CN116141375A - Mechanical arm assembly for bridge detection and working method thereof - Google Patents

Abstract

The invention discloses a mechanical arm assembly for bridge detection and a working method thereof, wherein the mechanical arm assembly comprises an obstacle surmounting arm and a detection arm, wherein: the obstacle crossing arms are connected to the carrying platform through mechanical arm connecting ports, the number of the obstacle crossing arms and the number of the mechanical arm connecting ports are two, the two mechanical arm connecting ports are arranged on the carrying platform, and the two obstacle crossing arms are connected to the carrying platform through different mechanical arm connecting ports respectively; the carrying platform is provided with an annular sliding rail, and the connecting port of the mechanical arm is in sliding connection with the annular sliding rail; the detection arm is switchably connected to one of the two obstacle surmounting arms. According to the invention, through the two mechanical arm connecting ports and the buckling assembly, the condition that a certain area cannot be detected after the mechanical arm is retracted can be solved by replacing the connecting ports, and the two connecting ports can be ensured not to form dislocation after the mechanical arm is switched by a sliding device on the carrying platform, so that the crossing of the lamp pole can be realized.

Description

Mechanical arm assembly for bridge detection and working method thereof

Technical Field

The invention relates to the technical field of bridge detection, and particularly discloses a mechanical arm assembly for bridge detection and a working method thereof.

Background

In the existing bridge detection in China, unmanned aerial vehicle or manual mode is adopted for detecting dangerous bridges, and detection vehicles are adopted for detecting in-service bridges, but the detection vehicles can only detect bridge floors, and detection of bridge bottoms and bridge bottom surfaces is still a difficulty in bridge detection;

when the carrying vehicle is used for detection, the detection is performed on the bottom surface of the bridge by adopting a truss type mechanical arm, but objects such as street lamps and railings exist in the bridge in use, so that the truss type mechanical arm detection mode is very time-consuming, and the detection efficiency is very low.

Disclosure of Invention

In view of the above, the invention aims to provide a mechanical arm assembly for bridge detection and a working method thereof, which can solve the problem that a certain area cannot be detected after the mechanical arm is retracted while crossing obstacles such as street lamps, and greatly improve the detection efficiency.

In order to achieve the above purpose, the present invention provides the following technical solutions:

a robotic arm assembly for bridge inspection, the robotic arm assembly comprising an obstacle surmounting arm and an inspection arm, wherein: the obstacle crossing arms are connected to the carrying platform through mechanical arm connecting ports, the number of the obstacle crossing arms and the number of the mechanical arm connecting ports are two, the two mechanical arm connecting ports are arranged on the carrying platform, and the two obstacle crossing arms are connected to the carrying platform through different mechanical arm connecting ports respectively; the carrying platform is provided with an annular sliding rail, and the mechanical arm connecting port is in sliding connection with the annular sliding rail; the detection arm is switchably connected to one of the two obstacle surmounting arms.

Preferably, the two obstacle surmounting arms comprise a first connecting arm, a second connecting arm and a buckling component, two ends of the second connecting arm are connected with one end of the first connecting arm and the connecting port, and the buckling component is fixedly connected to the other end of the first connecting arm.

Preferably, the detection arm comprises a transverse switching arm, a vertical arm, a folding arm and a plurality of electric drive joints, wherein the transverse switching arm is connected with the vertical arm through the electric drive joints, and the vertical arm is connected with the folding arm through the electric drive joints.

Preferably, a third connecting arm is arranged between the transverse switching arm and the vertical arm, and two ends of the third connecting arm are respectively connected with the transverse switching arm and the vertical arm.

Preferably, the electrically driven joint is composed of a motor and a decelerator.

Preferably, the buckling component consists of a lifting structure, a fixing structure, a power structure and a connecting shell, wherein the lifting structure, the fixing structure and the power structure are all arranged in the connecting shell.

Preferably, the power structure comprises a motor, a speed reducer and a coupler, wherein the motor, the speed reducer and the coupler are sequentially connected, and the motor is fixed on the motor base; the power structure comprises a gear and a lifting shaft, the lifting shaft penetrates through the gear to be connected with the coupler, and the gear is meshed with inner teeth on the inner wall of the transverse switching arm; the lifting structure is provided with two air cylinders, the lower sides of the air cylinders are fixed to the motor base, and the lifting shaft is pushed upwards through the extension of air cylinder rods of the air cylinders.

Preferably, the vertical arm and the folding arm are respectively provided with three, the inner test of the three folding arms is respectively provided with a detection mounting seat, and the detection mounting seats are fixedly connected with the folding arm.

The invention also provides a working method for bridge detection by using the mechanical arm assembly, wherein:

step one: the carrying platform moves on the bridge deck to detect the bridge, and when the lamp pole is encountered, the left side of the transverse switching arm is used as the center of a circle, and the right side of the transverse switching arm rotates, so that the right side of the transverse switching arm moves into a buckling component of a first obstacle surmounting arm in the two obstacle surmounting arms;

step two: at the moment, an air rod of an air cylinder in a buckling assembly of a second obstacle crossing arm in the two obstacle crossing arms is contracted, a lifting shaft and a gear move upwards through a motor seat, and then the lifting shaft passes through a connecting end of the transverse switching arm, and the gear is meshed with inner teeth of the inner wall of the connecting end of the transverse switching arm;

step three: the air pole of the cylinder of the buckling component in the first obstacle crossing arm stretches to enable the telescopic shaft and the gear to be separated, and then the transverse switching arm is rotated to bypass the lamp pole.

The working principle and the beneficial effects of the scheme are as follows:

according to the invention, under the condition that the front end of the mechanical arm normally operates, the rear side of the mechanical arm can solve the problem that a certain area cannot be detected after the mechanical arm is retracted by replacing the connecting ports, the two connecting ports can be ensured not to form dislocation after the mechanical arm is switched by the sliding device on the carrying platform, and the carrying platform is ensured to move while the mechanical arm automatically switches the connecting ports to realize the crossing of lamp poles, so that the mechanical arm is full-automatic and the intelligent degree is increased.

Drawings

FIG. 1 is a schematic view of a multifunctional mechanical arm for a bridge inspection robot according to the present invention;

fig. 2 is a schematic structural diagram of a mechanical arm connection port in a multifunctional mechanical arm for a bridge inspection robot according to the present invention;

FIG. 3 is a schematic structural view of a sliding device in a multifunctional mechanical arm for a bridge inspection robot according to the present invention;

FIG. 4 is a schematic structural view of a buckling component in a multifunctional mechanical arm for a bridge inspection robot;

FIG. 5 is a perspective view of a connecting end of a transverse switching arm in an embodiment of a multifunctional mechanical arm for a bridge inspection robot according to the present invention;

fig. 6 is a schematic diagram of a change of a mechanical arm when a transverse switching arm spans a lamp post in an embodiment of a multifunctional mechanical arm for a bridge inspection robot.

The figures are marked as follows:

a multi-section mechanical arm 1, a first connecting arm 101, a transverse switching arm 102, a second connecting arm 103, a third connecting arm 104, a vertical arm 105, a folding arm 106, an electric drive joint 107, a buckling component 108, a connecting shell 1081, a lifting shaft 1082, a gear 1083, a coupling 1084, a motor 1085, a speed reducer 1086, a motor base 1087 and a cylinder 1088;

a mounting platform 2;

the mechanical arm connecting port 3, the base 301, the sliding device 302, the stepping motor 3021, the coupler 3022, the rotor 3023, the telescopic rod 3024 and the annular sliding rail 303.

Detailed Description

In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present invention.

The following is a further detailed description of the embodiments:

examples

As shown in fig. 1 to 5, the multifunctional mechanical arm assembly is mounted on a carrying platform, the mechanical arm assembly comprises two groups of obstacle surmounting arms and a group of detection arms, wherein a mechanical arm connecting port 3 is arranged on the carrying platform 2, two mechanical arm connecting ports 3 are arranged, a base 301 is arranged at the bottom of each mechanical arm connecting port 3, a sliding device 302 is connected with the base 301, a sliding block is connected under the base 301, annular sliding rails 303 are arranged on two sides of the sliding block, the sliding device 302 further comprises a stepping motor 3021, a coupling 3022, a rotor 3023 and a telescopic rod 3024, a motor shaft of the stepping motor 3021 is connected with the rotor 3023 through the coupling 3022, the rotor 3023 is a cylinder, the telescopic rod 3024 is fixed on the side surface of the rotor 3023, the telescopic end of the telescopic rod 3024 is connected with the bases of the mechanical arm connecting ports, the sliding device 302 is also provided with two telescopic rods of the two sliding devices are respectively connected with the bases of the two mechanical arm connecting ports, the two stepper motors are connected with frequency converters, the rotating speed of the stepper motors is changed through the frequency converters, the two mechanical arm connecting ports are respectively set as a port A and a port B, the stepper motors and the frequency converters are also respectively set as a motor A ', a motor B' and a frequency converter A 'and a frequency converter B', wherein the stepper motor 3021 shown in figure 3 is a motor B ', the initial positions of the port A and the port B are provided with a point C and a point D, after the multi-section mechanical arm is switched from the port B to the port A, as shown in figures 2-3, the frequency converter B' increases the output frequency, the rotating speed of the motor B 'is accelerated, the motor is rotated clockwise, the port B is moved clockwise on an annular slide rail through a telescopic rod and is moved from the point D to the point C, meanwhile, the frequency converter A' reduces the frequency, the rotating speed of the motor A 'is reduced, the motor A' is rotated, the port A moves from the point C to the point D through the telescopic rod, the port A and the port B realize position interchange, and when the transverse switching arm is transferred again, the mutual execution of the point D and the point C is performed with each other to ensure that the port A and the port B finish position interchange again, so that the multi-stage mechanical arm finishes obstacle crossing.

The position exchange of the connecting ports of the two mechanical arms is changed by controlling the rotating speed of the motor through the annular track 303 and the frequency converter, so that the mechanical arms can span the lamp post 40 when encountering obstacles such as the lamp post 40, automatic obstacle crossing is completed, the detection end connected with the mechanical arms can detect each place at the bottom of the bridge, and the problem that undetected areas exist due to obstacle crossing of the mechanical arms is avoided.

The multi-section mechanical arm assembly comprises two parts, as shown in fig. 1, two groups of obstacle surmounting arms and one group of detection arms: each group of obstacle crossing arms consists of a first connecting arm 101 in the horizontal direction and a second connecting arm 103 in the vertical direction, and the detection arm consists of a transverse switching arm 102, a third connecting arm 104, a vertical arm 105, a folding arm 106 and an electric driving joint 107. As shown in fig. 1, each group of obstacle crossing arms is provided with a buckling component 108 between the first connecting arm 101 and the transverse switching arm 102, the buckling component 108 is detachably connected with the transverse switching arm 102, the upper side of the second connecting arm 103 is connected with the left side of the first connecting arm 101, the third connecting arm 104 is connected with the third vertical arm 105, the three vertical arms 105 are sequentially connected end to end, the bottommost end of the vertical arms is connected with the rightmost end of the folding arm 106, and the multi-section mechanical arms are all connected through an electric driving joint 107. The fastening assembly 108 is provided with a connecting shell 1081 as shown in fig. 4, three sides of the connecting shell are provided with openings, a lifting shaft 1082 in the middle of the connecting shell, a gear 1083, a coupler 1084, a motor 1085 and a speed reducer 1086 are connected to the lower side of the lifting shaft, the lifting shaft 1082 penetrates through the gear 1083 and is connected with the speed reducer 1086 through the coupler 1084, the speed reducer 1086 is connected with the motor 1085, a motor seat 1087 is arranged on the lower side of the motor 1085, air cylinders 1088 are arranged on the left side and the right side of the motor, air rods of the air cylinders 1088 are connected with the motor seat 1087, and two air cylinders 1088 are arranged; the transverse switching arm connecting assembly is shown in fig. 5, the upper opening and the lower opening are trapezoidal, and inner teeth are arranged on the inner wall of the lower side, wherein the inner teeth can be meshed with gears on the lifting shaft. The specific connection process of the buckling component 108 and the transverse switching arm connecting component is as follows: through the up-and-down motion of the two groups of air cylinders 1088, the air pushing rod drives the lifting shaft 1082 and the gear 1083 to move upwards, so that the lifting shaft penetrates through the axle center of the connecting end of the transverse switching arm 102, is clamped and fixed with the connecting section of the transverse switching arm 102 through the lifting shaft, and is meshed with the inner teeth of the connecting end 102 of the transverse switching arm. The gear engagement maintains the relative positional relationship of the first and third connecting arms 101, 104 by means of the inner set of transverse switching arms 102. Both ends of the lateral switch arm 102 may be disconnected or connected with two sets of snap-fit assemblies 108, respectively. As shown in fig. 6, the near end of the multi-section mechanical arm realizes the conversion of the positions of the port a and the port B by means of the sliding device 302, and the far end realizes the conversion of the port a and the port B by means of the alternate connection of the switching arm 102 and the different connecting arms 101, and finally realizes the function of automatically and transversely crossing the bridge floor electric pole by the mechanical arm.

The steering engine of each joint department is connected to the control mainboard through electric wire, and the mainboard is located on the carrying platform, makes each steering engine can move alone through the instruction, also can several steering engine coordinated operation for the arm makes various actions, and the arm is also more nimble to multistage formula arm.

Preferably, the electric drive joint can also adopt steering wheel, control panel, remote information transmitter and information receiver to constitute, through remote information transmitter and information receiver receipt and transmission information, through remote processing terminal transmission information, rethread control panel processing information for the steering wheel operation realizes the operation of arm, and this kind of scheme is higher in the cost than the mode of a plurality of steering wheels of mainboard control, but does not need the connecting wire to connect each steering wheel for the outward appearance of arm is clean and tidy.

The mechanical arm is made of carbon fiber, so that the whole weight of the mechanical arm is reduced, a balance system of a carrying platform is ensured, the energy consumed by driving the mechanical arm is reduced, and the energy consumption is saved.

The advantages of this embodiment are:

according to the embodiment, under the condition that the front end of the mechanical arm is in normal operation, the rear side of the mechanical arm can solve the problem that a certain area cannot be detected after the mechanical arm is retracted through a method of replacing the connecting ports, the situation that dislocation cannot be formed when the positions of the two connecting ports are changed after the mechanical arm is switched can be guaranteed through the sliding device on the carrying platform, the carrying platform is guaranteed to move, the mechanical arm automatically switches the connecting ports to achieve crossing of the lamp post 40, and therefore the mechanical arm is full-automatic and intelligent degree is increased.

The application method of the multifunctional mechanical arm for the bridge inspection robot comprises the following steps:

s1, connecting all components by mounting equipment, starting detection equipment, starting the carrying platform to move on a bridge deck, and rotating the right side of the transverse switching arm 102 by taking the left side of the transverse switching arm 102 as a circle center when encountering a lamp post 40, so that the right side of the transverse switching arm 102 moves into a buckling assembly on a port A;

s2, at the moment, the air rod of the air cylinder 1088 in the port A is contracted, the lifting shaft 1082 and the gear 1083 are enabled to move upwards through the motor base 1087, the lifting shaft 1082 passes through the connecting end of the transverse switching arm, the gear 1083 is meshed with the inner teeth of the inner wall of the connecting end of the transverse switching arm, then, the air rod of the air cylinder of the port B is extended, the telescopic shaft and the gear are separated, at the moment, the motor operates, the gear is enabled to rotate through the coupler, and the transverse switching arm 102 rotates to bypass the lamp post 40 because the connecting port of the port B is separated;

s3, after bypassing the lamp post 40, after the multi-section mechanical arm is switched from the port B to the port A, the frequency conversion A ' increases the output frequency, the rotation speed of the motor A ' is increased, the telescopic rod rotates clockwise, the port A moves clockwise on the annular sliding rail through the telescopic rod and moves from the point C to the point D, meanwhile, the frequency conversion B ' increases the frequency, the rotation speed of the motor B ' is increased, the motor B ' rotates, the port B moves from the point C to the point D through the telescopic rod, namely, the port B and the port A realize position interchange, and the next time the lamp post 40 is met, and the port A and the port B realize instruction interchange.

The port at the point D is kept under the condition that the mechanical arm moves normally, and the obstacle crossing is completed through the port at the point C and a plurality of times through the steps S1-S3 after encountering the lamp post 40.

The foregoing is merely exemplary embodiments of the present invention, and specific structures and features that are well known in the art are not described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the practical applicability of the present invention.

Claims (9)

1. A robotic arm assembly for bridge inspection, the robotic arm assembly comprising an obstacle surmounting arm and an inspection arm, wherein:

the obstacle crossing arms are connected to the carrying platform through mechanical arm connecting ports, the number of the obstacle crossing arms and the number of the mechanical arm connecting ports are two, the two mechanical arm connecting ports are arranged on the carrying platform, and the two obstacle crossing arms are connected to the carrying platform through different mechanical arm connecting ports respectively;

the carrying platform is provided with an annular sliding rail, and the mechanical arm connecting port is in sliding connection with the annular sliding rail;

the detection arm is connected to one of the two obstacle surmounting arms.

2. A robotic arm assembly for bridge inspection according to claim 1, wherein: the two obstacle crossing arms comprise a first connecting arm, a second connecting arm and a buckling component, two ends of the second connecting arm are connected with one end of the first connecting arm and a connecting port, and the buckling component is fixedly connected to the other end of the first connecting arm.

3. A robotic arm assembly for bridge inspection according to claim 2, wherein: the detection arm comprises a transverse switching arm, a vertical arm, a folding arm and a plurality of electric drive joints, wherein the transverse switching arm is connected with the vertical wall through the electric drive joints, and the vertical arm is connected with the folding arm through the electric drive joints.

4. A robotic arm assembly for bridge inspection according to claim 3, wherein: and a third connecting arm is arranged between the transverse switching arm and the vertical arm, and two ends of the third connecting arm are respectively connected with the transverse switching arm and the vertical arm.

5. A robotic arm assembly for bridge inspection according to claim 3, wherein: the electric drive joint consists of a motor and a speed reducer.

6. A robotic arm assembly for bridge inspection according to claim 3, wherein: the buckling component consists of a lifting structure, a fixing structure, a power structure and a connecting shell.

7. The mechanical arm assembly for bridge inspection according to claim 6, wherein: the power structure comprises a motor, a speed reducer and a coupler, wherein the motor, the speed reducer and the coupler are sequentially connected, and the motor is fixed on the motor base; the power structure further comprises a gear and a lifting shaft, the lifting shaft penetrates through the gear to be connected with the coupler, and the gear is meshed with the inner teeth on the inner wall of the transverse switching arm; the fixed structure is a motor base; the lifting structure is provided with two air cylinders, the lower sides of the air cylinders are fixed to the motor base, and the lifting shaft is pushed upwards through the extension of air cylinder rods of the air cylinders.

8. A robotic arm assembly for bridge inspection according to any one of claims 3-7, wherein: the vertical arm and the folding arm are respectively provided with three, the inner test of the three folding arms is respectively provided with a detection mounting seat, and the detection mounting seats are fixedly connected with the folding arms.

9. A method of bridge inspection using the robotic arm assembly for bridge inspection of any one of claims 1-7, characterized by:

step one: the carrying platform moves on the bridge deck to detect the bridge, and when the lamp pole is encountered, the left side of the transverse switching arm is used as the center of a circle, and the right side of the transverse switching arm rotates, so that the right side of the transverse switching arm moves into a buckling component of a first obstacle surmounting arm in the two obstacle surmounting arms;

step two: at the moment, an air rod of an air cylinder in a buckling assembly of a second obstacle crossing arm in the two obstacle crossing arms is contracted, a lifting shaft and a gear move upwards through a motor seat, and then the lifting shaft passes through a connecting end of the transverse switching arm, and the gear is meshed with inner teeth of the inner wall of the connecting end of the transverse switching arm;

step three: the air pole of the cylinder of the buckling component in the first obstacle crossing arm stretches to enable the telescopic shaft and the gear to be separated, and then the transverse switching arm is rotated to bypass the lamp pole.

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