CN115418947A - Mechanical arm tail end detection mechanism for railway bridge detection - Google Patents

Mechanical arm tail end detection mechanism for railway bridge detection Download PDF

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Publication number
CN115418947A
CN115418947A CN202211382688.5A CN202211382688A CN115418947A CN 115418947 A CN115418947 A CN 115418947A CN 202211382688 A CN202211382688 A CN 202211382688A CN 115418947 A CN115418947 A CN 115418947A
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China
Prior art keywords
detection
detection sensor
central shaft
bridge
rear end
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Granted
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CN202211382688.5A
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Chinese (zh)
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CN115418947B (en
Inventor
赵立军
梁培栋
王珂
张建军
李瑞峰
张大明
陈超
张婷婷
徐泽
洪建安
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Quanzhou Tongwei Technology Co ltd
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Quanzhou Tongwei Technology Co ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N25/00—Investigating or analyzing materials by the use of thermal means
    • G01N25/72—Investigating presence of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
    • G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Immunology (AREA)
  • Biochemistry (AREA)
  • General Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

The application discloses terminal detection mechanism of arm for railway bridge detects relates to the robotechnology field, includes: a central shaft mounted on the end of the robot arm; the first detection sensor is arranged at the front end of the central shaft and is used for detecting front-end obstacles and observing a bridge; the pair of driving mechanisms are arranged on the central shaft at intervals, a second detection sensor is arranged on the driving mechanism at the front end, and the driving mechanism at the front end can drive the second detection sensor to rotate around the central shaft; a third detection sensor is mounted on the driving mechanism at the rear end, and the driving mechanism at the rear end can drive the third detection sensor to rotate around the central shaft; detect sensor four, detect sensor four and install on the flexible arm of robot arm, detect sensor four is used for observing flexible arm, this application not only the flexibility ratio is high, and can detect complex environment for automated inspection efficiency improves greatly.

Description

Mechanical arm tail end detection mechanism for railway bridge detection
Technical Field
The application relates to the technical field of robots, in particular to a mechanical arm tail end detection mechanism for railway bridge detection.
Background
At present, the rail transit bridge in China can be roughly divided into four types of detection contents according to bridge body and abutment inspection projects and standards: the method comprises the following steps of beam arch detection, support detection, beam falling prevention device detection, abutment detection and accessory facility detection. The detection mode mainly comprises two modes of visual phenomenon, existence and non-existence and length measurement.
The existing bridge detection work is all manual detection, a remote control car starts to appear on a highway bridge for detection, the manual detection needs a hanging basket for observation, the problems of poor meticulous observation, limited observation angle and safety possibly exist in observation, a highway detection car sensor is basically single and mainly a fixed sensor, and the problems of low observation angle and flexibility are also existed.
Railway bridge inspection robot is the novel bridge check out test set that develops for satisfying bridge automated inspection requirement now, need carry on more sensor, but the detection conditions of robot is limited, is difficult to go deep into complicacy, narrow and small topography, in order to adapt to different detection ring border, improves detection efficiency, needs one set of small and exquisite mechanism to arrange these detection sensor, enlarges detection sensor's detection coverage.
Disclosure of Invention
In view of the above, the present application provides a mechanical arm end detection mechanism for railroad bridge detection, so as to solve the above technical problems.
In order to achieve the purpose, the invention provides the following technical scheme:
an end of arm detection mechanism for railroad bridge detection, the end detection mechanism comprising:
the central shaft is arranged on the end part of the tail end of the robot arm;
the first detection sensor is arranged at the front end of the central shaft and is used for detecting front-end obstacles and observing a bridge;
the pair of driving mechanisms are arranged on the central shaft at intervals, a second detection sensor is mounted on the driving mechanism at the front end, and the driving mechanism at the front end can drive the second detection sensor to rotate around the central shaft in the circumferential direction so as to observe the bridge; a third detection sensor is arranged on the driving mechanism at the rear end, the driving mechanism at the rear end can drive the detection sensor III to rotate circumferentially around the central shaft so as to observe the bridge;
and the detection sensor IV is arranged on the telescopic arm of the robot arm and is used for observing the telescopic arm.
Further, the method also comprises the following steps:
the first vision camera is mounted on the driving mechanism at the front end, and the driving mechanism at the front end can drive the first vision camera to rotate circumferentially around the central shaft so as to observe the bridge;
and the second vision camera is arranged on the driving mechanism at the rear end, and the driving mechanism at the rear end can drive the second vision camera to rotate circumferentially around the central shaft so as to observe the bridge.
Still further, the drive mechanism includes:
a servo motor fixedly mounted on the central shaft;
the driving gear is arranged on a rotating shaft of the servo motor;
the rotating sleeve is movably arranged on the central shaft;
and the driven gear is arranged on the rotating sleeve and is meshed with the driving gear.
Furthermore, the rotating sleeve is provided with a fixing frame for connection.
Furthermore, the first vision camera and the second detection sensor are arranged on two sides of a fixing frame at the front end; the second vision camera and the third detection sensor are arranged on two sides of the fixing frame at the rear end.
Still further, still include a segmented shield, the segmented shield includes:
the middle protective cover is arranged on the periphery of the middle part of the central shaft and covers the pair of servo motors, the pair of driving gears and the pair of driven gears;
the front-end rotary protective cover is fixed on a front-end fixing frame, and the first vision camera and the second detection sensor are positioned in the front-end rotary protective cover;
the rear-end rotary protective cover is fixed on the fixing frame at the rear end, and the vision camera II and the detection sensor III are positioned in the rear-end rotary protective cover.
Furthermore, the rear end of the front rotary protection cover extends into the front end of the middle protection cover, and the front end of the rear rotary protection cover extends into the rear end of the middle protection cover.
Furthermore, the front rotary protective cover can rotate around the circumference of the central shaft along with the fixing frame at the front end; the rear rotary protection cover can rotate around the circumference of the central shaft after the rear fixing frame.
Furthermore, a first window opposite to the first vision camera and a second window opposite to the second detection sensor are formed in the front-end rotary protective cover; and a third window right facing the second vision camera and a fourth window right facing the third detection sensor are formed in the rear-end rotary protective cover.
Furthermore, a light source corresponding to the second detection sensor is mounted on the fixed frame at the front end, and a first opening for the transmission of the corresponding light source is formed in the front-end rotary protective cover; and a light source corresponding to the detection sensor III is arranged on the fixed frame at the rear end, and a second opening for transmitting the corresponding light source is formed in the rear-end rotary protective cover.
The technical scheme can show that the invention has the advantages that:
1. according to the invention, the tail end of the super-long robot arm is provided with the detection sensor based on image recognition, the detection sensor can meet the observation of different directions and different angles, and the detection sensor can detect and extract typical bridge diseases of railway T-shaped bridges and box bridges including beam arches, piers, supports and auxiliary facilities, so that the detection efficiency is higher.
2. The visual camera is also arranged in the invention and can be matched with the detection sensor for use so as to realize detection of detection points such as darkness, narrowness and the like at different direction visual angles, and the detection result is more accurate and efficient.
3. According to the invention, the second detection sensor and the third detection sensor which are arranged in the same direction are arranged, and because the robot arm is longer, the two same sensors work simultaneously, so that the detection points of the bridge can be increased, and the working efficiency is higher.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic structural diagram of the present application.
Fig. 2 is a partially enlarged view of a portion a of fig. 1.
Fig. 3 is a schematic view of a first detection sensor, a second detection sensor, and a third detection sensor of the present application.
Fig. 4 is a schematic view of a detecting sensor of the present application.
Fig. 5 is a schematic view of another view of the detecting sensor iv of the present application.
Fig. 6 is a third perspective view of a fourth detection sensor of the present application.
Fig. 7 is a schematic structural diagram of the robot arm of the present application when detecting the bottom surface of a bridge.
Fig. 8 is a schematic structural view of the robot arm of the present application when detecting the inside of a cavity.
Fig. 9 is a schematic structural diagram of the robot arm of the present application during detection of a bridge abutment.
Fig. 10 is a schematic structural diagram of an inspection robot for inspecting a bridge according to the present application.
Fig. 11 is a partially enlarged view of fig. 10 at B.
List of reference numerals: the device comprises a first detection sensor 1, a front-end rotary protection cover 2, a first vision camera 3, a second detection sensor 4, a light source 5, a driven gear 6, a servo motor 7, a third detection sensor 8, a second vision camera 9, a rear-end rotary protection cover 10, a central shaft 11, a connecting block 12, a robot arm 13, a driving gear 14, a fixing frame 15, a rotary sleeve 16, a fourth detection sensor 17, a middle protection cover 18 and a detection robot 100.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions thereof herein are provided to explain the present application and should not be taken as limiting the present application.
At present, the rail transit bridge in China can be generally divided into four types of detection contents according to bridge body and abutment inspection projects and standards: the bridge arch detection, the support detects, prevent that the roof beam device detects, pier detects and accessory facility detects, the detection mode mainly has visual phenomenon, whether have and length measurement two kinds of modes (visual phenomenon indicates the condition of looking over the check point through the manual work, whether have and length measurement indicate whether to judge earlier and have the damage, if there is the damage, then measure the damage), present detection achievement is accomplished through the manual work, artifical detection needs the hanging flower basket to observe, it probably exists to look over carefully inadequately to observe, observe that the angle is limited and the security problem, then highway bridge begins to appear the telecar and detects, but highway inspection vehicle sensor is single basically, fixed sensor, also there is the not high scheduling problem of observation visual angle and flexibility ratio.
Therefore, a mobile operation vehicle or a robot is adopted, a detection mechanism is carried, automatic detection tasks can be realized by fusing multi-sensor technology, from the technical realization, the mobile robot technology or the operation vehicle has been popularized and applied in various fields, the technical maturity is high, the automatic operation arm technology is consistent with the technical route of an industrial robot, the maturity is higher, but the main difficulty lies in the dexterity design of an operation arm and the safe deployment of a sensor, in addition, the complex terrain of a bridge environment is small and small in part space, more obstacles need to be avoided, and therefore the detection mechanism is small and exquisite and can observe in different directions and different angles.
Referring to fig. 1 to 11, as shown in fig. 1, the present embodiment provides a mechanical arm end detection mechanism for detecting a railroad bridge, which is installed at an end of a robot arm 13, the robot connected to the robot arm 13 is a robot for detecting a railroad bridge, the end detection mechanism has a slender shuttle structure, and then four sensors with high flexibility are mounted on the shuttle structure, so as to detect and extract typical bridge defects of railroad T-shaped bridges and box-shaped bridges including bridge arches, abutments, supports and auxiliary facilities, and also detect narrow cavities and complex terrains, the sensors can rotate, meet the observation of different directions and angles, and solve the problems of the prior art that detection is not in place due to complex terrains and observation visual angles are limited and not high in flexibility, and the end detection mechanism comprises: a central shaft 11, wherein the central shaft 11 is arranged on the end part of the tail end of the robot arm 13; the detection sensor I1 is arranged at the front end of the central shaft 11, and the detection sensor I1 is used for detecting front-end obstacles and observing a bridge; the pair of driving mechanisms are arranged on the central shaft 11 at intervals, a second detection sensor 4 is mounted on the driving mechanism at the front end, and the driving mechanism at the front end can drive the second detection sensor 4 to rotate around the central shaft 11 in the circumferential direction so as to observe the bridge; a detection sensor III 8 is mounted on the driving mechanism at the rear end, and the driving mechanism at the rear end can drive the detection sensor III 8 to rotate circumferentially around the central shaft 11 so as to observe the bridge; a detection sensor four 17, detection sensor four 17 installs on the flexible arm of robot arm 13, detection sensor four 17 is used for observing flexible arm.
Preferably, the second detection sensor 4 and the third detection sensor 8 are located between the first detection sensor 1 and the fourth detection sensor 17.
Preferably, the end detection mechanism further comprises: the first vision camera 3 is mounted on a driving mechanism at the front end, and the driving mechanism at the front end can drive the first vision camera 3 to rotate circumferentially around the central shaft 11 so as to observe the bridge; and the second vision camera 9 is mounted on a driving mechanism at the rear end, and the driving mechanism at the rear end can drive the second vision camera 9 to rotate around the central shaft 11 in the circumferential direction so as to observe the bridge.
As shown in fig. 2, the driving mechanism includes: a servo motor 7 fixedly mounted on the central shaft 11; a driving gear 14, wherein the driving gear 14 is installed on a rotating shaft of the servo motor 7; a rotating sleeve 16, wherein the rotating sleeve 16 is movably arranged on the central shaft 11; a driven gear 6, wherein the driven gear 6 is mounted on the rotary sleeve 16, and the driven gear 6 is engaged with the driving gear 14.
Preferably, the rotating sleeve 16 is connected to said central shaft 11 by means of bearings.
Preferably, a fixing frame 15 is installed on the rotary sleeve 16 for connection.
Preferably, the first vision camera 3 and the second detection sensor 4 are mounted on two sides of a fixing frame 15 at the front end; the second vision camera 9 and the third detection sensor 8 are mounted on two sides of a fixing frame 15 at the rear end.
Preferably, servo motor 7 drives driving gear 14 rotatory, rethread driving gear 14 drives driven gear 6 and swivel sleeve 16 rotatory, drive detection sensor three 8 through mount 15 then, vision camera two 9, vision camera one 3 and detection sensor two 4 are rotatory around the axial of center pin 11, detection sensor three 8 and detection sensor two 4 can rotate through respective actuating mechanism drive, can detect different position and angle, the realization is to the rotatory detection of circumferencial direction, thereby detection efficiency is higher.
Preferably, the protective cover further comprises a segmented protective cover, wherein the segmented protective cover comprises: an intermediate guard 18, wherein the intermediate guard 18 is installed on the middle periphery of the central shaft 11, and the intermediate guard 18 covers the pair of servo motors 7, the pair of driving gears 14 and the pair of driven gears 6; the front-end rotary protective cover 2 is fixed on a fixing frame 15 at the front end, and the first vision camera 3 and the second detection sensor 4 are positioned in the front-end rotary protective cover 2; the rear-end rotary protection cover 10 is fixed on a fixing frame 15 at the rear end, and the second vision camera 9 and the third detection sensor 8 are positioned in the rear-end rotary protection cover 10.
Preferably, the segmented protective cover is of a slender shuttle-shaped structure as a whole, so that the detection can be performed in a narrow space.
Preferably, the rear end of the front rotary guard 2 extends into the front end of the middle guard 18, and the front end of the rear rotary guard 10 extends into the rear end of the middle guard 18.
Preferably, the front rotary protection shield 2 can rotate around the circumference of the central shaft 11 along with the front fixing frame 15; the rear rotary guard 10 is rotatable about the circumference of the central shaft 11 by a rear mount 15.
Preferably, a first window facing the first vision camera 3 and a second window facing the second detection sensor 4 are formed in the front-end rotary protective cover 2; and a third window facing the second vision camera 9 and a fourth window facing the third detection sensor 8 are formed in the rear-end rotary protective cover 10.
Preferably, a light source 5 corresponding to the second detection sensor 4 is mounted on the fixed frame 15 at the front end, and a first opening for the corresponding light source 5 to transmit is formed in the front-end rotary protective cover 2; install one on the mount 15 of rear end with the light source 5 that detection sensor three 8 corresponds, set up one on the rotatory protection casing of rear end 10 and supply to correspond the transmissive second opening of light source 5, first opening and second opening can make a pair of light source 5 outwards disperse through front end rotatory protection casing 2 and rear end rotatory protection casing 10 respectively, have good illuminating effect to dark department.
Preferably, the two fixing frames 15 are respectively connected with the front end rotary protection cover 2 and the rear end rotary protection cover 10, when the first vision camera 3 and the second vision camera 9 rotate, the front end rotary protection cover 2 and the rear end rotary protection cover 10 can both rotate synchronously, so that the lens of the first vision camera 3 faces the opening position of the first opening, the lens of the second vision camera 9 faces the second opening position, and the first vision camera 3 and the second vision camera 9 can be protected by the front end rotary protection cover 2 and the rear end rotary protection cover 10.
Preferably, the end of the robot arm 13 is connected to the central shaft 11 through a connecting block 12.
Preferably, connecting block 12 outside and seted up the round hole, center pin 11 inserts in this round hole, for center pin 11 provides rigidity support, the end that robot arm 13 was inserted to the shape of the outside is fixed, connecting block 12 has the flange boss, can avoid robot arm 13 to contract back the overlength and touch detection sensor four 17, uses safelyr.
Preferably, the central shaft 11 adopts a hollow design, so that later wiring is facilitated.
Preferably, the second detection sensor 4 and the third detection sensor 8 are infrared sensors, and the thermal distribution of the object can be seen through the thermal imaging technology of the infrared sensors, and the change of the property of the object is judged through the change of the thermal distribution, so that the purpose of detecting the bridge diseases is achieved, and the external environment can be monitored by the vision camera, so that the comprehensive collection of the external image in two states of light and dark can be realized mainly by the infrared sensors and the vision camera is assisted, and the detection efficiency is greatly improved.
Preferably, the first detection sensor 1 and the fourth detection sensor 17 are both degree of freedom pan-tilt cameras.
Preferably, the first detection sensor 1 has a rotational degree of freedom and a pitching degree of freedom, and the observable viewing angle is wide, so that the detection and observation of the motion collision of the robot arm 13 are realized.
As shown in fig. 3, the observation angle of the first detection sensor 1 is F, the observation angle of the second detection sensor 4 is H, and the observation angle of the third detection sensor 8 is K.
As shown in fig. 4, 5, and 6, the four detection sensors 17 have rotational degrees of freedom and pitching degrees of freedom, so that the observable viewing angle is wide, and the robot arm 13 can realize global observation, and provide great assistance for obstacle avoidance of the robot arm 13 and observation of a bridge.
As shown in the figures 7, 8, 9, 10 and 11, the method and the device can be used for detecting the bottom surface of the bridge, the inside of the hole and the abutment of the bridge, and can meet the detection requirements of typical bridge diseases of railway T-shaped bridges and box-type bridges including beam arches, abutments, supports and auxiliary facilities, so that the detection is more comprehensive and reliable.
The working principle is as follows: the detection robot 100 controls the tail end of the robot arm 13 to move to a point to be detected through the processor, and then detects through the first detection sensor 1, the first vision camera 3, the second detection sensor 4, the third detection sensor 8, the second vision camera 9 and the fourth detection sensor 17, and the two driving mechanisms are matched with the first vision camera 3, the second detection sensor 4, the third detection sensor 8 and the second vision camera 9 to carry out all-dimensional detection in the circumferential direction, so that the detection is more convenient and efficient. This application carries on a plurality of detection sensors, can detect the apparent damage point of many bridge key points, and detection sensor all keeps independent motion control, can realize visual detection and flexibility ratio on a large scale, the detection range of sensor has been expanded effectively, the adaptability of robot to complicated detection environment has also been improved, detection to the apparent damage point of many bridge key points provides very big help, the inside observation of fusiformis structural design is especially convenient to the hole, thereby it is more reliable to be applied to the detection of high-speed railway bridge.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the embodiment of the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A mechanical arm tail end detection mechanism for railway bridge detection is characterized by comprising:
a central shaft (11), wherein the central shaft (11) is arranged on the end part of the tail end of the robot arm (13);
a first detection sensor (1), wherein the first detection sensor (1) is arranged at the front end of the central shaft (11), and the first detection sensor (1) is used for detecting front-end obstacles and observing a bridge;
the pair of driving mechanisms are arranged on the central shaft (11) at intervals, a second detection sensor (4) is mounted on the driving mechanism at the front end, and the driving mechanism at the front end can drive the second detection sensor (4) to rotate around the central shaft (11) in the circumferential direction so as to observe a bridge; a third detection sensor (8) is mounted on the driving mechanism at the rear end, and the driving mechanism at the rear end can drive the third detection sensor (8) to rotate circumferentially around the central shaft (11) so as to observe the bridge;
a detection sensor four (17), detection sensor four (17) install on the flexible arm of robot arm (13), detection sensor four (17) are used for observing flexible arm.
2. The mechanical arm end detection mechanism for railroad bridge detection as claimed in claim 1, further comprising:
the first vision camera (3) is mounted on a front driving mechanism, and the front driving mechanism can drive the first vision camera (3) to rotate circumferentially around the central shaft (11) so as to observe the bridge;
and the second visual camera (9) is arranged on the driving mechanism at the rear end, and the driving mechanism at the rear end can drive the second visual camera (9) to rotate circumferentially around the central shaft (11) so as to observe the bridge.
3. The mechanical arm end detection mechanism for railroad bridge detection as claimed in claim 2, wherein the drive mechanism comprises:
a servo motor (7) fixedly mounted on the central shaft (11);
the driving gear (14), the said driving gear (14) is installed on spindle of the said servomotor (7);
the rotating sleeve (16), the said rotating sleeve (16) is set up on the said central shaft (11) movably;
a driven gear (6), wherein the driven gear (6) is arranged on the rotating sleeve (16), and the driven gear (6) is meshed with the driving gear (14).
4. The mechanical arm end detection mechanism for railroad bridge detection as claimed in claim 3, wherein the rotating sleeve (16) is mounted with a fixing frame (15) for connection.
5. The mechanical arm tail end detection mechanism for the railway bridge detection is characterized in that the first visual camera (3) and the second detection sensor (4) are installed on two sides of a front-end fixing frame (15); the second vision camera (9) and the third detection sensor (8) are arranged on two sides of a fixing frame (15) at the rear end.
6. The mechanical arm end detection mechanism for railroad bridge detection as recited in claim 5, further comprising a segmented guard, the segmented guard comprising:
the middle protective cover (18) is arranged on the periphery of the middle part of the central shaft (11), and the middle protective cover (18) covers the pair of servo motors (7), the pair of driving gears (14) and the pair of driven gears (6);
the front-end rotary protective cover (2), the front-end rotary protective cover (2) is fixed on a front-end fixing frame (15), and the first vision camera (3) and the second detection sensor (4) are positioned in the front-end rotary protective cover (2);
the rear end rotary protection cover (10) is fixed on a fixing frame (15) at the rear end, and the vision camera II (9) and the detection sensor III (8) are located in the rear end rotary protection cover (10).
7. The mechanical arm end detection mechanism for railroad bridge detection as claimed in claim 6, wherein the rear end of the front rotary shield (2) extends into the front end of the middle shield (18), and the front end of the rear rotary shield (10) extends into the rear end of the middle shield (18).
8. The mechanical arm tail end detection mechanism for the railway bridge detection is characterized in that the front end rotary protection cover (2) can rotate along with a front end fixing frame (15) around the circumferential direction of the central shaft (11); the rear end rotary protection cover (10) can rotate around the circumference of the central shaft (11) by a fixing frame (15) at the rear end.
9. The mechanical arm tail end detection mechanism for the railway bridge detection as claimed in claim 8, wherein a first window facing the first vision camera (3) and a second window facing the second detection sensor (4) are formed in the front end rotary protection cover (2); and a third window which is opposite to the second vision camera (9) and a fourth window which is opposite to the third detection sensor (8) are arranged on the rear-end rotary protective cover (10).
10. The mechanical arm tail end detection mechanism for detecting the railroad bridge as claimed in claim 9, wherein a light source (5) corresponding to the second detection sensor (4) is mounted on a front end fixing frame (15), and a first opening for the corresponding light source (5) to transmit is formed in the front end rotary protection cover (2); a light source (5) corresponding to the third detection sensor (8) is arranged on the fixed frame (15) at the rear end, and a second opening for transmitting the corresponding light source (5) is formed in the rear-end rotary protective cover (10).
CN202211382688.5A 2022-11-07 2022-11-07 Mechanical arm tail end detection mechanism for railway bridge detection Active CN115418947B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211382688.5A CN115418947B (en) 2022-11-07 2022-11-07 Mechanical arm tail end detection mechanism for railway bridge detection

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211382688.5A CN115418947B (en) 2022-11-07 2022-11-07 Mechanical arm tail end detection mechanism for railway bridge detection

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CN113668384A (en) * 2021-08-06 2021-11-19 中交公路规划设计院有限公司 Bridge inspection vehicle
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JP2007077653A (en) * 2005-09-14 2007-03-29 Yachiyo Engineering Co Ltd Equipment and method for inspecting bridge
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