CN105752195A - Bridge detecting robot - Google Patents
Bridge detecting robot Download PDFInfo
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- CN105752195A CN105752195A CN201610196086.9A CN201610196086A CN105752195A CN 105752195 A CN105752195 A CN 105752195A CN 201610196086 A CN201610196086 A CN 201610196086A CN 105752195 A CN105752195 A CN 105752195A
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- pedipulator
- bevel gear
- thigh
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a bridge detecting robot. The bridge detecting robot comprises a frame, a traveling mechanism and a control system. The traveling mechanism comprises two traveling leg groups, each traveling leg group comprises three mechanical legs identical in structure and a driving mechanism capable of driving the three mechanical legs in the group simultaneously, and the mechanical legs in the two traveling leg groups are spaced from one another and are matched with the frame in arrangement. Every mechanical leg comprises a thigh, a shank and a vacuum adsorption foot, the thigh is disposed on the frame rotatably in a horizontal plane, the shank can be matched with the thigh in arrangement rotatably in a vertical plane, and the vacuum adsorption foot is matched with the shank in arrangement rotatably in the vertical plane. The bridge detecting robot has the advantages that the bridge detecting robot can be used with a high-definition camera and a crack detector to detect the problems or hidden dangers existing on the surfaces or inside bridges so as to meet bridge detecting requirements, can be operated amphibiously and is capable of stepping over obstacles effectively.
Description
Technical field
The present invention relates to robot field, particularly to a kind of bridge machinery robot.
Background technology
Industrial robot is widely used to include the every field of industry manufacture, pharmacy, housekeeping cleaning, detection detection etc. to be possessed.In science of bridge building field, the region to be detected of large-sized concrete structural bridge is present in horizontal plane and vertical, and part also needs to have selected hollow out, stepped or bridge pier to cross the labyrinths such as water because of structure, causes certain difficulty and challenge to detection.
The related application of robot provides a good approach to solving the problems referred to above.But major part robot presents difference due to the restriction of structure, adsorption mechanism, control, climbing mode and energy resource supply, can be only applied in single or specific task.Further, " speed " and " obstacle detouring " is entity conflicting in climbing robot motor process, and how solving the influence factor of conflict in research detection process becomes problem in the urgent need to address to the lifting realizing robot integrated motion ability.Meanwhile, existing bridges measuring robots is used for the detection of boat structure, and underwater portion many employings diver of overflow bridge carries apparatus operation, complex operation, and the safety of testing staff can not be ensured completely.Therefore, study and a kind of both can realize the above water to bridge, can carry out, for bridge water lower part, the robot that detects again, just there is very strong realistic meaning.
Summary of the invention
In view of this, the present invention provides a kind of bridge machinery robot, not only can coordinate high definition camera and crackle detecting instrument detection bridge surface or internal Problems existing or hidden danger, to meet the requirement of bridge machinery, and can amphibious operation, and possess the ability of stronger leaping over obstacles.
The bridge machinery robot of the present invention, including frame, walking mechanism and control system；Walking mechanism includes two groups of walking lower limb groups, and often group walking lower limb group includes three identical pedipulators of structure and can simultaneously drive the driving mechanism of three pedipulators in group, and the pedipulator of two groups of walking lower limb groups is spaced to be equipped with frame；
Pedipulator all includes thigh, shank and vac sorb foot, thigh to be arranged at described frame in the way of horizontal plane rotation, shank is equipped with described thigh in the way of can rotating in perpendicular, and vac sorb foot is equipped with described shank in the way of can rotating in perpendicular.
Further, driving mechanism includes the fixing drive bevel gear of the clutch end circumference of main drive and main drive and power intake is secondary with drive bevel gear engaged transmission the Bevel Gear Transmission for driving the thigh of pedipulator to rotate, the secondary and corresponding each pedipulator one_to_one corresponding setting walked in lower limb group of Bevel Gear Transmission.
Further, often have in one group of Bevel Gear Transmission pair to be provided with for the arrangement of clutch with drive bevel gear clutch transmission in group walking lower limb group.
Further, in two groups of walking lower limb groups, the pedipulator that be in transmission connection corresponding to the Bevel Gear Transmission parafacies arranging arrangement of clutch in group is symmetrical arranged relative to frame.
Further, Bevel Gear Transmission pair includes power input bevel gear, power transmission shaft and power output bevel gear wheel, power input bevel gear and drive bevel gear engaged transmission, and power output bevel gear wheel is meshed with the driven wheel of differential arranged on the end of corresponding thigh.
Further, on the driven wheel of differential end by described thigh, the cone gear ring of one-body molded setting is formed.
Further, vac sorb foot include suction tray that housing is connected with housing, be arranged in suction tray in mode moving up and down and for suction tray with absorption interracial contact time form vacuum piston and the piston driving assembly that is arranged in housing and drives piston to move up and down.
Further, piston driving assembly includes the piston rod that driving cam, calibration governor motion and lower end are stretched in suction tray and be connected with piston, calibration governor motion includes calibration set, rotating disk and inner core, calibration puts and is provided with head tank and Lower tank, being enclosed within calibration set in inner core and driven by driving cam and move up and down to order about switching between the head tank and Lower tank that rotating disk overlap at calibration, piston rod upper end is to terminating in rotating disk.
Further, piston base is additionally provided with the deformation layer of elastically deformable；Between piston with suction tray inwall, circumferential sealing coordinates.
Further, control system includes:
Position sensor, is installed on the bottom of frame, for monitoring robot walking path in the course of the work；
Velocity sensor, is installed on the thigh of every pedipulator and the inside of shank, for measuring the speed of pedipulator；
Acceleration transducer, is installed on the thigh of every pedipulator and the inside of shank, for monitoring the acceleration of each joint of every pedipulator；
Pressure transducer, is installed on deformation layer, is used for monitoring internal pressure during suction tray vac sorb；
Central controller, is installed on frame, for receiving the detection signal of position sensor, velocity sensor, acceleration transducer and pressure transducer and outwards exporting order to control robot work.
Beneficial effects of the present invention: the bridge machinery robot of the present invention, six pedipulators constitute six foot walking mechanisms, and the thigh of each pedipulator, shank and foot all can each self-adjustings, by multiarticulate adjustment attitude, detection equipment choice optimum detection angle and distance can be ensured when bridge machinery, ensure the high accuracy of testing result, and the multiarticulate motility of polypody makes this robot can possess powerful obstacle climbing ability, not only may span across the obstacle of different size and shape, cooperation between the pedipulator of lower limb group of being walked by two groups, horizontal plane can also be realized shift to the walking of vertical；It addition, the vac sorb foot of frame for movement can make this robot may operate in the amphibious environment such as overflow bridge, do not limit to and existing magnetic texure, single can realize under water with the detection of on-water bridge structure.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is present configuration schematic diagram；
Fig. 2 is present configuration top view；
Fig. 3 is the structural representation of the vac sorb foot in the present invention.
Detailed description of the invention
Fig. 1 is present configuration schematic diagram, and Fig. 2 is present configuration top view, and Fig. 3 is the structural representation of the vac sorb foot in the present invention, as shown in the figure: the bridge machinery robot of the present embodiment, including frame 1, walking mechanism and control system；Walking mechanism includes two groups of walking lower limb groups, and often group walking lower limb group includes three identical pedipulators of structure and can simultaneously drive the driving mechanism of three pedipulators in group, and the pedipulator of two groups of walking lower limb groups is spaced to be equipped with frame 1；
Pedipulator all includes thigh 8, shank 9 and vac sorb foot 10, thigh 8 to be arranged at frame 1 in the way of horizontal plane rotation, shank 9 is equipped with thigh 8 in the way of can rotating in perpendicular, and vac sorb foot 10 is equipped with shank 9 in the way of can rotating in perpendicular.It addition, be additionally provided with the bridge detecting device for bridge machinery in frame, bridge detecting device includes camera 29, is installed in frame；Crackle detecting instrument 28, for detecting the crackle of bridge deck surfaces or inside.
nullAs shown in the figure，Frame 1 is respectively arranged with the first pedipulator 2、Second pedipulator 3、3rd pedipulator 4、4th pedipulator 5、5th pedipulator 6 and the 6th pedipulator 7，Wherein，First pedipulator 2、3rd pedipulator 4 and the 5th pedipulator 6 constitute a walking lower limb group，Second pedipulator 3、4th pedipulator 5 and the 6th pedipulator 7 constitute another walking lower limb group，Two groups of walking lower limb groups pedipulator is spaced and frame 1 is equipped with the pedipulator being all arranged at intervals with another walking lower limb group between the pedipulator referred in every group，Two walking lower limb groups are respectively arranged with a corresponding driving mechanism，And driving mechanism corresponding to each walking lower limb group can simultaneously drive three pedipulators in group，Pass through this setup，Often three pedipulators of group walking lower limb group are respectively formed a triangle，The stability of robot is can ensure that when being adsorbed in working surface，And meanwhile，Three pedipulators of another walking lower limb group move to next precalculated position，The movement of single lower limb is compared in leapfroging of two groups of lower limbs，It is greatly improved speed.
Additionally, the thigh 8 of pedipulator can refer in the plane paralleled with frame 1 at horizontal rotation in surface, in the present embodiment, frame 1 is tabular, and be regular hexagon, six pedipulators are separately positioned on an apex, the joint of shank 9 and thigh 8 is provided with shank 9 driving mechanism, shank 9 driving mechanism includes motor and rotating shaft, to drive shank 9 to rotate in perpendicular, in like manner, the joint of shank 9 and foot is provided with foot driving mechanism, and the mode adding rotating shaft again by motor drives foot to rotate in perpendicular.
In the present embodiment, driving mechanism includes the fixing drive bevel gear 12 of the clutch end circumference of main drive 11 and main drive 11 and power intake is secondary with drive bevel gear 12 engaged transmission the Bevel Gear Transmission for driving the thigh 8 of pedipulator to rotate, the secondary and corresponding each pedipulator one_to_one corresponding setting walked in lower limb group of Bevel Gear Transmission；As shown in the figure, main drive 11 is drive motor, the power output shaft of main drive 11 and drive bevel gear 12 circumference are fixed, main drive 11 is arranged in frame 1, three pedipulators of each group of walking lower limb group are respectively through secondary drive bevel gear 12 engaged transmission with corresponding driving mechanism of Bevel Gear Transmission, to drive the thigh 8 of pedipulator at horizontal rotation in surface.
In the present embodiment, often have in one group of Bevel Gear Transmission pair in group walking lower limb group and be provided with for the arrangement of clutch 13 with drive bevel gear 12 clutch transmission；In two groups of walking lower limb groups, the pedipulator that be in transmission connection corresponding to the Bevel Gear Transmission parafacies arranging arrangement of clutch 13 in group is symmetrical arranged relative to frame 1.As shown in the figure, the Bevel Gear Transmission pair that the Bevel Gear Transmission corresponding with the second pedipulator 3 is secondary and corresponding with the 5th pedipulator 6 is provided with arrangement of clutch 13, arrangement of clutch 13 is clutch, and clutch can make the second pedipulator 3 and the 5th pedipulator 6 engage with the transmission between the drive bevel gear 12 of corresponding driving mechanism or disconnect；nullBy the setting of clutch，Wall function of climbing when can realize robot ambulation realizes obstacle detouring，Specific as follows: robot needs from bridge floor automatically to the bridge pier being perpendicular to bridge floor，Or when crossing over larger volume obstacle，One of which walking lower limb group can be first made to be operated，With the first pedipulator 2、3rd pedipulator 4 and the 5th pedipulator 6 are example，When wall climbed by needs，First passing through this three pedipulator makes frame 1 near metope，5th pedipulator 6 is disconnected power transmission by arrangement of clutch 13，Then the first pedipulator 2 and the shank 9 of the 3rd pedipulator 4 and the rotation of foot is made to be adsorbed onto on metope，Then pass through the first pedipulator 2、The thigh 8 of the 3rd pedipulator 4 and the 5th pedipulator 6 adjusts the attitude of frame 1 entirety with the motor of shank 9 joint，The now joint synergism at the thigh 8 of the first pedipulator 2 and the 3rd pedipulator 4 and shank 9 place，Frame 1 is tilted to metope，It is in the second pedipulator 3 not adsorbed under vacant state、4th pedipulator 5 also tilts to the second pedipulator 3 with frame with the 6th pedipulator 7 and can just contact and adsorb and metope，Then ensure that the arrangement of clutch 13 of the second pedipulator 3 disconnects，The foot of the 4th pedipulator 5 and the 6th pedipulator 7 is adsorbed onto on metope，Then unsettled first pedipulator 2、3rd pedipulator 4 and the 5th pedipulator 6，Now the second pedipulator 3、The thigh 8 of the 4th pedipulator 5 and the 6th pedipulator 7 and the joint synergism at shank 9 place，Frame 1 is tilted to further parallel with metope to metope，Then the first pedipulator 2、The thigh 8 of the 3rd pedipulator 4 and the 5th pedipulator 6 adjusts the angle of three articles of lower limbs with the motor of shank 9 joint，Make the first pedipulator 2、3rd pedipulator 4 and the 5th pedipulator 6 are also adsorbed in metope，Thus reaching to climb the purpose of wall.
In the present embodiment, Bevel Gear Transmission pair includes power input bevel gear 14, power transmission shaft 15 and power output bevel gear wheel 16, power input bevel gear 14 and drive bevel gear 12 engaged transmission, power output bevel gear wheel 16 is meshed with the driven wheel of differential 17 arranged on the end of corresponding thigh 8；Three groups of power input bevel gears 14 that in each group of walking lower limb group, corresponding pedipulator is arranged all engage with drive bevel gear 12, power transmission shaft 15 is pivotally arranged on the bottom surface of frame 1, power output bevel gear wheel 16 is for thigh 8 place of power transmission to each pedipulator, the linkage driving of pedipulator in one group can be realized by this structure, compact conformation, and energy consumption is less, and greatly reduce the overall weight of robot.
In the present embodiment, driven wheel of differential 17 is formed by the cone gear ring of one-body molded setting on the end of described thigh 8；Structural strength is high.
In the present embodiment, vac sorb foot 10 includes suction tray 19 that housing 18 is connected with housing 18, be arranged in suction tray 19 in mode moving up and down and for suction tray 19 with absorption interracial contact time form vacuum piston 20 and the piston driving assembly that is arranged in housing 18 and drives piston to move up and down；The end of suction tray is made up of high-ductility rubber, has certain deformability guarantee thus realizing and the close contact at absorption interface.
In the present embodiment, piston driving assembly includes driving cam 21, the piston rod 22 that calibration governor motion and lower end are stretched in suction tray 19 and be connected with piston, calibration governor motion includes calibration set 23, rotating disk 24 and inner core 25, calibration set 23 is provided with head tank 23-1 and Lower tank 23-2, it is enclosed within calibration set 23 in inner core 25 and is driven by driving cam 21 and move up and down to order about rotating disk 24 switching between the head tank and Lower tank of calibration set 23, piston rod 22 upper end is supported and is terminated in rotating disk 24 and be rotatably assorted, piston rod upper end and rotating disk are rotatably assorted, but piston rod can be driven when rotating disk moves up and down to move up and down；nullAt the beginning，The helical teeth claw arranged on rotating disk 24 is positioned at the head tank of calibration set 23，Suction tray 19 end face of foot is tightly pressed on the interface that need to adsorb，Inner core 25 is driven to move downward by driving cam 21，Corresponding driving cam 21 is provided with cam drive mechanism，Ensure actuated by cams motor and motor shaft，The moving downward of inner core 25 is ordered about rotating disk 24 and is moved downward，Rotate when rotating disk 24 moves downwardly to low level，The Lower tank that helical teeth claw overlaps 23 with calibration coordinates，In the process，Piston rod 22 can promote piston to move downward，Air in suction tray 19 and moisture are extruded，When needs adsorb，Driving cam 21 rotates，The helical teeth claw of rotating disk 24 enters the head tank of calibration set 23，Piston rod 22 is upwards，Owing to the end face of suction tray 19 is tightly pressed in absorption interface，Piston is upwardly formed vacuum chamber，With extraneous air pressure or a hydraulically-formed pressure differential，Thus forming vac sorb.
In the present embodiment, piston base is additionally provided with the deformation layer 26 of elastically deformable；Between piston with suction tray 19 inwall, circumferential sealing coordinates, and outside piston week is provided with sealing ring 27；Deformation layer is deposit elastic potential energy when piston extremely extruding downwards, and when driving cam 21 no longer extrudes inner core 25, the elastic potential energy of the deformation layer release storage extremely compressed, to one thrust upwards of piston.
In the present embodiment, control system includes:
Position sensor 31, is installed on the bottom of frame 1, for monitoring robot walking path in the course of the work；
Velocity sensor 32, is installed on the thigh 8 of every pedipulator and the inside of shank 9, for measuring the speed of pedipulator；
Acceleration transducer, is installed on the thigh 8 of every pedipulator and the inside of shank 9, for monitoring the acceleration of each joint of every pedipulator；
Pressure transducer 33, is installed on deformation layer, is used for monitoring internal pressure during suction tray 19 vac sorb；
Central controller 30, is installed on frame 1, for receiving the detection signal of position sensor, velocity sensor, acceleration transducer and pressure transducer and outwards exporting order to control robot work.
What finally illustrate is, above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent replacement, without deviating from objective and the scope of technical solution of the present invention, it all should be encompassed in the middle of scope of the presently claimed invention.
Claims (10)
1. a bridge machinery robot, it is characterised in that: include frame, walking mechanism and control system；Described walking mechanism includes two groups of walking lower limb groups, and often group walking lower limb group includes three identical pedipulators of structure and can simultaneously drive the driving mechanism of three pedipulators in group, and the pedipulator of two groups of walking lower limb groups is spaced to be equipped with frame；
Described pedipulator all includes thigh, shank and vac sorb foot, described thigh to be arranged at described frame in the way of horizontal plane rotation, described shank is equipped with described thigh in the way of can rotating in perpendicular, and described vac sorb foot is equipped with described shank in the way of can rotating in perpendicular.
2. bridge machinery robot according to claim 1, it is characterized in that: described driving mechanism includes the fixing drive bevel gear of the clutch end circumference of main drive and main drive and power intake is secondary with drive bevel gear engaged transmission the Bevel Gear Transmission for driving the thigh of pedipulator to rotate, the secondary and corresponding each pedipulator one_to_one corresponding setting walked in lower limb group of described Bevel Gear Transmission.
3. bridge machinery robot according to claim 2, it is characterised in that: often have in Bevel Gear Transmission pair described in a group in group walking lower limb group and be provided with for the arrangement of clutch with drive bevel gear clutch transmission.
4. bridge machinery robot according to claim 3, it is characterised in that: in two groups of walking lower limb groups, the pedipulator that be in transmission connection corresponding to the Bevel Gear Transmission parafacies arranging described arrangement of clutch in group is symmetrical arranged relative to frame.
5. bridge machinery robot according to claim 4, it is characterized in that: described Bevel Gear Transmission pair includes power input bevel gear, power transmission shaft and power output bevel gear wheel, described power input bevel gear and described drive bevel gear engaged transmission, described power output bevel gear wheel is meshed with the driven wheel of differential arranged on the end of corresponding thigh.
6. bridge machinery robot according to claim 5, it is characterised in that: on the described driven wheel of differential end by described thigh, the cone gear ring of one-body molded setting is formed.
7. the bridge machinery robot according to claim 1-6 any claim, it is characterised in that: described vac sorb foot includes suction tray that housing is connected with housing, be arranged in suction tray in mode moving up and down and for suction tray with absorption interracial contact time form vacuum piston and the piston driving assembly that is arranged in housing and drives piston to move up and down.
8. bridge machinery robot according to claim 7, it is characterized in that: described piston driving assembly includes the piston rod that driving cam, calibration governor motion and lower end are stretched in suction tray and be connected with piston, described calibration governor motion includes calibration set, rotating disk and inner core, described calibration puts and is provided with head tank and Lower tank, being enclosed within calibration set in described inner core and driven by driving cam and move up and down to order about switching between the head tank and Lower tank that rotating disk overlap at calibration, described piston rod upper end is to terminating in rotating disk.
9. bridge machinery robot according to claim 8, it is characterised in that: described piston base is additionally provided with the deformation layer of elastically deformable；Between described piston with described suction tray inwall, circumferential sealing coordinates.
10. bridge machinery robot according to claim 9, it is characterised in that: described control system includes:
Position sensor, is installed on the bottom of frame, for monitoring robot walking path in the course of the work；
Velocity sensor, is installed on the thigh of every pedipulator and the inside of shank, for measuring the speed of pedipulator；
Acceleration transducer, is installed on the thigh of every pedipulator and the inside of shank, for monitoring the acceleration of each joint of every pedipulator；
Pressure transducer, is installed on deformation layer, is used for monitoring internal pressure during suction tray vac sorb；
Central controller, is installed on frame, for receiving the detection signal of position sensor, velocity sensor, acceleration transducer and pressure transducer and outwards exporting order to control robot work.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610196086.9A CN105752195B (en) | 2016-03-31 | 2016-03-31 | Bridge machinery robot |
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| CN201610196086.9A CN105752195B (en) | 2016-03-31 | 2016-03-31 | Bridge machinery robot |
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| CN105752195A true CN105752195A (en) | 2016-07-13 |
| CN105752195B CN105752195B (en) | 2018-09-21 |
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| CN106184462A (en) * | 2016-07-29 | 2016-12-07 | 柳州福能机器人开发有限公司 | The running gear of man-machine collaboration robot |
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| CN112177289A (en) * | 2020-10-14 | 2021-01-05 | 张杨 | Paint spraying device for high-rise outer wall |
| CN116927080A (en) * | 2023-07-20 | 2023-10-24 | 北京地铁建筑设施维护有限公司 | Unilateral positioning type bridge bottom detection equipment and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106184462A (en) * | 2016-07-29 | 2016-12-07 | 柳州福能机器人开发有限公司 | The running gear of man-machine collaboration robot |
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| CN109968363A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of heat-transfer pipe maintenance multi-foot robot |
| CN112177289A (en) * | 2020-10-14 | 2021-01-05 | 张杨 | Paint spraying device for high-rise outer wall |
| CN112177289B (en) * | 2020-10-14 | 2021-11-30 | 泰州帕沃能源科技有限公司 | Paint spraying device for high-rise outer wall |
| CN116927080A (en) * | 2023-07-20 | 2023-10-24 | 北京地铁建筑设施维护有限公司 | Unilateral positioning type bridge bottom detection equipment and control method |
| CN116927080B (en) * | 2023-07-20 | 2024-03-22 | 北京地铁建筑设施维护有限公司 | Unilateral positioning type bridge bottom detection equipment and control method |
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| CN105752195B (en) | 2018-09-21 |
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