A bridge inspection robot

Abstract

The present invention relates to the technical field of bridge construction, and in particular to a bridge inspection robot, the robot comprising: a track, which is used to be arranged on the side web of the bridge; a walking mechanism, which is arranged on the track and can slide relative to the track; a connecting arm, which is connected to the walking mechanism; and a detection device, which is arranged on the connecting arm and is used to detect the flange plate, web plate and bottom plate of the bridge. The robot can solve the problem of the difficulty of using the manned beam bottom inspection vehicle in the prior art when the beam bottom space is narrow and there are both limited height highway lines and limited height railway lines under the beam bottom.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge construction, and particularly to a bridge inspection robot. Background Art

[0002] Currently, the speed and scale of bridge engineering construction keep pace with the times. At the same time, as time goes by, the maintenance needs of many bridge projects have become extremely urgent. Common diseases at the bottom of bridge girders include bolt shedding, connection plate corrosion, box girder cracking, and paint peeling damage. At present, in the field of inspection, maintenance and management of diseases at the bottom of bridge girders at home and abroad, manned bottom inspection vehicles are mainly used. By presetting I-shaped or H-shaped steel rails at the bottom of the girder, the manned bottom inspection vehicle is mounted on the preset rails and runs, and the diseases are detected and the disease treatment operations are carried out by means of manual visual inspection or manual holding of detection equipment.

[0003] However, the manned bottom inspection vehicle also has many limitations and restrictive problems. When the space at the bottom of the girder is narrow, there are existing limited-height highway lines or limited-height railway lines under the bottom of the girder, especially for combined highway-railway bridges. In these above-mentioned usage scenarios and working conditions, it will be extremely difficult to use the manned bottom inspection vehicle. Summary of the Invention

[0004] Aiming at the defects existing in the prior art, the purpose of the present invention is to provide a bridge inspection robot, which can solve the problem that it is difficult to use the manned bottom inspection vehicle in the prior art when the space at the bottom of the girder is narrow, there are existing limited-height highway lines and limited-height railway lines under the bottom of the girder.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] The present invention provides a bridge inspection robot, including:

[0007] A track, which is used to be arranged on the side web of the bridge;

[0008] A traveling mechanism, which is arranged on the track and can slide relative to the track;

[0009] A connecting arm, which is connected to the traveling mechanism;

[0010] A detection device, which is arranged on the connecting arm and is used to detect the flange plate, web and bottom plate of the bridge.

[0011] On the basis of the above technical solution, the traveling mechanism includes:

[0012] An outer housing, on which a longitudinal groove is provided. The longitudinal groove is provided with partition plates arranged at intervals to divide the longitudinal groove into at least two cells;

[0013] A clamping and driving device having the same number as the number of the cells, which is arranged in the cells, and the clamping and driving device is used for clamping the track and driving the outer housing to slide relative to the track.

[0014] Based on the above technical solution, the clamping and driving device includes:

[0015] A clamping seat, which is clamped in the cell. The clamping seat includes a bottom, flange portions extending upward from both ends of the bottom, and two limiting portions extending towards each other from the ends of the flange portions, and the bottom, flange portions and limiting portions form a T-shaped card slot for clamping the track;

[0016] A driving mechanism, which includes a driving wheel arranged on the bottom and a servo motor located outside the outer housing for driving the driving wheel.

[0017] Based on the above technical solution, the clamping and driving device further includes:

[0018] Two limiting clamping wheels, which are respectively arranged on the two limiting portions and are arranged opposite to the driving wheel to cooperate in clamping the track;

[0019] Two flange clamping wheels, which are respectively arranged on the two flange portions for clamping both sides of the track.

[0020] Based on the above technical solution, the limiting clamping wheel can adaptively expand and contract relative to the direction of the driving wheel based on the distance between the track and the limiting portion.

[0021] Based on the above technical solution, the flange clamping wheel can adaptively expand and contract based on the distance between the track and the flange portion.

[0022] Based on the above technical solution, the traveling mechanism further includes an intermediate housing having the same number as the number of the cells. The intermediate housing is slidably arranged up and down in the cell, and the clamping seat is slidably arranged left and right in the intermediate housing.

[0023] Based on the above technical solution, two vertical first sliders are respectively arranged at intervals on both sides of the intermediate housing. Two first limiting blocks are arranged at intervals at both ends of each first slider. A first sliding groove sleeving on the first slider is arranged on the cell, and the first sliding groove can slide relatively between the two first limiting blocks.

[0024] Based on the above technical solution, two horizontal second sliders are respectively arranged at intervals on both sides of the clamping seat. Two second limiting blocks are arranged at intervals at both ends of each second slider. A second sliding groove sleeving on the second slider is arranged on the intermediate housing, and the second sliding groove can slide relatively between the two second limiting blocks.

[0025] Based on the above technical solution, the detection device includes:

[0026] A fixed arm provided in the middle of the connecting arm, and a camera for photographing the flange plate and web plate is provided at the end of the fixed arm;

[0027] A rotating arm rotatably arranged at the end of the connecting arm, and a camera for photographing the bottom plate is provided thereon.

[0028] Compared with the prior art, the advantages of the present invention are as follows: When using this bridge detection robot, the track can be set on the side web of the bridge, and the traveling mechanism slides on the track to drive the connecting arm arranged on the traveling mechanism to operate, so that the detection device arranged on the connecting arm detects the flange plate, web plate and bottom plate of the bridge. It avoids the limitations and restrictive problems existing in the manned beam bottom inspection vehicle in the prior art. In the case where the space at the beam bottom is narrow, there are existing limited-height highway lines and existing limited-height railway lines below the beam bottom, especially for the highway-railway dual-purpose bridge, this bridge detection robot can also have a good detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0030] Figure 1 It is a schematic structural diagram of the bridge detection robot in the embodiment of the present invention;

[0031] Figure 2 It is a schematic structural diagram of the traveling mechanism in the embodiment of the present invention;

[0032] Figure 3 It is a schematic structural diagram of the clamping drive device in the embodiment of the present invention.

[0033] In the figure: 1, track; 2, traveling mechanism; 21, outer housing; 22, intermediate housing; 23, clamping drive device; 231, clamping seat; 232, drive mechanism; 2321, drive wheel; 2322, servo motor; 233, limit clamping wheel; 234, flange clamping wheel; 3, connecting arm; 4, detection device; 41, fixed arm; 42, rotating arm. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application.

[0035] The following further elaborates on the embodiments of the present invention with reference to the accompanying drawings. Figure 1 As shown in the structural schematic diagram of the bridge inspection robot in the embodiments of the present invention, Figure 1 the present invention provides a bridge inspection robot, including: a track 1, which is used to be arranged on the side web of the bridge; a traveling mechanism 2 is further included, which is arranged on the track 1 and can slide relative to the track 1; a connecting arm 3 is further included, which is connected to the traveling mechanism 2; a detection device 4 is further included, which is arranged on the connecting arm 3 and is used to detect the flange plate, web, and bottom plate of the bridge.

[0036] When using this bridge inspection robot, the track 1 can be arranged on the side web of the bridge, and the traveling mechanism 2 slides on the track 1 to drive the connecting arm 3 arranged on the traveling mechanism 2 to operate, so that the detection device 4 arranged on the connecting arm 3 detects the flange plate, web, and bottom plate of the bridge. This avoids the limitations and restrictive problems existing in the manned beam bottom inspection vehicle in the prior art. In the case where the space at the beam bottom is narrow, there are existing limited-height highway lines or existing limited-height railway lines below the beam bottom, especially for rail-road dual-purpose bridges, this bridge inspection robot can also have good detection effects.

[0037] In addition, in this embodiment, the track 1 arranged on the web is a T-shaped track, which can also improve the strength of the web.

[0038] Figure 2 As shown in the structural schematic diagram of the traveling mechanism in the embodiments of the present invention; Figure 3 As shown in the structural schematic diagram of the clamping drive device in the embodiments of the present invention. As Figure 2 and Figure 3 shown, in some optional embodiments, the traveling mechanism 2 includes: a housing 21, on which a longitudinal groove is provided. The longitudinal groove is provided with spaced partitions to divide the longitudinal groove into at least two cells; a clamping drive device 23 with the same number as the number of cells is further included, which is arranged in the cells, and the clamping drive device 23 is used to clamp the track 1 and drive the housing 21 to slide relative to the track 1.

[0039] In this embodiment, at least two clamping and driving devices 23 are provided inside the outer housing 21, which are respectively arranged at both ends of the outer housing 21. The clamping and driving devices 23 clamp the track 1 and drive the outer housing 21 to slide relative to the track 1, so as to drive the detection device 4 arranged on the connecting arm 3 to detect the flange plate, web plate and bottom plate of the bridge.

[0040] And in some embodiments, a plurality of clamping and driving devices 23 can be arranged inside the outer housing 21. When there is a gap between two bridge segments, there will also be a gap in the track 1 on the bridge web. The length of the outer housing 21 can be made greater than the width of the gap, and the outer housing 21 can cross the gap between two bridge segments through a plurality of clamping and driving devices 23.

[0041] In some alternative embodiments, the clamping and driving device 23 includes: a clamping seat 231, which is clamped in the cell. The clamping seat 231 includes a bottom, flange portions extending upward along both ends of the bottom, and two limiting portions extending towards each other along the ends of the flange portions. The bottom, flange portions and limiting portions form a T-shaped card slot for clamping the track 1; it also includes a driving mechanism 232, which includes a driving wheel 2321 arranged on the bottom and a servo motor 2322 located outside the outer housing 21 for driving the driving wheel 2321.

[0042] In this embodiment, the clamping seat 231 clamps the track 1 through the T-shaped card slot formed by the bottom, flange portions and limiting portions, and the driving wheel 2321 arranged on the bottom and the servo motor 2322 located outside the outer housing 21 for driving the driving wheel 2321 cooperate to drive the outer housing 21 to slide on the track 1, so that the detection device 4 arranged on the connecting arm 3 detects the flange plate, web plate and bottom plate of the bridge.

[0043] In some alternative embodiments, the clamping and driving device 23 further includes: two limiting clamping wheels 233, which are respectively arranged on the two limiting portions and are arranged opposite to the driving wheel 2321 to cooperate with each other to clamp the track 1; it also includes two flange clamping wheels 234, which are respectively arranged on the two flange portions for clamping both sides of the track 1.

[0044] In this embodiment, the limiting clamping wheels 233 and the flange clamping wheels 234 are both rotatably arranged on the clamping seat 231 and cooperate with the driving wheel 2321 to clamp the track 1. This can enable the clamping and driving device 23 to slide better on the track 1.

[0045] In some alternative embodiments, the limiting clamping wheel 233 can be adaptively telescoped relative to the direction of the driving wheel 2321 based on the distance between the track 1 and the limiting portion.

[0046] In the natural state, the limiting clamping wheel 233 partially extends outside the limiting part; when subjected to the extrusion force of the track 1, the limiting clamping wheel 233 is compressed into the limiting part. The track 1 is better clamped through the adaptive expansion and contraction of the limiting clamping wheel 233.

[0047] In some alternative embodiments, the flange clamping wheel 234 can adaptively expand and contract based on the distance between the track 1 and the flange part.

[0048] In this embodiment, in the natural state, the flange clamping wheel 234 partially extends outside the flange part; when subjected to the extrusion force of the track 1, the flange clamping wheel 234 is compressed into the flange part.

[0049] In some alternative embodiments, the traveling mechanism 2 further includes intermediate housings 22 having the same number as the number of cells. The intermediate housings 22 are slidably disposed up and down within the cells, and the clamping seats 231 are slidably disposed left and right within the intermediate housings 22.

[0050] In this embodiment, by providing intermediate housings 22 having the same number as the number of cells, enabling the intermediate housings 22 to slide up and down within the cells and the clamping seats 231 to slide left and right within the intermediate housings 22, the clamping driving device 23 has good adaptability to the track 1 and better adaptability when there are gaps and unevenness between the spaced tracks 1.

[0051] In some alternative embodiments, two vertical first sliders are respectively and spacedly provided on both sides of the intermediate housing 22. Two first limit blocks are spacedly provided at both ends of each first slider. First chutes sleeving on the first sliders are provided on the cells, and the first chutes can slide relatively between the two first limit blocks.

[0052] In this embodiment, the first sliders are provided at the four corners of the intermediate housing 22 to maintain the stability of the clamping seat 231. Additionally, a rebounding device can be provided between the intermediate housing 22 and the outer housing 21 to keep the intermediate housing 22 at an appropriate position within the outer housing 21 without external force; when subjected to external force, the intermediate housing 22 makes an adaptive adjustment in the up and down directions. Therefore, the clamping driving device 23 can have better adaptability.

[0053] In some alternative embodiments, two horizontal second sliders are respectively and spacedly provided on both sides of the clamping seat 231. Two second limit blocks are spacedly provided at both ends of each second slider. Second chutes sleeving on the second sliders are provided on the intermediate housing 22, and the second chutes can slide relatively between the two second limit blocks.

[0054] In this embodiment, the second sliders are arranged at the four corners of the clamping seat 231 to maintain the stability of the clamping seat 231. Additionally, a resilient device can be arranged between the middle housing 22 and the clamping seat 231, so that the clamping seat 231 can be maintained at an appropriate position within the middle housing 22 without external force; when subjected to external force, the clamping seat 231 can make an adaptive adjustment in the left-right direction. Therefore, better adaptability of the clamping drive device 23 can be achieved.

[0055] In some alternative embodiments, the detection device 4 includes: a fixed arm 41 arranged in the middle of the connecting arm 3, and a camera for photographing the flange plate and web plate is arranged at the end of the fixed arm 41; it also includes a rotating arm 42 rotatably arranged at the end of the connecting arm 3, and a camera for photographing the bottom plate is arranged thereon.

[0056] In this embodiment, by arranging a camera on the fixed arm 41 to photograph the flange plate and web plate; and arranging a camera on the rotating arm 42 to photograph the bottom plate, the bridge inspection robot can achieve inspection of the entire bottom of the bridge. The rotatably arranged rotating arm 42 can rotate to avoid the bridge pier when crossing the bridge pier, which can save time and improve the inspection efficiency.

[0057] Certainly, in other embodiments, other detection devices can also be arranged on the fixed arm 41 and the rotating arm 42 to make a more comprehensive inspection of the entire bottom of the bridge.

[0058] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application. Unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0059] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0060] The above are only specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A bridge inspection robot, characterized in that: include: A track (1) for being arranged on the side web of a bridge; A walking mechanism (2) is arranged on the track (1) and is slidable relative to the track (1); A connecting arm (3) connected to the walking mechanism (2); A detection device (4), which is arranged on the connecting arm (3) and is used to detect the flange plate, web plate and bottom plate of the bridge; The walking mechanism (2) comprises: An outer shell (21) is provided with longitudinal groove cells, wherein partitions are provided in the longitudinal grooves to separate the longitudinal grooves into at least two cells; A clamping drive device (23) having the same number as the cells, which is arranged in the cells, and the clamping drive device (23) is used to clamp the track (1) and drive the outer shell (21) to slide relative to the track (1); The clamping drive device (23) comprises: A clamping seat (231) is clamped in the unit cell, the clamping seat (231) comprises a bottom, flanges extending upward along two ends of the bottom, and two stoppers extending toward each other along the ends of the flanges, and the bottom, flanges and stoppers form a T-shaped clamping groove for clamping the track (1); A driving mechanism (232), comprising a driving wheel (2321) disposed at the bottom and a servo motor (2322) located outside the outer shell (21) and used for driving the driving wheel (2321); The clamping drive device (23) further comprises: Two limiting clamping wheels (233), which are respectively arranged on the two limiting parts and are arranged opposite to the driving wheel (2321) to cooperate with clamping the track (1); Two flange clamping wheels (234), which are respectively arranged on the two flange parts and are used to clamp two sides of the track (1); The flange clamping wheel (234) can be adaptively extended and retracted based on the distance between the track (1) and the flange portion; The walking mechanism (2) further comprises an intermediate shell (22) having the same number as the cells; the intermediate shell (22) can be slidably arranged in the cells up and down, and the clamping seat (231) can be slidably arranged in the intermediate shell (22) left and right.

2. A bridge inspection robot as claimed in claim 1, characterized in that: The position-limiting clamping wheel (233) can be adaptively extended and retracted relative to the direction of the driving wheel (2321) based on the distance between the track (1) and the position-limiting portion.

3. A bridge inspection robot as claimed in claim 1, characterized in that: Two vertical first sliding blocks are spaced apart on both sides of the intermediate shell (22), two first limit blocks are spaced apart at both ends of each first sliding block, and a first sliding groove sleeved on the first sliding block is provided on the unit cell, and the first sliding groove can slide relatively between the two first limit blocks.

4. A bridge inspection robot as claimed in claim 1, characterized in that: Two transverse second sliding blocks are spaced apart on both sides of the clamping seat (231), two second limit blocks are spaced apart at both ends of each second sliding block, and a second sliding groove sleeved on the second sliding block is provided on the intermediate shell (22), and the second sliding groove can slide relatively between the two second limit blocks.

5. A bridge inspection robot as claimed in claim 1, characterized in that: The detection device (4) comprises: A fixed arm (41) is arranged in the middle of the connecting arm (3), and a camera for photographing the flange plate and the web is arranged at the end of the fixed arm (41); A rotating arm (42) is rotatably arranged at the end of the connecting arm (3), and a camera for photographing the bottom plate is provided on the rotating arm.

Images