Magnetic type main tower inspection wall-climbing robot

Abstract

The utility model relates to the technical field of main tower maintenance, and provides a magnetic type main tower inspection wall-climbing robot which aims at solving the problems that in the prior art, a wall-climbing vehicle used for maintaining a main tower needs continuous power input to maintain the posture on a plane, the endurance time is short, and the risk of equipment falling exists after energy is suddenly interrupted. Comprising a set of magnetic type walking mechanisms, and the magnetic type walking mechanisms are attracted to a walking plane and can smoothly walk on the walking plane; the two magnetic type walking mechanisms are connected through a series connection support. The magnetic type walking mechanism comprises a magnetic type chassis, a permanent magnet type magnetic wheel is mounted on the magnetic type chassis, and the permanent magnet type magnetic wheel is used for being adsorbed on the surface of the main tower; the series connection support is connected with a detection equipment interface which is used for being connected with intelligent detection equipment. The robot can keep the posture under the condition of power interruption, and the falling risk of the robot when energy is interrupted is eliminated.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of main tower maintenance, in particular to a magnetic main tower inspection wall-climbing robot. BACKGROUND

[0002] The main tower structure size of modern large-span bridge is usually large, usually adopts steel box girder to build main tower or enveloped steel shell concrete to build main tower, and the main tower is an important stress and force transmission member of suspension bridge, cable-stayed bridge and other types of bridges, and its health degree is particularly important, and needs to be regularly maintained.

[0003] At present, the maintenance of the main tower is usually carried out by arranging a mechanical boom or a fixed steel wire rope suspension point on the top of the tower, connecting a steel wire rope at the mechanical boom or the steel wire rope suspension point, and lifting a hanging basket through the steel wire rope to carry out lifting operation of the hanging basket, and the hanging basket is lifted along the steel wire rope on the outer surface of the main tower to carry out maintenance on the main tower. The above-mentioned method has the problems of poor safety, low maintenance efficiency, large blind area (negative angle area cannot be reached), and separation of maintenance and repair.

[0004] After studying the characteristics of the main tower, in order to solve the problem of full coverage and improve the efficiency and realize the separation of maintenance and repair, the industry has made many-sided research on the detection equipment for the main tower or similar large-angle plane, and has achieved corresponding results, such as negative pressure wall-climbing vehicle and rotary wing aerodynamic wall-climbing vehicle. However, due to the need for continuous power input for maintaining the posture on the plane, there is the problem of short endurance time, and there is also the risk of equipment falling after the energy is suddenly interrupted. Therefore, it is necessary to develop a new technology that can maintain the posture on the plane without relying on power input. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a magnetic main tower inspection wall-climbing robot to solve the problem that the posture of the wall-climbing vehicle for maintaining the main tower needs continuous power input to maintain the posture on the plane, the endurance time is short, and there is the risk of equipment falling after the energy is suddenly interrupted in the prior art.

[0006] The utility model is implemented by adopting the following technical solutions:

[0007] The utility model provides a magnetic main tower inspection wall-climbing robot, which comprises a set of magnetic walking mechanisms, the magnetic walking mechanisms are adsorbed on a walking plane, and the magnetic walking mechanisms can smoothly walk on the walking plane.

[0008] Two magnetic walking mechanisms are connected through a series support;

[0009] The magnetic walking mechanism comprises a magnetic bottom plate, a permanent magnetic suction wheel is installed on the magnetic bottom plate, and the permanent magnetic suction wheel is used for adsorbing on the surface of the main tower.

[0010] The series connection support is connected with a detection device interface, which is used to connect intelligent detection equipment.

[0011] As a preferred technical solution:

[0012] The permanent magnet type magnetic wheel is internally provided with a permanent magnet.

[0013] As a preferred technical solution:

[0014] The permanent magnet type magnetic wheel is internally provided with a power battery.

[0015] As a preferred technical solution:

[0016] The series connection support is connected with a detection device mounting support, one end of the detection device mounting support is fixedly connected to the series connection support, the other end of the detection device mounting support extends towards one of the magnetic type chassis, and is connected with the detection device interface.

[0017] As a preferred technical solution:

[0018] The magnetic type chassis is also provided with a receiving controller, which is used to receive instructions and control the posture adjustment of the robot, and the receiving controller is connected with the permanent magnet type magnetic wheel.

[0019] As a preferred technical solution:

[0020] The series connection support is a flat series connection support or an angle series connection support.

[0021] As a preferred technical solution:

[0022] When the series connection support is a flat series connection support, the two magnetic type walking mechanisms are located on the same plane, and the robot walks in one plane.

[0023] As a preferred technical solution:

[0024] When the series connection support is an angle series connection support, the two magnetic type walking mechanisms are respectively located on two adjacent walking planes, and the robot walks on the adjacent two planes.

[0025] As a preferred technical solution:

[0026] The bending angle of the angle series connection support is matched with the included angle between the two adjacent walking planes.

[0027] As a preferred technical solution:

[0028] The angle series connection support is a round corner bending.

[0029] As a preferred technical solution:

[0030] The top surface of the magnetic type chassis is provided with a connecting seat, and the series connection support is connected to the connecting seat.

[0031] Therefore, the magnetic type main tower inspection wall-climbing robot has the advantages that:

[0032] 1. The magnetic type main tower inspection wall-climbing robot can keep the posture in the case of power interruption, and eliminate the falling risk of the robot in the case of energy interruption.

[0033] 2. The magnetic type main tower inspection wall-climbing robot can be widely used on the main tower with a steel shell, improve the maintenance efficiency of the surface of the main tower, and enhance the practicability of the main tower maintenance equipment.

[0034] 3. The magnetic type main tower inspection wall-climbing robot can change the shape of the robot through different types of series connection supports, so that the robot can run on a single plane or adjacent double planes.

[0035] 4. The magnetic type main tower inspection wall-climbing robot can be installed with intelligent detection equipment, and the robot can be used as an intelligent detection carrier to intelligently detect the main tower through the intelligent detection equipment. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The magnetic type main tower inspection wall-climbing robot is shown in the structure diagram.

[0037] Figure 2 The magnetic type main tower inspection wall-climbing robot is shown in the structure diagram.

[0038] The magnetic type main tower inspection wall-climbing robot is shown in the structure diagram. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0040] Embodiment 1

[0041] As shown in Figure 1 and Figure 2 The utility model discloses a magnetic main tower inspection wall climbing robot, including a group of magnetic walking mechanism 1, two magnetic walking mechanism 1 are connected through tandem support 2, magnetic walking mechanism 1 is adsorbed in walking plane, magnetic walking mechanism 1 can walk smoothly on walking plane.

[0042] Tandem support 2 is flat tandem support or angle tandem support, flat tandem support is straight pole structure, angle tandem support is bent pole structure, Figure 1 As shown in the middle is angle tandem support.

[0043] When tandem support 2 is flat tandem support, two magnetic walking mechanism 1 are located on the same plane, and can be suitable for walking in a plane, when tandem support 2 is angle tandem support, two magnetic walking mechanism 1 are located at two adjacent walking planes respectively, the bending angle of angle tandem support is adapted to the included angle between two adjacent walking planes, preferably, the bending angle of angle tandem support is equal to the included angle between two adjacent walking planes. Preferably, the angle tandem support is round corner bending. By changing the form of tandem support 2, different forms of magnetic main tower inspection wall climbing robot can be formed, and the walking on different planes can be adapted. Therefore, tandem support 2 is not limited to the aforementioned flat tandem support and angle tandem support. The combined form of the robot is multiple, and can adapt to various types of large-angle planes, and even the walking on negative angle planes.

[0044] Magnetic walking mechanism 1 includes magnetic chassis 101, permanent magnetic wheel 102 is installed on magnetic chassis 101, permanent magnetic wheel 102 is built-in permanent magnet, permanent magnet is attracted to the steel bar in main tower or main tower steel shell, so that permanent magnetic wheel 102 is adsorbed on the surface of main tower.

[0045] Magnetic chassis 101 is pressed on the surface of main tower by permanent magnetic wheel 102, and sufficient friction force is provided for the robot. After the robot has sufficient friction force, it moves on the surface of main tower by permanent magnetic wheel 102.

[0046] The permanent magnetic type magnetic suction wheel 102 is internally provided with a power battery, and the power source of the permanent magnetic type magnetic suction wheel 102 is the power battery, and the permanent magnetic type magnetic suction wheel 102 runs under the action of the power battery.

[0047] The utility model discloses adopt permanent magnetism technology, make the robot not need additional power supply can keep the attitude on the large angle plane (steel structure or steel shell), eliminate the risk of energy interruption equipment falling, can slowly descend along the main tower surface to the height of manual recovery after the energy end.

[0048] The top surface of the magnetic suction type chassis 101 is provided with a connecting seat 6, and the series connection support 2 is connected to the connecting seat 6. In this embodiment, two series connection supports 2 are connected between the two magnetic suction type chassis 101, and the two series connection supports 2 are arranged in parallel with each other.

[0049] The series connection support 2 is connected with a detection equipment mounting support 3, one end of the detection equipment mounting support 3 is fixedly connected to the series connection support 2, and the other end of the detection equipment mounting support 3 extends towards one of the magnetic suction type chassis 101 and is connected with a detection equipment interface 4. The detection equipment interface 4 can be connected with different intelligent detection equipment. The robot of the utility model serves as a carrier of intelligent detection equipment, and the main tower can be intelligently detected by the intelligent detection equipment. The robot has rich expandability, can realize the separation of inspection and maintenance work, can improve the inspection efficiency and frequency of the surface of the main tower and its auxiliary facilities, and can periodically and plannedly maintain the detected diseases. The robot has important significance for realizing the scientific maintenance of the surface of the main tower and its auxiliary facilities.

[0050] The magnetic suction type chassis 101 is also provided with a receiving controller 5, which is used for receiving instructions and controlling the attitude adjustment of the robot. The receiving controller 5 is connected with the permanent magnetic type magnetic suction wheel 102, and the receiving controller 5 can control the forward movement, backward movement and turning of the permanent magnetic type magnetic suction wheel 102, so as to realize the free movement of the robot on the surface of the main tower.

[0051] The above only describes the preferred embodiments of the utility model, and is not used for limiting the utility model. For those skilled in the art, the utility model can have various changes and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A magnetically attached main tower inspection wall-climbing robot, characterized in that: It includes a set of magnetic walking mechanisms, which are attached to a walking surface and can walk smoothly on the walking surface; The two magnetic walking mechanisms are connected by a series bracket; The magnetic walking mechanism includes a magnetic chassis, on which a permanent magnet magnetic wheel is mounted, and the permanent magnet magnetic wheel is used to adhere to the surface of the main tower. The series support is connected to a testing equipment interface, which is used to connect to intelligent testing equipment.

2. The magnetic main tower inspection wall-climbing robot according to claim 1, characterized in that: The permanent magnet magnetic chuck has a built-in permanent magnet.

3. The magnetic main tower inspection wall-climbing robot according to claim 1, characterized in that: The permanent magnet magnetic chuck has a built-in power battery.

4. The magnetically attached main tower inspection wall-climbing robot according to claim 1, characterized in that: A testing equipment mounting bracket is connected to the series support. One end of the testing equipment mounting bracket is fixedly connected to the series support, and the other end of the testing equipment mounting bracket extends toward one of the magnetic chassis and is connected to the testing equipment interface.

5. The magnetic main tower inspection wall-climbing robot according to claim 1, characterized in that: The magnetic chassis is also equipped with a receiver controller, which is used to receive instructions and control the robot's posture adjustment. The receiver controller is connected to the permanent magnet magnetic wheel.

6. The magnetic main tower inspection wall-climbing robot according to claim 1, characterized in that: The series support can be a flat series support or an angle series support.

7. The magnetic main tower inspection wall-climbing robot according to claim 6, characterized in that: When the series support is a flat series support, the two magnetic walking mechanisms are located on the same plane, and the robot moves in one plane.

8. The magnetic main tower inspection wall-climbing robot according to claim 6, characterized in that: When the series support is an angle series support, the two magnetic walking mechanisms are located on two adjacent walking planes respectively, and the robot walks on the two adjacent planes.

9. The magnetic main tower inspection wall-climbing robot according to claim 6, characterized in that: The bending angle of the angular series support is adapted to the included angle between two adjacent walking planes.

10. The magnetic main tower inspection wall-climbing robot according to claim 1, characterized in that: The magnetic chassis has a connecting seat on its top surface, and the series bracket is connected to the connecting seat.

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