Bridge slit detection robot capable of assisting in positioning and imitating woodpecker beak mechanism

Abstract

The invention discloses an auxiliary positioning woodpecker beak imitating mechanism bridge slit detection robot, and relates to the technical field of detection robot production, the auxiliary positioning woodpecker beak imitating mechanism bridge slit detection robot comprises a flying platform, an adsorption platform and a flexible mechanical arm, a wedge-shaped positioning mechanism is arranged on the flexible mechanical arm, a detection probe is arranged in the wedge-shaped positioning mechanism, and a detection probe signal line is connected to the flexible mechanical arm; the wedge-shaped positioning mechanism is driven by the flexible mechanical arm to abut against the port of the splicing seam, and the detection probe is driven by deformation of the wedge-shaped positioning mechanism to move into the splicing seam. According to the auxiliary positioning woodpecker beak mechanism imitating bridge slit detection robot provided by the invention, the combination of the flying platform and the flexible mechanical arm is adopted, so that the robot can adapt to extreme working conditions of large detection height and narrow detection space; a wedge-shaped positioning mechanism is arranged on the flexible mechanical arm, so that the probe can extend into a narrow splicing gap, the precision requirement for control of the flexible mechanical arm is reduced, damage caused by direct collision between the detection probe and the bridge plate can be avoided, and the effect of protecting the detection probe is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of detection robot production, and in particular to a bridge gap detection robot with an auxiliary positioning woodpecker beak-imitation mechanism. Background Art

[0002] With the continuous development of transportation infrastructure, spliced ​​bridges are widely used in projects such as highways, elevated roads, and railway bridges due to their advantages of ease of construction and maintenance. Spliced ​​structures inevitably create structural discontinuities, where stress states, material properties, and construction quality may differ from those of the main structure. Under high-frequency traffic loads, spliced ​​gaps are prone to structural damage such as fatigue fracture, crack propagation, and material erosion. Therefore, spliced ​​gaps require inspection, and existing technologies already employ robotic inspection methods.

[0003] According to the invention patent application with publication number: CN119643569B and publication date of 2025-04-22, a bridge gap measurement system is disclosed, which includes a mobile carrier that moves in a straight line along the length direction of the bridge, a power control end installed on the mobile carrier, and a detection end installed at the front of the power control end. The power control end includes a fixed beam installed on the mobile carrier by a lifting frame, and a pair of telescopic beams that respectively penetrate the fixed beam and are driven by a bidirectional linear motor. The outer ends of the pair of telescopic beams are fixed with a mobile seat, and the mobile seat is rotated by a driving motor to install an arm assembly that can be turned up and down; wherein the arm assembly includes a rotatable mounting A vertical beam is mounted on the movable seat and forms a rotation angle with its transverse horizontal plane, and a pair of electric push rods 1 extending outward are installed on the vertical beam, and the telescopic ends of the pair of electric push rods 1 are fixedly connected to a flip frame, and a rotating box is installed on the flip frame through a rotation of the driving motor 2, and a pair of electric push rods 2 forming a detection angle with the electric push rod 1 are installed on the rotating box; the detection end includes a fixed seat fixedly mounted on the telescopic end of the electric push rod 2, and a detection platform is installed on the fixed seat through a rotation of the driving motor 3, and a pair of veneer guide wheels that can roll along the box beam web and the end face of the bridge bottom plate of the bridge are rotatably mounted on the detection platform, and image acquisition equipment and laser detection equipment arranged in the same direction as the veneer guide wheels are installed on one side of the detection platform. Its main technical effects are: to improve the conventional bridge gap detection method, an engineering vehicle is used as a mobile carrier that moves in a straight line along the length of the bridge, and detection ends extending to the bottom of the bridge are symmetrically distributed on the left and right sides of the mobile carrier through the support arm assembly. The support arm assembly that can be driven up and down, left and right linearly, and up and down is used as the main structure to change the detection direction of the detection end, and the autonomous angle adjustment of the detection end is used as a "directional auxiliary means". Its purpose is to adapt to different bridge detection surface shapes by changing the support arm assembly and the steering shape of the detection end. At the same time, a pair of detection ends are symmetrically distributed and can move inward and outward, which can not only realize synchronous detection of both sides of the bridge bottom, but also avoid bridge pier obstacles.

[0004] Existing technologies mostly use wall-climbing robots to inspect joint gaps. However, the high-altitude working conditions during the inspection process require high robot mobility, while the narrow gap inspection conditions require high positioning accuracy. Currently, most robots cannot meet both requirements simultaneously. For example, wall-climbing robots have low mobility efficiency, and direct inspection using drones has difficulty accurately delivering the inspection equipment to the gap to be inspected. To address this issue, a bridge gap inspection robot with an auxiliary positioning mechanism that mimics a woodpecker's beak is proposed. This aims to address the problem that existing robots cannot simultaneously meet high mobility efficiency and accurate detection positioning accuracy. Summary of the Invention

[0005] The purpose of the present invention is to provide a bridge gap detection robot with an auxiliary positioning woodpecker beak-like mechanism, aiming to solve the problem that robots in the prior art cannot simultaneously meet the requirements of high movement efficiency and accurate detection and positioning accuracy.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A bridge gap detection robot with an auxiliary positioning woodpecker beak-like mechanism includes a flight platform and: An adsorption platform provided on the flying platform; A flexible robotic arm is movably arranged inside the adsorption platform, wherein a wedge-shaped positioning mechanism is provided at the end of the flexible robotic arm, a detection probe is provided in the wedge-shaped positioning mechanism, and a signal line of the detection probe is connected to the flexible robotic arm; The flexible mechanical arm drives the wedge-shaped positioning mechanism to abut against the joint seam port, and the wedge-shaped positioning mechanism is deformed to drive the detection probe to move into the joint seam.

[0007] Preferably, the flexible robotic arm includes a driving end and a movable end, the wedge-shaped positioning mechanism is connected to the movable end, and the driving end drives the wedge-shaped positioning mechanism at the movable end to abut against the splicing seam port.

[0008] Preferably, the driving end includes a mounting frame, a first capstan and a second capstan, the first capstan and the second capstan are both installed inside the mounting frame, and the first capstan and the second capstan are both in transmission connection with the flexible robotic arm, and the mounting frame is movably arranged in the adsorption platform.

[0009] Preferably, a mobile driving mechanism is provided inside the adsorption platform, and the flexible robotic arm is connected to an output end of the mobile driving mechanism, and the flexible robotic arm is driven by the mobile driving mechanism to keep moving.

[0010] Preferably, the movable end includes a first fixed plate, a second fixed plate, a connecting plate, a first flexible rope and a second flexible rope, one end of the first flexible rope is fixedly connected to the first fixed plate, and the other end is fixedly connected to the first fixed plate after passing through the connecting plate, the second fixed plate and the first winch, one end of the second flexible rope is fixedly connected to the first fixed plate, and the other end is fixedly connected to the first fixed plate after passing through the connecting plate, the second fixed plate and the second winch.

[0011] Preferably, the wedge-shaped positioning mechanisms are distributed in an array on the flexible robotic arm, and abutment tips are formed between the multiple wedge-shaped positioning mechanisms.

[0012] Preferably, the wedge-shaped positioning mechanism includes an abutment plate, an elastic telescopic rod and an elastic rod, one end of the elastic rod is connected to the flexible robotic arm, the end of the abutment plate is connected to the elastic telescopic rod, the end of the detection probe is movably connected to the flexible robotic arm, and a main spring is arranged between the flexible robotic arm and the detection probe.

[0013] Preferably, a reeling and unreeling mechanism is provided inside the driving end, and the detection probe signal line is connected to the reeling and unreeling mechanism.

[0014] In the above technical solution, the bridge gap detection robot with an auxiliary positioning and woodpecker beak-like mechanism provided by the present invention has the following beneficial effects: This invention uses a combination of a flying platform and a flexible robotic arm, which can adapt to two completely different extreme working conditions: high detection height and narrow detection space. It has a wider range of application scenarios. The end of the flexible robotic arm is equipped with a wedge-shaped positioning mechanism, which allows the probe to be inserted into the narrow splicing gap more simply and reliably, reducing the accuracy requirements for the control of the flexible robotic arm, overcoming the problem of being unable to automate the detection work due to the large size of the probe and the narrow gap. At the same time, it avoids damage caused by direct collision between the detection probe and the bridge plate, thereby protecting the detection probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0016] Figure 1 A schematic diagram of the overall three-dimensional structure provided by an embodiment of the present invention; Figure 2 A schematic diagram of the internal structure of the adsorption platform provided in an embodiment of the present invention; Figure 3 A schematic diagram of the detection probe in the retracted state provided by an embodiment of the present invention; Figure 4 A schematic diagram of the detection probe in the extended state provided by an embodiment of the present invention; Figure 5 A schematic diagram of the swing state of the detection probe provided by an embodiment of the present invention; Figure 6 A schematic diagram of the assembly structure of the adsorption platform provided in an embodiment of the present invention; Figure 7 A schematic diagram of the structure of a mobile drive mechanism provided in an embodiment of the present invention; Figure 8 A schematic diagram of the structure of an active terminal provided in an embodiment of the present invention; Figure 9 A schematic diagram of the connection structure of the wedge-shaped positioning mechanism provided in an embodiment of the present invention; Figure 10 A schematic diagram of the detailed structure of the wedge-shaped positioning mechanism provided in an embodiment of the present invention; Figure 11 A schematic diagram of the internal structure of the mounting frame provided by an embodiment of the present invention; Figure 12 A schematic structural diagram of a rewinding and unwinding mechanism provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of the probe provided by an embodiment of the present invention being fully extended and swung to a certain angle.

[0017] Description of reference numerals: Flying platform; 2. Adsorption platform; 21. Adsorption unit; 22. Fixing plate; 23. Support column; 3. Flexible robotic arm; 31. Driving end; 311. Mounting frame; 312. First winch; 313. Second winch; 314. First driving motor; 315. Second driving motor; 316. First gear; 317. Second gear; 318. Third gear; 319. Fourth gear; 32. Movable end; 321. First fixing plate; 322. Second fixing plate; 323. Connecting plate; 324. 4. First flexible rope; 325. Second flexible rope; 326. Through hole; 4. Wedge-shaped positioning mechanism; 41. Abutment plate; 42. Elastic telescopic rod; 43. Elastic rod; 44. Main spring; 45. Elastic diaphragm; 5. Detection probe; 6. Mobile drive mechanism; 61. Slider; 62. Positioning plate; 63. Mobile drive motor; 64. Drive screw; 65. Limiting plate; 7. Rewinding and unwinding mechanism; 71. Third drive motor; 72. First bevel gear; 73. Second bevel gear; 74. Third capstan. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0019] See also Figures 1-13A bridge gap detection robot with an auxiliary positioning and woodpecker beak-like mechanism includes a flight platform 1 and further includes: An adsorption platform 2 is provided on the flying platform 1; A flexible robotic arm 3 is movably arranged inside the adsorption platform 2. A wedge-shaped positioning mechanism 4 is provided at the end of the flexible robotic arm 3. A detection probe 5 is provided inside the wedge-shaped positioning mechanism 4. A signal line of the detection probe 5 is connected to the flexible robotic arm 3. The flexible mechanical arm 3 drives the wedge-shaped positioning mechanism 4 to abut against the joint seam port, and the wedge-shaped positioning mechanism 4 is deformed to drive the detection probe 5 to move into the joint seam.

[0020] As an embodiment provided by the present invention, the flying platform 1 is a conventional UAV in the prior art, which can be controlled by remote control or other means, and can fly to the side or bottom of the bridge while carrying the adsorption platform 2, and be adsorbed to the side or bottom of the bridge through the adsorption platform 2 set on the flying platform 1.

[0021] Furthermore, a plurality of adsorption units 21 are provided on the adsorption platform 2. Specifically, the adsorption unit 21 is a suction cup. After the flying platform 1 flies to the position of the bottom surface of the bridge, the adsorption unit 21 is adsorbed on the bottom surface of the bridge, so that the flying platform 1 and the bottom surface of the bridge remain temporarily fixed.

[0022] Furthermore, a flexible robotic arm 3 is movably arranged inside the adsorption platform 2 , a wedge-shaped positioning mechanism 4 is provided at the end of the flexible robotic arm 3 , a detection probe 5 is provided inside the wedge-shaped positioning mechanism 4 , and a signal line of the detection probe 5 is connected to the flexible robotic arm 3 .

[0023] As an embodiment provided by the present invention, the adsorption platform 2 includes a fixing plate 22 and a support column 23. As a first embodiment of the adsorption platform 2 provided by the present invention, as shown in FIG. Figure 2 As shown, the number of the fixed plate 22 is one, one end of the support column 23 is connected to the fixed plate 22, and the other end is directly connected to the top of the flying platform 1. When the number of the fixed plate 22 is one, the slide rail is directly set on the top of the flying platform 1. Using the number of fixed plates 22 is beneficial to reducing the overall weight and facilitating the movement of the flying platform 1.

[0024] As a second embodiment of the adsorption platform 2 provided by the present invention, there are two fixed plates 22. The ends of the support column 23 are connected to the two fixed plates 22 respectively. The lower fixed plate 22 can be connected to the flying platform 1 via bolts. In this embodiment, the adsorption platform 2 can be removed from the flying platform 1 separately for easy maintenance and replacement. When there are two fixed plates 22, the slide rail is provided on the lower fixed plate 22.

[0025] This invention adopts a combination of a flying platform 1 and a flexible robotic arm 3, which can adapt to two completely different extreme working conditions of high detection height and narrow detection space at the same time, and has a wider range of application scenarios; the end of the flexible robotic arm 3 is provided with a wedge-shaped positioning mechanism 4, so that the detection probe 5 can be more simply and reliably inserted into the narrow splicing gap, reducing the accuracy requirements for controlling the flexible robotic arm 3, overcoming the problem of being unable to automatically implement the detection work due to the large size of the probe and the narrow gap, and at the same time avoiding damage caused by direct collision between the detection probe 5 and the bridge plate, thereby protecting the detection probe 5.

[0026] As an embodiment provided by the present invention, Figure 2 As shown, the flexible robotic arm 3 includes a driving end 31 and a movable end 32 connected to each other, a wedge-shaped positioning mechanism 4 is connected to the movable end 32, and the driving end 31 is movably arranged inside the adsorption platform 2. The movable end 32 is driven to deform by the driving end 31, so that the wedge-shaped positioning mechanism 4 set at the end of the movable end 32 abuts against the splicing seam port, thereby driving the wedge-shaped positioning mechanism 4 to deform and open and close.

[0027] As an embodiment provided by the present invention, the driving end 31 specifically includes a mounting frame 311, a first capstan 312 and a second capstan 313. A slide rail is provided inside the adsorption platform 2, and the mounting frame 311 is slidably connected to the inside of the adsorption platform 2 via the slide rail. The first capstan 312 and the second capstan 313 are both rotatably connected to the inside of the mounting frame 311. Furthermore, a first driving motor 314 and a second driving motor 315 are symmetrically installed on the mounting frame 311. The output ends of the first driving motor 314 and the second driving motor 315 both pass through and extend to the inside of the mounting frame 311. A first gear 316 is fixedly installed on the output end of the first driving motor 314, and a second gear 317 is fixedly installed on the output end of the second driving motor 315. The first capstan 312 is rotatably connected to the inner wall of the mounting frame 311 via a rotating shaft. A third gear 318 is fixedly installed on the rotating shaft connected to the first capstan 312. The third gear 318 is meshed with the first gear 316. The second capstan 313 is meshed with the first gear 316. The disk 313 is rotatably connected to the inner wall on the other side of the mounting frame 311 through a rotating shaft. A fourth gear 319 is fixedly installed on the rotating shaft connected to the second capstan 313, and the fourth gear 319 is engaged with the second gear 317. It should be pointed out that the axial position of the first capstan 312 is adapted to the axial position of the second capstan 313, the third gear 318 is adapted to the axial position of the fourth gear 319, and the axial positions of the first drive motor 314 and the second drive motor 315 are adapted to each other, which can minimize the additional force and torque generated. The first drive motor 314 and the second drive motor 315 can be used to drive the first capstan 312 and the second capstan 313 to keep rotating, thereby driving the movable end 32 to deform.

[0028] When the flexible robotic arm 3 needs to keep rotating in the horizontal direction, the second drive motor 315 drives the second winch 313 to rotate, so that the length of the second flexible rope 325 on both sides of the second winch 313 changes. When it needs to rotate to the left, the second winch 313 drives the second flexible rope 325 to move to the right. At this time, the length of the second flexible rope 325 on the left is less than the length of the second flexible rope 325 on the right, that is, the movable end 32 keeps bending and moving horizontally to the left.

[0029] When the flexible robotic arm 3 needs to keep rotating in the vertical direction, the first drive motor 314 drives the first winch 312 to rotate, so that the length of the first flexible rope 324 on the upper and lower sides of the first winch 312 changes. When it needs to rotate upward, the first winch 312 drives the first flexible rope 324 to move. At this time, the length of the first flexible rope 324 above the first winch 312 is less than the length of the first flexible rope 324 below the first winch 312, thereby causing the movable end 32 to keep rotating upward.

[0030] As a further embodiment provided by the present invention, Figure 7 As shown, a mobile driving mechanism 6 is provided inside the adsorption platform 2, and the driving end 31 is connected to the output end of the mobile driving mechanism 6. The mobile driving mechanism 6 can drive the driving end 31 to keep moving inside the adsorption platform 2, thereby adjusting the position of the flexible robotic arm 3 on the adsorption platform 2, so that the wedge-shaped positioning mechanism 4 provided at the end of the movable end 32 can be adjusted relative to the splicing gap.

[0031] It should be pointed out that the position of the mobile drive mechanism 6 can be adjusted according to actual conditions. When there is one fixed plate 22, the mobile drive mechanism 6 is set on the flying platform 1. When there are two fixed plates 22, the mobile drive mechanism 6 is set on the fixed plate 22 located below.

[0032] Further, such as Figure 7 As shown, the mobile drive mechanism 6 includes a slider 61, a positioning plate 62, a mobile drive motor 63, a driving screw 64 and a limit plate 65. Specifically, there are two positioning plates 62, and the two positioning plates 62 are respectively arranged at both ends of the slide rail. When the number of fixed plates 22 is one, the two positioning plates 62 are directly installed on the top of the flight platform 1, and the limit plate 65 is installed between the two positioning plates 62. When the number of fixed plates 22 is two, the two positioning plates 62 are both installed on the fixed plate 22 located below, and the limit plate 65 is located between the two positioning plates 62.

[0033] The mobile drive motor 63 is fixedly installed on the outer wall of one side of one of the positioning plates 62, and the driving screw 64 is rotatably connected to the two positioning plates 62, and the driving screw 64 maintains a transmission connection with the output end of the mobile drive motor 63. The driving screw 64 can be driven to keep rotating by the mobile drive motor 63. Furthermore, the slider 61 is slidably connected to the slide rail, and the slider 61 maintains a transmission connection with the driving screw 64. The driving screw 64 is driven to keep rotating by the mobile drive motor 63, and the slider 61 can be driven to keep moving on the slide rail, thereby finally realizing the adjustment of the position of the flexible robotic arm 3 in the adsorption platform 2.

[0034] As an embodiment provided by the present invention, Figure 8 、 Figure 9 As shown, the movable end 32 includes a first fixing plate 321, a second fixing plate 322, a connecting plate 323, a first flexible rope 324, and a second flexible rope 325. Specifically, the second fixing plate 322 is fixedly connected to the outer wall of one side of the mounting frame 311. A through hole 326 is opened at the axis of the first fixing plate 321, the second fixing plate 322, and the connecting plate 323. The signal line of the detection probe 5 passes through the through hole 326. One end of the first flexible rope 324 is fixedly connected to the outer wall of one side of the first fixing plate 321, and the other end of the first flexible rope 324 is fixedly connected to the outer wall of one side of the first fixing plate 321. Figure 9 As shown, through a plurality of connecting plates 323, the second fixing plate 322, the mounting frame 311 and the first winch 312, one end of the second flexible rope 325 is fixedly connected to the outer wall of one side of the first fixing plate 321, and then through the second fixing plate 322, the connecting plate 323 is fixedly connected to the outer wall of one side of the first fixing plate 321, and the other end of the second flexible rope 325 is fixedly connected to the outer wall of one side of the first fixing plate 321. Figure 9 As shown, it passes through several connecting plates 323, the second fixed plate 322, the mounting frame 311 and the second winch 313, and then passes through the second fixed plate 322 and the connecting plate 323 to be fixedly connected to the outer wall on one side of the first fixed plate 321. The first flexible rope 324 and the second flexible rope 325 are staggered. Preferably, the first flexible rope 324 and the second flexible rope 325 are vertically staggered.

[0035] Preferably, Figure 13 As shown, a compression spring is provided between every two connecting plates 323. Preferably, the number of the compression springs is four, and the four compression springs are respectively sleeved on the outside of the first flexible rope 324 and the second flexible rope 325 to ensure that every two connecting plates 323 can always be kept tight and ensure that the movable end 32 can keep rotating. Furthermore, compression springs are also provided between the first fixed plate 321 and the adjacent connecting plate 323, and between the second fixed plate 322 and the adjacent connecting plate 323. Their function and setting position are the same as those of the compression spring between every two connecting plates 323.

[0036] As a further embodiment provided by the present invention, the number of wedge-shaped positioning mechanisms 4 is several, and the several wedge-shaped positioning mechanisms 4 are distributed in a circular array at the end of the flexible robotic arm 3. Abutment tips are formed between the wedge-shaped positioning mechanisms 4 distributed in the circular array, so that when the flexible robotic arm 3 moves, the detection probe 5 is always located in the abutment tip, preventing the detection probe 5 from being damaged due to collision and friction when trying to insert into a narrow gap, greatly improving the service life of the detection probe 5 and playing a good protective role. At the same time, the tip structure can simply and easily insert into the narrow gap and complete the positioning and clamping work, greatly reducing the requirements for the control accuracy of the flexible robotic arm 3, and avoiding the problem that the detection device cannot be inserted for detection due to the large size of the probe and the narrow bridge gap.

[0037] As an embodiment provided by the present invention, the wedge-shaped positioning mechanism 4 is provided on the outer wall of the first fixing plate 321, such as Figure 10 As shown, the wedge-shaped positioning mechanism 4 includes an abutment plate 41, an elastic telescopic rod 42 and an elastic rod 43. One end of the elastic rod 43 is fixedly intercepted on the flexible mechanical arm 3. Specifically, one end of the elastic rod 43 is fixedly connected to the outer wall of the first fixed plate 321, and one end of the elastic telescopic rod 42 is rotatably connected to the flexible mechanical arm 3. Specifically, one end of the elastic telescopic rod 42 is rotatably connected to the first fixed plate 321, and one end of the abutment plate 41 is rotatably connected to one end of the elastic telescopic rod 42, and one end of the elastic rod 43 is connected to the outer wall of the abutment plate 41. Under the drive of the movable end 32, the abutment plate 41 is abutted against the port of the splicing gap to realize the positioning and clamping of the detection probe 5. During the driving process of the movable end 32, the detection probe 5 is always located inside the detection tip formed by the wedge-shaped positioning mechanism 4, which can prevent the detection probe 5 from being damaged by collision.

[0038] As an embodiment provided by the present invention, the reeling and unwinding mechanism 7 is arranged inside the mounting frame 311. Specifically, the reeling and unwinding mechanism 7 includes a third drive motor 71, a first bevel gear 72, a second bevel gear 73 and a third capstan 74. The third drive motor 71 is fixedly mounted on the outer wall of one side of the mounting frame 311, and the output end of the third drive motor 71 passes through and extends into the interior of the mounting frame 311. The first bevel gear 72 is fixedly mounted on the output end of the third drive motor 71. The second bevel gear 73 and the third capstan 74 are rotatably connected to the inner wall of the mounting frame 311 through the same rotating shaft, that is, the third capstan 74 and the second bevel gear 73 are coaxial structures and rotate synchronously. The second bevel gear 73 is meshed with the first bevel gear 72, and finally the third capstan 74 is driven to rotate by the third drive motor 71 to realize the retraction and release of the signal line of the detection probe 5.

[0039] The bridge gap detection robot provided in an embodiment of the present invention simulates the wings and body of a woodpecker in a natural environment through a flying platform 1, and achieves ascent, descent, and conventional movement through the flying platform 1. The structure and working principle for achieving ascent, descent, and conventional movement of the flying platform 1 are all prior art and will not be described in detail here. The flying platform 1 flies to the bottom surface of the bridge and is adsorbed to the bottom surface of the bridge through the adsorption unit 21 of the adsorption platform 2, which is used to simulate the claws of a woodpecker grasping a tree trunk. Moreover, when the flying platform 1 is adsorbed to the bottom surface of the bridge through the adsorption unit 21 on the adsorption platform 2, the rotor inside the flying platform 1 can be controlled by the control unit to stop rotating, thereby improving the overall endurance of the robot.

[0040] The flexible robotic arm 3 set inside the adsorption platform 2 simulates the neck and head of the woodpecker. The flexible robotic arm 3 is deformed to drive the wedge-shaped positioning mechanism 4 at its end to move to the splicing gap of the bridge, thereby simulating the woodpecker to turn its head and move its beak to the vicinity of the tree hole.

[0041] The wedge-shaped positioning mechanism 4 simulates the beak and tongue of a woodpecker. When the wedge-shaped positioning mechanism 4 approaches the bridge joint gap, the detection tip can abut against the side of the bridge joint gap, so that the wedge-shaped positioning mechanism 4 can better enter the joint gap. This process simulates the woodpecker extending its beak into the tree hole.

[0042] When the tip of the end of the wedge-shaped positioning mechanism 4 extends into the splicing gap, the abutment plate 41 abuts against the end of the splicing gap to form a support point, which can make the detection process more stable, reduce the shaking of the detection probe 5, and improve its positioning accuracy.

[0043] The flexible robotic arm 3 is then driven toward the joint gap by the mobile drive mechanism 6. Simultaneously, the reel-in mechanism 7 unwinds the signal wire of the detection probe 5. In conjunction with the rotation of the abutment plate 41, the elastic telescopic rod 42 contracts, opening the abutment plate 41. Driven by the main spring 44, the detection probe 5 is ejected from its tip and moved into the joint gap, enabling detection within the gap. This process simulates the process of a woodpecker inserting its long, slender beak into a narrow wormhole and extending its tongue to hunt.

[0044] Furthermore, in this state, the movable end 32 of the flexible robotic arm 3 can be driven to deform by rotating the first winch 312 or the second winch 313, thereby adjusting the angle of the detection probe 5 to achieve full-range detection within the bridge joint gap.

[0045] In addition, the third drive motor 71 can be used to further drive the third capstan 74 to keep rotating, thereby controlling the depth of the detection probe 5 extending into the splicing gap.

[0046] After the detection is completed, the signal line of the detection probe 5 is reeled up by the reeling and unreeling mechanism 7. By reeling up the signal line of the detection probe 5, an inward pulling force is generated on the detection probe 5, and the detection probe 5 is pulled back. An elastic diaphragm 45 is provided on the elastic rod 43. When the detection probe 5 is pulled back to a certain extent and abuts against the elastic diaphragm 45, the third drive motor 71 further drives the third capstan 74 to rotate, so that the elastic rod 43 is deformed and retracted backward. Under the action of the elastic rod 43, the abutment plate 41 is pulled inward to rotate and deform, and then the wedge positioning mechanism 4 is reset, thereby realizing the linkage function of retracting the detection probe 5 and closing the wedge positioning mechanism 4. The operation is simple, and the operation process is compact and reliable.

[0047] The elastic coefficient of the main spring 44 mentioned in the article meets the technical requirements of the technical solution of the present invention.

[0048] Those skilled in the art will appreciate that other similar connection methods may also be used to implement the present invention, such as welding, bonding, or screwing.

[0049] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A bridge gap detection robot with an auxiliary positioning woodpecker beak mechanism, comprising a flying platform (1), characterized in that: Also includes: An adsorption platform (2) disposed on the flying platform (1); A flexible robotic arm (3) is movably arranged inside the adsorption platform (2), wherein a wedge-shaped positioning mechanism (4) is provided at the end of the flexible robotic arm (3), a detection probe (5) is provided inside the wedge-shaped positioning mechanism (4), and a signal line of the detection probe (5) is connected to the flexible robotic arm (3); The flexible mechanical arm (3) drives the wedge-shaped positioning mechanism (4) to abut against the joint seam port, and the wedge-shaped positioning mechanism (4) is deformed to drive the detection probe (5) to move into the joint seam.

2. The bridge gap detection robot with auxiliary positioning and woodpecker beak-like mechanism according to claim 1 is characterized in that: The flexible mechanical arm (3) comprises a driving end (31) and a movable end (32), the wedge-shaped positioning mechanism (4) being connected to the end of the movable end (32), and the driving end (31) driving the wedge-shaped positioning mechanism (4) at the end of the movable end (32) to abut against the joint seam port.

3. The bridge gap detection robot with auxiliary positioning and woodpecker beak-like mechanism according to claim 1 is characterized in that: The driving end (31) comprises a mounting frame (311), a first capstan (312) and a second capstan (313); the first capstan (312) and the second capstan (313) are both mounted inside the mounting frame (311), and the first capstan (312) and the second capstan (313) are both in transmission connection with the flexible robotic arm (3); and the mounting frame (311) is movably arranged inside the adsorption platform (2).

4. The bridge gap detection robot with auxiliary positioning and woodpecker beak-like mechanism according to claim 1, characterized in that: A mobile drive mechanism (6) is provided inside the adsorption platform (2), and the flexible mechanical arm (3) is connected to the output end of the mobile drive mechanism (6), and the flexible mechanical arm (3) is driven by the mobile drive mechanism (6) to keep moving.

5. The bridge gap detection robot with auxiliary positioning and woodpecker beak-like mechanism according to claim 1, characterized in that: The movable end (32) comprises a first fixed plate (321), a second fixed plate (322), a connecting plate (323), a first flexible rope (324) and a second flexible rope (325); one end of the first flexible rope (324) is fixedly connected to the first fixed plate (321), and the other end passes through the connecting plate (323), the second fixed plate (322) and the first winch (312) and is then fixedly connected to the first fixed plate (321); one end of the second flexible rope (325) is fixedly connected to the first fixed plate (321), and the other end passes through the connecting plate (323), the second fixed plate (322) and the second winch (313) and is then fixedly connected to the first fixed plate (321).

6. The bridge gap detection robot with auxiliary positioning and woodpecker beak-like mechanism according to claim 2, characterized in that: The wedge-shaped positioning mechanisms (4) are distributed in an array on the flexible mechanical arm (3), and abutment tips are formed between the plurality of wedge-shaped positioning mechanisms (4).

7. The bridge gap detection robot with auxiliary positioning and woodpecker beak-like mechanism according to claim 6, characterized in that: The wedge-shaped positioning mechanism (4) comprises an abutment plate (41), an elastic telescopic rod (42) and an elastic rod (43); one end of the elastic rod (43) is connected to the flexible mechanical arm (3); the end of the abutment plate (41) is connected to the elastic telescopic rod (42); the end of the detection probe (5) is movably connected to the flexible mechanical arm (3); and a main spring (44) is provided between the flexible mechanical arm (3) and the detection probe (5).

8. The bridge gap detection robot with auxiliary positioning and woodpecker beak-like mechanism according to claim 7, characterized in that: A reeling and unreeling mechanism (7) is provided inside the driving end (31), and a signal line of the detection probe (5) is connected to the reeling and unreeling mechanism (7).

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