Steel box girder structure bridge anti-corrosion operation and maintenance robot walking mechanism

Abstract

The utility model discloses a walking mechanism of an anti-corrosion operation and maintenance robot for a steel box girder structure bridge, which belongs to the technical field of robots and comprises a base, and anti-corrosion equipment is mounted on the base. Each walking part comprises a driving assembly connected to the bottom of the base, the output end of each driving assembly is connected with a connecting frame, a plurality of sliding grooves are formed in the bottom of the base, and the multiple sliding grooves correspond to the multiple walking parts in a one-to-one mode. According to the walking mechanism, the sliding groove with the two low ends and the high middle is formed, when the driving assembly drives the sliding block to move through the connecting frame and the connecting column, the sliding block moves from one end of the sliding groove to the other end of the sliding groove, the sliding block can conveniently drive the moving wheels to cross a gap through the mounting frame, and the walking mechanism can freely walk on a bridge floor; meanwhile, the moving wheels rise and then fall in the process of crossing the bridge deck gap, collision between the moving wheels and the bridge deck gap is effectively avoided, and the moving wheels and the bridge deck are protected.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to a walking mechanism for a steel box girder bridge anti-corrosion maintenance robot. Background Technology

[0002] Due to their unique structural characteristics and long-term exposure to the natural environment, steel box girder bridges require specialized anti-corrosion maintenance robots for maintenance. These robots use external vision equipment to check the condition of the surface coating of the steel box girder bridge and perform maintenance to ensure the anti-corrosion effect of the bridge.

[0003] Existing anti-corrosion maintenance robots have fixed walking mechanisms that cannot be moved or adjusted. When encountering gaps in the bridge deck, such as expansion joints and splice joints, they cannot freely cross the gaps. Therefore, it is often necessary to install large-sized moving wheels to rotate and pass over the gaps. In this method, the large-sized moving wheels not only increase the space occupied by the walking mechanism, which is not conducive to the robot maintaining various parts of the steel box girder bridge, but also make the moving wheels prone to collision damage with the gaps. Summary of the Invention

[0004] The purpose of this invention is to propose a walking mechanism for a steel box girder bridge anti-corrosion maintenance robot, in order to solve the problem that the large size of the moving wheels increases the space occupied by the walking mechanism in the traditional technology of setting large moving wheels to rotate and press through gaps.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A walking mechanism for a corrosion protection and maintenance robot for a steel box girder bridge includes:

[0007] A base, on which anti-corrosion equipment is installed;

[0008] Multiple walking components are provided, each including a drive assembly connected to the bottom of a base. The output end of the drive assembly is connected to a connecting frame. The bottom of the base has multiple sliding grooves, each corresponding to one of the multiple walking components. A sliding block is slidably connected within each sliding groove. A connecting column is fixedly connected to the side of each sliding block. The connecting column is connected to the connecting frame. The sliding groove has a multi-curved structure that is low at both ends and high in the middle. A mounting frame is fixedly connected to the bottom of each sliding block. Rotatable casters are mounted on the bottom of the mounting frame.

[0009] Preferably, the drive assembly includes a drive motor installed in the base, the output end of the drive motor is coaxially fixedly connected to a threaded rod, the end of the threaded rod away from the drive motor is rotatably connected to the base, a threaded block is threadedly connected to the threaded rod, the side of the threaded block is fixedly connected to a connecting frame, and a through cavity is provided in the base for the threaded block and the connecting frame to move.

[0010] Preferably, the connecting frame has a connecting groove, and the connecting column is slidably and rotatably connected in the connecting groove.

[0011] Preferably, the mounting bracket includes multiple fixing rods, the top ends of which are fixedly connected to the bottom of the sliding block, and the bottom ends of each fixing rod penetrate the base and are fixedly connected to the same fixing block. The movable wheel is mounted on the fixing block, and the base has a through groove for the fixing rods to move.

[0012] Preferably, both ends of the sliding groove are connected to support grooves at their bottoms. A support component is connected inside the support groove. The support component includes a support block. The support block is slidably connected inside the support groove, and a support spring is fixedly connected between its bottom and the bottom of the support groove. The top of the support block abuts against the bottom of the corresponding sliding block.

[0013] Preferably, the top of the support block has a groove, and both the top of the groove and the top of the support block have chamfers, wherein the chamfers on the top of the support block naturally cooperate with the lower surface of the bottom of the sliding groove.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. In this utility model, by setting a sliding groove that is low at both ends and high in the middle, when the driving component drives the sliding block to move through the connecting frame and connecting column, the sliding block moves from one end of the sliding groove to the other end. This facilitates the sliding block to drive the moving wheel across the gap through the mounting frame. After multiple moving wheels gradually cross the gap, the operation of the walking mechanism crossing the gap is completed, allowing the walking mechanism to move freely on the bridge surface. At the same time, during the process of crossing the bridge surface gap, the moving wheel first rises and then falls, effectively reducing the contact pressure between the moving wheel and the bridge surface when moving, and avoiding collision between the moving wheel and the bridge surface gap, thus providing a protective effect for the moving wheel and the bridge surface.

[0016] 2. In this utility model, by setting a support component, the support block and support spring form a support effect on the sliding block, which facilitates the distribution of the load on the sliding groove and provides a buffer protection effect for the sliding block; the groove on the support block forms a limiting effect on the sliding block, improving the stability of the moving wheel on the sliding block during operation; and by setting a chamfer, the sliding block can automatically move into and out of the groove during movement, without the need for additional drive equipment, thus reducing costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a partial vertical sectional view of the present invention.

[0019] Figure 3 This is a vertical sectional view of part of the connecting frame of this utility model;

[0020] Figure 4 for Figure 3 Enlarged diagram of part A in the middle.

[0021] In the diagram: 1. Base, 2. Anti-corrosion equipment, 3. Walking parts, 4. Sliding groove, 5. Sliding block, 6. Mounting bracket, 7. Moving wheel, 8. Drive motor, 9. Threaded rod, 10. Threaded block, 11. Connecting bracket, 12. Connecting groove, 13. Connecting column, 14. Support groove, 15. Support block, 16. Support spring, 17. Groove, 18. Bevel. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0023] Reference Figures 1-4 A walking mechanism for a steel box girder bridge corrosion protection and maintenance robot includes:

[0024] Base 1, with anti-corrosion equipment 2 installed on base 1.

[0025] The anti-corrosion equipment 2 adopts existing technologies, such as a high-pressure water jet device, a mechanical grinding device, and an anti-corrosion spraying module. The high-pressure water jet device uses high-pressure water jets to impact the surface of the steel box girder, removing dirt, rust, and aged coatings. The mechanical grinding device is used to finely grind the surface of the steel box girder, facilitating the subsequent adhesion of the anti-corrosion coating. The anti-corrosion spraying module is used to spray anti-corrosion coatings to improve the anti-corrosion effect of the steel box girder surface.

[0026] Multiple walking components 3 are provided. Each walking component 3 includes a drive assembly connected to the bottom of the base 1. The output end of the drive assembly is connected to a connecting frame 11. Multiple sliding grooves 4 are provided on the bottom of the base 1. Each sliding groove 4 corresponds to one of the multiple walking components 3. A sliding block 5 is slidably connected in the sliding groove 4. A connecting column 13 is fixedly connected to the side of the sliding block 5. The connecting column 13 is connected to the connecting frame 11. The sliding groove 4 has a multi-curved structure that is low at both ends and high in the middle. A mounting frame 6 is fixedly connected to the bottom of the sliding block 5. A rotatable moving wheel 7 is installed at the bottom of the mounting frame 6.

[0027] Multiple walking components 3 operate, driving the entire base 1 to move via movable wheels 7.

[0028] When this walking mechanism crosses the gap in the bridge deck, the external detection device detects the gap and controls the drive component to work. The output end of the drive component drives the connecting frame 11 to move. The connecting frame 11 drives the sliding block 5 to move in the sliding groove 4 through the connecting column 13, so that the sliding block 5 moves from one end of the sliding groove 4 to the middle and then to the other end. This allows the sliding block 5 to drive the moving wheel 7 to rise and then fall through the mounting frame 6, making it easier for the moving wheel 7 to cross the gap. After multiple moving wheels 7 gradually cross the gap, the operation of this walking mechanism crossing the gap is completed, allowing the walking mechanism to move freely on the bridge deck.

[0029] Meanwhile, as the movable wheel 7 crosses the gaps in the bridge deck, it first rises and then falls, effectively reducing the contact pressure between the movable wheel 7 and the bridge deck during movement, avoiding collisions between the movable wheel 7 and the gaps in the bridge deck, and providing protection for both the movable wheel 7 and the bridge deck.

[0030] The drive assembly includes a drive motor 8 installed in the base 1. The output end of the drive motor 8 is coaxially fixedly connected to a threaded rod 9. The end of the threaded rod 9 away from the drive motor 8 is rotatably connected to the base 1. A threaded block 10 is threadedly connected to the threaded rod 9. The side of the threaded block 10 is fixedly connected to the connecting frame 11. A through cavity is provided in the base 1 for the threaded block 10 and the connecting frame 11 to move.

[0031] When the drive motor 8 is working, its output end drives the threaded rod 9 to rotate. The rotation of the threaded rod 9 drives the threaded block 10 to move. The threaded block 10 drives the connecting frame 11 to move, providing power for the movement of the sliding block 5.

[0032] The connecting frame 11 has a connecting groove 12, and the connecting column 13 is slidably and rotatably connected in the connecting groove 12.

[0033] The connecting groove 12 is axially arranged in a direction perpendicular to the plane of the base 1. When the sliding block 5 moves up and down in the sliding groove 4, the connecting frame 11 maintains the linkage effect of the sliding block 5, thus completing the driving effect of the sliding block 5.

[0034] Mounting bracket 6 includes multiple fixing rods, the top of which is fixedly connected to the bottom of sliding block 5, and the bottom of each fixing rod passes through base 1 and is fixedly connected to the same fixing block. Moving wheel 7 is mounted on the fixing block, and the base 1 has a through groove for the fixing rods to move.

[0035] Both ends of the sliding groove 4 are connected to the bottom of the support groove 14. The support assemblies are connected in the support groove 14. The support assemblies include support blocks 15. The support blocks 15 are slidably connected in the support groove 14, and the bottom of the support blocks 15 is fixedly connected to the bottom of the support groove 14. The top of the support blocks 15 abuts against the bottom of the corresponding sliding blocks 5.

[0036] The support spring 16 and the support block 15 provide support for the sliding block 5, which helps to distribute the load of the sliding groove 4 and provides a buffer protection effect for the sliding block 5.

[0037] Multiple fixing rods are spaced apart on both sides of the support block 15 to avoid interference.

[0038] The top of the support block 15 has a groove 17, and both the top of the groove 17 and the top of the support block 15 have chamfers 18. The chamfers 18 on the top of the support block 15 naturally cooperate with the lower surface of the bottom of the sliding groove 4.

[0039] When the sliding block 5 slides along the sliding groove 4 and approaches the support block 15, the support block 15 can be pressed down along the chamfer 18 of the support block 15 and finally fall into the groove 17. Thus, the groove 17 forms a limiting effect on the sliding block 5, improving the stability of the moving wheel 7 on the sliding block 5 during operation.

[0040] When the sliding block 5 moves away, the sliding block 5 presses down on the support block 15 along the chamfer 18 of the groove 17, so that the sliding block 5 can detach from the support block 15 and complete the crossing operation.

[0041] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A walking mechanism for a corrosion-resistant maintenance robot of a steel box girder bridge, characterized in that, include: A base (1) on which anti-corrosion equipment (2) is installed; Multiple walking components (3) are provided. Each walking component (3) includes a drive assembly connected to the bottom of the base (1). The output end of the drive assembly is connected to a connecting frame (11). Multiple sliding grooves (4) are provided at the bottom of the base (1). Each sliding groove (4) corresponds to one of the multiple walking components (3). A sliding block (5) is slidably connected in the sliding groove (4). A connecting column (13) is fixedly connected to the side of the sliding block (5). The connecting column (13) is connected to the connecting frame (11). The sliding groove (4) has a multi-bend structure with low ends and high middle. A mounting frame (6) is fixedly connected to the bottom of the sliding block (5). A rotatable moving wheel (7) is installed at the bottom of the mounting frame (6).

2. The walking mechanism of a steel box girder bridge anti-corrosion maintenance robot according to claim 1, characterized in that, in: The drive assembly includes a drive motor (8) installed in the base (1). The output end of the drive motor (8) is coaxially fixedly connected to a threaded rod (9). The end of the threaded rod (9) away from the drive motor (8) is rotatably connected in the base (1). A threaded block (10) is threadedly connected to the threaded rod (9). The side of the threaded block (10) is fixedly connected to the connecting frame (11). A through cavity is provided in the base (1) for the threaded block (10) and the connecting frame (11) to move.

3. The walking mechanism of a steel box girder bridge anti-corrosion maintenance robot according to claim 1, characterized in that, in: The connecting frame (11) has a connecting groove (12), and the connecting column (13) is slidably and rotatably connected in the connecting groove (12).

4. The walking mechanism of a steel box girder bridge anti-corrosion maintenance robot according to claim 1, characterized in that, in: The mounting bracket (6) includes multiple fixed rods, the top ends of which are fixedly connected to the bottom of the sliding block (5), and the bottom ends of which all pass through the base (1) and are fixedly connected to the same fixed block. The movable wheel (7) is mounted on the fixed block, and the base (1) has a through groove for the fixed rods to move.

5. The walking mechanism of a steel box girder bridge anti-corrosion maintenance robot according to claim 1, characterized in that, in: The bottom of both ends of the sliding groove (4) is connected to the support groove (14). The support groove (14) is connected to the support component, which includes a support block (15). The support block (15) is slidably connected in the support groove (14), and a support spring (16) is fixedly connected between its bottom and the bottom of the support groove (14). The top of the support block (15) abuts against the bottom of the corresponding sliding block (5).

6. The walking mechanism of a steel box girder bridge anti-corrosion maintenance robot according to claim 5, characterized in that, in: The top of the support block (15) is provided with a groove (17), and the top of the groove (17) and the top of the support block (15) are both provided with chamfers (18), wherein the chamfers (18) on the top of the support block (15) in their natural state cooperate with the lower surface of the bottom end of the sliding groove (4).

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