CN215441439U - Mechanical arm and bridge detection vehicle - Google Patents
Mechanical arm and bridge detection vehicle Download PDFInfo
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- CN215441439U CN215441439U CN202121438486.9U CN202121438486U CN215441439U CN 215441439 U CN215441439 U CN 215441439U CN 202121438486 U CN202121438486 U CN 202121438486U CN 215441439 U CN215441439 U CN 215441439U
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Abstract
The utility model discloses a mechanical arm and a bridge detection vehicle, wherein the mechanical arm is sleeved on a rod-shaped object and comprises: the device comprises a frame, a conductive plate, a current collector, a driving motor, a driving gear, a rack, a controller and a plurality of universal bearings; the inner side wall of the frame is provided with a plurality of supporting plate pieces, and the universal bearing, the controller and the supporting plate pieces are fixed on the universal bearing; the universal bearing is abutted against the side surface of the rod-shaped object; the driving rack is fixed on the side surface of the rod-shaped object; the controller is connected with the driving motor, an output shaft of the driving motor is connected with the driving gear, and the driving gear is meshed with the rack; the current collector is fixed on the inner side wall of the frame and is abutted with the current conducting plate fixed on the side surface of the rod-shaped object. The detection equipment is fixed on the mechanical arm, when the mechanical arm is installed on the telescopic arm of the detection vehicle, the controller sends out a control signal, the driving motor drives the driving gear to rotate, and the driving gear is matched with the rack, so that the mechanical arm can move on the telescopic arm, and the bridge can be detected in all directions.
Description
Technical Field
The utility model belongs to the technical field of bridge detection, and particularly relates to a mechanical arm and a bridge detection vehicle.
Background
With the development of highway bridge business in China, more and more bridges are provided, meanwhile, a plurality of existing bridges gradually enter a maintenance and repair stage, relevant experts consider that the bridges are used for more than 25 years and then enter an aging period, according to statistics, 40% of the total number of the bridges in China already belong to the category, and therefore the detection task of the bridges is more and more important.
In the prior art, a bridge detection vehicle is usually adopted to extend into the bottom of a bridge and carry professional engineering technicians to detect bridge bottom defects at the bottom of the bridge, but the detection method has high cost and low efficiency and is easy to cause safety accidents.
Disclosure of Invention
In order to overcome the technical defects, in a first aspect of the present invention, there is provided a robot arm configured to be fitted over a rod-shaped object, including: the device comprises a frame, a conductive plate, a current collector, a driving motor, a driving gear, a rack, a controller and a plurality of universal bearings;
the inner side wall of the frame is provided with a plurality of supporting plate pieces, and the universal bearing and the controller are fixed on the supporting plate pieces;
the universal bearing is abutted against the side surface of the rod-shaped object;
the driving rack is fixed on the side surface of the rod-shaped object;
the controller is connected with the driving motor, an output shaft of the driving motor is connected with the driving gear, and the driving gear is meshed with the rack;
the current collector is fixed on the inner side wall of the frame and is abutted with the current conducting plate fixed on the side face of the rod-shaped object.
In a second aspect of the present invention, there is provided a bridge inspection vehicle, including a plurality of said robotic arms, comprising: the device comprises a vehicle body, a horizontal folding arm, a vertical folding arm, a first telescopic arm, a second telescopic arm, a third telescopic arm and a detection part;
the horizontal folding arm is fixed on the vehicle body, the vertical folding arm is connected with the horizontal folding arm in a turnover mode, the first telescopic arm is connected with the vertical folding arm in a turnover mode, the second telescopic arm is arranged in the first telescopic arm in a telescopic mode, and the third telescopic arm is arranged in the second telescopic arm in a telescopic mode;
the mechanical arm is movably sleeved on the first telescopic arm, the second telescopic arm and the third telescopic arm;
the detection part is fixed on the mechanical arm;
the detection section includes: the system comprises a three-axis holder, a multi-lens camera and an illuminating lamp;
the three-axis pan-tilt and the illuminating lamp are fixed on the upper surface of the mechanical arm, and the multi-lens camera is fixed on the three-axis pan-tilt.
As a further improvement of the present invention, the present invention further comprises a remote controller, wherein the remote controller is connected to the mechanical arm, and is used for moving the mechanical arm on the first telescopic arm, the second telescopic arm and the third telescopic arm.
As a further improvement of the present invention, the remote controller is further connected to the illumination lamp for controlling the illumination lamp to be turned on or off.
As a further improvement of the present invention, the multi-lens camera is connected to a cloud server, and the taken picture is transmitted to the cloud server.
As a further improvement of the utility model, the utility model also comprises: the distance detector is fixed on the first telescopic arm and used for detecting the distance between the first telescopic arm and the bridge; the distance detector is connected with the cloud server and transmits the distance to the cloud server.
As a further improvement of the utility model, the utility model also comprises: the monitoring camera is fixed on the first telescopic arm and is used for shooting images at the bottom of the bridge; the monitoring camera is connected with the cloud server, and the image is transmitted to the cloud server.
As a further improvement of the utility model, the utility model also comprises: the special detector is fixed on the third telescopic arm through the mechanical arm and used for detecting the diseases at the bottom of the bridge, and the special detector is connected with the cloud server and transmits the disease information to the cloud server.
As a further improvement of the utility model, the special detector comprises: laser scanner, comprehensive detector of crack and X ray detector.
Compared with the prior art, the utility model has the following beneficial effects: when the mechanical arm is arranged on the telescopic arm of the detection vehicle, the controller sends out a control signal to drive the driving motor to drive the driving gear to rotate, and the driving gear is matched with the rack, so that the movement of the mechanical arm on the telescopic arm is realized, and the omnibearing detection of a bridge is further realized.
Drawings
Embodiments of the utility model are described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a schematic view of the structure of the robot arm according to embodiment 1;
FIG. 2 is a schematic structural view of the bridge inspection vehicle according to embodiment 1;
FIG. 3 is a partial schematic view of the bridge inspection vehicle of embodiment 1;
FIG. 4 is a partial schematic view of the bridge inspection vehicle of embodiment 1;
fig. 5 is a schematic connection diagram of the bridge inspection vehicle and the cloud server in embodiment 1.
Description of the labeling: 1. a mechanical arm; 101. a frame; 102. a conductive plate; 103. a current collector; 104. a drive motor; 105. a drive gear; 106. a rack; 107. a controller; 108. a universal bearing; 109. a support plate; 2. a vehicle body; 3. a horizontal folding arm; 4. a vertical folding arm; 5. a first telescopic arm; 6. a second telescopic arm; 7. a third telescopic arm; 8. a detection section; 81. A three-axis pan-tilt; 82. a multi-lens camera; 83. an illuminating lamp; 9. and a remote controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", and the like refer to the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which the utility model product is conventionally placed in use, and are only for convenience of describing the present invention and simplifying the description, but do not refer to or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
The present embodiment provides a mechanical arm 1, as shown in fig. 1, which is sleeved on a rod-shaped object, and includes: the device comprises a frame 101, a conductive plate 102, a current collector 103, a driving motor 104, a driving gear 105, a rack 106, a controller 107 and a plurality of universal bearings 108; the inner side wall of the frame 101 is provided with a plurality of supporting plate members 109, and the universal bearing 108 and the controller 107 are fixed on the supporting plate members 109; the universal bearing 108 is abutted against the side surface of the rod-shaped object; the driving rack 106 is fixed on the side surface of the rod-shaped object; the controller 107 is connected with the driving motor 104, the output shaft of the driving motor 104 is connected with the driving gear 105, and the driving gear 105 is meshed with the rack 106; the current collector 103 is fixed to the inner wall of the frame 101 and contacts the conductive plate 102 fixed to the side surface of the rod-like object.
Specifically, the controller 107 is a wireless controller 107, and when the robot arm is used, the controller 107 obtains a control signal through a wireless network, starts the driving motor 104 to rotate, so as to drive the driving gear 105 to rotate, and the driving gear is matched with the rack 106, so as to drive the whole robot arm 1 to move on the outer surface of the rod-shaped object, and through the universal bearing 108, the friction between the robot arm 1 and the rod-shaped object can be reduced, and the sensitivity of the robot arm 1 is improved.
The present embodiment is provided with three universal bearings, two of which are located at the top of the rod-shaped object, and one of which is located at the bottom of the rod-shaped object, the supporting plate 109 is set to be "L" shaped, the short side is fixed on the inner side wall of the frame 101, the long side is fixed with the controller 107 and the universal bearing 108, and the universal bearing located at the bottom is not fixed by the supporting plate 109.
The current is conducted to the controller 107 through the current collector 103 and the conductive plate 102, so as to realize the uninterrupted power supply of the controller 107.
Example 2
The embodiment discloses a bridge inspection vehicle, as shown in fig. 2, includes the arm in embodiment 1, includes: the device comprises a vehicle body 2, a horizontal folding arm 3, a vertical folding arm 4, a first telescopic arm 5, a second telescopic arm 6, a third telescopic arm 7, a detection part 8 and a plurality of mechanical arms 1; the horizontal folding arm 3 is fixed on the vehicle body 2, the vertical folding arm 4 is connected with the horizontal folding arm 3 in a turnover mode, the first telescopic arm 5 is connected with the vertical folding arm 4 in a turnover mode, the second telescopic arm 6 is arranged in the first telescopic arm 5 in a telescopic mode, and the third telescopic arm 7 is arranged in the second telescopic arm 6 in a telescopic mode; the mechanical arm 1 is movably sleeved on the first telescopic arm 5, the second telescopic arm 6 and the third telescopic arm 7; the detection part 8 is fixed on the mechanical arm 1; the detection section 8 includes: a three-axis pan-tilt 81, a multi-lens camera 82, and an illumination lamp 83; the three-axis pan-tilt 81 and the illumination lamp 83 are fixed to the upper surface of the robot arm 1, and the multi-lens camera 82 is fixed to the three-axis pan-tilt 81.
The triaxial cloud platform 71 can avoid the influence of shaking on the photographing quality, the photographing angle can be changed, the multi-lens camera 82 can automatically photograph the bottom of the bridge in the process that the bridge inspection vehicle stably runs at a low speed, the photographed picture can be used for making a three-dimensional picture, the requirement of automatic disease analysis of AI can be met, and the disease condition of the bottom of the bridge can be visually and meticulously expressed.
In order to realize remote control of bridge detection and avoid manual operation at the bottom of a bridge, therefore, the present embodiment further includes a remote controller 9, where the remote controller 9 is connected to the robot arm 1, and is configured to move the robot arm 1 on the first telescopic arm 5, the second telescopic arm 6, and the third telescopic arm 7, and adjust the position of the robot arm 1 on the telescopic arms according to the actual situation, the first telescopic arm 5, the second telescopic arm 9, and the third telescopic arm 7 are all provided with an execution mechanism, and the execution mechanism can be provided with a wireless communication module to communicate with the remote controller 9.
Fig. 3 is a state schematic diagram of the first telescopic arm 5, the second telescopic arm 6 and the third telescopic arm 7 when being unfolded, fig. 4 is a state schematic diagram of the first telescopic arm 5, the second telescopic arm 6 and the third telescopic arm 7 when being retracted, when a bridge starts to be detected, the remote controller 9 controls the execution mechanism to control the telescopic arms, when the first telescopic arm 5, the second telescopic arm 6 and the third telescopic arm 7 are extended, the remote controller 9 controls the mechanical arm 1 to move to a required position by controlling a controller in the mechanical arm 1, and when bridge detection is finished, the mechanical arm 1 is moved to the tail end of the telescopic arms, so that each telescopic arm can be normally retracted.
Further, the remote controller 9 is further connected with the illuminating lamp 83 for controlling the opening or closing of the illuminating lamp 83, and through the arrangement of the illuminating lamp 83, the light can be supplemented for the photographing environment of the multi-lens camera 82, so that the photographing requirement is met.
The vehicle body 2 can be provided with a cloud server, and the 82 multi-lens camera is connected with the cloud server and transmits shot pictures to the cloud server in real time.
As shown in fig. 5, the present embodiment further includes: the distance detector 10 is fixed on the first telescopic arm 5, and is used for detecting the distance between the first telescopic arm 5 and the bridge; the distance detector 10 is connected with the cloud server, transmits the distance to the cloud server, and detects the distance between the telescopic boom and the bridge bottom in real time to ensure the operation safety of equipment.
In order to detect the environmental condition of the bridge bottom and the running condition of the bridge inspection vehicle in real time, the embodiment is further provided with a monitoring camera 11, and the monitoring camera 11 is fixed on the first telescopic arm 5 and used for shooting an image of the bridge bottom; the monitoring camera 11 is connected with the cloud server and transmits the image to the cloud server.
This embodiment still includes: the special detector 12 is fixed on the third telescopic arm 7 through the mechanical arm 1, the special detector 12 is used for detecting diseases at the bottom of the bridge, the special detector 12 is connected with the cloud server and transmits disease information to the cloud server, and the special detector 12 can accurately detect the diseases and meet the requirement of an expert on analyzing and judging suspected disease points.
Preferably, the special detector 13 includes: laser scanner, comprehensive detector of crack and X ray detector.
In summary, the first telescopic arm 5, the second telescopic arm 6 and the third telescopic arm 7 of the present embodiment are all provided with a plurality of mechanical arms 1 for placing detection components, so that the detection components 8 are arranged in an array, and when detecting a bridge, the bridge is detected by adopting an array scanning manner, thereby greatly improving the detection efficiency, avoiding manual detection, saving the detection cost, and avoiding the occurrence of accidents; besides, the mechanical arm 1 can freely move on the first telescopic arm 5, the second telescopic arm 6 and the third telescopic arm 7, and the detection position of the specific requirement is convenient to control.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (9)
1. A mechanical arm is sleeved on a rod-shaped object, and is characterized by comprising: the device comprises a frame, a conductive plate, a current collector, a driving motor, a driving gear, a rack, a controller and a plurality of universal bearings;
the inner side wall of the frame is provided with a plurality of supporting plate pieces, and the universal bearing and the controller are fixed on the supporting plate pieces;
the universal bearing is abutted against the side surface of the rod-shaped object;
the rack is fixed on the side surface of the rod-shaped object;
the controller is connected with the driving motor, an output shaft of the driving motor is connected with the driving gear, and the driving gear is meshed with the rack;
the current collector is fixed on the inner side wall of the frame and is abutted with the current conducting plate fixed on the side face of the rod-shaped object.
2. A bridge inspection vehicle comprising a plurality of robotic arms according to claim 1, comprising: the device comprises a vehicle body, a horizontal folding arm, a vertical folding arm, a first telescopic arm, a second telescopic arm, a third telescopic arm and a detection part;
the horizontal folding arm is fixed on the vehicle body, the vertical folding arm is connected with the horizontal folding arm in a turnover mode, the first telescopic arm is connected with the vertical folding arm in a turnover mode, the second telescopic arm is arranged in the first telescopic arm in a telescopic mode, and the third telescopic arm is arranged in the second telescopic arm in a telescopic mode;
the mechanical arm is movably sleeved on the first telescopic arm, the second telescopic arm and the third telescopic arm;
the detection part is fixed on the mechanical arm;
the detection section includes: the system comprises a three-axis holder, a multi-lens camera and an illuminating lamp;
the three-axis pan-tilt and the illuminating lamp are fixed on the upper surface of the mechanical arm, and the multi-lens camera is fixed on the three-axis pan-tilt.
3. The bridge inspection vehicle of claim 2, further comprising a remote controller coupled to the robotic arm for movement of the robotic arm on the first, second, and third telescoping arms.
4. The bridge inspection vehicle of claim 3, wherein the remote controller is further connected to the illumination lamp for controlling the illumination lamp to be turned on or off.
5. The bridge inspection vehicle of claim 2, wherein the multi-lens camera is connected to a cloud server, and transmits the captured image to the cloud server.
6. The bridge inspection vehicle of any one of claims 2-5, further comprising: the distance detector is fixed on the first telescopic arm and used for detecting the distance between the first telescopic arm and the bridge; the distance detector is connected with the cloud server and transmits the distance to the cloud server.
7. The bridge inspection vehicle of any one of claims 2-5, further comprising: the monitoring camera is fixed on the first telescopic arm and is used for shooting images at the bottom of the bridge; the monitoring camera is connected with the cloud server, and the image is transmitted to the cloud server.
8. The bridge inspection vehicle of claim 2, further comprising: the special detector is fixed on the third telescopic arm through the mechanical arm and used for detecting the diseases at the bottom of the bridge, and the special detector is connected with the cloud server and transmits the disease information to the cloud server.
9. The bridge inspection vehicle of claim 8, wherein the special inspection apparatus comprises: laser scanner, comprehensive detector of crack and X ray detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121438486.9U CN215441439U (en) | 2021-06-25 | 2021-06-25 | Mechanical arm and bridge detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121438486.9U CN215441439U (en) | 2021-06-25 | 2021-06-25 | Mechanical arm and bridge detection vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN215441439U true CN215441439U (en) | 2022-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121438486.9U Active CN215441439U (en) | 2021-06-25 | 2021-06-25 | Mechanical arm and bridge detection vehicle |
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|---|---|
| CN (1) | CN215441439U (en) |
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2021
- 2021-06-25 CN CN202121438486.9U patent/CN215441439U/en active Active
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