Rail type bridge inspection robot

Abstract

The invention relates to the technical field of bridge detection, and discloses a rail type bridge inspection robot which comprises an inspection unit, a jacking positioning unit and an extrusion positioning unit. When a robot needs to be positioned, a jacking groove in a combined groove drives a push plate to move towards the inspection track, at the moment, a T-shaped cover at the tail end of the push plate drives a horizontal rod to move towards the center, then the horizontal rod and the side wall of the inspection track are extruded, positioning operation is conducted, a swing arm on the horizontal rod drives a vertical rod to slide downwards, and the vertical rod is driven to move downwards. When the robot moves to a certain degree, the two vertical rods can extrude the two sides of the inspection track, positioning in the vertical direction is finally completed, positioning is more stable, and the robot is more convenient to use. Through fixing and positioning operation in multiple directions, it is guaranteed that the robot can stably resist crosswind, and the use safety is higher.

Description

Technical Field

[0001] The invention belongs to the technical field of bridge detection, and in particular relates to a track-type bridge inspection robot. Background Art

[0002] During long-term use, bridges need regular inspections to ensure their structural safety and normal operation. Traditional bridge inspection methods mostly rely on manual labor, which has problems such as low efficiency, high risk and limited detection accuracy. In recent years, bridge inspection robots have gradually emerged, among which track-mounted bridge inspection robots have certain application prospects in the field of bridge inspection. However, since most bridges are located in open areas, they are often affected by strong winds, especially crosswinds. Under the influence of strong crosswinds, existing track-mounted bridge inspection robots are prone to unstable operation, deviation from the track, and even being blown off, which seriously affects their reliability and safety in bridge inspection work and affects normal inspection operations.

[0003] In view of this, the present invention is proposed. Summary of the invention

[0004] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0005] A track-type bridge inspection robot comprises an inspection unit, a lifting and positioning unit and an extrusion and positioning unit.

[0006] The inspection unit comprises a mechanical arm, an inspection camera is installed at the end of the mechanical arm, a support frame is installed on the mechanical arm, and a pair of control boxes are installed on the support frame, each pair of the control boxes is installed with a pair of driving wheels with a driving source, and the driving wheels are slidably arranged on the inspection track;

[0007] The lifting and positioning unit comprises an electric push rod, a limit block is installed at the output end of the electric push rod, the limit block slides horizontally in the control box, a combination slot is opened on the limit block, the combination slot comprises a lifting slot and an extrusion slot, the lifting slot is an inclined slot, the extrusion slot is a horizontal slot, and the lifting slot and the extrusion slot are slidably connected, a positioning bracket is slidably arranged on the combination slot, and a push plate is installed on the positioning bracket, a T-shaped cover is installed at the end of the push plate, a horizontal rod is horizontally movably inserted at one end of the T-shaped cover, and a vertical rod is vertically movably inserted at the other end of the T-shaped cover, a lifting plate is installed at the end of the vertical rod and the horizontal rod, a swing arm is hingedly installed between the vertical rod and the horizontal rod, and the swing arm is in an inclined state, a pair of rocking arms are rotatably installed at the bottom of the push plate, and a lifting roller is installed at the end of the rocking arm, a pressure rod is installed at the rotation center of the rocking arm, a slide plate is slidably arranged on the pressure rod, a connecting rod is installed on the side wall of the slide plate, and the end of the connecting rod is fixedly connected to the side wall of the vertical rod;

[0008] The extrusion positioning unit includes a fixed block, a flat plate is slidably mounted on the side wall of the fixed block, and an extrusion roller is mounted on the flat plate, a reset cover is mounted on the side wall of the fixed block, and a reset spring is clamped between the reset cover and the fixed block, an insertion rod is mounted on the bottom of the fixed block, the end of the insertion rod movably passes through the positioning bracket, and the end of the insertion rod is slidably connected to the combined groove, and a slope is provided at the bottom of the extrusion groove.

[0009] As a preferred embodiment of the present invention, a fixed platform is installed inside the control box, a drive motor is installed on the fixed platform, a transmission shaft is installed on the output end of the drive motor, the transmission shaft movably passes through the side wall of the control box, and the end of the transmission shaft is interconnected with the rotation center of the drive wheel.

[0010] As a preferred embodiment of the present invention, the electric push rod housing is installed on the side wall of the control box, an L-shaped plate is installed at the output end of the electric push rod, and the L-shaped plate is fitted with the bottom of the limit block, and the limit block and the L-shaped plate are screwed together by bolts, and a limit rod is installed inside the limit block so that it can move through it, and both ends of the limit rod are respectively installed on the side walls of the control box.

[0011] As a preferred embodiment of the present invention, the positioning bracket is triangular, a protrusion is installed at the bottom of the positioning bracket, the protrusion is slidably set in the combination groove, and the insertion rod movably passes through the protrusion, and the push plate is slidably connected to the side wall of the control box.

[0012] As a preferred embodiment of the present invention, a first baffle is installed on the horizontal rod, and the first baffle is slidably connected to the inner cavity of the T-shaped cover. A first spring is sleeved on the horizontal rod, and the two ends of the first spring are respectively clamped on the side wall of the T-shaped cover and the first baffle. A second baffle is installed on the vertical rod, and the second baffle is slidably connected to the inner cavity of the T-shaped cover. A second spring is sleeved on the vertical rod, and the two ends of the second spring are respectively clamped on the side wall of the T-shaped cover and the second baffle.

[0013] As a preferred embodiment of the present invention, a connecting seat is installed at the bottom of the push plate, a pair of positioning shafts are installed on the connecting seat, the pair of positioning shafts are connected to the corresponding rocker arms respectively, the pressure rod is in an inclined state, a sliding rod is installed at the end of the pressure rod, a strip groove is opened on the slide plate, and the strip groove is slidably connected to the sliding rod.

[0014] As a preferred embodiment of the present invention, the connecting rod is in an inclined state, a positioning slider is installed at the end of the connecting rod, a positioning slot is provided on the T-shaped cover, and the positioning slot is communicated with the inner cavity of the T-shaped cover, the positioning slot is in a vertical state, the positioning slot is slidably connected to the positioning slider, and the end of the positioning slider is connected to the vertical rod.

[0015] As a preferred embodiment of the present invention, a synchronous bracket is installed on the flat plate, a pair of extrusion rollers are installed on the synchronous bracket, one end of the flat plate is slidably set in a guide slot opened on the surface of the fixed block, a guide rod is installed through the guide slot, and the guide rod is movably connected to the flat plate, a guide spring is sleeved on the guide rod, one end of the guide spring is clamped on the guide slot, and the other end is clamped on the bottom of the flat plate.

[0016] As a preferred embodiment of the present invention, a sealing plate is installed on the side wall of the reset cover, a cover plate is slidably arranged on the sealing plate, the cover plate is installed on the control box, and a notch is opened on the cover plate, the size of the notch corresponds to the size of the sealing plate, a reset plate is slidably arranged inside the reset cover, one end of the reset plate is connected to the fixed block, the other end of the reset plate is connected to the insertion rod, a reset spring is installed on the fixed block located in the inner cavity of the reset cover, and both ends of the reset spring are respectively clamped in the reset plate and the inner cavity of the reset cover.

[0017] As a preferred embodiment of the present invention, the inspection track includes a vertical plate, a first substrate and a second substrate, and the vertical plate, the first substrate and the second substrate are cast as one piece. The cross-section of the inspection track is I-shaped, the horizontal rod and the vertical rod are located in the cavity between the first substrate and the second substrate, the lifting roller is located below the first substrate, the squeezing roller is located above the second substrate, and the driving wheel is in contact with the upper surface of the first substrate.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] By providing a lifting positioning unit and an extrusion positioning unit, when the robot needs to be positioned, the lifting slot in the combination slot drives the push plate to move toward the inspection track. At this time, the T-shaped cover at the end of the push plate drives the horizontal rod to move toward the center, and then squeezes the side wall of the inspection track to perform the positioning operation, and the swing arm on the horizontal rod drives the vertical rod to slide downward, the vertical rod and the inspection track are squeezed, and then the entire control box is lifted up. At this time, the driving wheel and the inspection track are separated to ensure the stability of the robot. When it moves to a certain extent, the two vertical rods can be squeezed on both sides of the inspection track to finally complete the positioning in the vertical direction, making the positioning more precise. The invention relates to a method for fixing the sliding plate of the robot to a plurality of directions, and a plurality of sliding plates are installed on the robot to move upwardly, and a plurality of sliding plates are installed on the robot to move upwardly, and a plurality of sliding plates are installed on the robot to fix the sliding plate.

[0020] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In the attached picture:

[0022] Figure 1 The figure is a schematic diagram of the three-dimensional structure of a rail-type bridge inspection robot;

[0023] Figure 2 It is a schematic diagram of the lateral structure of a rail-type bridge inspection robot;

[0024] Figure 3 A bottom view of a rail-mounted bridge inspection robot;

[0025] Figure 4 A partial cross-section of a rail-mounted bridge inspection robot Figure 1 ;

[0026] Figure 5 A partial cross-section of a rail-mounted bridge inspection robot Figure 2 ;

[0027] Figure 6 A partial cross-section of a rail-mounted bridge inspection robot Figure 3 ;

[0028] Figure 7 A rail-mounted bridge inspection robot Figure 6 Enlarged view of point A in the middle;

[0029] Figure 8 It is a cross-sectional view of a reset cover of a rail-type bridge inspection robot;

[0030] Fig. 9 A rail-mounted bridge inspection robot Figure 6 Enlarged view of point B in the middle;

[0031] Fig.10 This is a cross-sectional view of the T-shaped cover of a rail-mounted bridge inspection robot.

[0032] In the figure:

[0033] 100, inspection unit; 101, mechanical arm; 1011, support frame; 102, inspection camera; 103, control box; 1031, cover plate; 1032, notch; 104, drive motor; 1041, transmission shaft; 1042, drive wheel; 1043, fixed platform;

[0034] 200, lifting and positioning unit; 201, electric push rod; 2011, L-shaped plate; 2012, limit block; 2013, limit rod; 202, combination slot; 2021, lifting slot; 2022, extrusion slot; 2023, slope; 203, push plate; 2031, positioning bracket; 2032, protrusion; 204, T-shaped cover; 2041, horizontal rod; 2042, vertical rod; 2043, lifting plate; 2 044, first baffle; 2045, first spring; 2046, second baffle; 2047, second spring; 2048, swing arm; 205, rocker arm; 2051, lifting roller; 2052, connecting seat; 2053, positioning shaft; 2054, pressure rod; 2055, slide bar; 206, slide plate; 2061, strip groove; 2062, connecting rod; 2063, positioning slide block; 2064, positioning slide groove;

[0035] 300, extrusion positioning unit; 301, fixing block; 3011, flat plate; 3012, synchronous bracket; 3013, extrusion roller; 3014, guide slide; 3015, guide rod; 3016, guide spring; 302, reset cover; 3021, sealing plate; 3022, reset plate; 3023, reset spring; 303, insertion rod;

[0036] 400, inspection track; 401, vertical plate; 402, first substrate; 403, second substrate. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0038] Embodiment 1:

[0039] like Figures 1 to 10 As shown, a rail-type bridge inspection robot includes an inspection unit 100 , a lifting and positioning unit 200 , and an extrusion and positioning unit 300 .

[0040] The inspection unit 100 includes a robotic arm 101, at the end of which is installed an inspection camera 102, a support frame 1011 is installed on the robotic arm 101, and a pair of control boxes 103 are installed on the support frame 1011, and each pair of control boxes 103 is installed with a pair of driving wheels 1042 with a driving source, and the driving wheels 1042 are slidably set on the inspection track 400. The driving wheels 1042 can drive the entire inspection unit 100 to move, and then complete the inspection operation through the inspection camera 102.

[0041] The lifting and positioning unit 200 includes an electric push rod 201, a limit block 2012 is installed at the output end of the electric push rod 201, the limit block 2012 slides horizontally in the control box 103, a combination slot 202 is opened on the limit block 2012, the combination slot 202 includes a lifting slot 2021 and an extrusion slot 2022, the lifting slot 2021 is an inclined slot, the extrusion slot 2022 is a horizontal slot, and the lifting slot 2021 and the extrusion slot 2022 are slidably connected, a positioning bracket 2031 is slidably arranged on the combination slot 202, and a push plate 203 is installed on the positioning bracket 2031, a T-shaped cover 204 is installed at the end of the push plate 203, and a water-tightening device is provided at one end of the T-shaped cover 204. A horizontal rod 2041 and a vertical rod 2042 are vertically and movably connected at the other end of the T-shaped cover 204. A lifting plate 2043 is installed at the ends of the vertical rod 2042 and the horizontal rod 2041. A swing arm 2048 is hingedly installed between the vertical rod 2042 and the horizontal rod 2041, and the swing arm 2048 is in an inclined state. A pair of rocking arms 205 are rotatably installed at the bottom of the push plate 203, and a lifting roller 2051 is installed at the end of the rocking arm 205. A pressure rod 2054 is installed at the rotation center of the rocking arm 205. A slide plate 206 is slidably provided on the pressure rod 2054. A connecting rod 2062 is installed on the side wall of the slide plate 206. The end of the connecting rod 2062 is fixedly connected to the side wall of the vertical rod 2042.

[0042] The extrusion positioning unit 300 includes a fixed block 301, a flat plate 3011 is slidably installed on the side wall of the fixed block 301, and an extrusion roller 3013 is installed on the flat plate 3011, a reset cover 302 is installed on the side wall of the fixed block 301, and a reset spring 3023 is clamped between the reset cover 302 and the fixed block 301, an insertion rod 303 is installed at the bottom of the fixed block 301, the end of the insertion rod 303 movably passes through the positioning bracket 2031, and the end of the insertion rod 303 is slidably connected to the combined groove 202, and a slope 2023 is provided at the bottom of the extrusion groove 2022.

[0043] Through the cooperation between the lifting positioning unit 200 and the squeezing positioning unit 300, when the robot needs to be positioned, the lifting slot 2021 in the combination slot 202 drives the push plate 203 to move toward the inspection track 400. At this time, the T-shaped cover 204 at the end of the push plate 203 drives the horizontal rod 2041 to move toward the center, and then squeezes the side wall of the inspection track 400 to perform the positioning operation, and the swing arm 2048 on the horizontal rod 2041 drives the vertical rod 2042 to slide downward, and the vertical rod 2042 and the inspection track 400 are squeezed, thereby lifting the entire control box 103. At this time, the driving wheel 104 and the inspection track 400 are separated to ensure the stability of the robot. After moving to a certain extent, the two vertical rods 2042 can be squeezed on both sides of the inspection track 400, and finally the vertical positioning is completed, making the positioning more stable. And when performing the positioning operation, the vertical rod 2042 can drive the connecting rod 2062 to move downward, and the connecting rod 2062 drives the slide plate 206 to move vertically, and drives the rocker arm 205 to be squeezed to both sides through the pressure rod 2054. At this time, the lifting roller 2051 at the end of the rocker arm 205 can contact and squeeze the bottom of the inspection track 400, further achieving the locking purpose. When the push plate 203 moves the extrusion groove 2022, the slope 2023 opened on the extrusion groove 2022 guides the entire insertion rod 303 to move downward, and the insertion rod 303 drives the fixed block 301 to move downward. The end of the fixed block 301 can squeeze the flat plate 3011 to move downward, and the squeezing roller 3013 on the flat plate 3011 squeezes the inspection track 400, achieving the purpose of secondary fixation. Through the above-mentioned fixed positioning operations in multiple directions, it is ensured that the robot can stably resist crosswinds and is safer to use.

[0044] like Figure 1 and Figure 5 As shown, in a specific embodiment, a fixed platform 1043 is installed inside the control box 103, a driving motor 104 is installed on the fixed platform 1043, a transmission shaft 1041 is installed at the output end of the driving motor 104, the transmission shaft 1041 movably penetrates the side wall of the control box 103, and the end of the transmission shaft 1041 is connected to the rotation center of the driving wheel 1042. The transmission shaft 1041 is driven to rotate by the driving motor 104, and the transmission shaft 1041 drives the driving wheel 1042 to rotate. At this time, the driving wheel 1042 rotates on the inspection track 400, thereby driving the entire inspection unit 100 to move, so that different positions of the bridge can be inspected.

[0045] like Figure 1 , Figure 2 and Figure 3As shown, further, the inspection track 400 includes a vertical plate 401, a first substrate 402 and a second substrate 403, and the vertical plate 401, the first substrate 402 and the second substrate 403 are cast as one piece. The cross-section of the inspection track 400 is I-shaped, the horizontal rod 2041 and the vertical rod 2042 are located in the cavity between the first substrate 402 and the second substrate 403, the lifting roller 2051 is located below the first substrate 402, the squeezing roller 3013 is located above the second substrate 403, and the driving wheel 1042 is in contact with the upper surface of the first substrate 402.

[0046] like Figure 4 , Figure 5 and Figure 6 As shown, further, the housing of the electric push rod 201 is installed on the side wall of the control box 103, an L-shaped plate 2011 is installed at the output end of the electric push rod 201, and the L-shaped plate 2011 is fitted with the bottom of the limit block 2012, and the limit block 2012 is screwed and connected with the L-shaped plate 2011 by bolts, and a limit rod 2013 is installed in the limit block 2012, and both ends of the limit rod 2013 are respectively installed on the side wall of the control box 103. The electric push rod 201 drives the L-shaped plate 2011 to move outward, and the L-shaped plate 2011 drives the limit block 2012 on the surface to move, and at this time, the limit block 2012 slides along the limit rod 2013, and the moving position is limited by the limit rod 2013.

[0047] Embodiment 2:

[0048] The difference between the above embodiment and this embodiment is that: Figure 5 and Figure 6 As shown, the positioning bracket 2031 is triangular, and a protrusion 2032 is installed at the bottom of the positioning bracket 2031. The protrusion 2032 is slidably set in the combination groove 202, and the insertion rod 303 movably penetrates the protrusion 2032, and the push plate 203 is slidably connected with the side wall of the control box 103. When the limit block 2012 slides, the position of the combination groove 202 on the limit block 2012 changes, and the positioning bracket 2031 on the limited push plate 203 slides in the combination groove 202, and the protrusion 2032 at the bottom of the positioning bracket 2031 slides in the lifting groove 2021. Since the lifting groove 2021 is in an inclined state and the lifting groove 2021 is movable, the entire protrusion 2032, the positioning bracket 2031 and the push plate 203 are pushed to slide, and the push plate 203 at this time drives the T-shaped cover 204 at the end to move toward the vertical plate 401 of the inspection track 400.

[0049] like Figure 6 , Fig. 9 and Fig.10As shown, in a specific embodiment, a first baffle 2044 is installed on the horizontal rod 2041, and the first baffle 2044 is slidably connected to the inner cavity of the T-shaped cover 204, a first spring 2045 is sleeved on the horizontal rod 2041, and the two ends of the first spring 2045 are respectively clamped on the side wall of the T-shaped cover 204 and the first baffle 2044, a second baffle 2046 is installed on the vertical rod 2042, and the second baffle 2046 is slidably connected to the inner cavity of the T-shaped cover 204, a second spring 2047 is sleeved on the vertical rod 2042, and the two ends of the second spring 2047 are respectively clamped on the side wall of the T-shaped cover 204 and the second baffle 2046. When the horizontal rod 2041 slides, the first baffle 2044 on the horizontal rod 2041 slides inside the T-shaped cover 204. At this time, the first spring 2045 on the first baffle 2044 is stretched, and when the vertical rod 2042 slides downward, the second baffle 2046 squeezes the second spring 2047, and the first spring 2045 and the second spring 2047 are used to facilitate the subsequent resetting operation.

[0050] like Figure 6 , Fig. 9 and Fig.10As shown, further, a connecting seat 2052 is installed at the bottom of the push plate 203, a pair of positioning shafts 2053 are installed on the connecting seat 2052, and the pair of positioning shafts 2053 are connected to the corresponding rocker arms 205, the pressure rod 2054 is in an inclined state, and a slide bar 2055 is installed at the end of the pressure rod 2054, and a strip groove 2061 is provided on the slide plate 206, and the strip groove 2061 is slidably connected to the slide bar 2055. The connecting rod 2062 is in an inclined state, and a positioning slider 2063 is installed at the end of the connecting rod 2062, and a positioning slide groove 2064 is provided on the T-shaped cover 204, and the positioning slide groove 2064 is connected to the inner cavity of the T-shaped cover 204, and the positioning slide groove 2064 is in a vertical state, and the positioning slide groove 2064 is slidably connected to the positioning slider 2063, and the end of the positioning slider 2063 is connected to the vertical rod 2042. When the push plate 203 slides, the connecting seat 2052 on the push plate 203 drives the rocker arm 205 to move, and the rocker arm 205 can insert the lifting roller 2051 on the surface under the first substrate 402, and when the push plate 203 drives the T-shaped cover 204 to move, the vertical rod 2042 moves downward, and the vertical rod 2042 drives the positioning slider 2063 of the side wall to slide on the positioning slide groove 2064, and the connecting rod 2062 on the positioning slider 2063 slides downward synchronously. The connecting rod 2062 drives the slide plate 206 at the end to slide downward, and a slide bar 2055 is slidably set in the strip groove 2061 inside the slide plate 206. At this time, the pressure rod 2054 equipped with the slide bar 2055 starts to rotate, and the pressure rod 2054 drives the coaxially connected rocker arm 205 to rotate, and the rocker arm 205 drives the lifting roller 2051 to rotate. At this time, the lifting roller 2051 can be squeezed to the lower surface of the first substrate 402, and finally cooperate with the vertical rod 2042 below to achieve a fixing effect.

[0051] Embodiment 3:

[0052] The difference between the above embodiment and this embodiment is that: Figure 6 , Figure 7 and Figure 8As shown, a synchronous bracket 3012 is installed on the flat plate 3011, and a pair of squeezing rollers 3013 are installed on the synchronous bracket 3012. One end of the flat plate 3011 is slidably set in a guide groove 3014 opened on the surface of the fixed block 301. A guide rod 3015 is installed through the guide groove 3014, and the guide rod 3015 is movably connected to the flat plate 3011. A guide spring 3016 is sleeved on the guide rod 3015, and one end of the guide spring 3016 is clamped on the guide groove 3014, and the other end is clamped on the bottom of the flat plate 3011. A sealing plate 3021 is installed on the side wall of the reset cover 302, and a cover plate 1031 is slidably arranged on the sealing plate 3021. The cover plate 1031 is installed on the control box 103, and a notch 1032 is opened on the cover plate 1031. The size of the notch 1032 corresponds to the size of the sealing plate 3021. A reset plate 3022 is slidably arranged inside the reset cover 302, one end of the reset plate 3022 is interconnected with the fixed block 301, and the other end of the reset plate 3022 is interconnected with the insertion rod 303. A reset spring 3023 is installed on the fixed block 301 located in the inner cavity of the reset cover 302, and both ends of the reset spring 3023 are respectively clamped in the reset plate 3022 and the inner cavity of the reset cover 302. After the protrusion 2032 slides from the lifting groove 2021 to the extrusion groove 2022, since the extrusion groove 2022 is provided with a slope 2023, the reset plate 3022 is squeezed and moves downward through the guidance of the slope 2023 and the compressed reset spring 3023. The insertion rod 303 at the bottom of the reset plate 3022 slides downward to ensure that the bottom of the insertion rod 303 is in contact with the slope 2023, and the reset plate 3022 can drive the fixed block 301 to move downward. At this time, when the fixed block 301 moves to the bottom, the end face of the guide groove 3014 on the fixed block 301 squeezes the flat plate 3011, so that the flat plate 3011, the synchronous bracket 3012 and the extrusion roller 3013 are fully pressed downward to extrude and position the second substrate 403.

[0053] The implementation principle of a rail-type bridge inspection robot in this embodiment is as follows:

[0054] When the robot is inspecting normally, the drive motor 104 drives the transmission shaft 1041 to rotate, and the transmission shaft 1041 drives the driving wheel 1042 to rotate. At this time, the driving wheel 1042 rotates on the inspection track 400, thereby driving the entire inspection unit 100 to move, so that different positions of the bridge can be inspected, and the mechanical arm 101 on the inspection unit 100 can control the position of the inspection camera 102, thereby achieving the purpose of adjusting the angle and position.

[0055] When the robot encounters strong winds during inspection.

[0056] First, the operator needs to start the electric push rod 201, which drives the L-shaped plate 2011 to move outward, and the L-shaped plate 2011 drives the limit block 2012 on the surface to move. At this time, the limit block 2012 slides along the limit rod 2013, and the moving position is limited by the limit rod 2013.

[0057] When the limit block 2012 slides, the position of the combination groove 202 on the limit block 2012 changes. At this time, the positioning bracket 2031 on the limited push plate 203 slides in the combination groove 202, and the protrusion 2032 at the bottom of the positioning bracket 2031 slides in the jacking groove 2021. Since the jacking groove 2021 is in an inclined state and the jacking groove 2021 is moving, the entire protrusion 2032, the positioning bracket 2031 and the push plate 203 are pushed to slide. At this time, the push plate 203 drives the T-shaped cover 204 at the end to move toward the vertical plate 401 of the inspection track 400.

[0058] When the lifting plate 2043 on the horizontal rod 2041 in the T-shaped cover 204 contacts the vertical plate 401, the horizontal rod 2041 slides toward the inside of the T-shaped cover 204 under the influence of the squeezing force, and the angle of the swing arm 2048 at the end of the horizontal rod 2041 changes, and the swing arm 2048 can push the vertical rods 2042 at both ends to move downward, wherein the bottom vertical rod 2042 drives the bottom lifting plate 2043 to contact the first base plate 402 first, and with the increase of squeezing force, the entire T-shaped cover 204 has a tendency to move upward. 04 moves upward, the T-shaped cover 204 drives the driving wheel 1042 to move upward. At this time, the driving wheel 1042 and the first substrate 402 are separated, so that the original connection method through the driving wheel 1042 is changed to a connection through the lifting plate 2043, wherein the lifting plate 2043 has a large contact area, so the stability can be improved, which is convenient for resisting crosswinds in the later stage. When the T-shaped cover 204 moves up to a certain extent, the vertical rods 2042 at the upper and lower ends can respectively rest against the surfaces of the first substrate 402 and the second substrate 403, thereby increasing the contact area and further improving the stability.

[0059] When the horizontal rod 2041 slides, the first baffle 2044 on the horizontal rod 2041 slides inside the T-shaped cover 204. At this time, the first spring 2045 on the first baffle 2044 is stretched, and when the vertical rod 2042 slides downward, the second baffle 2046 squeezes the second spring 2047, and the first spring 2045 and the second spring 2047 are used to facilitate the subsequent resetting operation.

[0060] When the push plate 203 slides, the connecting seat 2052 on the push plate 203 drives the rocker arm 205 to move, and the rocker arm 205 can insert the lifting roller 2051 on the surface under the first substrate 402, and when the push plate 203 drives the T-shaped cover 204 to move, the vertical rod 2042 moves downward, and the vertical rod 2042 drives the positioning slider 2063 of the side wall to slide on the positioning slide groove 2064, and the connecting rod 2062 on the positioning slider 2063 slides downward synchronously. The connecting rod 2062 drives the slide plate 206 at the end to slide downward, and a slide bar 2055 is slidably set in the strip groove 2061 inside the slide plate 206. At this time, the pressure rod 2054 equipped with the slide bar 2055 starts to rotate, and the pressure rod 2054 drives the coaxially connected rocker arm 205 to rotate, and the rocker arm 205 drives the lifting roller 2051 to rotate. At this time, the lifting roller 2051 can be squeezed to the lower surface of the first substrate 402, and finally cooperate with the vertical rod 2042 below to achieve a fixing effect.

[0061] When the protrusion 2032 slides from the lifting groove 2021 to the extrusion groove 2022, due to the ramp 2023 provided on the extrusion groove 2022, the reset plate 3022 is squeezed and moves downward by the guidance of the ramp 2023 and the compressed return spring 3023. The insertion rod 303 at the bottom of the reset plate 3022 slides downward to ensure that the bottom of the insertion rod 303 fits the ramp 2023, and the reset plate 3022 can drive the fixed block 301 to move downward. At this time, when the fixed block 301 moves to the bottom, the end face of the guide groove 3014 on the fixed block 301 squeezes the flat plate 3011, so that the flat plate 3011, the synchronous bracket 3012 and the extrusion roller 3013 are fully pressed downward to squeeze and position the second substrate 403, and finally complete the positioning operation. The flat plate 3011 always slides on the guide rod 3015 and stretches the guide spring 3016, which facilitates the later reset by stretching the guide spring 3016.

Claims

1. A rail-type bridge inspection robot, comprising an inspection unit (100), a lifting and positioning unit (200) and an extrusion and positioning unit (300), characterized in that: The inspection unit (100) comprises a mechanical arm (101), a patrol camera (102) is installed at the end of the mechanical arm (101), a support frame (1011) is installed on the mechanical arm (101), and a pair of control boxes (103) are installed on the support frame (1011), and each pair of the control boxes (103) is installed with a pair of driving wheels (1042) with a driving source, and the driving wheels (1042) are slidably arranged on the patrol track (400); The lifting and positioning unit (200) comprises an electric push rod (201), a limit block (2012) is installed at the output end of the electric push rod (201), the limit block (2012) slides horizontally in the control box (103), a combination slot (202) is provided on the limit block (2012), the combination slot (202) comprises a lifting slot (2021) and an extrusion slot (2022), the lifting slot (2021) is an inclined slot, the extrusion slot (2022) is a horizontal slot, and the lifting slot (2021) and the extrusion slot (2022) are slidably connected, a positioning bracket (2031) is slidably arranged on the combination slot (202), and a push plate (203) is installed on the positioning bracket (2031), a T-shaped cover (204) is installed at the end of the push plate (203), and one end of the T-shaped cover (204) is horizontally movable and plug-in-arranged The T-shaped cover (204) has a horizontal rod (2041), and the other end of the T-shaped cover (204) is vertically movably connected with a vertical rod (2042). The ends of the vertical rod (2042) and the horizontal rod (2041) are both installed with a lifting plate (2043). A swing arm (2048) is hingedly installed between the vertical rod (2042) and the horizontal rod (2041), and the swing arm (2048) is in an inclined state. The bottom of the push plate (203) A pair of rocking arms (205) are rotatably mounted on the part, and a lifting roller (2051) is mounted at the end of the rocking arm (205), a pressure rod (2054) is mounted at the rotation center of the rocking arm (205), a slide plate (206) is slidably mounted on the pressure rod (2054), a connecting rod (2062) is mounted on the side wall of the slide plate (206), and the end of the connecting rod (2062) is fixedly connected to the side wall of the vertical rod (2042); The extrusion positioning unit (300) comprises a fixed block (301), a flat plate (3011) is slidably mounted on the side wall of the fixed block (301), and an extrusion roller (3013) is mounted on the flat plate (3011), a reset cover (302) is mounted on the side wall of the fixed block (301), and a reset spring (3023) is clamped between the reset cover (302) and the fixed block (301), an insertion rod (303) is mounted on the bottom of the fixed block (301), the end of the insertion rod (303) movably passes through the positioning bracket (2031), and the end of the insertion rod (303) is slidably connected to the combination groove (202), and a slope (2023) is provided at the bottom of the extrusion groove (2022).

2. A rail-type bridge inspection robot according to claim 1, characterized in that: A fixed platform (1043) is installed inside the control box (103), a driving motor (104) is installed on the fixed platform (1043), a transmission shaft (1041) is installed at the output end of the driving motor (104), the transmission shaft (1041) movably penetrates the side wall of the control box (103), and the end of the transmission shaft (1041) is connected to the rotation center of the driving wheel (1042).

3. The rail-type bridge inspection robot according to claim 1, characterized in that: The housing of the electric push rod (201) is mounted on the side wall of the control box (103); an L-shaped plate (2011) is mounted on the output end of the electric push rod (201); the L-shaped plate (2011) is fitted with the bottom of a limit block (2012); the limit block (2012) and the L-shaped plate (2011) are screwed together by bolts; a limit rod (2013) is movably installed inside the limit block (2012); and two ends of the limit rod (2013) are respectively mounted on the side wall of the control box (103).

4. The rail-type bridge inspection robot according to claim 1, characterized in that: The positioning bracket (2031) is triangular in shape, and a protrusion (2032) is installed at the bottom of the positioning bracket (2031). The protrusion (2032) is slidably arranged in the combination groove (202), and the insertion rod (303) movably passes through the protrusion (2032), and the push plate (203) is slidably connected to the side wall of the control box (103).

5. The rail-type bridge inspection robot according to claim 1, characterized in that: A first baffle (2044) is installed on the horizontal rod (2041), and the first baffle (2044) is slidably connected to the inner cavity of the T-shaped cover (204); a first spring (2045) is sleeved on the horizontal rod (2041), and two ends of the first spring (2045) are respectively clamped on the side wall of the T-shaped cover (204) and the first baffle (2044); a second baffle (2046) is installed on the vertical rod (2042), and the second baffle (2046) is slidably connected to the inner cavity of the T-shaped cover (204); a second spring (2047) is sleeved on the vertical rod (2042), and two ends of the second spring (2047) are respectively clamped on the side wall of the T-shaped cover (204) and the second baffle (2046).

6. The rail-type bridge inspection robot according to claim 1, characterized in that: A connecting seat (2052) is installed at the bottom of the push plate (203), and a pair of positioning shafts (2053) are installed on the connecting seat (2052). The pair of positioning shafts (2053) are connected to the corresponding rocker arms (205) respectively. The pressure rod (2054) is in an inclined state, and a sliding rod (2055) is installed at the end of the pressure rod (2054). A strip groove (2061) is opened on the slide plate (206), and the strip groove (2061) is slidably connected to the sliding rod (2055).

7. The rail-type bridge inspection robot according to claim 1, characterized in that: The connecting rod (2062) is in an inclined state, a positioning slider (2063) is installed at the end of the connecting rod (2062), a positioning slot (2064) is provided on the T-shaped cover (204), and the positioning slot (2064) is communicated with the inner cavity of the T-shaped cover (204), the positioning slot (2064) is in a vertical state, the positioning slot (2064) is slidably connected to the positioning slider (2063), and the end of the positioning slider (2063) is connected to the vertical rod (2042).

8. The rail-type bridge inspection robot according to claim 1, characterized in that: The plate (3011) is provided with a synchronous bracket (3012), and a pair of squeezing rollers (3013) are provided on the synchronous bracket (3012). One end of the plate (3011) is slidably arranged in a guide slot (3014) provided on the surface of the fixed block (301). A guide rod (3015) is installed through the guide slot (3014), and the guide rod (3015) is movably connected with the plate (3011). A guide spring (3016) is sleeved on the guide rod (3015), and one end of the guide spring (3016) is clamped on the guide slot (3014), and the other end is clamped on the bottom of the plate (3011).

9. The rail-type bridge inspection robot according to claim 1, characterized in that: A sealing plate (3021) is installed on the side wall of the reset cover (302), and a cover plate (1031) is slidably arranged on the sealing plate (3021). The cover plate (1031) is installed on the control box (103), and a notch (1032) is opened on the cover plate (1031). The size of the notch (1032) corresponds to the size of the sealing plate (3021). A reset plate (3022) is slidably arranged inside the reset cover (302), one end of the reset plate (3022) is connected to the fixed block (301), and the other end of the reset plate (3022) is connected to the insertion rod (303). A reset spring (3023) is installed on the fixed block (301) located in the inner cavity of the reset cover (302), and the two ends of the reset spring (3023) are respectively clamped in the reset plate (3022) and the inner cavity of the reset cover (302).

10. The rail-type bridge inspection robot according to claim 1, characterized in that: The inspection track (400) comprises a vertical plate (401), a first substrate (402) and a second substrate (403); the vertical plate (401), the first substrate (402) and the second substrate (403) are integrally cast; the cross section of the inspection track (400) is I-shaped; the horizontal rod (2041) and the vertical rod (2042) are located in a cavity between the first substrate (402) and the second substrate (403); the lifting roller (2051) is located below the first substrate (402); the squeezing roller (3013) is located above the second substrate (403); and the driving wheel (1042) is in contact with the upper surface of the first substrate (402).

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