CN115488877B - Automatic inspection equipment and inspection method thereof - Google Patents
Automatic inspection equipment and inspection method thereof Download PDFInfo
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- CN115488877B CN115488877B CN202210785292.9A CN202210785292A CN115488877B CN 115488877 B CN115488877 B CN 115488877B CN 202210785292 A CN202210785292 A CN 202210785292A CN 115488877 B CN115488877 B CN 115488877B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention relates to an automatic inspection device and an inspection method thereof, wherein the automatic inspection device has an initial state and a working state, and comprises: the inspection robot comprises a robot body and a control module, wherein the control module is arranged on the robot body and is in communication connection with the robot body; the mechanical arms are respectively in communication connection with the control module, the root parts of the mechanical arms are arranged on the robot body, the mechanical arms are folded into a whole in an initial state, and the mechanical arms are unfolded in a working state and the tail ends of the mechanical arms are abutted against the inner wall of the steel box girder to be tested; the plurality of groups of image acquisition devices are correspondingly arranged on a mechanical arm and are in communication connection with the control module, and are used for acquiring and transmitting the internal images of the steel box girder to be tested; and the command vehicle is in communication connection with the control module and is used for identifying the inner surface diseases of the steel box girder to be detected according to the received inner image of the steel box girder to be detected, reducing the detection cost, improving the detection precision and realizing intelligent inspection.
Description
Technical Field
The invention relates to the technical field of bridge detection, in particular to automatic inspection equipment and an inspection method thereof.
Background
The bridge steel box girder is an important component for bridge construction, and because a large number of welded structures exist in the bridge steel box girder, and the inside of the bridge steel box girder is in a high-temperature and high-humidity climatic environment for a long time, typical diseases such as coating cracking, steel plate corrosion, bottom water accumulation and the like are easy to occur after the bridge steel box girder passes through a period of operation service period, so that the bridge steel box girder needs to be detected.
The existing steel box girder has complex internal structure, a plurality of corrosion areas and is scattered at different positions, so that great difficulty is caused to the timeliness and accuracy of the whole maintenance of the bridge steel box girder, and huge cost expenditure is formed. At present, all steel box girder inspection tasks are carried out in an artificial mode, operators observe and judge the steel box girder inspection tasks section by section through human eyes, typical diseases on the inner surface of the bridge steel box girder are difficult to perceive and identify quickly, and the problems of low detection efficiency, incomplete detection, high detection cost, inaccurate detection and the like exist.
Therefore, how to provide an automatic inspection device and an inspection method thereof capable of automatically inspecting and precisely detecting is a technical problem to be solved.
Disclosure of Invention
Based on this, it is necessary to provide an automatic inspection apparatus capable of automatic inspection and accurate inspection and an inspection method thereof.
The invention provides automatic inspection equipment, which has an initial state and a working state, and comprises the following components:
the inspection robot comprises a robot body and a control module, wherein the control module is arranged on the robot body and is in communication connection with the robot body;
the plurality of mechanical arms are respectively in communication connection with the control module, the root parts of the mechanical arms are installed on the robot body, the mechanical arms are folded into a whole in an initial state and unfolded in a working state, and the tail ends of the mechanical arms are abutted against the inner wall of the steel box girder to be tested;
the image acquisition devices are correspondingly arranged on one mechanical arm and are in communication connection with the control module, and are used for acquiring and transmitting the internal images of the steel box girder to be tested;
and the command vehicle is in communication connection with the control module and is used for identifying the inner surface diseases of the steel box girder to be detected according to the received inner image of the steel box girder to be detected.
Among the above-mentioned automatic equipment of patrolling and examining, command car sends the command of patrolling and examining to control module, and control module is according to the command control robot body that patrols and examines and remove, and the removal of robot body drives the arm of installing above that, image acquisition device and navigates to target position together, realizes the automatic operation of patrolling and examining of automatic equipment of patrolling and examining to improve and patrol and examine efficiency, and control module can control the mobile position of robot body accurately, with the improvement and patrol and examine the coverage rate. After reaching the target position, the control module controls the mechanical arm to be switched from an initial state to a working state, the mechanical arm is unfolded, the tail end of the mechanical arm is abutted against the inner wall of the steel box girder to be detected so as to accurately position the target position, at the moment, the image acquisition device acquires and transmits an internal image of the steel box girder to be detected, and the command vehicle identifies the inner surface diseases of the steel box girder to be detected according to the received internal image of the steel box girder to be detected, so that the typical diseases of the inner surface of the bridge steel box girder can be conveniently, rapidly and accurately perceived and identified, the detection cost is reduced, the detection accuracy is improved, and the intelligent inspection is realized.
In one embodiment, the mechanical arm comprises a plurality of connecting rods and a plurality of joints respectively in communication connection with the control module, the root of the mechanical arm is provided with one connecting rod on the robot body through one joint, one joint is arranged between two adjacent connecting rods, and the two adjacent connecting rods are rotatably connected with the joints.
In one embodiment, the joint comprises a first rotary drive assembly, a drive shaft, two sets of connection assemblies, wherein:
the first rotary driving assembly is in communication connection with the control module, and the output end of the first rotary driving assembly is connected with the transmission shaft;
one ends of the two groups of connecting assemblies are respectively arranged on the transmission shafts, and the other ends of the two groups of connecting assemblies are respectively connected with the two connecting rods in a one-to-one correspondence manner.
In one embodiment, the mechanical arm further comprises a support module, the support module comprising a support bar, a first pivot seat, and a second pivot seat, wherein:
the first rotating shaft seat comprises a first seat body, a first rotating shaft and a first shaft sleeve, the first seat body and the first shaft sleeve are rotatably connected into a whole through the first rotating shaft, and the first shaft sleeve is fixed on a first connecting assembly starting from the robot body;
The first rotating shaft seat comprises a second seat body, a second rotating shaft, a third rotating shaft and a second shaft sleeve, the second seat body and the second shaft sleeve are rotatably connected into a whole through the second rotating shaft, the second shaft sleeve and the robot body are rotatably connected into a whole through the third rotating shaft, the axial directions of the second rotating shaft and the third rotating shaft are vertical, and the axial direction of the third rotating shaft is along the up-down direction;
the two ends of the support rod along the extending direction of the support rod are respectively connected with the first base body and the second base body.
In one embodiment, the mechanical arm further comprises an abutting module, the abutting module comprises an abutting rod, an elastic component and an abutting plate, the abutting rod, the elastic component and the abutting plate are sequentially connected into a whole along the extending direction of the abutting rod, one end, away from the elastic component, of the abutting rod is connected with the connecting rod located at the tail end of the mechanical arm, and the abutting plate abuts against the inner wall of the steel box girder to be tested in a working state.
In one embodiment, the robot body includes a vehicle body, a driving unit, a lifting unit, and a shock absorbing unit, wherein:
The driving unit is arranged on the vehicle body, is in communication connection with the control module and is used for driving the vehicle body to move;
the lifting unit is arranged on the vehicle body in a vertically movable manner and is in communication connection with the control module;
the damping unit is arranged on the vehicle body and positioned at the bottom of the vehicle body and is used for damping and buffering;
one part of the mechanical arm is arranged on the lifting unit, and the other part of the mechanical arm is arranged on the vehicle body.
In one embodiment, the drive unit comprises four wheels, two conveyor belt assemblies, a second rotary drive assembly, wherein:
the second rotary driving assembly is mounted on the vehicle body and is in communication connection with the control module;
the two conveyor belt components are positioned on two sides of the vehicle body, and one end of each conveyor belt component is connected with the output end of the second rotary driving component;
the four wheels are rotatably arranged at four corners of the vehicle body, and the two wheels positioned at the same side of the vehicle body are respectively connected with one end of the conveyor belt component, which is far away from the second rotary driving component.
In one embodiment, the lifting unit comprises a lifting frame, a third rotary drive assembly, a screw, and a linear guide rail, wherein:
The third rotary driving assembly is mounted on the vehicle body and is in communication connection with the control module;
the screw rod is arranged at the output end of the third rotary driving assembly and extends along the up-down direction;
the lifting frame is arranged at the extending end of the screw rod, and a part of the mechanical arm is arranged on the lifting frame;
the linear guide rail is fixed on the vehicle body along the up-down direction and is connected with the lifting frame in a sliding way.
In one embodiment, the image acquisition device includes a plurality of image acquisition modules disposed on the mechanical arm at intervals, the image acquisition modules including:
the rotating unit is rotatably installed on the mechanical arm and is in communication connection with the control module;
the camera is arranged at one end of the rotating unit, which is close to the inner surface of the steel box girder to be tested, and is in communication connection with the control module;
and the vibration data acquisition unit is arranged at one end, far away from the inner surface of the steel box girder to be tested, of the rotating unit and is in communication connection with the control module.
In addition, the invention also provides a patrol method of the automatic patrol equipment according to any one of the technical schemes, which comprises the following steps:
Step S901, the command vehicle controls the inspection robot to navigate to a target position;
step S902, the control module controls the mechanical arm to switch from the initial state to the working state;
step S903, the image acquisition device acquires and transmits an internal image of the steel box girder to be detected;
and step S904, the command vehicle identifies the inner surface diseases of the steel box girder to be tested according to the received inner image of the steel box girder to be tested.
In the inspection method of the automatic inspection equipment, firstly, through step S901, a command vehicle sends an inspection command to a control module, the control module controls a robot body to move according to the received inspection command, and the movement of the robot body drives a mechanical arm and an image acquisition device arranged on the robot body to navigate to a target position together; then, through step S902, after reaching the target position, the control module controls the mechanical arm to switch from the initial state to the working state, the mechanical arm is unfolded, and the tail end of the mechanical arm is abutted against the inner wall of the steel box girder to be tested; then, through step S903, the image acquisition device acquires an internal image of the steel box girder to be tested, and transmits the internal image of the steel box girder to be tested to the control module, and the control module continuously transmits the internal image of the steel box girder to be tested to the command vehicle; and finally, through step S904, the command vehicle identifies the inner surface diseases of the steel box girder to be detected according to the received inner image of the steel box girder to be detected. The inspection method of the automatic inspection equipment can realize high-efficiency, high-coverage rate, intelligent, low-cost and high-precision inspection, and conveniently, quickly and accurately sense and identify typical diseases on the inner surface of the bridge steel box girder.
Drawings
Fig. 1 is a schematic structural diagram of an automatic inspection device according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the automatic inspection device in FIG. 1 in an operating state;
FIG. 3 is a schematic view of a module formed by the mechanical arm, the image acquisition device, the lifting frame and the screw in FIG. 1;
FIG. 4 is a schematic view of the joint of FIG. 1;
FIG. 5 is a schematic view of the support module of FIG. 1;
FIG. 6 is a schematic view of the abutting module in FIG. 1;
FIG. 7 is a schematic view of the robot body of FIG. 1;
FIG. 8 is a schematic diagram of the image acquisition module in FIG. 1;
fig. 9 is a flowchart of an inspection method of an automatic inspection apparatus according to an embodiment of the present invention.
Reference numerals:
10. automatic inspection equipment;
100. inspection robot; 110. a robot body; 111. a vehicle body; 112. a driving unit; 1121. a wheel; 1122. a conveyor belt assembly; 1123. a second rotary drive assembly; 113. a lifting unit; 1131. lifting the frame; 1132. a third rotary drive assembly; 1133. a screw rod; 1134. a linear guide rail; 114. a shock absorbing unit;
200. a mechanical arm; 210. a connecting rod; 220. a joint; 221. a first rotary drive assembly; 222. a transmission shaft; 223. a connection assembly; 224. a connecting flange; 230. a support module; 231. a support rod; 232. a first rotating shaft seat; 2321. a first base; 2322. a first rotating shaft; 2323. a first sleeve; 233. a second rotating shaft seat; 2331. a second seat body; 2332. a second rotating shaft; 2333. a third rotating shaft; 2334. a second sleeve; 234. a third connecting seat; 240. an abutment module; 241. a butt joint rod; 242. an elastic component; 243. an abutting plate;
300. An image acquisition device; 310. an image acquisition module; 311. a rotating unit; 312. a camera; 313. and a vibration data acquisition unit.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
The following describes the technical scheme provided by the embodiment of the invention with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention provides an automatic inspection device 10 for inspecting a bridge steel box girder so as to identify typical diseases such as coating cracking, steel plate rust, bottom water accumulation, etc., where the automatic inspection device 10 has an initial state and a working state, the initial state is a state of each component when the automatic inspection device 10 is not started, the working state is not a state of each component when the automatic inspection device 10 is detecting, and the automatic inspection device 10 includes an inspection robot 100, a plurality of mechanical arms 200, a plurality of groups of image acquisition devices 300, and a command car, where:
The inspection robot 100 includes a robot body 110 and a control module, wherein the control module is mounted on the robot body 110 and is in communication connection with the robot body 110. In a specific arrangement, the robot body 110 may be a housing and various functional components arranged on the housing, for example, a mechanism component capable of realizing functions such as automatic charging, temperature and humidity monitoring, obstacle detection, etc., and of course, the structural form of the robot body 110 is not limited thereto, and may be other structural forms capable of meeting requirements; the control module can be a circuit board, a CPU, other structural forms capable of meeting the requirements, and is fixed on the robot body 110 in various modes such as threaded connection, concave-convex fit, buckle connection, adhesive bonding and the like; the communication connection between the control module and the robot body 110 may be implemented by a cable, or may be implemented by other manners capable of being required.
The plurality of mechanical arms 200 are respectively in communication connection with the control module, the root parts of the mechanical arms 200 are installed on the robot body 110, the mechanical arms 200 are folded into a whole in an initial state, the connecting arms are unfolded in a working state, and the tail ends of the mechanical arms 200 are abutted against the inner wall of the steel box girder to be tested in the working state. When the device is specifically arranged, the number of the mechanical arms 200 can be two, three, four or more than four, and the communication connection between the mechanical arms 200 and the control module can be realized through cables or other modes capable of meeting the requirements; the mechanical arm 200 is folded in an initial state, can be unfolded according to a preset gesture under the control of the control module in a working state, and the tail end of the mechanical arm is abutted against the inner wall of the steel box girder to be tested, so that the mechanical arm 200 and the cruise robot are fixed inside the steel box girder, and subsequent image acquisition is facilitated.
The group of image acquisition devices 300 are correspondingly arranged on the mechanical arm 200, the image acquisition devices 300 are in communication connection with the control module, the image acquisition devices 300 are used for acquiring internal images of the steel box girder to be tested, and the image acquisition devices 300 are also used for transmitting the acquired internal images of the steel box girder to be tested to the control module. When the device is specifically set, the number of the image acquisition devices 300 can be two, three, four or more than four, the number of the image acquisition devices 300 can be the same as the number of the mechanical arms 200, and the communication connection between the image acquisition devices 300 and the control module can be realized through cables or other modes capable of meeting the requirements; the internal image of the steel box girder to be detected acquired by the image acquisition device 300 comprises an internal surface coating image of the steel box girder, and also can comprise a rust image of a steel plate in the steel box girder or a ponding image in the steel box girder, and of course, the internal image is not limited to the image and can be other required images.
The command vehicle is in communication connection with the control module and is used for identifying internal diseases of the steel box girder to be detected according to the received internal image of the steel box girder to be detected. When the command vehicle is specifically arranged, the communication connection between the command vehicle and the control module can be realized through a wifi communication system or a lora communication system, and other modes capable of realizing data interaction and information connection can be realized, so that the remote control of the command vehicle can be realized more conveniently; the control module transmits the internal image of the steel box girder to be tested to the command vehicle, the command vehicle is used as a command center of the whole automatic inspection equipment 10, a set of service management system and an image processing system are deployed on the command vehicle, the service management system can process the operation of the inspection robot 100, the mechanical arm 200 and the control module, the image processing system is used for processing the internal image of the steel box girder to be tested so as to obtain the internal disease of the steel box girder to be tested, and of course, the image processing system can also be a service system of a third party connected with the control module.
In the above-mentioned automatic inspection device 10, the command car sends the command of patrolling and examining to control module, and control module is according to the command control robot body 110 that patrols and examines and remove, and robot body 110's removal drives the arm 200 of installing above that, image acquisition device 300 and navigates to the target position together, realizes the automatic operation of patrolling and examining of automatic inspection device 10 to improve the efficiency of patrolling and examining, and control module can control the mobile position of robot body 110 accurately, in order to improve the coverage rate of patrolling and examining. After reaching the target position, the control module controls the mechanical arm 200 to be switched from an initial state to a working state, the mechanical arm 200 is unfolded, the tail end of the mechanical arm 200 is abutted against the inner wall of the steel box girder to be detected so as to be accurately positioned to the target position, at the moment, the image acquisition device 300 acquires and transmits an internal image of the steel box girder to be detected, and the command vehicle identifies internal diseases of the steel box girder to be detected according to the received internal image of the steel box girder to be detected so as to conveniently, rapidly and accurately sense and identify typical coating diseases on the inner surface of the bridge steel box girder, reduce detection cost, improve detection accuracy and realize intelligent inspection.
The mechanical arm 200 has various structural forms, and in a preferred embodiment, as shown in fig. 1, 2, 3 and 4, the mechanical arm 200 includes a plurality of connecting rods 210 and a plurality of joints 220, and the plurality of joints 220 are respectively in communication connection with the control module, however, the communication connection between the joints 220 and the control module may be implemented through cables, and other modes capable of meeting requirements may also be adopted. The root of the mechanical arm 200 is mounted on the robot body 110 through a joint 220, so as to realize the mounting between the root of the mechanical arm 200 and the robot body 110, and of course, the joint 220 and the robot body 110 can be rotatably connected or fixedly connected. A joint 220 is provided between two adjacent links 210, and the two adjacent links 210 are rotatably connected with the joint 220 as one body, respectively, so as to facilitate the unfolding and folding of the robot arm 200.
In the above-mentioned automatic inspection device 10, the control module sends a deployment action command to the joints 220, each joint 220 acts, and the joints 220 drive the connecting rod 210 to move along with it, so that the mechanical arm 200 is deployed; conversely, the control module sends a folding action command to the joints 220, and each joint 220 acts to cause the mechanical arm 200 to fold by driving the connecting rod 210 to move therewith. In a specific arrangement, the connecting rod 210 may be a carbon fiber tube, so as to improve connection and support strength, and may be in other structural forms capable of meeting requirements, and of course, the structural form of the mechanical arm 200 is not limited thereto, and may be in other structural forms capable of meeting requirements.
The joint 220 has various structural forms, specifically, as shown in fig. 2, 3 and 4, the joint 220 includes a first rotation driving component 221, a transmission shaft 222, and two sets of connection components 223, where:
the first rotary drive assembly 221 is communicatively coupled to the control module, and an output of the first rotary drive assembly 221 is coupled to a drive shaft 222. When the first rotary driving assembly 221 is specifically arranged, the first rotary driving assembly 221 is connected with the control module through a cable in a communication manner, and other modes capable of meeting the requirements can be adopted; the first rotary driving assembly 221 may be a motor, and may also be in other structural forms capable of meeting the requirements, and the first rotary driving assembly 221 may be connected with the transmission shaft 222 through a connection flange 224, a double-row angular contact ball bearing is sleeved inside the connection flange 224, the connection flange 224 is connected with the body of the first rotary driving assembly 221, and the transmission shaft 222 passes through the double-row angular contact ball bearing to be connected with the first rotary driving assembly 221, so that the transmission shaft 222 is driven to rotate along with the output end of the first rotary driving assembly 221 through the output end of the first rotary driving assembly 221, and of course, the connection mode between the output end of the first rotary driving assembly 221 and the transmission shaft 222 is not limited to this, and may also be in other modes capable of meeting the requirements.
One ends of the two sets of connection assemblies 223 are respectively mounted on the transmission shaft 222, and the other ends of the two sets of connection assemblies 223 are respectively connected with the two connecting rods 210 in a one-to-one correspondence manner. When specifically set up, coupling assembling 223 can be aluminum alloy connecting piece, pin and 401 glue, and aluminum alloy connecting piece cover is established and is fixed on transmission shaft 222 to fix aluminum alloy connecting piece and connecting rod 210 as an organic whole through pin and 401 glue, so that coupling assembling 223 can rotate along with transmission shaft 222, of course, coupling assembling 223's structural style and with transmission shaft 222, connecting rod 210's connected mode are not limited to this, can also be other modes that can satisfy the requirement.
In the above-mentioned automatic inspection apparatus 10, the control module sends a deployment action command to the first rotary driving assemblies 221, each first rotary driving assembly 221 acts, the output shaft of the first rotary driving assembly 221 drives the transmission shaft 222 to rotate therewith, the transmission shaft 222 drives the connection assembly 223 to rotate therewith, and the connection assembly 223 drives the connecting rod 210 to move therewith, so that the mechanical arm 200 is deployed; conversely, the control module sends a folding action command to the first rotary driving assemblies 221, each first rotary driving assembly 221 acts, the output shaft of the first rotary driving assembly 221 drives the transmission shaft 222 to rotate along with the first rotary driving assembly 221, the transmission shaft 222 drives the connecting assembly 223 to rotate along with the first rotary driving assembly, and the connecting assembly 223 drives the connecting rod 210 to move along with the first rotary driving assembly, so that the mechanical arm 200 is folded. Of course, the structure of the joint 220 is not limited thereto, and may be other structures that can satisfy the requirements.
In order to improve the connection strength, more specifically, as shown in fig. 1, 2, 3, 4 and 5, the mechanical arm 200 further includes a support module 230, where the support module 230 includes three parts including a support bar 231, a first pivot seat 232 and a second pivot seat 233, and the three parts include:
the first rotating shaft seat 232 includes a first seat body 2321, a first rotating shaft 2322 and a first shaft sleeve 2323, where the first seat body 2321 and the first shaft sleeve 2323 are rotatably connected into a whole through the first rotating shaft 2322, and the first shaft sleeve 2323 is fixed on the first connecting component 223 starting from the robot body 110. When the device is specifically arranged, a first rotating shaft 2322 is arranged in a first shaft sleeve 2323, the first rotating shaft 2322 can rotate relative to the first shaft sleeve 2323, a first seat body 2321 is of a half-frame structure, and the first rotating shaft 2322 is fixedly connected to two opposite side plates of the first seat body 2321 in a plugging manner; the fixed connection manner between the first shaft sleeve 2323 and the connection component 223, and between the first rotation shaft 2322 and the first seat body 2321 may be threaded connection, concave-convex fit, and buckle connection, and may also be other manners capable of meeting the requirements.
The first rotating shaft seat 232 comprises a second seat body 2331, a second rotating shaft 2332, a third rotating shaft 2333 and a second shaft sleeve 2334, the second seat body 2331 and the second shaft sleeve 2334 are rotatably connected into a whole through the second rotating shaft 2332, the second shaft sleeve 2334 and the robot body 110 are rotatably connected into a whole through the third rotating shaft 2333, the axial directions of the second rotating shaft 2332 and the third rotating shaft 2333 are vertical, and the axial direction of the third rotating shaft 2333 is along the up-down direction. When the robot is specifically arranged, the second rotating shaft 2332 and the third rotating shaft 2333 are respectively arranged in the second sleeve 2334, the second rotating shaft 2332 can rotate relative to the second sleeve 2334, the second rotating shaft 2332 can also rotate relative to the second sleeve 2334, the second seat body 2331 is of a half-frame structure, the second rotating shaft 2332 is fixedly inserted on two opposite side plates of the second seat body 2331, the third rotating shaft 2333 can be installed on the robot body 110 through the third connecting seat 234, a bearing is arranged in the third connecting seat 234, and the third rotating shaft 2333 is inserted in the bearing; the fixed connection mode between the second rotating shaft 2332 and the second seat body 2331 can be threaded connection, concave-convex fit and buckle connection, and can also be other modes capable of meeting the requirements.
The two ends of the supporting rod 231 along the extending direction of the supporting rod are respectively connected with the first seat 2321 and the second seat 2331, and when the specific arrangement is performed, the fixed connection mode between the supporting rod 231 and the first seat 2321 and the fixed connection mode between the supporting rod 231 and the second seat 2331 can be threaded connection, concave-convex fit and buckle connection, and other modes capable of meeting requirements can be adopted.
In the above-mentioned automatic inspection device 10, the first rotary driving component 221, which starts from the robot body 110, moves to drive the first connecting rod 210 to move along with it, and the movement of the first connecting rod 210 drives the supporting rod 231 to move relative to the third rotating shaft 2333, the second rotating shaft 2332 and the first rotating shaft 2322, so that the supporting rod 231 can support the connecting rod 210 and the joint 220 when the mechanical arm 200 is unfolded, and further can improve the connection strength between the mechanical arm 200 and the robot body 110, and can fold along with the folding of the plurality of connecting rods 210, thereby facilitating the overall folding and retraction of the mechanical arm 200.
In order to facilitate the mechanical arm 200 abutting against the inner wall of the steel box girder to be tested, as shown in fig. 1, 2, 3, 4 and 6, a preferred embodiment of the mechanical arm 200 further includes an abutting module 240, the abutting module 240 includes an abutting rod 241, an elastic component 242 and an abutting plate 243, the abutting rod 241, the elastic component 242 and the abutting plate 243 are sequentially connected into a whole along the extending direction of the abutting rod 241, and one end of the abutting rod 241 away from the elastic component 242 is connected with the connecting rod 210 located at the tail end of the mechanical arm 200, and the abutting plate 243 abuts against the inner wall of the steel box girder to be tested in the working state. When the elastic component 242 is specifically arranged, one end of the spring is connected to the abutting rod 241, the other end of the spring is connected to the abutting plate 243, and for guiding the spring, a guide rod protrudes from the end surface of the abutting rod 241 along the extending direction of the abutting rod 241, the structural form of the elastic component 242 is not limited to this, and the connecting modes among the connecting rod 210, the abutting rod 241, the elastic component 242 and the abutting plate 243 can be threaded connection, concave-convex fit and snap connection, and can also be other modes capable of meeting the requirement, and the abutting plate 243 can be polyurethane plate, and can also be other structural forms capable of meeting the requirement.
In the automatic inspection device 10, the connecting rod 210 at the tail end of the mechanical arm 200 drives the abutting module 240 to be unfolded along with the abutting module, and the abutting plate 243 in the abutting module 240 contacts with the inner wall of the steel box girder to be inspected when in a working state, and the abutting plate 243 through the elastic component 242 abuts against the inner wall of the steel box girder to be inspected, so that the mechanical arm 200 can be reliably and accurately positioned on the inner wall of the steel box girder to be inspected.
The robot body 110 has various structural forms, and in a preferred embodiment, as shown in fig. 1, 2, 3 and 7, the robot body 110 includes a vehicle body 111, a driving unit 112, a lifting unit 113 and a damping unit 114, wherein:
the driving unit 112 is mounted on the vehicle body 111, and the driving unit 112 is in communication connection with the control module, and the driving unit 112 is used for driving the vehicle body 111 to move; in a specific arrangement, the driving unit 112 is connected to the control module through a cable, and of course, other modes capable of meeting the requirement may be adopted.
The lifting unit 113 is mounted on the vehicle body 111, the lifting unit 113 can move up and down relative to the vehicle body 111, and the lifting unit 113 is in communication connection with the control module; in a specific arrangement, the lifting unit 113 is connected to the control module through a cable, which may be other ways that can meet the requirements.
The shock absorbing unit 114 is mounted to the vehicle body 111, and the shock absorbing unit 114 is located at the bottom of the vehicle body 111, the shock absorbing unit 114 being for shock absorption and buffering; when specifically arranged, the shock absorbing unit 114 may be mounted on the vehicle body 111 by means of threaded connection, concave-convex fit, welding, snap connection, etc., and of course, the connection between the shock absorbing unit 114 and the vehicle body 111 may also be achieved by other means that can meet the requirements.
A part of the mechanical arm 200 is mounted on the lifting unit 113, and the other part of the mechanical arm 200 is mounted on the vehicle body 111; in the specific arrangement, the lifting unit 113 and the vehicle body 111 are connected into a whole along the front-rear direction, the number of the mechanical arms 200 is four, two mechanical arms 200 are arranged at the position of the lifting unit 113 close to the top of the vehicle body 111 and are positioned at the left side and the right side of the lifting unit 113, and the two mechanical arms 200 are responsible for detecting the upper half section of the box girder; two mechanical arms 200 are disposed at the position of the vehicle body 111 near the bottom and on the left and right sides of the vehicle body 111, and the two mechanical arms 200 are responsible for detecting the lower half section of the box girder.
In the above automatic inspection device 10, the command vehicle sends an inspection command to the control module, the control module controls the driving unit 112 to act according to the received inspection command, the driving unit 112 drives the vehicle body 111 to move, and the vehicle body 111 moves to drive the lifting unit 113, the damping unit 114, the mechanical arm 200 and the image acquisition device 300 to move together to navigate to a target position; the control module controls the lifting unit 113 to act according to the received inspection command, the lifting unit 113 moves upwards to drive the damping unit 114, the mechanical arm 200 and the image acquisition device 300 to move upwards to the target height along with the movement of the lifting unit, the control module controls the mechanical arm 200 to switch from an initial state to a working state, the mechanical arm 200 is unfolded, and the tail end of the mechanical arm 200 is abutted against the inner wall of the steel box girder to be detected so as to acquire images of different heights of the inner wall of the steel box girder to be detected; after the image acquisition is completed, the control module controls the mechanical arm 200 to be switched from the working state to the initial state, the mechanical arm 200 is folded, the control module controls the lifting unit 113 to act according to the received inspection command, the lifting unit 113 moves downwards, the damping unit 114, the mechanical arm 200 and the image acquisition device 300 are driven to move downwards along with the movement, and at the end of the downward movement, the damping unit 114 performs damping and buffering.
The driving unit 112 has various structural forms, specifically, as shown in fig. 1, 2 and 7, the driving unit 112 includes four wheels 1121, two conveyor belt assemblies 1122, and a second rotary driving assembly 1123, wherein:
the automobile body 111 is mainly formed by 316L stainless steel square pipe welding, adopts wheeled drive to arrange four wheels 1121 in its side, realizes the wheel 1121 drive through the hold-in range, assembles high-power driving motor, decelerator, odometer, navigation module on the wheel 1121, and navigation module realizes whole accurate location through multisensor integration, multisensor has fused the multiple sensors such as the odometer of follower, gyroscope, laser sensor, infrared sensor. A 3D lidar is disposed at the front and rear of the vehicle body 111. Establishing a three-dimensional image in the box girder through a radar; an ultrasonic sensing array and a laser infrared sensor are deployed on two sides of the car body 111, and induction and statistics are carried out among the steel box girders to be detected; and correcting the error of the odometer through the 3D laser radar and the two-dimensional code positioning. The inertial positioning and navigation of the car body 111 is achieved by measuring the rail car acceleration with an accelerometer (IMU). When the accurate positioning is carried out, the driving mileage, the characteristics among the box girders and the three-dimensional images are matched and compared, so that the accurate positioning of the vehicle body 111 in the steel box girders to be detected is realized, meanwhile, the three-dimensional laser radar and vision are utilized to carry out the three-dimensional image construction of the space in the steel box girders to be detected, and the accurate position of the defect is recorded. And the positioning and navigation process of the vehicle body 111 is as follows: and the command vehicle sends the inspection task, and the global planning module calculates the total planning of the current mission point journey and sends the total planning to the single-pass planning module. The single-pass planning module sends a motion control instruction to the control module to control the vehicle body 111 to advance, an automatic image acquisition task of a certain bridge is automatically executed according to a task issued by a command vehicle, the vehicle body 111 precisely walks to a designated point through positioning and navigation, surrounding obstacles are detected in the working process to provide safety guarantee, the temperature and humidity of the current working environment of the railway vehicle are monitored in real time, various abnormal conditions are encountered in the working process in emergency treatment, and BIM three-dimensional display provides three-dimensional space coordinates of pictures; in addition, the vehicle body 111 is further provided with an automatic charging module, so that power supply guarantee can be provided by unmanned automatic inspection, and the latest charging pile can be automatically searched for low electric quantity for automatic charging. The functions of walking navigation, obstacle detection, image acquisition, lifting management, mechanical arm 200 management, automatic charging, automatic task execution, manual operation, temperature and humidity monitoring, abnormal event processing, BIM coordinate conversion and the like can be realized through the structure on the vehicle body 111.
The second rotary drive assembly 1123 is mounted to the vehicle body 111, and the second rotary drive assembly 1123 is communicatively coupled to the control module. When the device is specifically arranged, the second rotary driving assembly 1123 is connected with the control module through a cable in a communication manner, and other modes capable of meeting the requirements can be adopted; the second rotary driving assembly 1123 may be a motor, or may be other structural forms capable of meeting requirements, for example, the second rotary driving assembly 1123 may be composed of a dc servo motor and a worm gear reducer, both of which are mounted on the vehicle body 111, and the worm gear reducer is connected to an output end of the dc servo motor.
Two belt assemblies 1122 are disposed on both sides of the vehicle body 111, one end of each of the two belt assemblies 1122 is connected to the output end of the second rotary drive assembly 1123, and one end of each of the two belt assemblies 1122 is connected to four wheels 1121; four wheels 1121 are rotatably provided at four corners of the vehicle body 111, and two wheels 1121 on the same side of the vehicle body 111 among the four wheels 1121 are respectively connected to ends of the belt assembly 1122 remote from the second rotary drive assembly 1123. When the device is specifically arranged, the wheels 1121 are of steel structures, the conveyor belt assembly 1122 comprises an arc-shaped synchronous belt and two synchronous pulleys, the driving unit 112 also comprises a belt seat bearing, a linkage shaft, an arc-shaped tooth transmission gear train and a synchronous belt tensioning device, the belt seat bearing is arranged on the vehicle body 111, the linkage shaft is internally inserted and arranged, the linkage shaft is connected with the two synchronous pulleys arranged at intervals, the other two synchronous pulleys are respectively connected with the arc-shaped tooth transmission gear train, and the arc-shaped tooth transmission gear train is connected with the four wheels 1121 so as to realize front-back transmission of the two arc-shaped synchronous belts and drive the four wheels 1121 to move; the synchronous belt tensioning device consists of a synchronous belt pulley, a rectangular spring, a guide rod and an adjusting screw rod and is used for tensioning two circular arc synchronous belts.
In the above automatic inspection apparatus 10, the control module controls the second rotary driving assembly 1123 to act according to the received inspection command, the second rotary driving assembly 1123 drives the two conveyor belt assemblies 1122 to move, the two conveyor belt assemblies 1122 drive the four wheels 1121 to move, the four wheels 1121 drive the vehicle body 111 to move, and the vehicle body 111 moves to drive the lifting unit 113, the damping unit 114, the mechanical arm 200 and the image acquisition device 300 to move together to navigate to the target position.
The lifting unit 113 has various structural forms, specifically, as shown in fig. 1, 2, 3 and 7, the lifting unit 113 includes a lifting frame 1131, a third rotary driving assembly 1132, a screw 1133 and a linear guide 1134, wherein:
the third rotary drive assembly 1132 is mounted to the vehicle body 111, and the third rotary drive assembly 1132 is communicatively coupled to the control module; when the device is specifically arranged, the third rotary driving assembly 1132 is connected with the control module through a cable in a communication manner, and other modes capable of meeting the requirements can be adopted; the third rotary driving assembly 1132 may be a motor, may be in other structural forms capable of meeting the requirements, and the fixing connection manner between the body of the third rotary driving assembly 1132 and the vehicle body 111 may be threaded connection, concave-convex fit, and snap connection, or may be in other manners capable of meeting the requirements.
The screw 1133 is mounted to an output end of the third rotary driving assembly 1132, and a nut of the screw 1133 moves in an up-down direction; in a specific arrangement, the nut of the screw 1133 can be driven by the output end of the third rotary driving assembly 1132 to move up and down.
The lifting frame 1131 is mounted on a nut of the screw 1133, and a part of the mechanical arm 200 is mounted on the lifting frame 1131; in a specific arrangement, the fixed connection manner between the lifting frame 1131 and the nut of the screw 1133 and the mechanical arm 200 may be threaded connection, concave-convex fit, or snap connection, or may be other manners capable of meeting the requirements.
The linear rail 1134 is fixed to the vehicle body 111 in the up-down direction, and the linear rail 1134 is slidably connected to the lift frame 1131. In a specific arrangement, the fixed connection manner between the linear guide 1134 and the vehicle body 111 may be a threaded connection, a concave-convex fit, or a snap connection, or may be other manners capable of meeting the requirements.
In the above automatic inspection apparatus 10, the control module controls the third rotary driving assembly 1132 to act according to the received inspection command, the third rotary driving assembly 1132 drives the nut of the screw 1133 to move upwards, the nut of the screw 1133 drives the lifting frame 1131 to slide upwards along the linear guide 1134, and the lifting frame 1131 drives the shock absorbing unit 114, the mechanical arm 200 and the image acquisition device 300 to move upwards together to the target height; after the image acquisition is completed, the control module controls the mechanical arm 200 to be switched from the working state to the initial state, the mechanical arm 200 is folded, the control module controls the third rotary driving assembly 1132 to act according to the received inspection command, the third rotary driving assembly 1132 drives the nut of the screw rod 1133 to move downwards, the nut of the screw rod 1133 drives the lifting frame 1131 to slide downwards along the linear guide 1134, the lifting frame 1131 drives the damping unit 114, the mechanical arm 200 and the image acquisition device 300 to move downwards together, and at the end of the downward movement, the damping unit 114 performs damping and buffering.
It is noted that the damper unit 114 may be composed of a damper frame installed below the vehicle body 111, a damper spring installed below the damper frame, a spring guide shaft movably installed to the damper frame through a linear bearing, and a linear bearing sleeved in the damper spring for guiding.
The image capturing device 300 has various structural forms, and as shown in fig. 1, 3 and 8, the image capturing device 300 includes a plurality of image capturing modules 310, the number of the image capturing modules 310 may be two, three, four or more, the plurality of image capturing modules 310 are arranged on the mechanical arm 200 at intervals, the image capturing modules 310 include a rotating unit 311, a camera 312 and a vibration data capturing unit 313, wherein:
the rotating unit 311 is mounted on the mechanical arm 200, and the rotating unit 311 can rotate relative to the mechanical arm 200, and the rotating unit 311 is in communication connection with the control module. In a specific arrangement, the rotating unit 311 and the mechanical arm 200 may be rotatably mounted together through a pin, and of course, the rotatable connection manner of the rotating unit 311 and the mechanical arm is not limited thereto, and may be other forms capable of meeting the requirement; the rotation unit 311 is connected with the control module through cable communication, and of course, other modes capable of meeting the requirement can be adopted.
The camera 312 is mounted at one end of the rotating unit 311 near the inner surface of the steel box girder to be tested, and the camera 312 is communicatively connected with the control module. In a specific setting, the camera 312 may be an industrial camera 312, or may be other structural forms capable of meeting the requirements, and the connection manner of the camera 312 and the rotating unit 311 may be threaded connection, concave-convex fit, or snap connection, or may be other manners capable of meeting the requirements; the camera 312 is connected to the control module through a cable, but other manners can be used as required.
The vibration data acquisition unit 313 is installed at one end of the rotation unit 311, which is far away from the inner surface of the steel box girder to be tested, and the vibration data acquisition unit 313 is in communication connection with the control module. In the specific setting, the connection mode of the vibration data acquisition unit 313 and the rotation unit 311 can be screw connection, concave-convex fit, buckle connection, or other modes capable of meeting the requirement; the vibration data acquisition unit 313 is connected with the control module through a cable in a communication manner, and of course, other modes capable of meeting the requirements can be adopted.
In the above-mentioned automatic inspection apparatus 10, the plurality of cameras 312 and the vibration data acquisition unit 313 respectively acquire, so that the plurality of areas inside the steel box girder can be data-acquired, so as to improve the inspection coverage rate, and the control module controls the rotation unit 311 to rotate relative to the mechanical arm 200, so as to further improve the area of the steel box girder for internal data acquisition, so as to further improve the inspection coverage rate.
In addition, the invention also provides a method for inspecting the automatic inspection device 10 according to any one of the above technical schemes, which comprises the following steps:
step S901, commanding the vehicle to control the inspection robot 100 to navigate to the target position; when the robot is specifically set, the command vehicle sends a patrol command to the control module, the control module sets a patrol target according to the received patrol command, and the patrol target generated by the control module controls the robot body 110 to move.
Step S902, the control module controls the mechanical arm 200 to switch from an initial state to a working state; in a specific setting, the control module generates a state switching signal after the robot body 110 moves to reach the target position, and the control module controls the mechanical arm 200 to be unfolded according to the state switching signal.
Step S903, the image acquisition device 300 acquires and transmits an internal image of the steel box girder to be tested; when the device is specifically arranged, the mechanical arm 200 is unfolded to drive the image acquisition device 300 positioned on the mechanical arm to move to the acquisition position, the image acquisition device 300 is used for detecting the internal image of the steel box girder to be detected, and then the image acquisition device 300 is used for transmitting the acquired internal image of the steel box girder to be detected to the control module.
And step S904, the command vehicle identifies internal diseases of the steel box girder to be detected according to the received internal image of the steel box girder to be detected. When the device is specifically arranged, an internal image of the steel box girder to be detected is transmitted to a command vehicle from the image acquisition device 300 through the control module, and the command vehicle performs image analysis and progressive defect identification. In addition, after the inspection robot 100 completes the inspection task, it returns to the automatic charging pile to charge, and the inspection is completed.
In the inspection method of the automatic inspection device 10, firstly, through step S901, a command vehicle sends an inspection command to a control module, the control module controls the movement of the robot body 110 according to the received inspection command, and the movement of the robot body 110 drives the mechanical arm 200 and the image acquisition device 300 mounted thereon to navigate to a target position together; then, through step S902, after reaching the target position, the control module controls the mechanical arm 200 to switch from the initial state to the working state, the mechanical arm 200 is unfolded, and the tail end of the mechanical arm 200 is abutted against the inner wall of the steel box girder to be tested; then, through step S903, the image acquisition device 300 acquires an internal image of the steel box girder to be tested, and transmits the internal image of the steel box girder to be tested to the control module, and the control module continues to transmit the internal image of the steel box girder to be tested to the command vehicle; and finally, through step S904, the command vehicle identifies internal diseases of the steel box girder to be detected according to the received internal image of the steel box girder to be detected. The inspection method of the automatic inspection equipment 10 can realize high-efficiency, high-coverage rate, intelligent, low-cost and high-precision inspection, and conveniently, quickly and accurately sense and identify typical coating diseases on the inner surface of the bridge steel box girder.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. An automatic inspection device having an initial state and an operational state, comprising:
the inspection robot comprises a robot body and a control module, wherein the control module is arranged on the robot body and is in communication connection with the robot body;
the plurality of mechanical arms are respectively in communication connection with the control module, the root parts of the mechanical arms are installed on the robot body, the mechanical arms are folded into a whole in an initial state and unfolded in a working state, and the tail ends of the mechanical arms are abutted against the inner wall of the steel box girder to be tested;
The image acquisition devices are correspondingly arranged on one mechanical arm and are in communication connection with the control module, and are used for acquiring and transmitting the internal images of the steel box girder to be tested;
the command vehicle is in communication connection with the control module and is used for identifying the inner surface diseases of the steel box girder to be detected according to the received inner image of the steel box girder to be detected;
the robot comprises a robot body, a control module and a mechanical arm, wherein the mechanical arm comprises a plurality of connecting rods and a plurality of joints which are respectively in communication connection with the control module, the root of the mechanical arm is provided with one connecting rod on the robot body through one joint, and one joint is arranged between two adjacent connecting rods and is rotatably connected with the joints;
the mechanical arm further comprises an abutting module, the abutting module comprises an abutting rod, an elastic component and an abutting plate, the abutting rod, the elastic component and the abutting plate are sequentially connected into a whole along the extending direction of the abutting rod, one end, away from the elastic component, of the abutting rod is connected with the connecting rod located at the tail end of the mechanical arm, and the abutting plate is abutted against the inner wall of the steel box girder to be tested in a working state.
2. The automated inspection apparatus of claim 1, wherein the joint comprises a first rotary drive assembly, a drive shaft, two sets of connection assemblies, wherein:
the first rotary driving assembly is in communication connection with the control module, and the output end of the first rotary driving assembly is connected with the transmission shaft;
one ends of the two groups of connecting assemblies are respectively arranged on the transmission shafts, and the other ends of the two groups of connecting assemblies are respectively connected with the two connecting rods in a one-to-one correspondence manner.
3. The automated inspection apparatus of claim 2, wherein the robotic arm further comprises a support module comprising a support bar, a first pivot mount, and a second pivot mount, wherein:
the first rotating shaft seat comprises a first seat body, a first rotating shaft and a first shaft sleeve, the first seat body and the first shaft sleeve are rotatably connected into a whole through the first rotating shaft, and the first shaft sleeve is fixed on a first connecting assembly starting from the robot body;
the first rotating shaft seat comprises a second seat body, a second rotating shaft, a third rotating shaft and a second shaft sleeve, the second seat body and the second shaft sleeve are rotatably connected into a whole through the second rotating shaft, the second shaft sleeve and the robot body are rotatably connected into a whole through the third rotating shaft, the axial directions of the second rotating shaft and the third rotating shaft are vertical, and the axial direction of the third rotating shaft is along the up-down direction;
The two ends of the support rod along the extending direction of the support rod are respectively connected with the first base body and the second base body.
4. The automated inspection apparatus of claim 1, wherein the robot body comprises a vehicle body, a drive unit, a lifting unit, and a shock absorbing unit, wherein:
the driving unit is arranged on the vehicle body, is in communication connection with the control module and is used for driving the vehicle body to move;
the lifting unit is arranged on the vehicle body in a vertically movable manner and is in communication connection with the control module;
the damping unit is arranged on the vehicle body and positioned at the bottom of the vehicle body and is used for damping and buffering;
one part of the mechanical arm is arranged on the lifting unit, and the other part of the mechanical arm is arranged on the vehicle body.
5. The automated inspection apparatus of claim 4, wherein the drive unit comprises four wheels, two conveyor belt assemblies, a second rotary drive assembly, wherein:
the second rotary driving assembly is mounted on the vehicle body and is in communication connection with the control module;
the two conveyor belt components are positioned on two sides of the vehicle body, and one end of each conveyor belt component is connected with the output end of the second rotary driving component;
The four wheels are rotatably arranged at four corners of the vehicle body, and the two wheels positioned at the same side of the vehicle body are respectively connected with one end of the conveyor belt component, which is far away from the second rotary driving component.
6. The automated inspection apparatus of claim 4, wherein the lifting unit comprises a lifting frame, a third rotary drive assembly, a lead screw, and a linear guide rail, wherein:
the third rotary driving assembly is mounted on the vehicle body and is in communication connection with the control module;
the screw rod is arranged at the output end of the third rotary driving assembly and extends along the up-down direction;
the lifting frame is arranged at the extending end of the screw rod, and a part of the mechanical arm is arranged on the lifting frame;
the linear guide rail is fixed on the vehicle body along the up-down direction and is connected with the lifting frame in a sliding way.
7. The automated inspection apparatus of claim 1, wherein the image acquisition device comprises a plurality of image acquisition modules disposed on the robotic arm at intervals, the image acquisition modules comprising:
the rotating unit is rotatably installed on the mechanical arm and is in communication connection with the control module;
The camera is arranged at one end of the rotating unit, which is close to the inner surface of the steel box girder to be tested, and is in communication connection with the control module;
and the vibration data acquisition unit is arranged at one end, far away from the inner surface of the steel box girder to be tested, of the rotating unit and is in communication connection with the control module.
8. A method of inspection of an automated inspection apparatus according to any one of claims 1 to 7, comprising:
the command vehicle controls the inspection robot to navigate to a target position;
the control module controls the mechanical arm to be switched from the initial state to the working state;
the image acquisition device acquires and transmits an internal image of the steel box girder to be detected;
and the command vehicle identifies the inner surface diseases of the steel box girder to be tested according to the received inner image of the steel box girder to be tested.
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