CN219707162U - Self-propelled detection robot for inner surface of bridge - Google Patents

Abstract

The utility model discloses a self-propelled detection robot on the inner surface of a bridge, which comprises a driving mechanism and a second shell; the driving mechanism and the outer part of the second shell are provided with wheel bodies in annular array; the driving mechanism outputs the wheel body with the rotation freedom degree outside, and the wheel body is obliquely arranged towards the inner surface direction of the bridge; so that the driving mechanism drives the second shell to move along the inner wall of the bridge; a visual inspection piece is arranged outside the second shell and used for detecting the bridge; the utility model can be adapted to the inside of bridges of different specifications, sizes or models and run along the inside of the bridges in the actual application process through mechanical linkage and mutual coordination between the driving mechanism and other related structures; meanwhile, the relevant detection is carried out on the inside of the bridge through the visual inspection piece, so that the technical defect that workers cannot visually inspect the inside of the bridge in the traditional technology is overcome, and the requirements of practical application and practicality are effectively met.

Description

Self-propelled detection robot for inner surface of bridge

Technical Field

The utility model relates to the technical field of bridges, in particular to a self-propelled detection robot for the inner surface of a bridge.

Background

The bridge frame has the functions of supporting cables, protecting cables and standardizing cables. The groove type bridge is used as a form of a cable bridge and mainly used for supporting control cables and signal cables; the bridge frame itself is a component name, and the main body of the bridge frame consists of a bracket, a bracket arm, a mounting accessory and the like;

in practical application, the bridge is mostly formed by splicing standard structural members (such as sectional materials); after the device is applied for a certain time, the matching relation between related structures is inevitably reduced due to external stress and other factors, or the body structure generates certain abrasion or other common stress phenomena; in the prior art, the visual inspection and maintenance of the bridge are realized by visual inspection of staff; however, most of existing bridge frames have hollow structures, and the internal structures cannot be visually inspected.

Therefore, a self-propelled inspection robot for the inner surface of a bridge is provided.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a self-propelled inspection robot for an inner surface of a bridge, so as to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial choice;

the technical scheme of the embodiment of the utility model is realized as follows: a self-propelled detection robot on the inner surface of a bridge comprises a driving mechanism and a second shell; the driving mechanism and the outer part of the second shell are provided with wheel bodies in annular array; the driving mechanism outputs the wheel body with the rotation freedom degree outside, and the wheel body is obliquely arranged towards the inner surface direction of the bridge; so that the driving mechanism drives the second shell to move along the inner wall of the bridge; and a visual inspection piece is arranged outside the second shell and used for detecting the bridge frame.

In the above embodiment, the following embodiments are described: the rotation degrees of freedom are in linkage relation, and are in a direct driving mode, so that linkage driving for driving the multi-terminal degrees of freedom is finally realized, and parameters such as specific driving track, azimuth and angle are realized; specifically, the stroke amount model selection assembly based on the degrees of freedom is realized based on the staff, and the linkage between the degrees of freedom and the control of an external controller are realized.

In the above embodiment, the following embodiments are described: the visual inspection piece is a monitoring probe;

wherein in one embodiment: the driving mechanism comprises a first shell, a power piece and a high auxiliary assembly; the wheel shafts of the wheel bodies at the driving mechanism are hinged to the inner side wall of the first shell, and the power piece generates the rotational freedom degree in the first shell and is used for driving the first shell to rotate; the high auxiliary assembly is arranged on the inner side wall of the first shell and is used for synchronously adjusting and driving the rotation angle of the wheel shaft of the wheel body at the driving mechanism and controlling the inclination angle of the wheel body at the position which is obliquely arranged along the direction of the inner surface of the bridge frame in a direction.

In the above embodiment, the following embodiments are described: through the mechanical linkage and mutual coordination between the rotation freedom degree and the high-speed auxiliary components, the multi-end linkage and the coordination form thereof drive the first shell to continuously rotate, and each wheel body at the driving mechanism disturbs the whole device and the inner side wall of the external bridge frame to spirally rotate and rotate due to the inclination angle of the wheel shaft of the wheel body at the driving mechanism, so that the crawling force along the internal direction of the bridge frame is obtained, and the whole device is driven to move;

wherein in one embodiment: the wheel axle of the wheel body is in sliding fit with the wheel body, the surface body in sliding fit is not a curved surface, and the wheel axle is connected with the wheel body through an elastic piece and carries out elastic force accumulation; wherein the elastic piece is a spring.

In the above embodiment, the following embodiments are described: the wheel shaft of the wheel body is in sliding fit with the wheel body, and elastic force is accumulated through the elastic piece, so that the wheel body is always at a limit travel point in sliding fit with the wheel shaft; when the integral device is applied to the inside of the bridge frame with different specifications, sizes or models, the wheel body is attached to the inner side wall of the bridge frame and slides on the wheel shaft, and the wheel shaft drives the wheel body to be tightly attached to the inner side wall of the bridge frame due to the reverse direction of the elastic piece, so that the integral device can be adapted to the inside of the bridge frame with different specifications, sizes or models, or in the advancing process, the inside of the bridge frame is provided with a variable-size structure, and the integral device can also be adapted and adjusted by the matching principle of the components;

wherein in one embodiment: the high-speed auxiliary assembly comprises a bevel gear assembly, wherein the bevel gear assembly comprises a drive bevel gear and driven bevel gears, the number of the driven bevel gears is the same as that of the wheel bodies at the driving mechanism, and the driven bevel gears are meshed with the drive bevel gears; the drive bevel gear is driven by a second power piece, and the second power piece is arranged on the inner side wall of the first shell.

In the above embodiment, the following embodiments are described: as mentioned above, the wheel body at the driving mechanism is arranged obliquely towards the inner surface direction of the bridge, and the angle of the oblique arrangement can adjust the crawling speed of the bridge; furthermore, the driven bevel gears are meshed to drive all the driven bevel gears, so that the driven bevel gears respectively adjust the wheel shafts of the wheel bodies at the driven bevel gears, and further, all the wheel bodies can synchronously adjust the inclination angles; the wheel axle of the wheel body is in sliding fit with the wheel body, and the surface body in sliding fit is not curved, so that the angle adjustment of the wheel body cannot interfere the sliding fit of the wheel axle and the wheel body;

wherein in one embodiment: the wheel axle of the wheel body at the second shell is hinged with the second shell; the auxiliary transportation device is used for auxiliary transportation;

compared with the prior art, the utility model has the beneficial effects that: the utility model can be adapted to the inside of bridges of different specifications, sizes or models and run along the inside of the bridges in the actual application process through mechanical linkage and mutual coordination between the driving mechanism and other related structures; meanwhile, the relevant detection is carried out on the inside of the bridge through the visual inspection piece, so that the technical defect that workers cannot visually inspect the inside of the bridge in the traditional technology is overcome, and the requirements of practical application and practicality are effectively met.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic view of a bottom view perspective structure of the present utility model;

fig. 3 is a schematic perspective view of the first housing removed according to the present utility model.

Reference numerals: 1. a driving mechanism; 101. a first housing; 102. a power member; 103. a bevel gear assembly; 2. a second housing; 3. a visual inspection piece; 4. a wheel body; 401. an elastic member.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. This utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below;

it should be noted that the terms "first," "second," "symmetric," "array," and the like are used merely for distinguishing between description and location descriptions, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of features indicated. Thus, a feature defining "first," "symmetry," or the like, may explicitly or implicitly include one or more such feature; also, where certain features are not limited in number by words such as "two," "three," etc., it should be noted that the feature likewise pertains to the explicit or implicit inclusion of one or more feature quantities;

in the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature; meanwhile, all axial descriptions such as X-axis, Y-axis, Z-axis, one end of X-axis, the other end of Y-axis, or the other end of Z-axis are based on a cartesian coordinate system.

In the present utility model, unless explicitly specified and limited otherwise, terms such as "mounted," "connected," "secured," and the like are to be construed broadly; for example, the connection can be fixed connection, detachable connection or integrated molding; the connection may be mechanical, direct, welded, indirect via an intermediate medium, internal communication between two elements, or interaction between two elements. The specific meaning of the terms described above in the present utility model will be understood by those skilled in the art from the specification and drawings in combination with specific cases.

In the prior art, in practical application, the bridge is mostly formed by splicing standard structural members (such as sectional materials); after the device is applied for a certain time, the matching relation between related structures is inevitably reduced due to external stress and other factors, or the body structure generates certain abrasion or other common stress phenomena; in the prior art, the visual inspection and maintenance of the bridge are realized by visual inspection of staff; however, most existing bridge frames are hollow structures, and the internal structure of the bridge frames cannot be visually inspected; for this reason, referring to fig. 1-3, the present utility model provides a technical solution to solve the above technical problems: a self-propelled detection robot on the inner surface of a bridge comprises a driving mechanism 1 and a second shell 2; the driving mechanism 1 and the outer part of the second shell 2 are provided with wheel bodies 4 in annular array; the driving mechanism 1 outputs a wheel body 4 with the rotation freedom degree outside, and the wheel body 4 is obliquely arranged towards the inner surface direction of the bridge; so that the driving mechanism 1 drives the second shell 2 to travel along the inner wall of the bridge; the second housing 2 is provided with a visual inspection 3 at the outside for inspecting the bridge.

In the scheme, all electrical components of the whole device are powered by virtue of a storage battery arranged in the second shell 2; specifically, the electric elements of the whole device are in conventional electrical connection with the output port of the storage battery through a relay, a transformer, a button panel and other devices, so that the energy supply requirements of all the electric elements of the device are met;

specifically, a controller is further arranged in the second casing 2 of the device, and the controller is used for connecting and controlling all electrical components of the whole device to drive according to a preset program as a preset value and a drive mode; it should be noted that the driving mode corresponds to output parameters such as start-stop time interval, rotation speed, power and the like between related electrical components, and meets the requirement that related electrical components drive related mechanical devices to operate according to the functions described in the related electrical components.

Preferably, the controller is a PLC controller, and the control requirement is completed through a ladder diagram, a sequence function diagram, a function block diagram, an instruction list or a structural text and other conventional PLC control modes; it should be noted that the output parameters such as the operation start-stop time interval, the rotation speed, the power and the like of the electric element or other power elements driven by the programming are not limited; specifically, the control of the relevant drive is adjusted according to the actual use requirement.

In some embodiments of the present utility model, please refer to fig. 1-3 in combination: the drive mechanism 1 comprises a first housing 101, a power member 102 and a high sub-assembly; the wheel shafts of the wheel bodies 4 at the driving mechanism 1 are all hinged to the inner side wall of the first shell 101, and the power piece 102 generates rotational freedom degree to the first shell 101 and is used for driving the first shell 101 to rotate; the high sub-assembly is arranged on the inner side wall of the first shell 101 and is used for synchronously adjusting the rotation angle of the wheel shaft of the wheel body 4 at the driving mechanism 1 and controlling the inclination angle of the wheel body 4 at the position to be obliquely arranged towards the inner side direction of the bridge.

The rotation degrees of freedom are in linkage relation, and are in a direct driving mode, so that linkage driving for driving the multi-terminal degrees of freedom is finally realized, and parameters such as specific driving track, azimuth and angle are realized; specifically, the stroke amount model selection assembly based on the degrees of freedom is realized based on the staff, and the linkage between the degrees of freedom and the control of an external controller are realized.

In this embodiment, the high subassembly comprises a bevel gear assembly 103, wherein the bevel gear assembly 103 comprises a drive bevel gear and driven bevel gears which are the same as the wheel bodies 4 at the driving mechanism 1 and meshed with the drive bevel gears; the drive bevel gear is driven by a second power member mounted to the inner sidewall of the first housing 101.

Through the mechanical linkage and mutual coordination between the rotation freedom degree and the high-speed auxiliary components, the first shell 101 is driven to continuously rotate through multi-end linkage and coordination modes thereof, and each wheel body 4 at the driving mechanism 1 disturbs the whole device and the inner side wall of the external bridge frame to spirally rotate and rotate due to the inclination angle of the wheel shaft of the wheel body 4, so that the crawling force along the inner direction of the bridge frame is obtained, and the whole device is driven to move; if the device is required to withdraw from the bridge, the first shell 101 can be reversely rotated, and the wheel body 4 can be regulated to be inclined at an opposite direction along the inner surface direction of the bridge;

it should be noted that, in the present embodiment, due to the form of driving between the power members 102 in the first housing 101, the wire winding phenomenon of the second power member inevitably occurs; therefore, the inner side wall of the first shell 101 is also provided with a secondary storage battery, and the secondary storage battery directly supplies power to the second power piece, so that the winding of wires is avoided; meanwhile, the control of the second power piece is realized according to the secondary wireless transceiver module which is electrically connected with the second power piece;

in some embodiments of the present utility model, please refer to fig. 1-3 in combination: the wheel shaft of the wheel body 4 at the second shell 2 is hinged with the second shell 2 to realize auxiliary carrying; the wheel axle of the wheel body 4 is in sliding fit with the wheel body, the surface body in sliding fit is not a curved surface, and the wheel axle is connected with the wheel body through an elastic piece 401 and carries out elastic force accumulation;

the wheel shaft of the wheel body 4 is in sliding fit with the wheel body, and elastic storage is carried out through the elastic piece 401, so that the wheel body is always at a limit travel point in sliding fit with the wheel shaft; when the integral device is applied to the inside of a bridge frame with different specifications, sizes or models, the wheel body 4 is attached to the inner side wall of the bridge frame and slides on the wheel shaft, and the wheel shaft reversely pushes the wheel body 4 to be tightly attached to the inner side wall of the bridge frame by the elastic piece 401, so that the integral device can be adapted to the inside of the bridge frame with different specifications, sizes or models, or in the advancing process, the inside of the bridge frame has a variable-size structure, and the integral device can also be adapted and adjusted by the matching principle of the components;

preferably, the elastic member 401 is a spring.

Preferably, the power piece is a servo motor; the second power piece is a servo motor.

In some embodiments of the present utility model, please refer to fig. 1-3 in combination: the visual inspection piece 3 is a monitoring probe; the staff detects the internal condition of the bridge through the monitoring probe and feeds back the internal condition to the external staff; specifically, the controller is also provided with a wireless transmitting module and a wireless receiving module, and the wireless transmitting module sends out an instruction signal of working or suspending to the wireless receiving module through a medium; when necessary, a worker can input an instruction to the wireless transceiver module through a background wireless remote control device so as to remotely control a controller, and further, all electric elements of the device are remotely controlled to drive according to a related driving mode; meanwhile, the wireless transceiver module can also transmit the detection picture of the monitoring probe in the device or the correlation coefficient or other information detected by the system of the servo driving element to the background staff.

The technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments may not be described, however, they should be considered as the scope of the present description as long as there is no contradiction between the combinations of the technical features.

The above examples merely illustrate embodiments of the utility model that are specific and detailed for the relevant practical applications, but are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (7)

1. The self-propelled detection robot for the inner surface of the bridge is characterized by comprising a driving mechanism (1) and a second shell (2);

the driving mechanism (1) and the second shell (2) are externally provided with wheel bodies (4) in annular array; the driving mechanism (1) outputs the wheel body (4) with the rotation freedom degree outside, and the wheel body (4) is obliquely arranged towards the inner surface direction of the bridge; so that the driving mechanism (1) drives the second shell (2) to travel along the inner wall of the bridge;

the outside of second casing (2) is equipped with looks at examining piece (3) for detect the crane span structure.

2. The bridge inner-surface self-propelled inspection robot of claim 1, wherein: the driving mechanism (1) comprises a first shell (101), a power piece (102) and a high-speed sub-assembly;

the wheel shafts of the wheel bodies (4) at the driving mechanism (1) are hinged to the inner side wall of the first shell (101), and the power piece (102) generates the rotation freedom degree in the first shell (101) and is used for driving the first shell (101) to rotate;

the high auxiliary assembly is arranged on the inner side wall of the first shell (101) and is used for synchronously adjusting and driving the rotation angle of the wheel shaft of the wheel body (4) at the driving mechanism (1) and controlling the inclination angle of the wheel body (4) at the position to be obliquely arranged towards the inner side direction of the bridge.

3. The bridge inner self-propelled inspection robot of claim 2, wherein: the high-speed subassembly comprises a bevel gear assembly (103), wherein the bevel gear assembly (103) comprises a drive bevel gear and driven bevel gears which are the same as the wheel bodies (4) at the driving mechanism (1) in number and meshed with the drive bevel gears;

the drive bevel gear is driven by a second power member mounted to the inner side wall of the first housing (101).

4. A bridge inner-face self-propelled inspection robot as set forth in claim 3, wherein: the wheel axle of the wheel body (4) at the second shell (2) is hinged with the second shell (2).

5. The bridge inner-surface self-propelled inspection robot according to any one of claims 2 to 4, wherein: the wheel axle of wheel body (4) and wheel body itself are sliding fit, and this sliding fit's face body is not curved surface, connect and carry out elasticity power storage through elastic component (401) between wheel axle and the wheel body.

6. The bridge inner self-propelled inspection robot of claim 5, wherein: the elastic piece (401) is a spring.

7. The bridge inner self-propelled inspection robot of claim 5, wherein: the visual inspection piece (3) is a monitoring probe.