CN104859743A - Detection robot based on negative pressure adsorption - Google Patents
Detection robot based on negative pressure adsorption Download PDFInfo
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- CN104859743A CN104859743A CN201510296384.0A CN201510296384A CN104859743A CN 104859743 A CN104859743 A CN 104859743A CN 201510296384 A CN201510296384 A CN 201510296384A CN 104859743 A CN104859743 A CN 104859743A
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Abstract
The invention discloses a detection robot based on negative pressure adsorption. The detection robot comprises a robot shell, a propelling system, a left adjusting system, a left pressure system, a detection system, an adsorption suction cup, a right adjusting system and a control system. A positive pressure system is arranged on the robot shell, and the left adjusting system and the right adjusting system are arranged on the left side and the right side of the robot shell respectively; the propelling system is arranged on the rear side of the robot shell, and the detection system is arranged at the front end of the robot shell; and the adsorption suction cup is arranged at the lower end of the robot shell. The detection robot has the advantages that the detection system has no blind angle within 360 degrees, the detection range is large, and through a wireless system, picture detection visualized analysis is achieved, and the subjective effect in the manual detection is avoided; through the negative pressure system, the suction cup carries out adsorption so as to enable the robot to stay on the main detection portion for a long time; a detection platform is not needed to be erected in the detection work process, the detection cost is reduced, and potential safety hazards of aloft work are eliminated.
Description
Technical field
The present invention relates to the unmanned detection technique field that a kind of bridge bottom break detects, especially relate to a kind of measuring robots based on negative-pressure adsorption.
Background technology
If current bridge bottom break test set is by manually detecting, but manually cannot arrive bottom bridge, so high-power telescope can only be adopted to carry out detecting or by setting up scaffold detection platform, high-power telescope detects micro-cracks and easily misses, and detection platform is set up to be needed to drop into a large amount of manpower and materials, and putting up platform camp site is complicated, difficulty of construction is high, testing amount is large, inefficiency, manually there is potential safety hazard in detection platform walking.Current patent name is a kind of negative-pressure adsorption climb type robot for detecting Bridge Crack, application number: 201310143474.7, rubber seal skirt and negative pressure technique is utilized to achieve the absorption of metope bottom measuring robots and bridge, detect position at emphasis cannot stop for a long time, operating power consumption is large.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, and a kind of testing cost that reduces is provided, improve the measuring robots based on negative-pressure adsorption of detection efficiency and precision.
A kind of measuring robots based on negative-pressure adsorption of the present invention, described robot system comprises robot shells, propulsion system, left adjustment System, positive pressure system, checking system, absorption sucker, right adjustment System, control system, positive pressure system is provided with above described robot shells, the described robot shells left and right sides is respectively arranged with left adjustment System and right adjustment System, propulsion system is provided with on rear side of described robot shells, described robot shells front end is provided with checking system, and described robot shells lower end is provided with absorption sucker.
Described absorption sucker center offers deflation hole, described deflation hole stage casing is fixedly connected with crisscross fixer, described crisscross fixer is installed with guide thimble, seal disc telescopic shaft is installed in described guide thimble, described seal disc telescopic shaft upper end is provided with seal disc, described seal disc telescopic shaft is provided with spring, and described spring is connected with the bottom of guide thimble.
Described checking system comprises swing bearing, turning motor, large arm base, large arm, two arm rotating machines, two arms and camera; Described camera is arranged on the front end of two arms, described two arms by bearing pin and large arm hinged, described bearing pin is arranged in the rotating shaft of two arm rotating machines, described two arm rotating machines are fixedly mounted on large arm side, described large arm is arranged on large arm base, described large arm base is provided with large arm rotating machine, and described large arm floor installation is on swing bearing, and described swing bearing is arranged on the front end of robot shells by bolt.
Described robot shells is provided with inner chamber, and described inner chamber top is provided with negative pressure centrifugal blower, and described negative pressure centrifugal blower is connected with control system by wire, and described control system is arranged on robot shells intracavity bottom.
Described positive pressure system comprises malleation centrifugal blower and positive pressure protection cover composition, and described malleation centrifugal blower is connected with control system by wire, and the upper surface of described positive pressure protection cover is provided with array honeycomb deflation hole.
Described propulsion system comprises propelling centrifugal blower and advances protective case composition, and described propelling centrifugal blower is connected with control system by wire, and described propelling protective case upper surface is provided with array honeycomb deflation hole.
Described left adjustment System comprises left centrifugal blower and left protective case composition, and the upper surface of described left protective case is provided with array honeycomb deflation hole.
Described right adjustment System comprises right centrifugal blower and right protective case composition, and the upper surface of described right protective case is provided with array honeycomb deflation hole.
Described seal disc telescopic shaft is provided with pressure load sensor, and described pressure load sensor is connected with control system by wire.
Described control system comprises control mainboard and accumulator cell assembly composition, is provided with wireless video emission coefficient in described control mainboard.
The invention has the beneficial effects as follows: (1) adopts malleation to fit bottom measuring robots and bridge, and can be that robot moves arbitrarily angled by propelling and left and right adjustment System, operating efficiency be high, improves the work efficiency detected; (2) checking system 360 degree is without dead angle, and detection range is large, realizes picture detect visual analyzing by wireless system, subjective impact when avoiding manual detection; (3) by negative pressure system, sucker suction makes robot can stop for a long time at emphasis detection position, does not need extra power, realizes robot and work long hours; (4) testing is without the need to setting up detection platform, reduces testing cost, eliminates the potential safety hazard of aloft work.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is longitudinal inner structure cutaway view of the present invention;
Fig. 3 is horizontal inner structure cutaway view of the present invention;
Fig. 4 is sucker structure cutaway view of the present invention;
Fig. 5 is checking system cutaway view of the present invention;
Fig. 6 is left view of the present invention;
In figure: robot shells 1, propulsion system 2, left adjustment System 3, positive pressure system 4, checking system 5, absorption sucker 6, right adjustment System 7, malleation centrifugal blower 8, negative pressure centrifugal blower 9, advance centrifugal blower 10, control system 11, left centrifugal blower 12, right centrifugal blower 13, deflation hole 14, crisscross fixer 15, seal disc 16, guide thimble 17, seal disc telescopic shaft 18, swing bearing 19, turning motor 20, large arm base 21, large arm 22, two arm rotating machines 23, two arms 24, camera 25.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described further.
As shown in Figure 1, a kind of measuring robots based on negative-pressure adsorption of the present invention, described robot system comprises robot shells 1, propulsion system 2, left adjustment System 3, positive pressure system 4, checking system 5, absorption sucker 6, right adjustment System 7, control system 11, described robot shells 1 is provided with positive pressure system 4 above, measuring robots, by robot malleation centrifugal blower 8, is close to bottom bridge by positive pressure system 4; Described robot shells 1 left and right sides is respectively arranged with left adjustment System 3 and right adjustment System 7, left adjustment System 3 and right adjustment System 7 are when robot needs to turn to, and the rotating speed adjusting left centrifugal blower 12 and right centrifugal blower 13 realizes measuring robots sway; Be provided with propulsion system 2 on rear side of described robot shells 1, propulsion system 2 provides power by advancing centrifugal blower 10 to measuring robots forward-reverse; Described robot shells 1 front end is provided with checking system 5, and checking system 5 can realize 360 degree of work, and the large realization of operating range detects without dead angle; Described robot shells 1 lower end is provided with absorption sucker 6, and sucker 6 can make robot be stop for a long time to reduce energy consumption in work, improves robot work-hours.
As shown in Figures 2 and 4, robot shells 1 is provided with inner chamber, and described inner chamber top is provided with negative pressure centrifugal blower 9, and described negative pressure centrifugal blower 9 is connected with control system 11 by wire, and described control system 11 is arranged on robot shells 1 intracavity bottom.4 suckers are provided with bottom robot, described absorption sucker 6 center offers deflation hole 14, described deflation hole 14 stage casing is fixedly connected with crisscross fixer 15, described crisscross fixer 15 is installed with guide thimble 17, in described guide thimble 17, seal disc telescopic shaft 18 is installed, described seal disc telescopic shaft 18 upper end is provided with seal disc 16, described seal disc telescopic shaft 18 is provided with spring, described spring is connected with the bottom of guide thimble 17, described seal disc telescopic shaft 18 is provided with pressure load sensor, described pressure load sensor is connected with control system 11 by wire.
When keypoint part detection needs to stop for a long time, the negative pressure centrifugal blower 9 of robot shells 1 inner chamber is opened, negative pressure centrifugal blower 9 makes inner chamber form negative pressure, by seal disc 16 sucking-off on absorption sucker 6, absorption sucker 6 inside can form negative pressure equally, be adsorbed on after bottom bridge, negative pressure centrifugal blower 9 quits work, seal disc 16 can reset by the spring on the absorption negative pressure of sucker 6 inside and seal disc telescopic shaft 18, making absorption sucker 6 negative pressure form the state of sealing, can be that robot stops for a long time; Pressure data is passed to control system 11 by the pressure load sensor of seal disc telescopic shaft 18, adsorption affinity when absorption sucker 6 inside reduces, during the index of out of reach pressure load sensor settings, negative pressure centrifugal blower 9 is opened automatically, ensure that robot sucker is to the adsorption effect of wall, makes testing normally carry out.
As shown in Figure 3 and Figure 5, checking system 5 comprises swing bearing 19, turning motor 20, large arm base 21, large arm 22, two arm rotating machine 23, two arm 24 and camera 25; Described camera 25 is arranged on the front end of two arms 24, described two arms 24 by bearing pin and large arm 22 hinged, described bearing pin is arranged in the rotating shaft of two arm rotating machines 23, described two arm rotating machines 23 are fixedly mounted on large arm 22 side, described large arm 22 is arranged on large arm base 21, described large arm base 21 is provided with large arm rotating machine, and described large arm base 21 is arranged on swing bearing 19, and described swing bearing 19 is arranged on the front end of robot shells 1 by bolt.Swing bearing 19 is divided into two connecting bridges, swing bearing 19 outside is arranged on the front end of robot shells 1 by bolt, swing bearing 19 inside is connected with large arm base 21 by bolt, and large arm base 21 is rotated by rotating machine can realize large arm base 360 degree rotation;
As shown in Fig. 1, Fig. 3 and Fig. 6, described positive pressure system 4 comprises malleation centrifugal blower 8 and positive pressure protection cover composition, and described malleation centrifugal blower 8 is connected with control system 11 by wire, and the upper surface of described positive pressure protection cover is provided with array honeycomb deflation hole.Described propulsion system 2 comprises propelling centrifugal blower 10 and advances protective case composition, and described propelling centrifugal blower 10 is connected with control system 11 by wire, and described propelling protective case upper surface is provided with array honeycomb deflation hole.Described left adjustment System 3 comprises left centrifugal blower 12 and left protective case composition, and the upper surface of described left protective case is provided with array honeycomb deflation hole.Described right adjustment System 7 comprises right centrifugal blower 13 and right protective case composition, and the upper surface of described right protective case is provided with array honeycomb deflation hole.The shock of external air object is avoided when all protective cases can protect centrifugal blower to work; Protective case upper surface arranges array honeycomb deflation hole, and surrounding is that airtight space makes centrifugal blower air-flow spread, and contributes to the work efficiency improving centrifugal blower.Each centrifugal blower is controlled by control system 11, and when running into wall unfairness or protruding obstacle, the power that control system 11 adjusts each centrifugal blower changes inspection machine people's path of motion or the unsettled leaping over obstacles of robot is moved on.
Described control system 11 comprises control mainboard and accumulator cell assembly composition, is provided with wireless video emission coefficient in described control mainboard.The picture that checking system 5 can be taken by control system 11 is sent in upper Receiving Host by wireless video emission coefficient, and the inspection software in Receiving Host passes through software automatic analysis to passback picture.
Claims (10)
1. the measuring robots based on negative-pressure adsorption, it is characterized in that, described robot system comprises robot shells (1), propulsion system (2), left adjustment System (3), positive pressure system (4), checking system (5), absorption sucker (6), right adjustment System (7), control system (11), described robot shells (1) is provided with positive pressure system (4) above, described robot shells (1) left and right sides is respectively arranged with left adjustment System (3) and right adjustment System (7), described robot shells (1) rear side is provided with propulsion system (2), described robot shells (1) front end is provided with checking system (5), described robot shells (1) lower end is provided with absorption sucker (6).
2. a kind of measuring robots based on negative-pressure adsorption according to claim 1, it is characterized in that, described absorption sucker (6) center offers deflation hole (14), described deflation hole (14) stage casing is fixedly connected with crisscross fixer (15), described crisscross fixer (15) is installed with guide thimble (17), seal disc telescopic shaft (18) is installed in described guide thimble (17), described seal disc telescopic shaft (18) upper end is provided with seal disc (16), described seal disc telescopic shaft (18) is provided with spring, described spring is connected with the bottom of guide thimble (17).
3. a kind of measuring robots based on negative-pressure adsorption according to claim 1, it is characterized in that, described checking system (5) comprises swing bearing (19), turning motor (20), large arm base (21), large arm (22), two arm rotating machines (23), two arms (24) and camera (25); Described camera (25) is arranged on the front end of two arms (24), described two arms (24) by bearing pin and large arm (22) hinged, described bearing pin is arranged in the rotating shaft of two arm rotating machines (23), described two arm rotating machines (23) are fixedly mounted on large arm (22) side, described large arm (22) is arranged on large arm base (21), described large arm base (21) is provided with large arm rotating machine, described large arm base (21) is arranged on swing bearing (19), and described swing bearing (19) is arranged on the front end of robot shells (1) by bolt.
4. a kind of measuring robots based on negative-pressure adsorption according to claim 1, it is characterized in that, described robot shells (1) is provided with inner chamber, described inner chamber top is provided with negative pressure centrifugal blower (9), described negative pressure centrifugal blower (9) is connected with control system (11) by wire, and described control system (11) is arranged on robot shells (1) intracavity bottom.
5. a kind of measuring robots based on negative-pressure adsorption according to claim 1; it is characterized in that; described positive pressure system (4) comprises malleation centrifugal blower (8) and positive pressure protection cover composition; described malleation centrifugal blower (8) is connected with control system (11) by wire, and the upper surface of described positive pressure protection cover is provided with array honeycomb deflation hole.
6. a kind of measuring robots based on negative-pressure adsorption according to claim 1; it is characterized in that; described propulsion system (2) comprises propelling centrifugal blower (10) and advances protective case composition; described propelling centrifugal blower (10) is connected with control system (11) by wire, and described propelling protective case upper surface is provided with array honeycomb deflation hole.
7. a kind of measuring robots based on negative-pressure adsorption according to claim 1, is characterized in that, described left adjustment System (3) comprises left centrifugal blower (12) and left protective case composition, and the upper surface of described left protective case is provided with array honeycomb deflation hole.
8. a kind of measuring robots based on negative-pressure adsorption according to claim 1, is characterized in that, described right adjustment System (7) comprises right centrifugal blower (13) and right protective case composition, and the upper surface of described right protective case is provided with array honeycomb deflation hole.
9. a kind of measuring robots based on negative-pressure adsorption according to claim 2, is characterized in that, described seal disc telescopic shaft (18) is provided with pressure load sensor, and described pressure load sensor is connected with control system (11) by wire.
10. a kind of measuring robots based on negative-pressure adsorption according to claim 1, is characterized in that, described control system (11) comprises control mainboard and accumulator cell assembly composition, is provided with wireless video emission coefficient in described control mainboard.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510296384.0A CN104859743B (en) | 2015-06-03 | 2015-06-03 | Detection robot based on negative pressure adsorption |
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| CN201510296384.0A CN104859743B (en) | 2015-06-03 | 2015-06-03 | Detection robot based on negative pressure adsorption |
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| CN104859743B CN104859743B (en) | 2017-01-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480317A (en) * | 2016-01-18 | 2016-04-13 | 重庆交通大学 | Robot for working on vertical surface of building |
| CN108226167A (en) * | 2018-01-05 | 2018-06-29 | 侯高峰 | A kind of Crack Detection robot architecture of building exterior wall face and its application method |
| CN109613009A (en) * | 2018-12-30 | 2019-04-12 | 樊凌风 | A kind of rotor blade detection line based on robot technology |
| CN115372370A (en) * | 2022-07-05 | 2022-11-22 | 港珠澳大桥管理局 | Bridge intelligent detection equipment |
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| CN202383079U (en) * | 2011-12-15 | 2012-08-15 | 华中科技大学 | Bridge bottom crack detecting device |
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| CN203199070U (en) * | 2013-03-29 | 2013-09-18 | 华中科技大学 | Negative-pressure-suction climbing type robot for detecting bridge crack |
| CN204641938U (en) * | 2015-06-03 | 2015-09-16 | 马鞍山聚力科技有限公司 | A kind of measuring robots based on negative-pressure adsorption |
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| JPH11268639A (en) * | 1998-03-24 | 1999-10-05 | Osaka Gas Co Ltd | Work truck running in a tube |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105480317A (en) * | 2016-01-18 | 2016-04-13 | 重庆交通大学 | Robot for working on vertical surface of building |
| CN108226167A (en) * | 2018-01-05 | 2018-06-29 | 侯高峰 | A kind of Crack Detection robot architecture of building exterior wall face and its application method |
| CN108226167B (en) * | 2018-01-05 | 2021-06-15 | 侯高峰 | Crack detection robot structure for building outer wall surface and use method thereof |
| CN109613009A (en) * | 2018-12-30 | 2019-04-12 | 樊凌风 | A kind of rotor blade detection line based on robot technology |
| CN109613009B (en) * | 2018-12-30 | 2021-12-10 | 张辉 | Rotor blade detection line based on robot technology |
| CN115372370A (en) * | 2022-07-05 | 2022-11-22 | 港珠澳大桥管理局 | Bridge intelligent detection equipment |
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