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A heavy-load wall-climbing robot for bridge concrete structures inspection

Guizhi Lyu (Beijing Institute of Aeronautical Materials, Beijing, China and Department of Mechanical and Electronic Engineering, Heze University, Heze, China)
Peng Wang (Beijing Institute of Aeronautical Materials, Beijing, China)
Guohong Li (Hong Kong-Zhuhai-Macao Bridge Authority, Zhuhai, China)
Feng Lu (Beijing Institute of Aeronautical Materials, Beijing, China)
Shenglong Dai (Beijing Institute of Aeronautical Materials, Beijing, China)

Industrial Robot

ISSN: 0143-991X

Article publication date: 23 February 2024

Issue publication date: 9 May 2024

361

Abstract

Purpose

The purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF) collaborative robot (Cobot) and detection device for inspecting the overwater part of concrete bridge towers/piers for large bridges.

Design/methodology/approach

By analyzing the shortcomings of existing wall-climbing robots in detecting concrete structures, a wall-climbing mobile manipulator (WCMM), which could be compatible with various detection devices, is proposed for detecting the concrete towers/piers of the Hong Kong-Zhuhai-Macao Bridge. The factors affecting the load capacity are obtained by analyzing the antislip and antioverturning conditions of the wall-climbing robot platform on the wall surface. Design strategies for each part of the structure of the wall-climbing robot are provided based on the influencing factors. By deriving the equivalent adsorption force equation, analyzed the influencing factors of equivalent adsorption force and provided schemes that could enhance the load capacity of the wall-climbing robot.

Findings

The adsorption test verifies the maximum negative pressure that the fan module could provide to the adsorption chamber. The load capacity test verifies it is feasible to achieve the expected bearing requirements of the wall-climbing robot. The motion tests prove that the developed climbing robot vehicle could move freely on the surface of the concrete structure after being equipped with a six-DOF Cobot.

Practical implications

The development of the heavy-load wall-climbing robot enables the Cobot to be installed and equipped on the wall-climbing robot, forming the WCMM, making them compatible with carrying various devices and expanding the application of the wall-climbing robot.

Originality/value

A heavy-load wall-climbing robot using negative pressure adsorption has been developed. The wall-climbing robot platform could carry a six-DOF Cobot, making it compatible with various detection devices for the inspection of concrete structures of large bridges. The WCMM could be expanded to detect the concretes with similar structures. The research and development process of the heavy-load wall-climbing robot could inspire the design of other negative-pressure wall-climbing robots.

Keywords

Acknowledgements

Funding: This work was supported by a grant from the National Key R&D Program of China (No. 2019YFB1600700).

Citation

Lyu, G., Wang, P., Li, G., Lu, F. and Dai, S. (2024), "A heavy-load wall-climbing robot for bridge concrete structures inspection", Industrial Robot, Vol. 51 No. 3, pp. 465-478. https://doi.org/10.1108/IR-11-2023-0273

Publisher

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Emerald Publishing Limited

Copyright © 2024, Emerald Publishing Limited

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