CN113638315A - Steel box girder welding seam inspection robot - Google Patents
Steel box girder welding seam inspection robot Download PDFInfo
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- CN113638315A CN113638315A CN202110921186.4A CN202110921186A CN113638315A CN 113638315 A CN113638315 A CN 113638315A CN 202110921186 A CN202110921186 A CN 202110921186A CN 113638315 A CN113638315 A CN 113638315A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 95
- 239000010959 steel Substances 0.000 title claims abstract description 95
- 238000003466 welding Methods 0.000 title claims abstract description 79
- 238000007689 inspection Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 215
- 238000001514 detection method Methods 0.000 claims abstract description 65
- 238000001179 sorption measurement Methods 0.000 claims abstract description 42
- 230000001360 synchronised effect Effects 0.000 claims description 34
- 239000000523 sample Substances 0.000 claims description 30
- 238000012360 testing method Methods 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
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Abstract
The invention relates to a steel box girder welding line inspection robot, which comprises: a housing; the adsorption mechanism is arranged outside the shell and is used for adsorbing the surface of the steel box girder; the driving mechanism is arranged in the shell and connected with the adsorption mechanism, and the driving mechanism is used for driving the adsorption mechanism to move along the surface of the steel box girder; the steering mechanism and the driving mechanism are arranged in the shell at intervals, the steering mechanism is connected with the adsorption mechanism, and the steering mechanism is used for driving the adsorption mechanism to steer; the detection mechanism is arranged outside the shell and is used for detecting a welding seam image; control mechanism, it passes through electric signal connection with detection mechanism, actuating mechanism and steering mechanism respectively, and control mechanism is used for remote control actuating mechanism and steering mechanism to and be used for showing the welding seam image that detection mechanism surveyed, consequently, the robot detects steel box girder welding seam labour saving and time saving, and the measurement personnel security is ensured and can not influence bridge normal operating.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a steel box girder welding line inspection robot.
Background
At present, the steel box girder is a common structural form of a large-span bridge and is assembled by welding steel structural members such as a top plate, a web plate, a bottom plate, a rib plate and the like. Compared with reinforced concrete beams, the steel box beam has the advantages of light weight, high construction speed, environmental protection, low construction cost, attractive appearance and the like, is widely applied to urban infrastructure as an ideal bridge construction selection, is formed by welding a plurality of parts, and plays a main bearing role after construction is completed, so that the requirement on the welding quality of the welding seam of the steel box beam is high, and the improvement of the detection level of the welding seam of the steel box beam is very important.
In the correlation technique, manual work is generally adopted to detect the welding seam of the steel box girder, but the distance between the bottom of the girder and the ground or the water surface is higher, the time and the labor are wasted when the welding seam of the steel box girder is manually detected, the safety of a detector cannot be guaranteed, and the normal operation of the bridge is influenced, so that the development of the inspection robot for the welding seam of the steel box girder has important significance.
Disclosure of Invention
The embodiment of the invention provides a steel box girder welding line inspection robot, and aims to solve the problems that manual detection of a steel box girder welding line in the related technology wastes time and labor, cannot guarantee the safety of detection personnel, and affects the normal operation of a bridge.
First aspect provides a robot is patrolled and examined to steel box girder welding seam, and it includes: a housing; the adsorption mechanism is arranged outside the shell and is used for adsorbing the surface of the steel box girder; the driving mechanism is arranged in the shell and connected with the adsorption mechanism, and the driving mechanism is used for driving the adsorption mechanism to move along the surface of the steel box girder; the steering mechanism and the driving mechanism are arranged in the shell at intervals, the steering mechanism is connected with the adsorption mechanism, and the steering mechanism is used for driving the adsorption mechanism to steer; the detection mechanism is arranged outside the shell and is used for detecting a welding seam image; and the control mechanism is respectively connected with the detection mechanism, the driving mechanism and the steering mechanism through electric signals, and is used for remotely controlling the driving mechanism and the steering mechanism and displaying the welding seam image detected by the detection mechanism.
In some embodiments, the housing comprises: a first cavity for mounting the drive mechanism; a second cavity located above the first cavity, the second cavity being used for mounting a control circuit board of the control mechanism; the third cavity is positioned on one side of the second cavity, and the steering mechanism is fixed in the third cavity; and the fourth cavity is positioned on the other side of the second cavity, the fourth cavity and the third cavity are positioned on the adjacent sides of the second cavity, the fourth cavity is used for installing a battery pack, and the battery pack is used for supplying power to the driving mechanism, the control circuit board and the steering mechanism.
In some embodiments, the housing is assembled by screws using 6-series aluminum alloy plates.
In some embodiments, the adsorption mechanism comprises: the bottom surface of the first cavity is provided with an opening, the power magnetic wheel part penetrates through the opening to be located in the first cavity, a vertical mounting plate is arranged in the first cavity, the power magnetic wheel is rotationally connected to the vertical mounting plate and is connected with the driving mechanism, and the power magnetic wheel is used for being adsorbed on the surface of the steel box girder and is driven to move along the surface of the steel box girder by the driving mechanism; the steering magnetic wheels are located below the third cavity and connected with the steering mechanism, and the steering magnetic wheels are adsorbed on the surface of the steel box girder and driven by the steering mechanism to steer.
In some embodiments, the drive mechanism comprises: the walking motor and the power magnetic wheel are positioned on the same side of the vertical mounting plate, and an output shaft of the walking motor penetrates through the vertical mounting plate; a first synchronous pulley fixed to an output shaft of the traveling motor; the second synchronous belt wheel and the first synchronous belt wheel are positioned on the same side of the vertical mounting plate, and the second synchronous belt wheel is fixed with the power magnetic wheel; the synchronous belt is sleeved outside the first synchronous belt wheel and the second synchronous belt wheel; the first synchronous belt wheel is driven to rotate by the walking motor, so that the synchronous belt drives the power magnetic wheel to move along the surface of the steel box girder.
In some embodiments, the steering mechanism comprises a steering motor, the steering motor is fixed in the third cavity, and an output shaft of the steering motor penetrates out of the bottom surface of the third cavity; the steering support is fixed on an output shaft of the steering motor, the end part of the steering support is rotatably connected with the steering magnetic wheel, and the steering support is driven to rotate by the steering motor to drive the steering magnetic wheel to steer.
In some embodiments, the detection mechanism comprises: the detection probes are used for detecting welding seam images; the adjusting plate is fixed on the steering support, the detection probe is installed on the adjusting plate, the steering support is driven to rotate through the steering motor, and the steering support drives the adjusting plate to rotate to adjust the detection direction of the detection probe.
In some embodiments, the adjusting plate is provided with an arc-shaped groove, the detection probe is slidably inserted into the arc-shaped groove, a fixing knob is arranged at the insertion position, and the detection probe is fixed by screwing the fixing knob.
In some embodiments, the control mechanism comprises: the control circuit board is arranged in the second cavity, is electrically connected with the driving mechanism, the steering mechanism and the detection mechanism respectively, is used for controlling the driving mechanism and the steering mechanism and receiving a welding seam image detected by the detection mechanism, and is provided with a signal receiving and transmitting module; the control panel, control panel with signal transceiver module passes through electric signal connection, control panel is used for remote control circuit board to and be used for receiving and showing the welding seam image that detection mechanism surveyed.
In some embodiments, a charging hole is formed in a side wall of the fourth cavity, the charging hole is used for charging the battery pack, and an indicator lamp is arranged outside the top of the fourth cavity and used for displaying the electric quantity of the battery pack.
The technical scheme provided by the invention has the beneficial effects that:
the embodiment of the invention provides a steel box girder welding seam inspection robot, because an adsorption mechanism adsorbs the robot on the surface of a steel box girder, a driving mechanism is connected with the adsorption mechanism, the driving mechanism drives the adsorption mechanism to move along the surface of the steel box girder, a steering mechanism is connected with the adsorption mechanism, the steering mechanism drives the adsorption mechanism to steer, a detection mechanism is fixed outside a shell, the detection mechanism can detect welding seam images, the control mechanism is respectively connected with the detection mechanism, the driving mechanism and the steering mechanism through electric signals, the control mechanism is used for remotely controlling the movement and the steering of the robot and displaying the welding seam images detected by the detection mechanism, when the welding seam of the steel box girder needs to be detected, the remote control robot freely moves on the surface of the steel box girder, the detection mechanism is used for detecting the welding seam images, the welding seam images are displayed on the control mechanism, therefore, the welding seam does not need to be manually detected on the steel box girder, the welding seam is detected through observing the welding seam image on the control mechanism to the measurement personnel, and the robot detects steel box girder welding seam labour saving and time saving, and measurement personnel security obtains guaranteeing and can not influence the bridge normal operating.
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 description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic perspective structure view of a steel box girder welding seam inspection robot provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of an internal structure of a steel box girder welding seam inspection robot provided by an embodiment of the invention;
FIG. 3 is a front view of a steel box girder welding line inspection robot provided by an embodiment of the invention;
FIG. 4 is a left side view of the steel box girder welding line inspection robot provided by the embodiment of the invention;
fig. 5 is a schematic structural diagram of a driving mechanism of the steel box girder welding seam inspection robot provided by the embodiment of the invention.
In the figure:
1. an adsorption mechanism; 11. a power magnetic wheel; 12. a steering magnetic wheel; 2. a drive mechanism; 21. a traveling motor; 22. a first timing pulley; 23. a second timing pulley; 24. a synchronous belt; 3. a steering mechanism; 31. a steering motor; 32. a steering bracket; 4. a detection mechanism; 41. detecting a probe; 42. an adjustment plate; 5. a housing; 51. a first cavity; 511. an opening; 512. a vertical mounting plate; 52. a second cavity; 521. a first horizontal mounting plate; 53. a third cavity; 54. a fourth cavity; 541. a second horizontal mounting plate; 6. a battery pack.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The embodiment of the invention provides a steel box girder welding line inspection robot which can solve the problems that manual detection of a steel box girder welding line wastes time and labor, cannot guarantee the safety of detection personnel and influences the normal operation of a bridge.
Referring to fig. 1, a steel box girder welding seam inspection robot provided for an embodiment of the present invention may include: a housing 5, in the present embodiment, the shape of the housing 5 is a polyhedron, and in other embodiments, the shape of the housing 5 may be other shapes such as a cylinder; the adsorption mechanism 1, the adsorption mechanism 1 can be installed on the outer surface of the shell 5, the adsorption mechanism 1 can be adsorbed on the surface of the steel beam box, the shell 5 can be adsorbed on the surface of the steel beam box through the adsorption mechanism 1, namely, the robot can be adsorbed on the surface of the steel beam box, so that the robot cannot fall off from the steel beam box due to the action of gravity when being hung upside down; the driving mechanism 2 can be installed inside the shell 5, the driving mechanism 2 can be connected with the adsorption mechanism 1, and the driving mechanism 2 can drive the adsorption mechanism 1 to move along the surface of the steel beam box, namely, the robot can move along the surface of the steel beam box; the steering mechanism 3 and the driving mechanism 2 can be installed inside the shell 5 at intervals, the steering mechanism 3 can also be connected with the adsorption mechanism 1, and the steering mechanism 3 can drive the adsorption mechanism 1 to steer, namely, the robot can rotate in the moving direction when moving along the surface of the steel beam box; the detection mechanism 4 can be arranged on the outer surface of the shell 5, and the detection mechanism 4 can detect an image in front of the robot, namely can detect a weld image on the surface of the steel beam box; the control mechanism can be respectively connected with the detection mechanism 4, the driving mechanism 2 and the steering mechanism 3 through electric signals, the driving mechanism 2 and the steering mechanism 3 can be remotely controlled through the control mechanism, so that the robot can freely move on the surface of the steel beam box according to the operation of a detector, a welding seam image detected by the detection mechanism 4 can be displayed on the control mechanism, when the welding seam on the steel beam box needs to be detected, the detector can remotely control the robot to freely move on the surface of the steel beam box through the control mechanism on the ground, and the detector can judge whether the welding seam welding quality is qualified or not by observing the welding seam image detected by the detection mechanism 4, therefore, the welding seam on the steel beam box does not need to be detected manually, the detector can detect the welding seam by observing the welding seam image on the control mechanism, and the welding seam on the steel beam box can be detected by the robot, so that time and labor are saved, meanwhile, the safety of detection personnel is guaranteed, and the normal operation of the bridge cannot be influenced.
Referring to fig. 2, in some embodiments, the interior of the housing 5 may include: the first cavity 51, the first cavity 51 may be located at the bottom of the housing 5, and the driving mechanism 2 may be installed in the first cavity 51, in this embodiment, the driving mechanism 2 may be fixedly installed on a sidewall of the first cavity 51, and in other embodiments, the driving mechanism 2 may be fixedly installed at other positions in the first cavity 51; in the second cavity 52, the second cavity 52 may be located above the first cavity 51, and the control circuit board of the control mechanism may be installed in the second cavity 52, in this embodiment, a first horizontal mounting plate 521 is disposed in the second cavity 52, the control circuit board is fixedly installed on the first horizontal mounting plate 521, a circuit connected to the control circuit board may be regularly arranged below the first horizontal mounting plate 521, in other embodiments, the control circuit board may be installed on the bottom surface of the second cavity 52; a third cavity 53, the third cavity 53 may be located at one side of the second cavity 52, and the steering mechanism 3 may be fixedly installed in the third cavity 53; a fourth cavity 54, the fourth cavity 54 may be located on the other side of the second cavity 52, and the fourth cavity 54 and the third cavity 53 are located on the adjacent sides of the second cavity 52, the fourth cavity 54 may be used for installing a battery pack 6, the battery pack 6 may be electrically connected to the driving mechanism 2, the control circuit board and the steering mechanism 3, respectively, and the battery pack 6 is used for supplying electric power to the driving mechanism 2, the control circuit board and the steering mechanism 3, in this embodiment, a second horizontal mounting plate 541 is provided in the fourth cavity 54, the battery pack 6 is installed on the second horizontal mounting plate 541, the circuit connected to the battery pack 6 may be regularly arranged below the second horizontal mounting plate 541, in other embodiments, the battery pack 6 may be installed on the sidewall of the fourth cavity 54 or at another position in the fourth cavity 54, by dividing the housing 5 into a plurality of cavities, the plurality of parts of the robot are installed inside the respective cavities, can fall into a plurality of modules with the robot, but whole robot modularization equipment forms, can save installation space, and the operating personnel later stage of being convenient for simultaneously maintains the robot, also can be in order to conveniently change the spare part of robot.
Referring to fig. 2 and 3, in some embodiments, the housing 5 may be assembled by a plurality of plates through screws, the housing 5 assembled in this way does not need to be welded, the processing time of the housing 5 may be reduced, and it may also be convenient to maintain, disassemble and install the housing 5 at a later stage, the plate is a 6-series aluminum alloy plate, the 6-series aluminum alloy plate has a light weight, the weight of the robot may be reduced, the robot may be better adsorbed on the surface of the steel box girder to detect the weld, and meanwhile, the 6-series aluminum alloy plate has high strength and better corrosion resistance, and may improve the service life of the robot.
Referring to fig. 2 and 3, in some embodiments, the adsorption mechanism 1 may include: the plurality of power magnetic wheels 11 and the plurality of steering magnetic wheels 12, the power magnetic wheels 11 and the steering magnetic wheels 12 can be adsorbed on the surface of the steel box girder, in other embodiments, the adsorption mechanism 1 can include a plurality of suckers which can be adsorbed on the surface of the steel box girder, in this embodiment, the number of the power magnetic wheels 11 and the number of the steering magnetic wheels 12 are two, in other embodiments, the number of the power magnetic wheels 11 and the number of the steering magnetic wheels 12 can be other, a specific number can be set according to the actual required adsorption force, the bottom surface of the first cavity 51 can be provided with an opening 511, part of the power magnetic wheels 11 can pass through the opening 511 to be positioned in the first cavity 51, the first cavity 51 can be provided with a vertical mounting plate 512, one side of the power magnetic wheels 11 can be rotatably connected with one side of the vertical mounting plate 512, the power magnetic wheels 11 can be rotatably connected with the vertical mounting plate 512 through bearings, the power magnetic wheels 11 can rotate with bearing holes as the rotation centers, the power magnetic wheel 11 can be connected with the driving mechanism 2, and the driving mechanism 2 can drive the power magnetic wheel 11 to move along the surface of the steel box girder; the steering magnetic wheel 12 can be located below the third cavity 53, the steering magnetic wheel 12 can be connected with the steering mechanism 3, the steering magnetic wheel 12 can be driven to steer through the steering mechanism 3, the moving direction of the robot can be rotated when the robot moves along the surface of the steel beam box, and therefore the power magnetic wheel 11 and the steering magnetic wheel 12 can provide adsorption force to adsorb the robot on the surface of the steel beam box and can roll on the surface of the steel beam box to drive the robot to freely move along the surface of the steel beam box.
Referring to fig. 3 and 5, in some embodiments, the drive mechanism 2 may include: the walking motor 21 can be positioned in the first cavity 51, the walking motor 21 can be positioned on the same side of the vertical mounting plate 512 as the power magnetic wheel 11, the vertical mounting plate 512 can be provided with a first mounting hole, and an output shaft of the walking motor 21 can pass through the first mounting hole; a first synchronous pulley 22, the first synchronous pulley 22 can be fixed on the output shaft of the walking motor 21; a second synchronous pulley 23, the second synchronous pulley 23 may be located on the same side of the vertical mounting plate 512 as the first synchronous pulley 22, and the second synchronous pulley 23 may be fixed to the power magnetic wheel 11, such that the power magnetic wheel 11 and the second synchronous pulley 23 may be respectively fixed to the rotating shaft by passing the rotating shaft through the bearing hole; hold-in range 24, hold-in range 24 can overlap and locate first synchronous pulley 22 and second synchronous pulley 23 outside, link together first synchronous pulley 22 and second synchronous pulley 23 through hold-in range 24, it follows the rotation through hold-in range 24 drive second synchronous pulley 23 when first synchronous pulley 22 rotates, therefore, can rotate through the first synchronous pulley 22 of walking motor 21 drive, hold-in range 24 drive second synchronous pulley 23 follows the rotation, make power magnetic wheel 11 can follow steel box roof beam surface and remove, walking motor 21 can adopt planet speed reduction direct current motor, can satisfy the low-speed high torque operating mode of robot, also can make the smooth-going walking of robot under the big condition of power magnetic wheel 11 magnetic force.
Referring to fig. 2 and 4, in some embodiments, the steering mechanism 3 may include: the steering motor 31, the steering motor 31 may be fixed in the third cavity 53, in this embodiment, a second mounting hole is opened on the bottom surface of the third cavity 53, the output shaft of the steering motor 31 may penetrate through the second mounting hole, and the steering motor 31 is fixed on the bottom surface of the third cavity 53, in other embodiments, the steering motor 31 may be fixed on the top surface of the third cavity 53; the steering support 32, the steering support 32 can be fixed on the output shaft of the steering motor 31, in this embodiment, the steering support 32 is perpendicular to the output shaft of the steering motor 31, and the middle position of the steering support 32 is fixed with the output shaft of the steering motor 31, in other embodiments, the steering support 32 can be fixed on the output shaft of the steering motor 31 in other manners, in this embodiment, the end portions of both sides of the steering support 32 can be respectively and rotatably connected with the steering magnetic wheels 12, therefore, the steering support 32 can be driven by the steering motor 31 to rotate, the steering support 32 can drive the steering magnetic wheels 12 to steer, the robot can rotate and move along the surface of the steel beam box when moving, the steering motor 31 can adopt a planetary speed reduction direct current motor, and the robot can rotate in a more stable direction.
Referring to fig. 2-4, in some embodiments, the detection mechanism 4 may include: in the embodiment, two detection probes 41 are arranged in parallel, one detection probe 41 can be used as a spare probe, or two detection probes 41 can be used together, so that the welding seams of the steel box girder at different angular positions can be observed conveniently and simultaneously, and in other embodiments, three detection probes 41 or other numbers of detection probes 41 can be arranged; adjusting plate 42, the lateral buckling of adjusting plate 42 and being fixed in steering bracket 32, can be equipped with the guardrail on the adjusting plate 42, test probe 41 can be installed on adjusting plate 42, can turn to bracket 32 through the drive of steering motor 31 and rotate, steering bracket 32 can drive adjusting plate 42 and rotate, adjusting plate 42 rotates the direction of detection that can adjust test probe 41, therefore, the robot can detect the welding seam image on steel box girder surface through test probe 41, the measurement personnel is in the quality through watching welding seam image detection welding seam, can also adjust test probe 41's detection direction through steering motor 31, make test probe 41 can survey bigger scope.
In some embodiments, an arc groove may be disposed on the adjusting plate 42, the detecting probe 41 may be slidably inserted into the arc groove, that is, the detecting probe 41 may slidably adjust a detecting angle in the arc groove, in this embodiment, a fixing knob may be disposed at the insertion position of the detecting probe 41, after the angle of the detecting probe 41 is adjusted, the fixing knob may be tightened to fix the detecting probe 41 in the arc groove, when the fixing angle of the detecting probe 41 needs to be adjusted, the fixing knob may be loosened, and after the fixing angle of the detecting probe 41 is manually adjusted, the fixing knob may be tightened again.
In some embodiments, the control mechanism may include: the control circuit board can be arranged on the first horizontal mounting plate 521 in the second cavity 52, the control circuit board can be respectively electrically connected with the driving mechanism 2, the steering mechanism 3 and the detection mechanism 4, connecting wires on the control circuit board can be regularly arranged below the first horizontal mounting plate 521, the control circuit board can control the driving mechanism 2 to drive the robot to move and control the steering mechanism 3 to drive the robot to steer in the moving process, or control the steering mechanism 3 to drive the detection mechanism 4 to adjust the detection direction, the control circuit board is provided with a signal receiving and transmitting module, and the signal receiving and transmitting module can be used for sending an electric signal and receiving the electric signal; control panel, control panel can pass through the signal of telecommunication remote connection with signal transceiver module, control panel can remote control circuit board, control panel can remote control actuating mechanism 2 and steering mechanism 3 promptly, realize the free removal along steel box girder surface of remote control machine through remote control actuating mechanism 2 and steering mechanism 3, control panel can receive the welding seam image that detection mechanism 4 sent from signal transceiver module detected, and can show the welding seam image received on control panel, therefore, the measurement personnel can stand and judge whether qualified welding seam quality is judged through the welding seam image that control panel remote control robot along the free removal of steel box girder surface under the bridge through control panel, observe the welding seam image that detection mechanism 4 detected on control panel.
In some embodiments, the sidewall of the fourth cavity 54 may be provided with a charging hole, the battery pack 6 may be charged through the charging hole, an indicator lamp may be disposed outside the top of the fourth cavity 54, the indicator lamp may display the electric quantity of the battery pack 6, the state of the electric quantity of the robot may be conveniently observed, and the robot may be charged in time when the electric quantity is insufficient.
The principle of the steel box girder welding line inspection robot provided by the embodiment of the invention is as follows:
the shell 5 is formed by assembling 6-series aluminum alloy plates through screws, the shell 5 is divided into a plurality of cavities, a plurality of parts of the robot are respectively arranged in each cavity, the robot can be divided into a plurality of modules, and the whole robot can be formed by modularized assembly; the adsorption mechanism 1 can be arranged on the outer surface of the shell 5, the adsorption mechanism 1 can be adsorbed on the surface of the steel beam box, namely, the robot can be adsorbed on the surface of the steel beam box, so that the robot cannot fall off from the steel beam box due to the action of gravity when being hung upside down; the driving mechanism 2 can be installed in the first cavity 51, the driving mechanism 2 can be connected with the adsorption mechanism 1, and the driving mechanism 2 can drive the adsorption mechanism 1 to move along the surface of the steel beam box, that is, the robot can move along the surface of the steel beam box; the steering mechanism 3 can be installed in the third cavity 53, the steering mechanism 3 can also be connected with the adsorption mechanism 1, and the steering mechanism 3 can drive the adsorption mechanism 1 to steer, i.e. the robot can rotate in the moving direction when moving along the surface of the steel beam box; the detection mechanism 4 can be arranged on the outer surface of the shell 5, and the detection mechanism 4 can detect an image in front of the robot, namely can detect a weld image on the surface of the steel girder box; the control mechanism can be respectively connected with the detection mechanism 4, the driving mechanism 2 and the steering mechanism 3 through electric signals, the driving mechanism 2 and the steering mechanism 3 can be remotely controlled by the control mechanism, so that the robot can freely move on the surface of the steel beam box according to the operation of a detector, the welding seam image detected by the detection mechanism 4 can be displayed on the control mechanism, when the welding seam on the steel beam box needs to be detected, the detector can remotely control the robot to freely move on the surface of the steel beam box by using the control mechanism on the ground, and the detector can judge whether the welding seam welding quality is qualified or not by observing the welding seam image detected by the detection mechanism 4, therefore, the welding seam on the steel beam box does not need to be detected manually, the detector can detect the welding seam by observing the welding seam image on the control mechanism, and the detection of the welding seam on the steel beam box by the robot can save time and labor, meanwhile, the safety of detection personnel is guaranteed, and the normal operation of the bridge cannot be influenced.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It is to be noted that, in the present invention, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a robot is patrolled and examined to steel box girder welding seam which characterized in that, it includes:
a housing (5);
the adsorption mechanism (1) is arranged outside the shell (5), and the adsorption mechanism (1) is used for adsorbing the surface of the steel box girder;
the driving mechanism (2) is arranged in the shell (5), the driving mechanism (2) is connected with the adsorption mechanism (1), and the driving mechanism (2) is used for driving the adsorption mechanism (1) to move along the surface of the steel box girder;
the steering mechanism (3) and the driving mechanism (2) are installed in the shell (5) at intervals, the steering mechanism (3) is connected with the adsorption mechanism (1), and the steering mechanism (3) is used for driving the adsorption mechanism (1) to steer;
the detection mechanism (4) is arranged outside the shell (5), and the detection mechanism (4) is used for detecting a welding seam image;
and the control mechanism is respectively connected with the detection mechanism (4), the driving mechanism (2) and the steering mechanism (3) through electric signals, and is used for remotely controlling the driving mechanism (2) and the steering mechanism (3) and displaying the welding seam image detected by the detection mechanism (4).
2. The steel box beam weld inspection robot according to claim 1, wherein the housing (5) includes:
a first cavity (51) for mounting the drive mechanism (2);
a second cavity (52) located above the first cavity (51), the second cavity (52) being for mounting a control circuit board of the control mechanism;
a third cavity (53) located on one side of the second cavity (52), the steering mechanism (3) being fixed within the third cavity (53);
a fourth cavity (54) located on the other side of the second cavity (52), the fourth cavity (54) and the third cavity (53) being located on adjacent sides of the second cavity (52), the fourth cavity (54) being for mounting a battery pack (6), the battery pack (6) being for powering the drive mechanism (2), the control circuit board and the steering mechanism (3).
3. The steel box girder welding seam inspection robot according to claim 1 or 2, characterized in that:
the shell (5) is formed by assembling 6-series aluminum alloy plates through screws.
4. The steel box girder welding line inspection robot according to claim 2, wherein the adsorption mechanism (1) comprises:
the bottom surface of the first cavity (51) is provided with an opening (511), the part of the power magnetic wheel (11) penetrates through the opening (511) and is positioned in the first cavity (51), a vertical mounting plate (512) is arranged in the first cavity (51), the power magnetic wheel (11) is rotatably connected to the vertical mounting plate (512), the power magnetic wheel (11) is connected with the driving mechanism (2), the power magnetic wheel (11) is used for being adsorbed on the surface of the steel box girder, and the power magnetic wheel (11) is driven by the driving mechanism (2) to move along the surface of the steel box girder;
the steering magnetic wheels (12) are located below the third cavity (53), the steering magnetic wheels (12) are connected with the steering mechanism (3), and the steering magnetic wheels (12) are adsorbed on the surface of the steel box girder and driven by the steering mechanism (3) to steer the steering magnetic wheels (12).
5. The steel box girder weld inspection robot according to claim 4, wherein the driving mechanism (2) includes:
the walking motor (21) and the power magnetic wheel (11) are positioned on the same side of the vertical mounting plate (512), and an output shaft of the walking motor (21) penetrates through the vertical mounting plate (512);
a first synchronous pulley (22) fixed to an output shaft of the traveling motor (21);
a second synchronous pulley (23) located on the same side of the vertical mounting plate (512) as the first synchronous pulley (22), the second synchronous pulley (23) being fixed to the power magnetic wheel (11);
a synchronous belt (24) sleeved outside the first synchronous pulley (22) and the second synchronous pulley (23);
the first synchronous belt wheel (22) is driven to rotate by the walking motor (21), so that the synchronous belt (24) drives the power magnetic wheel (11) to move along the surface of the steel box girder.
6. The steel box beam weld inspection robot according to claim 4, wherein the steering mechanism (3) comprises
The steering motor (31) is fixed in the third cavity (53), and an output shaft of the steering motor (31) penetrates out of the bottom surface of the third cavity (53);
the steering support (32) is fixed on an output shaft of the steering motor (31), the end part of the steering support (32) is rotatably connected with the steering magnetic wheel (12), and the steering support (32) is driven to rotate by the steering motor (31) to drive the steering magnetic wheel (12) to steer.
7. The steel box girder weld inspection robot according to claim 6, wherein the detection mechanism (4) includes:
a plurality of inspection probes (41), wherein the inspection probes (41) are used for inspecting welding seam images;
adjusting plate (42), adjusting plate (42) are fixed in turn to support (32), test probe (41) install in adjusting plate (42), through turn to motor (31) drive turn to support (32) and rotate, turn to support (32) drive adjusting plate (42) rotate the direction of detection of adjusting test probe (41).
8. The steel box girder welding line inspection robot according to claim 7, wherein:
the adjusting plate (42) is provided with an arc-shaped groove, the detection probe (41) can be slidably inserted into the arc-shaped groove, a fixing knob is arranged at the insertion position, and the detection probe (41) is fixed by screwing the fixing knob.
9. The steel box beam weld inspection robot according to claim 2, wherein the control mechanism comprises:
the control circuit board is arranged in the second cavity (52), is electrically connected with the driving mechanism (2), the steering mechanism (3) and the detection mechanism (4) respectively, is used for controlling the driving mechanism (2) and the steering mechanism (3) and receiving a welding seam image detected by the detection mechanism (4), and is provided with a signal receiving and transmitting module;
the control panel is connected with the signal receiving and transmitting module through electric signals and used for remotely controlling the control circuit board and receiving and displaying the welding seam image detected by the detection mechanism (4).
10. The steel box girder welding seam inspection robot according to claim 2, wherein:
the side wall of the fourth cavity (54) is provided with a charging hole, the charging hole is used for charging the battery pack (6), an indicator lamp is arranged outside the top of the fourth cavity (54), and the indicator lamp is used for displaying the electric quantity of the battery pack (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110921186.4A CN113638315A (en) | 2021-08-11 | 2021-08-11 | Steel box girder welding seam inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110921186.4A CN113638315A (en) | 2021-08-11 | 2021-08-11 | Steel box girder welding seam inspection robot |
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| CN113638315A true CN113638315A (en) | 2021-11-12 |
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| CN202110921186.4A Pending CN113638315A (en) | 2021-08-11 | 2021-08-11 | Steel box girder welding seam inspection robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673671A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Composite magnetic adsorption visual detection climbing robot |
| CN205879810U (en) * | 2016-07-30 | 2017-01-11 | 浙江省建设工程质量检验站有限公司 | Bridge steel case roof beam welding seam detection device |
| DE202016004393U1 (en) * | 2016-07-14 | 2017-07-31 | Jutta Grond | Trapezoidal profile with temperature-adjustable heating tape in the groove |
| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
| CN211491186U (en) * | 2019-12-20 | 2020-09-15 | 江苏科泰检测技术服务有限公司 | Welding seam detection positioning fixture |
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2021
- 2021-08-11 CN CN202110921186.4A patent/CN113638315A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673671A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Composite magnetic adsorption visual detection climbing robot |
| DE202016004393U1 (en) * | 2016-07-14 | 2017-07-31 | Jutta Grond | Trapezoidal profile with temperature-adjustable heating tape in the groove |
| CN205879810U (en) * | 2016-07-30 | 2017-01-11 | 浙江省建设工程质量检验站有限公司 | Bridge steel case roof beam welding seam detection device |
| CN211491186U (en) * | 2019-12-20 | 2020-09-15 | 江苏科泰检测技术服务有限公司 | Welding seam detection positioning fixture |
| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
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