Box girder bottom plate maintenance robot

Abstract

A box girder bottom plate maintenance robot comprises two storage areas and a robot body, the robot body comprises a mounting frame, a first connecting arm, a second connecting arm and a third connecting arm, two rows of supporting wheels are arranged in the mounting frame, the first connecting arm is fixed to the top of the mounting frame, a coil is wound around the first connecting arm, the first connecting arm is electrically connected with a power source, and a first electromagnet is formed; the horizontal section is clamped between the two rows of supporting wheels, the two vertical sections extend out of the mounting frame, are wound with coils respectively and are electrically connected with a power supply to form a second electromagnet, the third connecting arm is of an L-shaped structure, the vertical sections are arranged at the bottom of the mounting frame, the extending end of the horizontal section exceeds the projection range of the mounting frame, and a camera is arranged. The storage area comprises a belt conveying mechanism, the extending direction is perpendicular to the length direction of the box girder, and a belt of the belt conveying mechanism is flush with the bottom of the mounting frame. The device is simple in structure, low in maintenance cost and capable of effectively meeting the maintenance requirements of the box girder bottom plate.

Description

Technical Field

[0001] This utility model relates to the field of municipal bridges, and in particular to a robot for inspecting the bottom plate of a box girder. Background Technology

[0002] Steel box girders are a common structural form for long-span bridges. They are constructed by welding together a top plate, bottom plate, web, transverse diaphragms, longitudinal diaphragms, and stiffening ribs. They have advantages such as good mechanical properties, reasonable weight, convenient construction, and factory prefabrication, and are widely used.

[0003] Steel box girders require regular maintenance. Currently, maintenance of the bottom plate of steel box girders typically involves manual slinging from below the girder, with others pulling it in place. Due to the large span of the steel box girder and the long length of the slings used, the distance between the middle of the sling and the bottom of the girder is significant, reducing the accuracy of manual maintenance. Furthermore, it requires multiple back-and-forth movements, resulting in high labor intensity and difficulty in achieving proper inspection. Additionally, the considerable height of the steel box girder poses a risk of falls from a height.

[0004] Therefore, designing a robot for bottom plate maintenance that can replace manual labor to solve the above problems is an urgent issue for those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a box girder bottom plate inspection robot, which has a simple structure, low maintenance cost, and can effectively meet the inspection needs of box girder bottom plates.

[0006] The technical solution to achieve the purpose of this utility model is: a box girder bottom plate inspection robot, comprising two storage areas and a robot body, wherein a power supply is provided in the robot body, the robot body includes a mounting frame, a first connecting arm, a second connecting arm, and a third connecting arm, wherein the mounting frame is provided with two rows of support wheels, the number of support wheels in the same row being at least two, and located at the same height, at least one support wheel being driven to rotate by a first motor, the first connecting arm being fixed to the top of the mounting frame and extending vertically upward, the first connecting arm having a coil wound around it and electrically connected to the power supply to form a first electromagnet, the second connecting arm having a U-shaped structure, the horizontal section of the second connecting arm being clamped between the two rows of support wheels. The two vertical sections of the second connecting arm extend outward from the mounting frame and are at the same height as the first connecting arm. Coils are wound around the two vertical sections of the second connecting arm and electrically connected to the power supply to form a second electromagnet. The third connecting arm has an L-shaped structure. The vertical section of the third connecting arm is located at the bottom of the mounting frame and is driven to rotate by a second motor. The horizontal extension of the third connecting arm extends beyond the projection range of the mounting frame and is equipped with a camera. The storage area includes a belt conveyor mechanism. The two belt conveyors are respectively suspended at both ends of the bottom plate of the box girder, extending horizontally and perpendicular to the length direction of the box girder. The belts of the belt conveyors are flush with the bottom of the mounting frame.

[0007] The horizontal section of the second connecting arm is strip-shaped, and both the top and bottom surfaces are provided with two strip grooves extending along the length direction. There are two pairs of support wheels in the same row, which are respectively set at both ends of the mounting frame and roll into the corresponding strip grooves.

[0008] The drive wheel of the belt conveyor mechanism is driven to rotate by a stepper motor, and the first motor is a servo motor.

[0009] The horizontal section of the third connecting arm is an electric telescopic pole.

[0010] It also includes a safety rope, the two ends of which are fixedly connected to the two ends of the box girder. A safety support arm is provided on the mounting frame, and the extension end of the safety support arm is sleeved on the safety rope.

[0011] The above technical solution has the following beneficial effects:

[0012] 1. The box girder bottom plate inspection robot includes two storage areas and a robot body, which is equipped with a power supply. The robot body includes a mounting frame, a first connecting arm, a second connecting arm, and a third connecting arm, wherein the mounting frame is used to mount each connecting arm. The mounting frame has two rows of support wheels, with at least two support wheels in each row at the same height, and at least one support wheel is driven to rotate by a first motor. The first connecting arm is fixed to the top of the mounting frame and extends vertically upward. A coil is wound around the first connecting arm and electrically connected to the power supply to form a first electromagnet. When the first electromagnet is energized, it can be attracted to the box girder bottom plate, causing the mounting frame to suspend below the box girder bottom plate. The second connecting arm has a U-shaped structure. Its horizontal section is held between two rows of support wheels. The two vertical sections of the second connecting arm extend outwards from the mounting frame, with the same height as the first connecting arm. Coils are wound around the two vertical sections of the second connecting arm and electrically connected to a power source, forming a second electromagnet. The second connecting arm and the mounting bracket, through the cooperation of the support wheels and the horizontal section, allow for stable horizontal movement relative to each other. When the second electromagnet is energized, it can adhere to the bottom plate of the box girder, suspending the mounting frame below the box girder bottom plate. The third connecting arm has an L-shaped structure. Its vertical section is located at the bottom of the mounting frame and is driven to rotate by a second motor. The extension of the horizontal section of the third connecting arm extends beyond the projection range of the mounting frame and is equipped with a camera. This camera is moved by the mounting frame and rotates along its trajectory during the movement, achieving a wider camera coverage area. The storage area includes a belt conveyor mechanism. Two belt conveyors are respectively suspended at both ends of the bottom plate of the box girder, extending horizontally and perpendicular to the length direction of the box girder. The belts of the belt conveyors are flush with the bottom of the mounting frame. The robot body is supported on the belt conveyor mechanism by the mounting frame. By controlling the position of the second connecting arm, the center of gravity of the robot body is located on the belt conveyor mechanism, ensuring the stability of the robot body on the belt conveyor mechanism. It is used for charging and maintenance, which can effectively reduce the intensity of manual labor and ensure the safety of personnel.

[0013] 2. The horizontal section of the second connecting arm is strip-shaped, and two strip grooves extending along the length direction are provided on the top and bottom surfaces. There are two pairs of support wheels in the same row, which are respectively set at both ends of the mounting frame and roll into the corresponding strip grooves to ensure the relative stability between the second connecting arm and the mounting frame, as well as the mutual support strength.

[0014] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details. Attached Figure Description

[0015] Figure 1 It is a structural diagram of the utility model;

[0016] Figure 2 This is a schematic diagram of the robot body of this utility model remaining in the storage area.

[0017] In the attached diagram, 1 is the storage area, 2 is the robot body, 3 is the mounting frame, 4 is the first connecting arm, 5 is the second connecting arm, 6 is the third connecting arm, 7 is the support wheel, 8 is the first motor, 9 is the first electromagnet, 10 is the second electromagnet, 11 is the second motor, 12 is the camera, and 13 is the belt conveyor mechanism. Detailed Implementation

[0018] Example 1

[0019] See also Figure 1 and Figure 2 The box girder bottom plate inspection robot includes two storage areas 1 and a robot body 2. The robot body 2 is equipped with a power supply, typically a rechargeable lithium battery. The robot body 2 includes a mounting frame 3, a first connecting arm 4, a second connecting arm 5, and a third connecting arm 6. Typically, the mounting frame 3 is a cubic frame. The mounting frame 3 has two rows of support wheels 7, with at least two wheels in each row at the same height. At least one support wheel is driven to rotate by a first motor 8. In this embodiment, there are two pairs of support wheels 7 in each row, located at opposite ends of the mounting frame 3. The first motor 8 is a servo motor. The first connecting arm 4 is fixed to the top of the mounting frame 3 and extends vertically upwards. A coil is wound around the first connecting arm and electrically connected to the power supply, forming a first electromagnet 9. The second connecting arm 5 has a U-shaped structure. The horizontal section of the second connecting arm 5 is held between two rows of support wheels 7. The two vertical sections of the second connecting arm 5 extend outward from the mounting frame 3, and their height is the same as that of the first connecting arm 4. Coils are wound on the two vertical sections of the second connecting arm and electrically connected to the power supply to form a second electromagnet 10. In this embodiment, the horizontal section of the second connecting arm 4 is strip-shaped, and two strip-shaped grooves extending along the length direction are provided on the top and bottom surfaces, and they roll into the corresponding strip-shaped grooves. The third connecting arm 6 has an L-shaped structure. The vertical section of the third connecting arm 6 is located at the bottom of the mounting frame 3 and is driven to rotate by the second motor 11. The extension end of the horizontal section of the third connecting arm 6 exceeds the projection range of the mounting frame 3 and is equipped with a camera 12. In this embodiment, the horizontal section of the third connecting arm 6 is an electric telescopic rod, which allows the camera to move outward. The storage area 1 includes a belt conveyor mechanism 13. The drive wheel of the belt conveyor mechanism 13 is driven to rotate by a stepper motor. The two belt conveyor mechanisms 13 are respectively suspended at both ends of the bottom plate of the box girder, extending horizontally and perpendicular to the length direction of the box girder. The belt of the belt conveyor mechanism 13 is flush with the bottom of the mounting frame.

[0020] To ensure safety, a safety rope is also included, with both ends of the safety rope fixedly connected to both ends of the box girder. A safety support arm is provided on the mounting frame 3, and the extension end of the safety support arm is sleeved on the safety rope.

[0021] Example 2

[0022] The method for inspecting the bottom plate of a box girder using the inspection robot described in Example 1 includes the following steps:

[0023] 1) In the initial state, the robot body is supported on the belt conveyor mechanism at the first end by the mounting frame, and the mounting frame is close to the second vertical section of the second connecting arm;

[0024] 2) When the first electromagnet is energized, it is attracted to the bottom of the box girder. When the second electromagnet is de-energized, the first motor is energized, driving the support wheel to rotate, so that the second connecting arm moves towards the belt conveyor mechanism at the second end, until the mounting frame is close to the first vertical section of the second connecting arm.

[0025] 3) When the second electromagnet is energized, it is attracted to the bottom of the box girder. When the first electromagnet is de-energized, the first motor is energized, driving the support wheel to rotate, so that the mounting frame moves horizontally toward the belt conveyor at the second end, until the mounting frame is close to the second vertical section of the second connecting arm.

[0026] 4) Repeat steps 2) and 3) to support the robot body on the belt conveyor mechanism at the second end via the mounting frame, with the mounting frame close to the first vertical section of the second connecting arm.

[0027] 5) The belt conveyor mechanism at the second end drives the robot body to move vertically along the length of the box girder;

[0028] 6) When the first electromagnet is energized, it is attracted to the bottom of the box girder. When the second electromagnet is de-energized, the first motor is energized, driving the support wheel to rotate, so that the second connecting arm moves towards the belt conveyor mechanism at the first end, until the mounting frame is close to the second vertical section of the second connecting arm.

[0029] 7) When the second electromagnet is energized, it is attracted to the bottom of the box girder. When the first electromagnet is de-energized, the first motor is energized and drives the support wheel to rotate, so that the mounting frame moves towards the belt conveyor mechanism at the first end until the mounting frame is close to the first vertical section of the second connecting arm.

[0030] 8) Repeat steps 6) and 7) to bring the robot body to the initial position and change its position in the vertical direction;

[0031] 9) The belt conveyor mechanism at the first end drives the robot body to move vertically along the length of the box girder. The robot body moves back and forth between the belt conveyor mechanism at the first end and the belt conveyor mechanism at the second end. During the translation process, the third connecting arm rotates and the camera captures the area passed by the bottom of the box girder. The captured images are used for manual inspection to complete the maintenance work.

[0032] Conventional methods require road closures for steel box girder maintenance, which presents several challenges: high risk and long cycle. Maintenance is needed every two years, and during inspections, manual inspection requires using a jacking vehicle to lift the girder to its base and relying on visual inspection. Manual inspection necessitates closing all six lanes of the Third Ring Expressway. Starting from preparation work (which includes obtaining initial approval from the Transportation Commission, setting up extensive warning signs such as "Construction Ahead" signs, and then driving the jacking vehicle under the girder for on-site supervision, requiring at least 3-5 people per shift including workers, drivers, and on-site supervisors), each lane requires a 2.5-day closure, totaling at least 15 days of maintenance time, significantly impacting traffic speed and flow.

[0033] The robot inspections are routine and did not present the aforementioned issues. For some existing municipal bridges, for safety reasons, height restriction warnings need to be installed during inspections to avoid the risk of collisions between large vehicles and the robot.

Claims

1. A robot for inspecting the bottom plate of a box girder, characterized in that: It includes two storage areas (1) and a robot body (2), which is equipped with a power supply. The robot body (2) includes a mounting frame (3), a first connecting arm (4), a second connecting arm (5), and a third connecting arm (6). The mounting frame (3) is provided with two rows of support wheels (7), with at least two support wheels (7) in the same row, located at the same height, and at least one support wheel is driven to rotate by the first motor (8). The first connecting arm (4) is fixed to the top of the mounting frame (3) and extends vertically upward. A coil is wound on the first connecting arm and electrically connected to the power supply to form the first electromagnet (9). The second connecting arm (5) has a U-shaped structure. The horizontal section of the second connecting arm (5) is sandwiched between two rows of support wheels (7). The two vertical sections of the second connecting arm (5) extend out of the mounting frame (3) and have the same height as the first connecting arm (4). The two vertical sections of the second connecting arm are wound with coils and electrically connected to the power supply to form a second electromagnet (10). The third connecting arm (6) has an L-shaped structure. The vertical section of the third connecting arm (6) is located at the bottom of the mounting frame (3) and is driven to rotate by the second motor (11). The extension end of the horizontal section of the third connecting arm (6) extends beyond the projection range of the mounting frame (3) and is equipped with a camera (12). The storage area (1) includes a belt conveyor mechanism (13). The two belt conveyors (13) are respectively suspended at both ends of the bottom plate of the box girder, extending horizontally and perpendicular to the length direction of the box girder. The belt of the belt conveyor mechanism (13) is flush with the bottom of the mounting frame.

2. The box girder bottom plate inspection robot according to claim 1, characterized in that: The horizontal section of the second connecting arm (5) is strip-shaped, and the top and bottom surfaces are provided with two strip grooves extending along the length direction. There are two pairs of support wheels (7) in the same row, which are respectively set at both ends of the mounting frame (3) and roll in the corresponding strip grooves.

3. The box girder bottom plate inspection robot according to claim 1, characterized in that: The drive wheel of the belt conveyor mechanism (13) is driven to rotate by a stepper motor, and the first motor (8) is a servo motor.

4. The box girder bottom plate inspection robot according to claim 1, characterized in that: The horizontal section of the third connecting arm (6) is an electric telescopic rod.

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