CN204622074U - Bridge detection robot universal joint - Google Patents
Bridge detection robot universal joint Download PDFInfo
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- CN204622074U CN204622074U CN201520259911.6U CN201520259911U CN204622074U CN 204622074 U CN204622074 U CN 204622074U CN 201520259911 U CN201520259911 U CN 201520259911U CN 204622074 U CN204622074 U CN 204622074U
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- joint
- armed lever
- detection robot
- robot universal
- bridge detection
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Abstract
The utility model provides a kind of bridge detection robot universal joint.Comprise base, multiple joint, multiple armed lever and joint, multiple described joint and multiple described armed lever are cross-linked, and the two ends of the combination of multiple described joint and multiple described armed lever are located at respectively by described base and described joint.The described bridge detection robot universal joint that the utility model provides solves all not enough technical problem of each side such as the Detection results of the Bridges Detection of prior art, detection efficiency and personal security.
Description
Technical field
The utility model relates to bridge machinery field, is specifically related to a kind of bridge detection robot universal joint.
Background technology
Along with the Long-Time Service of bridge, its structure will inevitably produce the disease such as natural aging, cumulative damage, as detected not in time and eliminating these potential safety hazards, certainly will affect its use safety.Staff mostly delivers under bridge floor by bridge inspection vehicle by the domestic detection to bridge at present, adopt artificial visually examine, the method such as to take pictures detects, but each side such as the Detection results of this detection method, detection efficiency and personal security all has deficiency.
Utility model content
For solving all not enough technical problem of each side such as the Detection results of Bridges Detection of prior art, detection efficiency and personal security, the utility model provides each side all preferably bridge detection robot universal joints such as a kind of Detection results, detection efficiency and personal security.
Described bridge detection robot universal joint comprises base, multiple joint, multiple armed lever and joint, multiple described joint and multiple described armed lever are cross-linked, and the two ends of the combination of multiple described joint and multiple described armed lever are located at respectively by described base and described joint.
In a kind of preferred embodiment of the bridge detection robot universal joint provided at the utility model, described joint comprises the first joint, second joint, 3rd joint, 4th joint, 5th joint and the 6th joint, described armed lever comprises the first armed lever and the second armed lever, the end face in described first joint is connected with described base, described second joint end face is connected with the side in described first joint, described first armed lever one end is connected with described second joint side, the other end is connected with described 3rd side, joint, described second armed lever one end is connected with described 3rd joint end face, the other end is connected with described 4th side, joint, described 4th joint end face is connected with described 5th side, joint, described 5th joint end face is connected with described 6th side, joint, described joint is connected with described 6th joint end face.
In a kind of preferred embodiment of the bridge detection robot universal joint provided at the utility model, described first joint with its axis for axle rotates in a circumferential direction.
In a kind of preferred embodiment of the bridge detection robot universal joint provided at the utility model, described first joint comprises encoder, motor and transmission device, and described encoder, described motor and described conveyer are located in described first joint successively.
In a kind of preferred embodiment of the bridge detection robot universal joint provided at the utility model, described encoder is absolute value encoder.
In a kind of preferred embodiment of the bridge detection robot universal joint provided at the utility model, described motor is DC brushless motor.
In a kind of preferred embodiment of the bridge detection robot universal joint provided at the utility model, described second joint, described 3rd joint, described 4th joint, described 5th joint are consistent with described first joint with the structure in described 6th joint.
In a kind of preferred embodiment of the bridge detection robot universal joint provided at the utility model, described armed lever is aluminium alloy armed lever.
Compared to prior art, the described bridge detection robot universal joint that the utility model provides has following beneficial effect:
One, adopt the Detection results of described bridge detection robot universal joint better, more clear, steady to taking pictures of bridge bottom surface.
Two, adopt the detection of described bridge detection robot universal joint more flexible, without the need to mobile heavy bridge inspection vehicle or detection jib, can the spheric region optional position in its radius of clean-up be detected.
Three, adopt the detection speed of described bridge detection robot universal joint faster, large-area detection can be completed at short notice, improve detection efficiency.
When four, adopting described bridge detection robot universal joint to detect bridge bottom surface, by operating personnel's Long-distance Control, security risk is low.
Five, described bridge detection robot universal joint adopts modularized design, mutually general between each parts, easy maintenance.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing used in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of the bridge detection robot universal joint that the utility model provides.
Fig. 2 is the partial sectional view of the bridge detection robot universal joint that the utility model provides.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only a part of embodiment of the present utility model, instead of whole embodiments.
Referring to Fig. 1, is the structural representation of the bridge detection robot universal joint that the utility model provides.
Described bridge detection robot universal joint 1 comprises base 11, joint 12, armed lever 13 and joint 14.Described joint 12 comprises the first joint 121, second joint 122, the 3rd joint 123, the 4th joint 124, the 5th joint 125 and the 6th joint 126.Described armed lever 13 comprises the first armed lever 131 and the second armed lever 132.
The end face in described first joint 121 is connected with described base 11, the end face of described second joint 122 is connected with the side in described first joint 121, described first armed lever 131 one end is connected with the side of described second joint 122, the other end is connected with described 3rd side, joint 123, described second armed lever 132 one end is connected with the end face in described 3rd joint 123, the other end is connected with the side in described 4th joint 124, the end face in described 4th joint 124 is connected with the side in described 5th joint 125, the end face in described 5th joint 125 is connected with the side in described 6th joint 126, described joint 14 is connected with the end face in described 6th joint 126.
Described first joint 121, described second joint 122, described 3rd joint 123, described 4th joint 124, described 5th joint 125 and described 6th joint 126 all can rotate in a circumferential direction for axle with its axis, are convenient to detect the spheric region optional position in the radius of clean-up.
Described armed lever 13 extends described bridge detection robot universal joint 1, expands the radius of clean-up.
Referring to Fig. 2, is the partial sectional view of the bridge detection robot universal joint that the utility model provides.
Described first joint 121 comprises encoder 1211, motor 1212 and transmission device 1213.Described encoder 1211, described motor 1212 and described transmission device 1213 are set in turn in described first joint 121.
Described second joint 122, described 3rd joint 123, described 4th joint 124, described 5th joint 125 are all consistent with the structure in described first joint 121 with the structure in described 6th joint 126, do not repeat at this.
During concrete enforcement, described base 11 is installed on the arm support tail end of bridge inspection vehicle, Bridge Testing Equipment is installed on described joint 14, launch described jib to bridge bottom surface, control described Bridge Testing Equipment and described bridge bottom surface is detected.
The described bridge detection robot universal joint 1 that described first joint 121 controls except described base 11 rotates in the circumference being parallel to described base 11.
The described bridge detection robot universal joint 1 that described second joint 122 controls except described base 11 and described first joint 121 rotates in the circumference perpendicular to described base 11.
Described 3rd joint 123 controls described second armed lever 132, described 4th joint 124, described 5th joint 125, described 6th joint 126 and described joint 14 and rotates in the circumference perpendicular to described base 11.
Described 4th joint 124 controls described 5th joint 125, described 6th joint 126 and described joint 14 and rotates in the circumference perpendicular to described base 11.
Described 5th joint 125 controls described 6th joint 126 and described joint 14 rotates in the circumference perpendicular to described 4th joint 124.
Described 6th joint 126 controls described joint 14 and rotates in the circumference perpendicular to described 5th joint 125.
Under the acting in conjunction in described first joint 121, described second joint 122, described 3rd joint 123, described 4th joint 124, described 5th joint 125 and described 6th joint 126, described Bridge Testing Equipment can detect the spheric region optional position in described bridge detection robot universal joint 1 radius of clean-up, completes rapidly the detection to described bridge bottom surface.
Preferably, described encoder 1211 is absolute value encoder, and absolute value encoder is not had a power failure, the impact of interference, the better reliability of noiseproof feature, data.
Preferably, described motor 1212 is DC brushless motor, and the volume of DC brushless motor is little, lightweight, exert oneself large, and can stepless speed regulation, smooth movement.
Preferably, described armed lever 13 is aluminium alloy armed lever, and the quality of aluminium alloy is light, good heat dissipation.
Compared to prior art, the described bridge detection robot universal joint 1 that the utility model provides has following beneficial effect:
One, adopt the Detection results of described bridge detection robot universal joint 1 better, more clear, steady to taking pictures of bridge bottom surface.
Two, adopt the detection of described bridge detection robot universal joint 1 more flexible, without the need to mobile heavy bridge inspection vehicle or detection jib, can the spheric region optional position in its radius of clean-up be detected.
Three, adopt the detection speed of described bridge detection robot universal joint 1 faster, large-area detection can be completed at short notice, improve detection efficiency.
When four, adopting described bridge detection robot universal joint 1 pair of bridge bottom surface to detect, by operating personnel's Long-distance Control, security risk is low.
Five, described bridge detection robot universal joint 1 adopts modularized design, mutually general between each parts, easy maintenance.
The foregoing is only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model description to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included within scope of patent protection of the present utility model.
Claims (8)
1. a bridge detection robot universal joint, it is characterized in that: comprise base, multiple joint, multiple armed lever and joint, multiple described joint and multiple described armed lever are cross-linked, and the two ends of the combination of multiple described joint and multiple described armed lever are located at respectively by described base and described joint.
2. bridge detection robot universal joint according to claim 1, it is characterized in that: described joint comprises the first joint, second joint, 3rd joint, 4th joint, 5th joint and the 6th joint, described armed lever comprises the first armed lever and the second armed lever, the end face in described first joint is connected with described base, described second joint end face is connected with the side in described first joint, described first armed lever one end is connected with described second joint side, the other end is connected with described 3rd side, joint, described second armed lever one end is connected with described 3rd joint end face, the other end is connected with described 4th side, joint, described 4th joint end face is connected with described 5th side, joint, described 5th joint end face is connected with described 6th side, joint, described joint is connected with described 6th joint end face.
3. bridge detection robot universal joint according to claim 2, is characterized in that: described first joint with its axis for axle rotates in a circumferential direction.
4. bridge detection robot universal joint according to claim 3, is characterized in that: described first joint comprises encoder, motor and transmission device, and described encoder, described motor and described conveyer are located in described first joint successively.
5. bridge detection robot universal joint according to claim 4, is characterized in that: described encoder is absolute value encoder.
6. bridge detection robot universal joint according to claim 4, is characterized in that: described motor is DC brushless motor.
7. bridge detection robot universal joint according to claim 4, is characterized in that: described second joint, described 3rd joint, described 4th joint, described 5th joint are consistent with described first joint with the structure in described 6th joint.
8. bridge detection robot universal joint according to claim 1, is characterized in that: described armed lever is aluminium alloy armed lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520259911.6U CN204622074U (en) | 2015-04-27 | 2015-04-27 | Bridge detection robot universal joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520259911.6U CN204622074U (en) | 2015-04-27 | 2015-04-27 | Bridge detection robot universal joint |
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| Publication Number | Publication Date |
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| CN204622074U true CN204622074U (en) | 2015-09-09 |
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| CN201520259911.6U Active CN204622074U (en) | 2015-04-27 | 2015-04-27 | Bridge detection robot universal joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077876A (en) * | 2020-08-26 | 2020-12-15 | 上海大学 | Variable-rigidity unidirectional driving swing joint for large-bearing high-dynamic foot type robot |
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2015
- 2015-04-27 CN CN201520259911.6U patent/CN204622074U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077876A (en) * | 2020-08-26 | 2020-12-15 | 上海大学 | Variable-rigidity unidirectional driving swing joint for large-bearing high-dynamic foot type robot |
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