Fatigue detection adsorption robot for steel box girder

Abstract

The utility model relates to a fatigue detection adsorption robot for a steel box girder, and the robot comprises a central machine body which comprises a machine body, a main sensing unit, an opening and closing transmission assembly, and a power supply assembly. The machine body is composed of two symmetrical machine bodies. The main sensing unit comprises a sensor and is used for collecting images and position information of weld cracks; the opening and closing transmission assembly comprises a plurality of opening and closing transmission gears, is driven by the center motor and controls the rotating unit through gear meshing. The moving assembly comprises a track unit, a transmission unit, an auxiliary sensing unit, a rotating unit and a permanent magnet module; the crawler unit consists of bilaterally symmetrical crawlers, and each crawler comprises a driving wheel and a driven wheel; the permanent magnet module is arranged on the crawler belt. Compared with the prior art, the device disclosed by the utility model has the advantages of high adaptability, stable adsorption, improved detection efficiency, compact structure, low manual dependence, dynamic adaptability, data real-time performance and the like.

Description

Technical Field

[0001] This utility model relates to the field of fatigue detection technology for steel box girders, and in particular to an adsorption robot for fatigue detection of steel box girders. Background Technology

[0002] As a critical infrastructure in urban transportation systems, bridges' structural safety and stability have a vital impact on public safety and traffic efficiency. With the increasing service life of bridges and the continuous increase in traffic load, bridge structures, especially welded areas, are prone to defects such as cracks and fatigue damage due to long-term exposure to vehicle loads and environmental corrosion. If these structural defects are not detected and repaired in a timely manner, they may lead to serious structural safety accidents, or even cause traffic system paralysis and public safety incidents. Therefore, the detection and maintenance of bridge weld cracks has become a key task in bridge management.

[0003] Currently, the detection of weld cracks in bridges mainly relies on manual inspection. This method has the following main problems: Manual inspection is labor-intensive, requiring inspectors to work in high-altitude, confined, and hazardous environments. Prolonged high-intensity work easily leads to operator fatigue, increasing safety risks. Manual inspection has low efficiency, making it difficult to cover large areas of the bridge structure, resulting in potential defects being difficult to detect and address in a timely manner. The accuracy and consistency of manual inspection depend on the experience and skill level of the inspectors, making it susceptible to subjective factors and difficult to guarantee high-precision and stable inspection results.

[0004] In recent years, researchers have actively explored the application of robotics technology in the automated inspection of bridge structures. Robotic inspection, due to its advantages of high efficiency, accuracy, and low risk, has gradually become an ideal choice for bridge inspection. However, existing bridge inspection robots still face many challenges in practical applications, mainly including insufficient scene adaptability and large equipment size. These robots are often designed for specific bridge structures, lacking flexible adaptability and struggling to cope with diverse bridge shapes and complex terrain environments. At the same time, the large size and poor mobility of existing equipment limit their application in narrow and complex environments, making it difficult to achieve long-term, high-frequency inspection tasks. Furthermore, the stability of typical wheeled wall-climbing robots is insufficient to meet the needs of multiple scenarios. Therefore, there is an urgent need to develop an advanced bridge inspection robot with high adaptability, flexibility, and stability to comprehensively improve the efficiency and safety of bridge weld crack detection and meet the high standards required for modern bridge maintenance.

[0005] Patent CN202410969674.6 discloses a tracked robot and control method for acquiring images of cracks in steel bridge decks. The robot includes: a mechanical body consisting of a hollow structure with magnetic tracks; a power and transmission device driving the robot to perform forward, backward, or tumbling movements; a crack image acquisition device acquiring crack image information and distance information; a brushless motor gimbal device adjusting the angle of the crack image acquisition device, and obtaining the homography transformation matrix between the camera imaging plane and the physical plane where the fatigue crack is located based on the crack image information and distance information; an environmental sensing device acquiring environmental information during the robot's movement; and a main circuit board realizing the overall coordinated control and movement of the robot. However, the maintenance cost is high, the need for manual operation is significant, and the maintenance efficiency is low. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a fatigue detection adsorption robot for steel box girders, which has the advantages of high adaptability, stable adsorption, improved detection efficiency, compact structure, low manual dependence, dynamic adaptability, and real-time data.

[0007] This utility model provides an adsorption robot for fatigue detection of steel box girders, comprising:

[0008] The central body includes: the main body, the main sensing unit, the opening and closing transmission assembly, and the power supply assembly;

[0009] The fuselage consists of two symmetrical bodies;

[0010] The main sensing unit includes high-precision sensors symmetrically mounted on the top and bottom for acquiring images and location information of weld cracks;

[0011] The opening and closing transmission assembly includes multiple opening and closing transmission gears, driven by a central motor, and controls the rotation unit through gear meshing; a first rotating shaft is provided at the center of the opening and closing transmission gears; the central motor is fixed by a central motor fixing component; a bearing is provided on the first rotating shaft.

[0012] The mobile component includes: a track unit, a transmission unit, an auxiliary sensing unit, a rotation unit, and a permanent magnet module; the track unit consists of left and right symmetrical tracks, each track including: a drive wheel and a driven wheel; the permanent magnet module is disposed on the track; the track is fixed by track fixing components;

[0013] The intelligent control component includes a control module, a data processing module, and a communication module, which coordinate the operation of the opening and closing transmission component and the permanent magnet module. The intelligent control component supports remote communication, transmitting detection data to an external terminal in real time.

[0014] Furthermore, the central motor drives the opening and closing transmission gear through the intermediate gear, which in turn drives the second rotating shaft to rotate, thereby realizing the control of the moving component.

[0015] Furthermore, the permanent magnet module installs magnets by drilling holes in the track and fixing them with screws to achieve adsorption between the robot and the bridge surface; the magnets of the permanent magnet module are embedded in the track surface in an equally spaced manner, and the connection between the magnets and the track adopts a screw locking structure.

[0016] Furthermore, the auxiliary sensing unit is a visual sensor, symmetrically distributed on both sides of the moving component, used to assist in scanning and positioning.

[0017] Furthermore, the transmission unit includes a stepper motor embedded in the center of the drive wheel. The stepper motor drives a third rotating shaft located at the center of the drive wheel, thereby driving and rotating the track via a key. The stepper motor is fixed by a stepper motor mounting bracket.

[0018] Furthermore, the rotating unit includes a second rotating shaft, which is locked to the track fixing component, forming an integral rotating structure.

[0019] Furthermore, the main sensing unit integrates a high-definition camera and a laser scanner, supporting multimodal data acquisition.

[0020] Furthermore, the drive wheel and the driven wheel are clamped together by a locking plate to ensure the stability of the track operation.

[0021] Furthermore, the device body is embedded with a switch, a power supply port, and a power display module.

[0022] Furthermore, the power supply unit includes a lithium battery and a step-down module to provide a stable power supply for the robot.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] (1) High adaptability: Through adjustable track structure and permanent magnet adsorption module, it can adapt to complex shapes such as U-shaped ribs and pipes of steel box girder.

[0025] (2) Stable adsorption: The equidistant magnet layout and screw fixing method of the permanent magnet module ensure stable adsorption on vertical and inclined surfaces.

[0026] (3) Improved detection efficiency: The main / auxiliary sensing units work together to achieve rapid scanning and high-precision positioning of weld cracks.

[0027] (4) Compact structure: Modular design and symmetrical fuselage layout reduce volume and are suitable for narrow spaces.

[0028] (5) Low reliance on manual labor: The intelligent control system realizes automated inspection, reducing the need for manual operation in high-altitude and high-risk environments.

[0029] (6) Dynamic adaptability: The opening and closing transmission unit dynamically adjusts the track spacing through the gear meshing mechanism to adapt to different bridge structures.

[0030] (7) Data real-time performance: The communication module supports real-time transmission and analysis of detection data, improving maintenance response speed. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall external structure of the robot of this utility model;

[0032] Figure 2 This is an isometric view of the central body of this utility model;

[0033] Figure 3 This is a cross-sectional view of the structure of the mobile component of this utility model;

[0034] Figure 4 This is a schematic diagram of the installation of the track drive unit of this utility model;

[0035] Figure 5 This is a schematic diagram of the robot of this utility model working on the U-rib of a steel box girder;

[0036] Figure 6 This is a schematic diagram of the robot of this utility model working on a steel box girder pipeline.

[0037] Reference numerals: 1-Body; 2-Main sensor unit; 3-Track fixing component; 4-Locking fixing plate; 5-Track; 6-Permanent magnet unit; 7-Auxiliary sensor unit; 8-Center motor fixing component; 9-Center motor; 10-First rotating shaft; 11-Opening and closing transmission gear; 12-Bearing; 13-Second rotating shaft; 14-Drive wheel; 15-Stepper motor; 16-Stepper motor fixing component; 17-Driven wheel; 18-Third rotating shaft; 19-U-rib; 20-Pipe; 21-Switch; 22-Power supply port; 23-Power display module. Detailed Implementation

[0038] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms, and other features not explicitly described in this technical solution are considered common technical features disclosed in the prior art.

[0039] Example 1

[0040] This embodiment provides an adsorption robot for fatigue detection of steel box girders, comprising:

[0041] The central body includes: body 1, main sensing unit 2, opening and closing transmission assembly and power supply assembly;

[0042] The fuselage 1 consists of two symmetrical bodies;

[0043] The main sensing unit 2 includes high-precision sensors symmetrically mounted on the top and bottom, used to acquire images and location information of weld cracks;

[0044] The opening and closing transmission assembly includes multiple opening and closing transmission gears 11, which are driven by a central motor 9 and control the rotation unit through gear meshing; a first rotating shaft 10 is provided at the center of the opening and closing transmission gears 11; the central motor 9 is fixed by a central motor fixing member 8; a bearing 12 is provided on the first rotating shaft 10.

[0045] The mobile component includes: a track unit, a transmission unit, an auxiliary sensing unit 7, a rotating unit, and a permanent magnet module 6; the track unit is composed of left and right symmetrical tracks 5, each track 5 including: a drive wheel 14 and a driven wheel 17; the permanent magnet module 6 is disposed on the track 5; the track 5 is fixed by track fixing member 3;

[0046] The intelligent control component includes a control module, a data processing module, and a communication module, which coordinate the operation of the opening and closing transmission component and the permanent magnet module 6. The intelligent control component supports remote communication, transmitting detection data to an external terminal in real time.

[0047] In a specific implementation, the central motor 9 drives the opening and closing transmission gear 11 through the intermediate gear, and the opening and closing transmission gear 11 drives the second rotating shaft 13 to rotate, thereby realizing the control of the moving component.

[0048] In a specific implementation, the permanent magnet module 6 installs magnets through holes drilled in the track 5 and fixes them with screws to achieve adsorption between the robot and the bridge surface; the magnets of the permanent magnet module 6 are embedded in the surface of the track 5 in an equally spaced manner, and the connection between the magnets and the track 5 adopts a screw locking structure.

[0049] In a specific implementation, the auxiliary sensing unit 7 is a visual sensor, symmetrically distributed on both sides of the moving component, used to assist in scanning and positioning.

[0050] In a specific embodiment, the transmission unit includes a stepper motor 15, which is embedded in the middle of the drive wheel 14. The stepper motor 15 drives a third rotating shaft 18 located at the center of the drive wheel, thereby driving and rotating the track 5 via a key. The stepper motor 15 is fixed by a stepper motor fixing component 16.

[0051] In a specific embodiment, the rotating unit includes a second rotating shaft 13, which is locked to the track fixing member 3, forming an integral rotating structure.

[0052] In a specific implementation, the main sensing unit 2 integrates a high-definition camera and a laser scanner, supporting multimodal data acquisition.

[0053] In a specific embodiment, the drive wheel 14 and the driven wheel 17 are clamped together by the locking plate 4 to ensure the stability of the track operation.

[0054] In a specific embodiment, the body 1 is equipped with a switch 21, a power supply port 22, and a power display module 23.

[0055] In a specific implementation, the power supply unit includes a lithium battery and a step-down module to provide a stable power supply for the robot.

[0056] (1) Work process on steel box girder U-rib 19:

[0057] The permanent magnet unit is tightly attracted to the metal surface of the U-rib 19 by the magnet on the surface of the track 5, ensuring that the robot is stably fixed on the arc or vertical surface of the U-rib.

[0058] The central motor 9 of the opening and closing transmission unit drives the opening and closing transmission gear 11 to adjust the spacing of the symmetrical body 1, so that the track 5 clamps the vertical plates on both sides of the U-rib 19.

[0059] The second rotating shaft 13 adjusts the track angle to fit the arc-shaped inner surface of the U-rib 19.

[0060] Stepper motor 15 drives drive wheel 14, which in turn moves track 5 longitudinally along U-rib 19 to cover the weld area.

[0061] The upper and lower high-precision sensors of the main sensing unit 2 directly scan the top and sidewalls of the U-rib 19 weld.

[0062] The auxiliary sensing unit (7) monitors the edge position of the U-rib 19 in real time, compensates for the blind spot of the main sensor, and ensures full coverage detection.

[0063] The intelligent control component analyzes crack images and location data in real time, and transmits the results to an external terminal via a communication module to mark potential defect areas.

[0064] (2) Work process on steel box girder pipe 20

[0065] The opening and closing transmission unit adjusts the spacing of the machine body 1 so that the symmetrical tracks 5 surround the outer wall of the pipe 20. The angle of the tracks 5 is adjusted by the second rotating shaft 13 to fit the curved surface of the pipe 20.

[0066] The magnets of the permanent magnet unit 6 are evenly attracted to the surface of the pipe 20, ensuring that the robot fits closely to the circular contour of the pipe 20.

[0067] Circumferential inspection: Track 5 moves circumferentially along pipe 20 to scan the circumferential weld;

[0068] Axial inspection: Track 5 moves axially along pipe 20 to inspect longitudinal welds.

[0069] The high-definition camera of the main sensing unit 2 focuses on the weld area, and the laser scanner measures the crack depth;

[0070] The auxiliary sensing unit 7 monitors the surface curvature changes of the pipe 20 through a wide-angle lens and dynamically adjusts the robot's posture.

[0071] The rotating unit corrects the track angle in real time to prevent deviation caused by the curvature of the pipe;

[0072] Maintain track tension on the locking plate 4 and track fastener 3 to prevent slippage or detachment.

[0073] The intelligent control component integrates data from multiple sensors to generate a 3D model of the pipeline weld, marks the location of cracks and assesses the risk level, and uploads it to the maintenance platform via the communication module.

[0074] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0075] The above description of the embodiments is provided to enable those skilled in the art to understand and use the utility model. It will be apparent to those skilled in the art that various modifications can be easily made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present utility model is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present utility model without departing from its scope should be within the protection scope of the present utility model.

Claims

1. An adsorption robot for fatigue detection of steel box girders, characterized in that, include: The central body includes: a body (1), a main sensing unit (2), an opening and closing transmission assembly, and a power supply assembly; The fuselage (1) consists of two symmetrical bodies; The main sensing unit (2) includes a high-precision sensor for acquiring images and location information of weld cracks; The opening and closing transmission assembly includes multiple opening and closing transmission gears (11), which are driven by a central motor (9) and control the rotation unit through gear meshing; The moving component includes: a track unit, a transmission unit, an auxiliary sensing unit (7), a rotating unit, and a permanent magnet module (6); the track unit is composed of left and right symmetrical tracks (5), each track (5) includes: a drive wheel (14) and a driven wheel (17); the permanent magnet module (6) is disposed on the track (5); The intelligent control components include: a control module, a data processing module and a communication module, which coordinate the operation of the opening and closing transmission components and the permanent magnet module (6).

2. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, The central motor (9) drives the opening and closing transmission gear (11) through the intermediate gear, and the opening and closing transmission gear (11) drives the second rotating shaft (13) to rotate, thereby realizing the control of the moving component.

3. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, The permanent magnet module (6) installs magnets by drilling holes in the track (5) and fixing them with screws to achieve adsorption between the robot and the bridge surface; the magnets of the permanent magnet module (6) are embedded in the surface of the track (5) in an equally spaced manner, and the connection between the magnets and the track (5) adopts a screw locking structure.

4. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, The auxiliary sensing unit (7) is a visual sensor, symmetrically distributed on both sides of the moving component, used to assist in scanning and positioning.

5. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, The transmission unit includes a stepper motor (15), which is embedded in the middle of the drive wheel (14). The stepper motor (15) drives the third rotating shaft (18) located at the center of the drive wheel, and the track (5) is driven and rotated by a key.

6. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, The rotating unit includes a second rotating shaft (13), which is locked to the track fixing member (3).

7. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, The main sensing unit (2) integrates a high-definition camera and a laser scanner, and supports multimodal data acquisition.

8. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, The drive wheel (14) and the driven wheel (17) are clamped together by a locking plate (4) to ensure the stability of the track operation.

9. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, The body (1) is equipped with a switch (21), a power supply port (22), and a power display module (23).

10. The fatigue detection adsorption robot for steel box girders according to claim 1, characterized in that, It also includes a power supply unit, which comprises a lithium battery and a step-down module to provide a stable power supply for the robot.

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