CN201357939Y - Multi-degree-of-freedom moving mechanism of flaw detecting device for underwater bridge structure - Google Patents
Multi-degree-of-freedom moving mechanism of flaw detecting device for underwater bridge structure Download PDFInfo
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- CN201357939Y CN201357939Y CNU2009200503043U CN200920050304U CN201357939Y CN 201357939 Y CN201357939 Y CN 201357939Y CN U2009200503043 U CNU2009200503043 U CN U2009200503043U CN 200920050304 U CN200920050304 U CN 200920050304U CN 201357939 Y CN201357939 Y CN 201357939Y
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- robot
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- ratchet
- guide rail
- bridge structure
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Abstract
The utility model provides a multi-degree-of-freedom moving mechanism of a flaw detecting device for an underwater bridge structure. The moving mechanism has three freedom degrees and is characterized in that the moving mechanism comprises a guide rail, a gear rack rod, a ratchet mechanism, a robot frame and a cam turntable. The guide rail is fixed between a first clamp plate and a second clamp plate through a rotating shaft; the first clamp plate and the second clamp plate are fixed at the edge of ship through bolts; the gear rack rod is mounted in the guide rail and engaged through a gear to enable the rack to move upwards and downwards; the ratchet mechanism is mounted on a gear shaft and rotated with the gear in a synchronous manner; a ratchet pawl is matched with the ratchet mechanism to avoid the reverse rotation of a ratchet; the robot frame is mounted at the tail end of the gear rack rod, and hinged and connected with the gear rack rod; and the cam turntable is mounted in the robot frame, and has a cam ejecting rod used for pressing against the cam turntable. The moving mechanism can drive an underwater robot to move upwards, downwards and forwards, and has the rotating function in the horizontal plane, so that the flaw detection on the underwater bridge structure from different positions and different angles can be realized.
Description
Technical field
The utility model bridge structure field of detecting of paddling down is specifically related to a kind of mechanism that a small-sized flaw detection robot is sent under water and bridge mechanism is under water detected a flaw.
Background technology
Miniature flaw detection robot under water is mainly used in the robot of bridge (bridge pier) structure detection flaw detection under water.The robot afterbody is equipped with screw propeller, by the screw propeller control robot in water the position and carry out operation.When robot in when work, must in being arranged, the water of certain flow rate keep stabilized conditions, but the self-stabilization function of robot itself is relatively poor, particularly when the rivers of different in flow rate carry out the underwater foundation flaw detection, because current, whirlpool etc. are to the factors such as impact of robot, its stability is poorer, brings very big inconvenience for the normal work of robot as shooting, sampling etc., causes image effect poor resolutely.For this reason, design robot is made a gift to someone in the water, and realize the mechanism of stable operation.This mechanism can realize the different water levels of robot in water, and the detection of different angles improves the working stability of robot greatly.
The utility model content
This is suitable for later-model purpose and is to overcome the prior art above shortcomings, provides a kind of simple, maneuverable, the defect-detecting equipment of the bridge structure under water multiple degree of freedom travel mechanism of being convenient to install.
There are 3 degree of freedom in the defect-detecting equipment of the bridge structure under water multiple degree of freedom travel mechanism that the utility model provides, and it comprises guide rail, rack bar, ratchet device, robot shelf and cam turntable, guide rail by rotating shaft be fixed on one of clamping plate and clamping plate two on; One of clamping plate and clamping plate two by being bolted to the ship limit; Rack bar is installed in the guide rail, and by gear mesh tooth bar is done to move up and down; Ratchet device is installed on the gear wheel shaft, and rotates synchronously with gear, and ratchet pawl cooperates with ratchet device and prevents ratchet counter-rotating; The robot shelf is installed in the end of rack bar, and links to each other with rack bar by hinged; Cam turntable is installed in the robot shelf, and has a cam follower to push down cam turntable.
In the above-mentioned defect-detecting equipment of the bridge structure under water multiple degree of freedom travel mechanism, the robot shelf of tooth bar end and tooth bar are hinged, guarantee that robot is always horizontality.The rotating disk of mounting robot is a cam turntable, and uses spring application, prevents robot because the double swerve that current produced.
This mechanism has rack bar to realize moving up and down by gear drive in guide rail, one side at the ratchet device that is equipped with of gear, make ratchet can only make folk prescription to rotation, tooth bar just can not move down automatically like this.When the robot that is installed in the rack bar end need move down, the ratchet in the ratchet device must be pushed aside, the rocking gear handle makes it be moved down into required water level again, and at this moment the ratchet return withstands ratchet, prevents that rack bar from moving down.When on robot needs, moving, direct rocking gear handle.Guide rail is hinged on the clamping plate, when clamping plate are clipped in hull edge, can shake rocking bar guide rail and rack bar are turned forward, thereby realize flaw detection robot reach and close bridge pier.The ship limit that clamping plate can be clamped different-thickness by bolt, and do not cause damage to renting hull.
Consider the robot different depth of face under water, and convenient transportation, rack bar can extend by square interface, to satisfy the requirement of different depth.But the left-right rotation face cam is arranged in the robot erecting frame, and to realize the left-right rotation of robot, face cam is located by holddown spring.When robot need clockwise rotate, start the left side screw propeller of its afterbody, make it produce clws torsion, and back down holddown spring and make robot turn to the preset bearing, carry out work.At this moment screw propeller quits work, and holddown spring is stuck in the cam path, prevents that current are to the impact of robot and double swerve is realized its steady-working state.Equally, when robot need rotate counterclockwise, can start the right screw propeller of its afterbody, make it produce C.C.W. torsion, and back down holddown spring and make robot turn to the preset bearing, carry out work.
The miniature flaw detection robot under water of Video-Ray is mainly used in the robot of bridge (bridge pier) structure detection flaw detection under water.And " bridge structure defect-detecting equipment multiple degree of freedom conveyer under water " is the miniature flaw detection robot under water of the Video-Ray design-calculated travel mechanism that produces for Inuktun company specially, during work mechanism is fixed on the ship limit by clamping plate, robot is delivered under water to finish the operation of bridge carrying out flaw detection by rack-and-gear.This mechanism comprises rack-and-gear, ratchet device, clamping mechanism and rotating mechanism.Tooth bar is fixed on the rectangular steel tube and constitutes rack bar and be installed in the guide rail, and the engagement by wheel and rack realizes moving up and down.One ratchet device is installed on the guide rail prevents that tooth bar from moving down automatically and fall in the water.Clamping mechanism is made up of two block plates, by regulating the ship edge that bolt can be clamped in different-thickness, does not rent hull and do not destroy.Guide rail is installed on the clamping mechanism by a turning cylinder, and makes guide rail phase top rake by a rocking bar, thereby the flaw detection robot of realization tooth bar end moves forward and carries out work near bridge pier.Flaw detection robot is installed on the interior cam disk that can rotate in horizontal surface of a shelf, realizes the observation of robot different angles.
The utlity model has following advantage and effect, based on above structure, under-water robot can be realized up and down and move forward, and the function of rotating in horizontal surface, makes the diverse location that robot can be in water, and different angles are carried out carrying out flaw detection to bridge structure under water.This suitable new structure is simple, handled easily, easily carrying.
Description of drawings
Fig. 1 is the utility model schematic overview of bridge structure defect-detecting equipment multiple degree of freedom travel mechanism under water;
Fig. 2 is the part figure of engagement of the utility model rack-and-gear and ratchet device;
Fig. 3 is the part figure of the utility model clamping plate part;
Fig. 4 is the scheme drawing of cam disk mechanism for the subpanel of the utility model robot;
Fig. 5 is the birds-eye view of cam disk mechanism shown in Figure 4.
The specific embodiment
Below in conjunction with concrete enforcement the technical characterictic of the utility model travel mechanism is further described in detail.
Shown in Fig. 1～5, bridge structure defect-detecting equipment multiple degree of freedom travel mechanism comprises under water:
A guide rail 6 that rotates before and after around the shaft, guide rail by rotating shaft be fixed on one of clamping plate 4 and clamping plate 25 on; One of clamping plate 4 and clamping plate 25 by being bolted to the ship limit;
One rack bar 11 is installed in the guide rail, and by gear 10 engagement tooth bar is done to move up and down.
A ratchet device 8 is installed on the gear wheel shaft, and rotates synchronously with gear, and a ratchet pawl 9 prevents the ratchet counter-rotating.
A robot shelf 14 is installed in the end of rack bar 11, and wants to connect by hinged catching up with tooth bar.
Moving up and down by gear and rack bar of robot realizes that rack bar moves in guide rail; Guide rail can turn forward it by sticking up bar, realizes that rack bar turns forward.Ratchet device prevents that tooth bar from gliding automatically.The robot shelf of tooth bar end and tooth bar are hinged, guarantee that robot is always horizontality.The rotating disk of mounting robot is a cam turntable, and uses spring application, prevents robot because the double swerve that current produced.Clamping plate are bolted to the ship limit by adjusting, can clamp the ship limit of different-thickness, and do not cause the destruction to hull.Specify this concrete working process of bridge structure defect-detecting equipment multiple degree of freedom travel mechanism under water below:
1, moves up and down
Figure 1 shows that the schematic overview of novel mechanism.When robot 12 moves down, press off ratchet pawl 9 earlier as shown in Figure 2, and can hand ratchet handle 7, realize moving up and down of robot by 11 engagements of gear 10 rack bars, when decontroling ratchet pawl 9, ratchet pawl return and withstand ratchet under action of the spring makes rack bar 11 stop to move, and at this moment robot 12 can rest on the desired location.When on robot needs, moving, can directly shake ratchet pawl 9 and make on it and move.Because ratchet device, robot can not move down voluntarily, so just guarantees that robot can be owing to gravity drops to the bottom.
2, robot moves forward
As shown in Figure 3, can realize the reach of robot, stick up bar 3 when depressing by sticking up bar 3, thus the robot shelf reach that guide rail 6 and rack bar 11 just turn forward and make the rack bar end, and robot slowly near target, carries out the carrying out flaw detection operation.Because robot and rack bar 11 are hinged, when the bar run-off the straight, robot still keeps level, thereby guarantees robot to remain under the on even keel and can not have influence on the shooting quality of robot to bridge pier.
3, the left-right rotation of robot
As shown in Figure 4, when robot 12 needs to turn right cw in horizontal surface, then open the robot control button and make the screw propeller work in robot left side, make it produce clws moment, and cam follower 17 backed down, realize clockwise rotating of cam turntable, just open spiral oar when robot reaches the preset bearing, it is stopped operating, robot just can rest on predetermined purpose like this, because cam follower 17 is equipped with spring element, makes cam follower push down cam 13 all the time, thereby can avoid labile factor occurring owing to the impact of reasons such as current to robot swings.When robot need rotate counterclockwise, then open the screw propeller on right side, make it produce anticlockwise moment, and cam follower is backed down, realize rotating counterclockwise of cam turntable.
In sum as can be known, this suitable new structure is simple, installs easily, and is easy to operate, can not cause renting the destruction of ship during installation, has stronger applicability.
Claims (3)
1, bridge structure defect-detecting equipment multiple degree of freedom travel mechanism under water, there are 3 degree of freedom in this travel mechanism, it is characterized in that comprising guide rail (6), rack bar (11), ratchet device (8), robot shelf (14) and cam turntable (13), guide rail (6) by rotating shaft be fixed on one of clamping plate (4) and clamping plate two (5) on; One of clamping plate (4) and clamping plate two (5) by being bolted to the ship limit; Rack bar (11) is installed in the guide rail, and by gear (10) engagement tooth bar is done to move up and down; Ratchet device (8) is installed on the gear wheel shaft, and rotates synchronously with gear, and ratchet pawl (9) cooperates with ratchet device (8) and prevents ratchet counter-rotating; Robot shelf (14) is installed in the end of rack bar (11), and links to each other with rack bar (11) by hinged; Cam turntable (13) is installed in the robot shelf (14), and has a cam follower (17) to push down cam turntable (13).
2, the defect-detecting equipment of bridge structure under water multiple degree of freedom according to claim 1 travel mechanism is characterized in that the robot shelf of tooth bar end and tooth bar are hinged, guarantees that robot is always horizontality.
3, the defect-detecting equipment of bridge structure under water multiple degree of freedom according to claim 2 travel mechanism is characterized in that the rotating disk of mounting robot is a cam turntable, and uses spring application, prevents robot because the double swerve that current produced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200503043U CN201357939Y (en) | 2009-01-16 | 2009-01-16 | Multi-degree-of-freedom moving mechanism of flaw detecting device for underwater bridge structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200503043U CN201357939Y (en) | 2009-01-16 | 2009-01-16 | Multi-degree-of-freedom moving mechanism of flaw detecting device for underwater bridge structure |
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| Publication Number | Publication Date |
|---|---|
| CN201357939Y true CN201357939Y (en) | 2009-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009200503043U Expired - Fee Related CN201357939Y (en) | 2009-01-16 | 2009-01-16 | Multi-degree-of-freedom moving mechanism of flaw detecting device for underwater bridge structure |
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| CN (1) | CN201357939Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102022609A (en) * | 2010-12-04 | 2011-04-20 | 大连理工大学 | Fixed device for regulating orientation of underwater measuring instrument for ship |
| CN105136801A (en) * | 2015-08-28 | 2015-12-09 | 常石集团（舟山）造船有限公司 | Ship detecting device |
| CN107219302A (en) * | 2017-05-26 | 2017-09-29 | 河海大学 | Pillarwork and surrounding riverbed medium appearance delection device and application method under water |
| CN109038334A (en) * | 2018-09-19 | 2018-12-18 | 国网山东省电力公司五莲县供电公司 | Oil tank for transformers foreign matter removal device |
| CN109364494A (en) * | 2018-11-29 | 2019-02-22 | 白银桦新石农业科技发展有限公司 | A kind of amusement on water suspension bridge protective device |
| CN110320216A (en) * | 2019-06-19 | 2019-10-11 | 湖南桥康智能科技有限公司 | A kind of U-rail formula Detection System for Bridge |
| CN111994239A (en) * | 2020-09-01 | 2020-11-27 | 覃晓军 | Underwater component detection device for road and bridge of civil engineering and application method thereof |
| CN113830246A (en) * | 2021-08-16 | 2021-12-24 | 中山大学 | Ship observation device carries on integrated platform |
-
2009
- 2009-01-16 CN CNU2009200503043U patent/CN201357939Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102022609A (en) * | 2010-12-04 | 2011-04-20 | 大连理工大学 | Fixed device for regulating orientation of underwater measuring instrument for ship |
| CN102022609B (en) * | 2010-12-04 | 2012-11-14 | 大连理工大学 | Fixed device for regulating orientation of underwater measuring instrument for ship |
| CN105136801A (en) * | 2015-08-28 | 2015-12-09 | 常石集团（舟山）造船有限公司 | Ship detecting device |
| CN105136801B (en) * | 2015-08-28 | 2018-02-16 | 常石集团（舟山）造船有限公司 | A kind of ship detecting device |
| CN107219302A (en) * | 2017-05-26 | 2017-09-29 | 河海大学 | Pillarwork and surrounding riverbed medium appearance delection device and application method under water |
| CN109038334A (en) * | 2018-09-19 | 2018-12-18 | 国网山东省电力公司五莲县供电公司 | Oil tank for transformers foreign matter removal device |
| CN109038334B (en) * | 2018-09-19 | 2024-03-29 | 国网山东省电力公司五莲县供电公司 | Foreign matter taking-out device for oil tank of transformer |
| CN109364494A (en) * | 2018-11-29 | 2019-02-22 | 白银桦新石农业科技发展有限公司 | A kind of amusement on water suspension bridge protective device |
| CN110320216A (en) * | 2019-06-19 | 2019-10-11 | 湖南桥康智能科技有限公司 | A kind of U-rail formula Detection System for Bridge |
| CN111994239A (en) * | 2020-09-01 | 2020-11-27 | 覃晓军 | Underwater component detection device for road and bridge of civil engineering and application method thereof |
| CN113830246A (en) * | 2021-08-16 | 2021-12-24 | 中山大学 | Ship observation device carries on integrated platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091209 Termination date: 20130116 |