A high-pier variable cross-section box girder inspection robot

Abstract

This invention relates to the field of bridge inspection technology, specifically to a high-pier variable cross-section box girder inspection robot. The robot includes a drive mechanism, an inspection arm, and a torsion mechanism. The drive mechanism is mounted on a longitudinal track at the bottom of the girder and can move along the track. The inspection arm is positioned laterally relative to the longitudinal track and located below the drive mechanism. The torsion mechanism is connected to the middle of the drive mechanism and to the inspection arm, driving the inspection arm to rotate vertically. This invention solves the problem in existing technologies where inspection devices cannot pass over bridge piers, requiring segmented inspection and resulting in low inspection efficiency.

Description

Technical Field

[0001] This invention relates to the field of bridge inspection technology, specifically to an inspection robot for high-pier variable cross-section box girders. Background Technology

[0002] The speed and scale of bridge construction are constantly evolving, and as time goes on, many bridge projects are entering a period of urgent need for maintenance and upkeep. Common bridge girder bottom defects include bolt loosening, connecting plate corrosion, box girder cracking, and paint peeling. Currently, the main method used domestically and internationally for the detection and maintenance of bridge girder bottom defects is the manned girder bottom inspection vehicle. This vehicle runs on a pre-set track and uses manual visual inspection or handheld inspection equipment to detect and treat defects.

[0003] However, manned bridge inspection vehicles also have many limitations and constraints. In situations where the space under the bridge is confined, or where there are both height-restricted highways and railways below, especially for dual-purpose road-rail bridges, the use of manned bridge inspection vehicles becomes extremely difficult under these conditions. Particularly as many bridge projects enter the later stages of their service life, many of the manned bridge inspection vehicles already nearing the end of their service life are nearing the end of their service life. Forcing their use poses a high risk, and personnel safety cannot be guaranteed. However, the demand for bridge under-bridge maintenance and management is constantly increasing. Therefore, resolving these contradictions and needs has significant practical engineering value.

[0004] In addition to the background described above, for high-pier variable cross-section box girder bridges commonly seen in current bridge engineering, the inspection vehicle tracks are often laid close to the bottom of the variable cross-section girder. However, due to the variable cross-section box girder, the distance between the bottom plate and the top surface of the girder varies, making it difficult for heavy-duty manned inspection vehicles to visually inspect the side components such as the web of the box girder. Furthermore, conventional manned inspection vehicles typically use curved tracks when laying tracks at the bottom of variable cross-section box girders. This type of track requires high precision in manufacturing, is costly, and involves complex installation and maintenance. The curved track also limits the turning radius of the equipment, making it prone to jamming and posing certain safety hazards. Moreover, when encountering piers, it is impossible to pass over them, requiring segmented inspection, resulting in low inspection efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a high-pier variable cross-section box girder inspection robot, which can solve the problem that existing inspection devices cannot cross the piers when encountering them, requiring segmented inspection and resulting in low inspection efficiency.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] This invention provides a robot for inspecting high-pier variable cross-section box girders, comprising:

[0008] A drive mechanism, which is set on a longitudinal track at the bottom of the beam and can move on the longitudinal track;

[0009] The detection arm is arranged laterally relative to the longitudinal track and is located below the drive mechanism;

[0010] A torsion mechanism, which is connected to the middle of the drive mechanism and to the detection arm, is used to drive the detection arm to rotate in the vertical direction.

[0011] In some alternative embodiments, the bottom of the detection arm is provided with a rotating groove, and the torsion mechanism includes:

[0012] A first vertical track, one end of which is connected to the drive mechanism, includes two first track plates sandwiched between the two sides of the detection arm. A rotating shaft that cooperates with the rotating groove is provided between the two first track plates. The rotating shaft is located at the end away from the drive mechanism.

[0013] The take-up and release rope has one end connected to the drive mechanism and the other end connected to the detection arm. It is used to keep the detection arm horizontal when the rotating groove is engaged with the rotating shaft, and to allow the detection arm to rotate vertically along the rotating shaft when the take-up and release rope is extended.

[0014] In some alternative solutions, the inner side of the first track plate is provided with a first vertical rack, and the torsion mechanism also includes a first drive motor, which is disposed on the detection arm. The output shaft of the first drive motor is provided with a first gear that engages with the first vertical rack. The first drive motor can move laterally along the detection arm to disengage the first gear from the first vertical rack.

[0015] In some alternative solutions, the torsion mechanism further includes a second vertical track connected at one end to the drive mechanism. The second vertical track is spaced apart from the first vertical track and includes two second track plates sandwiched on both sides of the detection arm. A second vertical rack is provided on the inner side of the second track plate, and a second gear that cooperates with the second vertical rack is provided on the output shaft of the first drive motor.

[0016] In some alternative solutions, the length of the second vertical track is greater than the length of the first vertical track, and a limiting shaft is provided between the two second track plates, the limiting shaft being located at the end away from the drive mechanism.

[0017] In some alternative solutions, the drive mechanism includes:

[0018] A housing connected to the torsion mechanism;

[0019] Two sets of electromagnetic wheels are spaced apart within the housing along the longitudinal direction of the longitudinal track, for adsorption onto the longitudinal track;

[0020] Two sets of limiting clamps are arranged at both ends of the housing along the longitudinal direction of the longitudinal track for clamping on the longitudinal track;

[0021] A second drive motor is mounted on the housing and is used to rotate with the electromagnetic wheel.

[0022] In some alternative solutions, the housing is provided with longitudinal slide rails and drive components on both sides along the transverse direction of the longitudinal track, the limiting clamp is slidably disposed on the slide rails, and the drive component is connected to the limiting clamp to drive the limiting clamp to move longitudinally.

[0023] In some alternative solutions, each set of the limiting clamps includes:

[0024] Two L-shaped plates are respectively disposed on both sides of the housing in the lateral direction and are slidably disposed on the slide rail;

[0025] Two L-shaped sliders are respectively arranged on the inner side of the two L-shaped plates, which can slide laterally.

[0026] A spring, with its two ends connected to the two L-shaped sliders, is used to clamp the L-shaped sliders on the longitudinal track.

[0027] In some alternative embodiments, the drive assembly includes telescopic rods, the same number as the L-shaped plates, for driving the L-shaped plates to move longitudinally on the slide rail.

[0028] In some alternative embodiments, the end of the housing along the longitudinal direction of the longitudinal track is provided with a measuring wheel for abutting against the longitudinal track.

[0029] Compared with existing technologies, the advantages of this invention are as follows: When inspecting the bottom of a beam, cameras are installed at both ends of the inspection arm facing the bottom of the beam, and the beam bottom can be inspected by moving longitudinally along the longitudinal track using a drive mechanism. When the inspection arm moves to the pier, a torsion mechanism can be used to rotate the inspection arm vertically so that the inspection arm can pass through the pier; after passing through the pier, the torsion mechanism can be used again to adjust the inspection arm to a horizontal state to continue inspecting the next bridge opening, which can improve inspection efficiency and facilitate the inspection of the beam bottom. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the inspection robot for high-pier variable cross-section box girders in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the torsion mechanism in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure at the end of the track slab in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the drive mechanism in an embodiment of the present invention;

[0035] Figure 5 This is a top view of the drive mechanism in an embodiment of the present invention.

[0036] In the diagram: 1. Drive mechanism; 11. Housing; 12. Electromagnetic wheel; 13. Limiting clamp; 131. L-shaped plate; 132. L-shaped slider; 133. Spring; 14. Second drive motor; 15. Slide rail; 16. Drive assembly; 17. Meter wheel; 2. Longitudinal track; 3. Detection arm; 4. Torsion mechanism; 41. First vertical track; 411. Rotating shaft; 412. First vertical rack; 413. First track plate; 42. Second vertical track; 421. Second track plate; 422. Second vertical rack; 423. Limiting shaft; 43. Third vertical track; 44. First drive motor; 441. First gear; 442. Second gear; 45. Winding rope. Detailed Implementation

[0037] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0038] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] like Figure 1As shown, the present invention provides a high-pier variable cross-section box girder inspection robot, including: a drive mechanism 1, an inspection arm 3 and a torsion mechanism 4.

[0040] The drive mechanism 1 is set on the longitudinal track 2 at the bottom of the beam and can move on the longitudinal track 2; the detection arm 3 is set laterally relative to the longitudinal track 2 and is located below the drive mechanism 1; the torsion mechanism 4 is connected to the drive mechanism 1 and connected to the middle of the detection arm 3, and is used to drive the detection arm 3 to rotate in the vertical direction.

[0041] When using this high-pier variable cross-section box girder inspection robot, the drive mechanism 1 is set on the longitudinal track 2 at the bottom of the girder, and the torsion mechanism 4 is connected to the drive mechanism 1. The detection arm 3 is connected to the torsion mechanism 4, and the detection arm 3 is set laterally relative to the longitudinal track 2. The longitudinal track 2 is set along the longitudinal direction of the bridge at the bottom of the girder. When inspecting the bottom of the girder, cameras are installed at both ends of the detection arm 3 facing the bottom of the girder, and the longitudinal movement of the drive mechanism 1 along the longitudinal track 2 allows for inspection of the bottom of the girder. When the detection arm 3 moves to the pier, the torsion mechanism 4 can be used to rotate the detection arm 3 vertically so that the detection arm 3 can pass through the pier. After passing through the pier, the torsion mechanism 4 can be used again to adjust the detection arm 3 to a horizontal state to continue inspecting the next pier, which can improve inspection efficiency and facilitate the inspection of the bottom of the girder. In addition, this inspection robot has better adaptability to variable cross-section box girders.

[0042] like Figure 2 and Figure 3 As shown, in some optional embodiments, the bottom of the detection arm 3 is provided with a rotating groove, and the torsion mechanism 4 includes: a winding rope 45 and a first vertical track 41 with one end connected to the drive mechanism 1.

[0043] The first vertical track 41 includes two first track plates 413 sandwiched between the two sides of the detection arm 3. A rotating shaft 411 that cooperates with the rotating groove is provided between the two first track plates 413. The rotating shaft 411 is located at the end away from the drive mechanism 1. One end of the take-up rope 45 is connected to the drive mechanism 1, and the other end is connected to the detection arm 3. It is used to keep the detection arm 3 horizontal when the rotating groove cooperates with the rotating shaft 411, and to allow the detection arm 3 to rotate vertically along the rotating shaft 411 when the take-up rope 45 is extended.

[0044] In this embodiment, the rotating groove at the bottom of the detection arm 3 is engaged on the rotating shaft 411 set between the two first track plates 413. One end of the take-up rope 45 is connected to the drive mechanism 1, and the other end is connected to the detection arm 3, so that the detection arm 3 is horizontal during the detection operation. When it is necessary to pass through the bridge pier, the detection arm 3 can be vertically rotated along the rotating shaft 411 by extending the take-up rope 45, so that the detection arm 3 is tilted at a certain angle, so that the detection arm 3 can pass through the bridge pier and realize the detection of the next bridge opening.

[0045] In this example, the two detection arms 3 have different weights on either side of the rotating groove. The connection between the release rope 45 and the detection arm 3 is located on the side of the heavier detection arm 3, with the rotating groove as the boundary.

[0046] In some optional embodiments, a first vertical rack 412 is provided on the inner side of the first track plate 413, and the torsion mechanism 4 also includes a first drive motor 44, which is provided on the detection arm 3. A first gear 441 that engages with the first vertical rack 412 is provided on the output shaft of the first drive motor 44. The first drive motor 44 can move laterally along the detection arm 3 to disengage the first gear 441 from the first vertical rack 412.

[0047] In this embodiment, if the rotating shaft 411 is positioned too close to the drive mechanism 1, the detection arm 3 will be unable to rotate. However, if the detection arm 3 is too far from the bottom of the beam during detection, the detection effect will be affected. In this example, a first vertical rack 412 is provided inside the first track plate 413, a first drive motor 44 is provided on the detection arm 3, and a first gear 441 that meshes with the first vertical rack 412 is provided on the output shaft. The position of the rotating shaft 411 is set to the distance that the detection arm 3 can pass through the bridge pier after rotation. During the inspection operation, the inspection arm 3 is raised to the top of the first vertical rack 412 for easy inspection. When it is necessary to pass through the pier, the first drive motor 44 drives the first gear 441 to engage with the first vertical rack 412, and the rope 45 is engaged to lower the inspection arm 3 to the rotating shaft 411. Alternatively, it can be lowered by its own weight, and the first drive motor 44 moves laterally along the inspection arm 3 to disengage the first gear 441 from the first vertical rack 412, and the rotating shaft 411 engages with the rotating groove. By extending the retractable rope 45, the detection arm 3 rotates vertically along the rotation axis 411, causing the detection arm 3 to tilt at a certain angle so that the detection arm 3 can pass through the bridge pier. After passing through the bridge pier, the retractable rope 45 is retracted again, making the detection arm 3 horizontal. The first drive motor 44 moves horizontally along the detection arm 3, causing the first gear 441 to mesh with the first vertical rack 412. Through the first drive motor 44 driving the first gear 441 to engage with the first vertical rack 412, and the engagement of the retractable rope 45, the detection arm 3 is lifted to the top of the first vertical rack 412 to facilitate further detection.

[0048] In addition, the detection arm 3 is equipped with a transverse slide rail, and the first drive motor 44 is mounted on the transverse slide rail and can move laterally. The transverse movement of the first drive motor 44 can be realized by the telescopic mechanism.

[0049] In some optional embodiments, the torsion mechanism 4 further includes a second vertical track 42 connected at one end to the drive mechanism 1. The second vertical track 42 is spaced apart from the first vertical track 41 and includes two second track plates 421 sandwiched on both sides of the detection arm 3. A second vertical rack 422 is provided on the inner side of the second track plate 421. A second gear 442 that cooperates with the second vertical rack 422 is provided on the output shaft of the first drive motor 44.

[0050] In this embodiment, in order to maintain the stability of the detection arm 3 moving in the vertical direction, a second vertical track 42 spaced apart from the first vertical track 41 is provided, and a second vertical rack 422 is provided on the inner side of the second track plate 421. A second gear 442 that cooperates with the second vertical rack 422 is provided on the output shaft of the first drive motor 44. This can improve the stability of the detection arm 3 when it moves in the vertical direction.

[0051] In some alternative embodiments, the length of the second vertical track 42 is greater than the length of the first vertical track 41, and a limiting shaft 423 is provided between the two second track plates 421, with the limiting shaft 423 located at the end away from the drive mechanism 1.

[0052] In this embodiment, the length of the second vertical rack 422 is the same as the length of the first vertical rack 412. When it is necessary to pass through a bridge pier, the first drive motor 44 drives the first gear 441 to engage with the first vertical rack 412, the second gear 442 to engage with the second vertical rack 422, and the release rope 45 to lower the detection arm 3 to the rotating shaft 411, or it can lower itself by its own weight, causing the first drive motor 44 to move laterally along the detection arm 3, disengaging the first gear 441 from the first vertical rack 412 and the second gear 442 from the second vertical rack 422, and engaging the rotating shaft 411 with the rotating groove. By extending the release rope 45, the detection arm 3 rotates vertically along the rotating shaft 411 between the two second track plates 421 of the second vertical track 42, allowing the detection arm 3 to pass through the bridge pier. This design maintains the stability of the detection arm 3 during rotation. After passing through the bridge pier, the reverse steps can be used to detect the next bridge opening. The limiting shaft 423 is located at the end away from the drive mechanism 1, which can limit the rotation angle of the detection arm 3 and prevent the detection arm 3 from rotating excessively.

[0053] In this example, a third vertical track 43 is also provided. The first vertical track 41, the second vertical track 42 and the third vertical track 43 are arranged horizontally at intervals. The third vertical track 43 has the same length as the first vertical track 41 and also includes two track plates located on both sides of the detection arm 3. A rack is provided on the inner side. A gear that cooperates with the rack is provided on the output shaft of the first drive motor 44, which can further improve the stability of the detection arm 3 when it moves vertically.

[0054] In addition, the release rope 45 is connected to the first drive motor 44 via a speed-changing gear to release, or it can be connected to other drive mechanisms set in the housing 11 to release.

[0055] like Figure 4 and Figure 5 As shown, in some optional embodiments, the drive mechanism 1 includes: a housing 11, a second drive motor 14, two sets of electromagnetic wheels 12 and two sets of limiting clamps 13.

[0056] The housing 11 is connected to the torsion mechanism 4; two sets of electromagnetic wheels 12 are spaced apart in the housing 11 along the longitudinal direction of the longitudinal track 2 for adsorption on the longitudinal track 2; two sets of limiting clamps 13 are arranged at both ends of the housing 11 along the longitudinal direction of the longitudinal track 2 for clamping on the longitudinal track 2; the second drive motor 14 is located on the housing 11 for rotating with the electromagnetic wheels 12.

[0057] In this embodiment, the longitudinal track 2 is an I-beam, including two leg plates and a waist plate between them. One leg plate is connected to the bottom of the beam, and two sets of electromagnetic wheels 12 are attached to the other waist plate. In this example, each set of electromagnetic wheels 12 includes two that are arranged laterally, that is, a total of four electromagnetic wheels 12 are attached to the longitudinal track 2. Two sets of limiting clamps 13 are clamped on the longitudinal track 2, and part of them are located above the waist plate, which can improve the safety of the entire mechanism. When the electromagnetic wheels 12 fail, they can be placed on the waist plate and can play a certain role in limiting and guiding.

[0058] In some optional embodiments, the housing 11 is provided with longitudinal slide rails 15 and drive assembly 16 on both sides of the longitudinal track 2 in the transverse direction. The limiting clamp 13 is slidably disposed on the slide rail 15. The drive assembly 16 is connected to the limiting clamp 13 and is used to drive the limiting clamp 13 to move longitudinally.

[0059] In this embodiment, slide rails 15 are provided on both sides of the transverse bridge direction of the housing 11. The limiting clamp 13 is slidably mounted on the slide rails 15, and the driving component 16 drives the limiting clamp 13 to move longitudinally on the slide rails 15. When the entire device needs to pass through a gap, the driving component 16 drives the limiting clamp 13 at the front end of the displacement direction to move to the longitudinal track 2 of the next segment and clamps it on the longitudinal track 2 of the next segment. Then, the driving electromagnetic wheel 12 moves. When passing through a gap, the limiting clamp 13 at the front end of the driving component 16 retracts, and the limiting clamp 13 at the rear end continues to be clamped on the current longitudinal track 2 until all the electromagnetic wheels 12 have moved to the longitudinal track 2 of the next segment. Then, the limiting clamp 13 at the rear end retracts, thus completing the gap-passing of the entire device.

[0060] In some alternative embodiments, each set of limiting clamps 13 includes: a spring 133, two L-shaped plates 131 and two L-shaped sliders 132.

[0061] Two L-shaped plates 131 are respectively disposed on both sides of the housing 11 in the lateral direction and are slidably disposed on the slide rail 15; two L-shaped sliders 132 are respectively disposed on the inner side of the two L-shaped plates 131 in the lateral direction; the two ends of the spring 133 are connected to the two L-shaped sliders 132 and are used to clamp the L-shaped sliders 132 on the longitudinal track 2.

[0062] In this embodiment, two laterally sliding L-shaped sliders 132 are provided on the inner sides of the two L-shaped plates 131. The two ends of a spring 133 are connected to the two L-shaped sliders 132, allowing the L-shaped sliders 132 to be clamped onto the longitudinal track 2. This provides some adaptability to the limiting clamp 13, facilitating its passage through gaps. Furthermore, it ensures a certain degree of stability when the limiting clamp 13 is clamped onto the longitudinal track 2. In this example, multiple rollers are also provided on the inner side of the L-shaped sliders 132 to reduce friction during movement, and the sliders have an enlarged opening in the direction of travel, facilitating passage through gaps.

[0063] In some alternative embodiments, the drive assembly 16 includes the same number of telescopic rods as the L-shaped plate 131 for driving the L-shaped plate 131 to move longitudinally on the slide rail 15.

[0064] In this embodiment, the L-shaped plate 131 is driven to move longitudinally on the slide rail 15 by telescopic rods of the same number as the L-shaped plate 131. The structure is simple and easy to control.

[0065] In some alternative embodiments, the end of the housing 11 along the longitudinal direction of the longitudinal track 2 is provided with a measuring wheel 17 for abutting against the longitudinal track 2.

[0066] In this embodiment, the measuring wheel 17 can record the entire running distance of the inspection robot and transmit it wirelessly to the ground control system, making it convenient for ground personnel to monitor the robot's running position.

[0067] In summary, when inspecting the bottom of a beam, cameras are installed at both ends of the inspection arm 3, facing the bottom of the beam. The arm moves longitudinally along the longitudinal track 2 using the drive mechanism 1 to inspect the bottom of the beam. When the inspection arm 3 moves to the pier, the torsion mechanism 4 can rotate the inspection arm 3 vertically so that it can pass through the pier. After passing through the pier, the torsion mechanism 4 can be used again to adjust the inspection arm 3 to a horizontal position, allowing inspection of the next arch. This improves inspection efficiency and facilitates the inspection of the beam bottom. A first vertical rack 412 is provided inside the first track plate 413. A first drive motor 44 is installed on the inspection arm 3, and a first gear 441 that meshes with the first vertical rack 412 is provided on the output shaft. The position of the rotating shaft 411 is set to the distance the inspection arm 3 can pass through the pier after rotation. During the inspection operation, the inspection arm 3 is raised to the top of the first vertical rack 412 for easy inspection. When it is necessary to pass through the pier, the first drive motor 44 drives the first gear 441 to engage with the first vertical rack 412, and the rope 45 is engaged to lower the inspection arm 3 to the rotating shaft 411. Alternatively, it can be lowered by its own weight, and the first drive motor 44 moves laterally along the inspection arm 3 to disengage the first gear 441 from the first vertical rack 412, and the rotating shaft 411 engages with the rotating groove. By extending the retractable rope 45, the detection arm 3 rotates vertically along the rotation axis 411, causing the detection arm 3 to tilt at a certain angle so that the detection arm 3 can pass through the bridge pier. After passing through the bridge pier, the retractable rope 45 is retracted again, making the detection arm 3 horizontal. The first drive motor 44 moves horizontally along the detection arm 3, causing the first gear 441 to mesh with the first vertical rack 412. Through the first drive motor 44 driving the first gear 441 to engage with the first vertical rack 412, and the engagement of the retractable rope 45, the detection arm 3 is lifted to the top of the first vertical rack 412 to facilitate further detection.

[0068] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0069] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0070] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A robot for inspecting high-pier variable cross-section box girders, characterized in that, include: A drive mechanism (1) is provided on a longitudinal rail (2) at the bottom of the beam and can move on the longitudinal rail (2); The detection arm (3) is arranged laterally relative to the longitudinal track (2) and located below the drive mechanism (1); A torsion mechanism (4) is connected to the middle of the drive mechanism (1) and to the detection arm (3) for driving the detection arm (3) to rotate in the vertical direction; The bottom of the detection arm (3) is provided with a rotating groove, and the torsion mechanism (4) includes: A first vertical track (41) connected at one end to the drive mechanism (1) includes two first track plates (413) sandwiched between the two sides of the detection arm (3), and a rotating shaft (411) that cooperates with the rotating groove is provided between the two first track plates (413), and the rotating shaft (411) is located at one end away from the drive mechanism (1). The take-up and release rope (45) has one end connected to the drive mechanism (1) and the other end connected to the detection arm (3). It is used to keep the detection arm (3) horizontal when the rotating groove is engaged with the rotating shaft (411), and to make the detection arm (3) rotate vertically along the rotating shaft (411) when the take-up and release rope (45) is extended. The first track plate (413) is provided with a first vertical rack (412) on its inner side. The torsion mechanism (4) also includes a first drive motor (44), which is provided on the detection arm (3). The output shaft of the first drive motor (44) is provided with a first gear (441) that engages with the first vertical rack (412). The first drive motor (44) can move laterally along the detection arm (3) to disengage the first gear (441) from the first vertical rack (412). The detection arm (3) is provided with a transverse slide rail, and the first drive motor (44) is movably mounted on the transverse slide rail. The first drive motor (44) is driven to move laterally by a telescopic mechanism.

2. The high-pier variable cross-section box girder inspection robot as described in claim 1, characterized in that, The torsion mechanism (4) further includes a second vertical track (42) connected at one end to the drive mechanism (1). The second vertical track (42) is spaced apart from the first vertical track (41) and includes two second track plates (421) sandwiched on both sides of the detection arm (3). The inner side of the second track plate (421) is provided with a second vertical rack (422). The output shaft of the first drive motor (44) is provided with a second gear (442) that cooperates with the second vertical rack (422).

3. The high-pier variable cross-section box girder inspection robot as described in claim 2, characterized in that, The length of the second vertical track (42) is greater than the length of the first vertical track (41), and a limiting shaft (423) is provided between the two second track plates (421), the limiting shaft (423) being located at one end away from the drive mechanism (1).

4. The high-pier variable cross-section box girder inspection robot as described in claim 1, characterized in that, The drive mechanism (1) includes: The housing (11) is connected to the torsion mechanism (4); Two sets of electromagnetic wheels (12) are spaced apart in the housing (11) along the longitudinal direction of the longitudinal track (2) for adsorption on the longitudinal track (2); Two sets of limiting clamps (13) are arranged at both ends of the housing (11) along the longitudinal direction of the longitudinal track (2) for clamping on the longitudinal track (2); The second drive motor (14) is mounted on the housing (11) and is used to drive the electromagnetic wheel (12) to rotate.

5. The high-pier variable cross-section box girder inspection robot as described in claim 4, characterized in that, The housing (11) is provided with a longitudinal slide rail (15) and a drive assembly (16) on both sides of the longitudinal track (2) in the transverse direction. The limiting clamp (13) is slidably disposed on the slide rail (15). The drive assembly (16) is connected to the limiting clamp (13) and is used to drive the limiting clamp (13) to move longitudinally.

6. The high-pier variable cross-section box girder inspection robot as described in claim 5, characterized in that, Each set of the limiting clamps (13) includes: Two L-shaped plates (131) are respectively disposed on both sides of the housing (11) in the lateral direction and are slidably disposed on the slide rail (15); Two L-shaped sliders (132) are respectively arranged on the inner side of the two L-shaped plates (131) that can slide laterally; A spring (133) with its two ends connected to the two L-shaped sliders (132) is used to clamp the L-shaped sliders (132) onto the longitudinal track (2).

7. The high-pier variable cross-section box girder inspection robot as described in claim 6, characterized in that, The drive assembly (16) includes the same number of telescopic rods as the L-shaped plate (131) for driving the L-shaped plate (131) to move longitudinally on the slide rail (15).

8. The high-pier variable cross-section box girder inspection robot as described in claim 4, characterized in that, The housing (11) is provided with a meter wheel (17) at the end of the longitudinal direction of the longitudinal track (2) for abutting against the longitudinal track (2).

Images