CN209703297U - Box beam crusing robot - Google Patents
Box beam crusing robot Download PDFInfo
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- CN209703297U CN209703297U CN201920069591.6U CN201920069591U CN209703297U CN 209703297 U CN209703297 U CN 209703297U CN 201920069591 U CN201920069591 U CN 201920069591U CN 209703297 U CN209703297 U CN 209703297U
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- box beam
- module
- radar
- crusing robot
- dimensional matrice
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Abstract
The utility model relates to a kind of box beam crusing robots, for the internal work in box beam, it includes at least running module, data-storage system, cantilever crane module, three-dimensional matrice radar, camera, control hinge and power plant module, the three-dimensional matrice radar is multiple and by cantilever crane block supports in running module, the three-dimensional matrice radar is resisted against progress data acquisition on the inner wall of box beam, and the data-storage system, camera, control hinge and power plant module are all set on running module；Thus, the utility model structure is simple, it is easy to operate, the characteristics of combining with mechanical equipment with concrete Detection Techniques, fully consider and utilize high-speed rail box beam, in conjunction with various sensor technologies and control technology, realize the unmanned operation of crusing robot, it is accurate with inspection data result, the workload of inspection personnel is greatly alleviated, routing inspection efficiency greatly improves.
Description
Technical field
The utility model relates to the technical field of box beam inspection more particularly to a kind of box beam crusing robots.
Background technique
Box beam is briefly exactly one kind of science of bridge building central sill, and inside is hollow shape, and there are the edge of a wing in top two sides, similar
Chest.High-speed rail construction in China's flourishes, and the railway network is increasingly intensive perfect, and with the continuous improvement of high-speed rail construction technique, case
Proportion is increasing in the line for beam bridge beam.Therefore, Railway Concrete Box Girder maintenance and inspection task is increasingly heavier, especially
Along with the implementation of strategy to develop western regions, country carries forward vigorously the construction of western mountainous areas railway, such as at your railway, Sichuan-Tibet railway
Deng.These western mountainous areas railroad bridges not only need across interpersonal rare high mountains and deep gullies extremely, also need to pass through plateau iceberg, bridge maintenance
Maintenance condition is very arduous.So need a kind of completely new test mode and checking tool in a hurry, be able to solve presently, there are
Problem
At present the test mode of high-speed rail box beam and there are the problem of:
Test mode one: inspection personnel is advanced using the walking of box beam inner space, reaches bridge pier by box beam bottom manhole
Pier top, people station check box beam appearance on pier top fence.This checking mode has two big drawbacks: firstly, by limit spatially
System.Due to being affixed to the fence of pier top, check point cannot cover comprehensively, for box beam span centre apart from sight remotely
Subtle disease, it is easy to slip.Defect in concrete is even more that can not detect in place；Secondly, the individual of inspection result is subjective
Property is stronger, not the data supporting of objective science.In addition, inspection personnel needs constantly to climb out of beam to above and below pier top bottom
Row, great work intensity, low efficiency, safety are poor.Especially under the conditions of high altitude anoxia etc. is arduous, the condition ten of bridge current check
Divide arduous.
Test mode two: the workbench provided using high-speed rail bridge-checking vehicle, the comprehensive inspection box beam of inspection personnel are each
Position.This bridge-checking vehicle needs busy line, therefore is seriously influenced in time by operation train, it is necessary to utilize skylight
Point.And often bridge-checking vehicle most of the time, the real review time was very few for round trip.More importantly check
Parking stall is in the state that on bridge floor track, can not observe bridge structure under train operation load operation.And that utilizes ground under bridge
The comprehensive maintenance offroad vehicle of high-speed rail bridge limitation it is then bigger.
Second of test mode provides a moveable platform just with equipment, and the main body of inspection is still
People.Although alleviating the labor intensity of staff, the limitation in time and space is still remained, and inspection result is still not
It is objective.
Based on current routine inspection mode is still observed with artificial eye as a result, inspection result has personal subjectivity, does not search
Collect objective science data, the inspection of box beam is not thorough.
For this purpose, the designer of the utility model, in view of drawbacks described above, by concentrating on studies and designing, synthesis is long-term for many years
It is engaged in the experience and achievement of related industry, researching and designing goes out a kind of box beam crusing robot, to overcome drawbacks described above.
Utility model content
The purpose of this utility model is to provide a kind of box beam crusing robots, and structure is simple, easy to operate, with mixed
The characteristics of solidifying rod test technology combines with mechanical equipment, fully considers and utilize high-speed rail box beam, in conjunction with various sensor technologies
And control technology, it realizes the unmanned operation of crusing robot, has inspection data result accurate, greatly alleviate scrutineer
The workload of member, routing inspection efficiency greatly improve.
To achieve the above object, the utility model discloses a kind of box beam crusing robot, in the internal work of box beam,
Including at least running module, data-storage system, cantilever crane module, three-dimensional matrice radar, camera, control hinge and power mould
Block, it is characterised in that:
The three-dimensional matrice radar is multiple and by cantilever crane block supports in running module, and the three-dimensional matrice radar supports
It is against progress data acquisition on the inner wall of box beam, the data-storage system, camera, control hinge and power plant module are respectively provided with
In on running module.
Wherein: the running module is made of preceding bridge, foldable chassis and rear axle, and the preceding bridge is steeraxle, both ends point
Not She You deflecting roller, the rear axle be drive axle, both ends are respectively equipped with driving wheel and are connected to direct current high torque motor to realize
Driving, bridge and rear axle before the foldable chassis connects.
Wherein: the preceding bridge includes turning-bar, damping spring, servo motor, shift fork and connecting rod, and the both ends Qian Qiao turn
The both ends of connecting rod are connected to by turning-bar to wheel, the servo motor is set on foldable chassis and is connected to by shift fork
Connecting rod, two deflecting rollers are set to the bottom end of foldable chassis by damping spring to realize shock-absorbing function.
Wherein: also including traveling guidance system, be located at the rear portion middle of foldable chassis and the draining by beam bottom
Mouth is positioned.
Wherein: the cantilever crane module includes the first armed lever and the second armed lever, and the lower end of second armed lever passes through mounting base
It is connected to running module, upper end is connected to the lower end of the first armed lever, and the upper end of first armed lever is connected to three-dimensional matrice radar
Bottom middle position.
Wherein: direct current generator and torsional spring, second armed lever and installation are equipped between first armed lever and the second armed lever
It also is provided with direct current generator and torsional spring between seat, also is provided with direct current generator and torsion between first armed lever and three-dimensional matrice radar
Spring.
Wherein: Caster is respectively equipped with above the quadrangle of the three-dimensional matrice radar to when crusing robot is in box beam
Portion, which is tightly attached on the concrete slab on box beam inner wall when walking, rolls translation.
Wherein: tool corresponds to four inner walls of box beam there are four three-dimensional matrice radar.
Wherein: the control hinge is connected to running module, data-storage system, cantilever crane module, three-dimensional matrice radar, takes the photograph
As head and power plant module.
Wherein: the power plant module includes lithium battery group.
By above structure it is found that the box beam crusing robot of the utility model has the effect that
1, instead of the mode detected in Large bridge inspection bus or train route, the inspection inside box beam using robot, with robot generation
For artificial, cost of labor is not only reduced, the levels of precision and routing inspection efficiency of inspection are also greatly improved.
2, by wheeled traveling, adjustable cantilever crane, three-dimensional matrice radar, control hinge, data-storage system and dynamic structure
Equal innovations form crusing robot.This patent can realize unmanned inspection, not only reduce cost of labor, also greatly improve and patrol
The levels of precision and routing inspection efficiency of inspection.
3, traveling is convenient and reliable, easy to operate, widely applicable.
The detailed content of the utility model can be obtained by aftermentioned explanation and institute's attached drawing.
Detailed description of the invention
Fig. 1 shows operation schematic diagram of the box beam crusing robot of the utility model in box beam.
Fig. 2 shows the structural schematic diagram of the box beam crusing robot of the utility model.
Fig. 3 shows the structural schematic diagram of running module in the utility model.
Fig. 4 shows the structural schematic diagram of preceding bridge in the utility model.
Fig. 5 shows the structural schematic diagram of cantilever crane module in the utility model.
Specific embodiment
Referring to Fig. 1 to Fig. 5, it is shown that the box beam crusing robot of the utility model.
The box beam crusing robot mainly includes running module 1, data storage system in the internal work of box beam 101
System 2, cantilever crane module 3, three-dimensional matrice radar 4, camera 5, control hinge 6 and power plant module 7, the three-dimensional matrice radar 4 are
Multiple and be supported in running module 1 by cantilever crane module 3, the three-dimensional matrice radar 4 is resisted against on the inner wall of box beam 101 and carries out
Data acquisition, the data-storage system 2, camera 5, control hinge 6 and power plant module 7 are all set on running module 1, join
See that Fig. 2, the running module 1 are the mobile bases of entire crusing robot, all components of robot are all placed on running module 1
On, three-dimensional matrice radar 4 is the data acquisition module of crusing robot, " probe " being equivalent in ultrasonic wave detector；Cantilever crane
Module 3 is crusing robot " arm ", is used to support three-dimensional matrice radar 4 close to concrete panel to be checked, and apply constant
Torque, enable radar constantly against live concrete slab to be checked；Camera 5 is equivalent to the eyes of robot, for observing week
Collarette border, data-storage system 2 is used to record the box beam concrete data of radar detection, for textural anomaly or disease number
According to, special marking can be made, each three-dimensional matrice radar 4 correspond to a block number according to storage space.Power plant module 7 is by lithium battery
Group composition, also as the counterweight of whole equipment, guarantees in various cantilever crane orientation modes other than providing the power of crusing robot
Under, the stability of robot entirety.
Referring to Fig. 3, the running module 1 is the mobile basis of entire crusing robot, and all components of robot are all placed
On running module, the running module 1 is by preceding bridge 1-1, foldable chassis 1-2, traveling guidance system 1-3 and rear axle 1-4 group
At the preceding bridge 1-1 is steeraxle, and both ends are respectively equipped with deflecting roller, and the rear axle 1-4 is drive axle, and both ends are respectively equipped with drive
Driving wheel is simultaneously connected to direct current high torque motor to realize driving, and the preceding bridge of the foldable chassis 1-2 connection and rear axle and middle part are set
There is folding part, to realize folder function and linkage function.
It include turning-bar 1-5, damping spring 1-6, servo motor 1-7, shift fork 1-8 and company referring to Fig. 4, the preceding bridge 1-1
The deflecting roller of bar 1-9, the both ends preceding bridge 1-1 are connected to the both ends of connecting rod 1-9, the servo motor 1-7 by turning-bar 1-5
It is set on foldable chassis 1-2 and connecting rod 1-9 is connected to by shift fork 1-8, two deflecting rollers are set to by damping spring 1-6
The bottom end of foldable chassis 1-2 is to realize shock-absorbing function, and preceding bridge belongs to driven bridge, independent suspension as a result, and spring 1-6 is responsible for equal
Weighing apparatus and damping.Wherein turning function is by servo motor 1-7 shift fork 1-8, and then connecting rod 1-9 is pushed to realize wheel steering.
Wherein, traveling guidance system 1-3 stands on the rear portion middle of foldable chassis 1-2, can pass through the draining of beam bottom
Mouth is positioned, and carries out accurate traveling guiding, it is ensured that robot can stablize traveling in box beam center.Camera is located at beam bottom portion
Among discharge outlet, real-time image acquisition data during moving ahead pass to control hinge.Control hinge further according to picture center with
Discharge outlet is judged apart from orientation, decides whether that driving turns to servo motor and carries out accurate steering fine tuning.
Referring to Fig. 5, the cantilever crane module 3 includes under the first armed lever 3-3 and the second armed lever 3-4, the second armed lever 3-4
End is connected to running module 1 by mounting base, and upper end is connected to the lower end of the first armed lever 3-3, the upper end of the first armed lever 3-3
It is connected to the bottom middle position of three-dimensional matrice radar 4, wherein be equipped between the first armed lever 3-3 and the second armed lever 3-4 straight
Galvanic electricity machine 3-1 and torsional spring 3-2, also is provided with direct current generator and torsional spring, first arm between the second armed lever 3-4 and mounting base
It also is provided with direct current generator and torsional spring between bar 3-3 and three-dimensional matrice radar 4, so that cantilever crane module 3 is crusing robot " hand
Arm " is used to support three-dimensional matrice radar close to concrete panel to be checked, and applies constant torque, and radar is enable to abut constantly
Firmly concrete slab to be checked.Cantilever crane module has folder function, and the dimensional orientation of adjustable radar can also be when not working
Withdraw three-dimensional matrice radar.Each folding joint of cantilever crane includes a direct current generator and torsional spring.When motor is not run,
Torsional spring is for providing constant moment；When cantilever crane needs to adjust position or angle, motor overcomes the torque of torsional spring, driving arm 3-
3, armed lever 3-4 changes position or angle.
Referring to Fig. 2, three-dimensional matrice radar 4 is the data acquisition module of crusing robot, is equivalent in ultrasonic wave detector
" probe ".It is respectively equipped with Caster above the quadrangle of the three-dimensional matrice radar 4, thus when crusing robot is inside box beam
When walking, the three-dimensional matrice radar 4 is tightly attached on the concrete slab on box beam inner wall by the strength of cantilever crane and rolls translation.
There are two benefits in this way: radar does not need separately adjustment space orientation by the place of variable cross-section inside box beam first, passive suitable
Answer section；Secondly, the spacing between radar and panel to be checked can control within the value range that detection needs, convenient for number
According to stablize acquisition.Each crusing robot is equipped with altogether four three-dimensional matrice radars, four inner walls of corresponding box beam.
The control hinge 6 is connected to running module 1, data-storage system 2, cantilever crane module 3, three-dimensional matrice radar 4, takes the photograph
As head 5 and power plant module 7, it is crusing robot " brain ", is the nucleus module that crusing robot realizes unmanned operation.Control
Hinge processed judges robot location and state at present, and then do by the information of sensor feedback in each component of reception
Next step action command out.
The data-storage system 2 is used to record the box beam concrete data of radar detection, for textural anomaly or disease
Evil data, can make special marking.Each three-dimensional matrice radar corresponds to a block number according to storage space.
The power plant module 7 includes lithium battery group, other than providing the power of crusing robot, also as whole equipment
Counterweight guarantees under various cantilever crane orientation modes, the stability of robot entirety.
Specifically, working mechanism and the method for the crusing robot of the application are as follows:
The inspection range for first setting crusing robot, if the bridge done at the head and the tail bridge pier in its inspection section and in section
Base station is arranged in Dun Chu, and base station is provided with wind-power electricity generation group and solar power generation group, and charge function can be provided to crusing robot, and
And pass through box beam manhole installation data and charging interface inside beam body.Crusing robot reaches near base station, fixed by bluetooth
Position can dock (similar sweeping robot charging modes) with base-station interface automatically, and then get in touch with external control centre,
Data are transmitted, receive instruction, while carrying out electric power supplement.
Then the polling rate and inspection number for setting crusing robot, can open automatic operation mode.Robot
The traveling in box beam of three-dimensional matrice radar is carried, box beam profile data is recorded comprehensively by way of radar scanning, often
A box beam, which carries out traveling three times, can be completed tunneling boring inspection.The diseases such as steel bar corrosion or concrete cracks are found in checking process
When evil data, it is subject to label processing, finds the problem convenient for staff.
Robot ambulation route is accurately controlled by traveling guidance system and control hinge during work, it is ensured that robot traveling
In box beam center.Torque sensor and shock sensor carry out assistant longitudinal positioning, and control hinge adjusts thunder according to positioning in real time
Up to orientation, to adapt to the different inner section of box beam.Entirely inspection can be completely achieved unmanned in the process, and staff only needs periodically
Carry out Inspection and maintenance.
In addition, can also be equipped with visual remote control, staff can also operate inspection machine in box beam through remote control
People.
Therefore, the application can dismantle as several big components, convenient for passing through the manhole of box beam.In order to realize light-weighted mesh
, other than a small amount of components such as motor bearings, the main structure of robot all uses carbon fiber.
By above structure it is found that the application utilizes robot inspection inside box beam, replaced manually, not only with robot
Cost of labor is reduced, the levels of precision and routing inspection efficiency of inspection are also greatly improved
It is readily apparent that above description and record is only citing rather than in order to limit the disclosure of the utility model
Content, application or use.Although describing and being described in the accompanying drawings embodiment, the utility model in embodiment
Do not limit by attached drawing example and be described as in embodiment it is now recognized that optimal mode to implement the religion of the utility model
The specific examples led, the scope of the utility model will include any implementation for falling into the description and appended claims of front
Example.
Claims (10)
1. a kind of box beam crusing robot includes at least running module, data-storage system, arm in the internal work of box beam
Frame module, three-dimensional matrice radar, camera, control hinge and power plant module, it is characterised in that:
The three-dimensional matrice radar is multiple and by cantilever crane block supports in running module, and the three-dimensional matrice radar is resisted against
Data acquisition is carried out on the inner wall of box beam, the data-storage system, camera, control hinge and power plant module are all set in away
In row module.
2. box beam crusing robot as described in claim 1, it is characterised in that: the running module is by preceding bridge, Foldable car
Frame and rear axle composition, the preceding bridge are steeraxle, and both ends are respectively equipped with deflecting roller, and the rear axle is drive axle, and both ends are set respectively
There is driving wheel and be connected to direct current high torque motor to realize driving, the foldable chassis connects preceding bridge and rear axle.
3. box beam crusing robot as claimed in claim 2, it is characterised in that: the preceding bridge include turning-bar, damping spring,
Servo motor, shift fork and connecting rod, the deflecting roller at the both ends Qian Qiao are connected to the both ends of connecting rod, the servo electricity by turning-bar
Machine is set on foldable chassis and is connected to connecting rod by shift fork, and two deflecting rollers are set to foldable chassis by damping spring
Bottom end to realize shock-absorbing function.
4. box beam crusing robot as claimed in claim 2, it is characterised in that: also include traveling guidance system, being located at can
The rear portion middle of folding stand is simultaneously positioned by the discharge outlet of beam bottom.
5. box beam crusing robot as described in claim 1, it is characterised in that: the cantilever crane module includes the first armed lever and the
The lower end of two armed levers, second armed lever is connected to running module by mounting base, and upper end is connected to the lower end of the first armed lever, institute
The upper end for stating the first armed lever is connected to the bottom middle position of three-dimensional matrice radar.
6. box beam crusing robot as claimed in claim 5, it is characterised in that: set between first armed lever and the second armed lever
Have direct current generator and torsional spring, also be provided with direct current generator and torsional spring between second armed lever and mounting base, first armed lever and
Direct current generator and torsional spring also are provided between three-dimensional matrice radar.
7. the box beam crusing robot as described in any in claim 1 to 6, it is characterised in that: the three-dimensional matrice radar
Caster is respectively equipped with above quadrangle to be tightly attached to the coagulation on box beam inner wall when crusing robot is walked inside box beam
Translation is rolled on native panel.
8. box beam crusing robot as claimed in claim 7, it is characterised in that: there are four three-dimensional matrice radars to correspond to case for tool
Four inner walls of beam.
9. box beam crusing robot as described in claim 1, it is characterised in that: the control hinge be connected to running module,
Data-storage system, cantilever crane module, three-dimensional matrice radar, camera and power plant module.
10. box beam crusing robot as described in claim 1, it is characterised in that: the power plant module includes lithium battery group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920069591.6U CN209703297U (en) | 2019-01-16 | 2019-01-16 | Box beam crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920069591.6U CN209703297U (en) | 2019-01-16 | 2019-01-16 | Box beam crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209703297U true CN209703297U (en) | 2019-11-29 |
Family
ID=68639715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920069591.6U Active CN209703297U (en) | 2019-01-16 | 2019-01-16 | Box beam crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209703297U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111608076A (en) * | 2020-05-27 | 2020-09-01 | 广东瀚阳轨道信息科技有限公司 | Box girder internal detection system and method |
| CN112144395A (en) * | 2020-10-10 | 2020-12-29 | 重庆交通大学 | Box girder top plate detection device applied to bridge |
| CN113190002A (en) * | 2021-04-25 | 2021-07-30 | 上海工程技术大学 | Method for realizing automatic inspection by high-speed rail box girder inspection robot |
-
2019
- 2019-01-16 CN CN201920069591.6U patent/CN209703297U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111608076A (en) * | 2020-05-27 | 2020-09-01 | 广东瀚阳轨道信息科技有限公司 | Box girder internal detection system and method |
| CN112144395A (en) * | 2020-10-10 | 2020-12-29 | 重庆交通大学 | Box girder top plate detection device applied to bridge |
| CN112144395B (en) * | 2020-10-10 | 2021-11-23 | 重庆交通大学 | Box girder top plate detection device applied to bridge |
| CN113190002A (en) * | 2021-04-25 | 2021-07-30 | 上海工程技术大学 | Method for realizing automatic inspection by high-speed rail box girder inspection robot |
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