CN212989951U - Box-type bridge crawler-type inspection robot - Google Patents
Box-type bridge crawler-type inspection robot Download PDFInfo
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- CN212989951U CN212989951U CN202021679748.6U CN202021679748U CN212989951U CN 212989951 U CN212989951 U CN 212989951U CN 202021679748 U CN202021679748 U CN 202021679748U CN 212989951 U CN212989951 U CN 212989951U
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Abstract
The utility model belongs to the technical field of the bridge detects, especially, relate to box bridge crawler-type patrols and examines robot. Four groups of detection industrial cameras are arranged on the upper surface of the inspection robot frame; the left side and the right side of the inspection robot frame are connected with crawler fixing supports, crawler guide wheels are arranged at the front ends of the crawler fixing supports, crawler driving wheels are arranged at the tail ends of the crawler fixing supports, and a crawler is fixedly sleeved on the outer sides of the crawler fixing supports; the left and right crawler driving wheels are connected with a driving connecting shaft, a driving wheel is sleeved in the middle of the driving connecting shaft, and the driving wheel is connected with a driving motor fixed at the tail of the frame of the inspection robot through a driving belt. The full-automatic crack detector can perform comprehensive scanning shooting on the inner cavity of the box-type bridge, performs full-automatic crack detection, and provides a basis for subsequent maintenance and repair; the trouble of traditional manual inspection is avoided.
Description
Technical Field
The utility model belongs to the technical field of the bridge detects, especially, relate to box bridge crawler-type patrols and examines robot.
Background
The high-speed rail is an important component of the strategy of the strong country of transportation in China. By 2019, the operating mileage of high-speed rail in China reaches 3.5 kilometers, and the method occupies seven elements of the global high-speed rail network. The overhead bridge can ensure high smoothness of a high-speed rail line, and is widely applied to high-speed rail construction in China. The proportion of the viaduct of one high-speed rail line is more than 50 percent, and the Jing Hu high-speed rail and the Jingjin high-speed rail even reach 80 percent. Under the alternating action of complex factors such as reciprocating load, environmental change, sudden disasters and the like, the high-speed rail box girder can generate tiny fatigue cracks. The development and accumulation of cracks can cause the service performance of the box girder to be continuously deteriorated, and fatigue fracture can even occur under extreme conditions, so that the crack is a main risk source for the operation safety of the high-speed rail. At present, no automatic detection equipment for the defects of the high-speed rail box girder exists domestically, the daily maintenance and repair of the high-speed rail box girder mainly comprise manual routing inspection of a high-speed rail bridge tunneler, but the routing inspection worker brings great inconvenience to the extremely severe working environment of the bridge inner box, the narrow and small situation, the dark situation, the high temperature situation, the strong noise when a train passes through and the like.
SUMMERY OF THE UTILITY MODEL
Aiming at solving the problems of the defects and the shortcomings of the prior art; the utility model aims at providing a crawler-type inspection robot for a box-type bridge, which has simple structure, reasonable design and convenient use, can carry out comprehensive scanning and shooting on the inner cavity of the box-type bridge, carries out full-automatic crack detection and provides a basis for subsequent maintenance and repair; the trouble of traditional manual inspection is avoided.
In order to achieve the above object, the utility model adopts the following technical scheme: the system comprises an inspection robot frame, a top surface detection industrial camera, a bottom surface detection industrial camera, a right side surface detection industrial camera, a left side surface detection industrial camera, a crawler fixing support, a crawler guide wheel, a crawler driving wheel, a crawler, a driving connecting shaft, a driving wheel, a transmission belt and a driving motor; a top surface detection industrial camera is arranged in the middle of the upper surface of the inspection robot frame, a bottom surface detection industrial camera is arranged at the front end of the upper surface of the inspection robot frame, and a right side surface detection industrial camera and a left side surface detection industrial camera are arranged on the left side and the right side of the upper surface of the inspection robot frame; the left side and the right side of the inspection robot frame are connected with crawler fixing supports, crawler guide wheels are arranged at the front ends of the crawler fixing supports, crawler driving wheels are arranged at the tail ends of the crawler fixing supports, and a crawler is fixedly sleeved on the outer sides of the crawler fixing supports; the left and right crawler driving wheels are connected with a driving connecting shaft, a driving wheel is sleeved in the middle of the driving connecting shaft, and the driving wheel is connected with a driving motor fixed at the tail of the frame of the inspection robot through a driving belt.
Preferably, the track fixing support consists of two groups of cross supports I and two groups of cross supports II which are symmetrically distributed, the middles of the cross supports I and the cross supports II are movably connected through a rotating shaft, and upper supporting arms of the cross supports I and the cross supports II are connected through buffer springs; the lower support arms of the first cross support and the second cross support are connected with limiting guide wheels.
Preferably, the top ends of the first cross support and the second cross support are respectively connected with a track guide wheel and a track driving wheel.
Preferably, the inner side of the inspection robot frame is provided with an equipment fixing support, and the lower end of the equipment fixing support is provided with an expansion detection equipment groove.
Preferably, the top surface detection industrial camera, the bottom surface detection industrial camera, the right side surface detection industrial camera and the left side surface detection industrial camera are all connected with detection equipment fixed on the equipment fixing support.
After the structure is adopted, the utility model discloses beneficial effect does: the full-automatic crack detector can perform comprehensive scanning shooting on the inner cavity of the box-type bridge, performs full-automatic crack detection, and provides a basis for subsequent maintenance and repair; the trouble of traditional manual inspection is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention is described in detail by the following specific embodiments and the accompanying drawings.
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic side view of the present invention;
fig. 3 is a schematic view of the front side of the tail of the present invention;
description of reference numerals: the inspection robot comprises an inspection robot frame 1, a top surface detection industrial camera 2, a bottom surface detection industrial camera 3, a right side surface detection industrial camera 4, a left side surface detection industrial camera 5, a crawler fixing support 6, a first cross support 61, a second cross support 62, a rotating shaft 63, a buffer spring 64, a limiting guide wheel 65, a crawler guide wheel 7, a crawler driving wheel 8, a crawler 9, a driving connecting shaft 10, a driving wheel 11, a driving belt 12, a driving motor 13, an equipment fixing support 14 and an extended detection equipment groove 15.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described below with reference to specific embodiments shown in the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and/or process steps that are closely related to the solution according to the invention are shown in the drawings, while other details that are not relevant to the invention are omitted.
Referring to fig. 1 to fig. 3, the following technical solutions are adopted in the present embodiment: the inspection robot comprises an inspection robot frame 1, a top surface detection industrial camera 2, a bottom surface detection industrial camera 3, a right side surface detection industrial camera 4, a left side surface detection industrial camera 5, a crawler fixing support 6, a crawler guide wheel 7, a crawler driving wheel 8, a crawler 9, a driving connecting shaft 10, a driving wheel 11, a driving belt 12 and a driving motor 13; a top surface detection industrial camera 2 is arranged in the middle of the upper surface of the inspection robot frame 1, a bottom surface detection industrial camera 3 is arranged at the front end of the upper surface of the inspection robot frame 1, and a right side surface detection industrial camera 4 and a left side surface detection industrial camera 5 are arranged on the left side and the right side of the upper surface of the inspection robot frame 1; the left side and the right side of the inspection robot frame 1 are connected with crawler fixing supports 6, crawler guide wheels 7 are arranged at the front ends of the crawler fixing supports 6, crawler driving wheels 8 are arranged at the tail ends of the crawler fixing supports 6, and a crawler 9 is fixedly sleeved on the outer sides of the crawler fixing supports 6; wherein, a driving connecting shaft 10 is connected between the left and right crawler driving wheels 8, a driving wheel 11 is sleeved in the middle of the driving connecting shaft 10, and the driving wheel 11 is connected with a driving motor 13 fixed at the tail part of the inspection robot frame 1 through a driving belt 12.
The crawler fixing support 6 is composed of two groups of cross supports I61 and II 62 which are symmetrically distributed, the middles of the cross supports I61 and II 62 are movably connected through a rotating shaft 63, and the upper supporting arms of the cross supports I61 and II 62 are connected through a buffer spring 64; the lower support arms of the first cross support 61 and the second cross support 62 are connected with a limiting guide wheel 65; the top ends of the first cross support 61 and the second cross support 62 are respectively connected with the crawler guide wheel 7 and the crawler driving wheel 8; an equipment fixing support 14 is arranged on the inner side of the inspection robot frame 1, and an expansion detection equipment groove 15 is arranged at the lower end of the equipment fixing support 14; the top surface detection industrial camera 2, the bottom surface detection industrial camera 3, the right side surface detection industrial camera 4 and the left side surface detection industrial camera 5 are connected with detection equipment fixed on the equipment fixing support 14.
The working principle of the specific embodiment is as follows: firstly, a crawler-type inspection robot is placed into an inner box of a bridge from a preformed hole groove of the road surface of the bridge through a retractable bracket, a driving motor 13 is controlled through wireless transmission, and a crawler driving wheel 8 is driven to rotate under the coordination of a driving connecting shaft 10, a driving wheel 11 and a driving belt 12, so that a crawler 9 is driven to move forwards; and drive the whole forward motion of robot frame 1 that patrols and examines under the cooperation of track fixed bolster 6, meanwhile, the bridge incasement portion that top surface detected industrial camera 2, bottom surface detected industrial camera 3, right flank detected industrial camera 4, left flank detected industrial camera 5 carries out comprehensive scanning.
After the structure is adopted, the utility model discloses beneficial effect does: the full-automatic crack detector can perform comprehensive scanning shooting on the inner cavity of the box-type bridge, performs full-automatic crack detection, and provides a basis for subsequent maintenance and repair; the trouble of traditional manual inspection is avoided.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. Box bridge crawler-type patrols and examines robot, its characterized in that: the inspection robot comprises an inspection robot frame (1), a top surface detection industrial camera (2), a bottom surface detection industrial camera (3), a right side surface detection industrial camera (4), a left side surface detection industrial camera (5), a track fixing support (6), a track guide wheel (7), a track driving wheel (8), a track (9), a driving connecting shaft (10), a driving wheel (11), a driving belt (12) and a driving motor (13); a top surface detection industrial camera (2) is arranged in the middle of the upper surface of the inspection robot frame (1), a bottom surface detection industrial camera (3) is arranged at the front end of the upper surface of the inspection robot frame (1), and a right side surface detection industrial camera (4) and a left side surface detection industrial camera (5) are arranged on the left side and the right side of the upper surface of the inspection robot frame (1); the left side and the right side of the inspection robot frame (1) are connected with crawler fixing supports (6), crawler guide wheels (7) are arranged at the front ends of the crawler fixing supports (6), crawler driving wheels (8) are arranged at the tail ends of the crawler fixing supports (6), and a crawler (9) is fixedly sleeved on the outer sides of the crawler fixing supports (6); a driving connecting shaft (10) is connected between the left and right crawler driving wheels (8), a driving wheel (11) is sleeved in the middle of the driving connecting shaft (10), and the driving wheel (11) is connected with a driving motor (13) fixed at the tail of the inspection robot frame (1) through a driving belt (12).
2. The box bridge crawler inspection robot according to claim 1, wherein: the crawler belt fixing support (6) is composed of two groups of cross supports I (61) and cross supports II (62) which are symmetrically distributed, the middles of the cross supports I (61) and the cross supports II (62) are movably connected through a rotating shaft (63), and upper support arms of the cross supports I (61) and the cross supports II (62) are connected through a buffer spring (64); the lower support arms of the first cross support (61) and the second cross support (62) are connected with a limiting guide wheel (65).
3. The box bridge crawler inspection robot according to claim 2, wherein: the top ends of the first cross support (61) and the second cross support (62) are respectively connected with the crawler guide wheel (7) and the crawler driving wheel (8).
4. The box bridge crawler inspection robot according to claim 1, wherein: patrol and examine robot frame (1) inboard and be provided with equipment fixed bolster (14), and equipment fixed bolster (14) lower extreme is provided with and extends detection equipment groove (15).
5. The box bridge crawler inspection robot according to claim 1, wherein: the top surface detection industrial camera (2), the bottom surface detection industrial camera (3), the right side surface detection industrial camera (4) and the left side surface detection industrial camera (5) are connected with detection equipment fixed on the equipment fixing support (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021679748.6U CN212989951U (en) | 2020-08-12 | 2020-08-12 | Box-type bridge crawler-type inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021679748.6U CN212989951U (en) | 2020-08-12 | 2020-08-12 | Box-type bridge crawler-type inspection robot |
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| CN212989951U true CN212989951U (en) | 2021-04-16 |
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| CN202021679748.6U Active CN212989951U (en) | 2020-08-12 | 2020-08-12 | Box-type bridge crawler-type inspection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113358658A (en) * | 2021-04-25 | 2021-09-07 | 上海工程技术大学 | Method for realizing automatic detection of defects of high-speed rail box girder |
| CN113648574A (en) * | 2021-09-23 | 2021-11-16 | 怀化市康嘉医药有限责任公司 | Medicine logistics storage inspection robot based on cloud computing and use method thereof |
-
2020
- 2020-08-12 CN CN202021679748.6U patent/CN212989951U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113358658A (en) * | 2021-04-25 | 2021-09-07 | 上海工程技术大学 | Method for realizing automatic detection of defects of high-speed rail box girder |
| CN113648574A (en) * | 2021-09-23 | 2021-11-16 | 怀化市康嘉医药有限责任公司 | Medicine logistics storage inspection robot based on cloud computing and use method thereof |
| CN113648574B (en) * | 2021-09-23 | 2022-11-22 | 上海浦东物流股份有限公司 | Medicine logistics storage inspection robot based on cloud computing and using method thereof |
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