CN113026554A - Surface cross type all-dimensional detection robot for high-speed rail bridge - Google Patents
Surface cross type all-dimensional detection robot for high-speed rail bridge Download PDFInfo
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- CN113026554A CN113026554A CN202110479728.7A CN202110479728A CN113026554A CN 113026554 A CN113026554 A CN 113026554A CN 202110479728 A CN202110479728 A CN 202110479728A CN 113026554 A CN113026554 A CN 113026554A
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- 238000001514 detection method Methods 0.000 title claims abstract description 144
- 239000000872 buffer Substances 0.000 claims description 117
- 230000003139 buffering effect Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
Abstract
The invention discloses a surface-crossing type all-dimensional detection robot for a high-speed rail bridge, which comprises a pulley assembly, a carrying platform, a first detection device, a slewing mechanism, a mechanical arm and a second detection device, wherein the pulley assembly is arranged on the carrying platform; the carrying platform slides on the upper surface of the high-speed rail bridge through the trolley assembly, a first detection device is arranged on one side, close to the front end, of the upper surface of the carrying platform, and the upper surface of the high-speed rail bridge is detected through the first detection device; the detection end of the second detection device is respectively arranged towards the lower surfaces of the two sides of the high-speed rail bridge and the two side surfaces below the high-speed rail bridge and is used for detecting the lower surfaces of the two sides of the high-speed rail bridge and the two side surfaces below the high-speed rail bridge. The invention realizes the omnibearing detection range of the high-speed rail bridge, saves time and labor and improves the detection efficiency.
Description
Technical Field
The invention relates to the technical field of bridge detection, in particular to a surface-crossing type all-dimensional detection robot for a high-speed rail bridge.
Background
With the rapid development of high-speed rail in China, the quality problem of the high-speed rail bridge becomes more and more important, so that the high-speed rail bridge needs to be detected regularly or irregularly in order to ensure the quality of the high-speed rail bridge. At present, the traditional technical means generally adopts a bridge inspection vehicle to carry a worker to use an instrument for detection, and the worker is required to work on an operation platform on the inspection vehicle for a long time, but the worker often cannot move to certain detection positions easily in the detection process, so that certain troubles are caused to the detection operation, the efficiency is low, danger is easy to occur, and the practicability is not strong. Therefore, the above problems need to be solved.
Disclosure of Invention
The invention aims to provide a surface-crossing type all-dimensional detection robot for a high-speed rail bridge, which realizes the all-dimensional detection range of the high-speed rail bridge by matching the carrying platform, the pulley assembly, the first detection device, the mechanical arm and the second detection device, saves time and labor and improves the detection efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme: the invention discloses a surface transverse type all-dimensional detection robot for a high-speed rail bridge, which is characterized by comprising the following innovation points: the device comprises a pulley component, a carrying platform, a first detection device, a swing mechanism, a mechanical arm and a second detection device; the carrying platform is horizontally arranged, and the lower surface of the carrying platform horizontally moves on the upper surface of the high-speed rail bridge through the pulley assembly; a first detection device is also vertically arranged on one side, close to the front end, of the upper surface of the carrying platform, the fixed end of the first detection device is vertically and rotatably connected with the carrying platform, the detection end of the first detection device is arranged forwards, and the first detection device is used for detecting the upper surface of the high-speed rail bridge; carry on the upper surface of platform and lean on its rear end one side still level to be equipped with rotation mechanism, just rotation mechanism's upper surface still is the vertical symmetry of rectangle and is equipped with four arms, four the arm for carry on the bilateral symmetry setting of platform, and each the upper end of arm respectively with rotation mechanism is vertical articulated, each the lower extreme of arm extends to the both sides lower surface of high-speed railway bridge respectively, and the lower extreme of every two adjacent arms respectively with correspond second detection device's stiff end fixed connection, each second detection device passes through to carry on the platform and follows the below both sides face horizontal slip of high-speed railway bridge respectively, and its sense terminal sets up towards the both sides lower surface and the below both sides face of high-speed railway bridge respectively to detect the both sides lower surface and the below both sides face of high-speed railway bridge respectively.
Preferably, the slewing mechanism comprises a barrel, a base, a motor, a slewing gear box, a driving gear and a slewing ring; a barrel is vertically arranged on one side, close to the rear end, of the upper surface of the carrying platform, a base is arranged above the barrel at a same axial center horizontal interval, the base is of a horizontally arranged circular structure, and the diameter of the base is larger than that of the barrel; a rotary ring is horizontally arranged between the base and the barrel body in parallel and coaxially, the upper surface of the inner ring of the rotary ring is fixedly connected with the base in a threaded manner, and the lower surface of the outer ring of the rotary ring is fixedly connected with the barrel body in a threaded manner; a motor and a rotary gear box are respectively vertically arranged on one side of the upper surface of the base, which is close to the front end of the carrying platform, the motor is in linkage connection with the rotary gear box and is fixedly connected with the upper surface of the base through the rotary gear box in a threaded manner, and the output end of the rotary gear box vertically extends downwards to the lower surface of the base and is in meshed connection with the outer ring of the rotary ring through a driving gear; under the drive of the motor, the base rotates horizontally around the carrying platform through the meshing fit of the drive gear and the rotating ring.
Preferably, the first detection device comprises a side plate, a first swing arm, a first detection assembly, a motor fixing frame, a main gear, a driven gear and a rotating shaft; two side plates are also vertically and symmetrically arranged on one side of the upper surface of the carrying platform close to the front end of the carrying platform, the two side plates are symmetrically arranged relative to the two sides of the carrying platform, and the lower ends of the two side plates are respectively and vertically welded and fixed with the carrying platform; a rotating shaft is horizontally and vertically arranged at the upper position between the two side plates, and two ends of the rotating shaft respectively extend vertically to correspond to the side plates and are respectively and rotatably connected with the corresponding side plates; a first swing arm is vertically arranged in the middle of the rotating shaft, the lower end of the first swing arm is fixedly sleeved with the rotating shaft, the upper end of the first swing arm vertically extends upwards to form a plane where the upper ends of the two side plates are located, and is fixedly connected with the fixed end of the first detection assembly, the detection end of the first detection assembly is arranged forwards, the detection angle is adjusted through the rotating shaft, and the upper surface of the high-speed rail bridge is detected; a driven gear is fixedly sleeved at one end of the rotating shaft coaxially and is arranged on the outer side corresponding to the side plate; still be equipped with the motor mount under the follow gear, the motor mount is the U-shaped structure, and its both ends respectively with correspond the perpendicular welded fastening of lateral surface of curb plate the outer bottom surface of motor mount still perpendicular fixed is equipped with the motor, the output of motor extends perpendicularly to the inside of motor mount to through the master gear with connect from the gear engagement, the motor mount is right the rotation of master gear does not produce the interference, and under the drive of motor, through the master gear and from the meshing cooperation of gear, first detection component carries out the regulation of detecting the angle.
Preferably, a second buffer device is vertically arranged on the upper surface of the carrying platform, is arranged between the slewing mechanism and the first detection device, and is arranged at a position corresponding to the rotation track of the first swing arm; the second buffer device comprises a second buffer frame, a second rubber pad, a first magnet, a second magnet, a telescopic rod and a second fixing plate; the second buffer frame is of a horizontally arranged hollow cuboid structure, and a second rubber pad is further horizontally and fixedly arranged on the upper surface of the second buffer frame; a second magnet is further horizontally and fixedly arranged on the inner top surface of the second buffer frame, and first magnets are further horizontally arranged below the second magnet at intervals; the first magnet is matched with the second magnet, and the arrangement position of the first magnet corresponds to that of the second magnet; the first magnet and the second magnet are arranged in a repulsive mode, telescopic rods are symmetrically arranged at four right angles of the lower surface of the first magnet in a vertical mode, the upper end of each telescopic rod is fixedly connected with the first magnet, the lower end of each telescopic rod vertically extends downwards to the lower surface of the second buffering frame, and the lower ends of the telescopic rods are fixedly connected with the upper surface of the second fixing plate in a horizontal mode.
Preferably, the device also comprises a roller base and a roller; roller bases are horizontally and symmetrically arranged on the upper position of the outer side surface of each telescopic rod of the second buffer device, each roller base is horizontally arranged in the second buffer frame, one end of each roller base is vertically and fixedly connected with the corresponding telescopic rod, a roller is vertically and transversely arranged at the other end of each roller base in a rotating mode, and each roller is attached to the corresponding inner side wall of the second buffer frame; each telescopic rod vertically slides up and down along the lower surface of the second buffer frame, and each roller vertically rolls up and down along the corresponding inner side wall of the second buffer frame; the second buffer device is fixedly connected with the corresponding position of the upper surface of the carrying platform through a second fixing plate in a threaded manner, abuts against the first swing arm in a retracted state through a second rubber pad, and buffers and damps the first swing arm.
Preferably, each second detection device comprises a box body, a second detection assembly and a second swing arm; the upper end of each mechanical arm is hinged with the corresponding position of the upper surface of the base, the lower ends of every two adjacent mechanical arms are fixedly connected with the middle position of one side surface of the corresponding box body respectively, and the lower ends of the two adjacent mechanical arms drive the corresponding box body to carry out angle adjustment in a vertical plane respectively; second detection assemblies are symmetrically arranged on the upper surface of each box body, the detection end of each second detection assembly is arranged towards the lower surfaces of two sides of the high-speed railway bridge respectively, and the lower surfaces of two sides of the high-speed railway bridge are detected respectively; each the box is by still vertically being equipped with the second swing arm on the side of carrying on platform front end one side, each the lower extreme of second swing arm respectively with correspond the box is articulated, and its upper end respectively with correspond third detecting element's stiff end fixed connection, third detecting element's sense terminal sets up forward, and adjusts through the second swing arm and detect the angle to detect the below both sides face of high-speed railway bridge.
Preferably, first determine module, each second determine module and each the third determine module is the same, and all includes high definition camera, ultrasonic flaw detector, X-ray radiographic inspection appearance, infrared range finding module and light filling LED lamp, each the output of clear camera, ultrasonic flaw detector, X-ray radiographic inspection appearance, infrared range finding module and light filling LED lamp sets up towards corresponding upper surface, both sides lower surface and below both sides face of high-speed railway bridge respectively.
Preferably, the four right angles of the other side surface of each box body are symmetrically provided with first buffer devices, and each first buffer device is respectively arranged between the corresponding box body and the two lower side surfaces of the high-speed railway bridge; and the fixed end of each buffer device is in threaded connection with the other side face corresponding to the box body, the walking end of each buffer device is abutted against and attached to the two side faces below the high-speed rail bridge respectively, and the fixed end of each buffer device horizontally slides along the two side faces below the high-speed rail bridge through the carrying platform respectively.
Preferably, each first buffer device comprises a first buffer frame, a first rubber pad, a pressing plate, a supporting rod, a first fixing plate, a bottom plate and a buffer spring; each first buffer frame is of a horizontally arranged hollow cuboid structure, first fixing plates are horizontally and symmetrically welded at the upper positions of the left side and the right side of the first buffer frame, the upper surface of each first fixing plate is coplanar with the upper surface of the corresponding first buffer frame, and first rubber pads are respectively and fixedly arranged on the upper surfaces of the first fixing plate and the first buffer frame in a horizontally attached manner; a pressing plate is horizontally arranged in the middle of the inside of each first buffer frame, each pressing plate is of a rectangular structure matched with the inside of the corresponding first buffer frame, and the peripheral sides of the pressing plates are respectively abutted and attached to the inner side walls of the corresponding first buffer frames; a plurality of buffer springs are uniformly and vertically arranged on the upper surface of each pressing plate at intervals in a matrix manner, the upper end of each buffer spring is fixedly connected with the inner top surface of the corresponding first buffer frame, and the lower end of each buffer spring is fixedly connected with the upper surface of the corresponding pressing plate; the upper ends of the supporting rods are fixedly connected with the corresponding pressing plates respectively, the lower ends of the supporting rods vertically extend downwards to correspond to the lower surface of the first buffering frame respectively, each supporting rod is vertically and vertically connected with the corresponding first buffering frame in a sliding mode, and the lower ends of the supporting rods are fixedly connected with the upper surface of the bottom plate corresponding to the horizontal arrangement.
Preferably, the device also comprises a plurality of self-locking rollers; self-locking rollers are respectively and symmetrically arranged at four right angles of the lower surface of each bottom plate in a vertical mode, the fixed end of each self-locking roller is respectively and fixedly connected with the corresponding bottom plate, the walking end of each self-locking roller is respectively contacted with two side faces below the high-speed railway bridge, and the self-locking rollers horizontally slide along the two side faces below the high-speed railway bridge through a carrying platform; each first buffer device is fixed with the corresponding box body through a first rubber pad in a threaded connection mode, and self-locking rollers of the first buffer devices are in contact with two side faces below the high-speed rail bridge and respectively buffer and absorb shock of the corresponding box body.
The invention has the beneficial effects that:
(1) according to the invention, the carrying platform, the pulley assembly, the first detection device, the mechanical arm and the second detection device are used in a matched manner, so that the omnibearing detection range of the high-speed railway bridge is realized, the time and the labor are saved, and the detection efficiency is improved;
(2) under the driving of the motor, the angle of the first detection assembly can be adjusted through the meshing fit of the main gear and the auxiliary gear, so that the device is suitable for detecting high-speed railway bridges under different conditions, time and labor are saved, and the detection efficiency is improved;
(3) when the first detection device is folded, the influence of vibration on the first detection device is reduced through the second buffer device, so that the first detection device is prevented from being damaged;
(4) according to the invention, by arranging the first buffer device, when the second detection device moves on the high-speed rail bridge along with the carrying platform through the self-locking roller, the influence of vibration on the second detection device is reduced, so that the stability of the high-speed rail bridge during detection is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a surface-crossing type all-directional detection robot for a high-speed railway bridge according to the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a partially enlarged view of a portion a in fig. 1.
Fig. 4 is a schematic structural diagram of the first detecting device in fig. 1.
Fig. 5 is a schematic structural diagram of the first buffer device in fig. 1.
Fig. 6 is a schematic structural diagram of the second buffer device in fig. 1.
Wherein, 1-high-speed rail bridge; 2-a pulley assembly; 3-carrying a platform; 4-a first detection device; 5-a first buffer means; 6-a second buffer device; 7-a cylinder body; 8-a gyromagnetic ring; 9-a swivel gearbox; 10-a motor; 11-a base; 12-a robotic arm; 13-a box body; 14-a second detection assembly; 15-a third detection assembly; 16-a second swing arm; 17-a drive gear; 41-side plate; 42-a first swing arm; 43-a first detection assembly; 44-a motor; 45-motor fixing frame; 46-main gear; 47-the slave gear; 48-a rotating shaft; 51-a first buffer frame; 52-a platen; 53-support bars; 54-a base plate; 55-a buffer spring; 56-first fixing plate; 57-a first rubber pad; 58-self-locking roller; 61-a second buffer frame; 62-a second rubber pad; 63-a first magnet; 64-a second magnet; 65-telescopic rods; 66-a roller base; 67-a roller; 68-second fixing plate.
Detailed Description
The technical solution of the present invention will be clearly and completely described by the following detailed description.
The invention discloses a surface-crossing type all-dimensional detection robot for a high-speed rail bridge, which comprises a pulley assembly 2, a carrying platform 3, a first detection device 4, a rotary mechanism, a mechanical arm 12 and a second detection device; the concrete structure is as shown in fig. 1 and 2, the carrying platform 3 is horizontally arranged, and the lower surface of the carrying platform horizontally moves on the upper surface of the high-speed railway bridge 1 through the pulley assembly 2; a first detection device 4 is also vertically arranged on one side of the upper surface of the carrying platform 3 close to the front end of the carrying platform, the fixed end of the first detection device 4 is vertically and rotatably connected with the carrying platform 3, the detection end of the first detection device is arranged forwards, and the upper surface of the high-speed rail bridge 1 is detected; wherein, the first detecting device 4 comprises a side plate 41, a first swing arm 42, a first detecting component 43, a motor 44, a motor fixing frame 45, a main gear 46, a driven gear 47 and a rotating shaft 48; as shown in fig. 1 and 4, two side plates 41 are also vertically and symmetrically arranged on the upper surface of the mounting platform 3 near the front end side thereof, the two side plates 41 are symmetrically arranged relative to the two sides of the mounting platform 3, and the lower ends thereof are respectively and vertically welded and fixed with the mounting platform 3; a rotating shaft 48 is horizontally and vertically arranged at the upper position between the two side plates 41, and two ends of the rotating shaft 48 respectively extend out of the corresponding side plates 41 vertically and are respectively connected with the corresponding side plates 41 in a rotating manner; a first swing arm 42 is vertically arranged in the middle of the rotating shaft 48, the lower end of the first swing arm 42 is fixedly sleeved with the rotating shaft 48, the upper end of the first swing arm 42 vertically extends upwards to form a plane where the upper ends of the two side plates 41 are located, and is fixedly connected with the fixed end of the first detection assembly 43, the detection end of the first detection assembly 43 is arranged forwards, the detection angle is adjusted through the rotating shaft 48, and the upper surface of the high-speed rail bridge 1 is detected; wherein, first detecting element 43 includes high definition camera, ultrasonic flaw detector, X-ray radiographic flaw detector, infrared ranging module and light filling LED lamp, and the output of clear camera, ultrasonic flaw detector, X-ray radiographic flaw detector, infrared ranging module and light filling LED lamp sets up towards the corresponding upper surface of high-speed railway bridge 1 respectively.
As shown in fig. 1 and 4, a driven gear 47 is coaxially sleeved and fixed on one end of the rotating shaft 48, and the driven gear 47 is arranged outside the corresponding side plate 41; a motor fixing frame 45 is further arranged right below the secondary gear 47, the motor fixing frame 45 is of a U-shaped structure, two ends of the motor fixing frame 45 are respectively and vertically welded and fixed with the outer side face of the corresponding side plate 41, a motor 44 is further vertically and fixedly arranged on the outer bottom face of the motor fixing frame 45, and the output end of the motor 44 vertically extends into the motor fixing frame 45 and is meshed and connected with the secondary gear 47 through a main gear 46; wherein, the motor fixing frame 45 does not interfere the rotation of the main gear 46. Under the driving of the motor 44, the first detection assembly 43 adjusts the detection angle through the meshing fit of the main gear 46 and the auxiliary gear 47, so that the detection device is suitable for detecting the high-speed railway bridge 1 under different conditions, time and labor are saved, and the detection efficiency is improved.
A swing mechanism is horizontally arranged on one side of the upper surface of a carrying platform 3 close to the rear end of the carrying platform, four mechanical arms 12 are vertically and symmetrically arranged on the upper surface of the swing mechanism in a rectangular shape, the four mechanical arms 12 are symmetrically arranged relative to two sides of the carrying platform 3, and the upper end of each mechanical arm 12 is vertically hinged with the swing mechanism; wherein, the rotary mechanism comprises a cylinder 7, a base 11, a motor 10, a rotary gear box 9, a driving gear 17 and a rotary ring 8; as shown in fig. 1 to 3, a cylinder 7 is vertically arranged on one side of the upper surface of the carrying platform 3 close to the rear end thereof, a base 11 is horizontally arranged above the cylinder 7 at an interval coaxially and horizontally, the base 11 is of a horizontally arranged circular structure, and the diameter of the base is larger than that of the cylinder 7; a circling ring 8 is horizontally arranged between the base 11 and the cylinder 7 in parallel and coaxially, the upper surface of the inner ring of the circling ring 8 is fixedly connected with the base 11 in a threaded manner, and the lower surface of the outer ring of the circling ring 8 is fixedly connected with the cylinder 7 in a threaded manner; a motor 10 and a rotary gear box 9 are respectively vertically arranged on one side of the upper surface of the base 11 close to the front end of the carrying platform 3, the motor 10 is in linkage connection with the rotary gear box 9 and is fixed with the upper surface of the base 11 through the rotary gear box 9 in a threaded connection mode, and the output end of the rotary gear box 9 vertically extends downwards to the lower surface of the base 11 and is connected with the outer ring of the rotary ring 8 through a driving gear 17 in a meshed mode; wherein, the upper end of each mechanical arm 12 is hinged with the corresponding position of the upper surface of the base 11. Under the driving of the motor 10, the base 11 horizontally rotates around the carrying platform 3 through the meshing fit of the driving gear 17 and the rotary ring 8, so that the high-speed rail bridge detection device is suitable for detecting high-speed rail bridges 1 under different conditions, saves time and labor, and improves the detection efficiency.
The upper surface of the carrying platform 3 is also vertically provided with a second buffer device 6, the second buffer device 6 is arranged between the swing mechanism and the first detection device 4, and the arrangement position of the second buffer device corresponds to the rotation track of the first swing arm 42; the second buffer device 6 comprises a second buffer frame 61, a second rubber pad 62, a first magnet 63, a second magnet 64, an expansion link 65 and a second fixing plate 68; as shown in fig. 1 and 6, the second buffer frame 61 is a horizontally arranged hollow rectangular structure, and a second rubber pad 62 is further horizontally and fixedly arranged on the upper surface thereof; a second magnet 64 is further horizontally and fixedly arranged on the inner top surface of the second buffer frame 61, and a first magnet 63 is further horizontally arranged below the second magnet 64 at intervals; the first magnet 63 is matched with the second magnet 64, and the arrangement position of the first magnet is corresponding to that of the second magnet 64;
as shown in fig. 1 and 6, the first magnet 63 and the second magnet 64 are arranged in a repelling manner, and the telescopic rods 65 are vertically and symmetrically arranged at four right angles of the lower surface of the first magnet 63, the upper end of each telescopic rod 65 is fixedly connected with the first magnet 63, and the lower end of each telescopic rod 65 vertically extends downwards to form the lower surface of the second buffer frame 61 and is fixedly connected with the upper surface of the horizontally arranged second fixing plate 68.
As shown in fig. 1 and 6, roller bases 66 are further horizontally and symmetrically arranged on the upper side of the outer side surface of each telescopic rod 65 of the second buffer device 6, each roller base 66 is horizontally arranged in the second buffer frame 61, one end of each roller base 66 is vertically and fixedly connected with the corresponding telescopic rod 65, the other end of each roller base 66 is further vertically and transversely provided with a roller 67 in a rotating manner, and each roller 67 is attached to the corresponding inner side wall of the second buffer frame 61; so that each telescopic rod 65 respectively slides vertically up and down along the lower surface of the second buffer frame 61, and each roller 67 respectively rolls vertically up and down along the corresponding inner side wall of the second buffer frame 61. In the invention, the second buffer device 6 is fixed with the corresponding position of the upper surface of the carrying platform 3 through the second fixing plate 68 in a threaded manner, and is tightly abutted against the first swing arm 42 in the retracted state through the second rubber pad 62, and the first swing arm 42 is buffered and damped, so that the damage of the first detection assembly 43 is avoided.
The lower end of each mechanical arm 12 extends towards the lower surfaces of two sides of a high-speed railway bridge 1 respectively, the lower ends of every two adjacent mechanical arms 12 are fixedly connected with the fixed ends of corresponding second detection devices respectively, each second detection device horizontally slides along two lower side surfaces of the high-speed railway bridge 1 through a carrying platform 3 respectively, the detection ends of the second detection devices are arranged towards the lower surfaces of two sides of the high-speed railway bridge 1 and the two lower side surfaces of the high-speed railway bridge 1 respectively, and the lower surfaces of two sides of the high-speed railway bridge 1 and the two lower side surfaces of the high-speed railway bridge 1 are detected; each second detection device comprises a box body 13, a second detection assembly 14 and a second swing arm 16; as shown in fig. 1 and 2, the lower ends of every two adjacent mechanical arms 12 are respectively and fixedly connected with the middle position of one side surface of the corresponding box body 13, and the mechanical arms 12 drive the corresponding box body 13 to perform angle adjustment in a vertical plane; the upper surface of each box body 13 is also symmetrically provided with second detection components 14, and the detection end of each second detection component 14 is arranged towards the lower surfaces of two sides of the high-speed railway bridge 1 respectively and is used for detecting the lower surfaces of two sides of the high-speed railway bridge 1 respectively; a second swing arm 16 is vertically arranged on the side surface of each box body 13 close to one side of the front end of the carrying platform 3, the lower end of each second swing arm 16 is hinged to the corresponding box body 13, the upper end of each second swing arm is fixedly connected with the fixed end of the corresponding third detection assembly 15, the detection end of the third detection assembly 15 is arranged forwards, the detection angle is adjusted through the second swing arm 16, and the two side surfaces below the high-speed rail bridge 1 are detected. Wherein, each second detecting component 14 and third detecting component 15 all are the same with first detecting component 43, and all include high definition camera, ultrasonic flaw detector, X-ray radiographic flaw detector, infrared ranging module and light filling LED lamp, and the output of each clear definition camera, ultrasonic flaw detector, X-ray radiographic flaw detector, infrared ranging module and light filling LED lamp sets up towards the corresponding both sides lower surface and the below both sides face of high-speed railway bridge 1 respectively.
The four right angles on the other side surface of each box body 13 are symmetrically provided with first buffer devices 5, and each first buffer device 5 is respectively arranged between the corresponding box body 13 and the two lower side surfaces of the high-speed railway bridge 1; the fixed end of each buffer device is screwed and fixed with the other side surface of the corresponding box body 13, the walking end of each buffer device is abutted and attached to the two lower side surfaces of the high-speed rail bridge 1 respectively, and the buffer devices horizontally slide along the two lower side surfaces of the high-speed rail bridge 1 through the carrying platform 3; wherein, each first buffer device 5 comprises a first buffer frame 51, a first rubber pad 57, a pressing plate 52, a supporting rod 53, a first fixing plate 56, a bottom plate 54 and a buffer spring 55; as shown in fig. 2 and 5, each first buffer frame 51 is a horizontally arranged hollow rectangular structure, and the upper positions of the left and right sides of the first buffer frame are further horizontally and symmetrically welded with first fixing plates 56, the upper surface of each first fixing plate 56 is coplanar with the upper surface of the corresponding first buffer frame 51, and the upper surfaces of the first fixing plate 56 and the corresponding first buffer frame 51 are further horizontally and fixedly provided with first rubber pads 57 in a fitting manner; a pressing plate 52 is horizontally arranged in the middle of the inside of each first buffer frame 51, each pressing plate 52 is of a rectangular structure matched with the inside of the corresponding first buffer frame 51, and the peripheral side surfaces of the pressing plates are respectively abutted and attached to the inner side walls of the corresponding first buffer frames 51;
as shown in fig. 2 and 5, a plurality of buffer springs 55 are uniformly and vertically arranged on the upper surface of each pressing plate 52 at intervals, the upper end of each buffer spring 55 is fixedly connected with the inner top surface of the corresponding first buffer frame 51, and the lower end of each buffer spring 55 is fixedly connected with the upper surface of the corresponding pressing plate 52; the four right angles of the lower surface of each pressing plate 52 are also vertically and symmetrically provided with supporting rods 53, the upper end of each supporting rod 53 is fixedly connected with the corresponding pressing plate 52, the lower end of each supporting rod 53 vertically extends downwards to form the lower surface of the corresponding first buffering frame 51, each supporting rod 53 is vertically and vertically slidably connected with the corresponding first buffering frame 51, and the lower end of each supporting rod 53 is fixedly connected with the upper surface of the corresponding bottom plate 54 which is horizontally arranged.
As shown in fig. 2 and 5, four right-angle corners of the lower surface of each bottom plate 54 are respectively and vertically and symmetrically provided with self-locking rollers 58, the fixed end of each self-locking roller 58 is respectively and fixedly connected with the corresponding bottom plate 54, and the walking end of each self-locking roller is respectively contacted with two lower side surfaces of the high-speed railway bridge 1 and horizontally slides along the two lower side surfaces of the high-speed railway bridge 1 through the carrying platform 3; in the invention, each first buffer device 5 is fixed with the corresponding box body 13 through the first rubber pad 57 in a threaded manner, and the self-locking idler wheels 58 are contacted with the two lower side surfaces of the high-speed railway bridge 1 and respectively buffer and absorb shock for the corresponding box body 13, so that the stability of the high-speed railway bridge 1 during detection is improved.
The working principle of the invention is as follows: firstly, a carrying platform 3 is connected with the upper surface of a high-speed rail bridge 1 in a sliding mode through a pulley assembly 2, and self-locking rollers 58 of each second buffer device 6 are respectively contacted with two side faces below the high-speed rail bridge 1 through mechanical arms 12; then the first detection assembly 43 and the third detection assembly 15 are subjected to angle adjustment through the first swing arm 42 and the second swing arm 16 respectively; then, as the carrying platform 3 moves on the high-speed railway bridge 1, the corresponding positions of the high-speed railway bridge 1 are detected by the first detection assembly 43, the second detection assembly 14 and the third detection assembly 15 respectively.
The invention has the beneficial effects that:
(1) according to the invention, the carrying platform 3, the pulley assembly 2, the first detection device 4, the mechanical arm 12 and the second detection device are used in a matched manner, so that the omnibearing detection range of the high-speed railway bridge 1 is realized, the time and the labor are saved, and the detection efficiency is improved;
(2) under the driving of the motor 44, the angle of the first detection assembly 43 can be adjusted through the meshing fit of the main gear 46 and the auxiliary gear 47, so that the high-speed rail bridge detection device is suitable for detecting high-speed rail bridges 1 under different conditions, time and labor are saved, and the detection efficiency is improved;
(3) when the first detection device 4 is folded, the influence of vibration on the first detection device 4 is reduced through the second buffer device 6, so that the first detection device 4 is prevented from being damaged;
(4) according to the invention, by arranging the first buffer device 5, when the second detection device moves on the high-speed railway bridge 1 along with the carrying platform 3 through the self-locking roller 58, the influence of vibration on the second detection device is reduced, so that the stability of the high-speed railway bridge 1 during detection is improved.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art should fall into the protection scope of the present invention without departing from the design concept of the present invention, and the technical contents of the present invention as claimed are all described in the technical claims.
Claims (10)
1. The utility model provides an all-round inspection robot of formula is striden on surface that high-speed railway bridge was used which characterized in that: the device comprises a pulley component, a carrying platform, a first detection device, a swing mechanism, a mechanical arm and a second detection device; the carrying platform is horizontally arranged, and the lower surface of the carrying platform horizontally moves on the upper surface of the high-speed rail bridge through the pulley assembly; a first detection device is also vertically arranged on one side, close to the front end, of the upper surface of the carrying platform, the fixed end of the first detection device is vertically and rotatably connected with the carrying platform, the detection end of the first detection device is arranged forwards, and the first detection device is used for detecting the upper surface of the high-speed rail bridge; carry on the upper surface of platform and lean on its rear end one side still level to be equipped with rotation mechanism, just rotation mechanism's upper surface still is the vertical symmetry of rectangle and is equipped with four arms, four the arm for carry on the bilateral symmetry setting of platform, and each the upper end of arm respectively with rotation mechanism is vertical articulated, each the lower extreme of arm extends to the both sides lower surface of high-speed railway bridge respectively, and the lower extreme of every two adjacent arms respectively with correspond second detection device's stiff end fixed connection, each second detection device passes through to carry on the platform and follows the below both sides face horizontal slip of high-speed railway bridge respectively, and its sense terminal sets up towards the both sides lower surface and the below both sides face of high-speed railway bridge respectively to detect the both sides lower surface and the below both sides face of high-speed railway bridge respectively.
2. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 1, characterized in that: the slewing mechanism comprises a cylinder body, a base, a motor, a slewing gear box, a driving gear and a slewing ring; a barrel is vertically arranged on one side, close to the rear end, of the upper surface of the carrying platform, a base is arranged above the barrel at a same axial center horizontal interval, the base is of a horizontally arranged circular structure, and the diameter of the base is larger than that of the barrel; a rotary ring is horizontally arranged between the base and the barrel body in parallel and coaxially, the upper surface of the inner ring of the rotary ring is fixedly connected with the base in a threaded manner, and the lower surface of the outer ring of the rotary ring is fixedly connected with the barrel body in a threaded manner; a motor and a rotary gear box are respectively vertically arranged on one side of the upper surface of the base, which is close to the front end of the carrying platform, the motor is in linkage connection with the rotary gear box and is fixedly connected with the upper surface of the base through the rotary gear box in a threaded manner, and the output end of the rotary gear box vertically extends downwards to the lower surface of the base and is in meshed connection with the outer ring of the rotary ring through a driving gear; under the drive of the motor, the base rotates horizontally around the carrying platform through the meshing fit of the drive gear and the rotating ring.
3. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 2, characterized in that: the first detection device comprises a side plate, a first swing arm, a first detection assembly, a motor fixing frame, a main gear, a driven gear and a rotating shaft; two side plates are also vertically and symmetrically arranged on one side of the upper surface of the carrying platform close to the front end of the carrying platform, the two side plates are symmetrically arranged relative to the two sides of the carrying platform, and the lower ends of the two side plates are respectively and vertically welded and fixed with the carrying platform; a rotating shaft is horizontally and vertically arranged at the upper position between the two side plates, and two ends of the rotating shaft respectively extend vertically to correspond to the side plates and are respectively and rotatably connected with the corresponding side plates; a first swing arm is vertically arranged in the middle of the rotating shaft, the lower end of the first swing arm is fixedly sleeved with the rotating shaft, the upper end of the first swing arm vertically extends upwards to form a plane where the upper ends of the two side plates are located, and is fixedly connected with the fixed end of the first detection assembly, the detection end of the first detection assembly is arranged forwards, the detection angle is adjusted through the rotating shaft, and the upper surface of the high-speed rail bridge is detected; a driven gear is fixedly sleeved at one end of the rotating shaft coaxially and is arranged on the outer side corresponding to the side plate; still be equipped with the motor mount under the follow gear, the motor mount is the U-shaped structure, and its both ends respectively with correspond the perpendicular welded fastening of lateral surface of curb plate the outer bottom surface of motor mount still perpendicular fixed is equipped with the motor, the output of motor extends perpendicularly to the inside of motor mount to through the master gear with connect from the gear engagement, the motor mount is right the rotation of master gear does not produce the interference, and under the drive of motor, through the master gear and from the meshing cooperation of gear, first detection component carries out the regulation of detecting the angle.
4. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 3, characterized in that: a second buffer device is vertically arranged on the upper surface of the carrying platform, is arranged between the slewing mechanism and the first detection device, and is arranged at a position corresponding to the rotating track of the first swing arm; the second buffer device comprises a second buffer frame, a second rubber pad, a first magnet, a second magnet, a telescopic rod and a second fixing plate; the second buffer frame is of a horizontally arranged hollow cuboid structure, and a second rubber pad is further horizontally and fixedly arranged on the upper surface of the second buffer frame; a second magnet is further horizontally and fixedly arranged on the inner top surface of the second buffer frame, and first magnets are further horizontally arranged below the second magnet at intervals; the first magnet is matched with the second magnet, and the arrangement position of the first magnet corresponds to that of the second magnet; the first magnet and the second magnet are arranged in a repulsive mode, telescopic rods are symmetrically arranged at four right angles of the lower surface of the first magnet in a vertical mode, the upper end of each telescopic rod is fixedly connected with the first magnet, the lower end of each telescopic rod vertically extends downwards to the lower surface of the second buffering frame, and the lower ends of the telescopic rods are fixedly connected with the upper surface of the second fixing plate in a horizontal mode.
5. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 4, characterized in that: the device also comprises a roller base and a roller; roller bases are horizontally and symmetrically arranged on the upper position of the outer side surface of each telescopic rod of the second buffer device, each roller base is horizontally arranged in the second buffer frame, one end of each roller base is vertically and fixedly connected with the corresponding telescopic rod, a roller is vertically and transversely arranged at the other end of each roller base in a rotating mode, and each roller is attached to the corresponding inner side wall of the second buffer frame; each telescopic rod vertically slides up and down along the lower surface of the second buffer frame, and each roller vertically rolls up and down along the corresponding inner side wall of the second buffer frame; the second buffer device is fixedly connected with the corresponding position of the upper surface of the carrying platform through a second fixing plate in a threaded manner, abuts against the first swing arm in a retracted state through a second rubber pad, and buffers and damps the first swing arm.
6. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 3, characterized in that: each second detection device comprises a box body, a second detection assembly and a second swing arm; the upper end of each mechanical arm is hinged with the corresponding position of the upper surface of the base, the lower ends of every two adjacent mechanical arms are fixedly connected with the middle position of one side surface of the corresponding box body respectively, and the lower ends of the two adjacent mechanical arms drive the corresponding box body to carry out angle adjustment in a vertical plane respectively; second detection assemblies are symmetrically arranged on the upper surface of each box body, the detection end of each second detection assembly is arranged towards the lower surfaces of two sides of the high-speed railway bridge respectively, and the lower surfaces of two sides of the high-speed railway bridge are detected respectively; each the box is by still vertically being equipped with the second swing arm on the side of carrying on platform front end one side, each the lower extreme of second swing arm respectively with correspond the box is articulated, and its upper end respectively with correspond third detecting element's stiff end fixed connection, third detecting element's sense terminal sets up forward, and adjusts through the second swing arm and detect the angle to detect the below both sides face of high-speed railway bridge.
7. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 6, characterized in that: first determine module, each second determine module and each the third determine module homogeneous phase, and all include high definition camera, ultrasonic flaw detector, X-ray flaw detector, infrared range finding module and light filling LED lamp, each the output of clear camera, ultrasonic flaw detector, X-ray flaw detector, infrared range finding module and light filling LED lamp sets up towards corresponding upper surface, both sides lower surface and below both sides face of high-speed railway bridge respectively.
8. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 6, characterized in that: first buffer devices are symmetrically arranged at four right angles of the other side surface of each box body, and each first buffer device is respectively arranged between the box body and the two lower side surfaces of the high-speed rail bridge; and the fixed end of each buffer device is in threaded connection with the other side face corresponding to the box body, the walking end of each buffer device is abutted against and attached to the two side faces below the high-speed rail bridge respectively, and the fixed end of each buffer device horizontally slides along the two side faces below the high-speed rail bridge through the carrying platform respectively.
9. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 8, characterized in that: each first buffer device comprises a first buffer frame, a first rubber pad, a pressing plate, a supporting rod, a first fixing plate, a bottom plate and a buffer spring; each first buffer frame is of a horizontally arranged hollow cuboid structure, first fixing plates are horizontally and symmetrically welded at the upper positions of the left side and the right side of the first buffer frame, the upper surface of each first fixing plate is coplanar with the upper surface of the corresponding first buffer frame, and first rubber pads are respectively and fixedly arranged on the upper surfaces of the first fixing plate and the first buffer frame in a horizontally attached manner; a pressing plate is horizontally arranged in the middle of the inside of each first buffer frame, each pressing plate is of a rectangular structure matched with the inside of the corresponding first buffer frame, and the peripheral sides of the pressing plates are respectively abutted and attached to the inner side walls of the corresponding first buffer frames; a plurality of buffer springs are uniformly and vertically arranged on the upper surface of each pressing plate at intervals in a matrix manner, the upper end of each buffer spring is fixedly connected with the inner top surface of the corresponding first buffer frame, and the lower end of each buffer spring is fixedly connected with the upper surface of the corresponding pressing plate; the upper ends of the supporting rods are fixedly connected with the corresponding pressing plates respectively, the lower ends of the supporting rods vertically extend downwards to correspond to the lower surface of the first buffering frame respectively, each supporting rod is vertically and vertically connected with the corresponding first buffering frame in a sliding mode, and the lower ends of the supporting rods are fixedly connected with the upper surface of the bottom plate corresponding to the horizontal arrangement.
10. The surface-crossing type all-directional detection robot for the high-speed rail bridge according to claim 9, characterized in that: also comprises a plurality of self-locking rollers; self-locking rollers are respectively and symmetrically arranged at four right angles of the lower surface of each bottom plate in a vertical mode, the fixed end of each self-locking roller is respectively and fixedly connected with the corresponding bottom plate, the walking end of each self-locking roller is respectively contacted with two side faces below the high-speed railway bridge, and the self-locking rollers horizontally slide along the two side faces below the high-speed railway bridge through a carrying platform; each first buffer device is fixed with the corresponding box body through a first rubber pad in a threaded connection mode, and self-locking rollers of the first buffer devices are in contact with two side faces below the high-speed rail bridge and respectively buffer and absorb shock of the corresponding box body.
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| CN202110479728.7A CN113026554A (en) | 2021-04-30 | 2021-04-30 | Surface cross type all-dimensional detection robot for high-speed rail bridge |
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| CN202110479728.7A CN113026554A (en) | 2021-04-30 | 2021-04-30 | Surface cross type all-dimensional detection robot for high-speed rail bridge |
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| CN116141375A (en) * | 2023-04-19 | 2023-05-23 | 交通运输部公路科学研究所 | Mechanical arm assembly for bridge detection and working method thereof |
| CN117388277A (en) * | 2023-12-08 | 2024-01-12 | 江苏现代工程检测有限公司 | Bridge crack detection device |
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Application publication date: 20210625 |
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