CN106869023A - A kind of bridge detection robot - Google Patents
A kind of bridge detection robot Download PDFInfo
- Publication number
- CN106869023A CN106869023A CN201710127513.2A CN201710127513A CN106869023A CN 106869023 A CN106869023 A CN 106869023A CN 201710127513 A CN201710127513 A CN 201710127513A CN 106869023 A CN106869023 A CN 106869023A
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- Prior art keywords
- bridge
- termination
- robot
- forearm
- bridge detection
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of bridge detection robot, mainly solve existing highway bridge robot and have that detection efficiency is low, test position is not comprehensive, and can not accurate avoiding obstacles automatically problem.The present invention is by using a kind of bridge robot, including parameter input unit, signal gathering unit, controller and execution unit, the parameter input unit is touch input screen, the signal gathering unit includes distance measuring sensor, infrared sensor and storage analyzer, the execution unit includes the technical scheme of walking turbin generator, rotary fluid pressure device, the first motor, the second motor and robot device, the problem is preferably solved, can be used for the detection of bridge and construction.
Description
Technical field
The present invention relates to a kind of bridge detection robot.
Background technology
The bridge detection robot testing process of prior art is generally：Flexible by telescopic arm is realized along bridge side wide
To the detection of unit width, then telescopic arm is reclaimed, start road wheel to travel unit distance along bridge length direction, then by telescopic arm
The flexible detection to realize along bridge cross direction unit width, so circulation.Because the flexible impact of telescopic arm is larger, inspection is easily caused
Survey efficiency is low and detection environment is undesirable；Mechanical arm can not provide the travel frequency supporting with testing equipment during bridge machinery
With precision, test position is comprehensive.In to bridge machinery operation process, because bridge substructure is complicated, operating mode does not know,
Bridge detection robot may be made to encounter barrier, influence detection quality even damages Bridge Testing Equipment.It is then desired to bridge
Beam detects that robot can accurate avoiding obstacles automatic in real time and the automatic detection of planning again path in the operation of bridge bottom.
And for example Chinese patent literature CN204780579U discloses a kind of bridge-detecting operation vehicle, including machinery carries flat
Platform, detecting system and turn-key system, the detecting system are connected with the mechanical carrying platform, the turn-key system and the machine
Tool carrying platform and detecting system are connected, and the detecting system includes universal joint and intelligent Defect inspection equipment, the intelligence
Defect inspection equipment is connected with the universal joint, and the intelligent Defect inspection equipment includes Visual intelligent acquisition system, described
Visual intelligent acquisition system is connected with the turn-key system.Although above-mentioned Operation Van can detection efficiency is high, test position comprehensively,
But can not accurate avoiding obstacles automatically.
The content of the invention
The technical problems to be solved by the invention are that existing highway bridge robot has that detection efficiency is low, test position is not complete
Face, and can not accurate avoiding obstacles automatically problem, there is provided a kind of new bridge detection robot.Using the robot without
The advantage for needing professional manipulation technology, intelligent barrier avoiding detection efficiency high.
For the technical scheme for solving above-mentioned technical problem present invention use is as follows：A kind of bridge robot, its feature exists
In：Including parameter input unit, signal gathering unit, controller and execution unit, the parameter input unit, the signal are adopted
Collection unit and the execution unit are electrically connected with the controller.
In above-mentioned technical proposal, it is preferable that the execution unit includes road wheel, rotary fluid pressure device, large arm termination, small
Arm termination and robot device, the road wheel connection walking turbin generator, the chassis that road wheel is supported is provided with rotating hydraulic
Device, the rotary fluid pressure device upper end is provided with hollow vertical rod, also including the fixing axle above hollow vertical rod, Gu
Dead axle one is provided with large arm termination, and the driving gear that driven gear one is meshed with driven gear one is provided with large arm termination
One and the first motor for being connected with driving gear one, the side of large arm termination is fixedly connected with fixing axle two, fixed
Axle two is provided with forearm termination, and the driving gear two that driven gear two is meshed with driven gear two is provided with inside forearm termination
And the second motor being connected with driving gear two, forearm termination is connected with robot device by forearm.
Preferably, the parameter input unit includes touch display screen and memory, the touch display screen and memory
On chassis, the touch display screen and memory are electrically connected with the controller.
Preferably, the robot device includes pneumatic box, guide rail and manipulator finger, and two are provided with inside the pneumatic box
Platform cylinder, carries slide bar in the telescopic rod end of each cylinder, manipulator finger is connected with the slide bar.
Preferably, the signal gathering unit includes distance measuring sensor, infrared sensor and monitoring device, and the range finding is passed
Sensor can be ultrasonic distance-measuring sensor or laser sensor, the distance measuring sensor, the infrared sensor and described
Monitoring device is electrically connected with the controller respectively.
Preferably, the manipulator finger is provided with infrared sensor.
Preferably, the monitoring device includes the industrial computer, interchanger and the camera that are sequentially connected, the industrial computer and institute
Controller electrical connection is stated, the camera is arranged on chassis.
The present invention drives the rotation driving large arm termination of driven gear one to be rotated around fixing axle by the first motor, so that band
Dynamic large arm longitudinal oscillation；The present invention drives the rotation driving forearm termination of driven gear two to be revolved around fixing axle two by the second motor
Turn, so as to drive forearm longitudinal oscillation；The present invention is installed with rotary fluid pressure device by hollow vertical rod lower end, is capable of achieving
360 degree of rotations of hollow vertical rod；The present invention is stretched by Telescopic-cylinder bar, so that Telescopic-cylinder bar driving mechanical hand finger
Implement pick-and-place action；The present invention, can accurate avoiding obstacles automatic in real time and automatic by distance measuring sensor and monitoring device
Again planning detects path.
Using robot of the invention, large bridge, time-consuming 30mins are detected.If detecting same bridge, time-consuming 1 small
When.Therefore, 50% is shortened using the robot time of the invention, accelerates detection speed, lift detection efficiency.Further, since
The robot mechanical arm is by the flexible of Telescopic-cylinder bar, so that Telescopic-cylinder bar driving mechanical hand finger is implemented pick-and-place and moved
Make, can be used for the lifting of Parameters of Bridge Steel Under.
Brief description of the drawings
Fig. 1 is a kind of stereogram of bridge detection robot of the invention；
Fig. 2 is a kind of side view of bridge detection robot of the invention；
Fig. 3 is a kind of bridge detection robot principle schematic of the invention.
In accompanying drawing：
1st, parameter input unit 2, signal gathering unit 3, controller
4th, execution unit 11, touch display screen 12, memory
21st, distance measuring sensor 22, infrared sensor 23, camera
41st, road wheel 42, rotary fluid pressure device 43, large arm termination
44th, forearm termination 45, robot device 46, hollow vertical rod
47th, fixing axle 48, fixing axle 2 49, chassis
431st, driven gear 1, driving gear 1, the first motor
441st, driven gear 2 442, driving gear 2 443, the second motor
451st, pneumatic box 452, guide rail 453, manipulator finger
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
As shown in Figure 1, 2, a kind of bridge robot, including road wheel 41, the connection walking turbin generator of the road wheel 41, OK
Walk to take turns 41 chassis 49 for being supported and be provided with rotary fluid pressure device 42, the upper end of the rotary fluid pressure device 42 is provided with hollow vertical rod
46, it has been capable of achieving 360 degree of rotations of hollow vertical rod 46；Also include the fixing axle 47 installed in the top of hollow vertical rod 46, it is fixed
Axle 1 is provided with large arm termination 43, and be provided with driven gear 1 in large arm termination 43 is meshed with driven gear 1
Driving gear 1 and the first motor 433 for being connected with driving gear 1, the first motor 433 works
When, drive driving gear 1 to rotate, make driven gear 1 also with rotation, the first motor 433 drives passive tooth
Take turns one 431 rotation driving large arm terminations 43 to be rotated around fixing axle 47, and then drive large arm longitudinal oscillation.The large arm termination 43
Side be fixedly connected with fixing axle 2 48, fixing axle 2 48 is provided with forearm termination 44, is provided with passive inside forearm termination 44
Driving gear 2 442 that gear 2 441 is meshed with driven gear 2 441 and be connected with driving gear 2 442 second
Motor 443, the second motor 443 work when, drive driving gear 2 442 rotate, make driven gear 2 441 also with
Rotation, the second motor 443 drives the rotation driving forearm termination 44 of driven gear 2 441 to be rotated around fixing axle 2 48, and then
Forearm longitudinal oscillation is driven, the forearm termination 44 is connected with robot device 45, described robot device 45 by forearm
Including pneumatic box 451, guide rail 452 and manipulator finger 453, two cylinders are provided with inside the pneumatic box 451, each described gas
Slide bar is carried in cylinder telescopic rod end, manipulator finger 453 is connected with the slide bar, by the flexible of Telescopic-cylinder bar, from
And Telescopic-cylinder bar driving mechanical hand finger 453 is implemented pick-and-place and act.Camera 23, camera are additionally provided with the chassis 49
23 is two, and the camera 23 is sequentially connected interchanger, industrial computer and monitor scope, and the interchanger is by the camera
The information that captured information conveyance is received to the industrial computer, monitor scope display industrial computer.
As shown in figure 3, the parameter input unit 1 is touch input screen 11 and memory 12, the parameter input unit 1
Receive instruction and describe content, the instruction describes content and indicates that controller 3 will be fed back to；The signal gathering unit 2 includes range finding
Sensor 21, infrared sensor 22 and monitoring device, the distance measuring sensor 21 and monitoring device are used for robot measurement and bridge
The distance of beam or barrier, the infrared sensor 22 is used to detect bridge；The controller 3 records current location and bridge
Or the distance of barrier, and carry out contrast with safe distance and send control instruction to execution unit 4, the execution unit 4
Including road wheel 41, rotary fluid pressure device 42, large arm termination 43, forearm termination 44 and robot device 45, the execution unit 4
For performing the instruction that controller 3 sends.
Operation principle：Start the robot, safe distance numerical value, the control are input into by the touch display screen 11
Device 3 receives safe distance numerical value and remembers, and drives road wheel 41 to move, and is installed on the range finding sensing of the front end of the chassis 49
Device 21 will be detected and transfer to the controller 3 with the distance of bridge, when the distance of robot and bridge is less or greater than peace
During full distance, then the controller 3 sends move to the walking turbin generator, so that drive road wheel 41 to be walked,
Walk during to the distance with bridge and identical set safe distance, then the controller 3 sends to the walking turbin generator and stops
Only move；Then the order rotary fluid pressure device 42 of controller 3 rotates, and rotary fluid pressure device 42 rotarily drives large arm, forearm
And manipulator swings, while control large arm forearm motor to drive large arm forearm longitudinal oscillation, so as to drive forearm termination
Infrared sensor 22 on manipulator swings so that infrared sensor 22 can carry out comprehensive scanning to bridge member, and will
Scanning result is stored, analyzed, and determines defect property and type, to carry out maintenance activity.When need lift Parameters of Bridge Steel Under
When, the order rotary fluid pressure device 22 of controller 3 rotates, and rotary fluid pressure device 22 rotarily drives large arm, forearm and manipulator and swings,
Manipulator is set to swing to Parameters of Bridge Steel Under top, controller 3 drives mechanical subordinate drop, after manipulator drops to setting height, machinery
Hand stops declining, and the order manipulator control cylinder operation of controller 3 makes Telescopic-cylinder bar driving mechanical hand finger by Parameters of Bridge Steel Under
Hold, then manipulator finger 453 proposes Parameters of Bridge Steel Under rising, close to bridge wall after reaching setting height, moves to bridge
Behind wall top slowly downwards, finally Parameters of Bridge Steel Under is unclamped, completes lifting action.When event occurs in the distance measuring sensor 21
Barrier, it is impossible to carry out intelligent barrier avoiding, or bridge structure complexity, when being not suitable for carrying out intelligent barrier avoiding, then can be entered by manual type
Row avoidance, instant image of the staff in the monitoring arrangement carries out avoidance.
【Embodiment】：
Using the robot of Fig. 1, large bridge is detected, time-consuming 30mins, its robot can accurately avoid obstacle automatically
Thing, detection speed is fast, and detection range is wide, solves that existing highway bridge robot detection efficiency is low, test position is not comprehensive, and not
Can accurate avoiding obstacles automatically problem, so as to enhance the applicability of bridge detection robot.
【Comparative example】：
A kind of bridge-detecting operation vehicle, time-consuming 1 hour, detection are disclosed using Chinese patent literature CN204780579U
Scope is not comprehensive.
Although being described to illustrative specific embodiment of the invention above, in order to the technology of the art
Personnel are it will be appreciated that the present invention, but the present invention is not limited only to the scope of specific embodiment, to the common skill of the art
For art personnel, as long as long as various change is in appended claim restriction and the spirit and scope of the invention for determining, one
The innovation and creation using present inventive concept are cut in the row of protection.
Claims (7)
1. a kind of bridge detection robot, it is characterised in that：Including parameter input unit (1), signal gathering unit (2), control
Device (3) and execution unit (4), the parameter input unit (1), the signal gathering unit (2) and the execution unit (4) are
Electrically connected with the controller (3).
2. a kind of bridge detection robot according to claim 1, it is characterised in that the execution unit (4) includes walking
Wheel (41), rotary fluid pressure device (42), large arm termination (43), forearm termination (44) and robot device (45), the road wheel
(41) connection walking turbin generator, the chassis (49) that road wheel is supported is provided with rotary fluid pressure device (42), the rotating hydraulic
Device (42) upper end is provided with hollow vertical rod (46), also including the fixing axle (47) above hollow vertical rod (46), Gu
Dead axle one (47) is provided with large arm termination (43), large arm termination (43) and is provided with driven gear one (431) and driven gear one
(431) driving gear one (432) being meshed and the first motor (433) being connected with driving gear one (432), greatly
The side of arm termination (43) is fixedly connected with fixing axle two (48), and fixing axle two (48) is provided with forearm termination (44), forearm end
Be provided with inside head (44) driving gear two (442) that driven gear two (441) is meshed with driven gear two (441) and with
The second motor (443) that driving gear two (442) is connected, forearm termination (44) are connected with robot device by forearm
(45)。
3. a kind of bridge detection robot according to claim 2, it is characterised in that the parameter input unit (1) includes
Touch display screen (11) and memory (12), the touch display screen (11) and memory (12) on chassis (49), institute
State touch display screen (11) and memory (12) is electrically connected with the controller (3).
4. a kind of bridge detection robot according to claim 2, it is characterised in that the robot device (45) includes
Pneumatic box (451), guide rail (452) and manipulator finger (453), are provided with two cylinders, each institute inside the pneumatic box (451)
State in the telescopic rod end of cylinder with slide bar, manipulator finger (453) is connected with the slide bar.
5. a kind of bridge detection robot according to claim 2, it is characterised in that the signal gathering unit (2) includes
Distance measuring sensor (21), infrared sensor (22) and monitoring device, the distance measuring sensor (21) can pass for ultrasonic ranging
Sensor or laser sensor, the distance measuring sensor (21), the infrared sensor (22) and the monitoring device respectively with
Controller (3) electrical connection.
6. a kind of bridge detection robot according to claim 4, it is characterised in that set on the manipulator finger (453)
There is infrared sensor (22).
7. a kind of bridge detection robot according to claim 5, it is characterised in that the monitoring device includes connecting successively
Industrial computer, interchanger and the camera (23) for connecing, the industrial computer are electrically connected with the controller (3), the camera (23)
On chassis (49).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710127513.2A CN106869023A (en) | 2017-03-06 | 2017-03-06 | A kind of bridge detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710127513.2A CN106869023A (en) | 2017-03-06 | 2017-03-06 | A kind of bridge detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106869023A true CN106869023A (en) | 2017-06-20 |
Family
ID=59170893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710127513.2A Pending CN106869023A (en) | 2017-03-06 | 2017-03-06 | A kind of bridge detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106869023A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831191A (en) * | 2017-10-14 | 2018-03-23 | 赵洁 | A kind of flow-type robot device for Bridge Crack detection scanning |
| CN108112457A (en) * | 2017-12-22 | 2018-06-05 | 长沙修恒信息科技有限公司 | A kind of plant detection method based on Multifunctional mobile detection vehicle |
| CN108132655A (en) * | 2017-12-22 | 2018-06-08 | 长沙修恒信息科技有限公司 | A kind of Multifunctional mobile detection device for farmland |
| CN108132654A (en) * | 2017-12-22 | 2018-06-08 | 长沙修恒信息科技有限公司 | A kind of agriculture multinode monitoring method based on Internet of Things |
| CN111949031A (en) * | 2020-08-17 | 2020-11-17 | 合肥德泰科通测控技术有限公司 | Automatic positioning system based on guardrail robot |
| CN116145546A (en) * | 2023-04-19 | 2023-05-23 | 交通运输部公路科学研究所 | Bridge detects uses platform |
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| CN101713167A (en) * | 2009-10-23 | 2010-05-26 | 周劲宇 | Bridge structural health monitoring car |
| KR101013493B1 (en) * | 2008-06-05 | 2011-02-10 | 한양대학교 산학협력단 | Apparatus for inspecting bridge |
| CN202164540U (en) * | 2011-07-18 | 2012-03-14 | 宋金博 | Intelligent vehicle-mounted bridge detecting device |
| CN104950913A (en) * | 2015-05-19 | 2015-09-30 | 湖南桥康智能科技有限公司 | One-key unfolding control system of cantilever crane of bridge detecting robot |
| CN104947585A (en) * | 2015-04-22 | 2015-09-30 | 湖南桥康智能科技有限公司 | Intelligent obstacle-avoiding control system of bridge detection robot |
| CN205031820U (en) * | 2015-08-20 | 2016-02-17 | 林泉 | Fire -truck telescopic arm auxiliary structure |
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| KR101013493B1 (en) * | 2008-06-05 | 2011-02-10 | 한양대학교 산학협력단 | Apparatus for inspecting bridge |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831191A (en) * | 2017-10-14 | 2018-03-23 | 赵洁 | A kind of flow-type robot device for Bridge Crack detection scanning |
| CN108112457A (en) * | 2017-12-22 | 2018-06-05 | 长沙修恒信息科技有限公司 | A kind of plant detection method based on Multifunctional mobile detection vehicle |
| CN108132655A (en) * | 2017-12-22 | 2018-06-08 | 长沙修恒信息科技有限公司 | A kind of Multifunctional mobile detection device for farmland |
| CN108132654A (en) * | 2017-12-22 | 2018-06-08 | 长沙修恒信息科技有限公司 | A kind of agriculture multinode monitoring method based on Internet of Things |
| CN111949031A (en) * | 2020-08-17 | 2020-11-17 | 合肥德泰科通测控技术有限公司 | Automatic positioning system based on guardrail robot |
| CN111949031B (en) * | 2020-08-17 | 2023-02-07 | 合肥德泰科通测控技术有限公司 | Automatic positioning system based on guardrail robot |
| CN116145546A (en) * | 2023-04-19 | 2023-05-23 | 交通运输部公路科学研究所 | Bridge detects uses platform |
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Application publication date: 20170620 |
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