Nondestructive testing robot for bridge substructure

Abstract

The invention relates to the field of bridge detection equipment, in particular to a bridge substructure nondestructive detection robot which comprises a base, a mechanical arm and a detection mechanism, a motor cavity is formed in the base, a driving motor is mounted in the motor cavity, a rotating seat is rotatably mounted at the top of the base, and the output end of the driving motor is connected with the rotating seat; the mechanical arm comprises an arm frame, a first rotating arm, a second rotating arm and a third rotating arm, comprehensive, efficient and nondestructive detection of the bridge lower structure is achieved through the flexible mechanical arm system and various detection instruments (an ultrasonic detector, a thermal infrared imager, a laser scanner and a high-definition camera), the detection efficiency and accuracy are improved, and the detection cost is reduced. The base drives the rotating seat to rotate through the driving motor, the mechanical arm is composed of multiple stages of rotating arms, each stage of rotating arm is provided with an independent motor, flexible rotation and stretching of the mechanical arm are achieved, and the mechanical arm can easily reach all corners of a bridge lower structure to be detected.

Description

Technical Field

[0001] The invention relates to the field of bridge detection equipment, in particular to a non-destructive detection robot for bridge substructures. Background Art

[0002] In the field of bridge engineering, regular inspection of bridge substructures is an important part of ensuring bridge safety and extending service life. Traditional bridge inspection methods often rely on manual operations, which are not only time-consuming and labor-intensive, but also pose safety risks. Especially in some complex terrain or high-altitude working environments, the difficulty and danger of manual inspection are further increased.

[0003] In order to overcome the shortcomings of traditional detection methods, non-destructive testing technology has gradually been applied in bridge inspection in recent years. Non-destructive testing technology can detect the substructure of the bridge through physical or chemical means without destroying the bridge structure, so as to accurately assess its health status. However, most of the existing non-destructive testing equipment has complex operation and limited detection range. At the same time, traditional detection methods mainly rely on manual operation, and there are the following problems:

[0004] Low detection efficiency: Manual inspection takes a long time, especially in large bridges and complex structures, where the workload is huge.

[0005] Low detection accuracy: Manual detection is affected by the operator’s experience and skills, which is prone to errors, and the accuracy and consistency of the test results are difficult to guarantee.

[0006] Poor safety: Manual inspection requires workers to climb to dangerous locations on the bridge substructure, which poses a major safety hazard.

[0007] Low degree of automation: Traditional detection methods lack the support of automated equipment, making it difficult to achieve large-scale and high-frequency detection. Summary of the invention

[0008] 1. Technical issues to be resolved

[0009] In view of the deficiencies in the prior art, the present invention provides a nondestructive testing robot for bridge substructure.

[0010] (II) Technical solution

[0011] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: the bridge substructure nondestructive testing robot of the present invention comprises a base, a mechanical arm and a testing mechanism, the base is provided with a motor cavity, a driving motor is installed in the motor cavity, a rotating seat is rotatably installed on the top of the base, the output end of the driving motor is connected to the rotating seat, the mechanical arm comprises an arm frame, a rotary arm 1, a rotary arm 2 and a rotary arm 3, the arm frame is fixedly installed on the rotating seat, the rotary arm 1 is rotatably installed at the end of the arm frame, a motor 1 is fixedly installed at the end of the arm frame, the output end of the motor 1 passes through the arm frame and is connected to the rotary arm 1 through a bearing, and a motor 1 is installed at the front end of the rotary arm 1. Machine two, the rear end of the swing arm two is installed on the output end of the motor two, the bottom end of the arm two is fixedly installed with a motor three, the swing arm three is rotatably installed on the end of the swing arm two, and the output end of the motor three passes through the swing arm two and is connected with the swing arm three, the front end of the swing arm three is provided with a hinge groove, an hinge frame is hinged in the hinge groove, the detection mechanism is installed on the hinge frame, the end of the swing arm three is fixedly installed with a motor four, the output end of the motor four passes through the swing arm three and is connected with the hinge frame, an equipment frame is installed on the articulated frame, the detection mechanism is fixedly installed on the equipment frame, and the detection mechanism includes an ultrasonic detector, an infrared thermal imager, a laser scanner and a high-definition camera.

[0012] Preferably, the swing arm one, swing arm two and swing arm three all include a main arm and an extension arm, the main arm is provided with an adjustment cavity, an adjustment motor is installed in the adjustment cavity, an adjustment screw is installed at the output end of the adjustment motor, the extension arm is inserted into the adjustment cavity, and the extension arm is sleeved on the adjustment screw.

[0013] Further preferably, a plurality of guide grooves are disposed around the inner wall of the adjustment cavity, and a plurality of guide rods are disposed around the outer wall of the extension arm, and the guide rods are adapted to the guide grooves.

[0014] Again preferably, the extension arm adopts a cavity structure.

[0015] Preferably, a base frame is provided at the bottom of the base, universal wheels are installed at the corners of the base frame, and a handrail is installed on one side of the base frame.

[0016] Further preferably, a numerical controller is fixedly mounted on the arm, and the numerical controller is electrically connected to the ultrasonic detector, the infrared thermal imager, the laser scanner and the high-definition camera.

[0017] Again preferably, a bearing platform is provided on the rotating seat, and the bearing platform is adapted to the second rotary arm and the third rotary arm.

[0018] Preferably, electromagnetic inductors are installed on the outer walls of the first, second and third rotary arms, and the electromagnetic inductors are inductively adapted to each other, and the electromagnetic inductors are electrically connected to the numerical controller.

[0019] Further preferably, a counterweight groove is provided on the base, and the counterweight groove is used for placing a counterweight block.

[0020] (III) Beneficial effects

[0021] Compared with the prior art, the present invention provides a nondestructive testing robot for bridge substructure, which has the following beneficial effects:

[0022] Comprehensive and efficient testing capabilities:

[0023] Through a flexible robotic arm system and a variety of testing instruments (ultrasonic detector, infrared thermal imager, laser scanner, high-definition camera), comprehensive, efficient and non-destructive testing of the bridge substructure is achieved, improving the detection efficiency and accuracy.

[0024] High flexibility:

[0025] The base drives the rotating seat to rotate through a driving motor. The robotic arm is composed of a multi-stage rotary arm. Each stage of the rotary arm is equipped with an independent motor, which enables the flexible rotation and extension of the robotic arm, and can easily reach every corner of the bridge substructure for inspection.

[0026] Precise Robotic Arm Control:

[0027] The extension arm design adopts an adjusting motor and an adjusting screw to achieve flexible extension and retraction. At the same time, it is equipped with a guide groove and a guide rod to ensure the stability and accuracy of the extension arm during the extension and retraction process, thereby improving the control accuracy and stability of the robotic arm.

[0028] Convenient movement and operation:

[0029] The bottom of the base is equipped with a chassis and universal wheels to facilitate the movement of the robot; a handrail is provided on one side to facilitate manual operation. These designs enable the robot to be easily moved and positioned at the bridge inspection site.

[0030] Intelligent CNC system:

[0031] The CNC is fixedly installed on the arm and electrically connected to the detection instrument to achieve intelligent control and data processing. The application of the CNC system improves the intelligence level of the robot and makes the detection process more convenient and efficient.

[0032] Optimized robotic arm storage and transportation:

[0033] The rotating seat is equipped with a load-bearing platform that matches the rotating arm, which is convenient for the storage and transportation of the robot arm. This design allows the robot to be easily stored when not in use, saving storage space and facilitating the transportation process.

[0034] Improve detection safety:

[0035] Through non-destructive testing, the damage to the bridge structure that may be caused by traditional testing methods is avoided, ensuring the safety and stability of the bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the front structure of the robot arm of the present invention when it is unfolded;

[0037] Figure 2 This is a schematic diagram of the structure of the robot arm of the present invention when it is unfolded and viewed from above;

[0038] Figure 3 This is a schematic diagram of the structure of the detection mechanism for the third installation of the rotary arm of the present invention;

[0039] Figure 4 This is a schematic diagram of the main arm and the extension arm structure of the present invention;

[0040] Figure 5 This is a schematic diagram of the base structure of the present invention;

[0041] In the figure: 1. base; 2. arm; 3. swing arm 1; 4. swing arm 2; 5. swing arm 3; 6. equipment frame; 7. motor cavity; 8. drive motor; 9. rotating seat; 10. motor 1; 11. motor 2; 12. motor 3; 13. motor 4; 14. ultrasonic detector; 15. high-definition camera; 16. infrared thermal imager; 17. laser scanner; 18. electromagnetic sensor; 19. articulated frame; 20. articulated slot; 21. guide rod; 22. adjustment cavity; 23. main arm; 24. extension arm; 25. adjustment motor; 26. adjustment screw rod; 27. counterweight slot; 28. bearing platform; 29. ​​base frame; 30. universal wheel; 31. CNC; 32. handrail. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1-5The bridge substructure nondestructive testing robot of the present invention comprises a base 1, a mechanical arm and a testing mechanism. The base 1 is provided with a motor cavity 7, in which a driving motor 8 is installed. A rotating seat 9 is rotatably installed on the top of the base 1, and the output end of the driving motor 8 is connected to the rotating seat 9. The mechanical arm comprises an arm frame 2, a swing arm 3, a swing arm 4 and a swing arm 3 5. The arm frame 2 is fixedly installed on the rotating seat 9, and the swing arm 3 is rotatably installed at the end of the arm frame 2. A motor 10 is fixedly installed at the end of the arm frame 2, and the output end of the motor 10 passes through the arm frame 2 and is connected to the swing arm 3 through a bearing. A motor 2 11 is installed at the front end of the swing arm 3, and a motor 2 11 is installed at the rear end of the swing arm 4. At the output end of machine two 11, a motor three 12 is fixedly installed at the bottom end of the arm two, the swing arm three 5 is rotatably installed at the end of the swing arm two 4, and the output end of the motor three 12 passes through the swing arm two 4 and is connected to the swing arm three 5, a hinge groove 20 is provided at the front end of the swing arm three 5, an articulated frame 19 is hinged in the articulated groove 20, the detection mechanism is installed on the articulated frame 19, a motor four 13 is fixedly installed at the end of the swing arm three 5, the output end of the motor four 13 passes through the swing arm three 5 and is connected to the articulated frame 19, an equipment frame 6 is installed on the articulated frame 19, the detection mechanism is fixedly installed on the equipment frame 6, and the detection mechanism includes an ultrasonic detector 14, an infrared thermal imager 16, a laser scanner 17 and a high-definition camera 15.

[0044] The nondestructive testing robot for the substructure of the bridge is mainly composed of a base 1, a mechanical arm and a testing mechanism. The base 1 drives the rotating seat 9 to rotate through the driving motor 8, thereby driving the entire mechanical arm system to rotate. The mechanical arm is composed of a multi-stage rotary arm, and each stage of the rotary arm is equipped with an independent motor to achieve flexible rotation and extension. The testing mechanism is installed at the front end of the mechanical arm, and a variety of testing instruments (ultrasonic detector 14, infrared thermal imager 16, laser scanner 17, high-definition camera 15) are used to perform comprehensive nondestructive testing on the substructure of the bridge.

[0045] Base 1 Working Principle

[0046] Motor cavity 7 and driving motor 8: A motor cavity 7 is provided in the base 1, and a driving motor 8 is installed. The output end of the driving motor 8 is connected to the rotating seat 9 to realize 360-degree rotation of the rotating seat 9.

[0047] Base frame 29 and universal wheels 30: A base frame 29 is provided at the bottom of the base 1, and universal wheels 30 are installed at the corners of the base frame 29 to facilitate the movement of the robot; a handrail 32 is provided on one side to facilitate manual operation.

[0048] Working principle of the robotic arm

[0049] Boom 2 and jib: Boom 2 is fixedly mounted on rotating seat 9, jib 1 3, jib 2 4 and jib 3 5 are connected in sequence through motor 1 10, motor 2 11 and motor 3 12 to realize multi-stage rotation and extension.

[0050] Extension arm 24 and adjustment motor 25: A main arm 23 and an extension arm 24 are provided in each of the swing arm 1 3 , the swing arm 2 4 , and the swing arm 3 5 . The extension arm 24 can be extended and retracted by adjusting the motor 25 and the adjusting screw rod 26 .

[0051] Guide groove and guide rod 21: A guide groove is provided on the inner wall of the adjustment cavity 22, and a guide rod 21 is provided on the outer wall of the extension arm 24 to ensure the stability and accuracy of the extension arm 24 when it is extended and retracted.

[0052] Electromagnetic inductors 18: Electromagnetic inductors 18 are installed on the outer walls of the three arms, which are mutually inductively adapted and electrically connected to the numerical controller 31, so as to facilitate the horizontal folding of the first arm 3, the second arm 4 and the third arm 5 during recycling.

[0053] Working principle of testing agency

[0054] Detection equipment: The detection mechanism includes an ultrasonic detector 14, an infrared thermal imager 16, a laser scanner 17 and a high-definition camera 15, which are fixedly installed on the equipment frame 6 and connected to the swing arm three 5 through an articulated frame 19 and a motor four 13 to achieve multi-angle detection.

[0055] Motor drive: The motor 4 13 at the end of the swing arm 3 5 drives the articulated frame 19 to rotate, further increasing the detection angle and range.

[0056] Optimal technical solution

[0057] Extension arm 24 design:

[0058] Adjustment chamber 22 and adjustment motor 25: Flexible extension and retraction of extension arm 24 is achieved through adjustment motor 25 and adjustment screw rod 26.

[0059] The guide groove and the guide rod 21 ensure the stability and accuracy of the extension arm 24 during the extension and retraction process.

[0060] Cavity structure: The extended arm 24 adopts a cavity structure to reduce weight and improve the flexibility and load capacity of the robot arm.

[0061] Chassis 29 and mobility:

[0062] Universal wheels 30: Universal wheels 30 are installed at the corners of the chassis 29 to facilitate the movement of the robot.

[0063] Handrail 32: A handrail 32 is installed on one side of the base frame 29 to facilitate manual operation and movement.

[0064] CNC system:

[0065] Numerical controller 31: The numerical controller 31 is fixedly mounted on the arm 2 and electrically connected to the detection mechanism to realize intelligent control and data processing. The numerical controller 31 can be a conventional PLC controller.

[0066] Rotating seat 9 design:

[0067] Carrying platform 28: A carrying platform 28 adapted to the rotary arm is provided on the rotating seat 9 to facilitate the storage and transportation of the robotic arm.

[0068] Counterweight slot 27: The counterweight slot 27 provided on the base 1 is used to place a counterweight block when the device is performing detection work, thereby enhancing the stability during the detection work and avoiding the risk of the base 1 being easily overturned due to the weight after the robot arm is unfolded.

[0069] In summary, the nondestructive testing robot for bridge substructures described in the present invention realizes comprehensive, efficient, and nondestructive testing of bridge substructures through a flexible mechanical arm system and a variety of testing instruments. The preferred technical solution further improves the flexibility, stability, and testing accuracy of the robot, providing strong technical support for bridge testing.

[0070] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Bridge substructure non-destructive testing robot, characterized in that: The invention comprises a base (1), a mechanical arm and a detection mechanism, wherein a motor cavity (7) is provided on the base (1), a driving motor (8) is installed in the motor cavity (7), a rotating seat (9) is rotatably installed on the top of the base (1), and the output end of the driving motor (8) is connected to the rotating seat (9), and the mechanical arm comprises an arm frame (2), a first rotating arm (3), a second rotating arm (4) and a third rotating arm (5), wherein the arm frame (2) is fixedly installed on the rotating seat (9), the first rotating arm (3) is rotatably installed on the end of the arm frame (2), a motor first (10) is fixedly installed on the end of the arm frame (2), the output end of the motor first (10) passes through the arm frame (2) and is connected to the first rotating arm (3) through a bearing, a motor second (11) is installed at the front end of the first rotating arm (3), and the rear end of the second rotating arm (4) is installed at the output end of the motor second (11). The invention relates to a rotary arm 3 (4) and a rotary arm 3 (5). The rotary arm 3 (4) is a rotary arm 3 (5) and a rotary arm 3 (5) having a plurality of rotating parts. The rotary arm 3 (5) is provided with a plurality of rotating parts having a plurality of rotating parts, wherein the plurality of rotating parts has ...

2. The bridge substructure nondestructive testing robot according to claim 1, characterized in that: The first swing arm (3), the second swing arm (4) and the third swing arm (5) all include a main arm (23) and an extension arm (24); an adjustment cavity (22) is provided in the main arm (23); an adjustment motor (25) is installed in the adjustment cavity (22); an adjustment screw rod (26) is installed at the output end of the adjustment motor (25); the extension arm (24) is inserted into the adjustment cavity (22), and the extension arm (24) is sleeved on the adjustment screw rod (26).

3. The bridge substructure nondestructive testing robot according to claim 2, characterized in that: A plurality of guide grooves are arranged around the inner wall of the adjustment cavity (22), and a plurality of guide rods (21) are arranged around the outer wall of the extension arm (24), wherein the guide rods (21) are adapted to the guide grooves.

4. The bridge substructure nondestructive testing robot according to claim 3 is characterized in that: The extension arm (24) adopts a cavity structure.

5. The bridge substructure nondestructive testing robot according to claim 4, characterized in that: A base frame (29) is provided at the bottom of the base (1), universal wheels (30) are installed at the corners of the base frame (29), and a handrail (32) is installed on one side of the base frame (29).

6. The bridge substructure nondestructive testing robot according to claim 5, characterized in that: A numerical controller (31) is fixedly mounted on the arm frame (2), and the numerical controller (31) is electrically connected to an ultrasonic detector (14), an infrared thermal imager (16), a laser scanner (17), and a high-definition camera (15).

7. The bridge substructure nondestructive testing robot according to claim 6, characterized in that: The rotating seat (9) is provided with a bearing platform (28), and the bearing platform (28) is adapted to the second rotating arm (4) and the third rotating arm (5).

8. The bridge substructure nondestructive testing robot according to claim 7, characterized in that: Electromagnetic inductors (18) are installed on the outer walls of the first swing arm (3), the second swing arm (4) and the third swing arm (5), and the electromagnetic inductors (18) are mutually inductively adapted, and the electromagnetic inductor (33) is electrically connected to the numerical controller (31).

9. The bridge substructure nondestructive testing robot according to claim 8, characterized in that: The base (1) is provided with a counterweight groove (27), and the counterweight groove (27) is used for placing a counterweight block.

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