CN115502993A - All-round robot that patrols and examines of bridge cable - Google Patents
All-round robot that patrols and examines of bridge cable Download PDFInfo
- Publication number
- CN115502993A CN115502993A CN202211196310.6A CN202211196310A CN115502993A CN 115502993 A CN115502993 A CN 115502993A CN 202211196310 A CN202211196310 A CN 202211196310A CN 115502993 A CN115502993 A CN 115502993A
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- wall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The invention discloses an omnibearing inspection robot for a bridge inhaul cable, which relates to the technical field of bridge inspection and comprises an installation shell, wherein displacement mechanisms are arranged inside and outside the installation shell, and one end of the installation shell is provided with a camera and an installation mechanism; a rotation mechanism. According to the invention, the installation mechanism and the rotating mechanism are arranged, the displacement rod is pushed inwards, so that the rotating wheel is tightly attached to the outer wall of the inhaul cable, when the displacement mechanism drives the installation shell to displace on the outer wall of the inhaul cable, the installation shell displaces to drive the rotating ring to rotate, and the rotating ring rotates to drive the camera to perform circumferential displacement, so that in the advancing process of the installation shell, the camera is driven to perform circumferential displacement by virtue of the advancing power of the installation shell, and the surface of the inhaul cable is shot in an all-round way manner.
Description
Technical Field
The invention relates to the technical field of bridge inspection, in particular to an omnibearing inspection robot for a bridge inhaul cable.
Background
In the process of routing inspection of a bridge, a bridge cable needs to be detected, when the cable is used, a large part of load of the bridge is borne, and the cable is most easily damaged due to external cracks caused by environmental influence in use.
At present, adopt and patrol and examine the robot and detect the cable, patrol and examine the robot and install on the cable, drive the robot through the gyro wheel and carry out the displacement on the cable, four cameras are installed to the one end outer wall of robot, and the one end at the robot is installed to camera circumference equidistance, and the in-process of robot displacement, the camera is shot the surface of cable to make things convenient for the operator to inspect the surface of cable, look over whether there is the crack on the cable surface.
However, at the in-process that uses the camera to shoot the cable, the rigidity of camera to make at the in-process of observing the cable, the side position of visual angle is shot to the camera, and the detection picture of shooing is the slope form, is difficult for observing and analyzing the surperficial line size and the line of crack, thereby causes the influence to the detection on cable surface.
Disclosure of Invention
The invention aims to: in order to solve camera rigidity, the side at visual angle is shot to the camera, and the operator only has to incline and is observing the cable to cause the influence to the observation on cable surface, thereby cause the problem of influence to the observation on cable surface, provide a bridge cable all-round robot of patrolling and examining.
In order to achieve the purpose, the invention provides the following technical scheme: the omnibearing inspection robot for the bridge inhaul cable comprises an installation shell, wherein displacement mechanisms for driving the installation shell to displace are arranged inside and outside the installation shell, a camera is arranged at one end of the installation shell, and an installation mechanism for installing the camera is arranged between the installation shell and the camera; the mounting mechanism comprises a mounting seat, a mounting groove, a rotating ring, a mounting rod, a rotating seat, a straight gear, a connecting shaft and a first bevel gear; the mounting seat is fixedly connected to one end of the mounting shell, the mounting groove is formed in one end of the mounting seat, the rotating ring is connected to the inner wall of the mounting groove in a sliding mode, the mounting rod is fixedly connected to the outer wall of the rotating ring, and the camera is mounted at one end of the mounting rod; the rotating seat is rotatably connected inside the mounting shell, the straight gear is rotatably connected inside the mounting shell and positioned on the outer wall of the rotating seat, the connecting shaft is fixedly connected to the outer wall of the straight gear, and the first bevel gear is fixedly connected to one end of the connecting shaft and extends to the inner wall of the mounting groove; a rotating mechanism used for rotating the camera is arranged between the mounting shell and the rotating seat; the rotating mechanism comprises a movable rod, a rotating wheel, a tooth block, a displacement rod, a clamping block, a fixed spring, a first rotating shaft, a second bevel gear, a third bevel gear and a second rotating shaft; the movable rod is connected to the inside of the installation shell in a sliding mode and extends to the inner wall of the installation shell, the movable rod is located on the inner side of the rotating seat, the rotating wheel is connected to one end of the movable rod in a rotating mode, the tooth block is connected to one end, far away from the rotating wheel, of the movable rod in a rotating mode, and the displacement rod is connected to the outer wall of the tooth block in a rotating mode and is connected to the inside of the installation shell in a sliding mode; the fixture block is connected in the mounting shell in a sliding mode and located on one side of the displacement rod, and the fixed spring is connected between the fixture block and the mounting shell; first pivot fixed connection in rotate the outer wall of wheel and extend to the inside of movable rod, second bevel gear fixed connection in the outer wall of first pivot, third bevel gear rotate connect in the inside of movable rod is located second bevel gear's outer wall, second pivot fixed connection in the tooth piece with between the third bevel gear.
As a still further scheme of the invention: the displacement mechanism includes adjustable shelf, electric putter, power wheel and motor, adjustable shelf sliding connection in the inside of installation shell extends to the inner wall of installation shell, electric putter install in the outer wall of installation shell, electric putter's output with the adjustable shelf is connected, the power wheel rotate connect in the inner wall of adjustable shelf, the adjustable shelf is installed to the outer wall of motor, the output of motor with the power wheel is connected.
As a still further scheme of the invention: the installation shell comprises epitheca and inferior valve, the epitheca with the equal fixedly connected with connecting plate in outer wall both sides of inferior valve, the outer wall of connecting plate set up run through in the round hole of connecting plate.
As a still further scheme of the invention: the rotating ring comprises an upper ring and a lower ring, the bottom end of the upper ring is fixedly connected with a connecting block, the top end of the lower ring is provided with a connecting groove, and the connecting groove is tightly attached to the connecting block.
As a still further scheme of the invention: the top of installation shell is located electric putter's one side is installed first battery, the outer wall of swivel becket is located the second battery is installed to one side of installation pole.
As a still further scheme of the invention: the one end of mount pad is connected with and extends to the stopper of mounting groove inner wall, the mount pad with stopper department of meeting the position sets up the thread groove, the outer wall of stopper seted up run through in the through-hole of stopper, the shape of stopper is L shape.
As a still further scheme of the invention: the inner wall of mounting groove with the outer wall of swivel becket laminates mutually, the outer wall of swivel becket is the ring shape.
As a still further scheme of the invention: the confession has been seted up to the inside of installation shell it carries out the first rotation groove of pivoted to rotate the seat, the confession has been seted up to the inside of installation shell straight-teeth gear, connecting axle and first bevel gear carry out pivoted second rotation groove, the outer wall of rotating the seat is provided with the teeth of a cogwheel, the teeth of a cogwheel with the straight-teeth gear meshes mutually, the outer wall of swivel becket is provided with the tooth's socket, the tooth's socket with first bevel gear meshes mutually.
As a still further scheme of the invention: the inner wall of the rotating seat is provided with a clamping groove matched with the outer wall of the tooth block, and a square groove for the movable rod and the displacement rod to slide is formed in the mounting shell.
As a still further scheme of the invention: the outer wall of the displacement rod is provided with ratchets, the outer wall of one end of the fixture block is matched with the ratchets, the second bevel gear is meshed with the third bevel gear, and the displacement rod is rotatably connected with the tooth block through a third rotating shaft.
Compared with the prior art, the invention has the beneficial effects that:
through setting up installation mechanism and slewing mechanism, inwards promote the displacement pole, make the outer wall that rotates wheel and cable hug closely, when displacement mechanism drives the installation shell and carries out the displacement at the outer wall of cable, the installation shell displacement drives the swivel becket and rotates, the swivel becket rotates and drives the camera and carry out the circumference displacement, be convenient for at the in-process that the installation shell was marchd, the power of marching with the help of the installation shell drives camera circumference displacement, carry out all-round shooting to the surface of cable, this operation can make the camera more comprehensive shoot facing to the cable surface, detector's accessible camera openly observes the cable surface, the convenience is observed the size and the shape of crack, thereby detect the cable.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a schematic view of the structure of the mounting groove of the present invention;
FIG. 4 is a cross-sectional view of the mounting housing of the present invention;
FIG. 5 is a schematic view of a rotating ring according to the present invention;
FIG. 6 is a schematic view of the mounting of the stop of the present invention;
FIG. 7 is a schematic view of the installation of the rotary base of the present invention;
FIG. 8 is a schematic view of the mounting of the movable bar of the present invention;
FIG. 9 is a schematic structural view of a rotary base according to the present invention;
FIG. 10 is a cross-sectional view of a rotatable mount of the present invention;
FIG. 11 is a schematic view of the connection between the tooth block and the rotary base according to the present invention;
FIG. 12 is a cross-sectional view of the movable bar of the present invention;
fig. 13 is a schematic view of the connection of the tooth block and the displacement rod of the present invention.
In the figure: 1. mounting a shell; 2. a displacement mechanism; 201. a movable frame; 202. an electric push rod; 203. a power wheel; 204. a motor; 3. an installation mechanism; 301. a mounting base; 302. mounting grooves; 303. a rotating ring; 304. mounting a rod; 305. a rotating seat; 306. a spur gear; 307. a connecting shaft; 308. a first bevel gear; 4. a rotating mechanism; 401. a movable rod; 402. a rotating wheel; 403. a tooth block; 404. a displacement rod; 405. a clamping block; 406. fixing the spring; 407. a first rotating shaft; 408. a second bevel gear; 409. a third bevel gear; 410. a second rotating shaft; 5. a limiting block; 6. a thread groove; 7. a first storage battery; 8. a second battery; 9. a camera is provided.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 13, in an embodiment of the present invention, an all-dimensional inspection robot for a bridge cable includes an installation shell 1, displacement mechanisms 2 for driving the installation shell 1 to displace are disposed inside and outside the installation shell 1, a camera 9 is disposed at one end of the installation shell 1, and an installation mechanism 3 for installing the camera 9 is disposed between the installation shell 1 and the camera 9; the mounting mechanism 3 comprises a mounting seat 301, a mounting groove 302, a rotating ring 303, a mounting rod 304, a rotating seat 305, a straight gear 306, a connecting shaft 307 and a first bevel gear 308; the mounting seat 301 is fixedly connected to one end of the mounting shell 1, the mounting groove 302 is formed in one end of the mounting seat 301, the rotating ring 303 is slidably connected to the inner wall of the mounting groove 302, the mounting rod 304 is fixedly connected to the outer wall of the rotating ring 303, and the camera 9 is mounted at one end of the mounting rod 304; the rotating seat 305 is rotatably connected to the inside of the installation shell 1, the spur gear 306 is rotatably connected to the inside of the installation shell 1 and is located on the outer wall of the rotating seat 305, the connecting shaft 307 is fixedly connected to the outer wall of the spur gear 306, and the first bevel gear 308 is fixedly connected to one end of the connecting shaft 307 and extends to the inner wall of the installation groove 302; a rotating mechanism 4 for rotating the camera 9 is arranged between the mounting shell 1 and the rotating seat 305; the rotating mechanism 4 comprises a movable rod 401, a rotating wheel 402, a tooth block 403, a displacement rod 404, a fixture block 405, a fixed spring 406, a first rotating shaft 407, a second bevel gear 408, a third bevel gear 409 and a second rotating shaft 410; the movable rod 401 is slidably connected to the inside of the mounting shell 1 and extends to the inner wall of the mounting shell 1, the movable rod 401 is located inside the rotating seat 305, the rotating wheel 402 is rotatably connected to one end of the movable rod 401, the toothed block 403 is rotatably connected to one end of the movable rod 401 far away from the rotating wheel 402, and the displacement rod 404 is rotatably connected to the outer wall of the toothed block 403 and slidably connected to the inside of the mounting shell 1; the fixture block 405 is slidably connected inside the mounting shell 1 and positioned at one side of the displacement rod 404, and the fixed spring 406 is connected between the fixture block 405 and the mounting shell 1; the first rotating shaft 407 is fixedly connected to the outer wall of the rotating wheel 402 and extends to the inside of the movable rod 401, the second bevel gear 408 is fixedly connected to the outer wall of the first rotating shaft 407, the third bevel gear 409 is rotatably connected to the inside of the movable rod 401 and is located on the outer wall of the second bevel gear 408, the second rotating shaft 410 is fixedly connected between the toothed block 403 and the third bevel gear 409, the outer wall of the displacement rod 404 is provided with a ratchet, and the outer wall of one end of the fixture block 405 is matched with the ratchet.
In this embodiment: when the outer wall of the cable is detected, the installation shell 1 is installed on the outer wall of the cable, the displacement mechanism 2 drives the installation shell 1 to displace on the outer wall of the cable, the camera 9 shoots the outer wall of the cable, so that whether the surface of the cable is damaged or not can be observed, when the robot is used, the displacement rod 404 is pushed inwards, the displacement rod 404 slides towards the inside of the installation shell 1, at the moment, the fixture block 405 is tightly attached to the ratchet under the elastic action of the fixing spring 406, the fixture block 405 slides along the outer wall of the ratchet during the displacement process of the displacement rod 404, the displacement rod 404 drives the tooth block 403 to slide on the inner wall of the rotating seat 305, the tooth block displacement drives the movable rod 401 to displace, the movable rod 401 displaces the rotating wheel 402 until the rotating wheel 402 is tightly attached to the outer wall of the cable, at the moment, the fixture block 405 is mutually clamped with the ratchet, so that the displacement rod 404 is fixed, further fixing the position of the rotating wheel 402, when the displacement mechanism 2 drives the installation shell 1 to displace on the outer wall of the cable, the installation shell 1 displaces and drives the rotating wheel 402 to rotate, the rotating wheel 402 rotates and drives the first rotating shaft 407 to rotate, the first rotating shaft 407 rotates and drives the second bevel gear 408 to rotate, the second bevel gear 408 rotates and drives the third bevel gear 409 to rotate, the third bevel gear 409 rotates and drives the second rotating shaft 410 to rotate, the second rotating shaft 410 rotates and drives the toothed block 403 to rotate, the toothed block 403 rotates and drives the rotating seat 305 to rotate, the rotating seat 305 rotates and drives the spur gear 306 to rotate, the spur gear 306 rotates and drives the connecting shaft 307 to rotate, the connecting shaft 307 rotates and drives the first bevel gear 308 to rotate, the first bevel gear 308 rotates and drives the rotating ring 303 to rotate, the rotating ring 303 rotates and drives the installation rod 304 to perform circumferential displacement, the installation rod 304 circular displacement drives the camera 9 to perform circular displacement, so that when the installation shell 1 performs displacement on the outer wall of the inhaul cable, the camera 9 is driven to perform circular displacement to shoot the outer wall of the inhaul cable.
Referring to fig. 2-4, the displacement mechanism 2 includes a movable frame 201, an electric push rod 202, a power wheel 203 and a motor 204, the movable frame 201 is slidably connected inside the mounting housing 1 and extends to the inner wall of the mounting housing 1, the electric push rod 202 is mounted on the outer wall of the mounting housing 1, an output end of the electric push rod 202 is connected to the movable frame 201, the power wheel 203 is rotatably connected to the inner wall of the movable frame 201, the movable frame 201 is mounted on the outer wall of the motor 204, and an output end of the motor 204 is connected to the power wheel 203.
In this embodiment: displacement mechanism 2 is provided with two sets ofly, and the symmetric distribution is in the inside of installation shell 1, when using installation shell 1, installation shell 1 cup joints the outer wall at the cable, it carries out the displacement to start electric putter 202 operation drive adjustable shelf 201, two adjustable shelves 201 are close to each other and carry out the displacement, adjustable shelf 201 displacement drives a plurality of power wheels 203 and is close to each other and carries out the displacement, power wheel 203 displacement presss from both sides tightly the cable, thereby make installation shell 1 fix on the cable, starter motor 204, motor 204 operation drives power wheel 203 and rotates, thereby power wheel 203 rotates and drives installation shell 1 and slide at the outer wall of cable.
Please refer to fig. 2-8, the mounting housing 1 is composed of an upper housing and a lower housing, wherein both sides of the outer walls of the upper housing and the lower housing are fixedly connected with connecting plates, and the outer walls of the connecting plates are provided with round holes penetrating through the connecting plates.
In this embodiment: when cup jointing installation shell 1 on the cable, with the bottom of inferior valve displacement to cable, later will rotate seat 305, straight-teeth gear 306, connecting axle 307, first bevel gear 308 and slewing mechanism 4 installation entering installation shell 1's inside, accomplish the back, the top of displacement epitheca to inferior valve, accomplish the back, carry out fixed connection through bolt and nut between to the connecting plate, splice epitheca and inferior valve to install shell 1 and cup joint the outer wall at the cable.
Please heavily refer to fig. 2-5, swivel ring 303 comprises with an contraceptive ring and lower ring, and the bottom fixedly connected with connecting block of fitting with a contraceptive ring has seted up the spread groove on the top of lower ring, and the spread groove is closely laminated with the connecting block, and the one end of mount pad 301 is connected with stopper 5 that extends to mounting groove 302 inner wall, and mount pad 301 and stopper 5 meet position department and have seted up thread groove 6, and the through-hole that runs through in stopper 5 is seted up to the outer wall of stopper 5, and the shape of stopper 5 is the L shape.
In this embodiment: installation shell 1 cup joints behind the outer wall of cable, when installing swivel ring 303, the displacement is fitted with a contraceptive ring and is encircleed to the outer wall of cable down, insert the inner wall of spread groove with the connecting block, the connecting block closely laminates with the spread groove, thereby to fitting with a contraceptive ring and encircleing, make swivel ring 303 cup joint the outer wall at the cable, displacement swivel ring 303, slip swivel ring 303 and get into mounting groove 302, swivel ring 303 contacts with first bevel gear 308 after the completion, later install stopper 5, run through the bolt and get into threaded groove 6 in and connect in the through-hole, thereby carry out fixed connection to stopper 5 and mount pad 301, the in-process of stopper 5 installation gets into the inner wall of mounting groove 302, until contacting with the outer wall of swivel ring 303, thereby it is spacing to carry out the swivel ring 303, prevent swivel ring 303 roll-off mounting groove 302.
Referring to fig. 2-5, the top end of the mounting case 1 is provided with a first battery 7 at one side of the electric push rod 202, and the outer wall of the rotating ring 303 is provided with a second battery 8 at one side of the mounting rod 304.
In this embodiment: two electric putter 202 all through wire and first battery 7 electric connection, camera 9 passes through wire and 8 electric connection of second battery, and first battery 7 and second battery 8 provide the electric energy for electric putter 202 and camera 9.
Referring to fig. 7 to 13 again, the inner wall of the mounting groove 302 is attached to the outer wall of the rotating ring 303, the outer wall of the rotating ring 303 is circular, a first rotating groove for the rotating base 305 to rotate is formed in the mounting housing 1, a second rotating groove for the straight gear 306, the connecting shaft 307 and the first bevel gear 308 to rotate is formed in the mounting housing 1, gear teeth are formed on the outer wall of the rotating base 305 and engaged with the straight gear 306, a gear groove is formed in the outer wall of the rotating ring 303 and engaged with the first bevel gear 308, the second bevel gear 408 is engaged with the third bevel gear 409, and the displacement rod 404 is rotatably connected with the gear block 403 through a third rotating shaft.
In this embodiment: the installation shell 1 is displaced to drive the rotating wheel 402 to rotate, the rotating wheel 402 rotates to drive the first rotating shaft 407 to rotate, the first rotating shaft 407 rotates to drive the second bevel gear 408 to rotate, the second bevel gear 408 rotates to drive the third bevel gear 409 to rotate, the third bevel gear 409 rotates to drive the second rotating shaft 410 to rotate, the second rotating shaft 410 rotates to drive the tooth block 403 to rotate, the tooth block 403 rotates to drive the rotating seat 305 to rotate, the rotating seat 305 rotates to drive the spur gear 306 to rotate, the spur gear 306 rotates to drive the connecting shaft 307 to rotate, the connecting shaft 307 rotates to drive the first bevel gear 308 to rotate, the first bevel gear 308 rotates to drive the rotating ring 303 to rotate, the rotating ring 303 rotates to drive the installation rod 304 to perform circumferential displacement, and the installation rod 304 circumferential displacement drives the camera 9 to perform circumferential displacement.
Referring to fig. 7-10, the inner wall of the rotating base 305 is provided with a slot matching with the outer wall of the tooth block 403, and the inside of the mounting housing 1 is provided with a square slot for the movable rod 401 and the displacement rod 404 to slide.
In this embodiment: when the displacement rod 404 is pushed inwards, the displacement rod 404 slides towards the inside of the installation shell 1, the fixture block 405 is tightly attached to the ratchet by the elastic force of the fixing spring 406, in the displacement process of the displacement rod 404, the fixture block 405 slides along the outer wall of the ratchet, the displacement rod 404 displaces to drive the tooth block 403 to slide on the inner wall of the rotating seat 305, the tooth block 403 displaces to drive the movable rod 401 to displace, the movable rod 401 displaces to drive the rotating wheel 402 to displace until the rotating wheel 402 is tightly attached to the outer wall of the cable, at the moment, the fixture block 405 is mutually clamped with the ratchet, so that the displacement rod 404 is fixed, the position of the rotating wheel 402 is fixed, when the tight attachment of the rotating wheel 402 and the cable is cancelled, the fixture block 405 is pushed to displace, the fixture block 405 displaces to press the fixing spring 406, the fixture block 405 is separated from the ratchet, so that the fixing of the first displacement rod 404 is cancelled, the displacement rod 404 is pulled outwards, and the displacement rod 404 displaces to drive the rotating wheel 402 to be separated from the cable.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (10)
1. The omnibearing inspection robot for the bridge inhaul cable comprises an installation shell (1), wherein displacement mechanisms (2) for driving the installation shell (1) to displace are arranged inside and outside the installation shell (1), and a camera (9) is arranged at one end of the installation shell (1), and is characterized in that an installation mechanism (3) for installing the camera (9) is arranged between the installation shell (1) and the camera (9);
the mounting mechanism (3) comprises a mounting seat (301), a mounting groove (302), a rotating ring (303), a mounting rod (304), a rotating seat (305), a straight gear (306), a connecting shaft (307) and a first bevel gear (308);
the mounting seat (301) is fixedly connected to one end of the mounting shell (1), the mounting groove (302) is formed in one end of the mounting seat (301), the rotating ring (303) is connected to the inner wall of the mounting groove (302) in a sliding mode, the mounting rod (304) is fixedly connected to the outer wall of the rotating ring (303), and the camera (9) is mounted at one end of the mounting rod (304);
the rotating seat (305) is rotatably connected to the inside of the mounting shell (1), the straight gear (306) is rotatably connected to the inside of the mounting shell (1) and located on the outer wall of the rotating seat (305), the connecting shaft (307) is fixedly connected to the outer wall of the straight gear (306), and the first bevel gear (308) is fixedly connected to one end of the connecting shaft (307) and extends to the inner wall of the mounting groove (302);
a rotating mechanism (4) used for rotating the camera (9) is arranged between the mounting shell (1) and the rotating seat (305);
the rotating mechanism (4) comprises a movable rod (401), a rotating wheel (402), a tooth block (403), a displacement rod (404), a clamping block (405), a fixed spring (406), a first rotating shaft (407), a second bevel gear (408), a third bevel gear (409) and a second rotating shaft (410);
the movable rod (401) is connected to the inside of the installation shell (1) in a sliding manner and extends to the inner wall of the installation shell (1), the movable rod (401) is located on the inner side of the rotating seat (305), the rotating wheel (402) is connected to one end of the movable rod (401) in a rotating manner, the tooth block (403) is connected to one end, away from the rotating wheel (402), of the movable rod (401) in a rotating manner, and the displacement rod (404) is connected to the outer wall of the tooth block (403) in a rotating manner and is connected to the inside of the installation shell (1) in a sliding manner;
the clamping block (405) is connected to the inside of the mounting shell (1) in a sliding mode and located on one side of the displacement rod (404), and the fixed spring (406) is connected between the clamping block (405) and the mounting shell (1);
the first rotating shaft (407) is fixedly connected to the outer wall of the rotating wheel (402) and extends to the inside of the movable rod (401), the second bevel gear (408) is fixedly connected to the outer wall of the first rotating shaft (407), the third bevel gear (409) is rotatably connected to the inside of the movable rod (401) and located on the outer wall of the second bevel gear (408), and the second rotating shaft (410) is fixedly connected between the tooth block (403) and the third bevel gear (409).
2. The all-round robot of patrolling and examining of bridge cable of claim 1, characterized in that, displacement mechanism (2) include adjustable shelf (201), electric putter (202), power wheel (203) and motor (204), adjustable shelf (201) sliding connection in the inside of installation shell (1) and extend to the inner wall of installation shell (1), electric putter (202) install in the outer wall of installation shell (1), electric putter's (202) output with adjustable shelf (201) are connected, power wheel (203) rotate connect in the inner wall of adjustable shelf (201), adjustable shelf (201) are installed to the outer wall of motor (204), the output of motor (204) with power wheel (203) are connected.
3. The all-dimensional bridge cable inspection robot according to claim 1, wherein the mounting shell (1) comprises an upper shell and a lower shell, connecting plates are fixedly connected to two sides of the outer wall of the upper shell and the two sides of the outer wall of the lower shell, and round holes penetrating through the connecting plates are formed in the outer wall of each connecting plate.
4. The all-round robot of patrolling and examining of bridge cable of claim 1, characterized in that, swivel (303) comprises with a contraceptive ring and lower ring, the bottom fixedly connected with connecting block of going up with a contraceptive ring, the spread groove has been seted up on the top of lower ring, the spread groove with the connecting block closely laminates.
5. The all-dimensional bridge cable inspection robot according to claim 2, wherein a first storage battery (7) is mounted on one side, located on the electric push rod (202), of the top end of the mounting shell (1), and a second storage battery (8) is mounted on one side, located on the mounting rod (304), of the outer wall of the rotating ring (303).
6. The all-round robot of patrolling and examining of bridge cable according to claim 1, characterized in that, the one end of mount pad (301) is connected with and extends to stopper (5) of mounting groove (302) inner wall, mount pad (301) with stopper (5) meet position department and seted up thread groove (6), the outer wall of stopper (5) seted up run through in the through-hole of stopper (5), the shape of stopper (5) is L shape.
7. The all-round robot of patrolling and examining of bridge cable of claim 1, characterized in that, the inner wall of mounting groove (302) with the outer wall of rotating ring (303) is laminated mutually, the outer wall of rotating ring (303) is the ring shape.
8. The all-round inspection robot of a bridge cable of claim 1, characterized in that the inside of installation shell (1) is equipped with and supplies rotation seat (305) to carry out pivoted first rotation groove, the inside of installation shell (1) is equipped with and supplies straight gear (306), connecting axle (307) and first bevel gear (308) to carry out pivoted second rotation groove, the outer wall of rotation seat (305) is provided with the teeth of a cogwheel, the teeth of a cogwheel with straight gear (306) mesh mutually, the outer wall of swivel (303) is provided with the tooth's socket, the tooth's socket with first bevel gear (308) mesh mutually.
9. The all-round robot that patrols and examines of bridge cable according to claim 1, characterized in that, the inner wall that rotates seat (305) be provided with tooth piece (403) outer wall assorted draw-in groove, the inside of installation shell (1) is seted up and is supplied movable rod (401) and displacement pole (404) carry out the square groove that slides.
10. The all-round inspection robot for bridge guy cables according to claim 1, characterized in that ratchets are arranged on the outer wall of the displacement rod (404), the outer wall of one end of the fixture block (405) is matched with the ratchets, the second bevel gear (408) is meshed with the third bevel gear (409), and the displacement rod (404) is rotatably connected with the gear block (403) through a third rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211196310.6A CN115502993A (en) | 2022-09-29 | 2022-09-29 | All-round robot that patrols and examines of bridge cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211196310.6A CN115502993A (en) | 2022-09-29 | 2022-09-29 | All-round robot that patrols and examines of bridge cable |
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| Publication Number | Publication Date |
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| CN115502993A true CN115502993A (en) | 2022-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211196310.6A Withdrawn CN115502993A (en) | 2022-09-29 | 2022-09-29 | All-round robot that patrols and examines of bridge cable |
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| Country | Link |
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| CN (1) | CN115502993A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117822434A (en) * | 2024-03-05 | 2024-04-05 | 山东交通学院 | Bridge cable detection robot |
| CN117929062A (en) * | 2024-03-21 | 2024-04-26 | 山东天下第一村烧饼有限公司 | Starch system appearance detection device with self-cleaning function |
| CN117929062B (en) * | 2024-03-21 | 2024-06-11 | 山东天下第一村烧饼有限公司 | Starch system appearance detection device with self-cleaning function |
-
2022
- 2022-09-29 CN CN202211196310.6A patent/CN115502993A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117822434A (en) * | 2024-03-05 | 2024-04-05 | 山东交通学院 | Bridge cable detection robot |
| CN117929062A (en) * | 2024-03-21 | 2024-04-26 | 山东天下第一村烧饼有限公司 | Starch system appearance detection device with self-cleaning function |
| CN117929062B (en) * | 2024-03-21 | 2024-06-11 | 山东天下第一村烧饼有限公司 | Starch system appearance detection device with self-cleaning function |
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Application publication date: 20221223 |