Bionic spider robot for bridge pier cleaning

Abstract

The utility model relates to bridge maintenance technical field, concretely is a kind of bionic spider robot for bridge pier cleaning, including spider robot body, the lower part of spider robot body is connected loading plate by telescoping device, the lower portion of loading plate is provided with the brush disc of rotation, brush disc is vibrated and rotated by multimode driving device, and multimode driving device is set on the upper portion of loading plate;Inclined inner brush and outer brush are provided below brush disc, inner brush is hook-shaped, and the length of outer brush is greater than the length of inner brush.The utility model has higher cleaning efficiency, effectively reduces the risk coefficient of artificial cleaning, and has less influence on bridge surface.

Description

Technical Field

[0001] This utility model relates to the field of bridge maintenance technology, specifically to a biomimetic spider robot for cleaning bridge piers. Background Technology

[0002] In modern transportation infrastructure construction, large bridges serve as key hubs for regional economic development, and their structural reliability directly impacts the sustainable development of the national economy. With the continuous increase in the number of bridges built, bridge piers face severe environmental challenges during underwater service. In marine or large aquatic environments, bridge piers are subjected to long-term physical and chemical effects such as ocean current impacts and seawater erosion. Simultaneously, large amounts of marine organisms, such as algae and shellfish, attach and grow on the surface of the piers. Studies have shown that the organic acids, enzymes, and other bioactive substances secreted by these marine organisms can cause the protective coating on the bridge pier surface to peel off and break down, thereby accelerating the deterioration process such as concrete carbonization and steel corrosion, significantly reducing the service life of the bridge pier structure.

[0003] Currently, traditional bridge pier surface cleaning mainly relies on manual diving operations, which have significant limitations. On the one hand, the underwater working environment is complex, and divers must endure multiple risks such as high pressure, low temperature, strong water currents, and biological attacks, resulting in a high accident rate. On the other hand, manual cleaning is inefficient, with a small effective working area per person per day, and the cleaning accuracy is difficult to guarantee, leaving many blind spots. Furthermore, compared to the commonly used high-pressure water jet cleaning, the wastewater generated in this process contains a large amount of biological residue and chemical agents, requiring tertiary treatment before it can be discharged in compliance with standards. For example, while cavitation jet technology reduces chemical pollution, the high-speed jet may cause the diffusion of biological debris, potentially impacting the surrounding ecosystem. Traditional underwater maintenance often uses chemical protection methods such as antifouling coatings, but these coatings, containing copper, organotin, and other components, are continuously released into the water, causing irreversible pollution to the aquatic ecosystem.

[0004] CN114568996B discloses a spider-like cleaning robot, employing six identical mechanical legs. Each leg is primarily composed of three alternating servo motors, controlled by a microcontroller. The cleaning of the mesh is achieved through a cleaning brush mounted on the spider's mechanical legs and a water tank at the top. The cleaning device includes a connector for a DC motor and a cleaning brush connected to the connector. The connector has a central hole for connecting to the DC motor's output shaft, an internal thread on its inner wall, and several second water outlets evenly spaced and connected to the bottom of a water outlet column. The machine body is equipped with a water tank at the top for storing water. The top of the water tank has a water inlet, and the bottom of the water tank has a water outlet. A water pump assembly is located on one side of the inside of the water tank. One end of the water pump assembly is connected to the water outlet of the water tank, and the other end of the water pump assembly is connected to multiple mechanical legs. The water pump assembly is used to pump water from the water tank to a cleaning device under the mechanical legs, thereby facilitating the cleaning device to clean the mesh.

[0005] The cleaning device includes a oscillating scraper disc located at the center below an electromagnet chuck. One side of the scraper disc is equipped with alternating blades and bristles. A drive mechanism propels the scraper disc, causing the blades and bristles to clean the hull of the ship. The blades scrape off small organisms such as shellfish, while the bristles clean away dirt and silt. However, these brushes can cause irreversible scratches and damage to bridge piers when cleaning them, as the pier surface is mostly made of concrete, whose strength and hardness differ significantly from the steel coating of the ship's hull. Furthermore, both high-pressure water guns and rotating scraper discs / bristles rely on physical stripping. The stripped biological remains (shell fragments, algae debris) and damaged concrete debris are directly washed away and thrown at high speed into the surrounding water. Therefore, there is an urgent need to develop an efficient, safe, and environmentally friendly bridge pier surface cleaning technology. Utility Model Content

[0006] To address the problems in the existing technology, this utility model provides a biomimetic spider robot for cleaning bridge piers.

[0007] This utility model is achieved through the following technical solution: A biomimetic spider robot for cleaning bridge piers includes a spider robot body. The lower part of the spider robot body is connected to a loading plate via a telescopic device. A rotating brush is set below the loading plate. The brush is vibrated and rotated by a multi-mode drive device, which is located above the loading plate. Inclined inner and outer bristles are set below the brush. The inner bristles are hook-shaped, and the length of the outer bristles is greater than that of the inner bristles.

[0008] Preferably, the outer bristles form an angle of 60-75° with the cleaning surface.

[0009] Preferably, the inner bristles form an angle of 30 to 45 degrees with the cleaning surface.

[0010] Preferably, the inner bristles are harder than the outer bristles.

[0011] Preferably, the multi-mode drive device includes a reduction unit and a vibration drive unit. The reduction unit is a worm gear type reduction valve, including a worm wheel, a worm, and a driven shaft. The worm is connected to an external drive, the worm wheel cooperates with the worm for transmission, and the driven shaft cooperates with the worm wheel. The vibration unit includes a crankshaft, a connecting rod, and a first piston. The crankshaft is connected to the driven shaft, the crankshaft is connected to the connecting rod, and the connecting rod is connected to the first piston.

[0012] Preferably, the multi-mode drive device further includes a rotary drive unit, which includes a coil and a magnet. The coil is fixed to the movable end of the first piston and is connected to an external power supply device. The magnet is fixed to the brush plate by a pressure cover.

[0013] Preferably, the rotating shaft is rotatably connected to the loading disc, one end of the rotating shaft is fixedly connected to the brush disc, and the other end passes through the loading disc and the pressure cap.

[0014] Preferably, the spider robot body includes an upper base, a lower base, and six spider legs. The upper base and the lower base are arranged opposite to each other and connected. The upper ends of the six spider legs are rotatably connected between the upper base and the lower base, and the lower ends of the spider legs are provided with an adsorption structure. The six spider legs move in a quadrupedal gait mode. The fixed end of the telescopic device is installed below the upper base, and the movable end passes through the lower base and is connected to the loading plate.

[0015] Preferably, the adsorption structure includes a gas supply unit, an adsorption unit, and a gas storage unit connected by a conduit. The gas supply unit includes an electric piston, a cylinder, a baffle plate, and a brush slip ring. The electric piston and the baffle plate are respectively disposed on both sides of the cylinder. The baffle plate is located inside the cylinder, and the brush slip ring is located outside the cylinder and is connected to the baffle plate. The adsorption unit includes an upper stop block, a spring, a second piston, a vacuum generator, and a suction cup. The vacuum generator is disposed inside the lower leg of the spider leg, and the upper stop block is disposed inside the vacuum generator. The upper stop block is connected to the cylinder of the gas supply unit and the gas storage unit through a conduit. The spring is connected to the lower part of the upper stop block, and the upper end of the second piston is connected to the lower part of the spring. The lower end of the second piston is located in the suction cup, and the upper end of the suction cup is connected to the lower end of the vacuum generator. The lower end of the suction cup is in contact with the bridge surface.

[0016] Preferably, the gas storage unit uses a flexible telescopic bag and is placed between the upper base and the lower base.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention relates to a biomimetic spider robot for cleaning bridge piers. Through specialized brush design, it simultaneously cleans algae, shellfish, and microorganisms. The shape, installation angle, material, hardness, and length of the brush bristles are all specifically designed to improve cleaning efficiency, reduce cleaning difficulty, and significantly enhance the quality of the work. The outer bristles remove algae and microorganisms adhering to the bridge piers, while the hook-shaped inner bristles allow the bristle tips to easily penetrate the gaps between the working surface and the attached shellfish, improving the cleaning rate. Simultaneously, the brush disc rotates and vibrates via a multi-mode drive device for deeper cleaning. The vibration mode breaks down stubborn stains, while the rotation mode enables large-area cleaning; the combined effect of these two mechanisms significantly improves cleaning efficiency.

[0018] Furthermore, the vibration unit uses a worm gear reduction unit to convert external torque, which is then transmitted through the driven shaft, crankshaft, and connecting rod to drive the first piston in linear reciprocating motion. The first piston strikes the brush plate to achieve vibration, thereby breaking the adhesion between hard organisms such as shellfish and barnacles and the surface of the bridge pier. Compared with a pure rotating brush head, which requires a long time and high pressure friction to remove hard objects, the vibration mode can achieve removal in a shorter time and at a relatively lower average pressure, which can reduce the wear of the brush bristles and improve cleaning efficiency.

[0019] Furthermore, the rotating unit utilizes the magnetic field generated by the energized coil to directly convert electrical energy into mechanical energy through the interaction of the magnetic field with the magnet. At the same time, the rotation drive of the brush disk can work continuously without being affected by piston vibration, thereby realizing independent or coordinated working modes of vibration and rotation.

[0020] Furthermore, the spider robot's quadrupedal gait combined with an adsorption structure allows it to attach to the bridge pier surface in any posture, making it highly flexible in use. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the biomimetic spider robot for cleaning bridge piers according to this utility model; Figure 2 yes Figure 1 Internal structure diagram excluding the outer shell; Figure 3 This is a zoomed-in view of the telescopic device and a partial enlarged view of the telescopic device; Figure 4 This is a magnified view of a part of the multi-mode drive device; Figure 5 This is a diagram of the internal structure of a multi-mode drive device; Figure 6 This is a disassembled diagram of the rotating device in a multi-mode drive unit; Figure 7 This is a close-up view of the brush disk and the brush disk mounting plate; Figure 8 It is a full sectional view showing the shape and angle of the brush bristles; Figure 9 This is a schematic diagram of the gas circuit assembly; Figure 10 This is a schematic diagram showing gas entering the vacuum generator from the gas supply section. Figure 11 The gas enters the vacuum generator from the gas storage section.

[0022] In the diagram, 1. Outer shell; 2. Upper base; 3. Lower base; 4. Loading plate; 5. Brush plate; 6. Camera; 7. Lower leg; 8. Middle leg; 9. Upper leg; 10. First telescopic device; 11. Vacuum generator; 12. Protective shell; 13. Multi-mode drive device; 14. Suction cup; 15. Second telescopic device; 16. Cylinder; 17. Outer brush bristles; 18. Inner brush bristles; 19. Cylinder head; 20. Cylinder body; 21. First piston; 22. Pressure cap; 23. Deceleration valve body; 24. Worm gear; 25. Driven shaft; 26. Worm gear; 27. Tapered roller bearing; 28. Deceleration valve cover; 29. ​​Crankshaft; 30. Connecting rod; 31. Magnet; 32. Coil; 33. Brush slip ring; 34. Air baffle; 35. Electric piston; 36. Air storage unit; 37. Upper stop block; 38. Spring; 39. Second piston; 40. Guide tube; 41. Stepper motor; 42. Shaft assembly; 43. Lead screw seat; 44. Lead screw nut; 45. Double-threaded trapezoidal lead screw; 46. Flange bearing; 47. Support rod. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to specific embodiments. The description is for explanation and not limitation of the present invention.

[0024] This utility model discloses a biomimetic spider robot for cleaning bridge piers, referring to... Figure 1 The system includes a spider robot body, which comprises an upper base 2, a lower base 3, and six spider legs. The upper base 2 and lower base 3 are positioned opposite each other and connected by copper pillars. The upper ends of the six spider legs are rotatably connected between the upper base 2 and the lower base 3. Each spider leg consists of an upper leg 9, a middle leg 8, a lower leg 7, and several flange bearings 46 connected together. These legs simulate the movement of a spider leg, achieving four degrees of freedom of motion, which is driven by a motor.

[0025] Reference Figure 2 The six spider legs are designated L1, L2, L3, L4, L5, and L6. They move in a quadrupedal gait pattern. During movement, the spider legs L1, L4, L2, L5, L3, and L6 swing forward alternately, and are controlled by periodic signals.

[0026] Reference Figure 3 The lower part of the spider robot body is connected to the loading plate 4 via a telescopic device. In this embodiment, two telescopic devices are provided to ensure smooth extension and retraction. The telescopic device adopts a cross-hinged structure, or it can adopt a structure that can perform unidirectional extension and retraction, such as a cylinder 16 or a hydraulic cylinder. The fixed end of the telescopic device is installed below the upper base 2, and the movable end passes through the lower base 3 and connects to the loading plate 4. The telescopic device can adjust the height of the brush plate 5 to adapt to the cleaning needs of different heights of the bridge piers, and can achieve full coverage cleaning.

[0027] A rotating brush disc 5 is positioned below the loading plate 4. The brush disc 5 is vibrated and rotated by a multi-mode drive device 13. A multi-mode quadruped gait mode is positioned above the loading plate 4. Figure 4 , 5 As shown, the multi-mode drive device 13 includes a drive motor, a reduction unit, and a vibration drive unit. The drive motor is fixed on the loading plate 4. The reduction unit is a worm gear 24 and worm 26 type reduction valve, including a reduction valve body 23 and a reduction valve cover 28. The reduction valve body 23 is provided with a worm gear 24, a worm 26, and a driven shaft 25. The worm 26 is connected to the output shaft of the drive motor. The worm gear 24 and the worm 26 cooperate to transmit power. One end of the driven shaft 25 is fixed to the worm gear 24, and the other end passes through the reduction valve cover 28 and is connected to the crankshaft 29 of the vibration unit. The driven shaft 25 and the reduction valve cover 28 are rotatably connected by a tapered roller bearing 27.

[0028] The vibration unit includes a crankshaft 29, a connecting rod 30, and a first piston 21. The crankshaft 29 is connected to the driven shaft 25, the connecting rod 30, and the first piston 21. A worm gear 26 engages with a worm wheel 24, driving each other. The worm gear 26 rotates actively; one revolution of the worm gear 26 corresponds to one tooth rotation of the worm wheel 24. The worm wheel 24 drives the rotation of the driven shaft 25, which in turn causes the crankshaft 29 to rotate. The crankshaft 29 then drives the connecting rod 30, which in turn pulls the first piston 21 in a reciprocating up-and-down motion, thus achieving the up-and-down vibration effect of the brush disc 5.

[0029] like Figure 6 As shown, the multi-mode drive device 13 also includes a rotary drive unit, which includes a coil 32 and a magnet 31. The coil 32 is fixed to the movable end of the first piston 21 and is connected to an external power supply. The magnet 31 is mounted on the rotating shaft of the brush disk 5. The rotating shaft is rotatably connected to the loading disk. One end of the rotating shaft is fixedly connected to the brush disk 5, and the other end passes through the loading disk and is connected to a pressure cover 22. The magnet 31 is fixed to the pressure cover 22. The rotation principle of the brush disk 5 is as follows: when the coil 32 is energized, an Ampere force is generated between the magnet 31 and the energized coil 32. Because the coil 32 is fixed, the magnet 31 fixed on the brush disk 5 will be subjected to a reaction force, thereby driving the brush disk 5 to rotate.

[0030] like Figure 7 , 8 As shown, inclined inner bristles 18 and outer bristles 17 are arranged below the brush disc 5. The hardness of the inner bristles 18 is greater than that of the outer bristles 17. The outer bristles 17 are used to clean algae and microorganisms attached to the bridge piers. Algae have moderate adhesion; based on the characteristics of algae, polypropylene (PP) with a Shore A hardness of 60-80A is selected for the bristles. The angle of the outer bristles 17 is designed to be 60-75° with the cleaning surface. This effectively removes algae while reducing damage to the bridge surface. The bristle length is designed to be 10-20mm; this angle and bristle length better enhance the cleaning effect and adapt to the growth morphology and attachment characteristics of algae.

[0031] The inner bristles 18 are designed in a hook shape to clean shellfish attached to bridge piers. This hooked design allows the bristle tips to easily penetrate the gaps between the surface and the attached shellfish, improving cleaning efficiency. Shellfish have strong adhesion; therefore, nylon (PA) with a Shore A hardness of 80-100A is selected for the bristles, based on the characteristics of shellfish. The bristle angle is designed to be 30-45° to the surface being cleaned, and the bristle length is 5-10mm. This allows for deeper penetration into crevices during cleaning, effectively removing the attached shellfish. This brush disc 5 combines two types of bristles designed for different types of attachments, improving cleaning efficiency, reducing cleaning difficulty, and significantly enhancing the quality of the work.

[0032] The lower end of the spider's legs is equipped with an adhesive structure, as shown in the reference. Figure 9 The adsorption structure includes a gas supply unit, an adsorption unit, and a gas storage unit 36 ​​connected by a conduit 40. The gas supply unit and the gas storage unit 36 ​​are mounted on the upper base 2. The gas supply unit includes an electric piston 35, a cylinder 16, a baffle plate 34, and a brush slip ring 33. The electric piston 35 and the baffle plate 34 are respectively located on both sides of the cylinder 16. The baffle plate 34 is located inside the cylinder 16, and the brush slip ring 33 is located outside the cylinder 16 and is connected to the baffle plate 34. The working principle of the gas supply unit is as follows: the baffle plate 34 is connected to the brush slip ring 33 and can rotate with the rotor. At the same time, since there is only one vent on the baffle plate, it is possible to control which hole on the gas wall leads the gas to the legs. When the electric piston 35 moves downward, the gas inside the wall moves downward, and with the help of the baffle plate 34, the gas leaves the gas supply section through the conduit 40.

[0033] The adsorption unit includes an upper stop block 37, a spring 38, a second piston 39, a vacuum generator 11, and a suction cup 14. The vacuum generator 11 is located inside the lower leg 7 of the spider leg. The upper stop block 37 is located inside the vacuum generator 11 and is connected to the cylinder 16 of the air supply unit and the air storage unit 36 ​​through a conduit 40. The lower part of the upper stop block 37 is connected to the spring 38, and the lower part of the spring 38 is connected to the upper end of the second piston 39. The lower end of the second piston 39 is located in the suction cup 14. The upper end of the suction cup 14 is connected to the lower end of the vacuum generator 11, and the lower end is in contact with the bridge surface.

[0034] The gas storage unit 36 ​​is a flexible telescopic bag placed between the upper base 2 and the lower base 3. In this embodiment, the gas storage unit 36 ​​is a telescopic gas storage ball placed inside the robot body and isolated from external water to ensure that the pressure in the entire gas circuit remains stable when the entire gas supply part is stationary or in motion.

[0035] Initially, suction cup 14 is in contact with water, and the combined force of the gas pressure above spring 38 and the compressive force of spring 38 is less than the water pressure. Gas rapidly enters vacuum generator 11 from the gas supply section along conduit 40, as... Figure 10 As shown, the airflow velocity between the two through holes on the left and right sides of the vacuum generator 11 increases, resulting in a decrease in air pressure between the two through holes (Bernoulli's principle). This causes the gas in the through hole above the upper stop block 37 to rise, leave the vacuum generator 11, and enter the gas storage section. At this time, the gas pressure above the spring 38 decreases, causing the water in the suction cup 14 to move upwards faster, pressing against the spring 38. This increases the volume occupied by the water in the suction cup 14, reducing the water pressure in the suction cup 14 and creating a pressure difference with the external water, causing the suction cup 14 to press against the bridge.

[0036] When the air supply stops, the gas pressure above spring 38 increases again. Simultaneously, due to the compression of spring 38, its elastic force also increases. At this time, the water pressure in suction cup 14 decreases, causing spring 38 to return to its original position. However, since the initial resultant force of the gas pressure above spring 38 and the compression force of spring 38 is less than the water pressure, the final external water pressure will still be greater than the water pressure inside suction cup 14. When the electric piston 35 in the air supply section moves upward, the gas returns from the gas storage section to the vacuum generator 11, as... Figure 11 As shown, part of the gas returns to the gas supply section, while the other part of the gas moves toward the spring 38 and impacts the piston, causing the combined force of the gas and the spring 38 to exceed the pressure of the water in the suction cup 14, causing the water in the suction cup 14 to fall back until the pressure of the water in the suction cup 14 is balanced with the pressure of the external water, at which point the suction cup 14 falls off the bridge.

[0037] The spider robot is equipped with a camera 6 at its tail. The camera 6 has one degree of freedom and can rotate the pitch axis to monitor the cleaning degree of the attachments on the bridge pier in real time, so as to facilitate the real-time adjustment of vibration and rotation parameters.

[0038] This invention relates to a biomimetic spider robot for cleaning bridge piers. With its multiple pairs of biomimetic spider legs, it can firmly adhere to the surface of the bridge piers. Simultaneously, relying on its built-in novel brush disc 5, it can autonomously perform surface cleaning operations on the bridge piers in complex underwater environments, efficiently removing attached microorganisms, shellfish, algae, and other deposits. The application of this technology not only significantly reduces the high risks and costs associated with traditional manual diving operations but also plays a crucial role in improving the efficiency and quality of maintenance operations, achieving automation and intelligence in maintenance work.

[0039] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the technical solution of the present utility model in any way. Those skilled in the art should understand that, without departing from the spirit and principles of the present utility model, the technical solution can be modified and replaced in several simple ways, and these modifications and replacements are all within the scope of protection covered by the claims.

Claims

1. A biomimetic spider robot for cleaning bridge piers, characterized in that, The system includes a spider robot body, the lower part of which is connected to a loading plate (4) via a telescopic device. A rotating brush disc (5) is installed below the loading plate (4). The brush disc (5) is vibrated and rotated by a multi-mode drive device (13), which is located above the loading plate (4). Inclined inner bristles (18) and outer bristles (17) are installed below the brush disc (5). The inner bristles (18) are hook-shaped, and the length of the outer bristles (17) is greater than the length of the inner bristles (18).

2. The biomimetic spider robot for cleaning bridge piers according to claim 1, characterized in that, The outer bristles (17) are at a 60-75° angle to the cleaning surface.

3. The biomimetic spider robot for cleaning bridge piers according to claim 1, characterized in that, The inner bristles (18) are at a 30-45° angle to the cleaning surface.

4. The biomimetic spider robot for cleaning bridge piers according to claim 1, characterized in that, The inner bristles (18) are harder than the outer bristles (17).

5. The biomimetic spider robot for cleaning bridge piers according to claim 1, characterized in that, The multi-mode drive unit (13) includes a reduction unit and a vibration drive unit. The reduction unit is a worm gear (24) and worm (26) type reduction valve, including a worm gear (24), a worm (26) and a driven shaft (25). The worm (26) is connected to an external drive, and the worm gear (24) cooperates with the worm (26) to perform transmission. The driven shaft (25) is connected to the worm gear (24). The vibration unit includes a crankshaft (29), a connecting rod (30) and a first piston (21). The crankshaft (29) is connected to the driven shaft (25), the crankshaft (29) is connected to the connecting rod (30), and the connecting rod (30) is connected to the first piston (21).

6. The biomimetic spider robot for cleaning bridge piers according to claim 5, characterized in that, The multi-mode drive device (13) also includes a rotary drive unit, which includes a coil (32) and a magnet (31). The coil (32) is fixed to the movable end of the first piston (21), and the coil (32) is connected to an external power supply device. The magnet (31) is fixed to the brush plate (5) by a pressure cover (22).

7. The biomimetic spider robot for cleaning bridge piers according to claim 6, characterized in that, The rotating shaft is rotatably connected to the loading disc. One end of the rotating shaft is fixedly connected to the brush disc (5), and the other end passes through the loading disc and the pressure cap (22).

8. The biomimetic spider robot for cleaning bridge piers according to claim 1, characterized in that, The spider robot body includes an upper base (2), a lower base (3), and six spider legs. The upper base (2) and the lower base (3) are arranged opposite to each other and connected. The upper ends of the six spider legs are rotatably connected between the upper base (2) and the lower base (3). The lower ends of the spider legs are provided with an adsorption structure. The six spider legs move in a quadrupedal gait mode. The fixed end of the telescopic device is installed below the upper base (2), and the movable end passes through the lower base (3) and is connected to the loading plate (4).

9. The biomimetic spider robot for cleaning bridge piers according to claim 8, characterized in that, The adsorption structure includes a gas supply unit, an adsorption unit, and a gas storage unit (36) connected by a conduit (40). The gas supply unit includes an electric piston (35), a cylinder (16), a baffle plate (34), and a brush slip ring (33). The electric piston (35) and the baffle plate (34) are respectively located on both sides of the cylinder (16). The baffle plate (34) is located inside the cylinder (16), and the brush slip ring (33) is located outside the cylinder (16) and is connected to the baffle plate (34). The adsorption unit includes an upper stop block (37), a spring (38), a second piston (39), and a vacuum. The vacuum generator (11) and suction cup (14) are located inside the lower leg (7) of the spider leg. The upper stop (37) is located inside the vacuum generator (11) and is connected to the cylinder (16) of the air supply unit and the air storage unit (36) through the conduit (40). The lower part of the upper stop (37) is connected to the spring (38), and the lower part of the spring (38) is connected to the upper end of the second piston (39). The lower end of the second piston (39) is located in the suction cup (14). The upper end of the suction cup (14) is connected to the lower end of the vacuum generator (11), and the lower end is in contact with the bridge surface.

10. The biomimetic spider robot for cleaning bridge piers according to claim 9, characterized in that, The gas storage unit (36) uses a flexible telescopic bag and is placed between the upper base (2) and the lower base (3).

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