CN114918893A - Suspension type beam bottom detection robot - Google Patents
Suspension type beam bottom detection robot Download PDFInfo
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- CN114918893A CN114918893A CN202210418506.9A CN202210418506A CN114918893A CN 114918893 A CN114918893 A CN 114918893A CN 202210418506 A CN202210418506 A CN 202210418506A CN 114918893 A CN114918893 A CN 114918893A
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- frame body
- main frame
- guide
- beam bottom
- track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Bridges Or Land Bridges (AREA)
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Abstract
The invention relates to the technical field of bridge detection, in particular to a suspension type beam bottom detection robot. The invention provides a suspension type beam bottom detection robot, which comprises: the main frame body, three running gear and at least three guider. The three traveling devices are clamped on a track plate of the T-shaped guide rail and drive the main frame body to move on the track plate; each limiting guide device comprises two limiting guide mechanisms which are used for being clamped on the guide plate and located on two sides of the track plate, each limiting guide mechanism comprises a limiting guide mechanism which can rotate for a set angle relative to the main frame body, each limiting guide mechanism comprises two limiting parts, the two limiting parts are arranged at intervals to form a guide channel used for clamping the guide plate, and the distance between two ends of the guide channel is larger than the distance between the middle parts of the guide channels. The problem that the automatic detection robot cannot smoothly run to the next section of track due to torsion between track sections in the scheme in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of bridge detection, in particular to a suspension type beam bottom detection robot.
Background
The current bridge inspection robot can be mainly divided into a wheel type inspection robot and a rail type inspection robot according to the classification of a driving bearing platform. Generally, the wheel type inspection robot is mainly used on the surface of a bridge road surface, and the track type inspection robot can be suitable for inspection in various fixed occasions through flexibly laying reasonable tracks. Aiming at the field of bridge management, common bridge bottom diseases comprise bolt falling, connecting plate corrosion, box girder cracking, paint falling damage and the like. The rail type manned beam bottom inspection vehicle is mainly used in the field of detection and management maintenance of bridge beam bottom defects at home and abroad, an I-shaped or H-shaped steel rail is preset at the beam bottom, and the manned beam bottom inspection vehicle is hung on the preset rail to run and performs defect detection and defect treatment operation in a mode of manually observing the rail or manually holding a detection device.
However, the manned beam bottom inspection vehicle also has many limitations and restrictive problems, and when the beam bottom space is narrow and the existing height-limited highway line and the existing height-limited railway line exist below the beam bottom, especially for the highway and railway dual-purpose bridge, the manned beam bottom inspection vehicle is extremely difficult to use under the use scenes and the working conditions.
Particularly, as many bridge projects enter the middle and later service life period, people-carrying type beam bottom inspection vehicles configured for many bridges enter the scrapping period early, the forced use danger coefficient is high, and the personnel safety is difficult to guarantee. However, the increasingly heavy bridge bottom management and maintenance requirements are continuously increased, so that the method for solving the contradiction and the requirements has great practical engineering value. Particularly, the existing passenger type beam bottom inspection vehicles are large in structure size, pier passing and seam passing are limited to a certain extent in passenger inspection operation, and particularly, safety risks are caused to passengers on the beam bottom inspection vehicle during pier passing and seam passing.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a suspension type beam bottom detection robot which can solve the problem that the automatic detection robot cannot smoothly run to the next section of track due to the fact that track sections deform after the scheme in the prior art is used for a long time or the track sections are twisted due to deformation of a beam body and shape and position errors existing in the track manufacturing and welding process.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the invention provides a suspension type beam bottom detection robot, which comprises:
a main frame body;
the three walking devices are arranged at intervals and are used for clamping the T-shaped guide rail plate and driving the main frame body to move on the rail plate;
at least three establish guider on the body frame body, every spacing guider include two spacing guiding mechanism for press from both sides and establish on the deflector, and be located the both sides of track board, every spacing guiding mechanism all includes relatively the body frame body rotates the spacing guiding mechanism who sets for the angle, spacing guiding mechanism includes two locating parts, two the locating part interval sets up and forms and is used for the centre gripping the direction passageway of deflector, and the interval at direction passageway both ends is greater than the interval at direction passageway middle part.
In some optional schemes, each of the limit guiding mechanisms further comprises:
one end of the connecting frame is connected with the main frame body;
and the rotating plate can be rotatably arranged at the other end of the connecting frame at a set angle and is provided with a limiting guide mechanism.
In some optional schemes, three rollers are respectively arranged on one side of each of the two limiting members, which forms the guide channel, and are respectively located at two ends and the middle of the guide channel.
In some optional schemes, each limit guide mechanism is correspondingly provided with an adjusting device, and the connecting frame of the limit guide mechanism is connected with the main frame body through the adjusting device, so as to adjust the relative position of the limit guide mechanism and the main frame body when the limit guide mechanism receives the reaction force of the guide plate.
In some optional aspects, the adjusting means comprises:
the sliding rail and the sliding block are respectively connected with the main frame body and the connecting frame, and the sliding block can move on the sliding rail along the vertical direction of the guide plate;
and the two adjusting mechanisms are connected with the main frame body, telescopic rods of the two adjusting mechanisms are oppositely arranged, are connected with the connecting frame and are used for adjusting the relative positions of the limiting guide mechanisms and the main frame body when the limiting guide mechanisms receive the reaction force of the guide plates.
In some alternatives, the adjustment mechanism further comprises:
an outer sleeve connected to the main frame;
the piston is arranged in the outer sleeve in a sliding mode and connected with the telescopic rod extending out of the outer sleeve, the outer sleeve is divided into two containing spaces used for containing hydraulic oil by the piston, and overflow holes for connecting the two containing spaces are formed in the piston;
and the two springs are respectively arranged in the two accommodating spaces and used for enabling the piston to be located at an initial position when the piston is not subjected to external force.
In some optional schemes, a permanent magnet is arranged at one end, far away from the telescopic rod, of the outer sleeve, a coil is arranged in the piston, a plug extending to the bottom of the outer sleeve is arranged on the coil, a socket matched with the plug is arranged on the inner wall, close to the bottom of the outer sleeve, and after the piston moves to the bottom of the outer sleeve for a set distance, the plug is connected with the socket, so that repulsive force can be generated between the coil and the permanent magnet.
In some alternatives, each of the walking devices comprises:
the main frame body is provided with a main frame body, a driving wheel and a butting wheel, wherein the main frame body is provided with a main frame body, and the main frame body is provided with a main frame body;
and the pressure regulating mechanism is arranged on the main frame body, is connected with the abutting wheels and is used for regulating the pressure of the abutting wheels abutting against the track plate and the distance between the abutting wheels and the driving wheel.
In some alternatives, the pressure regulating mechanism comprises:
one end of the lever is connected with the supporting wheel, and the middle part of the lever is rotationally connected with the main frame body;
and the magnetic structure is connected with the other end of the lever and is used for adjusting the pressure of the abutting wheel abutting on the track plate and the distance between the abutting wheel and the driving wheel.
In some optional schemes, a limiting spring is arranged between the lever and the holding wheel.
Compared with the prior art, the invention has the advantages that: when the next guide plate is twisted to a certain extent, when the suspension type beam bottom detection robot runs to the next guide plate on the T-shaped track, the two limiting parts are arranged at intervals to form a guide channel for clamping the guide plate, the distance between the two ends of the guide channel is larger than that between the middle parts of the guide channel, the end parts of the guide channel can be clamped at the two sides of the guide plate in an adaptive manner, the limiting guide mechanism can rotate for a set angle relative to the main frame body to adapt to the twisting of the next guide plate, and so on, all the limiting guide mechanisms can be clamped at the two sides of the next guide plate in an adaptive manner, and the suspension type beam bottom detection robot is moved to the next guide plate. The walking device centre gripping that sets up three interval is on the track board to support and hold on the track board, the drive wheel with support and hold the wheel and all with body frame body coupling, the drive wheel rotates and can produce power and drive whole body frame body and remove, installs check out test set on the body frame body, can realize the detection to the track board.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a suspended beam bottom inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the difference in height between two adjacent track plates according to an embodiment of the present invention;
FIG. 3 is a schematic view of two adjacent guide plates twisted according to an embodiment of the present invention;
FIG. 4 is an enlarged schematic view of a guide device according to an embodiment of the present invention;
FIG. 5 is a schematic view of a guide device according to an embodiment of the present invention;
FIG. 6 is an enlarged view of an adjusting device according to an embodiment of the present invention;
FIG. 7 is a schematic view of an adjustment mechanism in an embodiment of the present invention;
FIG. 8 is a schematic view of a suspended floor inspection robot from the inside of a bridge in an embodiment of the present invention;
FIG. 9 is a schematic partial view of a pressure regulating mechanism in an embodiment of the present invention;
fig. 10 is a schematic view of a suspended beam bottom detection robot from the perspective of the outer side of a bridge according to an embodiment of the present invention.
In the figure: 1. a main frame body; 2. a traveling device; 21. a drive wheel; 22. a holding wheel; 23. a pressure regulating mechanism; 231. a lever; 232. a magnetic structure; 24. a restraining spring; 3. a guide device; 31. a limiting guide mechanism; 311. a limiting member; 312. a roller; 32. a connecting frame; 33. a rotating plate; 34. a limiting plate; 4. a T-shaped track; 41. a track plate; 42. a guide plate; 5. an adjustment device; 51. a slide rail; 52. a slider; 53. an adjustment mechanism; 531. a telescopic rod; 532. an outer sleeve; 533. a piston; 534. a spring; 535. a permanent magnet; 536. a plug; 537. a socket; 6. a drive mechanism; 7. and a detection mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 5, the present invention provides a suspended beam bottom inspection robot, including: the main frame body 1, three walking devices 2 arranged at intervals and at least three guiding devices 3 arranged on the main frame body 1.
The three walking devices 2 which are arranged at intervals are used for clamping on a track plate 41 of the T-shaped track 4 and driving the main frame body 1 to move on the track plate 41;
each limiting guide device 3 comprises two limiting guide mechanisms which are arranged on a guide plate 42 in a clamping mode and located on two sides of a track plate 41, the guide plate 42 and the track plate 41 are perpendicular to each other, each limiting guide mechanism comprises a limiting guide mechanism 31 which can rotate for a set angle relative to the main frame body 1, each limiting guide mechanism 31 comprises two limiting parts 311, the two limiting parts 311 are arranged at intervals to form a guide channel for clamping the guide plate 42, and the distance between the two ends of each guide channel is larger than the distance between the middle parts of the guide channels.
When suspension type beam bottom inspection robot, 2 centre gripping of running gear that set up three interval are on track board 41 to support and hold on track board 41, drive wheel 21 and support and hold wheel 22 and all be connected with the body frame body 1, drive wheel 21 rotates and can produce power and drive whole body frame body 1 and remove, installs check out test set on the body frame body 1, can realize the detection to track board 41.
As shown in fig. 1, 2 and 3, since the bridge structure has certain properties of expansion with heat and contraction with cold, the T-shaped track 4 disposed on the side of the bridge segment is also divided into a plurality of track segments, and a certain gap is reserved between the track segments, the T-shaped track 4 includes a track plate 41 clamped by the driving wheel 21 and the holding wheel 22 as a supporting track, and a guide plate 42 as a guide and perpendicular to the track plate 41, one side of the track plate 41 is connected to the side of the bridge segment, and the other side is connected to the guide plate 42 perpendicularly, and is located in the middle of the guide plate 42; in the case of a long-term use or an error in the installation of the T-shaped rail 4 to the side of the bridge segment, there may be a certain height difference between the rail plates 41 of the respective rail segments and a twist between the guide plates 42, as shown in fig. 2 and 3.
The suspended beam bottom detection robot runs on the T-shaped track 4 and needs to pass through a seam when running to a gap between track sections. When the next guide plate 42 has a certain torsion, when the suspension type beam bottom detection robot runs to the next guide plate 42 on the T-shaped track 4, because the two limiting members 311 are arranged at intervals to form the guide channel for clamping the guide plate 42, and the distance between the two ends of the guide channel is greater than the distance between the middle parts of the guide channel, the end parts of the guide channel can be adaptively clamped at the two sides of the guide plate 42, and the limiting guide mechanisms 31 can rotate relative to the main frame body 1 for setting an angle to adapt to the torsion of the next guide plate 42, and so on, all the limiting guide mechanisms 31 can be adaptively clamped at the two sides of the next guide plate 42, and the suspension type beam bottom detection robot is moved to the next guide plate 42.
In this example, the distance between the two ends of the guide channel is twice the wall thickness of the guide plate 42, the distance between the middle of the guide channel is 1.05 times the wall thickness of the guide plate 42, the inner wall of the guide channel smoothly transitions from the two ends to the middle, the two ends of the guide channel are used for adaptively clamping a lower guide plate 42 during the gap passing, the guide direction is guided, and the middle of the guide channel is used for limiting the position of the whole main frame body 1 during operation.
In addition, in this example, three spaced running gear 2 are driven by a driving mechanism 6, for example, a driving motor and a gear are engaged for transmission, in this example, four spaced guiding devices 3 are provided, and all the running gear 2 and the guiding devices 3 are provided on one side of the main frame body 1 and cooperate with the T-shaped rail 4 to perform driving and guiding functions, respectively.
In some optional embodiments, each limit guide mechanism further comprises: a connecting frame 32 and a rotating plate 33.
One end of the connecting frame 32 is connected with the main frame body 1; the rotating plate 33 is rotatably provided at the other end of the link frame 32 at a set angle, and is provided with a limit guide mechanism 31.
In this embodiment, one end of the link frame 32 is connected to the main frame 1, a rotating plate 33 rotatable at a predetermined angle is provided at the other end, and the stopper guide mechanism 31 is provided on the rotating plate 33. When the suspension type beam bottom detection robot runs to the next guide plate 42 on the T-shaped track 4, the limiting guide mechanism 31 can rotate for a set angle relative to the main frame body 1 to adapt to the torsion of the next guide plate 42, and the limiting guide mechanism 31 can be adaptively clamped on two sides of the next guide plate 42 to complete the movement of the suspension type beam bottom detection robot to the next guide plate 42.
In this embodiment, the connecting frame 32 and the rotating plate 33 can rotate to the same direction in the length direction, the two sides of the rotating plate 33 are provided with the limiting plates 34 extending to the connecting frame 32, the limiting plates 34 are positioned at the two sides of the connecting frame 32 and spaced a certain distance, the positions of the connecting frame 32 and the main frame body 1 in the rotating direction are relatively fixed, and when the rotating plate 33 rotates relative to the connecting frame 32, the limiting plates 34 at the two sides can limit the rotating angle of the rotating plate 33 relative to the connecting frame 32.
In addition, a torsion spring is further disposed between the connecting frame 32 and the rotating plate 33, so that the connecting frame 32 and the rotating plate 33 are maintained at initial positions without being subjected to external force, and at this time, two stoppers 311 are disposed at intervals to form a guide channel for holding the guide plate 42, which is perpendicular to the length direction of the connecting frame 32 and is substantially parallel to the direction of the guide plate 42 when no torsion occurs.
In some alternative embodiments, three rollers 312 are disposed on one side of the two limiting members 311 forming the guide channel, and are respectively located at two ends and a middle portion of the guide channel.
In this embodiment, the three rollers 312 are bearings or universal wheels, which can reduce the friction between the limiting member 311 and the guide plate 42 when the limiting member slides in a guiding manner, so as to facilitate the smooth operation of the main frame 1 on the T-shaped track 4.
In some alternative embodiments, as shown in fig. 6 and 7, each limit guide mechanism is provided with an adjusting device 5, and the connecting frame 32 of the limit guide mechanism is connected with the main frame body 1 through the adjusting device 5, so as to adjust the relative position of the limit guide mechanism and the main frame body 1 when the limit guide mechanism is subjected to the reaction force of the guide plate 42.
In the present embodiment, in the case of long-term use or when there is an error in mounting the T-shaped rail 4 to the side of the bridge segment, there is a twist between the guide plates 42 of the respective rail segments, and the suspended beam bottom detection robot runs on the T-shaped rail 4, and when it needs to pass through the gap between the rail segments. Firstly, two limit pieces 311 are arranged at intervals to form a guide channel for clamping the guide plate 42 and are clamped on two sides of the guide plate 42 in a flexible manner, and the limit guide mechanism 31 can rotate for a set angle relative to the main frame body 1 to adapt to the torsion of the next guide plate 42. Because the clamped guide plate 42 and the last guide plate 42 are twisted, if the twisting is large, when the guide plate 42 is clamped by a large pressure, the whole main frame body 1 can be twisted, the limiting guide mechanism is connected with the main frame body 1 through the adjusting device 5, when the limiting guide mechanism receives the reaction force of the guide plate 42, the relative position of the limiting guide mechanism and the main frame body 1 is adjusted, and the twisting force to the main frame body 1 caused by the twisting of the guide plate 42 can be avoided.
In some alternative embodiments, the adjusting device 5 comprises: a slide rail 51 and a slide block 52 connected to the main frame body 1 and the connecting frame 32, respectively, and two adjusting mechanisms 53.
Wherein, the slide block 52 can move on the slide rail 51 along the vertical direction of the guide plate 42; the two adjusting mechanisms 53 are connected to the main frame 1, and the telescopic rods 531 are oppositely disposed, and connected to the connecting frame 32, for adjusting the relative positions of the position-limiting guide mechanisms and the main frame 1 when the position-limiting guide mechanisms receive the reaction force of the guide plates 42.
In some alternative embodiments, the adjustment mechanism 53 further comprises: an outer sleeve 532, a piston 533, and two springs 534; wherein, the outer sleeve 532 is connected with the main frame body 1; the piston 533 is slidably arranged in the outer sleeve 532 and connected with the telescopic rod 531 extending out of the outer sleeve 532, the outer sleeve 532 is divided into two accommodating spaces for accommodating hydraulic oil by the piston 533, and the piston 533 is provided with an overflow hole for connecting the two accommodating spaces; the two springs 534 are respectively disposed in the two accommodating spaces, and are used for positioning the piston 533 at the initial position when the piston 533 is not subjected to an external force.
In this embodiment, when the reaction forces received by the limiting guide mechanisms 31 on both sides of the guide plate 42 are different, that is, the suspended beam bottom detection robot crosses the seam, and there is torsion between the guide plates 42 of the two track segments, the spring 534 near one side of the telescopic rod 531 extends, the spring 534 near the bottom of the outer sleeve 532 is compressed, and the hydraulic oil in the accommodating space on the side flows to the accommodating space on one side of the telescopic rod 531, the telescopic rod 531 retracts into the outer sleeve 532, so that the relative position of the limiting guide mechanism and the main frame 1 is adjusted to counteract the torsion force to the main frame 1 caused by torsion, and an overflow hole is provided, thereby avoiding sudden large-scale displacement between the limiting guide mechanism and the main frame 1, and affecting the stability of traveling.
When the reaction force applied to the limit guide mechanisms 31 on both sides of the guide plate 42 is the same, i.e., when the suspended beam-bottom detection robot travels normally on the T-shaped rail 4, or when there is no torsion between the guide plates 42 of two rail segments, the springs on both sides of the piston 533 cause the piston 533 to be located at the initial position, so that the limit guide mechanisms are located at the intermediate position.
In some alternative embodiments, the end of the outer sleeve 532 remote from the telescopic rod 531 is provided with a permanent magnet 535, the piston 533 is provided with a coil, the coil is provided with a plug 536 extending to the bottom of the outer sleeve 532, the inner wall of the outer sleeve 532 near the bottom thereof is provided with a socket 537 engaged with the plug 536, and after the piston 533 runs to the bottom of the outer sleeve 532 for a set distance, the plug 536 is connected with the socket 537, so that a repulsive force can be generated between the coil and the permanent magnet 535.
In this embodiment, a coil is disposed in the piston 533, a permanent magnet 535 is disposed at one end of the outer sleeve 532 far from the telescopic rod 531, and after the piston 533 moves to the bottom of the outer sleeve 532 for a set distance, a plug 536 of the coil is connected to a socket 537 disposed on the inner wall of the outer sleeve 532, so that a repulsive force is generated between the coil and the permanent magnet 535, which can increase a holding force between the limit guide mechanism and the guide plate 42, and at this time, a large displacement has occurred, the whole main frame 1 has already generated a certain inclination, and a partial gravity of the main frame 1 after torsion needs to be considered, which needs to be provided by the adjusting mechanism 53, and at this time, if only depending on the elastic force of the spring, the elastic limit of the spring may be exceeded, and such a design can protect the spring.
As shown in fig. 8 to 10, in some alternative embodiments, each walking device 2 includes: a pressure regulating mechanism 23, and a driving wheel 21 and a butting wheel 22 for butting against both sides of the track plate 41.
The diameter of the driving wheel 21 is larger than that of the holding wheel 22, the driving wheel 21 is positioned above the holding wheel 22, and the driving wheel 21 is connected with the main frame body 1; the pressure regulating mechanism 23 is disposed on the main frame 1, connected to the engaging wheel 22, and used for regulating the pressure of the engaging wheel 22 engaging the track plate 41 and the distance between the engaging wheel and the driving wheel 21.
In this embodiment, during the seam crossing, the driving wheel 21 and the supporting wheel 22 of one traveling device 2 with one end as the front end are opened, that is, the supporting wheel 22 is opened by the pressure regulating mechanism 23, and the other two traveling devices 2 are used as the driving to drive the entire main frame 1 to move forward until the front end is close to the next track segment.
When the track plate 41 of the next track segment is located in the gap between the driving wheel 21 and the sustaining wheel 22, the driving wheel 21 and the sustaining wheel 22 can be clamped on the two sides of the track plate 41 of the next track segment by directly using the pressure regulating mechanism 23, and so on, so that the middle and rear traveling devices 2 are sequentially moved to the next track segment.
When the track plate 41 of the next track segment is not located in the gap between the driving wheel 21 and the sustaining wheel 22 and is crossed with the driving wheel 21, that is, the track plate 41 of the next track segment is located above the track plate 41 of the track segment, because the driving wheel 21 is a driving wheel, the driving wheel can climb to the next track segment under the pushing action of the walking device 2 at the middle part and the rear end and the self-climbing action of the driving wheel 21, in order to enable the driving wheel 21 to have better climbing capability, the driving wheel 21 is a large-diameter wheel, the diameter of the driving wheel 21 is larger than that of the sustaining wheel 22, and as long as the crossed position of the driving wheel 21 and the track plate 41 of the next track segment is located below the radius of the driving wheel 21, the driving wheel 21 can climb easily. When crawling, the driving wheel 21 of the front end traveling device 2 receives an upward acting force in the direction of the track plate 41, the whole main frame body 1 is lifted upwards, the driving wheel 21 of the rear end traveling device 2 gives a downward force to the track plate 41, the abutting wheel 22 of the middle traveling device 2 gives an upward force to the track plate 41, and the driving wheel 21 of the rear end traveling device 2 releases the downward force to the track plate 41 and the abutting wheel 22 of the middle traveling device 2 gives an upward force to the track plate 41 by adjusting the pressure regulating mechanism 23 in the middle.
When the track plate 41 of the next track segment is not located in the gap between the driving wheel 21 and the sustaining wheel 22 and is crossed with the sustaining wheel 22, that is, the track plate 41 of the next track segment is located below the track plate 41 of the track segment, since the sustaining wheel 22 is not a driving wheel, it is difficult to climb to the next track segment under the pushing of the walking devices 2 at the middle and rear ends. At this time, the pressure regulating mechanism 23 corresponding to the front-stage traveling device 2 can be used to adjust the abutting wheels 22 to be continuously lowered, so that the distance between the abutting wheels 22 and the driving wheel 21 is increased until the track plate 41 is located in the gap between the driving wheel 21 and the abutting wheels 22, and the track plate 41 is continuously moved forward, and then the pressure regulating mechanism 23 is used to clamp the driving wheel 21 and the abutting wheels 22 to the track plate 41, and meanwhile, the pressure regulating mechanism 23 corresponding to the rear-stage traveling device 2 is matched to release the force on the track plate 41.
In some alternative embodiments, the pressure regulating mechanism 23 includes: a lever 231 and a magnetic structure 232.
Wherein, one end of the lever 231 is connected with the supporting wheel 22, and the middle part thereof is rotationally connected with the main frame body 1; the magnetic structure 232 is connected to the other end of the lever 231 for adjusting the pressing force of the holding wheel 22 against the track plate 41 and the distance between the holding wheel and the driving wheel 21.
In this embodiment, one end of the lever 231 is connected with the holding wheel 22, the middle part is rotatably connected with the main frame body 1, the magnetic structure 232 is connected with the other end of the lever 231 to form a lever structure, and when the magnetic structure 232 is pressed downwards, the holding wheel 22 will tilt upwards and hold on the track plate 41; when the magnetic structure 232 applies a force upwards, the sustaining wheel 22 will descend, and the distance between the sustaining wheel 22 and the driving wheel 21 will be adjusted.
In this example, the middle part of the lever 231 is rotatably connected with the main frame body 1 through the movable base, and the distance L1 from the joint of the middle part of the lever 231 and the main frame body 1 to the holding wheel 22 is smaller than the distance L2 to the magnetic mechanism 232.
Assuming that the end force applied to the lever 231 by the magnetic mechanism 232 is F1, the resisting wheel 22 obtains a supporting force of F2, and the middle part of the lever 231 obtains a supporting force of F3 of the main frame 1, there are:
f3 ═ F1+ F2, F2 ═ L1 ═ L2 ═ F1. The reaction force of the F3 can directly act on the main frame body 1, and the direction of the force is vertical to the driving surface of the track plate 41 of the T-shaped track 4, so that the positive pressure of the driving wheel of the vehicle body can be greatly and effectively increased.
Assuming that the driving traction force of the suspension type beam bottom detection robot is F, the following relation is satisfied:
f traction is more than or equal to (Gsin theta + F3) mu, theta is an included angle between the inclined web plate of the steel box girder and the horizontal plane, mu is friction force, and G is self weight.
In some alternative embodiments, a limiting spring 24 is provided between the lever 231 and the holding wheel 22.
In this embodiment, two limiting springs 24 are disposed between the lever 231 and the supporting wheel 22, so that when the magnetic structure 232 is pressed downward, the supporting wheel 22 will tilt upward, the force of the supporting wheel on the track plate 41 will be buffered by the limiting springs 24, and the excessive supporting force of the supporting wheel 22 on the track plate 41 is avoided.
In addition, the suspended beam bottom detection robot further comprises a detection mechanism 7, wherein the detection mechanism 7 is connected with the main frame body 1 and is used for detecting the beam structure. In this embodiment, the detection means 7 comprise at least one camera for taking images of the beam.
In summary, the three walking devices 2 arranged at intervals are clamped on the track plate 41 and abutted against the track plate 41, the driving wheel 21 and the abutting wheel 22 are both connected with the main frame body 1, the driving wheel 21 can generate power to drive the whole main frame body 1 to move when rotating, and the detection equipment is installed on the main frame body 1, so that the detection of the track plate 41 can be realized. When the suspension type beam bottom detection robot moves to the next guide plate 42 on the T-shaped track 4, because two limiting parts 311 are arranged at intervals to form the guide channel for clamping the guide plate 42, and the distance between the two ends of the guide channel is greater than the distance between the middle parts of the guide channel, the end part of the guide channel can be clamped at the two sides of the guide plate 42 in an adaptive manner, and the limiting guide mechanism 31 can rotate for a set angle relative to the main frame body 1 to adapt to the torsion of the next guide plate 42, and so on, all the limiting guide mechanisms 31 can be clamped at the two sides of the next guide plate 42 in an adaptive manner, and the suspension type beam bottom detection robot is moved to the next guide plate 42. When the reaction force that the spacing guiding mechanism 31 of deflector 42 both sides received is different, suspension type beam bottom detection robot crosses the seam promptly, and there is the torsion between the deflector 42 of two track sections, the spring 534 that is close to telescopic link 531 one side extends, the spring 534 that is close to the outer sleeve 532 bottom is compressed, and the accommodation space of this side accommodation space flows to telescopic link 531 one side, telescopic link 531 is to the internal contraction of outer sleeve 532, make the relative position of adjusting spacing guiding mechanism and main frame body 1, in order to offset the torsional force to main frame body 1 that twists reverse the cause, set up the overflow hole, avoid the displacement on a large scale suddenly between spacing guiding mechanism and the main frame body 1.
The coil is arranged in the piston 533, the permanent magnet 535 is arranged at one end of the outer sleeve 532 far away from the telescopic rod 531, and after the piston 533 runs to the bottom of the outer sleeve 532 for a set distance, the plug 536 of the coil is communicated with the socket 537 arranged on the inner wall of the outer sleeve 532, repulsive force is generated between the coil and the permanent magnet 535, so that the abutting force between the limiting guide mechanism and the guide plate 42 can be increased, at this moment, a larger displacement is generated, the whole main frame body 1 is already inclined to a certain extent, partial gravity generated after the main frame body 1 is twisted needs to be considered, the partial gravity needs to be provided by the adjusting mechanism 53, at this moment, if only depending on the elasticity of the spring, the spring may be exceeded, and the design can protect the spring.
The pressure of the propping wheels 22 propping against the track plate 41 and the distance between the propping wheels and the driving wheels 21 can be adjusted by the pressure adjusting mechanism 23, so as to facilitate gap crossing, or improve the positive pressure of the driving wheels 21 on the track plate 41, thereby facilitating the walking of the whole detection robot on the track plate 41.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be 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 meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a suspension type beam bottom inspection robot which characterized in that includes:
a main frame body (1);
three walking devices (2) which are arranged at intervals and are used for clamping on a track plate (41) of a T-shaped guide rail (4) and driving the main frame body (1) to move on the track plate (41);
at least three establishing guider (3) on the body frame body (1), every spacing guider (3) include two spacing guiding mechanism for press from both sides and establish on deflector (42), and be located the both sides of track board (41), every spacing guiding mechanism all includes can be relative body frame body (1) rotates spacing guiding mechanism (31) of setting for the angle, spacing guiding mechanism (31) include two locating part (311), two locating part (311) interval sets up and forms and is used for the centre gripping the direction passageway of deflector (42), and the interval at direction passageway both ends is greater than the interval at direction passageway middle part.
2. The suspended beam bottom detecting robot as recited in claim 1, wherein each of said limit guides further comprises:
a connecting frame (32) one end of which is connected with the main frame body (1);
and a rotating plate (33) which is rotatably arranged at the other end of the connecting frame (32) at a set angle and is provided with a limit guide mechanism (31).
3. The suspended beam bottom detecting robot as claimed in claim 2, wherein the two position limiting members (311) are provided with three rollers (312) at the side forming the guide channel, respectively at the two ends and the middle of the guide channel.
4. The suspended beam bottom detection robot as claimed in claim 2, wherein each limit guide mechanism is correspondingly provided with an adjusting device (5), and the connecting frame (32) of the limit guide mechanism is connected with the main frame body (1) through the adjusting device (5) and used for adjusting the relative position of the limit guide mechanism and the main frame body (1) when the limit guide mechanism is subjected to the reaction force of the guide plate (42).
5. A suspended beam bottom inspection robot as claimed in claim 4, wherein the adjusting means (5) comprises:
a slide rail (51) and a slide block (52) which are respectively connected with the main frame body (1) and the connecting frame (32), wherein the slide block (52) can move on the slide rail (51) along the vertical direction of the guide plate (42);
and the two adjusting mechanisms (53) are connected with the main frame body (1), the telescopic rods (531) of the adjusting mechanisms are oppositely arranged, are connected with the connecting frame (32), and are used for adjusting the relative positions of the limiting guide mechanisms and the main frame body (1) when the limiting guide mechanisms receive the reaction force of the guide plate (42).
6. The suspended beam bottom inspection robot of claim 5, wherein the adjustment mechanism (53) further comprises:
an outer sleeve (532) connected to the main frame body (1);
the piston (533) is slidably arranged in the outer sleeve (532) and is connected with the telescopic rod (531) extending out of the outer sleeve (532), the outer sleeve (532) is divided into two accommodating spaces for accommodating hydraulic oil by the piston (533), and an overflow hole for connecting the two accommodating spaces is formed in the piston (533);
two springs (534) respectively disposed in the two receiving spaces for positioning the piston (533) at an initial position when the piston (533) is not subjected to an external force.
7. The suspended beam bottom detection robot as claimed in claim 6, wherein a permanent magnet (535) is disposed at one end of the outer sleeve (532) far away from the telescopic rod (531), a coil is disposed in the piston (533), the coil is provided with a plug (536) extending to the bottom of the outer sleeve (532), a socket (537) matched with the plug (536) is disposed on the inner wall of the outer sleeve (532) close to the bottom of the outer sleeve (532), and after the piston (533) moves to the bottom of the outer sleeve (532) for a set distance, the plug (536) is connected with the socket (537), so that a repulsive force can be generated between the coil and the permanent magnet (535).
8. The suspended beam bottom detecting robot as claimed in claim 1, wherein each of the traveling devices (2) comprises:
the driving wheels (21) and the butting wheels (22) are used for butting against two sides of the track plate (41), the diameter of each driving wheel (21) is larger than that of each butting wheel (22), the driving wheels (21) are positioned above the butting wheels (22), and the driving wheels (21) are connected with the main frame body (1);
and the pressure regulating mechanism (23) is arranged on the main frame body (1), is connected with the abutting wheels (22) and is used for regulating the pressure of the abutting wheels (22) abutting against the track plate (41) and the distance between the abutting wheels and the driving wheel (21).
9. The suspended beam bottom detecting robot according to claim 8, wherein the pressure regulating mechanism (23) comprises:
a lever (231) with one end connected with the supporting wheel (22) and the middle part rotatably connected with the main frame body (1);
and the magnetic structure (232) is connected with the other end of the lever (231) and is used for adjusting the pressure of the abutting wheel (22) abutting against the track plate (41) and the distance between the abutting wheel and the driving wheel (21).
10. The suspended beam bottom detecting robot as claimed in claim 9, wherein a limiting spring (24) is provided between the lever (231) and the holding wheel (22).
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| CN202210418506.9A CN114918893B (en) | 2022-04-20 | 2022-04-20 | Suspension type beam bottom detection robot |
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| CN202210418506.9A CN114918893B (en) | 2022-04-20 | 2022-04-20 | Suspension type beam bottom detection robot |
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Cited By (1)
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| CN114918893B (en) | 2023-05-30 |
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