CN115162151B - A high-pier variable-section box girder inspection robot - Google Patents
A high-pier variable-section box girder inspection robotInfo
- Publication number
- CN115162151B CN115162151B CN202210898818.4A CN202210898818A CN115162151B CN 115162151 B CN115162151 B CN 115162151B CN 202210898818 A CN202210898818 A CN 202210898818A CN 115162151 B CN115162151 B CN 115162151B
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- Prior art keywords
- driving
- track
- rail
- vertical
- detection arm
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Classifications
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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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- 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
- E01D19/02—Piers; Abutments ; Protecting same against drifting ice
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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
- E01D2/00—Bridges characterised by the cross-section of their bearing spanning structure
- E01D2/04—Bridges characterised by the cross-section of their bearing spanning structure of the box-girder type
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention relates to the technical field of bridge detection, in particular to a high pier variable cross section box girder inspection robot. The high pier variable cross section box beam inspection robot comprises a driving mechanism, a detection arm and a torsion mechanism, wherein the driving mechanism is arranged on a longitudinal rail at the bottom of a beam and can move on the longitudinal rail, the detection arm is transversely arranged relative to the longitudinal rail and is positioned below the driving mechanism, and the torsion mechanism is connected with the middle part of the driving mechanism and is connected with the detection arm and is used for driving the detection arm to rotate in the vertical direction. The problem that detection device in the prior art can not cross the pier when encountering the pier, needs to detect in sections, and results in low detection efficiency can be solved.
Description
Technical Field
The invention relates to the technical field of bridge detection, in particular to a high pier variable cross section box girder inspection robot.
Background
The current bridge engineering construction speed and scale are in progress, and meanwhile, a plurality of bridge engineering also enter the urgent period of the maintenance requirement of the tube maintenance along with the time. Common bridge beam bottom diseases include bolt falling, connecting plate corrosion, box beam cracking, paint falling damage and the like. At present, the fields of detection and maintenance of bridge beam bottom diseases at home and abroad mainly use a manned beam bottom inspection vehicle which is mounted on a preset track to run and carry out disease detection and disease treatment operation in a manual visual inspection or manual handheld detection equipment mode.
However, the manned beam bottom inspection vehicle has various limitations and restrictive problems, and is extremely difficult to use under the use scenes and working conditions when the beam bottom space is narrow, and the existing highway lines and the existing railway lines exist below the beam bottom, especially when the manned beam bottom inspection vehicle is used for highway and railway bridges. Particularly, along with the fact that a plurality of bridge projects enter the middle and later stages of service life, a manned beam bottom inspection vehicle configured by a plurality of bridges enters the scrapping stage as soon as possible, the danger coefficient of strong use is high, and personnel safety is difficult to guarantee. However, the increasingly heavy maintenance requirements for the bottom of the bridge beam are continuously increased, so that the method for solving the contradiction and the requirements has great practical engineering value.
In addition to the background statement, for the high pier variable cross-section box girder type bridge commonly used in the current bridge engineering, the girder bottom inspection vehicle track is mostly arranged on the variable cross-section girder bottom in a clinging way, but due to the variable cross-section box girder, the distance between the girder bottom plate and the upper surface of the girder is changed, and the heavy manned girder bottom inspection vehicle is generally difficult to visually and manually inspect the side components such as the girder web plate. In addition, when the track is arranged at the bottom of the variable-section box girder, the track of the conventional manned girder bottom inspection vehicle is generally arc-shaped. The track has high precision guarantee requirement in manufacturing, high cost, complex work such as later installation and maintenance, and the like, and the equipment running on the arc track has turning radian limitation, so that the equipment is easy to be blocked, and certain potential safety hazard exists. And when meeting the pier, can't cross the pier, need segmentation to detect, lead to the detection inefficiency.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a high pier variable cross section box girder inspection robot, which can solve the problem that the detection efficiency is low because a detection device cannot pass through a pier when encountering the pier in the prior art and needs to perform sectional detection.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides a high pier variable cross section box girder inspection robot, which comprises the following components:
the driving mechanism is used for being arranged on a longitudinal rail of the beam bottom and can move on the longitudinal rail;
a detection arm disposed transversely with respect to the longitudinal rail and below the drive mechanism;
And the torsion mechanism is connected with the middle part of the driving mechanism and the detection arm and is used for driving the detection arm to rotate in the vertical direction.
In some alternatives, the bottom of the detecting arm is provided with a rotating groove, and the torsion mechanism includes:
The first vertical track is connected with the driving mechanism at one end and comprises two first track plates clamped at two sides of the detection arm, a rotating shaft matched with the rotating groove is arranged between the two first track plates, and the rotating shaft is positioned at one end far away from the driving mechanism;
And one end of the winding and unwinding rope is connected with the driving mechanism, and the other end of the winding and unwinding rope is connected with the detection arm, so that the detection arm is kept horizontal when the rotating groove is matched with the rotating shaft, and can vertically rotate along the rotating shaft when the winding and unwinding rope is stretched.
In some optional schemes, a first vertical rack is arranged on the inner side of the first track plate, the torsion mechanism further comprises a first driving motor, the first driving motor is arranged on the detection arm, a first gear matched with the first vertical rack is arranged on an output shaft of the first driving motor, and the first driving motor can transversely move along the detection arm so as to be disengaged from the first gear and the first vertical rack.
In some optional schemes, the torsion mechanism further comprises a second vertical track with one end connected with the driving mechanism, the second vertical track is arranged at intervals with the first vertical track, the torsion mechanism comprises two second track plates clamped on two sides of the detection arm, a second vertical rack is arranged on the inner side of each second track plate, and a second gear matched with the second vertical rack is arranged on an output shaft of the first driving motor.
In some optional solutions, the length of the second vertical rail is greater than that of the first vertical rail, and a limiting shaft is arranged between the two second rail plates, and the limiting shaft is located at one end far away from the driving mechanism.
In some alternatives, the drive mechanism includes:
A housing connected to the torsion mechanism;
two groups of electromagnetic wheels are arranged in the shell at intervals along the longitudinal direction of the longitudinal rail and are used for being adsorbed on the longitudinal rail;
two groups of limiting clamps are arranged at two ends of the shell along the longitudinal direction of the longitudinal rail and are used for clamping on the longitudinal rail;
and the second driving motor is arranged on the shell and used for rotating with the electromagnetic wheel.
In some optional schemes, two sides of the shell along the transverse direction of the longitudinal rail are provided with a sliding rail in the longitudinal direction and a driving assembly, the limiting clamp is slidably arranged on the sliding rail, and the driving assembly is connected with the limiting clamp and is used for driving the limiting clamp to longitudinally move.
In some alternatives, each set of the retention clips includes:
the two L-shaped plates are respectively arranged at two sides of the shell in the transverse direction and can be arranged on the sliding rail in a sliding manner;
the two L-shaped sliding blocks are respectively arranged on the inner sides of the two L-shaped plates in a transversely sliding way;
And two ends of the spring are connected to the two L-shaped sliding blocks, and the spring is used for clamping the L-shaped sliding blocks on the longitudinal rails.
In some alternatives, the driving assembly comprises the same number of telescopic rods as the L-shaped plates, and the telescopic rods are used for driving the L-shaped plates to longitudinally move on the sliding rails.
In some alternatives, the end of the housing along the longitudinal direction of the longitudinal rail is provided with a metering wheel for abutting against the longitudinal rail.
Compared with the prior art, the beam bottom inspection device has the advantages that when the beam bottom is inspected, the two ends of the inspection arm are provided with the camera shooting directions towards the beam bottom, and the beam bottom can be inspected by utilizing the longitudinal movement of the driving mechanism on the longitudinal rail. When the detecting arm moves to the bridge pier, the torsion mechanism can rotate the detecting arm in the vertical direction so that the detecting arm can pass through the bridge pier, and after the detecting arm passes through the bridge pier, the torsion mechanism can adjust the detecting arm to be in a horizontal state, so that the detection of the next bridge hole can be continued, the detection efficiency can be improved, and the detection of the beam bottom is facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a high pier variable cross section box girder inspection robot in an embodiment of the invention;
FIG. 2 is a schematic view of a torsion mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of an end of a track plate according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a driving mechanism according to an embodiment of the present invention;
Fig. 5 is a schematic top view of a driving mechanism according to an embodiment of the invention.
The device comprises a driving mechanism, a 11, a shell, a 12, an electromagnetic wheel, a 13, a limiting clamp, a 131, an L-shaped plate, a 132, an L-shaped sliding block, a 133, a spring, a 14, a second driving motor, a 15, a sliding rail, a 16, a driving assembly, a 17, a metering wheel, a2, a longitudinal rail, a3, a detecting arm, a4, a torsion mechanism, a 41, a first vertical rail, a 411, a rotating shaft, a 412, a first vertical rack, a 413, a first rail plate, a 42, a second vertical rail, a 421, a second rail plate, a 422, a second vertical rack, a 423, a limiting shaft, a 43, a third vertical rail, a 44, a first driving motor, 441, a first gear, 442, a second gear, and a 45 rope winding and unwinding.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a high pier variable cross section box girder inspection robot, which comprises a driving mechanism 1, a detection arm 3 and a torsion mechanism 4.
The driving mechanism 1 is arranged on a longitudinal rail 2 at the bottom of the beam and can move on the longitudinal rail 2, the detecting arm 3 is transversely arranged relative to the longitudinal rail 2 and positioned below the driving mechanism 1, and the torsion mechanism 4 is connected with the driving mechanism 1 and the middle part of the detecting arm 3 and is used for driving the detecting arm 3 to rotate in the vertical direction.
When the high pier variable cross section box girder inspection robot is used, the driving mechanism 1 is arranged on the longitudinal track 2 at the bottom of the girder, the torsion mechanism 4 is connected with the driving mechanism 1, the detection arm 3 is connected with the torsion mechanism 4, and the detection arm 3 is transversely arranged relative to the longitudinal track 2. The longitudinal rail 2 is arranged at the beam bottom along the longitudinal bridge direction, when the beam bottom is detected, the two ends of the detection arm 3 are provided with cameras towards the beam bottom, and the beam bottom can be checked by utilizing the driving mechanism 1 to longitudinally move on the longitudinal rail 2. When the detecting arm 3 moves to the bridge pier, the torsion mechanism 4 can rotate the detecting arm 3 in the vertical direction so that the detecting arm 3 can pass through the bridge pier, and after the detecting arm 3 passes through the bridge pier, the torsion mechanism 4 can adjust the detecting arm 3 to be in a horizontal state so as to continue the detection of the next bridge hole, thereby improving the detection efficiency and facilitating the detection of the beam bottom. In addition, the inspection robot has better adaptability to the variable cross section box girder.
In some alternative embodiments, as shown in fig. 2 and 3, the bottom of the detecting arm 3 is provided with a rotating groove, and the torsion mechanism 4 includes a winding and unwinding rope 45 and a first vertical rail 41 having one end connected to the driving mechanism 1.
The first vertical rail 41 comprises two first rail plates 413 clamped on two sides of the detection arm 3, a rotating shaft 411 matched with the rotating groove is arranged between the two first rail plates 413, the rotating shaft 411 is located at one end far away from the driving mechanism 1, one end of the winding and unwinding rope 45 is connected with the driving mechanism 1, the other end of the winding and unwinding rope is connected with the detection arm 3, and the winding and unwinding rope is used for keeping the detection arm 3 horizontal when the rotating groove is matched with the rotating shaft 411, and enabling the detection arm 3 to vertically rotate along the rotating shaft 411 when the winding and unwinding rope 45 extends.
In this embodiment, a rotating groove at the bottom of the detecting arm 3 is clamped on a rotating shaft 411 arranged between two first track plates 413, one end of a winding and unwinding rope 45 is connected with the driving mechanism 1, the other end of the winding and unwinding rope is connected with the detecting arm 3, so that the detecting arm 3 is horizontal in detection operation, when the detecting arm needs to pass through a bridge pier, the winding and unwinding rope 45 can be extended, the detecting arm 3 can vertically rotate along the rotating shaft 411, and the detecting arm 3 is inclined by a certain angle, so that the detecting arm 3 can pass through the bridge pier, and the detection of the next bridge hole is realized.
In this example, the weight of the detecting arm 3 on both sides is different with the rotating groove, and the joint of the winding and unwinding rope 45 and the detecting arm 3 is located on one side of the heavier detecting arm 3 with the rotating groove as the boundary.
In some alternative embodiments, the first track plate 413 is provided with a first vertical rack 412 on the inner side, the torsion mechanism 4 further includes a first driving motor 44, which is disposed on the detecting arm 3, a first gear 441 matched with the first vertical rack 412 is disposed on an output shaft of the first driving motor 44, and the first driving motor 44 can move transversely along the detecting arm 3 to disengage the first gear 441 from the first vertical rack 412.
In the present embodiment, if the rotation shaft 411 is disposed too close to the driving mechanism 1, the detection arm 3 cannot rotate, but if the detection arm 3 is too far from the beam bottom during detection, the detection effect is affected. In this example, a first vertical rack 412 is disposed inside a first track plate 413, a first driving motor 44 is disposed on the detecting arm 3, a first gear 441 matched with the first vertical rack 412 is disposed on the output shaft, and the position of the rotating shaft 411 if disposed is set to be the distance that the detecting arm 3 can pass through the bridge pier after rotating. When the bridge pier needs to be penetrated, the first driving motor 44 can drive the first gear 441 to be matched with the first vertical rack 412 and the retraction rope 45 to enable the detection arm 3 to descend to the rotation shaft 411, or the first driving motor 44 to transversely move along the detection arm 3 by self weight, so that the engagement of the first gear 441 and the first vertical rack 412 is released, and the rotation shaft 411 is matched with the rotation groove. By extending the retractable rope 45, the detecting arm 3 vertically rotates along the rotating shaft 411 to enable the detecting arm 3 to incline by a certain angle, so that the detecting arm 3 can pass through the bridge pier, after passing through the bridge pier, the retractable rope 45 is retracted again to enable the detecting arm 3 to horizontally move transversely, the first driving motor 44 transversely moves along the detecting arm 3, the first gear 441 is meshed with the first vertical rack 412, the first gear 441 is driven to be matched with the first vertical rack 412 through the first driving motor 44, and the detecting arm 3 is lifted to the top end of the first vertical rack 412 through the matching of the retractable rope 45, so that the detection can be conveniently continued.
In addition, be equipped with the horizontal slide rail on the detection arm 3, first driving motor 44 can be along the setting of horizontal movement on the horizontal slide rail, can realize the horizontal movement of first driving motor 44 through telescopic machanism.
In some alternative embodiments, the torsion mechanism 4 further includes a second vertical rail 42 with one end connected to the driving mechanism 1, where the second vertical rail 42 is spaced from the first vertical rail 41, and includes two second rail plates 421 sandwiched between two sides of the detection arm 3, a second vertical rack 422 is disposed on an inner side of the second rail plates 421, and a second gear 442 matched with the second vertical rack 422 is disposed on an output shaft of the first driving motor 44.
In this embodiment, in order to maintain the stability of the movement of the detection arm 3 in the vertical direction, a second vertical rail 42 spaced from the first vertical rail 41 is provided, a second vertical rack 422 is provided on the inner side of the second rail plate 421 thereof, and a second gear 442 engaged with the second vertical rack 422 is provided on the output shaft of the first driving motor 44, so that the stability of the detection arm 3 when the detection arm 3 moves in the vertical direction can be improved.
In some alternative embodiments, the length of the second vertical rail 42 is greater than the length of the first vertical rail 41, and a limiting shaft 423 is disposed between the two second rail plates 421, where the limiting shaft 423 is located at an end far from the driving mechanism 1.
In this embodiment, the length of the second vertical rack 422 is the same as the length of the first vertical rack 412. When the bridge pier needs to be penetrated, the first gear 441 is driven by the first driving motor 44 to be matched with the first vertical rack 412, the second gear 442 is matched with the second vertical rack 422 and the retraction rope 45 is matched, so that the detection arm 3 descends to the rotation shaft 411, or the first driving motor 44 descends by self weight and moves transversely along the detection arm 3, the first gear 441 is disengaged from the first vertical rack 412, the second gear 442 is engaged with the second vertical rack 422, and the rotation shaft 411 is matched with the rotation groove. By extending the retraction cord 45, the detection arm 3 vertically rotates along the rotation shaft 411 between the two second track plates 421 of the second vertical track 42, so that the detection arm 3 can pass through the bridge pier, and the stability of the detection arm 3 in rotation can be maintained by such a design. After the bridge pier is finished, the detection of the next bridge hole can be realized by adopting opposite steps. The limiting shaft 423 is located at one end far away from the driving mechanism 1, and can limit the rotation angle of the detecting arm 3, so as to avoid over rotation of the detecting arm 3.
In this example, still be equipped with third vertical track 43, first vertical track 41, second vertical track 42 and third vertical track 43 cross bridge are to the interval setting, and third vertical track 43 is the same with first vertical track 41 length to including two track boards equally, be located the both sides of detecting arm 3, the inboard is provided with the rack, be equipped with on the output shaft of first driving motor 44 with rack complex gear, stability when can further promote detecting arm 3 vertical movement.
The winding and unwinding rope 45 is connected to the first driving motor 44 via a speed change gear, and can be wound and unwound by being connected to other driving mechanisms provided in the housing 11.
As shown in fig. 4 and 5, in some alternative embodiments, the drive mechanism 1 includes a housing 11, a second drive motor 14, two sets of electromagnetic wheels 12, and two sets of limit clamps 13.
The shell 11 is connected with the torsion mechanism 4, two groups of electromagnetic wheels 12 are arranged in the shell 11 at intervals along the longitudinal direction of the longitudinal rail 2 and used for being adsorbed on the longitudinal rail 2, two groups of limiting clamps 13 are arranged at two ends of the shell 11 along the longitudinal direction of the longitudinal rail 2 and used for being clamped on the longitudinal rail 2, and a second driving motor 14 is arranged on the shell 11 and used for rotating with the electromagnetic wheels 12.
In this embodiment, the longitudinal rail 2 is an i-shaped steel, including two leg plates and a waist plate therebetween, one leg plate is connected with the beam bottom, two sets of electromagnetic wheels 12 are adsorbed on another waist plate, in this example, each set of electromagnetic wheels 12 includes two transversely spaced arrangement, namely, 4 electromagnetic wheels 12 are adsorbed on the longitudinal rail 2 in total, two sets of limiting clamps 13 are clamped on the longitudinal rail 2, and part of the limiting clamps are positioned above the waist plate, so that the operation safety of the whole mechanism can be improved, and when the electromagnetic wheels 12 fail, the limiting clamps can be erected on the waist plate and play a certain role in limiting and guiding.
In some alternative embodiments, the housing 11 is provided with a sliding rail 15 in the longitudinal direction and a driving assembly 16 on both sides of the longitudinal rail 2 in the transverse direction, the limiting clip 13 is slidably arranged on the sliding rail 15, and the driving assembly 16 is connected to the limiting clip 13 for driving the limiting clip 13 to move longitudinally.
In this embodiment, the sliding rails 15 are disposed on two sides of the transverse bridge of the housing 11 in the transverse bridge direction, the limiting clip 13 is slidably disposed on the sliding rails 15, and the driving assembly 16 drives the limiting clip 13 to longitudinally move on the sliding rails 15. When the whole device needs to be overseamed, the limiting clamps 13 at the front end in the displacement direction are driven by the driving assembly 16 to move to the longitudinal track 2 of the next section and clamped on the longitudinal track 2 of the next section, then the electromagnetic wheels 12 are driven to move, when the whole device is overseamed, the limiting clamps 13 at the front end of the driving assembly 16 retract, the limiting clamps 13 at the rear end are driven to be continuously clamped on the current longitudinal track 2 until all the electromagnetic wheels 12 move to the longitudinal track 2 of the next section, and then the limiting clamps 13 at the rear end retract, so that the overseaming of the whole device is completed.
In some alternative embodiments, each set of retention clips 13 includes a spring 133, two L-shaped plates 131, and two L-shaped slides 132.
The two L-shaped plates 131 are respectively arranged at two sides of the shell 11 in the transverse direction and can be slidably arranged on the sliding rail 15, the two L-shaped sliding blocks 132 are respectively arranged at the inner sides of the two L-shaped plates 131 in the transverse direction, and two ends of the spring 133 are connected to the two L-shaped sliding blocks 132 and are used for clamping the L-shaped sliding blocks 132 on the longitudinal rails 2.
In this embodiment, two L-shaped sliders 132 capable of sliding transversely are disposed on the inner sides of the two L-shaped plates 131, and two ends of a spring 133 are connected to the two L-shaped sliders 132, so that the L-shaped sliders 132 are clamped on the longitudinal rails 2, and the limiting clamp 13 has a certain adaptability, so that the limiting clamp 13 is convenient to pass through the seam. And the limiting clamp 13 has certain stability when clamped on the longitudinal rail 2. In this example, a plurality of rollers are further disposed on the inner side of the L-shaped slider 132, so as to reduce friction force during movement, and the L-shaped slider is opened in an increased manner in the traveling direction, thereby facilitating the passing of the seam.
In some alternative embodiments, the drive assembly 16 includes as many telescoping rods as the number of L-shaped plates 131 for driving the L-shaped plates 131 longitudinally on the slide rails 15.
In the embodiment, the L-shaped plates 131 are driven to longitudinally move on the slide rail 15 by the telescopic rods with the same number as the L-shaped plates 131, so that the structure is simple and the control is convenient.
In some alternative embodiments, the housing 11 is provided with metering wheels 17 at the ends in the longitudinal direction of the longitudinal rail 2 for abutment against the longitudinal rail 2.
In this embodiment, the meter wheel 17 can record the running distance of the whole inspection robot, and can transmit the running distance to the ground control system in a wireless manner, so that ground personnel can conveniently control the running position of the robot.
In summary, when inspecting the beam bottom, the imaging direction is set at both ends of the inspection arm 3 toward the beam bottom, and the beam bottom can be inspected by moving the driving mechanism 1 longitudinally on the longitudinal rail 2. When the detecting arm 3 moves to the bridge pier, the torsion mechanism 4 can rotate the detecting arm 3 in the vertical direction so that the detecting arm 3 can pass through the bridge pier, and after the detecting arm 3 passes through the bridge pier, the torsion mechanism 4 can adjust the detecting arm 3 to be in a horizontal state so as to continue the detection of the next bridge hole, thereby improving the detection efficiency and facilitating the detection of the beam bottom. A first vertical rack 412 is arranged on the inner side of the first track plate 413, a first driving motor 44 is arranged on the detection arm 3, a first gear 441 matched with the first vertical rack 412 is arranged on the output shaft, and the position of the rotating shaft 411 if the position is set as the distance between the detection arm 3 and the bridge pier after rotating. When the bridge pier needs to be penetrated, the first driving motor 44 can drive the first gear 441 to be matched with the first vertical rack 412 and the retraction rope 45 to enable the detection arm 3 to descend to the rotation shaft 411, or the first driving motor 44 to transversely move along the detection arm 3 by self weight, so that the engagement of the first gear 441 and the first vertical rack 412 is released, and the rotation shaft 411 is matched with the rotation groove. By extending the retractable rope 45, the detecting arm 3 vertically rotates along the rotating shaft 411 to enable the detecting arm 3 to incline by a certain angle, so that the detecting arm 3 can pass through the bridge pier, after passing through the bridge pier, the retractable rope 45 is retracted again to enable the detecting arm 3 to horizontally move transversely, the first driving motor 44 transversely moves along the detecting arm 3, the first gear 441 is meshed with the first vertical rack 412, the first gear 441 is driven to be matched with the first vertical rack 412 through the first driving motor 44, and the detecting arm 3 is lifted to the top end of the first vertical rack 412 through the matching of the retractable rope 45, so that the detection can be conveniently continued.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected via an intervening medium, or may be in communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that in the present application, 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. Moreover, 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 one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. 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 application. Thus, the present application 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 (8)
1. High mound variable cross section case roof beam inspection robot, its characterized in that includes:
A driving mechanism (1) which is arranged on a longitudinal rail (2) at the bottom of the beam and can move on the longitudinal rail (2);
a detection arm (3) arranged transversely with respect to the longitudinal rail (2) and below the drive mechanism (1);
The torsion mechanism (4) is connected with the middle part of the driving mechanism (1) and is connected with the detection arm (3) and used for driving the detection arm (3) to rotate in the vertical direction;
The bottom of detection arm (3) is equipped with the rotation groove, torsion mechanism (4) include:
the first vertical track (41) with one end connected with the driving mechanism (1) comprises two first track plates (413) clamped on two sides of the detection arm (3), a rotating shaft (411) matched with the rotating groove is arranged between the two first track plates (413), and the rotating shaft (411) is positioned at one end far away from the driving mechanism (1);
A winding and unwinding rope (45), one end of which is connected with the driving mechanism (1) and the other end of which is connected with the detecting arm (3), for keeping the detecting arm (3) horizontal when the rotating groove is matched with the rotating shaft (411), and enabling the detecting arm (3) to rotate vertically along the rotating shaft (411) when the winding and unwinding rope (45) is extended;
The inner side of the first track plate (413) is provided with a first vertical rack (412), the torsion mechanism (4) further comprises a first driving motor (44) which is arranged on the detection arm (3), an output shaft of the first driving motor (44) is provided with a first gear (441) matched with the first vertical rack (412), and the first driving motor (44) can transversely move along the detection arm (3) so as to be disengaged from the first gear (441) and the first vertical rack (412);
The detection arm (3) is provided with a transverse sliding rail, the first driving motor (44) can be arranged on the transverse sliding rail in a transverse moving mode, and the first driving motor (44) is driven to move transversely through the telescopic mechanism.
2. The high pier variable cross section case roof beam inspection robot of claim 1, wherein, torsion mechanism (4) still include one end with second vertical track (42) that actuating mechanism (1) is connected, second vertical track (42) with first vertical track (41) interval sets up, including two second track boards (421) of pressing from both sides in detection arm (3) both sides, second track board (421) inboard is equipped with second vertical rack (422), be equipped with on the output shaft of first driving motor (44) with second vertical rack (422) complex second gear (442).
3. The high pier variable cross-section box girder inspection robot according to claim 2, wherein the length of the second vertical track (42) is greater than that of the first vertical track (41), a limiting shaft (423) is arranged between the two second track plates (421), and the limiting shaft (423) is located at one end far away from the driving mechanism (1).
4. The high pier variable cross-section box girder inspection robot of claim 1, wherein the driving mechanism (1) comprises:
a housing (11) connected to the torsion mechanism (4);
Two groups of electromagnetic wheels (12) which are arranged in the shell (11) at intervals along the longitudinal direction of the longitudinal rail (2) and are used for being adsorbed on the longitudinal rail (2);
Two sets of limiting clamps (13) which are arranged at two ends of the shell (11) along the longitudinal direction of the longitudinal rail (2) and are used for clamping on the longitudinal rail (2);
and the second driving motor (14) is arranged on the shell (11) and is used for driving the electromagnetic wheel (12) to rotate.
5. The high pier variable cross-section box girder inspection robot according to claim 4, wherein the shell (11) is provided with a sliding rail (15) and a driving assembly (16) along the two sides of the longitudinal direction of the longitudinal rail (2), the limiting clamp (13) is slidably arranged on the sliding rail (15), and the driving assembly (16) is connected with the limiting clamp (13) and is used for driving the limiting clamp (13) to longitudinally move.
6. The high pier variable cross-section box girder inspection robot of claim 5, wherein each set of the limiting clamps (13) comprises:
Two L-shaped plates (131) which are respectively arranged at two sides of the shell (11) in the transverse direction and are slidably arranged on the sliding rail (15);
Two L-shaped sliding blocks (132) which are respectively arranged on the inner sides of the two L-shaped plates (131) in a transversely sliding way;
and the two ends of the spring (133) are connected to the two L-shaped sliding blocks (132) and are used for clamping the L-shaped sliding blocks (132) on the longitudinal track (2).
7. The high pier variable cross-section box girder inspection robot of claim 6, wherein the driving assembly (16) comprises the same number of telescopic rods as the L-shaped plates (131) for driving the L-shaped plates (131) to longitudinally move on the sliding rail (15).
8. The high pier variable cross-section box girder inspection robot according to claim 4, wherein the end of the shell (11) along the longitudinal direction of the longitudinal rail (2) is provided with a meter wheel (17) for abutting against the longitudinal rail (2).
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| CN202210898818.4A CN115162151B (en) | 2022-07-28 | 2022-07-28 | A high-pier variable-section box girder inspection robot |
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| CN202210898818.4A CN115162151B (en) | 2022-07-28 | 2022-07-28 | A high-pier variable-section box girder inspection robot |
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Citations (4)
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|---|---|---|---|---|
| CN110820554A (en) * | 2019-11-26 | 2020-02-21 | 丁西彦 | A outer hanging self-walking crane for bridge detects |
| CN111794100A (en) * | 2020-07-31 | 2020-10-20 | 中铁大桥局集团有限公司 | A bridge inspection robot |
| CN112962446A (en) * | 2021-01-25 | 2021-06-15 | 杨思秀 | Modular bridge overhauls platform |
| CN113123229A (en) * | 2021-04-22 | 2021-07-16 | 北京卡文科技有限公司 | Auxiliary bridge detection device |
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|---|---|---|---|---|
| DE3410952A1 (en) * | 1984-03-24 | 1985-09-26 | Alfons 7774 Deggenhausertal Moog | BRIDGE VIEWING DEVICE |
| CN201753436U (en) * | 2010-07-12 | 2011-03-02 | 武桥重工集团股份有限公司 | Detachable lift type bridge inspection vehicle |
| CN204252013U (en) * | 2014-10-31 | 2015-04-08 | 华北水利水电大学 | Across pier self-propelling device |
| CN114672623A (en) * | 2022-05-31 | 2022-06-28 | 南通江淤新材料有限公司 | Alloy heat treatment device with transfer mechanism |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110820554A (en) * | 2019-11-26 | 2020-02-21 | 丁西彦 | A outer hanging self-walking crane for bridge detects |
| CN111794100A (en) * | 2020-07-31 | 2020-10-20 | 中铁大桥局集团有限公司 | A bridge inspection robot |
| CN112962446A (en) * | 2021-01-25 | 2021-06-15 | 杨思秀 | Modular bridge overhauls platform |
| CN113123229A (en) * | 2021-04-22 | 2021-07-16 | 北京卡文科技有限公司 | Auxiliary bridge detection device |
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