CN109079820A - A kind of detection robot and its rack - Google Patents
A kind of detection robot and its rack Download PDFInfo
- Publication number
- CN109079820A CN109079820A CN201811055922.7A CN201811055922A CN109079820A CN 109079820 A CN109079820 A CN 109079820A CN 201811055922 A CN201811055922 A CN 201811055922A CN 109079820 A CN109079820 A CN 109079820A
- Authority
- CN
- China
- Prior art keywords
- rack
- frame body
- detection robot
- robot
- detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
- B62D57/04—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 having other than ground-engaging propulsion means, e.g. having propellers
Abstract
The present invention is suitable for detection robotic technology field, provides a kind of detection robot and its rack.The simple rack of structure is opened rear enclosure in the outer peripheral edge of testee by the detection robot of the present embodiment, and then the installation operation before detection can be completed in locking rack, and whole process is simple and convenient.In addition, keeping robot mobile toward its length direction round the outer peripheral edge of object by rack also lockable moving range.The lift that detection robot is generated when being rotated using rotor driver pushes itself upwards or moves forward, the dynamic structure heavy compared to existing detection robot, not only own wt is light for the rotor driver of the present embodiment, can also play the role of lifting to entire detection robot, be not present existing detection robot because adhesive force is inadequate glide the problem of.Guiding device can play guiding role to robot, simultaneously as guiding device is close to the outer peripheral edge of testee, enhance stability of the robot in moving process.
Description
Technical field
The invention belongs to detect robotic technology field, more particularly to it is a kind of for detecting bridge cable, electric pole, pipeline
The detection robot and its rack of equal structural members appearance.
Background technique
Drag-line is one of core components of bridges such as cable-stayed bridge, suspension bridge, and cost accounts for the 25%~30% of bed rearrangement bridge,
It is chronically exposed in atmosphere, bad environments, surface is easily damaged.Protective sleeve of pulling cable damage is to cause guy system for bridge endurance issues
One of the major reasons, drag-line corrosion fracture, the overwhelming majority is the breakage since sheath, cracking, aging.To guarantee bridge
The safety and normal use of girder construction need periodically to carry out visual examination to drag-line, highway bridge and culvert Maintenance specification require to inspect periodically with
Visual observations combination Instrument observation carries out, it is necessary to go through its defect situation close to each component.Currently used checking tool
It is telescope, artificial hanging basket, the robot of included high-definition camera and unmanned plane etc..Telescope is relatively effective auxiliary examination
Tool, but the regular visual examination of drag-line cannot be competent at completely.Artificial hanging basket test mode heavy workload interferes traffic, detection
Personnel are in high altitude operation, and there are security risks.Existing drag-line inspection machine people is inconvenient to carry, installation is numerous there is great big
Trivial problem is not able to satisfy the engineering application requirement quickly detected.And unmanned machine testing manipulation difficulty is big, vulnerable to high-altitude wind effect.
Similar, the equipment (such as: municipal cable, electric pole, pipeline) such as some linear parts, cylindrical member, rod piece are needed
When detecting, similarly face more than problem.
Summary of the invention
The embodiment of the present invention can solve existing for detecting the not side of carrying present in the robot of drag-line appearance
Just, problem erroneous for installation.
The present embodiment is in order to solve the above technical problems, provide a kind of rack, for carrying the function part of detection robot
Part, the rack include the first frame body, the second frame body, hinge and interlock assembly；First frame body and the second frame body
One end is hinged end, and the other end is locking end；The hinged end of first frame body and the hinged end of the second frame body pass through the hinge
Chain is connected with each other, and the locking end of first frame body is mutually detachably connected with the locking end of the second frame body by the interlock assembly
It connects, collectively forms a cricoid rack after first frame body and the connection of the second frame body.
Further, first frame body and the second frame body are in V-shape or C font.
Further, it is provided on first frame body and the second frame body for installing detection robot functional component
Installation position.
Further, the interlock assembly includes two axis pin bases, pin shaft and bolt, and the axis pin base has vertical
Hole, the pin shaft have transverse holes；Described two axis pin bases are fixed with the locking end of the first frame body and the second frame body respectively to be connected
It connects, described two axis pin base consistencies from top to bottom, the pin shaft is inserted in the vertical hole of two axis pin bases；The top of the pin shaft is wide
Degree is greater than the diameter of the transverse holes；The bolt is laterally inserted in the transverse holes of the pin shaft bottom end.
The present invention is in order to solve the above technical problems, additionally provide a kind of detection robot, including information collecting device, platform
Frame, rotor driver and guiding device, the rotor driver are fixed on the rack, and the guiding device is fixed on described
On the medial surface of frame, also, multiple rotor drivers and multiple guiding devices are along the circumferential direction interval of the rack point
Cloth.
Further, the rotor driver includes duct bracket and shrouded propeller, and the duct bracket is installed on institute
It states on the lateral surface of rack, the shrouded propeller is installed on the duct bracket.
Further, the rotor driver includes mounting rack and rotor, and the bracket is installed on the outside of the rack
On face, the rotor is installed on the bracket.
Further, the information collecting device is camera and/or video camera；Multiple information collecting devices are along institute
The circumferential direction for stating rack is spaced apart.
Further, the guiding device includes axle bed, shifting axle, spring, mounting base and idler wheel, the shifting axle
One end is free end, and the other end is installed in the mounting base, the both ends that the axle bed has diameter different, biggish one end
It is installed on the rack, lesser one end is sheathed on the outer peripheral edge of the free end of the shifting axle, and the spring is arranged
In on the lesser one end of the axle bed and shifting axle；The idler wheel is installed in the mounting base.
Further, the detection robot further includes controller and the wireless receiving dress for receiving control signal
It sets, the radio receiver is electrically connected with the controller, and the controller and the information collecting device and rotor fill
Set electrical connection.
Compared with prior art, beneficial effect is the present embodiment: the detection robot of the present embodiment, and structure is simple
Rack opens rear enclosure in the outer peripheral edge of testee, and then the installation operation before detection, whole process can be completed in locking rack
It is simple and convenient.In addition, by rack also lockable moving range, enable robot round the outer peripheral edge of object toward its length direction
It is mobile.
The lift that detection robot is generated when being rotated using rotor driver pushes itself upwards or moves forward, compared to existing
The dynamic structure for having detection robot heavy, not only own wt is light for the rotor driver of the present embodiment, moreover it is possible to entire detection machine
Device people plays the role of lifting, be not present existing detection robot because adhesive force not enough due to glide the problem of.
Guiding device can play guiding role to robot, simultaneously as guiding device is close to the outer of testee
Periphery enhances stability of the robot in moving process.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the schematic perspective view of detection robot provided in an embodiment of the present invention；
Fig. 2 is schematic diagram when detection robot provided in an embodiment of the present invention is used to detect drag-line；
Fig. 3 is the schematic perspective view of the rack of detection robot provided in an embodiment of the present invention；
Fig. 4 is the schematic perspective view of another angle of rack shown in Fig. 3；
Fig. 5 is the decomposition texture schematic diagram of rack shown in Fig. 3；
Fig. 6 is the circuit framework figure of detection robot provided in an embodiment of the present invention；
Fig. 7 is the schematic perspective view of the guiding device of detection robot provided in an embodiment of the present invention；
Fig. 8 is the decomposition texture schematic diagram of guiding device shown in Fig. 7.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Referring to Figure 1, it is a preferred embodiment of the invention, provides a kind of detection robot 100, including information collection
Device 1, rack 2, rotor driver 3 and guiding device 4.Wherein, information collecting device 1 is used to acquire the appearance letter of testee
Breath, can be realized by shooting or enrolling picture or the video information of testee outer surface.Rack 2 is used as bearing function component
Carrier, for the components such as mount message acquisition device, rotor driver 3 and guiding device 4.Rotor driver 3 is detection machine
The power source of people, for driving entire detection robot 100 upwards or moving forward, guiding device 4 is for guiding detection machine
The stability when moving direction and mobile guarantee detection robot of people.Fig. 2 is referred to, detection robot 100 is shown and uses
Schematic diagram when detecting the drag-line 200 of cable-stayed bridge.The detection robot 100 of the present embodiment is in addition to can apply to drag-line 200
Appearance detection is outer, can also be applied to the equipment such as some linear parts, cylindrical member, rod piece (such as: municipal cable, electric pole, pipe
Road) appearance detection.
Fig. 3 to Fig. 5 is referred to, above-mentioned rack 2 includes the first frame body 21, the second frame body 22, hinge 23 and interlock assembly
24.One end of first frame body 21 and the second frame body 22 is hinged end, and the other end is locking end；First frame body 21
Hinged end and the hinged end of the second frame body 22 are connected with each other by the hinge 23, the locking end and second of first frame body 21
The locking end of frame body 22 is mutually detachably connected by the interlock assembly, first frame body 21 and the connection of the second frame body 22
After collectively form a cricoid rack 2.The space that the intermediate region of the rack 2 is formed, for being passed through for testee, the space
Shape and the profile in cross section of testee match.Optionally, first frame body of the present embodiment and the second frame body are in V
Font or C font.
It is provided on above-mentioned first frame body 21 and the second frame body 22 for installing detection 100 functional component of robot
Installation position.Installation position can be mounting hole or threaded hole, be also possible to the structures such as some buckles or card slot.
Above-mentioned interlock assembly 24 is used to the locking end of the first frame body 21 and the second frame body 22 carrying out locking.The locking group
Part 24 includes two axis pin bases 241, pin shaft 242 and bolt 243.Axis pin base 241 has vertical hole, and pin shaft 242 has laterally
Hole；Two pin shafts 242 are fixedly connected with the locking end of the first frame body 21 and the second frame body 22 respectively, two axis pin bases 241
Consistency from top to bottom, pin shaft 242 are inserted in the vertical hole of two axis pin bases 241；The top width of pin shaft 242 is greater than the straight of transverse holes
Diameter, so that the top of pin shaft 242 can be placed on axis pin base 241；Bolt 243 is laterally inserted in the transverse direction of 242 bottom end of pin shaft
In hole, so that pin shaft 242 is fixed.
Specifically, information collecting device 1 is installed on the lateral surface of rack 2, multiple information collecting devices 1 are along rack 2
Circumferential direction is spaced apart, so as to acquire the appearance information in each orientation of testee simultaneously.Information collecting device 1 includes
Multiple components or machine with a certain function, wherein including at least having camera or video camera, for acquiring the external table of checking matter
The picture or image in face.Optimization, refer to the memory 12 having in Fig. 6 information collecting device 1 for storing information, storage
Device 12 can be built in camera or video camera, can also be used as the component outside camera or video camera.Information collecting device 1 is also
It may include the sensor of various environment measurings, such as temperature detection sensor, moisture detection sensor.
Preferably, detection robot 100 further include controller 5, for receives control signal radio receiver 6 and
Wireless launcher 7 for transmitting signals.The radio receiver 6, wireless launcher 7 are electric with the controller 5
Connection, the controller 5 are electrically connected with the information collecting device 1 and rotor driver 3.The control centre on ground believes control
It number is sent to radio receiver 6, controller 5 obtains the control signal in radio receiver 6, then controls information collection dress
1 and the work of rotor driver 3 are set, specific action includes up and down, steering, revolving speed, information collection etc..Information is adopted
The information collected of acquisition means 1 can be stored in the control that can also send back ground in memory 12 by wireless launcher 7
Center.
Rotor driver 3 is fixed on rack 2, also, multiple rotor drivers 3 are spaced apart along the circumferential direction of rack 2.?
In practical application, as long as belonging to the rotor driver 3 of the present embodiment meaning by the device that fin rotates generation power.It is optional
, the rotor driver 3 of the present embodiment includes duct bracket 31 and shrouded propeller 32, and the duct bracket 31 is installed on described
On the lateral surface of rack 2, the shrouded propeller 32 is installed on the duct bracket 31.Due to being limited at fin blade tip by duct
System, impact noise reduce.Induced drag is reduced, and efficiency is higher.Under same power consumption, shrouded propeller 32 is relatively same straight
The isolated propeller of diameter, can generate bigger thrust.Simultaneously because the ring of duct includes effect, it is compact-sized, aerodynamic noise is low,
Safety in utilization is good, is a kind of good thrust or lift unit.
In addition to the tab construction of above-mentioned propeller type, above-mentioned rotor driver 3 can also be using the tab construction (figure of rotary wind type
In be not shown) comprising mounting rack and rotor, the bracket are installed on the lateral surface of the rack, rotor installation
In on bracket.
Guiding device 4 is fixed on the medial surface of the rack 2, circumferential direction of multiple guiding devices 4 along the rack 2
It is spaced apart.Specifically, refer to Fig. 7 and Fig. 8, guiding device 4 include axle bed 41, shifting axle 42, spring 43, mounting base 44 with
And idler wheel 45.One end of shifting axle 42 is free end, and the other end is installed in mounting base 44, and axle bed 41 has different two of diameter
End, biggish one end are installed on the rack 2, and lesser one end is sheathed on the periphery of the free end of the shifting axle 42
On edge, spring pocket is set on the lesser one end of the axle bed 41 and shifting axle 42；The idler wheel 45 is installed on the mounting base
On 44.Shifting axle 42 can be relative to 41 activity of axle bed, and in the process, elastic deformation can occur for spring 43, can act on peace
It fills on seat 44 and idler wheel 45, to be equivalent to a damped part between detection robot 100 and testee, can play
To the effect of detection 100 damping of robot, be conducive to protect the functional component installed on rack 2.
Generally speaking, the detection robot 100 of the present embodiment is placed on testee after opening the simple rack 2 of structure
Outer peripheral edge, then the installation operation before detection can be completed in locking rack 2, and whole process is simple and convenient.In addition, passing through rack
2 go back lockable moving range, keep detection robot 100 mobile toward its length direction round the outer peripheral edge of object.Detect machine
The lift that people 100 is generated when being rotated using rotor driver 3 pushes itself upwards or moves forward, compared to existing detection robot
100 heavy dynamic structures, not only own wt is light for the rotor driver 3 of the present embodiment, moreover it is possible to rise to entire detection robot 100
Acted on to lifting, be not present existing detection robot 100 because adhesive force is inadequate glide the problem of.Guiding device 4 can be given
Detection robot 100 plays guiding role, simultaneously as guiding device 4 is close to the outer peripheral edge of testee, enhances detection
Stability of the robot 100 in moving process.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of rack, for carrying the functional component of detection robot, which is characterized in that the rack include the first frame body,
Second frame body, hinge and interlock assembly；One end of first frame body and the second frame body is hinged end, and the other end is locking
End；The hinged end of first frame body is connected with each other with the hinged end of the second frame body by the hinge, first frame body
The locking end of locking end and the second frame body is mutually detachably connected by the interlock assembly, first frame body and the second frame
A cricoid rack is collectively formed after body connection.
2. rack as described in claim 1, which is characterized in that first frame body and the second frame body are in V-shape or C word
Type.
3. rack as described in claim 1, which is characterized in that be provided with and be used on first frame body and the second frame body
The installation position of installation detection robot functional component.
4. rack as described in claim 1, which is characterized in that the interlock assembly includes two axis pin bases, pin shaft and inserts
Pin, the axis pin base have vertical hole, and the pin shaft has transverse holes；Described two axis pin bases respectively with the first frame body and
The locking end of two frame bodies is fixedly connected, and described two axis pin base consistencies from top to bottom, the pin shaft is inserted in the vertical of two axis pin bases
In hole；The top width of the pin shaft is greater than the diameter of the transverse holes；The bolt is laterally inserted in the pin shaft bottom end
In transverse holes.
5. a kind of detection robot, including information collecting device, which is characterized in that the detection robot further includes that right such as is wanted
Rack described in asking any one of 1 to 4, rotor driver and guiding device, the rotor driver are fixed on the rack,
The guiding device is fixed on the medial surface of the rack, also, multiple rotor drivers and multiple guiding device edges
The circumferential direction of the rack is spaced apart.
6. detection robot as claimed in claim 5, which is characterized in that the rotor driver includes duct bracket and duct
Propeller, the duct bracket are installed on the lateral surface of the rack, and the shrouded propeller is installed on the duct bracket
On.
7. detection robot as claimed in claim 5, which is characterized in that the rotor driver includes mounting rack and rotor,
The bracket is installed on the lateral surface of the rack, and the rotor is installed on the bracket.
8. the detection robot as described in any one of claim 5 to 7, which is characterized in that the information collecting device is phase
Machine and/or video camera；Multiple information collecting devices are spaced apart along the circumferential direction of the rack.
9. the detection robot as described in any one of claim 5 to 7, which is characterized in that the guiding device include axle bed,
One end of shifting axle, spring, mounting base and idler wheel, the shifting axle is free end, and the other end is installed in the mounting base,
The both ends that the axle bed has diameter different, biggish one end are installed on the rack, and lesser one end is sheathed on institute
On the outer peripheral edge for stating the free end of shifting axle, the spring pocket is set on the lesser one end of the axle bed and shifting axle；It is described
Idler wheel is installed in the mounting base.
10. the detection robot as described in any one of claim 5 to 7, which is characterized in that the detection robot further includes
Controller and radio receiver for receiving control signal, the radio receiver is electrically connected with the controller,
The controller is electrically connected with the information collecting device and rotor driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811055922.7A CN109079820A (en) | 2018-09-11 | 2018-09-11 | A kind of detection robot and its rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811055922.7A CN109079820A (en) | 2018-09-11 | 2018-09-11 | A kind of detection robot and its rack |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109079820A true CN109079820A (en) | 2018-12-25 |
Family
ID=64841220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811055922.7A Pending CN109079820A (en) | 2018-09-11 | 2018-09-11 | A kind of detection robot and its rack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079820A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158668A (en) * | 2019-04-09 | 2019-08-23 | 中国船舶重工集团公司第七一九研究所 | A kind of encircling type robot for bridge pier detection |
| CN110565708A (en) * | 2019-10-11 | 2019-12-13 | 交通运输部公路科学研究所 | Bridge underwater pile foundation detection system |
| CN110823906A (en) * | 2019-11-14 | 2020-02-21 | 西安石油大学 | Bridge cable flaw detection robot |
| CN111058377A (en) * | 2019-12-31 | 2020-04-24 | 哈尔滨理工大学 | Wheeled cable climbing robot |
| CN113152273A (en) * | 2021-04-28 | 2021-07-23 | 重庆交通大学 | Detection device and detection method for boom diseases |
| CN113977591A (en) * | 2021-09-15 | 2022-01-28 | 上海浦江缆索股份有限公司 | Stay cable detection robot and use method thereof |
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| CN110823906A (en) * | 2019-11-14 | 2020-02-21 | 西安石油大学 | Bridge cable flaw detection robot |
| CN111058377A (en) * | 2019-12-31 | 2020-04-24 | 哈尔滨理工大学 | Wheeled cable climbing robot |
| CN113152273A (en) * | 2021-04-28 | 2021-07-23 | 重庆交通大学 | Detection device and detection method for boom diseases |
| CN113977591A (en) * | 2021-09-15 | 2022-01-28 | 上海浦江缆索股份有限公司 | Stay cable detection robot and use method thereof |
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