CN209760019U - Wall-climbing robot for detecting bridge pier diseases - Google Patents
Wall-climbing robot for detecting bridge pier diseases Download PDFInfo
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- CN209760019U CN209760019U CN201822100031.0U CN201822100031U CN209760019U CN 209760019 U CN209760019 U CN 209760019U CN 201822100031 U CN201822100031 U CN 201822100031U CN 209760019 U CN209760019 U CN 209760019U
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Abstract
The utility model discloses a wall climbing robot for pier disease detects, including robot main part, camera, motion leg and sucker structure. The robot main part is built-in to have circuit board, singlechip, power and vacuum cavity device, and the camera is connected control with the singlechip electricity, and the motion leg sets up in the both sides of robot main part, is provided with steering wheel control its motion on the motion leg, and steering wheel and singlechip control connection. The free ends of the motion legs are provided with sucker structures, and the sucker structures control suction and release through a vacuum cavity device arranged in the robot main body. The utility model discloses a single chip microcomputer control utilizes the motion leg that has sucker structure to realize the motion to through the steering wheel drive control motion, simultaneously through the setting of camera, can gather the motion trail process of robot in real time pier wall, with information feedback, the staff can be accurate, quick judgement pier disease is in point of existence, has improved pier disease detection efficiency, has improved the detection precision, has reduced the detection cost.
Description
Technical Field
The utility model relates to a pier disease detects technical field, concretely relates to wall climbing robot for pier disease detects.
Background
A robot is a machine device that automatically performs work, which has been developed in recent decades. Under the background of the rise of artificial intelligence, the development of the robot is extremely rapid. In addition, along with the rapid development of economy in China, the process of urbanization is faster and faster, and the quantity of roads and bridges is more and more in order to meet the requirements of transportation, transportation and the like. On the other hand, due to the ubiquitous nature of bridges, the safety problems of bridges, such as cracks, concrete falling, cavities, corrosion and the like of bridge piers and bridges, are common defects and diseases of bridges, and have great harm to bridges. However, the method for inspecting the bridge defects in China still mainly adopts manual detection, but has many defects, such as low detection efficiency, low detection precision, low safety, high cost and the like.
SUMMERY OF THE UTILITY MODEL
To the above, an object of the utility model is to provide a wall climbing robot for pier disease detects, it can replace the disease of artifical detection pier, and has detection efficiency height, with low costs, detects the advantage that the precision is high.
In order to achieve the above purpose, the utility model provides a technical scheme is:
The utility model provides a wall climbing robot for pier disease detects, includes robot main part, camera, motion leg and sucker structure, the robot main part embeds there is circuit board, singlechip, power and vacuum cavity device, camera and single chip microcomputer electric connection control, the motion leg set up in the both sides of robot main part, and the motion leg is a plurality of degrees of freedom, is provided with its motion of steering wheel control on the motion leg, and the steering wheel is connected with single chip microcomputer control, the free end of motion leg all is provided with sucker structure, just sucker structure passes through the built-in vacuum cavity device control of robot main part is inhaled and is put.
Preferably, the robot main body is provided with a position sensor, and the position sensor is electrically connected with the single chip microcomputer for control.
Preferably, four movement legs are movably connected to two sides of the robot main body respectively.
Preferably, the motion legs comprise a front motion leg and a rear motion leg, the front motion leg and the rear motion leg are movably connected through a first motion joint, the rear motion leg is movably connected with the robot main body through a second motion joint, and the steering engines are arranged at the first motion joint and the second motion joint to control the motion of the first motion joint and the second motion joint. The first motion joint can be connected to realize free motion in the vertical direction between the front motion leg and the rear motion leg, and the second motion joint can be connected to realize free motion in the left-right direction between the whole motion leg and the robot main body, so that the whole robot can move forwards and turns.
Preferably, the vacuum cavity device comprises a vacuum cavity, an air pump and an electromagnetic valve, the vacuum cavity is communicated with the air pump through an air pipe, the sucker structure is communicated with the vacuum cavity through an air pipe, the electromagnetic valve is arranged on a connecting air pipe between the sucker structure and the vacuum cavity, and the sucker structure is cut off and communicated with the vacuum cavity by adjusting the rotation of the electromagnetic valve.
Preferably, the sucking disc structure includes sucking disc, spring and gasket, the upper end of sucking disc be equipped with the connector with the trachea intercommunication of vacuum cavity device, the last side edge of sucking disc outwards has the flange, and the connection is fixed with a plurality ofly on the flange the spring, the other end of spring is fixed the gasket, and the gasket with the lower side edge of sucking disc is connected.
Preferably, the gasket is of an annular structure, and four groups of springs are uniformly arranged between the gasket and the flange at intervals.
The utility model has the advantages that:
the utility model discloses when detecting the operation to the pier surface, through single chip microcomputer control, utilize the motion leg that has sucker structure to realize the motion, and every motion leg has a plurality of degrees of freedom, and through the steering wheel drive control motion, realize automatic climbing motion, simultaneously through the setting of camera, can gather the pier wall of motion trail process of robot in real time, with information feedback, the staff can be more accurate, the quick judgement pier disease point of existence, pier disease detection efficiency has been improved, the detection precision has been improved, the detection cost is reduced.
The present invention will be further explained with reference to the drawings and the embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic structural view of the chuck structure of FIG. 1;
Fig. 3 is a working principle diagram of the suction cup structure of the present invention.
The reference numerals in the drawings are explained below.
The robot comprises a robot main body 1, a camera 2, a moving leg 3, a moving front leg 3a, a moving rear leg 3b, a first moving joint 3c, a second moving joint 3d, a sucker structure 4, a sucker 4a, a spring 4b, a gasket 4c, a connecting port 4d, a flange 4e, a vacuum cavity 5, an air pump 6, an electromagnetic valve 7 and an air pipe 8.
Detailed Description
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following description is given in conjunction with the embodiments and the accompanying drawings.
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1, 2 and 3, a wall-climbing robot for detecting a pier disease includes a robot main body 1, a camera 2, a moving leg 3 and a suction cup structure 4. The robot is characterized in that a circuit board, a single chip microcomputer, a power supply and a vacuum cavity device are arranged in the robot main body 1, and the camera 2 is electrically connected and controlled with the single chip microcomputer and used for shooting and collecting photos, processing the photos through the single chip microcomputer and feeding back information. The motion legs 3 are arranged on two sides of the robot main body 1, the motion legs 3 are all in multiple degrees of freedom, steering gears are arranged on the motion legs 3 to control the motion of the motion legs, and the steering gears are in control connection with the single chip microcomputer. The free ends of the motion legs 3 are provided with the sucker structures 4, and the sucker structures 4 are controlled to suck and release through the vacuum cavity devices arranged in the robot main body 1. The utility model discloses can adopt long-range manual control, also can adopt intelligent control dual mode to detect the pier disease.
Further, be equipped with position sensor on the robot main part 1, and this position sensor and singlechip electricity connection control, this position sensor is used for detecting whether wall climbing robot's walking route surpasss the wall scope, prevents the condition that the robot dropped.
Specifically, the motion legs 3 comprise a front motion leg 3a and a rear motion leg 3b, the front motion leg 3a and the rear motion leg 3b are movably connected through a first motion joint 3c, the rear motion leg 3b is movably connected with the robot main body 1 through a second motion joint 3d, and the steering engine is arranged at the first motion joint 3c and the second motion joint 3d to control the motion of the robot main body. The utility model discloses a motion leg 3 accessible first motion joint 3c and second motion joint 3d realize controlling angle modulation from top to bottom.
In the present embodiment, four moving legs 3 are movably connected to two sides of the robot main body 1, which is only a preferred embodiment, but not limited to the above.
Referring to fig. 3, the vacuum chamber device includes a vacuum chamber 5, an air pump 6 and an electromagnetic valve 7, the vacuum chamber 5 is communicated with the air pump 6 through an air pipe 8, the suction cup structure 4 is communicated with the vacuum chamber 5 through the air pipe 8, the electromagnetic valve 7 is arranged on the air pipe 8 connecting the suction cup structure 4 and the vacuum chamber 5, and the suction cup structure 4 is cut off from and communicated with the vacuum chamber 5 by adjusting the rotation of the electromagnetic valve 7. In this embodiment, the left electromagnetic valve 7 is used for communicating the suction cup structure 4 with the atmosphere and adjusting the negative pressure of the suction cup structure 4 to release the suction cup structure 4 from the wall surface. The right electromagnetic valve 7 is used for switching the two groups of moving legs 3 which are respectively communicated with the vacuum cavity 5 through the air pipe 8. In this embodiment, the electromagnetic valve 7 is a reversing electromagnetic valve, and two sets of moving legs 3 on two sides of the robot main body 1 are controlled in a cross manner by adjusting the electromagnetic valve 7, such as controlling the moving legs 3 in the front left direction and the rear right direction, and controlling the moving legs 3 in the front right direction and the rear left direction respectively.
specifically, the sucking disc structure 4 includes a sucking disc 4a, a spring 4b and a gasket 4c, the upper end of the sucking disc 4a is provided with a connecting port 4d and is communicated with a gas pipe 8 of the vacuum chamber device, the upper side edge of the sucking disc 4a is outwards provided with a flange 4e, the flange 4e is fixedly connected with a plurality of springs 4b, the other end of the spring 4b is fixed with the gasket 4c, and the gasket 4c is connected with the lower side edge of the sucking disc 4 a. In this embodiment, the gasket 4c is an annular structure, and four sets of springs 4b are uniformly spaced between the gasket 4c and the flange 4 e. The utility model discloses an optimal design that sucker structure 4 adopted above-mentioned structure when sucking disc 4a adsorbs, through spring 4b and gasket 4c cooperation work to reach the purpose of accelerating adsorption rate, increaseing sealing performance.
The utility model discloses the theory of operation: when detecting the bridge pier for diseases, the device is started, when the device needs to be adsorbed, the singlechip automatically controls and opens the right electromagnetic valve 7 of the vacuum cavity device, so that the robot body 1 is provided with a group of motion legs 3, such as the motion leg 3 in the front left direction and the motion leg 3 in the back right direction, which are communicated with the vacuum cavity 5, and the other group of motion legs 3 is closed with the air pipe 8 and is pumped out through the air pump 6, so that the air in the corresponding first group of sucker structures 4 is pumped out to form negative pressure and is adsorbed on the wall surface. When the right-side electromagnetic valve 7 is reversed and communicated with the second group of motion legs 3, the motion legs 3 in the front right direction and the motion legs 3 in the rear left direction are communicated with the vacuum cavity 5 and adsorbed on the wall surface, the air pipes 8 communicated with the motion legs 3 in the front left direction and the motion legs 3 in the rear right direction are closed and communicated with the atmosphere through the reversing of the left-side electromagnetic valve 7 to enable the motion legs to fall off, the motion legs 3 are driven to move through the steering engine, then the first group of motion legs 3 and the second group of motion legs 3 are alternately adsorbed and move through the switching of the electromagnetic valve 7 to realize climbing, and meanwhile, the camera 2 shoots the wall surface condition and feeds the wall surface condition back to the single chip microcomputer for processing in the process that.
variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. In addition, although specific terms are used herein, they are used in a generic and descriptive sense only and not for purposes of limitation, the scope of the invention being defined by the following claims and their equivalents.
Claims (6)
1. The utility model provides a wall climbing robot for pier disease detects which characterized in that: including robot main part (1), camera (2), motion leg (3) and sucker structure (4), robot main part (1) embeds there is circuit board, singlechip, power and vacuum cavity device, camera (2) and singlechip electric connection control, motion leg (3) set up in the both sides of robot main part (1), and motion leg (3) are a plurality of degrees of freedom, are provided with its motion of steering wheel control on motion leg (3), and the steering wheel is connected with singlechip control, the free end of motion leg (3) all is provided with sucker structure (4), just sucker structure (4) pass through the built-in vacuum cavity device control of robot main part (1) is inhaled and is put, be equipped with position sensor on robot main part (1), and this position sensor and singlechip electric connection control.
2. The wall-climbing robot for pier disease detection according to claim 1, wherein: the two sides of the robot main body (1) are respectively and movably connected with four moving legs (3).
3. The wall-climbing robot for pier disease detection according to claim 1, wherein: the robot is characterized in that the moving legs (3) comprise moving front legs (3 a) and moving rear legs (3 b), the moving front legs (3 a) and the moving rear legs (3 b) are movably connected through first moving joints (3 c), the moving rear legs (3 b) are movably connected with the robot main body (1) through second moving joints (3 d), and the steering engines are arranged at the first moving joints (3 c) and the second moving joints (3 d) to control the movement of the robot.
4. The wall-climbing robot for pier disease detection according to claim 1, wherein: the vacuum cavity device comprises a vacuum cavity (5), an air pump (6) and an electromagnetic valve (7), wherein the vacuum cavity (5) and the air pump (6) are communicated through an air pipe (8), a sucker structure (4) is communicated with the vacuum cavity (5) through the air pipe (8), and the sucker structure (4) is connected with the air pipe (8) between the vacuum cavity (5) and is provided with the electromagnetic valve (7), and the sucker structure (4) is rotated through the adjusting electromagnetic valve (7) to be cut off and communicated with the vacuum cavity (5).
5. The wall-climbing robot for pier disease detection according to claim 4, wherein: sucking disc structure (4) include sucking disc (4 a), spring (4 b) and gasket (4 c), the upper end of sucking disc (4 a) be equipped with connector (4 d) with trachea (8) the intercommunication of vacuum cavity device, the last side edge of sucking disc (4 a) outwards has flange (4 e), and connects on flange (4 e) and be fixed with a plurality ofly spring (4 b), the other end of spring (4 b) is fixed gasket (4 c), and gasket (4 c) with the lower side edge of sucking disc (4 a) is connected.
6. the wall-climbing robot for pier disease detection according to claim 5, wherein: the gasket (4 c) is of an annular structure, and four groups of springs (4 b) are uniformly arranged between the gasket (4 c) and the flange (4 e) at intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822100031.0U CN209760019U (en) | 2018-12-14 | 2018-12-14 | Wall-climbing robot for detecting bridge pier diseases |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822100031.0U CN209760019U (en) | 2018-12-14 | 2018-12-14 | Wall-climbing robot for detecting bridge pier diseases |
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| Publication Number | Publication Date |
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| CN209760019U true CN209760019U (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822100031.0U Active CN209760019U (en) | 2018-12-14 | 2018-12-14 | Wall-climbing robot for detecting bridge pier diseases |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115387215A (en) * | 2022-07-21 | 2022-11-25 | 青海路桥建设机械工程有限公司 | Inspection equipment for bridge bottom and using method |
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2018
- 2018-12-14 CN CN201822100031.0U patent/CN209760019U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115387215A (en) * | 2022-07-21 | 2022-11-25 | 青海路桥建设机械工程有限公司 | Inspection equipment for bridge bottom and using method |
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