CN114918893B - Suspension type beam bottom detection robot - Google Patents
Suspension type beam bottom detection robot Download PDFInfo
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- CN114918893B CN114918893B CN202210418506.9A CN202210418506A CN114918893B CN 114918893 B CN114918893 B CN 114918893B CN 202210418506 A CN202210418506 A CN 202210418506A CN 114918893 B CN114918893 B CN 114918893B
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- guide
- main frame
- frame body
- wheel
- beam bottom
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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
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 suspended beam bottom detection robot, which comprises: the device comprises a main frame body, three traveling devices and at least three guiding devices. Three travelling 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 arranged on the guide plates in a clamping mode and located on two sides of the track plate, each limiting guide mechanism comprises a limiting guide mechanism capable of rotating a set angle relative to the main frame body, each limiting guide mechanism comprises two limiting pieces, two limiting pieces are arranged at intervals to form a guide channel used for clamping the guide plates, and the distance between two ends of the guide channel is larger than that between the middle parts of the guide channel. The problem that an automatic detection robot cannot smoothly run to a track of the next section due to torsion among 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 robots can be mainly divided into two main types of wheel inspection robots and track inspection robots according to the classification of the driving bearing platform. The wheel type inspection robot is mainly used on the surface of a bridge highway pavement, and the track type inspection robot can be applied to inspection in various fixed occasions by flexibly and reasonably arranging tracks. Aiming at the field of bridge pipe culture, common bridge beam bottom diseases include bolt falling, connecting plate corrosion, box beam cracking, paint falling damage and the like. The rail type manned beam bottom inspection vehicle is mainly used in the field of detection and maintenance of bridge beam bottom diseases at home and abroad, and is mounted on a preset rail for running by presetting an I-shaped or H-shaped steel rail at the beam bottom and carrying out disease detection and disease treatment operation in a manual visual inspection or manual handheld detection equipment mode.
However, the manned beam bottom inspection vehicle has various limitations and restrictive problems, and is extremely difficult to use under the use scenes and working conditions when the beam bottom space is narrow, and the existing highway lines and the existing railway lines exist below the beam bottom, especially when the manned beam bottom inspection vehicle is used for highway and railway bridges.
Particularly, along with the fact that a plurality of bridge projects enter the middle and later stages of service life, a manned beam bottom inspection vehicle configured by a plurality of bridges enters the scrapping stage as soon as possible, the danger coefficient of strong use is high, and personnel safety is difficult to guarantee. However, the increasingly heavy maintenance requirements for the bottom of the bridge beam are continuously increased, so that the method for solving the contradiction and the requirements has great practical engineering value. Particularly, the current many manned beam bottom inspection vehicles are huge in structural size, the pier passing and the seam passing are often limited to a certain extent during the manned inspection operation, and particularly, the safety of passengers on the beam bottom inspection vehicle is also at a certain safety risk during the pier passing and the seam passing.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a suspended beam bottom detection robot which can solve the problem that the automatic detection robot cannot smoothly run to the track of the next section due to deformation of a beam body, torsion among track sections caused by shape and position errors existing in the process of manufacturing and welding the track or the like after the track section is deformed after long-time use in the scheme in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides a suspended beam bottom detection robot, which comprises:
a main frame body;
three walking devices which are arranged at intervals and are used for clamping on a track plate of a T-shaped guide rail to drive the main frame body to move on the track plate;
at least three are established guider on the body frame body, every limit guide includes two limit guide mechanism for press from both sides and establish on the deflector, and be located the both sides of track board, every limit guide mechanism all includes can be relative the body frame body rotates the limit guide mechanism of settlement angle, limit guide mechanism includes two locating parts, two the locating part interval sets up and forms and is used for the centre gripping the guide way of deflector, and the interval at guide way both ends is greater than the interval at guide way middle part.
In some alternatives, each of the limit guides further comprises:
one end of the connecting frame is connected with the main frame body;
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 alternative schemes, three rollers are arranged on one side of the guide channel formed by the two limiting pieces, and the three rollers are respectively positioned at two ends and the middle part of the guide channel.
In some optional schemes, each limit guiding mechanism is correspondingly provided with an adjusting device, and the connecting frame of the limit guiding mechanism is connected with the main frame body through the adjusting device and is used for adjusting the relative position of the limit guiding mechanism and the main frame body when the limit guiding mechanism receives the reaction force of the guiding plate.
In some alternatives, 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;
the two adjusting mechanisms are connected with the main frame body, the telescopic rods of the two adjusting mechanisms are arranged oppositely and connected with the connecting frame, and the two adjusting mechanisms 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 with the main frame body;
the piston is slidably arranged in the outer sleeve and connected with the telescopic rod extending out of the outer sleeve, the outer sleeve is divided into two containing spaces 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 are used for enabling the piston to be positioned at the initial position when the piston is not subjected to external force.
In some alternative schemes, one end of the outer sleeve, which is far away from the telescopic rod, is provided with a permanent magnet, a coil is arranged in the piston, the coil is provided with a plug extending to the bottom of the outer sleeve, the inner wall of the outer sleeve, which is close to the bottom of the outer sleeve, is provided with a socket matched with the plug, and after the piston moves to the bottom of the outer sleeve for a set distance, the plug is communicated with the socket, so that repulsive force can be generated between the coil and the permanent magnet.
In some alternatives, each of the running gear comprises:
the diameter of the driving wheel is larger than that of the supporting wheel, the driving wheel is positioned above the supporting wheel, and the driving wheel is connected with the main frame body;
the pressure regulating mechanism is arranged on the main frame body, is connected with the supporting wheel and is used for regulating the pressure of the supporting wheel on the track plate and the distance between the supporting wheel and the driving wheel.
In some alternatives, the pressure regulating mechanism includes:
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 propping wheel propping against the track plate and the distance between the propping wheel and the driving wheel.
In some alternatives, a limiting spring is provided between the lever and the abutment wheel.
Compared with the prior art, the invention has the advantages that: when the next guide plate is twisted to a certain extent, the suspension type beam bottom detection robot moves to the next guide plate on the T-shaped track, as the two limiting pieces are arranged at intervals to form the guide channel for clamping the guide plate, the distance between the two ends of the guide channel is larger than that between the two ends of the guide channel, the end part of the guide channel can be clamped on the two sides of the guide plate in an adaptive manner, and the limiting guide mechanism can rotate relative to the main frame body by a set angle so as to adapt to the torsion of the next guide plate, and so on, all the limiting guide mechanisms can be clamped on the two sides of the next guide plate in an adaptive manner, so that the suspension type beam bottom detection robot is completed to move to the next guide plate. The three running gear that the interval set up centre gripping is on the track board to support and hold on the track board, drive wheel and support and hold the wheel and all be connected with the body frame, the drive wheel rotates and can produce power and drive whole body frame and remove, installs check out test set on the body frame, can realize the detection to the track board.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a suspended beam bottom detection robot in an embodiment of the present invention;
FIG. 2 is a schematic view of two adjacent track slabs with different heights according to an embodiment of the present invention;
FIG. 3 is a schematic view showing the twisting of two adjacent guide plates according to an embodiment of the present invention;
FIG. 4 is an enlarged schematic view of a guide in an embodiment of the invention;
FIG. 5 is a schematic view of a guide device according to an embodiment of the present invention;
FIG. 6 is an enlarged schematic view of an adjusting device according to an embodiment of the present invention;
FIG. 7 is a schematic view of an adjusting mechanism according to an embodiment of the invention;
FIG. 8 is a schematic view of a suspended beam bottom detection robot from the inside of a bridge according to an embodiment of the present invention;
FIG. 9 is a partial schematic view of a pressure regulating mechanism in accordance with an embodiment of the present invention;
fig. 10 is a schematic diagram of a suspended beam bottom detection robot from an outside view of a bridge according to an embodiment of the present invention.
In the figure: 1. a main frame body; 2. a walking device; 21. a driving wheel; 22. a holding wheel; 23. a pressure regulating mechanism; 231. a lever; 232. a magnetic structure; 24. defining a spring; 3. a guide device; 31. a limit guide mechanism; 311. a limiting piece; 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 adjusting device; 51. a slide rail; 52. a slide block; 53. an adjusting 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 driving mechanism; 7. and a detection mechanism.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
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 detection robot, comprising: the walking device comprises a main frame body 1, three walking devices 2 arranged at intervals and at least three guide devices 3 arranged on the main frame body 1.
Three running devices 2 which are arranged at intervals are used for clamping on a track plate 41 of a T-shaped track 4, and drive a main frame body 1 to move on the track plate 41;
each limit guide device 3 comprises two limit guide mechanisms, the two limit guide mechanisms are used for being clamped on the guide plates 42 and located on two sides of the track plate 41, the guide plates 42 are perpendicular to the track plate 41, each limit guide mechanism comprises a limit guide mechanism 31 capable of rotating a set angle relative to the main frame body 1, each limit guide mechanism 31 comprises two limit pieces 311, the two limit pieces 311 are arranged at intervals to form a guide channel for clamping the guide plates 42, and the distance between two ends of the guide channel is larger than that between the middle parts of the guide channel.
When the suspended beam bottom detection robot is used, three running devices 2 arranged at intervals are clamped on the track plate 41 and propped against the track plate 41, the driving wheel 21 and the propping wheel 22 are connected with the main frame body 1, the driving wheel 21 rotates to generate power to drive the whole main frame body 1 to move, and detection equipment is arranged on the main frame body 1, so that the detection of the track plate 41 can be realized.
As shown in fig. 1, 2 and 3, because the bridge structure has a certain thermal expansion and contraction property, the T-shaped track 4 arranged on the side surface of the bridge section is also divided into a plurality of track sections, certain gaps are reserved among the track sections, the T-shaped track 4 comprises a track plate 41 which is clamped by the driving wheel 21 and the supporting wheel 22 and is used for supporting the running track, and also comprises a guide plate 42 which is used for guiding and is perpendicular to the track plate 41, one side of the track plate 41 is connected with the side surface of the bridge section, and the other side of the track plate 41 is vertically connected with the guide plate 42 and is positioned in the middle of the guide plate 42; in case of long use or errors in the mounting 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 torsion 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 gap when running to a gap between track segments. When the next guide plate 42 has certain torsion, the suspension type beam bottom detection robot moves to the next guide plate 42 on the T-shaped track 4, as the two limiting pieces 311 are arranged at intervals to form a guide channel for clamping the guide plate 42, the distance between the two ends of the guide channel is larger than that between the two ends of the guide channel, the end part of the guide channel can be clamped on the two sides of the guide plate 42 in an adaptive manner, and the limiting guide mechanism 31 can rotate relative to the main frame body 1 by a set angle so as to adapt to the torsion of the next guide plate 42, and so on, all the limiting guide mechanisms 31 can be clamped on the two sides of the next guide plate 42 in an adaptive manner, so that the suspension type beam bottom detection robot is completed to move 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 middle part of the guide channel is 1.05 times the wall thickness of the guide plate 42, the inner walls of the two ends of the guide channel to the middle part are in smooth transition, the two ends of the guide channel are used for adaptively clamping the lower guide plate 42 when the guide channel passes through the seam, the guide direction is adopted, and the middle part of the guide channel is used for limiting the position of the whole main frame body 1 during operation.
In addition, in this example, the three running devices 2 arranged at intervals are all driven by the driving mechanism 6, for example, a driving motor and a gear are meshed for transmission, in this example, four guiding devices 3 arranged at intervals are provided, all the running devices 2 and the guiding devices 3 are arranged on one side of the main frame body 1 and are matched with the T-shaped track 4, so that the functions of driving and guiding are respectively achieved.
In some alternative 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 the present embodiment, one end of the link 32 is connected to the main frame 1, the other end is provided with a rotation plate 33 rotatable at a set angle, and the rotation plate 33 is provided with a limit guide 31. When the suspended beam bottom detection robot runs to the next guide plate 42 on the T-shaped track 4, the limiting guide mechanism 31 can rotate a set angle relative to the main frame body 1 so as to adapt to torsion of the next guide plate 42, and the limiting guide mechanism 31 can be clamped on two sides of the next guide plate 42 in an adaptive manner so as to finish the movement of the suspended beam bottom detection robot to the next guide plate 42.
In this example, the connecting frame 32 and the rotating plate 33 can rotate to the same direction along the length direction, the limiting plates 34 extending to the connecting frame 32 are arranged at two sides of the rotating plate 33, the limiting plates 34 are positioned at two sides of the connecting frame 32 and are 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 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 provided between the connecting frame 32 and the rotating plate 33, so that the connecting frame 32 and the rotating plate 33 are kept at the initial position without external force, and at this time, the two limiting members 311 are arranged at intervals to form a guide channel for clamping the guide plate 42 to be perpendicular to the length direction of the connecting frame 32 and substantially parallel to the direction when the guide plate 42 is not twisted.
In some alternative embodiments, three rollers 312 are disposed on the sides of the guide channel where the two limiting members 311 form, and are located at two ends and in the middle of the guide channel.
In this embodiment, the three rollers 312 are bearings or universal wheels, so that the friction force between the limiting member 311 and the guide plate 42 can be reduced when the limiting member slides under the guiding action, and the main frame 1 can conveniently and smoothly run on the T-shaped track 4.
As shown in fig. 6 and 7, in some alternative embodiments, 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, so as to adjust the relative position of the limit guide mechanism and the main frame body 1 when the limit guide mechanism receives the reaction force of the guide plate 42.
In the present embodiment, in the case of long-term use or errors in mounting the T-shaped rail 4 to the side of the bridge segment, there is torsion between the guide plates 42 of the respective rail segments, and the suspended beam bottom detection robot is required to overslit when running on the T-shaped rail 4 to the gap between the rail segments. Firstly, two limiting pieces 311 are arranged at intervals to form guiding channels for clamping the guiding plates 42 to be clamped on two sides of the guiding plates 42 in an adaptive manner, and the limiting guiding mechanism 31 can rotate relative to the main frame body 1 by a set angle to adapt to torsion of the next guiding 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 under great pressure, the twisting of the whole main frame body 1 can be caused, 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 adjustment device 5 comprises: a slide rail 51 and a slide block 52 respectively connected with the main frame body 1 and the connecting frame 32, and two adjusting mechanisms 53.
Wherein the slider 52 is movable on the slide rail 51 in 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 thereof are disposed opposite to each other and connected to the connecting frame 32, so as to adjust the relative positions of the limit guide mechanisms and the main frame 1 when the limit 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 is connected with the telescopic rod 531 extending out of the outer sleeve 532, the piston 533 divides the outer sleeve 532 into two containing spaces for containing hydraulic oil, and the piston 533 is provided with an overflow hole for connecting the two containing spaces; the two springs 534 are respectively disposed in the two accommodation spaces 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 to which the limit guide mechanisms 31 on both sides of the guide plate 42 are subjected are different, that is, when the suspension type beam bottom detection robot passes through the gap, and there is torsion between the guide plates 42 of the two track segments, the spring 534 on one side close to the telescopic rod 531 is stretched, the spring 534 on one side close to 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 is contracted inwards towards the outer sleeve 532, so that the relative positions of the limit guide mechanisms and the main frame 1 are adjusted to offset the torsion force to the main frame 1 caused by torsion, and the overflow hole is provided, so that abrupt large-range displacement between the limit guide mechanisms and the main frame 1 is avoided, and the running stability is affected.
When the reaction forces received by the limit guides 31 on both sides of the guide plates 42 are the same, that is, when the suspended beam bottom detection robot normally travels on the T-shaped rail 4 or when there is no torsion between the guide plates 42 of the two rail segments, the springs on both sides of the piston 533 bring the piston 533 to the initial position so that the limit guides are located at the intermediate position.
In some alternative embodiments, a permanent magnet 535 is provided at one end of the outer sleeve 532 away from the telescopic rod 531, a coil is provided in the piston 533, a plug 536 extending to the bottom of the outer sleeve 532 is provided in the coil, a socket 537 matching with the plug 536 is provided on the inner wall of the outer sleeve 532 near the bottom, and after the piston 533 moves a set distance to the bottom of the outer sleeve 532, the plug 536 is connected to the socket 537, so that a repulsive force is 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 away from the telescopic rod 531, and after the piston 533 moves towards the bottom of the outer sleeve 532 for a set distance, the plug 536 of the coil is connected with the socket 537 disposed on the inner wall of the outer sleeve 532, a repulsive force is generated between the coil and the permanent magnet 535, so that a supporting force between the limit guide mechanism and the guide plate 42 can be increased, a larger displacement is generated, the whole main frame 1 has generated a certain inclination, and a part of gravity after the main frame 1 is twisted needs to be considered and needs to be provided by the adjusting mechanism 53.
As shown in fig. 8 to 10, in some alternative embodiments, each running gear 2 comprises: the pressure regulating mechanism 23, and the driving wheel 21 and the holding wheel 22 for holding on both sides of the track plate 41.
Wherein the diameter of the driving wheel 21 is larger than that of the supporting wheel 22, the driving wheel 21 is positioned above the supporting wheel 22, and the driving wheel 21 is connected with the main frame body 1; the pressure regulating mechanism 23 is provided on the main frame 1 and connected to the holding wheel 22 for regulating the pressure of the holding wheel 22 against the track plate 41 and the distance between the holding wheel 22 and the driving wheel 21.
In this embodiment, during the overseaming, the driving wheel 21 and the abutting wheel 22 of one traveling device 2 with one end as the front end are opened, that is, the abutting wheel 22 is opened by the pressure regulating mechanism 23, and the other two traveling devices 2 are used as the driving, so as to drive the whole main frame 1 to move forward until the front end approaches 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 abutting wheel 22, the driving wheel 21 and the abutting wheel 22 can be clamped on both sides of the track plate 41 of the next track segment by directly utilizing the pressure regulating mechanism 23, and the traveling devices 2 at the middle and rear ends can be sequentially moved to the next track segment.
When the track plate 41 of the next track segment is not positioned in the gap between the driving wheel 21 and the abutting wheel 22 and is staggered with the driving wheel 21, that is, the track plate 41 of the next track segment is positioned above the track plate 41 of the track segment, the driving wheel 21 is a driving wheel, the driving wheel 21 can climb to the next track segment under the pushing of the travelling device 2 at the middle and rear ends and the self-climbing action of the driving wheel 21, in order to enable the driving wheel 21 to have better crawling ability, the driving wheel 21 adopts a large-diameter wheel, the diameter of the driving wheel 21 is larger than that of the abutting wheel 22, and as long as the staggered position of the driving wheel 21 and the track plate 41 of the next track segment is positioned below the radius of the driving wheel 21, the driving wheel 21 can be easily crawled. And when crawling, the driving wheel 21 of the front end running gear 2 receives upward acting force in the direction of the track plate 41, the whole main frame body 1 can be lifted upwards, the driving wheel 21 of the rear end running gear 2 can give downward force to the track plate 41, the supporting wheel 22 of the middle running gear 2 can give upward force to the track plate 41, and the downward force of the driving wheel 21 of the rear end running gear 2 to the track plate 41 and the upward force of the supporting wheel 22 of the middle running gear 2 to the track plate 41 can be released by adjusting the pressure regulating mechanism 23 at the middle part.
When the track plate 41 of the next track segment is not located in the gap between the driving wheel 21 and the abutting wheel 22 and is staggered with the abutting wheel 22, i.e. the track plate 41 of the next track segment is located below the track plate 41 of the track segment, it is also difficult to climb to the next track segment under the pushing of the running gear 2 at the middle and rear ends because the abutting wheel 22 is not a driving wheel. At this time, the pressure regulating mechanism 23 corresponding to the front-stage traveling device 2 can be used to adjust the supporting wheel 22 to continue to move down, so that the distance between the supporting wheel 22 and the driving wheel 21 is increased, the forward movement is continued until the track plate 41 is positioned in the gap between the driving wheel 21 and the supporting wheel 22, and then the pressure regulating mechanism 23 is used to clamp the track plate 41 between the driving wheel 21 and the supporting wheel 22, and the pressure regulating mechanism 23 corresponding to the rear-stage traveling device 2 is matched to release the force to the track plate 41.
In some alternative embodiments, the pressure regulating mechanism 23 comprises: a lever 231 and a magnetic structure 232.
One end of the lever 231 is connected with the supporting wheel 22, and the middle of the lever is rotatably connected with the main frame body 1; a magnetic structure 232 is connected to the other end of the lever 231 for adjusting the pressure of the holding wheel 22 against the track plate 41 and the distance from the driving wheel 21.
In this embodiment, one end of the lever 231 is connected with the supporting wheel 22, the middle part is rotatably connected with the main frame 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 supporting wheel 22 is lifted upwards and supported on the track plate 41; when the magnetic structure 232 applies a force upwards, the supporting wheel 22 descends, and the distance between the supporting wheel 22 and the driving wheel 21 is adjusted.
In this example, the middle part of the lever 231 is rotatably connected with the main frame 1 through the movable base, and the distance L1 between the joint of the middle part of the lever 231 and the main frame 1 and the supporting wheel 22 is smaller than the distance L2 between the middle part of the lever 231 and the magnetic force mechanism 232.
Assuming that the end force applied to the lever 231 by the magnetic mechanism 232 is F1, the support reaction obtained by the abutting wheel 22 is F2, and the support force obtained by the middle part of the lever 231 is F3, there are:
f3 F1+f2, f2=l1=l2×f1. The reaction force of F3 can directly act on the main frame body 1, and the direction of the force is perpendicular to the running surface of the track plate 41 of the T-shaped track 4, so that the positive pressure of the running wheels 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 relation should be satisfied:
f traction is more than or equal to (Gsin theta+F3) mu, theta is the included angle between the inclined web plate of the steel box girder and the horizontal plane, mu is friction force, and G is dead weight.
In some alternative embodiments, a limiting spring 24 is provided between the lever 231 and the abutment wheel 22.
In this example, two limiting springs 24 are disposed between the lever 231 and the supporting wheel 22, and when the magnetic structure 232 is pressed downward, the supporting wheel 22 will tilt upward, and the force of supporting the track plate 41 will be buffered by the limiting springs 24, so as to avoid the excessive supporting force of the supporting wheel 22 to the track plate 41.
In addition, the suspended beam bottom detection robot further comprises a detection mechanism 7, which is connected with the main frame body 1 and is used for detecting the beam body structure. In this embodiment, the detection mechanism 7 includes at least one camera for capturing an image of the beam.
In summary, the three running 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 connected with the main frame 1, the driving wheel 21 rotates to generate power to drive the whole main frame 1 to move, and the detection device is arranged on the main frame 1, so that the detection of the track plate 41 can be realized. When the suspended beam bottom detection robot runs to the next guide plate 42 on the T-shaped track 4, as the two limiting pieces 311 are arranged at intervals to form a guide channel for clamping the guide plate 42, the distance between the two ends of the guide channel is larger than the distance between the middle parts of the guide channel, the end parts of the guide channel can be clamped on the two sides of the guide plate 42 in an adaptive manner, the limiting guide mechanisms 31 can rotate relative to the main frame body 1 by a set angle so as to adapt to the torsion of the next guide plate 42, and so on, all the limiting guide mechanisms 31 can be clamped on the two sides of the next guide plate 42 in an adaptive manner, so that the suspended beam bottom detection robot is completed to move to the next guide plate 42. When the reaction forces received by the limit guide mechanisms 31 on two sides of the guide plates 42 are different, namely the suspended beam bottom detection robot passes through the gap, and when torsion exists between the guide plates 42 of the two track sections, the spring 534 close to one side of the telescopic rod 531 is stretched, the spring 534 close to the bottom of the outer sleeve 532 is compressed, 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 is contracted inwards towards the outer sleeve 532, the relative positions of the limit guide mechanisms and the main frame body 1 are adjusted to offset the torsion force to the main frame body 1 caused by torsion, and overflow holes are formed to avoid abrupt large-range displacement between the limit guide mechanisms 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, after the piston 533 moves towards 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, the abutting force between the limit guide mechanism and the guide plate 42 can be increased, larger displacement is generated at the moment, the whole main frame body 1 has generated a certain inclination, partial gravity after the main frame body 1 is twisted needs to be considered, the spring can be protected by the adjusting mechanism 53, and the elastic limit of the spring can be exceeded if the spring is also relied on.
The pressure of the supporting wheel 22 supporting on the track plate 41 and the distance between the supporting wheel and the driving wheel 21 can be adjusted by the pressure adjusting mechanism 23 so as to facilitate the gap passing, or the positive pressure of the driving wheel 21 to the track plate 41 is improved so as to facilitate the whole detection robot to walk on the track plate 41.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present application and simplification of the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
It should be noted that in this 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the 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 (8)
1. A suspended beam bottom detection robot, comprising:
a main frame body (1);
three running devices (2) which are arranged at intervals and are used for being clamped on a track plate (41) of the T-shaped guide rail (4) to drive the main frame body (1) to move on the track plate (41);
at least three groups of guide devices (3) arranged on the main frame body (1), each group of limit guide devices (3) comprises two guide devices (3) which are used for being clamped on a guide plate (42) and are positioned on two sides of the track plate (41), each guide device (3) comprises a limit guide mechanism (31) which can rotate relative to the main frame body (1) by a set angle, each limit guide mechanism (31) comprises two limit pieces (311), the two limit pieces (311) are arranged at intervals to form a guide channel used for clamping the guide plate (42), and the distance between two ends of the guide channel is larger than that between the middle parts of the guide channel;
each of said guiding means (3) further comprises:
a connecting frame (32) one end of which is connected with the main frame body (1);
a rotating plate (33) which is rotatably provided at the other end of the connecting frame (32) at a set angle and is provided with a limit guide mechanism (31);
each guide device (3) is correspondingly provided with an adjusting device (5), and a connecting frame (32) of each guide device (3) is connected with the main frame body (1) through the adjusting device (5) and is used for adjusting the relative position of each guide device (3) and the main frame body (1) when the guide device (3) receives the reaction force of the guide plate (42).
2. The suspended beam bottom detection robot according to claim 1, wherein three rollers (312) are respectively arranged at two ends and the middle part of the guide channel on one side of the guide channel formed by the two limiting pieces (311).
3. A suspended beam bottom detection robot according to claim 1, characterized in that the adjustment device (5) comprises:
a slide rail (51) and a slide block (52) 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);
the two adjusting mechanisms (53) are connected with the main frame body (1), telescopic rods (531) of the adjusting mechanisms (53) are oppositely arranged, the telescopic rods (531) are connected with the connecting frame (32), and the adjusting mechanisms are used for adjusting the relative positions of the guide devices (3) and the main frame body (1) when the guide devices (3) receive the reaction force of the guide plates (42).
4. A suspended beam bottom detection robot according to claim 3, characterized in that the adjustment mechanism (53) further comprises:
an outer sleeve (532) connected to the main frame (1);
the piston (533) is slidably arranged in the outer sleeve (532) and is connected with a telescopic rod (531) extending out of the outer sleeve (532), the piston (533) divides the outer sleeve (532) into two containing spaces for containing hydraulic oil, and the piston (533) is provided with overflow holes for connecting the two containing spaces;
and two springs (534) respectively arranged in the two accommodation spaces for positioning the piston (533) at an initial position when the piston (533) is not subjected to external force.
5. The suspended beam bottom detection robot as claimed in claim 4, wherein a permanent magnet (535) is arranged at one end of the outer sleeve (532) far away from the telescopic rod (531), a coil is arranged in the piston (533), a plug (536) extending to the bottom of the outer sleeve (532) is arranged on the coil, a socket (537) matched with the plug (536) is arranged on the inner wall of the outer sleeve (532) close to the bottom of the outer sleeve, and after the piston (533) moves to the bottom of the outer sleeve (532) for a set distance, the plug (536) is communicated with the socket (537) so that a repulsive force can be generated between the coil and the permanent magnet (535).
6. A suspended beam bottom detection robot according to claim 1, characterized in that each running gear (2) comprises:
the device comprises a driving wheel (21) and a supporting wheel (22) which are used for supporting two sides of a track plate (41), wherein the diameter of the driving wheel (21) is larger than that of the supporting wheel (22), the driving wheel (21) is positioned above the supporting wheel (22), and the driving wheel (21) is connected with the main frame body (1);
and the pressure regulating mechanism (23) is arranged on the main frame body (1) and connected with the supporting wheel (22) and is used for regulating the pressure of the supporting wheel (22) on the track plate (41) and the distance between the supporting wheel and the driving wheel (21).
7. A suspended beam bottom detection robot according to claim 6, characterized in that the pressure regulating mechanism (23) comprises:
one end of the lever (231) is connected with the supporting wheel (22), and the middle part of the lever is rotationally connected with the main frame body (1);
and a magnetic structure (232) connected with the other end of the lever (231) for adjusting the pressure of the abutting wheel (22) abutting on the track plate (41) and the distance between the abutting wheel and the driving wheel (21).
8. A suspended beam bottom inspection robot according to claim 7, characterized in that a limiting spring (24) is provided between the lever (231) and the abutment 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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| CN114918893A (en) | 2022-08-19 |
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