CN215064641U - Inspection robot - Google Patents

Abstract

The utility model discloses a patrol and examine robot, including crossbeam and a plurality of longerons that set up side by side the interval, install a plurality of drive longeron longitudinal movement's longeron longitudinal movement actuating system on the longeron, still install the crossbeam longitudinal movement actuating system of the relative longeron longitudinal movement of drive crossbeam on the longeron, install between the adjacent longeron through the adjustment longeron between the interval realize patrolling and examining the horizontal crawl's of robot horizontal crawl system. The utility model has the advantages that: longitudinal movement of the longitudinal beam is achieved through the longitudinal beam longitudinal movement driving system, longitudinal movement of the cross beam relative to the longitudinal beam is achieved through the cross beam longitudinal movement driving system, therefore, the inspection robot achieves longitudinal relative movement relative to the bottom surface of the bridge through longitudinal movement of the longitudinal beam and longitudinal movement of the cross beam, inspection of the bottom surface of the bridge is achieved, a transverse crawling system is further arranged on the inspection robot, transverse crawling can be achieved, obstacles are avoided, and universality and reliability of the inspection robot are improved.

Description

Inspection robot

Technical Field

The utility model relates to a bridge bottom surface detects, especially patrols and examines robot.

Background

At present, a bridge detection method is mainly characterized in that a field detection engineer approaches a structure by means of support equipment such as a movable support and a bridge detection vehicle, a visual observation method is adopted, and necessary detection equipment (a ruler, a camera, a crack width gauge and the like) is used for detecting surface defects and diseases of the structure.

The walking of robot is realized through removing the wheel usually to current bridge robot, and to the bridge bottom surface, the robot then need hang upside down on the bridge bottom surface completely, at the in-process of hanging upside down moreover, still need can walk, therefore current bridge robot can't realize the full coverage of bridge bottom surface and patrol and examine.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's shortcoming, provide a can patrol and examine robot to the bridge bottom surface.

The purpose of the utility model is realized through the following technical scheme: the inspection robot comprises a cross beam and a plurality of longitudinal beams arranged side by side at intervals, wherein longitudinal beam longitudinal movement driving systems for driving the longitudinal beams to move longitudinally are installed on the longitudinal beams, cross beam longitudinal movement driving systems for driving the cross beam to move longitudinally relative to the longitudinal beams are also installed on the longitudinal beams, and a transverse crawling system for realizing transverse crawling of the inspection robot by adjusting the distance between the longitudinal beams is installed between the adjacent longitudinal beams.

Optionally, the longitudinal movement driving system of the longitudinal beam comprises gear sets a arranged at a plurality of intervals, an upper sliding cavity is formed in the upper portion of the longitudinal beam, an upper through groove is longitudinally formed in the top of the upper sliding cavity, an upper rack is arranged on the inner side wall of the upper sliding cavity on two sides of the upper through groove, gears of the gear sets a are meshed with the corresponding upper rack, each gear set a is driven by a servo motor a, the servo motor a is arranged in the upper sliding cavity, the servo motor a is connected with the bottom of the connecting portion a, and the adsorption portion is installed at the top of the connecting portion a.

Optionally, the crossbeam longitudinal movement actuating system includes gear train b, the lower part of longeron has been seted up down the slip chamber, the logical groove has vertically been seted up down to the bottom in the lower slip intracavity, be located and install down the rack on the lower slip intracavity inside wall of logical groove both sides down, gear train b's gear and the lower rack toothing who corresponds, and gear train b's gear passes through servo motor b drive, servo motor b is located the slip intracavity down, servo motor b is connected with connecting portion b, the mounting bracket is installed to connecting portion b's bottom, install the crossbeam in the mounting bracket.

Optionally, the transverse crawling system comprises deformable rhombic chain plates, a plurality of rhombic chain plates are hinged between two adjacent longitudinal beams, and driving units for enabling the rhombic chain plates to stretch and deform are arranged on the rhombic chain plates.

Optionally, the longitudinal beam is provided with a connecting lug, the connecting lug is provided with a hinge hole, and two ends of the rhombic chain plate are hinged with the hinge hole through a pin shaft.

Optionally, the rhombic chain plate comprises a plurality of rhombic units, the rhombic units are hinged end to end, two ends of the driving unit are hinged to corners of one rhombic unit respectively, and the axis of the driving unit is superposed with the diagonal line of the rhombic unit.

Optionally, the rhombic unit comprises a first connecting piece, a second connecting piece, a third connecting piece and a fourth connecting piece, one end of the first connecting piece is hinged to one end of the second connecting piece through a pin shaft, the other end of the first connecting piece is hinged to one end of the third connecting piece through a pin shaft, the other end of the second connecting piece is hinged to the other end of the fourth connecting piece through a pin shaft, the third connecting piece is hinged to the fourth connecting piece, the first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece enclose a rhombic structure, and two ends of the driving unit are hinged to pin shafts on two diagonal lines corresponding to the rhombic unit.

Optionally, the driving unit is an oil cylinder, a hinge seat is arranged on an oil cylinder seat of the oil cylinder, a hinge hole is formed in a telescopic rod of the oil cylinder, the hinge seat is hinged to one pin shaft of the rhombic unit, the telescopic rod is hinged to the other pin shaft of the rhombic unit, and an axis line of the oil cylinder coincides with a diagonal line of the corresponding rhombic unit.

Optionally, the number of the rhombic chain plates is multiple, the rhombic chain plates are arranged at intervals, a first connecting rod and a second connecting rod are hinged to one rhombic chain plate, the other ends of the first connecting rod and the second connecting rod are hinged to the other rhombic chain plate, and the first connecting rod, the second connecting rod and the two rhombic chain plates corresponding to the first connecting rod and the second connecting rod form a movable parallelogram.

The utility model has the advantages of it is following:

1. the inspection robot of the utility model realizes the longitudinal movement of the longitudinal beam through the longitudinal movement driving system of the longitudinal beam, realizes the longitudinal movement of the cross beam relative to the longitudinal beam through the longitudinal movement driving system of the cross beam, therefore, the inspection robot realizes the longitudinal relative movement relative to the bottom surface of the bridge through the longitudinal movement of the longitudinal beam and the longitudinal movement of the cross beam, thereby realizing the inspection of the bottom surface of the bridge, and the inspection robot is also provided with a transverse crawling system, in the inspection process, the distance between the longitudinal beams can be adjusted according to the actual situation, so that the longitudinal beams can transversely climb to avoid obstacles in the inspection process, the universality and the reliability of the inspection robot are improved, a plurality of adsorption parts are always adsorbed on the bottom surface of the bridge in the crawling process, therefore, the inspection robot is prevented from falling off, and the crawling reliability and stability of the inspection robot are ensured.

Drawings

Fig. 1 is a first schematic structural diagram of the present invention;

FIG. 2 is a second schematic structural view of the present invention;

FIG. 3 is a schematic structural view of a stringer;

FIG. 4 is a schematic view of the installation of the cross beam;

FIG. 5 is a schematic view of the installation of gear set a and gear set b within the stringer;

FIG. 6 is a schematic structural diagram of the inspection robot in an initial state;

FIG. 7 is a schematic structural view of a longitudinal beam being stationary and a transverse beam being moved to the middle of the longitudinal beam;

FIG. 8 is a schematic view showing the position of the cross beam after the longitudinal beam moves at a speed of 2V by t/2 after being adsorbed by the adsorbing portion b;

FIG. 9 is a schematic view showing the position of the cross beam after the gear set B moves at a speed of 2V by t/2 after the adsorption portion a adsorbs;

FIG. 10 is a schematic view showing the position of the cross member after the side member moves at a speed of 2V by t/2 after the adsorption portion b adsorbs again;

FIG. 11 is a schematic view showing the position of the cross beam after the gear set B moves at a speed of 2V by t/2 after the adsorption part a is adsorbed again;

FIG. 12 is a schematic view of the installation of the pitch adjustment mechanism;

FIG. 13 is a schematic cross-sectional view A-A of FIG. 12;

FIG. 14 is a schematic cross-sectional view of B-B of FIG. 12;

FIG. 15 is a schematic structural diagram of a driving unit;

FIG. 16 is a schematic view of the attachment ears installed;

in the figure, 100-longitudinal beam, 200-longitudinal beam longitudinal movement driving system, 300-longitudinal beam longitudinal movement driving system, 400-adsorption part, 500-transverse beam, 600-diamond unit, 700-driving unit, 101-upper sliding cavity, 102-upper through groove, 103-upper rack, 104-lower rack, 105-lower sliding cavity, 106-lower through groove, 107-longitudinal beam a, 108-longitudinal beam B, 109-longitudinal beam c, 110-connecting lug, 201-gear set a, 202-connecting part a, 203-gear set A, 204-gear set B, 301-gear set B, 302-mounting rack, 303-connecting part B, 401-adsorption part a, 402-adsorption part B, 601-first connecting piece, 602-second connecting piece, 603-third connecting piece, 604-a fourth connecting piece, 605-a pin shaft, 606-a first connecting rod, 607-a second connecting rod, 701-an oil cylinder seat, 702-a telescopic rod and 703-a hinge seat.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. 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.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the 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 present invention, the embodiments and the features of the embodiments may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

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 the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which the products of the present invention are conventionally placed in use, or the position or positional relationship which the skilled person conventionally understand, 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 to which the reference is made must have a specific position, 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.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; 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.

As shown in fig. 1-5, patrol and examine the robot, including crossbeam 500 and a plurality of longerons 100 that set up side by side the interval, it is preferred, longeron 100 and crossbeam 500 all adopt the aluminum alloy material to make, can wholly alleviate the weight of patrolling and examining the robot, thereby reduce the degree of difficulty of patrolling and examining the robot and transversely crawling and longitudinal movement, as shown in fig. 3, sliding chamber 101 has been seted up on the upper portion of longeron 100, sliding chamber 105 has been seted up down in the lower part of longeron 100, sliding chamber 101 and sliding chamber 105 are the rectangle cavity down, and go up the top of sliding chamber 101 and vertically seted up logical groove 102, logical groove 106 has vertically been seted up to the bottom in the sliding chamber 105 down.

In this embodiment, a plurality of longitudinal movement driving systems 200 for driving the longitudinal movement of the longitudinal beams 100 are installed on the longitudinal beams 100, a transverse beam longitudinal movement driving system 300 for driving the transverse beam 500 to move longitudinally relative to the longitudinal beams 100 is also installed on the longitudinal beams 100, and a distance adjusting mechanism for adjusting the distance between the longitudinal beams 100 is installed between the adjacent longitudinal beams 100.

In this embodiment, as shown in fig. 4, the longitudinal beam longitudinal movement driving system 200 includes a plurality of gear sets a201 disposed at intervals, each gear set a201 includes at least a pair of gears, the inner side wall of the upper sliding cavity 101 located at both sides of the upper through groove 102 is installed with an upper rack 103, the gears of the plurality of gear sets a201 are all meshed with the corresponding upper rack 103, and each gear set a201 is driven by a servo motor a, the servo motor a preferably selects a dual-axis servo motor, the power output shafts of the dual-axis servo motors are respectively connected with a gear, and the gears are meshed with the upper rack 103, so that when the servo motor a works, the gears are driven to rotate, and the longitudinal beam 100 and the gear sets a201 move relatively.

In this embodiment, as shown in fig. 4, the servo motor a is located in the upper sliding chamber 101, the servo motor a is connected to the bottom of the connecting portion a202, and the suction portion 400 is installed on the top of the connecting portion a202, in practice, a frame may be provided, the servo motor a is then installed in the frame, the power output shaft of the servo motor a is then connected to the gear of the gear set a201, and the connecting portion a202 may be connected to the frame, so that the servo motor a and the connecting portion a202 move synchronously.

In this embodiment, as shown in fig. 5, the gear sets a201 are four sets, and the two spaced gear sets a201 move synchronously, preferably, the suction portion 400 is a suction cup, when the suction cup sucks the bottom surface of the bridge, the servo motor a works, and because the suction cup is not moved, the servo motor a does not longitudinally move, and the longitudinal beam 100 longitudinally moves as the servo motor a drives the gears on the gear sets a201 to rotate.

In this embodiment, as shown in fig. 4, the driving system 300 for longitudinal movement of the cross beam includes a gear set b301, the gears of the gear set b301 are engaged with the corresponding lower racks 104, the gears of the gear set b301 are driven by a servo motor b, the servo motor b is located in the lower sliding cavity 105, the servo motor b is connected with a connecting portion b303, the bottom of the connecting portion b303 is provided with a mounting rack 302, the cross beam 500 is mounted in the mounting rack 302, similarly, the lower racks 104 are mounted on the inner side walls of the lower sliding cavity 105 located at two sides of the lower through groove 106, the gears of the gear set b301 are engaged with the corresponding lower racks 104, each gear set b301 is driven by a servo motor b, the servo motor b preferably selects a dual-shaft servo motor, the power output shafts of the dual-shaft servo motors are respectively connected with a gear, and the gear is engaged with the lower racks 104, so that the servo motor b drives the gear to rotate when working, therefore, the longitudinal beam 100 and the gear set b301 move relatively, in this embodiment, because the cross beam 500 is in a suspended state, the cross beam 500 makes synchronous motion with the servo motor b and the gear set b301 through the mounting frame 302, and therefore, after the servo motor b works, the gear of the gear set b301 rotates, so that the gear set b301 moves longitudinally along the longitudinal beam 100, at this time, the cross beam 500 moves longitudinally along the longitudinal beam 100, and a plurality of detection devices are installed on the cross beam 500, for example: the high-definition camera, the sensor, the signal emitter and the signal receiver, that is, when the servo motor works, the beam 500 starts to move longitudinally, along with the longitudinal movement of the beam 500, the high-definition camera can transmit the shot content to the memory, the shape of the crack is drawn through the computer image recognition technology, and the length and the width of the crack are measured.

In this embodiment, the number of the longitudinal beams 100 is multiple, the longitudinal beams 100 are arranged at intervals, the cross beam 500 traverses the plurality of mounting frames 302, preferably, the number of the longitudinal beams 100 is three, the longitudinal beams 100 are arranged at intervals side by side, and the transverse crawling movement of the inspection robot can be realized by adsorbing every two longitudinal beams 100 and transversely shifting the other longitudinal beam 100.

In this embodiment, as shown in fig. 12, the transverse crawling system includes a deformable diamond-shaped link plate 600, a plurality of diamond-shaped link plates 600 are hinged between two adjacent longitudinal beams 100, as shown in fig. 16, a connecting lug 110 is arranged on each longitudinal beam 100, a hinge hole is formed on each connecting lug 110, two ends of each diamond-shaped link plate 600 are hinged to the hinge hole through a pin shaft, a driving unit 700 for enabling the diamond-shaped link plates 600 to be elastically deformed is arranged on each diamond-shaped link plate 600, each diamond-shaped link plate 600 includes a plurality of diamond-shaped units, the diamond-shaped units are hinged end to end, as shown in fig. 15, two ends of each driving unit 700 are respectively hinged to a corner of one diamond-shaped unit, and an axial lead of each driving unit 700 coincides with a diagonal of each diamond-shaped unit, so that when the driving unit 700 works, the diamond-shaped link plates 600 are deformed, and a transverse distance between the longitudinal beams 100 connected to two ends of the diamond-shaped link plates 600 is changed.

In this embodiment, as shown in fig. 12 to 15, the diamond-shaped unit includes a first connecting member 601, a second connecting member 602, a third connecting member 603, and a fourth connecting member 604, one end of the first connecting member 601 is hinged to one end of the second connecting member 602 through a pin 605, the other end of the first connecting member 601 is hinged to one end of the third connecting member 603 through a pin 605, the other end of the second connecting member 602 is hinged to the other end of the fourth connecting member 604 through a pin 605, the third connecting member 603 is hinged to the fourth connecting member 604, the first connecting member 601, the second connecting member 602, the third connecting member 603, and the fourth connecting member 604 define a diamond-shaped structure, and two ends of the driving unit 700 are hinged to the pins 605 on two diagonal lines corresponding to the diamond-shaped unit, further, the driving unit 700 is an oil cylinder, a hinge seat 703 is disposed on an oil cylinder seat 701 of the oil cylinder, a hinge hole is disposed on a telescopic rod 702 of the oil cylinder, the hinged seat 703 is hinged on one pin 605 of the rhombic unit, the telescopic rod 702 is hinged on the other pin 605 of the rhombic unit, the axis of the oil cylinder is overlapped with the diagonal line of the corresponding rhombic unit, and preferably, the axis of the oil cylinder is parallel to the longitudinal beam 100, so that the rhombic unit can be greatly deformed when the oil cylinder works, and the creeping distance of the longitudinal beam 100 is increased.

In this embodiment, as shown in fig. 12 to 15, there are a plurality of rhombic chain plates 600, and the rhombic chain plates 600 are arranged at intervals, wherein a first connecting rod 606 and a second connecting rod 607 are hinged on one rhombic chain plate 600, the other ends of the first connecting rod 606 and the second connecting rod 607 are hinged on the other rhombic chain plate 600, and the first connecting rod 606, the second connecting rod 607 and the two rhombic chain plates 600 corresponding thereto form a movable parallelogram, so that when the cylinder operates, the plurality of rhombic chain plates 600 can be ensured to be synchronously stretched, thereby increasing the crawling stability of the longitudinal beam 100.

Referring to fig. 2, taking three longitudinal beams 100 as an example to illustrate the transverse crawling process of the inspection robot, the longitudinal beam 100 is divided into a longitudinal beam a107, a longitudinal beam b108 and a longitudinal beam c109, each longitudinal beam 100 has four absorbing parts 400, two longitudinal beams 100 have four rhombic link plates 600 therebetween, each rhombic link plate 600 is formed by two rhombic cells, each rhombic link plate 600 is divided into one group, preferably, two groups of rhombic link plates 600 are symmetrically arranged about a connecting line of central lines of the two longitudinal beams 100, further, the lengths of a third connecting member 603 and a fourth connecting member 604 are longer than that of the first connecting member 601 and the second connecting member 602, both ends of the third connecting member 603 are hinged with a first connecting member 601, both ends of the fourth connecting member 604 are hinged with a second connecting member 602, both ends of the first connecting rod 606 are hinged with both ends of two third connecting members 603 of the rhombic link plates 600 of the same group, both ends of the second connecting rod 607 are hinged with both ends of two third connecting members 603 of the rhombic link plates 600 of the same group, or, both ends of the first connecting rod 606 are hinged to both ends of the two fourth connecting members 604 of the same group of diamond-shaped link plates 600, both ends of the second connecting rod 607 are hinged to both ends of the two fourth connecting members 604 of the same group of diamond-shaped link plates 600, respectively, so that the first connecting rod 606, the second connecting rod 607 and the corresponding two third connecting members 603 form a movable parallelogram or the first connecting rod 606, the second connecting rod 607 and the corresponding two fourth connecting members 604 form a movable parallelogram, when the inspection robot needs to transversely creep, one of the longitudinal beams 100 moves, the other two longitudinal beams 100 do not move, taking the longitudinal beam a107 as an example, when the longitudinal beam a107 needs to transversely extend and adjust, at this time, the adsorption parts 400 on the longitudinal beams b108 and c109 adsorb the bottom surface of the bridge, while the adsorption parts 400 on the longitudinal beam a107 release, then the two oil cylinders work simultaneously, the telescopic rod 702 contracts, so that the diagonal line a of the diamond-shaped bracket is shortened, the diagonal line b is lengthened, because the position of the longitudinal beam b108 is not changed, the longitudinal beam a107 transversely extends relative to the longitudinal beam b108, similarly, when the longitudinal beam a107 transversely contracts and adjusts, at this time, the adsorption part 400 on the longitudinal beam b108 and the longitudinal beam c109 adsorbs the bottom surface of the bridge, the adsorption part 400 on the longitudinal beam a107 loosens, then the two oil cylinders simultaneously work, the expansion rod 702 extends, so that the diagonal line a of the diamond-shaped bracket lengthens, the diagonal line b shortens, because the position of the longitudinal beam b108 is not changed, the longitudinal beam a107 transversely contracts relative to the longitudinal beam b108, thereby realizing the transverse position adjustment of the longitudinal beam a107, similarly, the adsorption part 400 on the longitudinal beam a107 and the longitudinal beam c109 adsorbs, the adsorption part 400 on the longitudinal beam b108 loosens, the corresponding oil cylinder works, realizing the transverse position adjustment of the longitudinal beam b108, the adsorption part 400 on the longitudinal beam a107 and the longitudinal beam b108 adsorbs, the adsorption part 400 on the longitudinal beam c109 is loosened, the corresponding oil cylinder works, and the adjustment of the transverse position of the longitudinal beam c109 is realized, so that the transverse crawling of the inspection robot is realized by changing the transverse positions of the longitudinal beam a107, the longitudinal beam b108 and the longitudinal beam c 109.

After the distance between the longitudinal beams 100 of the inspection robot is adjusted, the inspection robot needs to move longitudinally to complete the detection of the whole bridge bottom surface, when the adsorption parts 400 are adsorbed on the bridge bottom surface, the longitudinal beams 100 can move relative to the bridge bottom surface, so that the inspection robot has a crawling function, also taking three longitudinal beams 100 as an example to illustrate the crawling process of the inspection robot, when the longitudinal beams 100 move longitudinally, all the longitudinal beams move synchronously, because the longitudinal beams 100 are suspended on the bridge bottom surface, no support is arranged below the longitudinal beams 100, and all the longitudinal beams are adsorbed by a suction cup, in order to ensure the moving reliability of the longitudinal beams 100, in the embodiment, as shown in fig. 2, four adsorption parts 400 are arranged on the longitudinal beams 100, each adsorption part 400 corresponds to one gear set a201, so the gear sets a201 also have four, and then the four adsorption parts 400 are divided into two groups, namely the adsorption parts a401 and the adsorption parts 402 b, the grouping standard is that two adjacent adsorption parts 400 cannot be grouped together, a gear group corresponding to the adsorption part a401 is a gear group a203, a gear group corresponding to the adsorption part B402 is a gear group B204, and when the inspection robot is placed on the bottom surface of the bridge, the inspection robot is in an initial state, as shown in fig. 6, when the inspection robot is in the initial position, there are an adsorption part a401 and an adsorption part B402 at both longitudinal ends of the longitudinal beam 100, and the middle part of the longitudinal beam 100 also has an adsorption part a401 and an adsorption part B402, wherein the distance between the two adsorption parts a401 is the same as the distance between the two adsorption parts B402, the cross beam 500 is located below the adsorption part a401 at the end of the longitudinal beam 100, and at this time, the adsorption part a401 and the adsorption part B402 both adsorb the bottom surface of the bridge, and when the inspection starts, as shown in fig. 7, the adsorption part a401 needs to adsorb the bottom surface of the bridge, and then the gear group B301 works, so that the cross beam 500 moves to the middle part of the bridge at the speed V, the operation time is t, then the adsorption part B402 is adsorbed on the bottom surface of the bridge, the adsorption part a401 is released, the gear set B204 corresponding to the adsorption part B402 is operated, the adsorption part B402 is in the adsorption state, the gear set B204 below the adsorption part B402 is operated, so that the longitudinal beam 100 moves forwards, at this time, the adsorption part a401 is in the release state, so that the adsorption part a401, the cross beam 500 and the longitudinal beam 100 move synchronously, during the movement, the longitudinal beam 100 moves forwards at the speed of 2V, the operation time is t/2, in order to ensure the stability of the detection of the cross beam 500, the movement speed of the cross beam 500 is stable, at this time, the gear set B301 works reversely, so that the cross beam 500 moves backwards at the speed V, the operation time is t/2, so that the cross beam 500 moves forwards at the speed V relative to the bottom surface of the bridge, as shown in fig. 8 and 9, then the adsorption part a401 is adsorbed on the bottom surface of the bridge, the gear set A203 stops working, the longitudinal beam 100 does not move, the adsorption part B402 is released, the gear set B204 works, the adsorption part B402 moves forwards at the speed of 2V, the gear set B301 works, the cross beam 500 moves forwards at the speed of V, the running time is t/2, after the running is finished, the gear set B301 is positioned in the middle of the longitudinal beam 100, then the adsorption part a401 is released, the adsorption part B adsorbs, the gear set B204 works, the longitudinal beam 100 moves forwards at the speed of 2V, the running time is t/2, at the moment, the cross beam 500 moves backwards at the speed of V, the running time is t/2, after the running is finished, as shown in figures 10 and 11, the adsorption part a adsorbs to the bottom surface of the bridge again, the gear set A203 stops working, the longitudinal beam 100 does not move, the adsorption part B402 releases, the gear set B204 works, the adsorption part B402 moves forwards at the speed of 2V, the gear set B301 works, the cross beam 500 moves forwards at the speed of V, the operation time is t/2, gear train B301 then is in the middle part of longeron 100, then adsorption part a401 loosens again, adsorption part B402 adsorbs, gear train B204 work, make longeron 100 move forward with 2V's speed, the operation time is t/2, and crossbeam 500 moves backward with speed V this moment, the movement time is t/2, then repeat above-mentioned action, thereby make the relative bridge bottom surface that patrols and examines the robot and last move, accomplish patrolling and examining of bridge bottom surface, because when moving at every turn, all have two adsorption parts 400 and inhale the bridge bottom surface, thereby guaranteed to patrol and examine the reliability of robot longitudinal movement, after the completion is patrolled and examined to the bridge bottom surface, then patrol and examine the robot and get back initial condition, operating personnel take off and examine the robot can.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (9)

1. Patrol and examine robot, its characterized in that: including crossbeam and a plurality of longerons that set up side by side the interval, install a plurality of drive longeron longitudinal movement's longeron longitudinal movement actuating system on the longeron, still install the drive on the longeron the crossbeam is relative longeron longitudinal movement's crossbeam longitudinal movement actuating system, it is adjacent install between the longeron through the adjustment the horizontal crawl system that the robot transversely crawled is patrolled and examined in the interval realization between the longeron.

2. The inspection robot according to claim 1, wherein: longeron longitudinal movement actuating system includes gear train an that a plurality of intervals set up, the chamber that slides on having seted up on the upper portion of longeron, go up the top in the chamber that slides and vertically having seted up logical groove, be located go up and install the rack on the last sliding chamber inside wall that leads to the groove both sides, it is a plurality of gear train an's gear all meshes with the last rack that corresponds, and each group gear train a drives through a servo motor a, servo motor a is located go up the sliding chamber, servo motor a is connected with connecting portion an's bottom, the adsorption portion is installed at connecting portion an's top.

3. The inspection robot according to claim 2, wherein: crossbeam longitudinal movement actuating system includes gear train b, the chamber that slides down has been seted up to the lower part of longeron, slide down the bottom of intracavity and vertically seted up down logical groove, be located install down the rack on the lower sliding chamber inside wall of logical groove both sides down, gear train b's gear and the lower rack toothing who corresponds, just gear train b's gear passes through servo motor b drive, servo motor b is located slide the intracavity down, servo motor b is connected with connecting portion b, the mounting bracket is installed to connecting portion b's bottom, install the crossbeam in the mounting bracket.

4. The inspection robot according to claim 1 or 3, wherein: the transverse crawling system comprises deformable rhombic chain plates, a plurality of rhombic chain plates are hinged between two adjacent longitudinal beams, and driving units for enabling the rhombic chain plates to stretch and deform are arranged on the rhombic chain plates.

5. The inspection robot of claim 4, wherein: the longitudinal beam is provided with a connecting lug, the connecting lug is provided with a hinge hole, and two ends of the rhombic chain plate are hinged with the hinge hole through a pin shaft.

6. The inspection robot of claim 5, wherein: the rhombic chain plate comprises a plurality of rhombic units which are hinged end to end, two ends of the driving unit are hinged to corners of the rhombic units respectively, and the axial lead of the driving unit coincides with the diagonal lines of the rhombic units.

7. The inspection robot of claim 6, wherein: the rhombic unit comprises a first connecting piece, a second connecting piece, a third connecting piece and a fourth connecting piece, one end of the first connecting piece is hinged to one end of the second connecting piece through a pin shaft, the other end of the first connecting piece is hinged to one end of the third connecting piece through a pin shaft, the other end of the second connecting piece is hinged to the other end of the fourth connecting piece through a pin shaft, the third connecting piece is hinged to the fourth connecting piece, the first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece enclose a rhombic structure, and two ends of the driving unit are hinged to pin shafts on two diagonal lines corresponding to the rhombic unit.

8. The inspection robot according to claim 7, wherein: the driving unit is an oil cylinder, a hinging seat is arranged on an oil cylinder seat of the oil cylinder, a hinging hole is formed in a telescopic rod of the oil cylinder, the hinging seat is hinged to one of the rhombic units and the pin shaft, the telescopic rod is hinged to the other of the rhombic units and the pin shaft, and the axis of the oil cylinder coincides with the diagonal line corresponding to the rhombic unit.

9. The inspection robot according to claim 8, wherein: the rhombus link joint is a plurality of, and is a plurality of rhombus link joint interval sets up, and it has first connecting rod and second connecting rod to articulate on one of them rhombus link joint, the other end of first connecting rod with the second connecting rod articulates on another rhombus link joint, just first connecting rod, second connecting rod and its two that correspond rhombus link joint constitutes the parallelogram that can move about.

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