Climbing device for disease detection of rectangular high pier column body structure

Abstract

The utility model discloses a climbing device for rectangular high pier column structure disease detection, which comprises a pair of symmetrically arranged reconstruction body mechanisms, each reconstruction body mechanism comprises a guide rail frame, the two ends of the guide rail frame are respectively connected with a reconstruction body structure, the two reconstruction body structures are symmetrically arranged, and the two reconstruction body structures are connected with the guide rail frame. The four reconstruction body structures are sequentially connected through steel wires; the positions of the reconstruction body structures are adjusted through the servo motors, it is ensured that the four reconstruction body structures are stable in the crawling process, blockage and instability in the crawling process are avoided, it is also ensured that the camera can collect images in a stable state, the collection accuracy is ensured, and the stability of the robot is improved. The technical problem that in the prior art, images of high-risk positions cannot be accurately collected in high-pier column structure disease monitoring is solved.

Description

Technical Field

[0001] The utility model belongs to the field of detection robots and relates to a reconfigurable climbing operation robot, in particular to a climbing device used for detecting structural defects of rectangular high pier columns. Background Art

[0002] With the continuous increase in transportation volume and the continuous extension of operating hours, my country's transportation infrastructure has been subjected to long-term external loads, and the continuous accumulation of damage has seriously affected its safety and load-bearing capacity. This is especially true for high-pier infrastructure structures that are inaccessible to humans. If defects are not discovered in time, severe structural collapse may occur. Therefore, most of my country's pier infrastructure has gradually entered a regular maintenance period. Current detection methods cannot meet the needs of high-efficiency, full-area, and automated inspection of rectangular pier structures. With the continuous advancement of technology, the development of high-efficiency, full-area, and automated inspection equipment for high-pier structures is in line with my country's transportation infrastructure informatization strategy.

[0003] At the same time, with the development of artificial intelligence, big data analysis, and digital twin technology, digital archiving, management, maintenance, and twin modeling of inspection results are being developed, providing a scientific basis for the safety assessment and lifecycle maintenance of high pier structures. The complex structure of high piers requires precise inspection methods to identify potential safety hazards. The rectangular pier inspection robot system can achieve high-precision measurement and positioning, allowing for detailed inspection of all parts of the high pier structure. This helps to identify minor damage and potential hazards in the rectangular pier structure, providing strong support for safety assessment and digital maintenance throughout the lifecycle of the structure. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a climbing device for detecting defects in rectangular high pier column structures, so as to solve the technical problem that the existing technology of high pier column structure defect monitoring cannot accurately capture images of high-risk locations.

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

[0006] A climbing device for detecting defects in rectangular high pier column structures comprises a pair of symmetrically arranged reconstruction mechanisms, each comprising a guide rail frame, with a reconstruction structure connected to each end of the guide rail frame. The two reconstruction structures are symmetrically arranged, and the four reconstruction structures are sequentially connected by steel wires.

[0007] The reconfigurable structure includes a crossbar movably mounted at one end of the guide rail frame; a servo motor is mounted on one side of the crossbar; a worm gear reducer is sleeved on the output shaft of the servo motor; drive wheels are mounted on both ends of the output shaft of the worm gear reducer; a first bracket is mounted at the bottom of the crossbar; a battery pack is mounted on the first bracket, and the battery pack is electrically connected to the servo motor;

[0008] A supporting plate is provided on each of the crossbars, and a slidable mounting frame is commonly provided on the two supporting plates in one of the reconstructed body structures, and a plurality of cameras are evenly provided on the mounting frame.

[0009] The utility model also includes the following technical features:

[0010] The cross bar is connected to the first bracket via screws.

[0011] A support rod is provided at one end of the crossbar away from the guide rail frame, the steel wire is provided on a rectangular frame surrounded by the support rod, and spring self-locking ratchets are provided at both ends of the steel wire.

[0012] A mainframe box is provided on the first bracket, a posture sensor is provided in the mainframe box, and the mainframe box is electrically connected to the battery pack and the servo motor.

[0013] The first bracket is provided with a plurality of mounting holes, and the main box is mounted on the mounting holes.

[0014] A first limiting rod and a second limiting rod are respectively provided at the bottom and the top of one side of the first bracket away from the guide rail frame.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects:

[0016] (I) In the present invention, a servo motor is used to adjust the position of the reconstruction structure, thereby ensuring that the four reconstruction structures are stable and steady during the crawling process, avoiding jamming and instability during the crawling process, and ensuring that the camera can collect images in a stable state, ensuring the accuracy of the collection, and solving the technical problem of the existing technology that it is impossible to accurately collect images of high-risk positions in the high pier column structure disease monitoring.

[0017] (II) In the present invention, a steel wire and a spring self-locking ratchet are provided to adjust the pressure between the driving wheel and the surface of the rectangular high pier column structure to be measured, thereby changing the driving force of the driving wheel and ensuring the friction between the driving wheel and the surface of the rectangular high pier column structure to be measured, so that the climbing device for detecting defects in rectangular high pier column structures can be adapted to different load requirements.

[0018] (III) The utility model adopts a power transmission system consisting of a servo motor, a worm gear reducer and a drive wheel. The large reduction ratio of the power transmission system can not only ensure the climbing driving force of the climbing device for detecting defects in rectangular high pier column structures, but also ensure the self-locking of the bearing capacity of the climbing device for detecting defects in rectangular high pier column structures during intermittent climbing. This ensures that the climbing device will not immediately decelerate to zero when the servo motor stops working, thereby ensuring the safety of the climbing device on the surface of the rectangular high pier column structure.

[0019] (IV) The present invention can realize completely non-contact, refined, automated non-destructive testing and evaluation of the entire area of ​​interest, such as high bridge piers, high bridge towers, rectangular structures, etc., without the help of a ladder truck, even in dangerous areas that are inaccessible to humans. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 is a schematic diagram of the reconstruction body mechanism in the present invention;

[0022] Figure 3 Schematic diagram of the reconstructed body structure in the present invention;

[0023] Figure 4 This is a schematic diagram of the control system of the present invention.

[0024] The meanings of the various numbers in the figure are: guide rail frame 1, reconstruction body structure 2, steel wire 3, support plate 4, mounting frame 5, camera 6, spring self-locking ratchet 7, mounting hole 8, first limiting rod 9, second limiting rod 10, support rod 11,

[0025] Crossbar 201 , worm gear reducer 202 , driving wheel 203 , first bracket 204 , battery pack 205 , servo motor 206 .

[0026] The specific contents of the present invention are further explained in detail below with reference to the embodiments. DETAILED DESCRIPTION

[0027] It should be noted that, unless otherwise specified, all components in the present invention are components known in the art.

[0028] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent modifications made on the basis of the technical solution of this application fall within the scope of protection of the present invention.

[0029] The utility model provides a climbing device for detecting defects in rectangular high pier column structures, comprising a pair of symmetrically arranged reconstruction bodies, each of which comprises a guide rail frame 1, with a reconstruction body structure 2 connected to each end of the guide rail frame 1. The two reconstruction bodies 2 are symmetrically arranged, and the four reconstruction bodies 2 are sequentially connected by steel wires 3.

[0030] The reconfigurable structure 2 includes a crossbar 201 movably mounted at one end of the guide rail frame 1. A servo motor 206 is mounted on one side of the crossbar 201. A worm gear reducer 202 is mounted on the output shaft of the servo motor 206. Drive wheels 203 are mounted on both ends of the output shaft of the worm gear reducer 202. A first bracket 204 is mounted at the bottom of the crossbar 201. A battery pack is mounted on the first bracket 204 and is electrically connected to the servo motor 206.

[0031] A support plate 4 is provided on each crossbar 201 , and a slidable mounting frame 5 is commonly provided on the two support plates 4 in one reconstructed structure 2 , and a plurality of cameras 6 are evenly arranged on the mounting frame 5 .

[0032] In the above technical solution, the position of the reconstruction structure 2 is adjusted by using the servo motor 206, which ensures that the four reconstruction structures are stable and steady during the crawling process, avoids the jamming and instability during the crawling process, and also ensures that the camera can collect images in a stable state, ensuring the accuracy of the collection, and solving the technical problem that the existing technology of high pier column structure disease monitoring cannot accurately collect images of high-risk positions.

[0033] By setting the steel wire 3 and the spring self-locking ratchet 7 to adjust the pressure between the driving wheel and the surface of the rectangular high pier column structure to be measured, the driving force of the driving wheel is changed, and the friction between the driving wheel and the surface of the rectangular high pier column structure to be measured is ensured, so that it can adapt to the different load requirements of the climbing device used for rectangular high pier column structure disease detection.

[0034] By adopting a power transmission system consisting of a servo motor 206, a worm gear reducer 202 and a drive wheel 203, the large reduction ratio of the power transmission system can not only ensure the climbing driving force of the climbing device used for rectangular high pier column structure defect detection, but also ensure the self-locking of the bearing capacity of the climbing device used for rectangular high pier column structure defect detection during climbing intervals, so that the climbing device will not immediately decelerate to zero when the servo motor stops working, thereby ensuring the safety of the climbing device on the surface of the rectangular high pier column structure.

[0035] The crossbar 201 and the first bracket 204 are connected by screws.

[0036] A support rod 11 is provided at one end of the crossbar 201 away from the guide rail frame 1 , and the steel wire 3 is provided on a rectangular frame surrounded by the support rod 11 . Both ends of the steel wire 3 are provided with spring self-locking ratchet wheels 7 .

[0037] A mainframe box is provided on the first bracket 204 , a posture sensor is provided in the mainframe box, and the mainframe box is electrically connected to the battery pack and the servo motor 206 .

[0038] In the above technical solution, four posture sensors monitor the inclination angles of the corresponding reconstructed structures 2 in real time and feed back the information to the main control box. The main control box controls the servo motor 206 to adjust the driving wheel 203 forward or backward in real time, thereby making the positions of the four reconstructed structures 2 basically consistent on the measured rectangular high pier column structure, ensuring that the positions of the four reconstructed structures are stable and steady during the crawling process.

[0039] The first bracket 204 is provided with a plurality of mounting holes 8 , and the mainframe box is mounted on the mounting holes 8 .

[0040] In the above technical solution, in order to avoid the host size making the installation inappropriate, the hole can be moved to install it so that the size is more appropriate.

[0041] A first limiting rod 9 and a second limiting rod 10 are respectively provided at the bottom and the top of the side of the first bracket 204 away from the guide rail frame 1 .

[0042] In the above technical solution, the main box is suspended between the wall for supporting purpose to prevent the main box from rubbing against the wall.

[0043] The present invention also provides a control system for a climbing device, comprising a host computer and a plurality of drive components connected thereto, each drive component comprising an FPGA board, each of which is connected to a corresponding attitude sensor and a servo motor 206;

[0044] A Lora wireless module is connected to one of the FPGA boards; wireless communication is established between the Lora wireless module and the host computer.

[0045] In the above technical solution, a multi-point distributed collaborative control system is adopted, and each FPGA board is connected to the corresponding posture sensor. The current angle data is obtained through regular inquiries. If it is in the proposed angle range, the posture adjustment system is turned on. The posture adjustment system can calculate the acquired angle and the distance between each device, thereby changing the pulse and direction signals output to the servo motor, thereby adjusting the posture of the reconstructed structure 2 in real time, ensuring the stability of the climbing device during the crawling process.

Claims

1. A climbing device for detecting defects in rectangular high pier columns, characterized in that: The invention comprises a pair of symmetrically arranged reconstruction body mechanisms, wherein the reconstruction body mechanisms comprise a guide rail frame (1), and each end of the guide rail frame (1) is connected to a reconstruction body structure (2), the two reconstruction body structures (2) are symmetrically arranged, and the four reconstruction body structures (2) are sequentially connected by steel wires (3); The reconstructed body structure (2) comprises a crossbar (201) movably arranged at one end of the guide rail frame (1); a servo motor (206) is mounted on one side of the crossbar (201); a worm gear reducer (202) is sleeved on the output shaft of the servo motor (206); and driving wheels (203) are mounted on both ends of the output shaft of the worm gear reducer (202); a first bracket (204) is arranged at the bottom of the crossbar (201); a battery pack is mounted on the first bracket (204), and the battery pack is electrically connected to the servo motor (206); A support plate (4) is provided on each crossbar (201), and a slidable mounting frame (5) is commonly provided on two support plates (4) located in one reconstructed body structure (2), and a plurality of cameras (6) are evenly provided on the mounting frame (5).

2. The climbing device for detecting defects in rectangular high pier columns as claimed in claim 1, characterized in that: The crossbar (201) and the first bracket (204) are connected via screws.

3. The climbing device for detecting defects in rectangular high pier columns as claimed in claim 1, characterized in that: A support rod (11) is provided at one end of the crossbar (201) away from the guide rail frame (1), the steel wire (3) is provided on a rectangular frame surrounded by the support rod (11), and spring self-locking ratchets (7) are provided at both ends of the steel wire (3).

4. The climbing device for detecting defects in rectangular high pier columns as claimed in claim 1, characterized in that: A mainframe box is provided on the first bracket (204), a posture sensor is provided in the mainframe box, and the mainframe box is electrically connected to the battery pack and the servo motor (206).

5. The climbing device for detecting defects in rectangular high pier columns as claimed in claim 4, characterized in that: The first bracket (204) is provided with a plurality of mounting holes (8), and the main box is mounted on the mounting holes (8).

6. The climbing device for detecting defects in rectangular high pier columns as claimed in claim 1, characterized in that: A first limiting rod (9) and a second limiting rod (10) are respectively provided at the bottom and top of one side of the first bracket (204) away from the guide rail frame (1).

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