An amphibious wall-climbing robot for detecting reinforced concrete structures

Abstract

The utility model relates to tunnel technical field discloses a kind of amphibious wall-climbing robot for reinforced concrete structure detection, comprising: robot component, the robot component includes carbon fiber rack, the four around of carbon fiber rack surface are fixedly installed with culvert type power paddle, the left and right sides of carbon fiber rack surface are provided with lithium battery;Suspension assembly, the suspension assembly includes box, the box is fixedly installed on the surface of carbon fiber rack. By setting robot component and suspension assembly, culvert type power paddle culvert type push press adsorption is not sensitive to wall surface material, flatness and roughness, can continuously and stably provide adsorption force, not easy to occur adsorption failure and fall, so that robot travels. After detection operation is completed, switch to flight mode and return to ground, with fast deployment, high operation efficiency, not limited by building structure and other characteristics, so that reinforced detector carries out detection work to reinforced concrete structure.

Description

Technical Field

[0001] This utility model relates to an amphibious wall-climbing robot for inspecting reinforced concrete structures, belonging to the field of tunnel technology. Background Technology

[0002] A tunnel is an engineering structure buried underground, representing a form of human utilization of underground space. Tunnels can be categorized into traffic tunnels, hydraulic tunnels, municipal tunnels, mining tunnels, and military tunnels. The general definition of a tunnel is: a chamber constructed underground for a specific purpose, using any method, and according to a prescribed shape and size. Quality inspection of tunnels requires the use of reinforced concrete structure testing equipment.

[0003] Currently, the inspection of reinforced concrete structures is mainly based on contact testing. Besides direct handling by personnel, related inspection equipment often uses traditional negative pressure wall-climbing robots as mobile platforms. In scenarios such as bridges and tunnels, negative pressure wall-climbing robot platforms frequently face problems such as deployment limitations and compromised operational safety. Negative pressure adsorption wall-climbing robots generate adsorption force through a negative pressure sealed cavity formed with the wall surface, but this is only suitable for smooth, flat wall surfaces. On rough, porous concrete surfaces, the seal and adsorption are prone to failure, leading to falls. Furthermore, due to limitations in the obstacle-crossing performance of negative pressure adsorption mobile robots, their operating range is heavily dependent on the building structure and deployment location, making them difficult or impossible to deploy on work surfaces in practical applications.

[0004] To address this, an amphibious wall-climbing robot for inspecting reinforced concrete structures is proposed. Utility Model Content

[0005] In view of this, the present invention provides an amphibious wall-climbing robot for inspecting reinforced concrete structures, in order to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial alternative.

[0006] The technical solution of this utility model is implemented as follows: an amphibious climbing robot for inspecting reinforced concrete structures, comprising: The robot component includes a carbon fiber frame, with ducted propeller blades fixedly installed around the perimeter of the carbon fiber frame surface. Lithium batteries are installed on both the left and right sides of the carbon fiber frame surface. Hollow cup servo drive motors are fixedly installed on both the front and rear sides of the top of the carbon fiber frame, and differential drive wheels are fixedly connected to the output ends of the hollow cup servo drive motors. A suspension assembly includes a housing fixedly mounted on the surface of a carbon fiber frame. A guide rod is fixedly mounted inside the housing. Sliding blocks are slidably connected to the front and rear sides of the guide rod. A rigid spring is fixedly connected to the inner side of two of the sliding blocks. Mounting plates are fixedly mounted to the left and right sides of two of the sliding blocks. Connecting rods are movably connected to the top of four mounting plates. Lifting plates are movably connected to the other ends of four connecting rods. A rebar detector is fixedly mounted on the top of the lifting plate. Rollers are movably connected to the front and rear sides of the rebar detector.

[0007] More preferably, limiting grooves are provided on both the left and right sides of the inner cavity of the box, and the outer sides of the four mounting plates are slidably connected to the inner cavities of the two limiting grooves.

[0008] More preferably, the bottom of the inner cavity of the box is provided with sliding grooves on both the front and rear sides, and the bottoms of the two sliding blocks are slidably connected to the inner cavities of the two sliding blocks.

[0009] More preferably, the number of ducted propeller blades is four, and the four ducted propeller blades are arranged at equal intervals.

[0010] More preferably, battery boxes are fixedly installed on both the left and right sides of the carbon fiber frame surface, and the two lithium batteries are snapped into the inner cavities of the two battery boxes.

[0011] More preferably, the top of the carbon fiber frame is provided with cover plates on both the left and right sides, and the top of the two cover plates is threaded with mounting bolts, the bottom of the mounting bolts being threaded to the inner surface of the carbon fiber frame.

[0012] More preferably, the output terminal of the lithium battery is electrically connected to the input terminal of the hollow cup servo drive motor, and the output terminal of the lithium battery is electrically connected to the input terminal of the ducted power propeller.

[0013] More preferably, the bottom of the carbon fiber frame is fixedly equipped with landing buffer legs on all four sides, and the four landing buffer legs are arranged equidistantly in the circumferential direction.

[0014] The present invention has the following advantages due to the adoption of the above technical solution: I. This utility model addresses the problems of deployment difficulties, unstable adsorption, and easy falls associated with negative pressure wall-climbing robots in reinforced concrete structure inspection applications by incorporating robot and suspension components. Compared to negative pressure adsorption, the ducted-type powered paddlewheel push-adsorption is insensitive to wall material, flatness, and roughness, providing a continuous and stable adsorption force, and is less prone to adsorption failure and falls. In practical applications, the operator manipulates the robot component to take off from the ground. After flying to the vicinity of the work point, it switches to wall-climbing mode, where a hollow cup servo drive motor drives the differential drive wheel to rotate, enabling the robot to move. After the inspection is completed, it switches back to flight mode to return to the ground. It features rapid deployment, high work efficiency, and is not limited by building structures. The sliding block is movable; when the rebar detector comes into contact with the reinforced concrete structure, it can be tightly adhered to the surface of the reinforced concrete structure by the tension of a rigid spring, allowing the rebar detector to perform inspection work.

[0015] Second, this utility model can limit the movement of the mounting plate by setting a limiting groove to prevent it from deviating during movement. By setting a sliding groove, the movement of the sliding block can be limited to ensure the accuracy of its movement direction. By setting a battery box, cover plate and mounting bolts, the lithium battery can be quickly disassembled and installed, which is convenient for replacing the lithium battery when it is depleted. By setting a take-off and landing buffer foot, it is used to buffer during take-off and landing to prevent vibration and impact from damaging the rebar detector.

[0016] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional front view structural diagram of the present invention; Figure 2 This is a schematic diagram of the take-off and landing buffer leg structure of this utility model; Figure 3 This is a schematic diagram of the lithium battery disassembly structure of this utility model; Figure 4This is a schematic diagram of the suspension assembly structure of this utility model; Figure 5 This is a schematic diagram of the disassembly structure of the rebar detector of this utility model; Figure 6 This is a schematic diagram of the internal structure of the box body of this utility model.

[0019] Reference numerals: 1. Robot component; 101. Carbon fiber frame; 102. Lithium battery; 103. Ducted propeller; 104. Hollow cup servo drive motor; 105. Differential drive wheel; 106. Cover plate; 107. Mounting bolt; 108. Battery box; 109. Lifting and lowering buffer foot; 2. Suspension assembly; 201. Box body; 202. Guide rod; 203. Sliding block; 204. Stiff spring; 205. Mounting plate; 206. Linkage rod; 207. Lifting plate; 208. Rebar detector; 209. Roller; 210. Slide groove; 211. Limiting groove. Detailed Implementation

[0020] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0021] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0022] Example 1 Figure 1-6 As shown, this utility model embodiment provides an amphibious wall-climbing robot for inspecting reinforced concrete structures, comprising: Robot component 1 includes a carbon fiber frame 101. Ducted power propellers 103 are fixedly installed on all four sides of the surface of the carbon fiber frame 101. Lithium batteries 102 are provided on the left and right sides of the surface of the carbon fiber frame 101. Hollow cup servo drive motors 104 are fixedly installed on the front and rear sides of the top of the carbon fiber frame 101. Differential drive wheels 105 are fixedly connected to the output ends of the hollow cup servo drive motors 104. There are four ducted power propellers 103, which are arranged at equal intervals. Battery boxes 108 are fixedly installed on the left and right sides of the surface of the carbon fiber frame 101. Two lithium batteries 102 are snapped into the inner cavities of the two battery boxes 108. The suspension assembly 2 includes a housing 201, which is fixedly installed on the surface of the carbon fiber frame 101. A guide rod 202 is fixedly installed in the inner cavity of the housing 201. Sliding blocks 203 are slidably connected to the front and rear sides of the surface of the guide rod 202. Hard springs 204 are fixedly connected to the inner sides of the two sliding blocks 203. Mounting plates 205 are fixedly installed on the left and right sides of the two sliding blocks 203. Connecting rods 206 are movably connected to the top of the four mounting plates 205. Lifting plates 207 are movably connected to the other ends of the four connecting rods 206. A rebar detector 208 is fixedly installed on the top of the lifting plate 207. Rollers 209 are movably connected to the front and rear sides of the rebar detector 208.

[0023] By configuring robot component 1 and suspension component 2, the problems of deployment difficulties, unstable adsorption, and easy fall in the application of negative pressure wall-climbing robots for reinforced concrete structure inspection are addressed. Compared with negative pressure adsorption, the ducted power blade 103 ducted push adsorption is not sensitive to the wall material, flatness, and roughness, and can continuously and stably provide adsorption force, making it less prone to adsorption failure and fall. In the scenario application, the operator manipulates robot component 1 to take off from the ground. After flying to the vicinity of the work point, it switches to wall-climbing mode, and the differential drive wheel 105 is driven by the hollow cup servo drive motor 104 to rotate, enabling the robot to move. After the inspection work is completed, it switches to flight mode to return to the ground. It has the characteristics of fast deployment, high work efficiency, and no restriction on building structure. The sliding block 203 has the characteristic of being movable. When the rebar detector 208 comes into contact with the reinforced concrete structure, it can be tightly attached to the surface of the reinforced concrete structure by the tension of the rigid spring 204, so that the rebar detector 208 can perform inspection work on the reinforced concrete structure.

[0024] Example 2 Figure 2-6 As shown, in one embodiment, limiting grooves 211 are provided on both the left and right sides of the inner cavity of the box body 201. The outer sides of the four mounting plates 205 are slidably connected to the inner cavities of the two limiting grooves 211. Sliding grooves 210 are provided on both the front and rear sides of the bottom of the inner cavity of the box body 201. The bottoms of the two sliding blocks 203 are slidably connected to the inner cavities of the two sliding blocks 203. Cover plates 106 are provided on both the left and right sides of the top of the carbon fiber frame 101. The tops of the two cover plates 106 are threaded with mounting bolts 107. The bottoms of the mounting bolts 107 are threaded to the inner surface of the carbon fiber frame 101. The output end of the lithium battery 102 is electrically connected to the input end of the hollow cup servo drive motor 104. The output end of the lithium battery 102 is electrically connected to the input end of the ducted power blade 103. Landing buffer feet 109 are fixedly installed around the bottom of the carbon fiber frame 101. The four landing buffer feet 109 are equidistantly arranged in the circumferential direction.

[0025] By setting the limiting groove 211, the movement of the mounting plate 205 can be limited to prevent it from deviating during movement. By setting the sliding groove 210, the movement of the sliding block 203 can be limited to ensure the accuracy of its movement direction. By setting the battery box 108, cover plate 106 and mounting bolts 107, the lithium battery 102 can be quickly disassembled and installed, making it easy to replace the lithium battery 102 when it is out of power. By setting the take-off and landing buffer foot 109, it is used for buffering during take-off and landing to prevent vibration and impact from damaging the rebar detector 208.

[0026] When this utility model is in operation: After the entire device is ready for inspection from the ground, the ducted propeller 103 outputs power, causing the carbon fiber frame 101 to fly and move the entire device to the vicinity of the wall to be inspected. Due to the ducted push and adsorption of the ducted propeller 103, the carbon fiber frame 101 slowly approaches and causes the rebar detector 208 to adhere to the surface of the area to be inspected. Then, the operator issues a control command to change the robot's working mode to wall-climbing operation mode. At this time, the hollow cup servo drive motor 104 outputs power, causing the differential drive wheel 105 to rotate, and travels along the inspection trajectory under the control of the operator. After the work in this area is completed or the battery level alarm is triggered, the device switches back to flight mode. At this time, the ducted propeller 103 slowly leaves the wall, flies, and lands on the ground.

[0027] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this utility model, and these should all be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. An amphibious wall-climbing robot for inspecting reinforced concrete structures, characterized in that, include: Robot component (1), the robot component (1) includes a carbon fiber frame (101), ducted power propellers (103) are fixedly installed on all four sides of the surface of the carbon fiber frame (101), lithium batteries (102) are provided on the left and right sides of the surface of the carbon fiber frame (101), hollow cup servo drive motors (104) are fixedly installed on the front and rear sides of the top of the carbon fiber frame (101), and differential drive wheels (105) are fixedly connected to the output ends of the hollow cup servo drive motors (104). The suspension assembly (2) includes a box (201) which is fixedly installed on the surface of the carbon fiber frame (101). A guide rod (202) is fixedly installed in the inner cavity of the box (201). Sliding blocks (203) are slidably connected to the front and rear sides of the surface of the guide rod (202). Hard springs (204) are fixedly connected to the inner sides of the two sliding blocks (203). Mounting plates (205) are fixedly installed on the left and right sides of the two sliding blocks (203). Connecting rods (206) are movably connected to the top of the four mounting plates (205). Lifting plates (207) are movably connected to the other end of the four connecting rods (206). A rebar detector (208) is fixedly installed on the top of the lifting plate (207). Rollers (209) are movably connected to the front and rear sides of the rebar detector (208).

2. The amphibious wall-climbing robot for inspecting reinforced concrete structures according to claim 1, characterized in that: The box body (201) has a limiting groove (211) on both the left and right sides of its inner cavity, and the outer sides of the four mounting plates (205) are slidably connected to the inner cavities of the two limiting grooves (211).

3. The amphibious wall-climbing robot for inspecting reinforced concrete structures according to claim 1, characterized in that: The bottom of the inner cavity of the box (201) is provided with sliding grooves (210) on both the front and rear sides, and the bottoms of the two sliding blocks (203) are slidably connected to the inner cavities of the two sliding blocks (203).

4. The amphibious wall-climbing robot for inspecting reinforced concrete structures according to claim 1, characterized in that: The number of ducted propeller blades (103) is four, and the four ducted propeller blades (103) are arranged at equal intervals.

5. The amphibious wall-climbing robot for inspecting reinforced concrete structures according to claim 1, characterized in that: Battery boxes (108) are fixedly installed on both the left and right sides of the surface of the carbon fiber frame (101), and the two lithium batteries (102) are snapped into the inner cavities of the two battery boxes (108).

6. The amphibious wall-climbing robot for inspecting reinforced concrete structures according to claim 1, characterized in that: The top left and right sides of the carbon fiber frame (101) are provided with cover plates (106), and the top of the two cover plates (106) are threaded with mounting bolts (107). The bottom of the mounting bolts (107) is threaded to the inner surface of the carbon fiber frame (101).

7. The amphibious wall-climbing robot for inspecting reinforced concrete structures according to claim 1, characterized in that: The output terminal of the lithium battery (102) is electrically connected to the input terminal of the hollow cup servo drive motor (104), and the output terminal of the lithium battery (102) is electrically connected to the input terminal of the ducted power propeller (103).

8. The amphibious wall-climbing robot for inspecting reinforced concrete structures according to claim 1, characterized in that: The carbon fiber frame (101) is fixedly installed with landing buffer legs (109) around its bottom, and the four landing buffer legs (109) are arranged equidistantly in the circumferential direction.

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