CN104972459A - Absorbing and climbing type robot for detecting bridge cracks - Google Patents
Absorbing and climbing type robot for detecting bridge cracks Download PDFInfo
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- CN104972459A CN104972459A CN201510393363.0A CN201510393363A CN104972459A CN 104972459 A CN104972459 A CN 104972459A CN 201510393363 A CN201510393363 A CN 201510393363A CN 104972459 A CN104972459 A CN 104972459A
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Abstract
The invention discloses an absorbing and climbing type robot for detecting bridge cracks. The robot comprises a knee joint module, camera modules and two ankle joint modules, wherein the knee joint module comprises a steering engine A and two connecting pieces; each ankle joint module is fixedly installed on the corresponding connecting piece, and each ankle joint module comprises an ankle support and a driving unit and a sucking disc module which are installed on the ankle joint support; each sucking disc module comprises a sucking disc body, a sucking disc rotating shaft and a vacuum pump unit, and each vacuum pump unit is fixedly installed on a first support; the one or more camera modules are rotatably installed on the ankle joint supports correspondingly for shooting the defects of a bridge bottom surface. The two ankle joint modules of the robot can turn over normally as well as rotate in a plane parallel to the bridge bottom surface, the functions of walking, obstacle crossing and steering can be achieved, and the detection is convenient.
Description
Technical field
The invention belongs to robot field, more specifically, relate to a kind of absorption climb type Bridge Crack measuring robots.
Background technology
Along with China's economic construction fast development, Bridges in Our Country total amount position is at the forefront in the world.By the end of the year 2012, highway in China bridge total amount will reach 62.19 ten thousand, overall length 2726.06 myriametre.But due to structural design defect, construction quality is not high, detect maintenance ineffective, the Bridge Accidents that the reasons such as excess load operation cause happens occasionally, and the unsafe bridge quantity of China has a lot at present, and the people's lives and property safety in this serious threat.Therefore, strengthen bridge machinery, carry out maintenance in time and seem particularly important.
In all bridge defects, Bridge Crack is leading factor, is the concentrated expression of the degree of danger that internal injury reaches, therefore its information content is very large, for indication and sign bridge dangerous situation, has key meaning.Moreover, there is crack in bridge, the reinforced concrete of bridge inside can be caused to be subject to outside air and rainwater constantly corrodes, and causes more serious harm.Show according to relevant statistics, the bridge defect of 76% is caused by Bridge Crack.Therefore, if can glue into concrete beam cracks occur early stage, Timeliness coverage crack also adopts remedial measures, and will greatly reduce bridge collapse accident rate.
But, the detection method of current domestic and abroad bridge basal crack is use heavy mechanical equipment to carry out observed and recorded as lift inspection vehicle, basket-hanging inspection vehicle and truss-like inspection vehicle lift-launch maintainer carries out visually observing or manually carry mini-plant substantially, there is testing cost high, equipment is heavy, efficiency is low, personal security is difficult to guarantee and Detection job is too dependent on peopleware, cannot ensure the defects such as Stability and veracity.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of absorption climb type Bridge Crack measuring robots, it, is scanned at the bottom of whole bridge by flip-flop movement and industrial camera at bridge basal surface by sucker suction, realizes the unmanned work of Crack Detection.
For achieving the above object, according to the present invention, provide a kind of absorption climb type Bridge Crack measuring robots, it is characterized in that: comprise knee joint module, camera model and two ankle-joint modules, wherein,
Described knee joint module comprises steering wheel A and two connectors, described two connectors are rotatably connected together by steering wheel A, the shell of described steering wheel A is arranged on wherein on connector described in, steering wheel A is rotatably connected on connector described in another, thus realizes being rotatably connected of two connectors;
Each ankle-joint module is fixedly mounted on a connection piece of knee joint module respectively, and each ankle-joint module includes ankle-joint support and the driver element be arranged on ankle-joint support and sucker module, wherein, described ankle-joint support comprises be rotatably connected the first support together and the second support, and described first support is fixedly mounted on described connector; Described sucker module comprises sucker, sucker rotating shaft and vacuum pump unit, described vacuum pump unit is fixedly mounted on described first support, it produces negative pressure for making sucker thus makes sucker suction in bridge bottom surface, and described sucker is rotatably connected on described second support by described sucker rotating shaft; Described driver element can drive described first support relative to described second holder pivots, and drives described second support to rotate around the axis of sucker rotating shaft;
Described camera model is more than one, and described camera model is rotatably arranged on ankle-joint support, and it is for taking the defect of bridge bottom surface.
Preferably, each driver element includes bevel gear wheel and two power transmission unit, described two power transmission unit side by side and symmetry be arranged on ankle-joint support, wherein, each power transmission unit includes steering wheel B, Spur Gear Driving mechanism and bevel pinion, the shell of described steering wheel B is fixedly mounted on described ankle-joint support, described Spur Gear Driving mechanism comprises intermeshing first spur gear and the second spur gear, described first spur gear is fixedly connected in the rotating shaft of described steering wheel B, bevel pinion described in described second spur gear is connected by rotary gear shaft, together with described first support is rotatable by described rotary gear shaft with the second support, described two bevel pinions all engage with described bevel gear wheel, and described bevel gear wheel is fixedly connected in described sucker rotating shaft, the rotating Vortex of the rotating shaft on two steering wheel B can drive the rotation of the rotary gear shaft axis of described first spur gear on the second spur gear, thus realize the first support rotating on the second support, the counter rotating of the rotating shaft on two steering wheel B can drive described first support around the rotation of sucker shaft axis, thus realizes the rotation of ankle-joint support around sucker shaft axis.
Preferably, described camera model comprises camera support, camera and steering wheel C, described camera and steering wheel C are all fixedly mounted on camera support, wherein, the shell of described steering wheel C is fixedly mounted on camera support, its rotating shaft is fixedly mounted on described ankle-joint support, and the rotational of the rotating shaft of steering wheel C realizes relatively rotating of camera support and ankle-joint support, thus the shooting angle of adjustment camera.
Preferably, described camera model also comprises the ultrasonic sensor be arranged on camera support, for the distance of the barrier at the bottom of measuring robots and bridge.
Preferably, described ultrasonic sensor comprises ultrasonic probe, and the axis of described ultrasonic probe is vertical with the normal of described camera lens.
Preferably, each sucker is all provided with baroceptor, for detecting the air pressure in sucker.
In general, the above technical scheme conceived by the present invention compared with prior art, can obtain following beneficial effect:
1) two ankle-joint modules not only can overturn normally, also can turn at the plane internal rotation being parallel to bridge bottom surface, can realize turning action;
2) ultrasonic sensor and camera are fixed on same connector, frame for movement ensure that and the two vertical requirement make robot work more stable;
3) adopt rolling type to advance, speed is fast and obstacle detouring is convenient, when in the face of interior 90 degree of obstacles, only need control each steering wheel anglec of rotation, can complete obstacle detouring;
4) ankle-joint module adopts the structure of bevel gear system, and select rational gear train, steering wheel is arranged side by side, and can realize the motion of two rotational freedoms by rotating and reverse steering wheel simultaneously, makes robot overall structure very compact;
5) camera model is selected miniature steering wheel, fully reduce weight, realize mating of moment of torsion and load.
6) sucker module is equipped with baroceptor, the danger can effectively avoiding crack to make robot lose absorption affinity dropping.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of knee joint module in the present invention;
Fig. 3 is the structural representation of camera model in the present invention;
Fig. 4 is the structural representation of sucker module in the present invention;
Fig. 5 is the structural representation of ankle-joint module in the present invention;
Fig. 5 a is the three-dimensional combination figure of the vacuum pump unit in ankle-joint module of the present invention;
Fig. 5 b is the three-dimensional combination figure of the filling housing unit in ankle-joint module of the present invention;
Fig. 5 c is the three-dimensional combination figure of the driver element in ankle-joint module of the present invention;
Fig. 6 is the structural representation under another visual angle of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
As shown in Fig. 1 ~ Fig. 4, Fig. 5 a ~ Fig. 5 c, Fig. 6, a kind of absorption climb type Bridge Crack measuring robots, is characterized in that: comprise knee joint module 1, camera model 2 and two ankle-joint modules 3, wherein,
Described knee joint module 1 comprises steering wheel A12 and two connectors, two connectors are respectively the first connector 11 and the second connector 13, described two connectors are rotatably connected together by steering wheel A12, the shell of described steering wheel A12 is arranged on wherein on connector described in, steering wheel A12 is rotatably connected on connector described in another, thus realizes being rotatably connected of two connectors;
Each ankle-joint module 3 is fixedly mounted on a connection piece of knee joint module 1 respectively, and each ankle-joint module includes an ankle-joint support 30 and the driver element be arranged on ankle-joint support 30 and sucker module 4, wherein, described ankle-joint support 30 comprises the first support 31 and the second support 32 be rotatably connected together, and each first support 31 is fixedly mounted on connector described in respectively; Described sucker module 4 has sucker 43, sucker rotating shaft 344 and vacuum pump unit 301, described vacuum pump unit 301 is fixedly mounted on described first support 31, it is for making sucker 43 produce negative pressure thus making sucker 43 be adsorbed in bridge bottom surface, and described sucker 43 is rotatably connected on described second support 32 by described sucker rotating shaft 344; Described driver element can drive described first support 31 to rotate relative to described second support 32, and drives described second support 32 to rotate around the axis of sucker rotating shaft 344;
Described camera model 2 is more than one, and described camera model is rotatably arranged on ankle-joint support, and it is for taking the defect of bridge bottom surface.
Further, each driver element includes bevel gear wheel 340 and two power transmission unit, described two power transmission unit side by side and symmetry be arranged on ankle-joint support, each power transmission unit includes steering wheel B330, Spur Gear Driving mechanism and bevel pinion 341, wherein, the shell of described steering wheel B330 is fixedly mounted on described ankle-joint support 30.With reference to Fig. 5 c, Spur Gear Driving mechanism described in one of them comprises intermeshing first spur gear 333 and the second spur gear 342, described first spur gear 333 is fixedly connected in the rotating shaft of described steering wheel B330, described second spur gear 342 connects described bevel pinion 341 by rotary gear shaft 343, together with described first support 31 and the second support 32 are rotatably connected by described rotary gear shaft 343; Described two bevel pinions 341 all engage with described bevel gear wheel 340, and described bevel gear wheel 340 is fixedly connected in described sucker rotating shaft 344;
With reference to Fig. 5 c, the rotating Vortex of the rotating shaft on two steering wheel B330 has drive two bevel pinions 341 to have homodromal trend, but two bevel pinions 341 all engage with described bevel gear wheel 340, and in fact now the two cannot rotate, therefore can only be the rotation of rotary gear shaft 343 axis of described first spur gear 333 on the second spur gear 342 in the case, thus realize the first support 31 rotating on the second support 32.And the counter rotating of rotating shaft on two steering wheel B330 can drive two bevel pinions 341 to have counter rotating, the counter rotating of two bevel pinions 341 can drive bevel gear wheel 340 to rotate, and sucker 43 is firmly adsorbed at the bottom of bridge, and sucker rotating shaft 344 is fixedly connected with sucker 43, therefore now sucker rotating shaft 344 is also motionless, can only be that two bevel pinions 341 drive the second support 32 around the rotation of the axis of sucker rotating shaft 344, thus realize the rotation of ankle-joint support 30 around sucker shaft axis.
Further, described camera model 2 comprises camera support 21, camera 22 and steering wheel C23, described camera 22 and steering wheel C23 are all fixedly mounted on camera support 21, wherein, the shell of described steering wheel C23 is fixedly mounted on camera support 21, its rotating shaft 24 is fixedly mounted on described ankle-joint support 30, and the rotational of the rotating shaft of steering wheel C23 realizes relatively rotating of camera support 21 and ankle-joint support 30, thus the shooting angle of adjustment camera 22.Preferably, described camera model 2 also comprises the ultrasonic sensor 25 be arranged on camera support 21, for the distance of the barrier at the bottom of measuring robots and bridge.Preferably, described ultrasonic sensor 25 comprises ultrasonic probe, and the axis of described ultrasonic probe is vertical with the normal of described camera lens.
Further, each sucker 43 is all provided with baroceptor, for detecting the air pressure in sucker, in case sucker suction drops when bridge bottom surface.
With reference to Fig. 1, sucker module 4 of the present invention by sucker suction % in bridge bottom surface; Each ankle-joint module 3 has two steering wheel B330, can realize relatively rotating of the first support 31 and the second support 32, and the rotation that ankle-joint support 30 rotates around sucker rotating shaft 344 axis; Knee joint module 1 has steering wheel A12, can realize relatively rotating of two connectors, and then realizes relatively rotating of two ankle-joint supports 30, coordinates ankle-joint module 3 can realize the walking function of robot; Camera model 2 has a steering wheel C23, to realize a rotary freedom of camera 22, can be taken, so that FRAC by camera 22 to bridge bottom surface.Like this, robot is realized adsorbing at the bottom of bridge by sucker module 4, and realize walking by ankle-joint module 3 and knee joint module 1, camera model 2 realizes the shooting at the bottom of to bridge.Modules cooperatively interacts, and can realize the complete detection at the bottom of bridge.
With reference to Fig. 2, knee joint module of the present invention has the first connector 11, steering wheel A12, the second connector 13, auxiliary steering wheel 14 and screw A15.Wherein, the first connector 11 is connected by the shell of screw A15 and steering wheel A12, and connects the first support 31 of one of them ankle-joint module of robot; The rotating shaft of steering wheel A12 is connected with the second connector 13 by auxiliary steering wheel 14; Second connector 13 is connected with the first support 31 of another ankle-joint module 3.Like this, steering wheel A12 to be realized two ankle-joint modules 3 of robot by the first connector 11 and the second connector 13 between rotation control.
With reference to Fig. 3, camera model 2 has camera connector 21, camera 22, steering wheel C23, steering wheel 24, ultrasonic sensor 25, screw B26, screw C27, screw D28 and nut A29.Wherein, camera 22 is connected with camera installed part 21 by screw C27; Steering wheel C23 is connected with camera installed part 21 by screw B26; Steering wheel 24 is fixedly connected with the rotating shaft of steering wheel C23, and it can be fixed by screws on the side plate of the first support 31; Ultrasonic sensor 25 is fixed on screw D28 by nut, and screw D28 is fixed on camera connector 21 by nut A29.Like this, whole camera model is connected with robot by steering wheel 24, and steering wheel C23 realizes the angle adjustment of whole camera model, make at the bottom of the alignment lens bridge of camera 22, and ultrasonic sensor is vertical with the lens direction of camera 22 all the time, point to the front that robot advances, to detect preceding object thing.
With reference to Fig. 4, sucker module 4 has shaft coupling 41, valve module 42 and sucker 43.Wherein, sucker 43 produces negative-pressure adsorption in bridge bottom surface by vacuum pump unit 301; Valve module 42 realizes being tightly connected by screw thread and sucker 43; Shaft coupling 41 one end is connected in valve module 42, and the other end can connect the sucker rotating shaft 344 on the second support 32, and sucker rotating shaft 344 is rotatably connected on the second support 32.Like this, sucker module 4 is adsorbed at the bottom of bridge by sucker 43, when sucker 43 holds at the bottom of bridge, is fixed, and it supports the weight of whole robot as the basis of whole robot by shaft coupling 41, and ensures that robot security is stable and be adsorbed at the bottom of bridge.Two suckers 43 can be adsorbed at the bottom of bridge together, and when robot will walk or turn, then a sucker 43 is adsorbed at the bottom of bridge, and another sucker 43 is separated with at the bottom of bridge.
With reference to Fig. 5 a ~ Fig. 5 c, ankle-joint module 3 have vacuum pump unit (Fig. 5 a), electrical appliance kit unit (Fig. 5 b), driver element (Fig. 5 c), vacuum pump unit, for generation of vacuum, ensures sucker suction; Electrical appliance kit unit is used for the hardware circuit part of stationary machines people; The driving force of driver element bad student robot anklebone part.
With reference to Fig. 5 a, described first support 31 comprises the first side plate 302, second side plate 303 and installing plate 304, first side plate 302 and the second side plate 303 are fixed together by described installing plate 304, second support 32 comprises together with U-shaped frame 308, first support 31 and the second support 32 be rotatably connected by two rotary gear shafts 343.Vacuum pump unit comprises vavuum pump 301, screw E305, screw F306 and nut B307.Vavuum pump 301 is fixed on the installing plate 304 on installing plate first side plate 302 by screw E305, and realizes location by the hole on the first side plate 302; Installing plate 304 is connected between the first fixing side plate 302 of position and the second side plate 303 by screw F306 and nut B307.Like this, by screw-nut and installing plate, be fixed on stable for vavuum pump in robot.
With reference to 5b, electrical appliance kit unit has electrical appliance kit 310, electrical appliance kit installing plate 311 and screw G312 and forms.Electrical appliance kit 310 is fixed on electrical appliance kit installing plate 311 by screw G312, and electrical appliance kit installing plate 311 is installed between machinery group biside plate by screw.Like this, hardware circuit is stably fixed on the first support 31 by electrical appliance kit installing plate 311 by electrical appliance kit 310.
With reference to Fig. 5 c, power transmission unit has bevel gear wheel 340, bevel pinion 341, second spur gear 342, screw H343, rotary gear shaft 345, briquetting 346, screw I347, screw J348, nut C349, two steering wheel B330, nut D331, screw K332, the first spur gear 333, screw L334.Wherein, two steering wheel B330 are separately fixed on the first support 31 by screw K332 and nut D331; First spur gear 333 is fixedly connected with the rotating shaft of steering wheel B330 with screw L334 by steering wheel; First spur gear 333 and the second spur gear 342 engaged transmission; Second spur gear 342 circumference is positioned on rotary gear shaft 345 by screw I347, axially by the briquetting 346 in outside, and the flange face location being contained in the bearing in side plate of screw H343 and inner side, such spur gear 342 has just been fixed on rotary gear shaft 345; Rotary gear shaft 345 is contained on the bearing inner race in the side plate being installed on the second support 32; Bevel pinion 341 is fixed on rotary gear shaft 345 by screw J348 and nut C349; Sucker rotating shaft 344 is fixed by needle bearing and the flange bearing be arranged in the second support 32; Bevel gear wheel 340 is fixed in sucker rotating shaft 344 by screw I347; Bevel gear wheel 340 and two bevel pinions 341 engaged transmission simultaneously.Like this, the rotary motion being fixed on two steering wheel B330 on the first support 31 just to be engaged with bevel gear wheel by two spur gears engagements and two bevel pinions and is transmitted, robot is made to have two rotational freedoms, wherein, the rotating Vortex of the rotating shaft on two steering wheel B330 can drive the rotation of rotary gear shaft 343 axis of described first spur gear 333 on the second spur gear 342, thus realize the first support 31 rotating relative to the second support 32, the counter rotating of the rotating shaft on two steering wheel B330 can drive described first support 31 around the rotation of sucker rotating shaft 344 axis, thus realize the rotation of ankle-joint support 30 around sucker rotating shaft 344 axis.
When robot will be adsorbed onto bridge bottom surface, sucker 43 contact bridge bottom surface, vacuum pump unit work, vacuum pump unit makes sucker 43 inside form negative pressure by flexible pipe connecting sucker 43 thus band mobile robot is adsorbed on bridge bottom surface.
When robot will be walked, the rotating Vortex of the rotating shaft on two steering wheel B330 of ankle-joint module 3 can drive the rotation of rotary gear shaft 342 axis of described first spur gear 333 on the second spur gear 342, thus realizes the first support 31 rotating on the second support 32; The rotational of the rotating shaft of steering wheel A12 makes relatively rotating between two ankle-joint modules 3, and namely one of them ankle-joint module 3 can overturn relative to another ankle-joint module 3, and the two angle occurring relatively to overturn can close to 360 °.By the rotation of the rotating shaft of steering wheel A12, two ankle-joint modules 3 are relatively rotated, and the rotating Vortex of the rotating shaft of two steering wheel B330, thus the walking of robot can be realized.Bridge bottom surface to be fixed to again after walking, ankle-joint module and knee joint module control triangular in shape, one of them sucker 43 controlling to soar compresses to bridge bottom surface, the rear vacuum pump unit work corresponding to this sucker 43 of compression produces suction makes this sucker 43 hold at the bottom of bridge, after absorption is stable, the vacuum pump unit corresponding with another sucker 43 quits work, and another sucker 43 unclamps at the bottom of bridge, repeats the walking process that above process can carry out robot.
The counter rotating of the rotating shaft on two steering wheel B330 can drive described second support 32 around the rotation of sucker rotating shaft 344 axis, thus realizes the rotation of ankle-joint support 30 around sucker rotating shaft 344 axis.The turning of whole robot can be realized like this.During turning, a sucker 43 is adsorbed at the bottom of bridge firmly, and another sucker 43 departs from at the bottom of bridge.
By control two steering wheel B330 turn to and angle can realize the advance of robot and turn to.If when having very long crack in the direction of advance parallel with robot, a little crack can be avoided by allowing robot turn.
When bridge bottom surface having rib form barrier, robot can obstacle detouring.The sucker 43 of an ankle-joint module 3 of robot is first adsorbed on this rib, then the axis of rotation of steering wheel A12, be adsorbed onto on bridge bottom surface after another ankle-joint module 3 is rotated relative to the ankle-joint module 3 that this is adsorbed on rib, then the ankle-joint module 3 be adsorbed on rib is rotated relative to the ankle-joint module 3 be adsorbed on bridge bottom surface again, thus also can be adsorbed onto on bridge bottom surface, such two ankle-joint modules have just all been adsorbed on bridge bottom surface, then just can walk on bridge bottom surface or turn.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. adsorb a climb type Bridge Crack measuring robots, it is characterized in that: comprise knee joint module, camera model and two ankle-joint modules, wherein,
Described knee joint module comprises steering wheel A and two connectors, described two connectors are rotatably connected together by steering wheel A, the shell of described steering wheel A is arranged on wherein on connector described in, steering wheel A is rotatably connected on connector described in another, thus realizes being rotatably connected of two connectors;
Each ankle-joint module is fixedly mounted on a connection piece of knee joint module respectively, and each ankle-joint module includes ankle-joint support and the driver element be arranged on ankle-joint support and sucker module, wherein, described ankle-joint support comprises be rotatably connected the first support together and the second support, and each first support is fixedly mounted on connector described in respectively; Described sucker module comprises sucker, sucker rotating shaft and vacuum pump unit, described vacuum pump unit is fixedly mounted on described first support, it produces negative pressure for making sucker thus makes sucker suction in bridge bottom surface, and described sucker is rotatably connected on described second support by described sucker rotating shaft; Described driver element can drive described first support relative to described second holder pivots, and drives described second support to rotate around the axis of sucker rotating shaft;
Described camera model is more than one, and described camera model is rotatably arranged on ankle-joint support, and it is for taking the defect of bridge bottom surface.
2. one absorption climb type Bridge Crack measuring robots according to claim 1, it is characterized in that: each driver element includes bevel gear wheel and two power transmission unit, described two power transmission unit side by side and symmetry be arranged on ankle-joint support, wherein, each power transmission unit includes steering wheel B, Spur Gear Driving mechanism and bevel pinion, the shell of described steering wheel B is fixedly mounted on described ankle-joint support, described Spur Gear Driving mechanism comprises intermeshing first spur gear and the second spur gear, described first spur gear is fixedly connected in the rotating shaft of described steering wheel B, bevel pinion described in described second spur gear is connected by rotary gear shaft, together with described first support is rotatable by described rotary gear shaft with the second support, described two bevel pinions all engage with described bevel gear wheel, and described bevel gear wheel is fixedly connected in described sucker rotating shaft, the rotating Vortex of the rotating shaft on two steering wheel B can drive the rotation of the rotary gear shaft axis of described first spur gear on the second spur gear, thus realize the first support rotating on the second support, the counter rotating of the rotating shaft on two steering wheel B can drive described second support around the rotation of sucker shaft axis, thus realizes the rotation of ankle-joint support around sucker shaft axis.
3. one absorption climb type Bridge Crack measuring robots according to claim 1, it is characterized in that: described camera model comprises camera support, camera and steering wheel C, described camera and steering wheel C are all fixedly mounted on camera support, wherein, the shell of described steering wheel C is fixedly mounted on camera support, its rotating shaft is fixedly mounted on described ankle-joint support, and the rotational of the rotating shaft of steering wheel C realizes relatively rotating of camera support and ankle-joint support, thus the shooting angle of adjustment camera.
4. one absorption climb type Bridge Crack measuring robots according to claim 1, is characterized in that: described camera model also comprises the ultrasonic sensor be arranged on camera support, for the distance of the barrier at the bottom of measuring robots and bridge.
5. one absorption climb type Bridge Crack measuring robots according to claim 1, it is characterized in that: described ultrasonic sensor comprises ultrasonic probe, the axis of described ultrasonic probe is vertical with the normal of described camera lens.
6. one absorption climb type Bridge Crack measuring robots according to claim 1, is characterized in that: each sucker is all provided with baroceptor, for detecting the air pressure in sucker.
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