CN113370187A - Double-detector suspension mechanism and detection robot - Google Patents
Double-detector suspension mechanism and detection robot Download PDFInfo
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- CN113370187A CN113370187A CN202110768190.1A CN202110768190A CN113370187A CN 113370187 A CN113370187 A CN 113370187A CN 202110768190 A CN202110768190 A CN 202110768190A CN 113370187 A CN113370187 A CN 113370187A
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- detector
- middle connecting
- rotary supporting
- electric rotating
- connecting beam
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- 239000000725 suspension Substances 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 238000000926 separation method Methods 0.000 claims abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 7
- 239000000523 sample Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 Joints Anatomy 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000002093 peripheral Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004642 transportation engineering Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses a double-detector suspension mechanism which comprises a concave middle connecting beam, a middle connecting frame, two groups of rotary supporting mechanisms and a plurality of groups of rotary supporting mechanisms, wherein the bottom of the middle connecting beam is connected with the middle part of the middle connecting beam, and the top of the middle connecting frame is connected with mobile equipment; a detector is arranged at the bottom of any group of the rotary supporting mechanisms; the rotary supporting mechanism comprises an electric rotating mechanism fixed at the end part of the middle connecting beam, an I-shaped suspension with the middle part connected with the lower part of the electric rotating mechanism, and a separation joint arranged between the electric rotating mechanism and the I-shaped suspension. The invention also discloses a detection robot. Through the scheme, the invention has the advantages of simple structure, high detection efficiency, good passing performance and the like, and has very high practical value and popularization value in the technical field of pavement detection.
Description
Technical Field
The invention relates to the technical field of pavement detection, in particular to a double-detector suspension mechanism and a detection robot.
Background
The probe described herein is used for pavement inspection. At present, one probe is arranged for detecting the road surface in the prior art, and the probe is hung on a mobile device. During detection, the mobile equipment carrying detector moves along the detection direction; in consideration of the transverse movement passing property of the mobile device, the transverse length of the detector in the prior art is smaller than or equal to the transverse width of the mobile device, or the transverse length of the detector is slightly longer than the transverse width of the mobile device. Therefore, the mobile device and the detector have good trafficability in the transportation process. However, the above-mentioned method cannot perform efficient detection of the region to be detected, that is, the detection width of each movement track is smaller than or equal to or slightly larger than the transverse width of the mobile device. Therefore, when detecting the road surface, the mobile device needs to move in a reciprocating grid shape for many times, so that the detection efficiency is low, and the problem of repeated boundary detection exists.
Therefore, it is urgently needed to provide a double-detector suspension mechanism and a detection robot which have simple structure, good passing performance and high detection efficiency.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a dual-detector suspension mechanism and a detection robot, and the technical scheme adopted by the present invention is as follows:
a double-detector suspension mechanism is used for connecting mobile equipment and detectors and comprises a concave middle connecting beam, a middle connecting frame, and two groups of rotary supporting mechanisms, wherein the bottom of the middle connecting beam is connected with the middle part of the middle connecting beam, and the top of the middle connecting frame is connected with the mobile equipment; a detector is arranged at the bottom of any group of the rotary supporting mechanisms;
the rotary supporting mechanism comprises an electric rotating mechanism fixed at the end part of the middle connecting beam, an I-shaped suspension with the middle part connected with the lower part of the electric rotating mechanism, and a separation joint arranged between the electric rotating mechanism and the I-shaped suspension.
Furthermore, the I-shaped suspension comprises a cross beam and guide connectors, wherein the middle part of the cross beam is connected with the separation joints, and the guide connectors are arranged at two end parts of the cross beam in a one-to-one correspondence mode, and the bottom of each guide connector is connected with the detector.
Furthermore, the guiding connector comprises a cylinder body fixedly connected with the end part of the cross beam, an iron chain arranged in the cylinder body and connected with the top of the inner wall of the cylinder body, a guiding bearing sleeved on the lower part of the cylinder body, a guiding shaft arranged through the guiding bearing and connected with the top of the iron chain, and a connecting plate arranged at the bottom of the guiding shaft and used for being connected with the detector.
A detection robot is provided with a double-detector suspension mechanism.
Compared with the prior art, the invention has the following beneficial effects:
(1) the middle connecting beam in a concave shape and the middle connecting frame connected with the middle connecting beam are skillfully arranged to provide symmetrical support; rotary supporting mechanisms are arranged at two ends of the middle connecting beam so as to carry two detectors, and large-area detection can be realized after the rotary supporting mechanisms are unfolded; after recovery, the integral passing performance can be ensured;
(2) the detector is ingeniously provided with the electric rotating mechanism and the I-shaped suspension, so that the detector can be reliably fixed and can be contracted and expanded to realize high-efficiency detection;
(3) the invention skillfully arranges the disengaging joint and the guiding connector, and can also have good passing performance when the detector crosses the threshold;
in conclusion, the invention has the advantages of simple structure, high detection efficiency, good passing performance and the like, and has very high practical value and popularization value in the technical field of pavement detection.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of protection, and it is obvious for those skilled in the art that other related drawings can be obtained according to these drawings without inventive efforts.
Fig. 1 is a schematic view of the structure of the present invention (transport folded state).
Fig. 2 is a schematic structural diagram (working state) of the present invention.
Fig. 3 is a side view (working state) of the present invention.
Fig. 4 is a schematic structural diagram (over threshold crossing state) of the present invention.
Fig. 5 is a side view of the present invention (over threshold crossing state).
Fig. 6 is a perspective view of the present invention (crossing over threshold state).
Fig. 7 is a schematic structural diagram of an i-shaped suspension of the present invention.
Fig. 8 is a schematic view of the structure of the detachment joint of the present invention.
In the drawings, the names of the parts corresponding to the reference numerals are as follows:
1. a middle connecting beam; 2. a middle connecting frame; 3. a rotation support mechanism; 4. a detector; 31. an electric rotating mechanism; 32. an I-shaped suspension; 33. disengaging the joint; 321. a cross beam; 322. a guide connector; 3221. a cylinder body; 3222. an iron chain; 3223. a guide bearing; 3224. a guide shaft; 3225. a connecting plate.
Detailed Description
To further clarify the objects, technical solutions and advantages of the present application, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
As shown in fig. 1 to 8, the present embodiment provides a probe robot provided with a dual probe suspension mechanism. The dual detector suspension mechanism of this embodiment is used to connect the mobile device to the detector 4. First, the terms "first", "second", and the like in the present embodiment are used only for distinguishing the same kind of components, and are not to be construed as specifically limiting the scope of protection. In the present embodiment, the terms of orientation such as "bottom", "top", "peripheral edge", "center", and the like are explained based on the drawings.
In this embodiment, the dual-detector suspension mechanism of this embodiment includes a concave-shaped middle connecting beam 1, a middle connecting frame 2 whose bottom is connected to the middle of the middle connecting beam 1 and whose top is connected to the mobile device, and two sets of rotation support mechanisms 3 which are disposed at two ends of the middle connecting beam 1 in a one-to-one correspondence and have the same structure; the bottom of any group of the rotary supporting mechanisms 3 is provided with a detector 4. In the present embodiment, the rotation support mechanism 3 includes an electric rotating mechanism 31 (such as a servo motor or a gear motor) fixed to an end portion of the middle connection beam 1, an i-shaped suspension 32 having a middle portion connected to a lower portion of the electric rotating mechanism 31, and a breakaway joint 33 provided between the electric rotating mechanism 31 and the i-shaped suspension 32.
At present, detectors 4 on the market are mostly in rectangular parallelepiped shapes, and are fixed and reliable for ensuring the detectors 4. The i-shaped suspension 32 of the present embodiment includes a cross member 321 whose middle portion is connected to the detachment joint 33, and guide connectors 322 which are provided at both end portions of the cross member 321 in a one-to-one correspondence, and whose bottom portion is connected to the probe 4. The guiding connector 322 includes a cylinder 3221 fixedly connected to an end of the cross beam 321, an iron chain 3222 disposed in the cylinder 3221 and connected to a top of an inner wall of the cylinder 3221, a guiding bearing 3223 sleeved on a lower portion of the cylinder 3221, a guiding shaft 3224 disposed through the guiding bearing 3223 and having a top connected to a bottom of the iron chain 3222, and a connecting plate 3225 disposed at a bottom of the guiding shaft 3224 and connected to the detector 4.
In the present embodiment, since the road surface has bumps such as speed bumps, in order to realize the crossing of the detector 4, the position of the detector 4 is adjusted by providing the guiding connector 322 and the disengaging joint 33.
In conclusion, the invention fills the technical blank of carrying two detectors 4 to improve the detection efficiency and give consideration to good passing performance, has outstanding substantive characteristics and obvious progress compared with the prior art, and has high practical value and popularization value in the technical field of pavement detection.
The above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the scope of the present invention, but all the modifications made by the principles of the present invention and the non-inventive efforts based on the above-mentioned embodiments shall fall within the scope of the present invention.
Claims (4)
1. A double-detector suspension mechanism is used for connecting mobile equipment and a detector (4), and is characterized by comprising a concave middle connecting beam (1), a middle connecting frame (2) of which the bottom is connected with the middle part of the middle connecting beam (1) and the top is connected with the mobile equipment, and two groups of rotary supporting mechanisms (3) which are arranged at two ends of the middle connecting beam (1) in a one-to-one correspondence manner and have the same structure; a detector (4) is arranged at the bottom of any group of the rotary supporting mechanisms (3);
the rotary supporting mechanism (3) comprises an electric rotating mechanism (31) fixed at the end part of the middle connecting beam (1), an I-shaped suspension (32) with the middle part connected with the lower part of the electric rotating mechanism (31), and a separation joint (33) arranged between the electric rotating mechanism (31) and the I-shaped suspension (32).
2. A dual detector suspension mechanism according to claim 1, wherein the i-shaped suspension (32) comprises a cross beam (321) connected to the break-away joint (33) at the middle, and guiding connectors (322) provided at the two ends of the cross beam (321) in a one-to-one correspondence and connected to the detectors (4) at the bottom.
3. The dual-detector suspension mechanism according to claim 2, wherein the guiding connector (322) comprises a cylinder body (3221) fixedly connected with the end of the cross beam (321), an iron chain (3222) arranged in the cylinder body (3221) and connected with the top of the inner wall of the cylinder body (3221), a guiding bearing (3223) sleeved on the lower part of the cylinder body (3221), a guiding shaft (3224) arranged through the guiding bearing (3223) and having a top connected with the bottom of the iron chain (3222), and a connecting plate (3225) arranged at the bottom of the guiding shaft (3224) and connected with the detector (4).
4. A detection robot, characterized in that, is provided with the double-detector suspension mechanism of any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110768190.1A CN113370187B (en) | 2021-07-07 | 2021-07-07 | Double-detector suspension mechanism and detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110768190.1A CN113370187B (en) | 2021-07-07 | 2021-07-07 | Double-detector suspension mechanism and detection robot |
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| CN113370187A true CN113370187A (en) | 2021-09-10 |
| CN113370187B CN113370187B (en) | 2022-12-13 |
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