An internal detection robot for a steel box girder bridge

Abstract

This utility model discloses a robot for inspecting the interior of steel box girder bridges, comprising a walking device, a telescopic long-arm device, a carrier trolley, and inspection equipment. The walking device travels along a track arranged inside the steel box girder bridge. The walking device includes an adaptive gripping module that can slidably grip and hold the track, automatically adapting to the track's dimensions. The telescopic long-arm device is mounted on the walking device and can extend and retract automatically. The carrier trolley travels on the telescopic long-arm device. The inspection equipment is mounted on the carrier trolley and is used to inspect the interior of the steel box girder bridge as the carrier trolley travels. This robot for inspecting the interior of steel box girder bridges expands the inspection area while providing stable movement within the steel box girder bridge, adapting to the inspection needs of wide-span steel box girder bridges.

Description

Technical Field

[0001] This utility model relates to the field of bridge inspection technology, specifically to an internal inspection robot for steel box girder bridges. Background Technology

[0002] As the mainstream structure for modern long-span bridges, steel box girder bridges have long faced technical challenges in detecting hidden defects such as corrosion and weld cracks within their enclosed internal spaces. Furthermore, the large internal space of most steel box girder bridges, being wide, further complicates the inspection process. Existing internal inspection technologies for steel box girder bridges have the following main shortcomings:

[0003] 1. Currently, some steel box girder bridges are inspected manually. This method requires inspectors to carry equipment into the narrow interior of the box girder, and the inspection range depends on manual movement. In addition, due to the subjectivity of manual inspection, dangerous and hidden areas are easily missed, resulting in highly subjective inspection data that is difficult to digitize and archive.

[0004] 2. Some existing inspection robots use a method of installing fixed inspection equipment at multiple points for inspection. This method may result in communication delays between devices and also increases the proportion of blind spots, which cannot meet the needs of real-time collection of massive amounts of data.

[0005] 3. Some existing inspection robots use a mobile method to move along a preset track by means of a walking device. However, when the dimensions of the preset track change, such as weld protrusions, misalignment, or foreign object accumulation, the walking device cannot move stably, and may even get stuck, derail, or tilt, directly affecting the inspection. Utility Model Content

[0006] In view of the shortcomings of the existing technology, the technical problem to be solved by this utility model is to provide a robot for inspecting the inside of steel box girder bridges, which can expand the inspection area and move stably inside the steel box girder bridge, thus adapting to the inspection needs of wide steel box girder bridges.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a robot for inspecting the interior of a steel box girder bridge, comprising:

[0008] A traveling device for traveling along a track arranged inside a steel box girder bridge. The traveling device includes an adaptive clamping module that can slidably clamp and hold onto the track and can automatically adapt to the size of the track.

[0009] A telescopic arm device is installed on the walking device, and the telescopic arm device can extend and retract automatically.

[0010] The vehicle trolley is capable of traveling on the telescopic boom; and

[0011] The inspection equipment is mounted on the carrier trolley and is used to inspect the interior of the steel box girder bridge as the carrier trolley moves.

[0012] Furthermore, the walking device includes a chassis frame and a walking module mounted on the chassis frame, the walking module being able to drive the chassis frame to move along the track.

[0013] Furthermore, the adaptive clamping module is mounted on the chassis frame. The adaptive clamping module includes at least one pair of opposing automatic clamping components. The automatic clamping components include a fixed lever arm, a clamping wheel, and a first elastic pressing member. The fixed lever arm is mounted on the chassis frame, and the clamping wheel is mounted on the fixed lever arm through the first elastic pressing member. The clamping wheel elastically presses against the outer wall of the track, and the clamping wheel can roll along the outer wall of the track.

[0014] Furthermore, the walking device also includes a passive wheel ranging assembly, which includes a ranging mounting frame, a second elastic clamping member, a passive wheel, and a wheel encoder. The ranging mounting frame is mounted on the chassis frame, and the passive wheel is rotatably mounted on the ranging mounting frame and pressed against the top surface of the track by the second elastic clamping member mounted on the ranging mounting frame. The passive wheel can roll along the top surface of the track, and the output shaft of the wheel encoder is coaxially arranged with the passive wheel.

[0015] Furthermore, the long-arm telescopic device includes a multi-section telescopic arm and a traveling guide rail;

[0016] The multiple telescopic arms are nested and extend in sequence. The first telescopic arm is installed on the walking device. The walking guide rail is arranged on the outer wall of the multiple telescopic arms and extends and retracts synchronously with the multiple telescopic arms. The vehicle trolley can travel along the walking guide rail.

[0017] Furthermore, the telescopic arm comprises a reference arm and at least one extension arm. The reference arm is mounted on the walking device. The first extension arm and the reference arm are telescopically connected via a synchronous belt power module. Adjacent extension arms are connected via a pull rope structure module so that the remaining extension arms telescopically extend and retract synchronously with the first extension arm.

[0018] Furthermore, the vehicle trolley includes:

[0019] Chassis components;

[0020] The wheel assembly includes a pair of wheels; and

[0021] A walking wheel power system component, connected to the walking wheel, is used to drive the walking wheel to move on the walking guide rail.

[0022] Furthermore, the vehicle trolley also includes a flexible clamping assembly, which is disposed on the chassis assembly and can slidably clamp and hold the long arm telescopic device, and can automatically adapt to changes in the size of the traveling guide rail.

[0023] Furthermore, the flexible clamping assembly includes at least a pair of symmetrically arranged guide wheels and a guide drive system connected to the guide wheels. The traveling guide rail includes at least a pair of parallel slide rails. The guide wheels can roll along the sidewall of the slide rail on the same side. The guide drive system can drive the oppositely arranged guide wheels to maintain a constant contact pressure with the slide rail according to the size between the oppositely arranged slide rails.

[0024] Furthermore, the walking wheel power system component includes a first rotary power source, a drive wheel axle, a pulley transmission structure, and a driven wheel axle. The drive wheel axle and the driven wheel axle are both rotatable and are arranged parallel to each other on the chassis component. The drive wheel axle drives the driven wheel axle to rotate through the pulley transmission structure. The first rotary power source is used to drive the drive wheel axle to rotate. The four walking wheels are respectively arranged on the drive wheel axle and the driven wheel axle.

[0025] The beneficial effects of this utility model are:

[0026] 1. Enhance safety and significantly reduce the risks of manual inspection: This inspection robot automatically walks on a preset track using a walking device and carries inspection equipment to perform inspections, completely replacing inspection personnel entering the internal environment of the steel box girder bridge for inspection, fundamentally avoiding the risks of personnel inspection.

[0027] 2. Achieve efficient and comprehensive blind-spot-free internal space inspection: Combining a self-extending long-arm telescopic device and a vehicle trolley that moves on the long-arm telescopic device, the inspection equipment gains a wide range of flexible mobility. This allows the robot to cover all locations in the vast internal space of the steel box girder bridge (including dangerous areas and blind spots that are difficult to reach by traditional inspection methods), achieving efficient and comprehensive scanning of hidden defects in the steel box girder.

[0028] 3. Adapting to complex track environments and ensuring stable inspection operation: The adaptive gripping module integrated in the walking device can slide and grip the track tightly, automatically adapting to changes in track dimensions (such as local deformation or dimensional differences caused by weld protrusions, misalignment, or foreign object accumulation). This feature significantly improves the robot's walking stability and reliability in complex track environments, effectively overcoming problems such as jamming, derailment, and tilting caused by local track anomalies in existing robots, ensuring continuous and stable inspection tasks. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of this utility model, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0030] Figure 1 This is a schematic diagram of an internal inspection robot for a steel box girder bridge located inside a steel box girder bridge, according to an embodiment of the present invention.

[0031] Figure 2 for Figure 1 The diagram shows a robot for inspecting the interior of a steel box girder bridge.

[0032] Figure 3 for Figure 1 The diagram shows the walking device in the internal inspection robot of the steel box girder bridge.

[0033] Figure 4 for Figure 1 The diagram shows the walking module of the robot used for inspecting the interior of a steel box girder bridge.

[0034] Figure 5 for Figure 1 The diagram shows a passive wheel ranging component in an internal inspection robot for a steel box girder bridge.

[0035] Figure 6 for Figure 1 The diagram shows the telescopic arm of the robot used for inspecting the interior of a steel box girder bridge (a is the diagram of the retracted state, and b is the diagram of the extended state).

[0036] Figure 7 for Figure 1 The diagram shows a synchronous power module in the internal inspection robot of a steel box girder bridge.

[0037] Figure 8 for Figure 1 The diagram shows a rope-pulling structure module in the internal inspection robot of a steel box girder bridge.

[0038] Figure 9 for Figure 1The diagram shows the vehicle and testing equipment installed together in the internal inspection robot of the steel box girder bridge.

[0039] Figure 10 for Figure 1 The diagram shows the vehicle trolley in the robot for inspecting the interior of a steel box girder bridge.

[0040] Figure label:

[0041] 1. Steel box girder bridge;

[0042] 100. Track;

[0043] 200. Walking device; 210. Chassis frame; 220. Adaptive clamping module; 221. Fixed arm; 222. Clamping wheel; 223. First elastic clamping component; 230. Walking module; 240. Passive wheel ranging assembly; 241. Ranging mounting bracket; 242. Second elastic clamping component; 243. Passive wheel; 244. Wheel encoder;

[0044] 300. Long-arm telescopic device; 310. Multi-section telescopic boom; 320. Travel guide rail; 330. Pull rope structure module; 331. Steel wire rope; 332. Fixed pulley assembly; 333. Hook; 340. Synchronous belt power module; 341. Belt connector; 342. Synchronous belt; 343. Synchronous pulley.

[0045] 400. Carrier trolley; 410. Chassis assembly; 420. Wheel assembly; 430. Wheel power system assembly; 431. First rotary power source; 432. Drive wheel axle; 433. Pulley drive structure; 434. Driven wheel axle; 440. Flexible clamping system assembly; 441. Guide wheel; 442. Guide drive system; 4421. Telescopic power source; 4423. Second servo motor; 4424. Lead screw; 4425. Slider; 4422. Clamping mounting bracket; 443. Elastic fine-tuning assembly; 4431. Elastic sleeve; 4432. Sliding shaft;

[0046] 500. Testing equipment. Detailed Implementation

[0047] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0048] Please see Figures 1 to 8This utility model provides an internal inspection robot for steel box girder bridges, wherein the walking device 200 is used to walk along the track 100 arranged inside the steel box girder bridge 1. Figure 1 The central track 100 travels along the transverse direction of the steel box girder bridge 1 (X direction, Y direction is the longitudinal direction of the steel box girder bridge 1, and Z direction is perpendicular to the inner bottom surface of the steel box girder bridge 1). The traveling device 200 includes an adaptive clamping module 220, which can slide and clamp onto the track 100 and automatically adapt to the size of the track 100. A long-arm telescopic device 300 is installed on the traveling device 200 and can extend and retract automatically.

[0049] The trolley 400 can travel on the telescopic boom 300. The inspection equipment 500 is mounted on the trolley 400 and is used to inspect the interior of the steel box girder bridge 1 as the trolley 400 travels.

[0050] During inspection, the traveling device 200 is first positioned on the track 100 inside the steel box girder bridge 11. Then, the telescopic boom 300 is extended, and finally, the vehicle trolley 400 is started to move along the telescopic boom 300, while the inspection equipment 500 performs inspections simultaneously. During the movement of the vehicle trolley 400, the adaptive clamping module 220 can slide and clamp tightly onto the track 100, automatically adapting to the dimensions of the track 100.

[0051] By employing the aforementioned internal inspection robot for steel box girder bridges, the inspection equipment 500 can move along the telescopic arm 300, allowing for the use of a single inspection device 500. This saves costs and significantly reduces blind spots, thereby effectively improving the comprehensiveness and completeness of the inspection data. Furthermore, the adaptive gripping module 220 can slide and grip tightly on the track 100, automatically adapting to the dimensions of the track 100. This ensures the entire inspection robot moves smoothly on the track 100, preventing jamming, derailment, or tilting.

[0052] See Figures 3 to 5 The walking device 200 includes a chassis frame 210 and a walking module 230 mounted on the chassis frame 210. The walking module 230 is used to drive the chassis frame 210 to move along the track 100.

[0053] In this embodiment, the adaptive clamping module 220 is mounted on the chassis frame 210. The adaptive clamping module 220 includes at least one pair of opposing automatic clamping components. The automatic clamping components include a fixed arm 221, a clamping wheel 222, and a first elastic pressing member 223. The fixed arm 221 is mounted on the chassis frame 210, and the clamping wheel 222 is mounted on the fixed arm 221 through the first elastic pressing member 223. Under the action of the first elastic pressing member 223, the wheel 222 elastically presses against the outer wall of the track 100, and the clamping wheel 222 can roll along the outer wall of the track 100.

[0054] In practical implementation, the first elastic clamping element 223 can be a hydraulic spring. Of course, other elastic clamping elements in the prior art can also be used.

[0055] Please see Figure 5 In a preferred embodiment, the walking device 200 further includes a passive wheel ranging assembly 240. The passive wheel ranging assembly 240 includes a ranging mounting frame 241, a second elastic clamping member 242, a passive wheel 243, and a wheel encoder 244. The ranging mounting frame 241 is mounted on the chassis frame 210. The passive wheel 243 is rotatably mounted on the ranging mounting frame 241 and pressed against the top surface of the track 100 by the second elastic clamping member 242 mounted on the ranging mounting frame 241. The passive wheel 243 can roll along the top surface of the track 100. The output shaft of the wheel encoder 244 is coaxially arranged with the passive wheel 243.

[0056] Please see Figure 2 and Figure 6 In this embodiment, the telescopic arm device 300 includes multiple telescopic arms 310 and a travel guide rail 320. The multiple telescopic arms 310 are nested and extend in sequence. The first telescopic arm is installed on the travel device 200. The travel guide rail 320 is arranged on the outer wall of the multiple telescopic arms 310 and extends and retracts synchronously with the multiple telescopic arms 310. The vehicle trolley 400 can travel on the travel guide rail 320.

[0057] When deployment is required, the multi-section telescopic boom 310 is first deployed, and the travel guide rail 320 is deployed simultaneously. When the vehicle trolley 400 moves on the travel guide rail 320, the detection equipment 500 performs the detection.

[0058] Using this method, the detection coverage area can be significantly expanded by unfolding the multi-section telescopic arm 310.

[0059] Specifically, the multi-section telescopic boom 310 includes a base boom and at least one extension boom. The base boom is mounted on the traveling device 200. The first extension boom is connected to the base boom via a synchronous drive module 340 for telescopic movement. Adjacent extension booms are connected via a pull rope structure module 330, allowing other extension booms to telescopically move in sync with the first extension boom. This method allows for rapid telescopic movement of the long boom telescopic device 300.

[0060] Specifically, the synchronous belt power module 340 includes a belt rotary motor, a belt connector 341, a synchronous belt 342, and two synchronous pulleys 343. The two synchronous pulleys 343 are rotatably fixed at the beginning and end of the reference arm, respectively. The belt rotary motor is used to drive one of the synchronous pulleys 343 to rotate. The synchronous belt 342 is connected between the two synchronous pulleys 343. The belt connector 341 is used to connect the synchronous belt 342 to the first extension arm.

[0061] When the belt-driven motor starts, it drives the synchronous belt 342 to move, which in turn drives the second telescopic arm to extend or retract.

[0062] Specifically, the rope structure module 330 includes a steel wire rope 331, a fixed pulley assembly 332, and hooks 333. In every three adjacent telescopic arm sections, hooks 333 are provided on the front and rear extension arms. The fixed pulley assembly 332 is located on the middle telescopic arm. After the steel wire rope 331 passes around the fixed pulley assembly 332, its two ends are connected to two hooks 333 respectively. When the base arm extends or retracts, the rope structure module 330 enables the synchronous extension and retraction of subsequent multi-stage telescopic arms.

[0063] Please see Figure 7 and Figure 8 In this embodiment, the vehicle trolley 400 includes a chassis assembly 410, a wheel assembly 420, and a wheel drive system assembly 430. The chassis assembly 410 is used to mount other components, and the wheel drive system assembly 430 is used to drive the wheel assembly 420 to move on the guide rail 320.

[0064] In a preferred embodiment, the vehicle trolley 400 further includes a flexible clamping assembly 440, which is mounted on the chassis assembly 410 and can slide to clamp and hold onto the long arm telescopic device 300, and can automatically adapt to changes in the size of the travel guide rail 320.

[0065] Specifically, the flexible clamping assembly 440 includes at least a pair of symmetrically arranged guide wheels 441 and a guide drive system 442 connected to the guide wheels 441. The travel guide rail 320 includes at least a pair of parallel slide rails. The guide wheels 441 can roll along the side wall of the slide rail on the same side. The guide drive system 442 can drive the relatively arranged guide wheels 441 to automatically adapt to maintain a constant contact pressure with the slide rail according to the size between the relatively arranged slide rails.

[0066] In use, the walking wheel power system component 430 and the guide drive system 442 are activated. The walking wheel power system component 430 drives the walking wheels to move along the top of the slide rail. During the movement, the guide wheel 441 is always clamped against the inner wall of the slide rail, guiding the entire trolley forward. When encountering dimensional changes, such as weld protrusions, misalignment, or foreign object accumulation, the guide drive system 442 can drive the guide wheel 441 to automatically adapt through feedback from the guide wheel 441. This allows the guide wheel 441 to maintain constant pressure contact with the inner wall of the slide rail, thereby improving stable guidance for the entire trolley's forward movement and ensuring smooth movement of the entire trolley.

[0067] In practical implementation, four guide wheels 441 can be set and arranged in a front-back, left-right matrix to further improve stability.

[0068] In this embodiment, the power system component 430 includes a first rotary power source 431, a drive axle 432, a pulley drive component 433, and a driven axle 434. Both the drive axle 432 and the driven axle 434 are rotatable and are arranged parallel to each other on the chassis component 410. The drive axle 432 drives the driven axle 434 to rotate via the pulley drive component 433. The first rotary power source 431 drives the drive axle 432 to rotate. Four wheels are respectively mounted on the drive axle 432 and the driven axle 434.

[0069] In use, when the first rotary power source 431 is started, it drives the two front walking wheels to move through the drive wheel shaft 432. At the same time, it drives the driven wheel shaft 434 to rotate through the pulley transmission component 433, thereby driving the two rear walking wheels to move.

[0070] It should be noted that, in this embodiment, the first rotational power source 431 can be a servo motor or any other mechanism capable of driving the drive shaft 432 to rotate. The pulley transmission component 433 can also be other transmission mechanisms, such as a sprocket structure, a gear mechanism, etc.

[0071] Meanwhile, the first rotary power source 431 can be connected to the drive wheel shaft 432 via a transmission flange. Furthermore, two pulley drive structures 433 can be configured, symmetrically arranged left and right, to improve transmission stability.

[0072] In this embodiment, the guide drive system 442 includes a telescopic power source 4421 and two clamping mounting frames 4422 arranged symmetrically on the left and right. The telescopic power source 4421 is connected to the two clamping mounting frames 4422 and can automatically adjust the two clamping mounting frames 4422 to move closer or further apart according to the distance between the slide rails. Each clamping mounting frame 4422 is provided with a guide wheel 441 at both the front and rear ends.

[0073] Specifically, the telescopic power source 4421 includes a second servo motor 4423, a lead screw 4424, and a slider 4425. The second servo motor 4423 is mounted on the chassis assembly 410. The second servo motor 4423 is connected to the drive lead screw 4424 and can be driven to rotate clockwise or counterclockwise by the axial force fed back from the lead screw 4424. The two ends of the lead screw 4424 are provided with threads of opposite directions. Two clamping mounting brackets 4422 are respectively threaded to the two ends of the lead screw 4424, and each clamping mounting bracket 4422 is connected to the chassis assembly 410 through a slide rod. The slider 4425 can slide parallel to the lead screw 4424 on the chassis.

[0074] In use, the servo motor employs torque control mode, and the second servo motor 4423 actively controls the clamping force through the axial force fed back by the lead screw 4424. When there are irregular obstacles such as weld protrusions, misalignment, or foreign object accumulation on the slide rail, the spacing of the slide rails will suddenly change. When the slide rail spacing increases, the clamping force of the slide rail on the guide wheel 441 decreases. The second servo motor 4423 drives the lead screw 4424 to rotate, driving the clamping mounting bracket 4422 to expand outward, increasing the force of the guide wheel 441 on the slide rail, and maintaining a constant clamping force. Conversely, when the slide rail spacing decreases, the clamping force of the slide rail on the guide wheel 441 increases. The second servo motor 4423 will actively adjust the clamping mounting bracket 4422 to retract inward, reducing the force of the guide wheel 441 on the slide rail, thereby achieving the purpose of maintaining a constant clamping force.

[0075] As a preferred embodiment, in specific implementation, the guide wheel 441 can be connected to the clamping mounting bracket 4422 via the elastic fine-tuning component 443, and the guide wheel 441 is pressed against the slide rail by the elastic fine-tuning component 443.

[0076] Specifically, the elastic fine-tuning component 443 includes an elastic sleeve 4431 and a sliding shaft 4432. The clamping mounting bracket 4422 has an insertion hole perpendicular to the slide rail. The sliding shaft 4432 is mounted on the guide wheel 441 and slidably inserted into the insertion hole. The elastic sleeve 4431 is sleeved on the sliding shaft 4432, and both ends of the elastic sleeve 4431 abut against the clamping mounting bracket 4422 and the guide wheel 441, respectively. Under the action of the elastic sleeve 4431, the guide wheel 441 always abuts against the side wall of the slide rail. In a specific implementation, the elastic sleeve 4431 can preferably be a spring for easy material availability.

[0077] During the movement, when the vehicle trolley 400 passes through irregular obstacles, the elastic sleeve 4431 can significantly improve the ability of the guide wheel 441 to actively overcome obstacles and adapt to changes in diameter, effectively solving the problem of jamming and derailment caused by the difficulty in actively adapting to and crossing irregular obstacles on the track surface.

[0078] By using the aforementioned carrier trolley 400, the carrier trolley 400 can actively adjust the clamping force between the guide wheel 441 and the slide rail according to the change of the slide rail size, so that the clamping force remains constant. Compared with rigid wheel sets, the guide wheel 441 wears less, greatly reducing maintenance costs and time costs.

[0079] The aforementioned internal inspection robot for steel box girder bridges:

[0080] In use, since the inspection device 500 can move along the telescopic arm 300, a single inspection device 500 can be used for inspection. This saves costs and significantly reduces blind spots, thereby effectively improving the comprehensiveness and completeness of the inspection data. Furthermore, because the adaptive gripping module 220 can slide and grip tightly on the track 100 and automatically adapt to the size of the track 100, the entire inspection robot can move smoothly on the track 100, preventing jamming, derailment, or tilting.

[0081] In addition, since the vehicle trolley 400 can move stably on the telescopic arm 300, it can provide a relatively stable testing platform for the testing equipment 500, thereby improving the accuracy of the testing data.

[0082] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A steel box girder bridge internal inspection robot, characterized by, include: A traveling device for traveling along a track arranged inside a steel box girder bridge. The traveling device includes an adaptive clamping module that can slidably clamp and hold onto the track and can automatically adapt to the size of the track. A telescopic arm device is installed on the walking device, and the telescopic arm device can extend and retract automatically. The vehicle trolley is capable of moving on the telescopic arm device; and The inspection equipment is mounted on the carrier trolley and is used to inspect the interior of the steel box girder bridge as the carrier trolley moves.

2. The steel box girder bridge internal inspection robot of claim 1, wherein, The walking device includes a chassis frame and a walking module mounted on the chassis frame. The walking module can drive the chassis frame to move along the track.

3. The steel box girder bridge internal inspection robot of claim 2, wherein, The adaptive clamping module is mounted on the chassis frame. The adaptive clamping module includes at least one pair of opposing automatic clamping components. The automatic clamping components include a fixed lever arm, a clamping wheel, and a first elastic pressing member. The fixed lever arm is mounted on the chassis frame. The clamping wheel is mounted on the fixed lever arm through the first elastic pressing member. The clamping wheel elastically presses against the outer wall of the track and can roll along the outer wall of the track.

4. The steel box girder bridge internal inspection robot of claim 2, wherein, The walking device also includes a passive wheel ranging assembly, which includes a ranging mounting frame, a second elastic clamping member, a passive wheel, and a wheel encoder. The ranging mounting frame is mounted on the chassis frame, and the passive wheel is rotatably mounted on the ranging mounting frame and pressed against the top surface of the track by the second elastic clamping member mounted on the ranging mounting frame. The passive wheel can roll along the top surface of the track, and the output shaft of the wheel encoder is coaxially arranged with the passive wheel.

5. The steel box girder bridge internal inspection robot of claim 1, wherein, The telescopic arm device includes a multi-section telescopic arm and a travel guide rail; The multiple telescopic arms are nested and extend in sequence. The first telescopic arm is installed on the walking device. The walking guide rail is arranged on the outer wall of the multiple telescopic arms and extends and retracts synchronously with the multiple telescopic arms. The vehicle trolley can travel along the walking guide rail.

6. The steel box girder bridge internal inspection robot of claim 5, wherein, The telescopic arm comprises a base arm and at least one extension arm. The base arm is mounted on the walking device. The first extension arm and the base arm are telescopically connected by a synchronous belt power module. Adjacent extension arms are connected by a pull rope structure module so that the remaining extension arms telescopically extend and retract synchronously with the first extension arm.

7. The steel box girder bridge internal inspection robot of claim 5, wherein, The vehicle trolley includes: Chassis components; The wheel assembly includes a pair of wheels; and A walking wheel power system component, connected to the walking wheel, is used to drive the walking wheel to move on the walking guide rail.

8. The steel box girder bridge internal inspection robot of claim 7, wherein, The vehicle trolley also includes a flexible clamping assembly, which is mounted on the chassis assembly and can slide to clamp and hold the long arm telescopic device, and can automatically adapt to changes in the size of the traveling guide rail.

9. The steel box girder bridge internal inspection robot of claim 8, wherein, The flexible clamping assembly includes at least one pair of symmetrically arranged guide wheels and a guide drive system connected to the guide wheels. The traveling guide rail includes at least one pair of parallel slide rails. The guide wheels can roll along the side wall of the slide rail on the same side. The guide drive system can drive the oppositely arranged guide wheels to maintain a constant contact pressure with the slide rail according to the size between the oppositely arranged slide rails.

10. The steel box girder bridge internal inspection robot of claim 7, wherein, The walking wheel power system component includes a first rotary power source, a drive wheel axle, a pulley transmission structure, and a driven wheel axle. The drive wheel axle and the driven wheel axle are both rotatable and are arranged parallel to each other on the chassis component. The drive wheel axle drives the driven wheel axle to rotate through the pulley transmission structure. The first rotary power source is used to drive the drive wheel axle to rotate. The four walking wheels are respectively arranged on the drive wheel axle and the driven wheel axle.

Images