CN212735994U

CN212735994U - Cross-country robot for bridge inspection

Info

Publication number: CN212735994U
Application number: CN202021710857.XU
Authority: CN
Inventors: 张凡
Original assignee: Linyi Works Section of China Railway Jinan Group Co Ltd
Current assignee: Linyi Works Section of China Railway Jinan Group Co Ltd
Priority date: 2020-08-17
Filing date: 2020-08-17
Publication date: 2021-03-19
Anticipated expiration: 2030-08-17

Abstract

The utility model relates to the technical field of bridge maintenance equipment, in particular to a cross-country robot for bridge inspection, a travelling crane bracket is a supporting structure of the robot and comprises a boat-shaped travelling crane cabin, and travelling mechanisms and telescopic mechanisms are arranged on two sides of the travelling crane cabin in a mirror image manner; the travelling mechanism comprises a driving belt wheel and a driven belt wheel which are arranged at two ends of the upper part of the travelling cabin, and a crawler belt is connected between the driving belt wheel and the driven belt wheel in a meshing transmission manner; the telescopic mechanisms are arranged on two sides of the driving cabin and comprise bottom belt wheels capable of stretching up and down, and the bottom belt wheels are meshed with the transmission tracks. The utility model has the advantages that: the utility model discloses can replace driven artifical the brill to go into the inspection, work efficiency improves by a wide margin, the risk that the high altitude when having reduced artifical inspection simultaneously falls.

Description

Cross-country robot for bridge inspection

Technical Field

The utility model relates to a bridge maintenance of equipment technical field, in particular to cross-country robot for bridge inspection.

Background

At present, the method for inspecting the steel beam bridge is too single, only manual inspection is needed, some inspection personnel cannot reach the steel beam bridge, and inspection blind areas exist. For example, the bottom is obliquely pulled to be close to the middle position, so that the detection is not easy, the space of the position is very small, the minimum distance between the oblique pulling and bottom anti-falling net is 17cm, the maximum distance is 19cm, and in addition, the angle steel with the height of a barrier of 7cm is arranged on the anti-falling net, so that a person is difficult to enter and detect.

If the high-strength bolt of breaking exists at the bottom of the bridge and is not replaced for a long time, great potential safety hazard can exist, the efficiency of the existing manual inspection is very low, the personnel are inconvenient to drill into and move, and the inspection difficulty is large. Therefore, a more advanced inspection method is urgently needed at present to assist operators in inspection so as to ensure that diseases can be found in time and steel beam bridge equipment is in a good state.

To this end, the present application provides a robot that can drill into the bridge bottom and can cross over obstacles to solve the above-mentioned problems.

Disclosure of Invention

The utility model discloses a remedy among the prior art bridge bottom has the not enough at inspection dead angle, provides a cross-country robot for bridge inspection.

The utility model discloses a realize through following technical scheme:

the utility model provides a cross country robot for bridge inspection, includes driving support, advancing mechanism and telescopic machanism, its characterized in that:

the travelling support is a supporting structure of the robot and comprises a boat-shaped travelling bin, and travelling mechanisms and telescopic mechanisms are mounted on two sides of the travelling bin in a mirror image mode;

the travelling mechanism comprises a driving belt wheel and a driven belt wheel which are arranged at two ends of the upper part of the travelling cabin, and a crawler belt is connected between the driving belt wheel and the driven belt wheel in a meshing transmission manner;

the telescopic mechanisms are arranged on two sides of the driving cabin and comprise bottom belt wheels capable of stretching up and down, and the bottom belt wheels are meshed with the transmission tracks.

Furthermore, in order to better realize the utility model, the top of one side of the driving cabin is fixedly connected with a roller supporting beam, and the two sides of the roller supporting beam are rotatably connected with driven pulleys; the top of the other opposite side of the driving cabin is fixedly connected with two servo motors, and an output shaft of each servo motor is connected with a driving belt wheel.

Further, for better realization the utility model discloses, the internally mounted of driving storehouse has the mainboard that has CPU, and two servo motor are connected to the mainboard electricity, still are provided with wireless module, power module and the camera module of electricity connection mainboard in the driving storehouse, wireless module is wifi connection or bluetooth linking module, power module is lithium cell or lead acid battery, camera module is 360 pivoted panorama camera.

Furthermore, in order to better realize the utility model, the telescopic mechanism comprises a bearing seat and a connecting block which are fixedly connected with the outer wall of the driving cabin; a rotating shaft with a bearing is rotatably connected in the bearing seat, the non-bearing end of the rotating shaft is fixedly connected with one end of the supporting plate vertically, and the other end of the supporting plate is rotatably connected with a bottom belt wheel; open on the connecting block has the through-hole, has inserted the telescopic link in the through-hole, and the telescopic link is half for the threaded rod, half for smooth rod's round bar, and the threaded rod is served and is equipped with the nut, and smooth rod end passes the connecting block and articulates in the backup pad, and the one end that the telescopic link is close the backup pad is fixed with the retaining ring, is equipped with the compression spring of cover on telescopic link 306 between retaining ring and the connecting block.

Further, for better realization the utility model discloses, the bearing frame passes through bolt fixed connection at the driving storehouse outer wall, the connecting block is L type angle bar, through bolt or welded fastening driving storehouse outer wall, open the one end of telescopic link has the through-hole, the rotatable peg pin of through-hole department, and pin fixed is connected perpendicularly in the backup pad.

The utility model has the advantages that:

the utility model discloses a chassis with automatic flexible function robot is when meetting the angle bar obstacle, and the height of the track that can automatic compression contact has improved the type of passing through, ensures to reach each position at the bottom of a bridge, and the position through adjusting nut can change the initial height of track, can adapt to the needs of not co-altitude different topography.

The utility model discloses can replace driven artifical the brill to go into the inspection, work efficiency improves by a wide margin, the risk that the high altitude when having reduced artifical inspection simultaneously falls.

Drawings

Fig. 1 is one of three-dimensional structures of the cross-country robot for bridge inspection according to the present invention;

FIG. 2 is a schematic diagram of a second three-dimensional structure of the cross-country robot for bridge inspection according to the present invention;

fig. 3 is a schematic top view of the cross-country robot for bridge inspection according to the present invention;

FIG. 4 is a schematic side view of the cross-country robot for bridge inspection according to the present invention;

fig. 5 is a schematic front view of the cross-country robot for bridge inspection according to the present invention;

fig. 6 is a schematic perspective view of a traveling crane support of the cross-country robot for bridge inspection according to the present invention;

fig. 7 is a schematic perspective view of the telescopic mechanism of the cross-country robot for bridge inspection according to the present invention.

In the figure, the position of the upper end of the main shaft,

1. a travelling crane support 101, a travelling crane cabin 102 and a roller supporting beam,

2. a traveling mechanism 201, a servo motor 202, a driving belt wheel 203, a driven belt wheel 204 and a crawler belt,

3. a telescopic mechanism 301, a bearing seat 302, a rotating shaft 303, a supporting plate 304, a bottom belt wheel 305, a connecting block 306, a telescopic rod 307, a nut 308, a retainer ring 309 and a compression spring,

4. mainboard, 5, wireless module, 6, power module, 7, camera module.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which the product of the present invention is usually placed in when in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. They may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Fig. 1-7 show a specific embodiment of the present invention, which is an off-road robot for bridge inspection, and the off-road robot comprises a traveling carriage 1, a traveling mechanism 2 and a telescoping mechanism 3.

The travelling crane support 1 of the embodiment is a support structure of a robot and comprises a boat-shaped travelling crane bin 101, wherein a travelling mechanism 2 and a telescopic mechanism 3 are mounted on two sides of the travelling crane bin 101 in a mirror image manner; the internally mounted of driving storehouse 101 has mainboard 4 that has CPU, two servo motor 201 are connected to 4 electricity of mainboard, still be provided with wireless module 5, power module 6 and the camera module 7 of electricity connection mainboard 4 in the driving storehouse 101, and wireless module 5 is wifi connection or bluetooth linking module, connects outside handheld device, and power module 6 is lithium cell or lead acid battery, and camera module 7 is for can 360 pivoted panorama camera.

The traveling mechanism 2 of the embodiment comprises a driving pulley 202 and a driven pulley 203 which are arranged at two ends of the upper part of the traveling cabin 101, and a crawler belt 204 is connected between the driving pulley 202 and the driven pulley 203 in a meshing transmission way; the top of one side of the driving cabin 101 is fixedly connected with a roller supporting beam 102, and two sides of the roller supporting beam 102 are rotatably connected with driven pulleys 203; two servo motors 201 are fixedly connected to the top of the other opposite side of the traveling bin 101, and a driving pulley 202 is connected to an output shaft of each servo motor 201.

The telescopic mechanism 3 of the present embodiment is disposed on both sides of the travel bin 101, and includes a bottom pulley 304 that can be extended and retracted up and down, and the bottom pulley 304 engages with the drive track 204. The telescopic mechanism 3 comprises a bearing block 301 and a connecting block 305 which are fixedly connected with the outer wall of the driving cabin 101; a rotating shaft 302 with a bearing is rotatably connected in the bearing seat 301, the non-bearing end of the rotating shaft 302 is fixedly and vertically connected with one end of a supporting plate 303, and the other end of the supporting plate 303 is rotatably connected with a bottom belt wheel 304; the connecting block 305 is provided with a through hole, a telescopic rod 306 is inserted into the through hole, the telescopic rod 306 is a round rod half of which is a threaded rod and a smooth rod half of which is a smooth rod, a nut 307 is arranged at the end of the threaded rod, the smooth rod end penetrates through the connecting block 305 to be hinged on the supporting plate 303, a check ring 308 is fixed at one end of the telescopic rod 306 close to the supporting plate 303, and a compression spring 309 sleeved on the telescopic rod 306 is arranged between the check ring 308 and the connecting block. Bearing frame 301 passes through bolt fixed connection at the storehouse 101 outer wall that drives a vehicle, and connecting block 305 is L type angle bar, through bolt or welded fastening storehouse 101 outer wall that drives a vehicle, and open the one end of telescopic link 306 has the through-hole, the rotatable grafting pin of through-hole department, pin fixed vertical connection is on backup pad 303.

The specific operation principle of this embodiment is as follows:

former handheld signal reception equipment of staff, connect wireless module 5 like cell-phone or pad, control servo motor 201 rotates, make the robot open to the bridge bottom, when the robot runs into 7CM angle bar obstacle, continue to advance, the bottom band pulley 304 of the position that the track 204 run into the angle bar can upwards be lifted, drive backup pad 303 and lift, so, can change the shape of track 204, make whole robot paste this angle bar and pass, track 204 breaks away from the position of angle bar, under compression spring 309's effect, resume initial state.

In addition, in order to adapt to bridge bottoms with different heights, the length of the telescopic rod 306 can be adjusted through the adjusting nut 307, and therefore the height of the whole crawler 204 can be adjusted.

Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.

Claims

1. The utility model provides a cross country robot for bridge inspection, includes driving support (1), advancing mechanism (2) and telescopic machanism (3), its characterized in that:

the travelling crane support (1) is a supporting structure of a robot and comprises a boat-shaped travelling crane bin (101), and travelling mechanisms (2) and telescopic mechanisms (3) are mounted on two sides of the travelling crane bin (101) in a mirror image mode;

the travelling mechanism (2) comprises a driving belt wheel (202) and a driven belt wheel (203) which are arranged at two ends of the upper part of the travelling cabin (101), and a crawler belt (204) is connected between the driving belt wheel (202) and the driven belt wheel (203) in a meshing transmission manner;

the telescopic mechanisms (3) are arranged on two sides of the driving cabin (101) and comprise bottom belt wheels (304) capable of stretching up and down, and the bottom belt wheels (304) are meshed with the transmission crawler (204).

2. An off-road robot for bridge inspection as claimed in claim 1, wherein:

the top of one side of the traveling bin (101) is fixedly connected with a roller supporting beam (102), and two sides of the roller supporting beam (102) are rotatably connected with driven pulleys (203); the top of the other opposite side of the traveling bin (101) is fixedly connected with two servo motors (201), and output shafts of the servo motors (201) are connected with driving belt wheels (202).

3. An off-road robot for bridge inspection as claimed in claim 2, wherein:

the internal mounting of driving storehouse (101) has mainboard (4) that have CPU, and two servo motor (201) are connected to mainboard (4) electricity, still are provided with wireless module (5), power module (6) and camera module (7) of electricity connection mainboard (4) in driving storehouse (101), wireless module (5) are wifi connection or bluetooth linking module, power module (6) are lithium cell or lead acid battery, camera module (7) are for can 360 pivoted panorama camera.

4. An off-road robot for bridge inspection as claimed in claim 1, wherein:

the telescopic mechanism (3) comprises a bearing block (301) and a connecting block (305) which are fixedly connected with the outer wall of the driving cabin (101); a rotating shaft (302) with a bearing is rotatably connected in the bearing seat (301), the non-bearing end of the rotating shaft (302) is fixedly connected with one end of a supporting plate (303) vertically, and the other end of the supporting plate (303) is rotatably connected with a bottom belt wheel (304); open on connecting block (305) has the through-hole, inserted in the through-hole telescopic link (306), telescopic link (306) are half for the threaded rod, half for smooth rod's round bar, threaded rod is served and is equipped with nut (307), smooth rod end passes connecting block (305) and articulates on backup pad (303), the one end that telescopic link (306) are close backup pad (303) is fixed with retaining ring (308), be equipped with compression spring (309) of cover on telescopic link (306) between retaining ring (308) and connecting block (305).

5. An off-road robot for bridge inspection as claimed in claim 4, wherein:

bearing frame (301) are at driving storehouse (101) outer wall through bolt fixed connection, connecting block (305) are L type angle bar, through bolt or welded fastening driving storehouse (101) outer wall, open the one end of telescopic link (306) has the through-hole, the rotatable grafting pin of through-hole department, and pin fixed vertical connection is on backup pad (303).