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CN-121973867-A - Variable magnetic adsorption suspension steel beam defect detection robot

CN121973867ACN 121973867 ACN121973867 ACN 121973867ACN-121973867-A

Abstract

The invention discloses a variable magnetic adsorption suspension steel beam defect detection robot, which belongs to the technical field of wall climbing robots and comprises a main body frame, a variable magnetic adsorption device, a detection device and a controller, wherein a traveling device is arranged on the main body frame, the variable magnetic adsorption device comprises a supporting device, a plurality of electric telescopic rods and a permanent magnet array plate, the supporting device is movably arranged at the bottom end of the main body frame, the electric telescopic rods are arranged at the bottom end of the supporting device, the permanent magnet array plate is arranged at the output ends of the electric telescopic rods, the detection device is arranged at the top end of the main body frame, and the controller is arranged on the main body frame and is electrically connected with the electric telescopic rods, the detection device and the traveling device. According to the invention, the air gap between the permanent magnet and the surface of the steel beam can be dynamically adjusted according to the different thicknesses of the steel beam and the crawling demands on different positions of the top wall, the side wall, the bottom wall and the like, so that the required adsorption force is accurately matched, the adsorption reliability is ensured, and the extra friction and energy waste caused by overlarge adsorption force are avoided.

Inventors

  • ZHUANG LIANGDONG
  • FAN LILONG
  • TANG JIA
  • XIAO FEIZHI
  • YANG KEYANG
  • ZHANG KAI

Assignees

  • 清华大学
  • 中国铁建大桥工程局集团有限公司

Dates

Publication Date
20260505
Application Date
20260326

Claims (8)

  1. 1. A variable magnetic adsorption suspension beam defect detection robot is characterized by comprising a main body frame (10), a variable magnetic adsorption device (20), a detection device (30) and a controller (40), wherein a traveling device (11) is arranged on the main body frame (10), the variable magnetic adsorption device (20) comprises a supporting device (21), a plurality of electric telescopic rods (22) and a permanent magnet array plate (23), the supporting device (21) is movably mounted at the bottom end of the main body frame (10), the electric telescopic rods (22) are fixedly mounted at the bottom end of the supporting device (21), the permanent magnet array plate (23) is fixedly mounted at the output ends of the electric telescopic rods (22), the detection device (30) is mounted at the top end of the main body frame (10), and the controller (40) is mounted on the main body frame (10) and is electrically connected with the electric telescopic rods (22), the detection device (30) and the traveling device (11).
  2. 2. The variable magnetic attraction suspension beam defect detection robot according to claim 1, wherein the supporting device (21) comprises a first servo motor (211), a first gear (212), a second gear (213), a rotating shaft (214) and a supporting plate (215), the rotating shaft (214) is fixedly connected with the supporting plate (215), two ends of the rotating shaft (214) are rotatably connected to the bottom end of the main body frame (10), the first servo motor (211) is mounted on the inner bottom wall of the main body frame (10), the first gear (212) is fixedly mounted at the output end of the first servo motor (211), the second gear (213) is fixedly mounted at one end of the rotating shaft (214), the first gear (212) is meshed with the second gear (213), the first servo motor (211) is electrically connected with the controller (40), and a avoidance hole (12) for the supporting plate (215) to move is formed in the bottom wall of the main body frame (10).
  3. 3. The variable magnetic attraction cantilever beam defect detection robot of claim 2, further comprising a first attitude sensor (50) and a second attitude sensor (60), wherein the first attitude sensor (50) is mounted on top of the support plate (215), the second attitude sensor (60) is mounted on an inner top wall of the main body frame (10), and the first attitude sensor (50) and the second attitude sensor (60) are electrically connected with the controller (40).
  4. 4. The variable magnetic attraction suspension steel beam defect detection robot as claimed in claim 1, further comprising a pressure sensor (70), wherein the pressure sensor (70) is disposed between the electric telescopic rod (22) and the permanent magnet array plate (23), and wherein the pressure sensor (70) is electrically connected with the controller (40).
  5. 5. A variable magnetic attraction cantilever beam defect detecting robot according to claim 1, wherein the detecting device (30) comprises a cantilever rod (31) and a detector (32), one end of the cantilever rod (31) is mounted at the top end of the main body frame (10) and extends out of the main body frame (10), the detector (32) is mounted at the other end of the cantilever rod (31), and the detector (32) is electrically connected with the controller (40).
  6. 6. The variable magnetic attraction suspension beam defect detection robot as claimed in claim 5, wherein the detection device (30) further comprises a second servo motor (33), the second servo motor (33) is mounted on the top of the main body frame (10), the output end of the second servo motor extends out of the main body frame (10), and one end of the cantilever rod (31) is fixedly connected with the output end of the second servo motor (33).
  7. 7. A variable magnetic attraction cantilever beam defect inspection robot according to claim 5 or 6, characterized in that the detector (32) is a vision sensor and/or an ultrasonic sensor.
  8. 8. The variable magnetic attraction suspension beam defect detection robot as claimed in claim 1, wherein the travelling wheels in the travelling device (11) are magnetic attraction wheels.

Description

Variable magnetic adsorption suspension steel beam defect detection robot Technical Field The invention belongs to the technical field of wall climbing robots, and particularly relates to a variable magnetic adsorption suspension steel beam defect detection robot. Background Traditional suspended steel beam defect detection mainly relies on manual climbing or large-scale equipment to assist, and the problems of low efficiency, poor safety, limited detection coverage and the like exist. Magnetic attraction wall climbing robots offer an effective automated solution for this purpose, but they generally employ a constant magnetic attraction force design. In practical application, the thickness difference of the steel beams and the ideal adsorption force required by the robot when the robot climbs on different positions such as the top wall, the side wall and the bottom wall of the steel beams are different. Constant adsorption force often results in a fall risk due to insufficient adsorption at the bottom wall, while unnecessary frictional resistance is generated at the top wall or the side wall due to excessive adsorption force, increasing energy consumption and affecting movement flexibility. In addition, when the robot climbs over the right-angle edge of the steel beam, the accident that the absorption force is instantaneously insufficient and falls off is extremely easy to occur due to the abrupt change of the absorption surface and the gravity center transfer. Therefore, the magnetic adsorption wall climbing robot in the prior art is difficult to intelligently adapt to the adsorption force requirement under the complex working condition, and the application of the magnetic adsorption wall climbing robot in the full-automatic and high-reliability detection of the suspended steel beam is restricted. Disclosure of Invention In view of the above, the present invention provides a variable magnetic attraction suspension beam defect detection robot for solving the above-mentioned problems. In order to achieve the above purpose, the present invention adopts the following technical scheme: The variable magnetic adsorption suspension steel beam defect detection robot comprises a main body frame, a variable magnetic adsorption device, a detection device and a controller, wherein a traveling device is arranged on the main body frame, the variable magnetic adsorption device comprises a supporting device, a plurality of electric telescopic rods and a permanent magnet array plate, the supporting device is movably mounted at the bottom end of the main body frame, the electric telescopic rods are fixedly mounted at the bottom end of the supporting device, the permanent magnet array plate is fixedly mounted at the output ends of the electric telescopic rods, the detection device is mounted at the top end of the main body frame, and the controller is mounted on the main body frame and is electrically connected with the electric telescopic rods, the detection device and the traveling device. Further, the supporting device comprises a first servo motor, a first gear, a second gear, a rotating shaft and a supporting plate, wherein the rotating shaft is fixedly connected with the supporting plate, two ends of the rotating shaft are rotatably connected to the bottom end of the main body frame, the first servo motor is installed on the inner bottom wall of the main body frame, the first gear is fixedly installed at the output end of the first servo motor, the second gear is fixedly installed at one end of the rotating shaft, the first gear is meshed with the second gear, the first servo motor is electrically connected with the controller, and avoidance holes for the supporting plate to move are formed in the bottom wall of the main body frame. Further, the vehicle body frame further comprises a first posture sensor and a second posture sensor, wherein the first posture sensor is installed at the top end of the supporting plate, the second posture sensor is installed on the inner top wall of the vehicle body frame, and the first posture sensor and the second posture sensor are electrically connected with the controller. Further, the electric telescopic rod comprises a pressure sensor, wherein the pressure sensor is arranged between the electric telescopic rod and the permanent magnet array plate, and the pressure sensor is electrically connected with the controller. Further, the detection device comprises a cantilever rod and a detector, one end of the cantilever rod is arranged at the top end of the main body frame and extends out of the main body frame, the detector is arranged at the other end of the cantilever rod, and the detector is electrically connected with the controller. Further, the detection device further comprises a second servo motor, the second servo motor is mounted at the top of the main body frame, the output end of the second servo motor extends out of the main body frame, and one end of the cantilever rod is f