The first section of the mechanical arm of the intelligent bridge and tunnel inspection vehicle

Abstract

The first section of the mechanical arm of the bridge and tunnel intelligent inspection vehicle has a cross section divided into two parts, the lower section is a rectangular tubular structure, and the upper section is a longitudinal reinforcement structure. The rectangular tubular structure of the lower section is composed of a U-shaped plate (301) and a rectangular plate (302), and the longitudinal reinforcement structure of the upper section is composed of two reinforcements (306). Due to the special cross-sectional structure, the strength and rigidity of the mechanical arm are greatly increased, which not only fully meets the requirements of the bridge and tunnel intelligent inspection vehicle for the mechanical arm, but also has a simple structure, beautiful appearance and low cost.

Description

Technical Field

[0001] The invention relates to the technical field of bridge and tunnel detection, in particular to the first section of a mechanical arm of an intelligent bridge and tunnel detection vehicle. Background Art

[0002] The intelligent inspection vehicle for bridges and tunnels is a device for regular flaw detection of bridges and tunnels. The device mainly uses a high-resolution camera to scan and detect cracks on the concrete surface of bridges and tunnels, and determines the early stage of bridge and tunnel defects based on the shape, length, width, depth and location of the cracks. Figure 1 , Figure 2 The invention is a schematic diagram of a bridge and tunnel intelligent inspection vehicle, which is mainly composed of a load-bearing vehicle (1), a base (2), a multi-section mechanical arm and its drive system, a camera (7), a control system, an information processing system, and a data transmission system, wherein the multi-section mechanical arm: a first section mechanical arm (3) is horizontally placed and connected to the base (2) through a bearing support, and the first section mechanical arm (3) can rotate in a horizontal plane, a second section mechanical arm (4) is connected to the first section mechanical arm (3) through a hinge, and the second section mechanical arm (4) can swing in a vertical plane, and the second section mechanical arm (4) can swing in a vertical plane. The tail end of the first mechanical arm (4) is provided with a rotating joint (5), the rear end of the rotating joint (5) is provided with a third mechanical arm (6), and the tail end of the third mechanical arm (6) is a camera (7); since the positions, states and functions of the mechanical arms are different, the requirements for each mechanical arm are also different, among which the requirements for the first mechanical arm mainly include three aspects: first, to meet the function, second, to ensure the rigidity, and third, to reduce the weight; therefore, the mechanical arms or beams with square, rectangular, circular or simple polygonal cross-sections that are usually used cannot meet the requirements of these three usage conditions at the same time. Summary of the invention

[0003] In order to meet the requirements of the first section of a bridge and tunnel intelligent inspection vehicle for a mechanical arm, the present invention provides a first section of a bridge and tunnel intelligent inspection vehicle for a mechanical arm. The cross-section of the mechanical arm is divided into two parts, the lower section is a rectangular tubular structure, and the upper section is a longitudinal tensioning structure. Due to the special cross-sectional structure, the strength and rigidity of the mechanical arm are greatly increased.

[0004] The technical solution adopted by the present invention is: the cross-section of the first section of the mechanical arm of the intelligent inspection vehicle for bridges and tunnels is divided into two parts, the lower section is a rectangular tubular structure, and the upper section is a longitudinal tie rod structure; the rectangular tubular structure of the lower section is composed of a U-shaped plate and a rectangular plate, and the longitudinal tie rod structure of the upper section is composed of two tie rods; the first section of the mechanical arm includes a U-shaped plate, a rectangular plate, a vertical plate, a chassis, a reinforcing plate, tie rods, a rectangular tube and a counterweight box; the rectangular plate is horizontally placed in the abdominal cavity of the U-shaped plate, the upper two sides of the U-shaped plate are tie rods, the two vertical plates are longitudinally inserted into the abdominal cavity of the U-shaped plate, the lower end of the vertical plate is the chassis, the chassis is connected to the rectangular plate through a reinforcing plate, the reinforcing plate is perpendicular to the chassis, the vertical plate and the rectangular plate, at least two rectangular tubes are embedded in the abdominal cavity of the U-shaped plate, the rectangular tubes are perpendicular to the two side surfaces of the U-shaped plate, and the counterweight box is arranged at the tail end of the first section of the mechanical arm.

[0005] The beneficial effect of the present invention is that by optimizing the shape and structural layout of the cross section of the mechanical arm, it not only fully meets the requirements of the bridge and tunnel intelligent inspection vehicle for the first section of the mechanical arm, but also has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 , Figure 2 It is a schematic diagram of the appearance and structure of the intelligent inspection vehicle for bridges and tunnels.

[0007] Figure 3 It is a three-dimensional schematic diagram of the first section of the robotic arm of the intelligent inspection vehicle for bridges and tunnels.

[0008] Figure 4 This is a schematic diagram of the main view of the first section of the robotic arm.

[0009] Figure 5 This is a top view of the first section of the robotic arm.

[0010] Figure 6 yes Figure 5 Longitudinal section diagram.

[0011] Figure 7 yes Figure 4 Cross-sectional diagram.

[0012] In the figure: 1. load-bearing vehicle, 2. base, 3. first section of the robotic arm, 4. second section of the robotic arm, 5. rotating section, 6. third section of the robotic arm, 7. camera, 301. U-shaped plate, 302. rectangular plate, 303. vertical plate, 304. chassis, 305. reinforcement plate, 306. tie rod, 307. rectangular tube, 308. counterweight box. DETAILED DESCRIPTION

[0013] like Figure 3 to Figure 7As shown in the figure, it is an embodiment of the present invention. The stress state of the first section of the mechanical arm of the intelligent inspection vehicle for bridges and tunnels during operation is a cantilever beam. According to the stress analysis of engineering mechanics, the upper part of its cross section is subjected to tension and the lower part is subjected to compression. By establishing a model, performing finite element analysis and experimental verification, the cross section of the first section of the mechanical arm is designed to be divided into an upper and a lower part, wherein the lower section is a rectangular tubular structure and the upper section is a longitudinal tie rod structure. The rectangular tubular structure of the lower section is composed of a U-shaped plate (301) and a rectangular plate (302), and the longitudinal tie rod structure of the upper section is composed of two tie rods (306). The first section of the mechanical arm includes a U-shaped plate (301), a rectangular plate (302), a vertical plate (303), a chassis (304), a reinforcing plate (305), tie rods (306), a rectangular tube (307) and a counterweight box (308); the rectangular plate (302) is horizontally placed in the abdominal cavity of the U-shaped plate (301), the upper two sides of the U-shaped plate (301) are tension bars (306), two vertical plates (303) are longitudinally and horizontally inserted in the abdominal cavity of the U-shaped plate (301), the lower end of the vertical plate (303) is a chassis (304), the chassis (304) is connected to the rectangular plate (302) through a reinforcing plate (305), the reinforcing plate (305) and the chassis (304), the vertical plate (303) and the rectangular plate (302) are perpendicular to each other, at least two rectangular tubes (307) are embedded in the abdominal cavity of the U-shaped plate (301), the rectangular tubes (307) are perpendicular to the two side surfaces of the U-shaped plate (301), and the counterweight box (308) is arranged at the tail end of the first section of the mechanical arm.

[0014] like Figure 6 , Figure 7 As shown, according to the use function, detection range, detection efficiency and grade positioning of the bridge and tunnel intelligent inspection vehicle, the material of the first section of the robotic arm is selected from carbon steel, stainless steel, aluminum alloy or carbon fiber.

[0015] like Figure 5 , Figure 6 , Figure 7 As shown, according to strength or overall requirements, the longitudinal tie bars (306) of the upper section of the first section of the mechanical arm are round tubes, square tubes or round steel.

[0016] like Figure 4 , Figure 6 , Figure 7 As shown, both sides of the upper part of the U-shaped plate (301) are hollow structures and form a regular shape to reduce weight and decorate the appearance.

[0017] like Figure 3 to Figure 7 As shown, when the material is carbon steel, stainless steel or aluminum alloy, welding technology is used to connect the parts.

Claims

1. The first section of the mechanical arm of the bridge and tunnel intelligent inspection vehicle is a cantilever beam in the working state and needs to rotate in the horizontal plane. Its characteristics are: The cross section of the first section of the mechanical arm is divided into two parts, the lower section is a rectangular tubular structure, and the upper section is a longitudinal rib structure; the rectangular tubular structure of the lower section is composed of a U-shaped plate (301) and a rectangular plate (302), and the longitudinal rib structure of the upper section is composed of two ribs (306); the first section of the mechanical arm includes a U-shaped plate (301), a rectangular plate (302), a vertical plate (303), a chassis (304), a reinforcing plate (305), ribs (306), a rectangular tube (307) and a counterweight box (308); the rectangular plate (302) is horizontally placed in the abdominal cavity of the U-shaped plate (301), and the U-shaped The upper two sides of the plate (301) are tension bars (306), and the two vertical plates (303) are longitudinally and horizontally inserted into the abdominal cavity of the U-shaped plate (301). The lower end of the vertical plate (303) is a chassis (304), and the chassis (304) is connected to the rectangular plate (302) through a reinforcing plate (305). The reinforcing plate (305) and the chassis (304), the vertical plate (303) and the rectangular plate (302) are perpendicular to each other. At least two rectangular tubes (307) are embedded in the abdominal cavity of the U-shaped plate (301), and the rectangular tubes (307) are perpendicular to the two side surfaces of the U-shaped plate (301). The counterweight box (308) is arranged at the tail end of the first section of the mechanical arm.

2. The first section of the mechanical arm of the intelligent bridge and tunnel inspection vehicle according to claim 1 is characterized by: The materials are carbon steel, stainless steel, aluminum alloy or carbon fiber.

3. The first section of the mechanical arm of the intelligent bridge and tunnel inspection vehicle according to claim 1 is characterized by: The longitudinal reinforcement (306) of the upper section is a round tube, a square tube or a round steel.

4. The first section of the mechanical arm of the intelligent bridge and tunnel inspection vehicle according to claim 1 is characterized by: Both sides of the upper part of the U-shaped plate (301) are hollow structures and form a regular shape.

5. The first section of the mechanical arm of the intelligent bridge and tunnel inspection vehicle according to claim 1 is characterized by: The connection between the parts is made by welding.

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