Wall-climbing robot for pile foundation and using method

Abstract

The invention discloses a wall-climbing robot for a pile foundation and a using method, the wall-climbing robot comprises a hoop assembly and a moving assembly, the moving assembly is slidably arranged on the hoop assembly in a penetrating mode, and the hoop assembly is configured to adjust the size of the hoop assembly by adjusting the torque so as to adjust the tightening force. And the tightening force is adjusted to adjust the pressure between the moving assembly and the pile foundation through the tightening force, so that the moving device can be movably installed on the pile foundation, the moving assembly can be allowed to move on the pile foundation, and the moving assembly is used for driving the wall-climbing robot to move on the pile foundation to achieve the wall-climbing function. The position can be accurately adjusted, the wall-climbing robot can be moved to the accurate position, use is more convenient, the structure is simple, and cost is low.

Description

Technical Field

[0001] This invention relates to the field of civil engineering equipment technology, specifically a wall-climbing robot for pile foundations and its usage method. Background Technology

[0002] In the field of civil engineering, wall-climbing robots are needed in many scenarios. For example, when performing maintenance and inspection work on building piers and other columns, wall-climbing robots are needed to transport sensors or other tools and items to the appropriate locations.

[0003] To meet this need, existing technologies generally employ manual labor or drones, which are either highly dangerous or easily affected by weather conditions (e.g., drones are prone to instability when hovering in strong winds). While some existing technologies utilize wall-climbing robots, their complex structural designs often make installation and disassembly of the columns attached to the pile foundation inconvenient, resulting in both inconvenience and high costs. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a wall-climbing robot for pile foundations and its usage method, which can solve the problems described in the background art.

[0005] The technical solution to achieve the purpose of this invention is as follows: a wall-climbing robot for pile foundations, comprising a clamp assembly and a moving assembly, wherein the moving assembly is slidably mounted on the ring-shaped clamp assembly, and the clamp assembly is configured to adjust its own size and tightening force by adjusting the torque, so as to adjust the pressure between the moving assembly and the pile foundation by adjusting the tightening force, so that the moving device can be movably installed on the pile foundation and the moving assembly can be moved on the pile foundation, and the moving assembly is used to drive the wall-climbing robot to move on the pile foundation to realize the wall-climbing function.

[0006] Furthermore, the clamp assembly includes a torque component and a locking rope. Each end of the locking rope is connected to a collar, which is detachably connected to the torque component. The torque component is used to output torque to adjust the tightening force of the locking rope. A moving component is threaded on the locking rope. When the locking rope increases its tightening force under the action of torque, the moving component moves closer to the pile foundation to increase the pressure between the locking rope and the pile foundation. When the locking rope decreases its tightening force under the action of torque, the moving component moves away from the pile foundation to reduce the pressure between the locking rope and the pile foundation.

[0007] Furthermore, the torque assembly includes a tightening motor, a torque multiplier, and a spring lock. The output end of the tightening motor is connected to the torque multiplier, and the output end of the torque multiplier is connected to the spring lock. Both ends of the spring lock are detachably connected to the loops at both ends of the locking rope. The tightening motor is used to output torque to the torque multiplier, and the torque multiplier is used to amplify the torque and output it to the spring lock. Under the action of torque, the spring lock tightens or loosens the locking rope to adjust the tightening force of the locking rope.

[0008] Furthermore, the moving component includes a base and a motor, as well as several rollers mounted on the base. The rollers are installed on the inner side of the base, and the motor is mounted on the base and connected to the rollers. The motor is used to drive the rollers to steer and rotate. The base is slidably threaded onto the locking rope and can slide along the circumference of the locking rope. The torque component is mounted on the base, the motor of the torque component is fixedly mounted on the base, the torque multiplier is mounted on the motor, and the spring lock is mounted on the torque multiplier.

[0009] Furthermore, the movable component also includes several buckles, which are installed on the outside of the base, and the locking rope passes through the buckles to connect with the base.

[0010] Furthermore, the base is a sheet-like structure, the shape of which is adapted to the shape of the pile foundation, and the base is made of spring steel.

[0011] Furthermore, it also includes a robotic arm and a support frame. The robotic arm is mounted on the movable component and located outside the movable component. The robotic arm is used to retrieve tools to perform functional operations on the pile foundation. The robotic arm is mounted on the moving assembly via a support frame, which is mounted on the outside of the base. It also includes a toolbox for storing tools, which is mounted on a support frame.

[0012] Furthermore, it also includes sensors, cameras, and controllers. The sensors and cameras are mounted on a support frame, and the controller is mounted on a base.

[0013] Furthermore, it also includes a protective cable and a data cable. The data cable is electrically connected to the controller and sensors, and one end of the protective cable is connected to the base, while the other end is fixed to an anchor point above the wall-climbing robot.

[0014] A method for using a wall-climbing robot for pile foundations includes the following steps: Step 1: Determine whether the current environment of the pile foundation is harsh. If so, install the protective cable and proceed to Step 2. If not, proceed directly to Step 2. Step 2: Open the spring lock and buckle, thread the base onto the locking rope, and install the two bases symmetrically on both sides of the pile foundation. Then lock the spring lock and buckle, and fasten the collar onto the spring lock to complete the initial fixation. Step 3: Start the tensioning motor and increase the output torque to the preset value to provide radial pressure rollers to the base. The controller dynamically adjusts the output torque of the tensioning motor lock according to the environmental parameters collected by the sensor to achieve adaptive tension control. Step 4: Start the motor to drive the rollers so that the wall-climbing robot reaches the designated position. If the target position to be operated is located in the lateral direction of the robotic arm, the motor controls the rollers to rotate so that the rollers move along the circumference of the pile foundation to adjust the robotic arm to the target position under the designated position so that the robotic arm can more accurately align with the target position for operation. Step 5: Start the camera and take pictures of the pile foundation. Based on the pictures, fine-tune the moving components to a suitable angle so that the robotic arm can obtain the best working angle. Step 6: Start the robotic arm and begin the operation; Step 7: After the operation is completed, start the motor to lower the wall-climbing robot to the target position, release the tension of the locking rope, open the spring lock and buckle, and loosen the locking rope to remove the wall-climbing robot from the pile foundation.

[0015] The beneficial effects of this invention are as follows: The base can be adjusted to different positions by sliding within the locking rope, thereby allowing the robotic arm on the base to be positioned accordingly. By adjusting the direction of the rollers and driving their rotation via a motor, the base can be raised and lowered on the pile foundation in a linear or spiral manner. This allows for further fine-tuning of the robotic arm's position on the base, enabling precise adjustment to the target location on the pile foundation for operation.

[0016] This invention, through the detachable connection of the locking rope and spring lock, enables the quick disassembly and installation of the clamp assembly and the moving assembly on the pile foundation, making it more convenient to use. The entire structure is simple and inexpensive. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 To be different from Figure 1 A schematic diagram of the invention from a specific viewing angle; Figure 3 This is a structural schematic diagram illustrating the application of the invention to a pile foundation under its service condition; Figure 4 for Figure 3 A top-down view; In the diagram, 1-locking rope, 2-roller, 3-base, 4-mechanical arm, 5-support frame, 6-tool box, 7-motor, 8-buckle, 9-torque component, 10-spring lock, 11-ring, 12-controller, 13-pile foundation, 14-data cable, 15-protective cable. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: like Figures 1-4As shown, a wall-climbing robot for a pile foundation 13 includes a clamp assembly and a moving assembly. The moving assembly is slidably mounted on the ring-shaped clamp assembly. The clamp assembly is configured to adjust its size and tightening force by adjusting its torque. This tightening force allows the moving assembly to be adapted to the size of the pile foundation 13 and simultaneously adjusts the degree of contact with the pile foundation 13, thereby adjusting the pressure between the moving assembly and the pile foundation 13. This allows the moving device to be movably mounted on the pile foundation 13 and enables the moving assembly to move on the pile foundation 13. The moving assembly drives the wall-climbing robot to move on the pile foundation 13, achieving the wall-climbing function.

[0019] For example, it includes two movable components, which are arranged at circumferential intervals along the clamping assembly, so that the two movable components clamp the pile foundation 13 on both sides of the pile foundation 13.

[0020] For example, the clamp assembly includes a torque component 9 and a locking rope 1. Each end of the locking rope 1 is connected to a collar 11, which is detachably connected to the torque component 9. The torque component 9 outputs torque to adjust the tension of the locking rope 1. A moving component is threaded onto the locking rope 1. When the locking rope 1 increases its tension under the action of torque, the moving component moves closer to the pile foundation 13, increasing the pressure between it and the pile foundation 13. When the locking rope 1 decreases its tension under the action of torque, the moving component moves away from the pile foundation 13, reducing the pressure between it and the pile foundation 13.

[0021] For example, the locking rope 1 is a flexible strip shape, which can be a cable, a wire rope, or other strip-shaped object with a certain degree of contraction.

[0022] For example, the torque assembly 9 includes a tightening motor, a torque multiplier, and a spring lock 10. The output end of the tightening motor is connected to the torque multiplier, and the output end of the torque multiplier is connected to the spring lock 10. Both ends of the spring lock 10 are detachably connected to the loops 11 at both ends of the locking rope 1. The tightening motor outputs torque to the torque multiplier, which amplifies the torque and outputs it to the spring lock 10. Under the action of torque, the spring lock 10 tightens or loosens the locking rope 1 to adjust the tightening force of the locking rope 1.

[0023] For example, the moving component includes a base 3 and a motor 7, as well as several rollers 2 mounted on the base 3. The rollers 2 are mounted on the side of the base 3 closest to the pile foundation 13, that is, on the inner side of the base 3. The motor 7 is mounted on the base 3 and connected to the rollers 2. The motor 7 is used to drive the rollers 2 to turn and rotate. By driving the rollers 2 to turn, the rollers 2 can slide in different directions, thereby enabling the wall-climbing robot to move on the pile foundation 13 in different directions, for example, moving linearly up and down along the axial direction of the pile foundation 13, or spiraling up and down along the circumferential direction of the pile foundation 13. By driving the rollers 2 to rotate, the rollers 2 can slide on the pile foundation 13, thereby enabling the wall-climbing robot to move on the pile foundation 13 and realize the wall-climbing function.

[0024] The base 3 is slidably threaded onto the locking rope 1 and can slide along the circumference of the locking rope 1.

[0025] The torque component 9 is mounted on the base 3, the motor 7 of the torque component 9 is fixedly mounted on the base 3, the torque multiplier is mounted on the motor 7, and the spring lock 10 is mounted on the torque multiplier.

[0026] For example, the moving component also includes several buckles 8, which are mounted on the outside of the base 3, and the locking rope 1 passes through the buckles 8 to connect with the base 3.

[0027] For example, it includes four rollers 2, each roller 2 is connected to a corresponding motor 7, and the four rollers 2 are distributed at the four corners of the base 3.

[0028] For example, the base 3 is a sheet-like structure, and its shape is adapted to the shape of the pile foundation 13. For instance, when the pile foundation 13 is a cylinder, the base 3 is an arc-shaped sheet-like structure. When the pile foundation 13 is a rectangular cylinder, the base 3 is a planar plate-like structure.

[0029] For example, the base 3 is made of spring steel.

[0030] For example, it also includes a controller 12, which is mounted on the base 3.

[0031] For example, it also includes a robotic arm 4, which is mounted on the movable component and located outside the movable component. The robotic arm 4 is used to pick up tools to perform functional operations on the pile foundation 13. For example, it can pick up appropriate tools to perform operations such as monitoring and / or maintenance on the pile foundation 13.

[0032] It is understandable that robotic arm 4 is existing technology. Robotic arm 4 generally includes a bottom turntable base, arm, driver, joint, end effector, etc. The end effector can use magnetic attraction or gripping to pick up tools. Since robotic arm 4 is existing technology, it will not be described in detail here.

[0033] For example, it also includes a support frame 5, through which the robotic arm 4 is mounted on the moving component. The support frame 5 is mounted on the outside of the base 3, and the robotic arm 4 is mounted on the support frame 5.

[0034] For example, it also includes a tool box 6 for holding tools. The tool box 6 is mounted on the support frame 5, and the operating range of the robotic arm 4 can cover the tool box 6 so as to be able to retrieve the tools inside the tool box 6.

[0035] For example, a sensor is also included, which is mounted on the support frame 5.

[0036] For example, a camera is also included, which is mounted on the support frame 5.

[0037] Exemplary features also include a protective cable 15 and a data cable 14. The data cable 14 is electrically connected to the controller 12 and sensors. One end of the protective cable 15 is connected to the base 3, and the other end is fixed to an anchor point above the wall-climbing robot, located outside the robot. For example, the anchor point can extend along the axial direction of the pile foundation 13 and protrude above the top of the pile foundation 13 to prevent the wall-climbing robot from accidentally falling due to accidents or harsh environments (such as extremely bad weather). The data cable 14 is used to transmit power and data.

[0038] This invention allows the base 3 to slide within the locking rope 1, enabling it to be adjusted to different positions, thus allowing the robotic arm 4 on the base 3 to be positioned accordingly. The motor 7 adjusts the direction of the roller 2 and drives its rotation, enabling the base 3 to rise and fall on the pile foundation 13 in a linear or spiral manner. This allows for further fine-tuning of the position of the robotic arm 4 on the base 3, ensuring accurate positioning of the robotic arm 4 to the target location on the pile foundation 13 for operation.

[0039] This invention, through the detachable connection of the locking rope 1 and the spring lock 10, enables the quick disassembly and installation of the clamp assembly and the moving assembly onto the pile foundation 13, making it more convenient to use. The entire structure is simple and inexpensive.

[0040] The present invention also provides a method for using a wall-climbing robot for pile foundation 13, comprising the following steps: Step 1: Determine whether the current environment of pile foundation 13 is harsh. If so, install the protective cable 15 and then proceed to step 2. If not, proceed directly to step 2.

[0041] Step 2: Open the spring lock 10 and buckle 8, thread the base 3 onto the locking rope 1, and install the two bases 3 symmetrically on both sides of the pile foundation 13. Then lock the spring lock 10 and buckle 8, and fasten the collar 11 onto the spring lock 10 to complete the initial fixation.

[0042] Step 3: Start the tensioning motor to increase the output torque to a preset value, providing radial pressure to the base 3. The controller 12 dynamically adjusts the output torque of the tensioning motor lock based on the environmental parameters collected by the sensors to achieve adaptive tension control.

[0043] Step 4: Start motor 7 to drive roller 2 so that the wall-climbing robot reaches the designated position. If the target position to be operated is located in the lateral direction of the robotic arm 4, the roller 2 is rotated by motor 7 so that the roller 2 moves around the pile foundation 13 in the circumference, so that the robotic arm 4 is adjusted to the target position under the designated position, so that the robotic arm 4 can be more accurately aligned with the target position for operation.

[0044] Step 5: Start the camera to take pictures of the pile foundation 13. Based on the pictures, fine-tune the moving components to a suitable angle so that the robotic arm 4 can obtain the best working angle.

[0045] Step 6: Start robotic arm 4 and begin operation.

[0046] Step 7: After the operation is completed, start motor 7 to make the wall-climbing robot descend to the target position, release the tension of locking rope 1, open spring lock 10 and buckle 8, and release locking rope 1 to remove the wall-climbing robot from pile 13.

[0047] The embodiments disclosed in this specification are merely illustrative of one aspect of the invention, and the scope of protection of the invention is not limited to these embodiments. Any other functionally equivalent embodiments fall within the scope of protection of the invention. Those skilled in the art can make various other corresponding changes and modifications based on the technical solutions and concepts described above, and all such changes and modifications should fall within the scope of protection of the claims of this invention.

Claims

1. A wall-climbing robot for pile foundation, characterized by, The application relates to a wall-climbing robot for pile foundation, which comprises a hoop assembly and a moving assembly, the moving assembly is slid through the hoop assembly in a ring shape, the hoop assembly is configured to adjust the tightening force by adjusting the torque to adjust the pressure between the moving assembly and the pile foundation through the tightening force, so that the moving device can be movably installed on the pile foundation and can allow the moving assembly to move on the pile foundation, the moving assembly is used for driving the wall-climbing robot to move on the pile foundation to realize the wall-climbing function.

2. The wall-climbing robot for pile foundation according to claim 1, characterized in that, The hoop assembly comprises a torque assembly, locking ropes, and a sleeve ring connected to the two ends of the locking ropes, the sleeve ring is detachably connected to the torque assembly, the torque assembly is used for outputting torque to adjust the tightening force of the locking ropes, and the moving assembly is slid through the locking ropes; when the tightening force of the locking ropes is increased under the action of the torque, the moving assembly approaches the pile foundation to increase the pressure between the moving assembly and the pile foundation; when the tightening force of the locking ropes is reduced under the action of the torque, the moving assembly moves away from the pile foundation to reduce the pressure between the moving assembly and the pile foundation.

3. The wall-climbing robot for pile foundation according to claim 2, characterized in that, The torque assembly comprises a tightening motor, a torque multiplier and a spring lock, the output end of the tightening motor is connected to the torque multiplier, the output end of the torque multiplier is connected to the spring lock, and the two ends of the spring lock are respectively detachably connected to the sleeve rings at the two ends of the locking ropes; the tightening motor is used for outputting torque to the torque multiplier, the torque multiplier is used for amplifying the torque and outputting the torque to the spring lock, and the spring lock is used for tightening or loosening the locking ropes under the action of the torque to adjust the tightening force of the locking ropes.

4. The wall-climbing robot for pile foundation according to claim 3, characterized in that, The moving assembly comprises a base and a motor, and a plurality of rollers arranged on the base, the rollers are installed on the inner side of the base, the motor is installed on the base and connected to the rollers, and the motor is used for driving the rollers to turn and rotate, The base is slid through the locking ropes and can slide along the circumference of the locking ropes, The torque assembly is installed on the base, the motor of the torque assembly is fixedly installed on the base, the torque multiplier is installed on the motor, and the spring lock is installed on the torque multiplier.

5. The wall-climbing robot for pile foundation according to claim 4, characterized in that, The moving assembly further comprises a plurality of buckles, the buckles are installed on the outer side of the base, and the locking ropes pass through the buckles to be connected to the base.

6. The wall-climbing robot for pile foundation according to claim 5, characterized in that, The base is in a sheet shape, the base is shaped to be matched with the shape of the pile foundation, and the base is made of spring steel.

7. The wall-climbing robot for pile foundation according to claim 6, characterized in that, Further comprising a mechanical arm and a support frame, the mechanical arm is installed on the moving assembly and located on the outer side of the moving assembly, and the mechanical arm is used for taking tools to perform functional operation on the pile foundation, The mechanical arm is installed on the moving assembly through the support frame, the support frame is installed on the outer side of the base, and the mechanical arm is installed on the support frame, Further comprising a tool box, the tool box is used for placing tools, and the tool box is installed on the support frame.

8. The wall-climbing robot for pile foundation according to claim 7, characterized in that, Further comprising a sensor, a camera and a controller, the sensor and the camera are installed on the support frame, and the controller is installed on the base.

9. The wall-climbing robot for pile foundation according to claim 8, characterized in that, Further comprising a protective cable and a data cable, the data cable is electrically connected to the controller and the sensor, one end of the protective cable is connected to the base, and the other end is fixed to an anchor point above the wall-climbing robot.

10. A method of using a wall-climbing robot for pile foundation, characterized in that, The use method adopts the wall-climbing robot for pile foundation according to claim 9, and the use method comprises the following steps: Step 1: judging whether the current environment of the pile foundation is harsh, if yes, installing the protective cable and then executing step 2, if not, directly executing step 2; Step 2: Open the spring lock and buckle, the base is arranged on the locking rope, and two bases are symmetrically installed on both sides of the pile foundation, and then the spring lock and buckle are locked, and the collar is buckled on the spring lock to complete the preliminary fixation; Step 3: Start the tightening motor, increase the output torque to the preset value, and provide the base with a radial pressure wheel; the controller dynamically adjusts the output torque of the tightening motor according to the environmental parameters collected by the sensor to realize adaptive tensioning control; Step 4: Start the motor to drive the roller, so that the wall climbing robot reaches the specified position, if the target position to be operated is located in the lateral direction of the mechanical arm, rotate the roller by controlling the motor, so that the roller moves along the circumference of the pile foundation, to adjust the mechanical arm to the target direction under the specified position, so that the mechanical arm can more accurately align the target position for operation; Step 5: Start the camera to take pictures of the pile foundation, and according to the images obtained by shooting, fine-tune the moving assembly to reach the appropriate angle, so that the mechanical arm obtains the best working angle; Step 6: Start the mechanical arm and start operating; Step 7: After the operation is completed, start the motor to make the wall climbing robot descend to the target position, release the tensioning state of the locking rope, open the spring lock and buckle, and loosen the locking rope, so as to move the wall climbing robot from the pile foundation.

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