CN212255120U - Surface crossing type bridge detection robot - Google Patents
Surface crossing type bridge detection robot Download PDFInfo
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- CN212255120U CN212255120U CN202021410647.9U CN202021410647U CN212255120U CN 212255120 U CN212255120 U CN 212255120U CN 202021410647 U CN202021410647 U CN 202021410647U CN 212255120 U CN212255120 U CN 212255120U
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Abstract
The utility model discloses a surface crossing type bridge detection robot, which comprises a first wall climbing robot, a second wall climbing robot, an adsorption device, a driving device, a detection device, a working face conversion device and a power supply device, wherein the first wall climbing robot and the second wall climbing robot are respectively provided with the adsorption device on the chassis and are used for adsorbing the surface of a bridge; the utility model discloses choose for use first wall climbing robot, second wall climbing robot as mobile detection equipment, can be close fast and shoot high accuracy bridge surface image through drive arrangement and detection device, need not to go out the bridge inspect vehicle who moves a large amount of manpowers and influence traffic, improved bridge disease detection precision, shortened check out time, practiced thrift the detection cost.
Description
Technical Field
The utility model relates to a bridge detects technical field, especially relates to a surface crossing type bridge inspection robot.
Background
At present, a bridge detection method mainly carries personnel to approach a bridge through field manual detection or by means of beam detection vehicles and other detection equipment, detects defects and diseases of the bridge by visual inspection through human eyes, and with the development of robot technology, a wall climbing robot is taken as mobile detection equipment, has wall surface adsorption capacity and wall surface movement capacity, can be applied to a building surface with a certain height away from the ground, and is primarily applied to the field of bridge detection;
the existing wall climbing robot can only work on a single wall surface generally, cannot perform wall surface conversion, and needs to realize full coverage detection of the bridge surface, the wall climbing robot needs to have wall surface transition capability, can transition from a bridge pier to a bridge bottom surface, and can perform automatic conversion on the bottom surface and the side surface of common bridge structures such as a T-shaped section, a box-shaped section, a hollow slab and the like, and the existing wall climbing robot cannot meet the bridge detection requirement easily;
current wall climbing robot is generally by battery powered, and battery power is very limited, is difficult to satisfy large tracts of land bridge detection demand, and simultaneously, electric power exhausts and can lead to wall climbing robot to break away from the absorption, from the working face crash, consequently, the utility model provides a problem that exists in order to solve prior art is strideed across to surface formula bridge detection robot.
SUMMERY OF THE UTILITY MODEL
To the above problem, the utility model aims to provide a surface crossing type bridge inspection robot, the device have solved bridge inspection wall climbing robot wall conversion and have lasted the power supply problem.
For realizing the purpose of the utility model, the utility model discloses a following technical scheme realizes: a surface crossing type bridge detection robot comprises a first wall climbing robot, a second wall climbing robot, adsorption devices, a driving device, a detection device, a working face conversion device and a power supply device, wherein the first wall climbing robot and the second wall climbing robot are respectively provided with the adsorption devices on the chassis and are used for adsorbing the surface of a bridge, the first wall climbing robot and the second wall climbing robot are respectively provided with the driving device on the chassis and are used for driving the first wall climbing robot and the second wall climbing robot to walk along the surface of the bridge, the front ends of the first wall climbing robot and the second wall climbing robot are respectively provided with the detection device which is used for detecting bridge defects, the first wall climbing robot is fixedly provided with the working face conversion device, the working face conversion device comprises a carrying platform and a mechanical arm, the working face conversion device is used for moving the second wall climbing robot to other working faces, the inside of first wall climbing robot is equipped with power supply unit, and power supply unit includes winder and power cord, the second wall climbing robot is connected to the one end of power cord and is supplied power for it.
The further improvement lies in that: adsorption equipment includes sealed skirt and centrifugal pump, sealed skirt is the nylon fibre, and sealed skirt installs under the chassis of first wall climbing robot and second wall climbing robot and enclose into sealed chamber, the centrifugal pump sets up on the chassis of first wall climbing robot and second wall climbing robot, and the centrifugal pump internal rotation installs centrifugal impeller, be equipped with brushless motor on the centrifugal pump, and brushless motor's output shaft connects centrifugal impeller, the sealed intracavity of rotatory extraction of centrifugal impeller gas formation continuous negative pressure reaches the adsorption.
The further improvement lies in that: the driving device comprises a driving motor, a speed reducer, a wheel shaft and a driving wheel, wherein the driving motor and the speed reducer drive the wheel shaft and the driving wheel to rotate and drive the first wall-climbing robot and the second wall-climbing robot to walk along the surface of the bridge.
The further improvement lies in that: the detection device comprises a high-precision camera, an infrared ranging module and a light supplementing LED lamp, the high-precision camera is used for shooting the surface diseases of the bridge, the infrared ranging module is used for measuring the positions of the diseases of the bridge, and the light supplementing LED lamp is used for supplementing light to a shooting area when illumination is insufficient.
The further improvement lies in that: carry on platform fastening installation on first wall climbing robot, carry on the platform by bottom plate, support, load box and clamp and constitute, the bottom plate passes through the bolt fastening at first wall climbing robot epitheca, the bearing mounting is on the bottom plate, and is equipped with on the support and loads the box, the inside both sides of loading box have the clamp through the bolt fastening, and the clamp is used for climbing the wall robot with the second and fix on loading the box.
The further improvement lies in that: the mechanical arm is installed at the rear portion of a chassis of the first wall-climbing robot and is formed by hinging a plurality of sections of mechanical arms, each section of mechanical arm is controlled to rotate around a joint through a rotating motor at the hinged position, and the mechanical arm is provided with a mechanical hand grab at the tail end and used for grabbing the second wall-climbing robot.
The further improvement lies in that: the winder is fixed on the chassis of the first wall climbing robot, and the power cord is wound inside the winder, one end of the power cord is led out from the output end of the winder, and the other end of the power cord is connected to the chassis of the second wall climbing robot to supply power for the second wall climbing robot.
The utility model has the advantages that: the utility model selects the first wall climbing robot and the second wall climbing robot as mobile detection equipment, can quickly approach and shoot high-precision bridge surface images through the driving device and the detection device, does not need to go out a bridge detection vehicle with a large amount of manpower and influencing traffic, improves the detection precision of bridge defects, shortens the detection time, saves the detection cost, designs a working surface conversion device, can clamp the second wall climbing robot to another working surface, solves the problem that the existing wall climbing robot can only work on a single surface, can transit from a pier table to the bridge bottom surface, and can automatically convert on the bottom surface and the side surface of common bridge structures such as T-shaped cross section, box-shaped cross section and hollow plate, and simultaneously, the utility model designs a power supply device, one end of a power line is led out from the output end of a coil winder, and the other end is connected to the chassis of the second wall climbing robot, for the power supply of the second wall climbing robot, the problem that the battery power of the existing wall climbing robot is insufficient is solved, the detection time is prolonged, the detection range is enlarged, the wall climbing robot is prevented from falling due to the exhaustion of electric power, and the detection safety is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of the adsorption device, the driving device and the power supply device of the present invention;
FIG. 3 is a schematic view of the carrying platform of the present invention;
fig. 4 is a schematic view of the robot arm of the present invention;
fig. 5 is a schematic view of a second wall-climbing robot according to the present invention;
FIG. 6 is a schematic view of the bottom side conversion of the box-section beam of the present invention;
fig. 7 is a schematic view of the transition process from pier to bridge bottom surface of the present invention.
Wherein: 1. a first wall-climbing robot; 2. a second wall-climbing robot; 3. an adsorption device; 31. a sealing skirt; 32. a centrifugal pump; 33. a centrifugal impeller; 34. a brushless motor; 4. a drive device; 41. a drive motor; 42. a speed reducer; 43. a wheel axle; 44. a drive wheel; 5. a detection device; 51. a high-precision camera; 52. an infrared ranging module; 53. a light supplement LED lamp; 6. a working surface conversion device; 61. a mounting platform; 611. a base plate; 612. a support; 613. loading a cartridge; 614. clamping a hoop; 62. a mechanical arm; 621. a robot arm; 622. rotating the motor; 623. a mechanical gripper; 7. a power supply device; 71. a reel; 72. a power line.
Detailed Description
In order to deepen the understanding of the present invention, the following embodiments will be combined to make the present invention do further details, and the present embodiment is only used for explaining the present invention, and does not constitute the limitation of the protection scope of the present invention.
According to fig. 1, 2, 3, 4, 5, 6, and 7, the present embodiment provides a surface-crossing bridge inspection robot, which includes a first wall-climbing robot 1, a second wall-climbing robot 2, an adsorption device 3, a driving device 4, a detection device 5, a working surface conversion device 6, and a power supply device 7, wherein the first wall-climbing robot 1 and the second wall-climbing robot 2 are respectively provided with the adsorption device 3 on their chassis, the adsorption device 3 is used for adsorbing the surface of a bridge, the first wall-climbing robot 1 and the second wall-climbing robot 2 are respectively provided with the driving device 4 on their chassis, the driving device 4 is used for driving the first wall-climbing robot 1 and the second wall-climbing robot 2 to walk along the surface of the bridge, the front ends of the first wall-climbing robot 1 and the second wall-climbing robot 2 are respectively provided with the detection device 5, the detection device 5 is used for detecting a bridge defect, the working surface conversion device 6 is fixedly installed on the first wall-climbing robot 1, and working face conversion equipment 6 is including carrying on platform 61 and arm 62, working face conversion equipment 6 is used for moving second wall climbing robot 2 to other working faces on, the inside of first wall climbing robot 1 is equipped with power supply unit 7, and power supply unit 7 includes winder 71 and power cord 72, the power supply is given its power supply to second wall climbing robot 2 is connected to the one end of power cord 72.
The driving device 4 comprises a driving motor 41, a speed reducer 42, a wheel shaft 43 and a driving wheel 44, wherein the driving motor 41 and the speed reducer 42 drive the wheel shaft 43 and the driving wheel 44 to rotate, and drive the first wall-climbing robot 1 and the second wall-climbing robot 2 to walk along the surface of the bridge.
The carrying platform 61 is fastened and installed on the first wall-climbing robot 1, the carrying platform 61 is composed of a bottom plate 611, a support 612, a loading box 613 and a clamp 614, the bottom plate 611 is fixed on the upper shell of the first wall-climbing robot 1 through bolts, the support 612 is installed on the bottom plate 611, the loading box 613 is arranged on the support 612, the clamp 614 is fixed on two sides of the interior of the loading box 613 through bolts, and the clamp 614 is used for fixing the second wall-climbing robot 2 on the loading box 613. By mounting the mounting platform 61 on the upper shell of the first wall-climbing robot 1, the second wall-climbing robot 2 can be fixed to the mounting platform 61 when the first wall-climbing robot 1 executes a detection task.
The mechanical arm 62 is installed at the rear part of the chassis of the first wall-climbing robot 1, the mechanical arm 62 is formed by hinging a plurality of sections of mechanical arms 621, each section of mechanical arm 621 rotates around a joint under the control of a rotating motor 622 at the hinged part, a mechanical hand 623 is arranged on the mechanical arm 621 at the tail end, and the mechanical hand 623 is used for grabbing the second wall-climbing robot 2. Therefore, after the first wall-climbing robot 1 detects a working surface, the second wall-climbing robot 2 is placed on other working surfaces through the mechanical arm 62, the transition of the bridge detection working surface is completed, and when the second wall-climbing robot 2 finishes detection, the second wall-climbing robot 2 can be recovered to the carrying platform 61 through the mechanical arm 62.
The winder 71 is fixed on the chassis of the first wall-climbing robot 1, the power line 72 is wound inside the winder 71, one end of the power line 72 is led out from the output end of the winder 71, and the other end of the power line 72 is connected to the chassis of the second wall-climbing robot 2 to supply power to the second wall-climbing robot 2. Along with the relative motion of the second wall-climbing robot 2 and the first wall-climbing robot 1, the wire winder 71 can automatically arrange wires, so that the power wire 72 can be freely stretched and contracted, and the power wire 72 is prevented from being intertwined.
In the process of bridge detection operation, the first wall-climbing robot 1 firstly adsorbs and detects a bridge surface, and at this time, the second wall-climbing robot 2 is fixed on the carrying platform 61 of the first wall-climbing robot 1. When other bridge surfaces are detected, climb wall robot 2 with the second through working face conversion equipment 6 and shift to other bridge on the surface, wall robot 2 is climbed to the second is connected with first wall robot 1 of climbing through power supply unit 7 in the testing process to guarantee to adsorb in the working face steadily, prevent that wall robot 2 is climbed to the second and break away from because of the electric quantity exhausts and adsorb and fall, utilize the utility model discloses can realize bridge surface full coverage and detect to guarantee to adsorb steadily, improve and detect safety.
After the first wall-climbing robot 1 completes the detection of the bridge pier, the second wall-climbing robot 2 is clamped from the mounting platform 61 and transferred to the bridge floor by the arm 62 of the working surface switching device 6, and the bridge floor is detected. By the same method, after the first wall-climbing robot 1 detects the bottom surface of the box-shaped section beam, the second wall-climbing robot 2 is transferred to the side surface of the box-shaped section beam through the working surface conversion device 6, and the other side is detected, so that automatic conversion from the abutment to the bottom surface and the side surface of a common bridge structure such as a bridge bottom surface, a T-shaped section, a box-shaped section, a hollow plate and the like is realized, and the method is shown in fig. 6 and 7.
The utility model selects the first wall climbing robot 1 and the second wall climbing robot 2 as mobile detection equipment, can quickly approach and shoot high-precision bridge surface images through the driving device 4 and the detection device 5, does not need to go out a bridge detection vehicle with a large amount of manpower and influencing traffic, improves the bridge disease detection precision, shortens the detection time, saves the detection cost, designs the working surface conversion device 6, can clamp the second wall climbing robot 2 to another working surface, solves the problem that the existing wall climbing robot can only work on a single surface, can transit from a pier table to the bottom surface of a bridge, and can automatically convert the bottom surface and the side surface of common bridge structures such as T-shaped cross section, box-shaped cross section, hollow plate and the like, and simultaneously, the utility model designs the power supply device 7, one end of a power line is led out from the output end of the coil winder 71, the other end is connected to the chassis of the second wall climbing robot 2, and for the second wall climbing robot 2 power supply, the problem that the battery power of the existing wall climbing robot is not enough is solved, the detection time is prolonged, the detection range is enlarged, the wall climbing robot is prevented from falling due to the exhaustion of electric power, and the detection safety is improved.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a surface striding type bridge inspection robot, includes first wall climbing robot (1), second wall climbing robot (2), adsorption equipment (3), drive arrangement (4), detection device (5), working face conversion equipment (6) and power supply unit (7), its characterized in that: the wall climbing robot comprises a first wall climbing robot body (1) and a second wall climbing robot body (2), wherein the first wall climbing robot body (1) and the second wall climbing robot body (2) are respectively provided with an adsorption device (3) on a chassis, the adsorption devices (3) are used for adsorbing the surface of a bridge, the first wall climbing robot body (1) and the second wall climbing robot body (2) are respectively provided with a driving device (4) on the chassis, the driving devices (4) are used for driving the first wall climbing robot body (1) and the second wall climbing robot body (2) to walk along the surface of the bridge, the front ends of the first wall climbing robot body (1) and the second wall climbing robot body (2) are respectively provided with a detection device (5), the detection devices (5) are used for detecting bridge defects, a working face conversion device (6) is fixedly installed on the first wall climbing robot body (1), the working face conversion device (6) comprises a carrying platform (61) and a mechanical arm (62), the working face conversion device (6) is used for moving the second wall climbing robot body (2) to other working faces, the inside of first wall climbing robot (1) is equipped with power supply unit (7), and power supply unit (7) include winder (71) and power cord (72), second wall climbing robot (2) is connected to the one end of power cord (72) and is supplied power for it.
2. The surface-spanned bridge inspection robot of claim 1, wherein: adsorption equipment (3) are including sealed skirt (31) and centrifugal pump (32), sealed skirt (31) are the nylon fibre, and sealed skirt (31) are installed under the chassis of first wall climbing robot (1) and second wall climbing robot (2) and are enclosed into the seal chamber, centrifugal pump (32) set up on the chassis of first wall climbing robot (1) and second wall climbing robot (2), and centrifugal impeller (33) are installed to centrifugal pump (32) internal rotation, be equipped with brushless motor (34) on centrifugal pump (32), and the output shaft of brushless motor (34) centrifugal impeller (33), the sealed intracavity gas of rotatory extraction of centrifugal impeller (33) forms continuous negative pressure and reaches the adsorption.
3. The surface-spanned bridge inspection robot of claim 1, wherein: the driving device (4) comprises a driving motor (41), a speed reducer (42), a wheel shaft (43) and a driving wheel (44), wherein the driving motor (41) and the speed reducer (42) drive the wheel shaft (43) and the driving wheel (44) to rotate and drive the first wall-climbing robot (1) and the second wall-climbing robot (2) to walk along the surface of the bridge.
4. The surface-spanned bridge inspection robot of claim 1, wherein: detection device (5) include high accuracy camera (51), infrared ranging module (52) and light filling LED lamp (53), high accuracy camera (51) are used for shooing bridge surface disease, infrared ranging module (52) are used for measuring bridge disease position, light filling LED lamp (53) are used for when illumination is not enough to shooting regional light filling.
5. The surface-spanned bridge inspection robot of claim 1, wherein: carry on platform (61) fastening installation on first wall climbing robot (1), carry on platform (61) and constitute by bottom plate (611), support (612), loading box (613) and clamp (614), bottom plate (611) passes through the bolt fastening at first wall climbing robot (1) epitheca, install on bottom plate (611) support (612), and be equipped with on support (612) and load box (613), the inside both sides of loading box (613) are passed through the bolt fastening and are had clamp (614), and clamp (614) are used for fixing second wall climbing robot (2) on loading box (613).
6. The surface-spanned bridge inspection robot of claim 1, wherein: the mechanical arm (62) is installed at the rear portion of a chassis of the first wall-climbing robot (1), the mechanical arm (62) is formed by hinging multiple sections of mechanical arms (621), each section of mechanical arms (621) is controlled to rotate around a joint through a rotating motor (622) at the hinged position, the mechanical arm (621) is provided with a mechanical gripper (623), and the mechanical gripper (623) is used for gripping the second wall-climbing robot (2).
7. The surface-spanned bridge inspection robot of claim 1, wherein: winder (71) are fixed on the chassis of first wall climbing robot (1), and winder (71) are inside to be twined power cord (72), the one end of power cord (72) is drawn forth from winder (71) output, and the other end of power cord (72) is connected to on the chassis of second wall climbing robot (2), for second wall climbing robot (2) power supply.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021410647.9U CN212255120U (en) | 2020-07-17 | 2020-07-17 | Surface crossing type bridge detection robot |
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| CN202021410647.9U CN212255120U (en) | 2020-07-17 | 2020-07-17 | Surface crossing type bridge detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114892978A (en) * | 2022-03-24 | 2022-08-12 | 温州一建城建集团有限公司 | Civil engineering foundation mold construction process and fixing device thereof |
| CN116141375A (en) * | 2023-04-19 | 2023-05-23 | 交通运输部公路科学研究所 | Mechanical arm assembly for bridge detection and working method thereof |
-
2020
- 2020-07-17 CN CN202021410647.9U patent/CN212255120U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114892978A (en) * | 2022-03-24 | 2022-08-12 | 温州一建城建集团有限公司 | Civil engineering foundation mold construction process and fixing device thereof |
| CN116141375A (en) * | 2023-04-19 | 2023-05-23 | 交通运输部公路科学研究所 | Mechanical arm assembly for bridge detection and working method thereof |
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