Mechanical arm assembly for bridge inspection and working method thereof

Abstract

The application discloses a mechanical arm assembly for bridge detection and a working method thereof. The mechanical arm assembly comprises a proximal extension arm composed of proximal connecting rods, the proximal connecting rods being arm groups with a square cross section formed by four groups of rods; a distal extension arm composed of distal connecting rods, the distal connecting rods being arm groups with an isosceles triangle cross section formed by three groups of rods; a proximal five-hole connecting piece close to the proximal extension arm side, the proximal five-hole connecting piece having an inverted trapezoidal cross section and being connected to the proximal extension arm at two top points and two 1 / 4 points of the bottom; and a distal five-hole connecting piece close to the distal extension arm side, the distal five-hole connecting piece having an inverted trapezoidal cross section and being connected to the distal extension arm at a top point of the bottom and a middle point of the top, connection holes being arranged at each top point and the middle point of the top of the proximal five-hole connecting piece for arranging telescopic rods, and connection holes being arranged at each top point and the middle point of the top of the distal five-hole connecting piece for receiving the telescopic rods. The application guarantees the stability of the working arm under the bridge and enables the working arm to cross obstacles.

Description

Technical Field

[0001] This invention relates to bridge inspection technology, and more particularly to a robotic arm assembly for bridge inspection and its operating method. Background Technology

[0002] my country has a large number of highway bridges, and its long bridges are among the world's largest. As the road network gradually improves, bridge construction has slowed down, and the focus of my country's highway bridge development is shifting to optimizing bridge lifespan, with particular emphasis on bridge inspection and maintenance.

[0003] However, manual inspection methods are still the primary approach both domestically and internationally. This involves observing cracks under the bridge from a distance using telescopes, or constructing a platform under the bridge for close-up visual inspection of the cracks, recording their length, width, and other parameters, and conducting multiple inspections to determine the extent of crack growth. Current bridge inspection projects typically rely on bridge inspection vehicles or other mobile platforms to construct a suspended platform beneath the bridge, where inspectors directly observe or use instruments to complete the inspection. In addition, intelligent inspection methods such as drones, adhesive robots, and boom-mounted unmanned bridge inspection vehicles are gradually being applied to the bridge inspection process.

[0004] Existing detection methods have the following problems:

[0005] 1. Manual inspection is time-consuming and labor-intensive, and also involves the uncertainty of subjective judgment;

[0006] 2. Small drones have battery life issues, and they are prone to losing their positioning signal under bridges. Manual control also poses a collision risk, and the detection accuracy is difficult to meet current detection requirements.

[0007] 3. Small-scale adsorption robots also suffer from battery life issues, and it's difficult to achieve a balanced adsorption strength. Too low an adsorption force can cause them to fall and cause secondary accidents; too high an adsorption force can cause secondary damage to the bridge. Deployment is also a challenge for adsorption robots, as they still require manual deployment under the bridge, limiting their practical application to theoretical research.

[0008] 4. The boom-type unmanned bridge inspection vehicle does not have a range issue, and its under-bridge section can effectively control the distance to the bridge because it can inspect at close range without contact using visual perception equipment. However, the under-bridge structure of this type of robot is relatively long, and its deployment and retraction take a considerable amount of time. This is especially true for existing highway bridge structures such as side light poles, signs, and bridge cables, which currently still require retraction and re-deployment to continue working, making practical application in engineering practice difficult. Summary of the Invention

[0009] In view of this, the purpose of the present invention is to provide a robotic arm assembly for bridge inspection and its working method, so as to solve the above-mentioned technical problems.

[0010] To achieve the above objectives, according to a first aspect of the present invention, a robotic arm assembly for bridge inspection is provided, comprising:

[0011] The proximal extension arm is composed of a proximal connecting rod, which is an arm assembly with a square cross-section consisting of four sets of rods.

[0012] The distal extension arm is composed of a distal connecting rod, which is an arm assembly with an isosceles triangle cross-section formed by three sets of rods.

[0013] A proximal five-hole connector, located near the proximal extension arm, has an inverted trapezoidal cross-section and is connected to the proximal extension arm at its two bottom vertices and two top 1 / 4 points; and

[0014] The distal five-hole connector has an inverted trapezoidal cross-section near the distal extension arm and is connected to the distal extension arm at the bottom apex and the top midpoint.

[0015] Connecting holes are provided at each vertex and the midpoint of the top of the five-hole connector at the near end, respectively, for mounting telescopic rods;

[0016] A connecting hole is provided at each vertex and the midpoint of the top of the five-hole connector at the far end for receiving the telescopic rod.

[0017] In some exemplary embodiments, the robotic arm assembly is located in the bridge extension arm spanning portion of the robotic arm of the boom-type unmanned bridge inspection vehicle, the proximal extension arm being the side closer to the vehicle body of the inspection vehicle, and the distal extension arm being the side closer to the vertical arm of the robotic arm.

[0018] In some exemplary embodiments, the proximal five-hole connector, the distal five-hole connector, and the telescopic rod adopt a telescopic locking structure through a metal magnetic lock structure. Metal magnetic plates are added inside the proximal five-hole connector and the distal five-hole connector, and rubber material is wrapped on the outside.

[0019] In some exemplary embodiments, a locking plate is provided behind the magnetic plate in the distal five-hole connector, and a locking hole corresponding to the telescopic rod is provided on the magnetic plate and the locking plate. The locking hole is located in the locking structure, and the direction of the locking hole of the locking structure is fixed on the locking plate. In the locking structure, the telescopic rod is used as a locking rod.

[0020] In some exemplary embodiments, the locking structure includes a lock hole, a trigger plate, a trigger plate mounting slot, a spring, a transverse lock hole, a locking pin, a power supply, and a connecting wire;

[0021] The telescopic rod enters the inner chamber of the lock hole under the action of the thrust, and the trigger plate deflects inward by the squeezing force, so that the spring is in a compressed state;

[0022] A metal trigger plate is provided on the back side of the trigger plate, and a trigger point is provided in the middle of the spring. The trigger point has a transverse hole, and the connecting wires are connected to both sides of the transverse hole. The connecting wires are respectively wrapped around the locking pin.

[0023] When the trigger piece contacts the trigger point, a passage is formed, the locking pin becomes a magnet, and a spring is also connected to the rear side of the locking pin. Under the action of magnetic force, the telescopic rod causes the locking pin to move toward the telescopic rod.

[0024] When the locking pin falls, the annular groove engages with the annular groove on the telescopic rod, forming a locking structure.

[0025] In some exemplary embodiments, a cylinder is provided at the connection point between the proximal five-hole connector and the telescopic rod, and the left and right movement of the telescopic rod is controlled by the cylinder.

[0026] According to a second aspect of the present invention, a method for operating a robotic arm assembly for bridge inspection is provided, which is used to operate the aforementioned robotic arm assembly for bridge inspection, the method comprising:

[0027] Open the first telescopic rod at the top apex of the proximal five-hole connector and the distal five-hole connector in the robotic arm assembly to allow the obstacle to enter the telescopic rod's working range;

[0028] Open the second telescopic rod at the bottom edge of the proximal five-hole connector and the distal five-hole connector to allow the obstacle to leave the telescopic area of ​​the first telescopic rod, and then close the first telescopic rod.

[0029] Open the third telescopic rod at the top midpoint of the proximal five-hole connector to move the obstacle away from the telescopic area of ​​the second telescopic rod, and close the second telescopic rod;

[0030] Open the fourth telescopic rod at the other end of the bottom of the proximal five-hole connector and the distal five-hole connector, so that the obstacle leaves the telescopic area of ​​the third telescopic rod, and close the third telescopic rod;

[0031] Open the fifth telescopic rod at the top other vertex of the proximal five-hole connector and the distal five-hole connector, so that the obstacle moves away from the telescopic area of ​​the fourth telescopic rod and the fifth telescopic rod, and then close the fourth telescopic rod and the fifth telescopic rod in sequence to pass over the obstacle.

[0032] According to the present invention, by adopting the above-designed robotic arm assembly for bridge inspection, the stability of the working arm under the bridge can be ensured during bridge inspection operations, while the working arm can easily cross obstacles. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A schematic diagram of the robotic arm assembly for bridge inspection according to the present invention is shown;

[0035] Figure 2 A simplified diagram of the robotic arm assembly for bridge inspection according to the present invention is shown.

[0036] Figure 3 A schematic diagram of the internal structure of the distal five-hole connector B in the robotic arm assembly for bridge inspection of the present invention is shown.

[0037] Figure 4 An enlarged view of the internal structure of the distal five-hole connector B of the present invention is shown;

[0038] Figure 5 A flowchart illustrating the operation method of the robotic arm assembly for bridge inspection according to the present invention is shown.

[0039] Figure 6 A schematic diagram of the operation method of the robotic arm assembly for bridge inspection according to the present invention is shown. Detailed Implementation

[0040] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0041] The essence of the technical solution of the embodiments of this application will be explained in detail below with reference to the accompanying drawings.

[0042] Figure 1 A schematic diagram of the robotic arm assembly for bridge inspection according to the present invention is shown. Figure 2 A simplified diagram of the robotic arm assembly for bridge inspection according to the present invention is shown.

[0043] In bridge inspection operations, a boom-type unmanned bridge inspection vehicle operates on one side of the bridge, using a continuous robotic arm to deliver the working terminal to the lower surface of the bridge. Apart from the connecting base, the robotic arm can be divided into three parts: an extension arm, a vertical arm, and a working arm. The robotic arm assembly for bridge inspection of this invention is used in the robotic arm of the boom-type unmanned bridge inspection vehicle, specifically located in the bridge extension arm spanning section of the robotic arm.

[0044] like Figure 1 , 2 As shown, the robotic arm assembly 10 of the present invention includes: a proximal five-hole connector A, a distal five-hole connector B, a proximal extension arm C, and a distal extension arm D, wherein the proximal extension arm C is located on the side of the vehicle body closer to the inspection vehicle, and the distal extension arm D is located on the side closer to the vertical arm.

[0045] The proximal extension arm C is composed of a proximal connecting rod, which is an arm assembly with a square cross-section consisting of four sets of rods, used to connect with the extension arm in the robotic arm.

[0046] The proximal five-hole connector A, located near the proximal end of the extension arm, has an inverted trapezoidal cross-section, as shown below. Figure 2 As shown, the two bottom vertices and the two top 1 / 4 points are connected to the near-end connecting rod C; connecting holes are provided at each vertex and the top midpoint of the near-end five-hole connector A for setting telescopic rods 1 to 5.

[0047] like Figure 2 As shown, a total of five sets of telescopic rods 1 to 5 are set up for physical connection, energy connection and information communication connection at the near end and far end; during the process of the robotic arm crossing obstacles, they are disconnected and connected from the front to the rear of the vehicle, and at least three sets of telescopic rods are kept in the connected state.

[0048] The distal five-hole connector B, located near the distal end of the extension arm, has an inverted trapezoidal cross-section and connection holes at each vertex and the midpoint of the top, for receiving telescopic rods 1 to 5; (e.g.) Figure 2 As shown, the bottom vertex and top midpoint of the distal five-hole connector B are connected to the distal extension arm D.

[0049] The distal extension arm D is composed of a distal connecting rod, which is connected to the distal five-hole connector B. The distal connecting rod forms an arm assembly with an isosceles triangle cross-section through three sets of rods, which is used to connect with the vertical arm in the robotic arm.

[0050] In this invention, the near-end five-hole connector A and the far-end five-hole connector B, together with the telescopic rods 1-5, employ a telescopic locking structure using a metal magnetic lock. Metal magnetic plates are added inside the near-end five-hole connector A and the far-end five-hole connector B, and they are wrapped with rubber material on the outside. The rubber material ensures that the telescopic rods 1-5 do not affect the magnetic field in the middle area when moving within the magnetic field. The reason for setting the magnetic plates in the near-end five-hole connector A and the far-end five-hole connector B is that after the light pole or suspended cable obstacle enters the magnetic field area, the position of the light pole or suspended cable obstacle in the middle area can be sensed through the change in magnetic force in the middle area, thereby controlling the closing of the telescopic rods 1-5.

[0051] Figure 3 A schematic diagram of the internal structure of the distal five-hole connector B in the robotic arm assembly for bridge inspection of the present invention is shown. Figure 4 An enlarged view of the internal structure of the distal five-hole connector B of the present invention is shown.

[0052] like Figure 3 As shown, a locking plate is provided behind the magnetic plate in the five-hole connector B at the far end, and the magnetic plate and the locking plate are provided with locking holes corresponding to the telescopic rods 1 to 5. The locking holes are located in the locking structure, and the direction of the locking holes in the locking structure is fixed on the locking plate. In the locking structure, the telescopic rods 1 to 5 are used as locking rods.

[0053] The internal structure of the lock includes a keyhole A1, a trigger plate A2, a trigger plate mounting slot A3, a spring A4, a horizontal keyhole A5, a lock pin A6, a power supply A7, and a connecting wire A8.

[0054] like Figure 3 , 4 As shown, when the telescopic rod 1 slowly enters the inner chamber of the lock hole A1 under the action of the thrust, the two trigger plates A2 deflect inward due to the squeezing force, causing the spring A4 to be in a compressed state. A metal trigger plate is provided on the back side of the trigger plate A2, and a trigger point A9 is provided in the middle of the spring. The trigger point has a transverse hole, and connecting wires A8 are connected to both sides of the transverse hole. When the trigger plate contacts the trigger point A9, a passage is formed. The connecting wires A8 are wound around the locking pin A6. When the connecting wires A8 form a passage, the locking pin A6 becomes a magnet. The rear side of the locking pin A6 is also connected to the spring, and the telescopic rod 1 is a metal body. Under the action of the magnetic force, the locking pin A6 moves towards the telescopic rod 1.

[0055] The shapes of the locking pin A6 and the telescopic rod 1 are as follows: Figure 3 As shown, when the locking pin A6 falls, the annular groove engages with the annular groove on the telescopic rod 1, forming a locking structure. It should be noted that the locking pin A6 may not completely fill the annular groove on the telescopic rod 1.

[0056] Preferably, a cylinder is provided at the connection point between the near-end five-hole connector A and the telescopic rods 1-5, and the left and right movement of the telescopic rods 1-5 is controlled by the cylinder.

[0057] As shown above, the present invention employs the following design:

[0058] 1. Five telescopic poles design: Ensure that there are at least three telescopic poles at different heights during obstacle crossing, so that the robotic arm assembly of the present invention maintains triangular stability and increases the anti-torsion effect and stability of the extension arm.

[0059] 2. Greater overall telescopic strength: It can effectively utilize space and increase the connection rigidity of the robotic arm components through the overall design of the telescopic pole; at the same time, the overall pole design can further optimize the structural connection stability and facilitate multi-purpose interface connection.

[0060] 3. The multi-purpose interface can provide mechanical support for the connection between the near and far ends of the extension arm, further improving the stability of the vertical arm and the working arm; it can effectively realize the transmission of energy, control signals, detection data, and verification signals at both ends of the connection, providing strong support for the stable and continuous control and detection of the working arm under the bridge; the quick-connect method and verification port can also further assist the boom-type unmanned bridge inspection vehicle in automatically verifying the connection validity of the robotic arm components.

[0061] 4. The telescopic locking structure improves the stability and effectiveness of the telescopic locking structure through a quick-release and quick-install interface in the style of a metal magnetic lock.

[0062] Therefore, the robotic arm assembly for bridge inspection of the present invention, by adopting the above design, can ensure the stability of the working arm under the bridge during bridge inspection operations.

[0063] Figure 5 A flowchart illustrating the operation method of the robotic arm assembly for bridge inspection according to the present invention is shown. Figure 6 A schematic diagram of the operation method of the robotic arm assembly for bridge inspection according to the present invention is shown.

[0064] The operating method of the robotic arm assembly for bridge inspection of the present invention is to make the above-mentioned Figures 1-4 Method of operating the robotic arm component 10.

[0065] In bridge inspection operations, the boom-type unmanned bridge inspection vehicle moves forward from the outermost lane of the bridge, meaning obstacles such as light poles move towards the vehicle's front. The telescopic booms in the direction of the vehicle's front are designated as booms 1, 2, 3, 4, and 5, allowing the robotic arm to pass over obstacles such as light poles without retracting. At least three telescopic booms must remain connected during the operation.

[0066] like Figure 5 , 6As shown, the operating method 500 of the robotic arm assembly for bridge inspection of the present invention includes:

[0067] Step 501: Open the first telescopic rod 1 at the top one vertex of the near-end five-hole connector A and the far-end five-hole connector B to allow the obstacle to enter the telescopic rod's working range;

[0068] Step 502: Open the second telescopic rod 2 at the bottom edge of the near-end five-hole connector A and the far-end five-hole connector B, so that the obstacle leaves the telescopic area of ​​the first telescopic rod 1, and close the first telescopic rod 1.

[0069] Step 503: Open the third telescopic rod 3 at the top midpoint of the near-end five-hole connector A, so that the obstacle leaves the telescopic area of ​​the second telescopic rod 2, and close the second telescopic rod 2.

[0070] Step 504: Open the fourth telescopic rod 4 at the bottom other side apex of the near-end five-hole connector A and the far-end five-hole connector B, so that the obstacle leaves the telescopic area of ​​the third telescopic rod 3, and close the third telescopic rod 3.

[0071] Step 505: Open the fifth telescopic rod 5 at the top other vertex of the near-end five-hole connector A and the far-end five-hole connector B, so that the obstacle leaves the telescopic area of ​​the fourth telescopic rod 4 and the fifth telescopic rod 5, and then close the fourth telescopic rod 4 and the fifth telescopic rod 5 in sequence, thereby passing over the obstacle.

[0072] According to the present invention, by adopting the above-designed robotic arm assembly for bridge inspection, the stability of the working arm under the bridge can be ensured during bridge inspection operations, while the working arm can easily cross obstacles.

[0073] Those skilled in the art should understand that the description of the working method of the robotic arm assembly for bridge inspection of the present invention can be understood with reference to the description of the robotic arm assembly for bridge inspection of the present invention.

[0074] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the invention, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0075] It should be noted that, in this document, 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. Unless otherwise specified, 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 that element.

[0076] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative.

[0077] The above description is merely an embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robotic arm assembly for bridge inspection, characterized in that, include: The proximal extension arm is composed of a proximal connecting rod, which is an arm assembly with a square cross-section consisting of four sets of rods. The distal extension arm is composed of a distal connecting rod, which is an arm assembly with an isosceles triangle cross-section formed by three sets of rods. A proximal five-hole connector, located near the proximal extension arm, has an inverted trapezoidal cross-section and is connected to the proximal extension arm at its two bottom vertices and two top 1 / 4 points; and The distal five-hole connector, located near the distal extension arm, has an inverted trapezoidal cross-section and is connected to the distal extension arm at its bottom apex and top midpoint. Connecting holes are provided at each vertex and the midpoint of the top of the five-hole connector at the near end, respectively, for mounting telescopic rods; A connecting hole is provided at each vertex and the midpoint of the top of the distal five-hole connector for receiving the telescopic rod; the proximal five-hole connector, the distal five-hole connector and the telescopic rod adopt a telescopic locking structure through a metal magnetic lock structure; a metal magnetic plate is added inside the proximal five-hole connector and the distal five-hole connector, and the outside is wrapped with rubber material.

2. The robotic arm assembly according to claim 1, characterized in that, The robotic arm assembly is located in the bridge extension arm spanning part of the robotic arm of the boom-type unmanned bridge inspection vehicle. The proximal extension arm is closer to the vehicle body side of the inspection vehicle, and the distal extension arm is closer to the vertical arm side of the robotic arm.

3. The robotic arm assembly according to claim 1, characterized in that, A locking plate is provided behind the magnetic plate in the distal five-hole connector, and a locking hole corresponding to the telescopic rod is provided on the magnetic plate and the locking plate. The locking hole is located in the locking structure, and the direction of the locking hole of the locking structure is fixed on the locking plate. In the locking structure, the telescopic rod is used as a locking rod.

4. The robotic arm assembly according to claim 3, characterized in that, The locking structure includes a lock hole, a trigger plate, a trigger plate mounting slot, a spring, a transverse lock hole, a locking pin, a power supply, and a connecting wire. The telescopic rod enters the inner chamber of the lock hole under the action of the thrust, and the trigger plate deflects inward by the squeezing force, so that the spring is in a compressed state; A metal trigger plate is provided on the back side of the trigger plate, and a trigger point is provided in the middle of the spring. The trigger point has a transverse hole, and the connecting wires are connected to both sides of the transverse hole. The connecting wires are respectively wrapped around the locking pin. When the trigger piece contacts the trigger point, a passage is formed, the locking pin becomes a magnet, and a spring is also connected to the rear side of the locking pin. Under the action of magnetic force, the telescopic rod causes the locking pin to move toward the telescopic rod. When the locking pin falls, the annular groove engages with the annular groove on the telescopic rod, forming a locking structure.

5. The robotic arm assembly according to claim 3, characterized in that, A cylinder is provided at the connection point between the proximal five-hole connector and the telescopic rod, and the left and right movement of the telescopic rod is controlled by the cylinder.

6. A method for operating a robotic arm assembly for bridge inspection, characterized in that, The method of operating the robotic arm assembly for bridge inspection as described in any one of claims 1-5 includes: Open the first telescopic rod at the top apex of the proximal five-hole connector and the distal five-hole connector in the robotic arm assembly to allow the obstacle to enter the telescopic rod's working range; Open the second telescopic rod at the bottom edge of the proximal five-hole connector and the distal five-hole connector to allow the obstacle to leave the telescopic area of ​​the first telescopic rod, and then close the first telescopic rod. Open the third telescopic rod at the top midpoint of the proximal five-hole connector to move the obstacle away from the telescopic area of ​​the second telescopic rod, and close the second telescopic rod; Open the fourth telescopic rod at the other end of the bottom of the proximal five-hole connector and the distal five-hole connector, so that the obstacle leaves the telescopic area of ​​the third telescopic rod, and close the third telescopic rod; Open the fifth telescopic rod at the top other vertex of the proximal five-hole connector and the distal five-hole connector, so that the obstacle moves away from the telescopic area of ​​the fourth telescopic rod and the fifth telescopic rod, and then close the fourth telescopic rod and the fifth telescopic rod in sequence to pass over the obstacle.

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