement mechanical arm (10), and the second camera is equipped with a second image recognition module; The second camera is used to capture images of the front side of the magnetic steel plate adsorption head and transmit the captured images to the second image recognition module according to the data acquisition cycle; the second image recognition module recognizes whether the magnetic steel plate adsorption head is aligned with the preset steel plate reinforcement position in the area where the crack to be repaired is located based on the image feedback from the second camera; The third camera is mounted on the bolt reinforcement mechanical arm (9), and is equipped with a third image recognition module; the third camera is used to capture an image of the front side of the bolt reinforcement head and can transmit the captured image to the third image recognition module according to a data acquisition cycle; the third image recognition module recognizes whether the bolt reinforcement head is aligned with a preset bolt reinforcement position in the area where the crack to be repaired is located based on the image fed back by the third camera.

3. The steel box girder adsorption type robotic arm automated maintenance equipment according to claim 2, characterized in that: The control terminal (4) further comprises a main arm control module and a working arm control module; wherein: The working arm control module includes a drilling and crack arrest control module, a steel plate reinforcement control module and a bolt reinforcement control module; The working arm control module can selectively trigger the drilling crack arrest control module, the steel plate reinforcement control module, and the bolt reinforcement control module according to the shape of the crack to be repaired; When the working arm control module selects to trigger the drilling crack arrest control module according to the shape of the crack to be repaired, the main arm control module controls the mechanical main arm to drive the drilling mechanical arm (11) to adjust its posture toward the drilling mark position according to the planning strategy, until it is recognized based on the image captured by the first camera that the drill bit is aligned with the drilling mark position and the distance of the drill bit relative to the drilling mark position is within a preset range, stops the mechanical main arm, and starts the drilling mechanical arm (11) to control the drill bit to drill a hole at the drilling mark position; When the working arm control module selects to trigger the steel plate reinforcement control module according to the shape of the crack to be repaired, the main arm control module controls the mechanical main arm to drive the steel plate reinforcement mechanical arm (10) to adjust its posture toward the steel plate reinforcement part according to the planning strategy, until it is recognized according to the image captured by the second camera that the magnetic steel plate adsorption head is aligned with the steel plate reinforcement part and the distance of the magnetic steel plate adsorption head relative to the steel plate reinforcement part is within a preset range, the mechanical main arm is stopped, the steel plate reinforcement mechanical arm (10) is started, and the magnetic steel plate adsorption head is pushed forward so that the reinforcement steel plate carried by the magnetic steel plate adsorption head is adhered to the steel plate reinforcement part and pressed against the reinforcement steel plate, and then the magnetic steel plate adsorption head is controlled to lose its magnetism, thereby completing the release of the reinforcement steel plate; When the working arm control module selects to trigger the bolt reinforcement control module according to the shape of the crack to be repaired, the main arm control module controls the main arm to first drive the drilling robot arm (11) to move toward the bolt reinforcement part according to the planning strategy, until it can be identified from the image taken by the first camera that the drill bit is aligned with the bolt reinforcement part and the distance of the drill bit relative to the bolt reinforcement part is within a preset range, stop the main arm, start the drilling robot arm (11), and control the drill bit to drill a bolt hole in the bolt reinforcement part; then control the drilling robot arm (11) to drive the drill bit to reset, and start the main arm again to drive the bolt reinforcement robot arm (9) to move toward the bolt reinforcement part, until it can be identified from the image taken by the third camera that the bolt reinforcement head is aligned with the bolt hole and the distance of the bolt reinforcement head relative to the bolt hole is within a preset range, stop the main arm, and start the bolt reinforcement robot arm (9), and control the bolt reinforcement head to assemble the bolt in the bolt hole.

4. The steel box girder adsorption type robotic arm automated maintenance equipment according to claim 1, characterized in that: The mechanical main arm comprises a first mechanical arm (5), a second mechanical arm (6) and a mechanical main arm joint (2); one end of the first mechanical arm (5) is connected to a work base (1) through the mechanical main arm joint (2), and a displacement compensation device (18) is installed on the mechanical main arm joint (2); the other end is connected to a steel plate reinforced mechanical arm (10) through the second mechanical arm (6).

5. The steel box girder adsorption type robotic arm automated maintenance equipment according to claim 1, characterized in that: Each subsidiary mechanical arm is connected to the steel plate reinforced mechanical arm (10) via a latch joint (7).

6. The steel box girder adsorption type robotic arm automated maintenance equipment according to claim 1, characterized in that: A power-off electromagnet (3) is installed at the bottom of the shell of the work base (1); the power-off electromagnet (3) is connected to a power supply device via a wire; and a control terminal (4) is capable of controlling the electrical connection / disconnection between the power-off electromagnet (3) and the power supply device.

7. The steel box girder adsorption type robotic arm automated maintenance equipment according to claim 1, characterized in that: The steel plate reinforcement mechanical arm (10) comprises a reciprocating linear motion mechanism and a magnetic steel plate adsorption head (13) connected to the power output end of the reciprocating linear motion mechanism, wherein the magnetic steel plate adsorption head (13) is made of an electromagnet with a de-energized band, and the magnetic steel plate adsorption head (13) is connected to a power supply device via a wire; Under the control of the control terminal (4), the magnetic steel plate adsorption head (13) is electrically connected to the power supply device and the reinforcement steel plate is adsorbed by magnetic attraction; the reciprocating linear motion mechanism feeds the magnetic steel plate adsorption head (13) toward the target position until the reinforcement steel plate is pressed and attached to the target position, and the electrical connection between the magnetic steel plate adsorption head (13) and the power supply device is cut off, and the reciprocating linear motion mechanism is controlled to drive the magnetic steel plate adsorption head (13) to reset.

8. The steel box girder adsorption type robotic arm automated maintenance equipment according to claim 1, characterized in that: The bolt reinforcement mechanical arm (9) comprises a first rotary motor (141) and a bolt reinforcement head connected to the power output end of the first rotary motor (14); a bolt bin for storing reinforcement bolts is provided in the bolt reinforcement head; Under the control of the control terminal (4), the first rotary motor (141) drives the reinforcing bolt to rotate so as to tighten the reinforcing bolt in the bolt hole formed at the target position.

9. The steel box girder adsorption type robotic arm automated maintenance equipment according to claim 1, characterized in that: The drilling robot arm (11) comprises a drill bit actuator, a drill bit rotary wheel (16) and a gun barrel (17); the drill bit rotary wheel (16) is positioned and arranged between the drill bit actuator and the gun barrel (17) via a rotating shaft, and the drill bit rotary wheel (16) is provided with a plurality of drill bit bins uniformly distributed around the straight line where the rotating shaft is located, and each drill bit bin stores a drill bit; by rotating the drill bit rotary wheel (16), any drill bit is caused to be located between the power output end of the drill bit actuator and the gun barrel and to be collinear with the power output end of the drill bit actuator and the axis of the gun barrel; Under the control of the control terminal (4), the drill actuator first pushes the drill aligned with the power output end of the drill actuator into the gun barrel (17), and then drives the drill placed in the gun barrel (17) to rotate to perform drilling operations at the target position, and finally stops rotating and causes the drill in the gun barrel to reset in the drill wheel (16).

10. A steel box girder suction-type robotic arm automated maintenance method, implemented based on the steel box girder suction-type robotic arm automated maintenance equipment according to claim 1, characterized in that: There are three crack repair modes: the first crack repair mode corresponds to the drilling crack arrest mode; the second crack repair mode corresponds to the steel plate reinforcement mode; the third crack repair mode corresponds to the bolt reinforcement mode; among them: When the drilling crack arrest mode is adopted, first, a color calibration is performed at a preset drilling mark position in the area where the crack to be repaired is located, and then the control terminal (4) controls the mechanical main arm to drive the drilling mechanical arm (11) to adjust its posture toward the drilling mark position according to the planned strategy until the drill bit is aligned with the drilling mark position, and then the drill bit is translated until the drill bit is pressed against the drilling mark position, the posture adjustment of the mechanical main arm is stopped, and the drilling mechanical arm (11) is started to drive the drill bit to perform drilling operation at the drilling mark position; When the steel plate reinforcement mode is adopted, the outline of the reinforcement steel plate is first marked at the steel plate reinforcement position preset in the area where the crack to be repaired is located; then the magnetic steel plate adsorption head (13) is used to adsorb the reinforcement steel plate by magnetic attraction, and then the mechanical main arm is controlled to drive the steel plate reinforcement mechanical arm (10) to adjust its posture toward the steel plate reinforcement position according to the planned strategy, until the reinforcement steel plate adsorbed on the magnetic steel plate adsorption head (13) is aligned with the outline of the reinforcement steel plate marked at the steel plate reinforcement position, then the posture adjustment of the mechanical main arm is stopped, and the steel plate reinforcement mechanical arm (10) is started to stick the reinforcement steel plate to the steel plate reinforcement position, and the magnetic steel plate adsorption head (13) is controlled to lose its magnetic attraction function, release the reinforcement steel plate, and continue to press the reinforcement steel plate through the steel plate reinforcement mechanical arm (10) until the reinforcement steel plate is firmly adhered to the steel plate reinforcement position; When the bolt reinforcement mode is adopted, the main arm of the robot is first started to drive the working robot arm to adjust its posture until the drill bit installed at the front end of the drilling robot arm (11) is aligned with the bolt reinforcement part, the drill bit is moved horizontally until the drill bit is pressed against the bolt reinforcement part, the posture adjustment of the main arm of the robot is stopped, and the drilling robot arm (11) is started to drive the drill bit to drill the bolt hole in the bolt reinforcement part, then the drill bit is retracted to the initial position, and then the main arm of the robot is started again to drive the working robot arm to adjust its posture until the bolt reinforcement head at the front end of the bolt reinforcement robot arm (9) is aligned with the drilled bolt hole, and then the bolt reinforcement head is moved forward to embed the front end of the fastening bolt assembled in the bolt reinforcement head into the bolt hole, and then the bolt reinforcement head is rotated to tighten the fastening bolt in the bolt hole.

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