Splicing type bridge gap detection robot

Abstract

The invention, which relates to the technical field of bridge detection robots, discloses a spliced bridge gap detection robot comprising a tracked robot and a detection probe. The tracked robot comprises a rack, a suction device arranged on the rack, a vacuum wheel, a connecting track and an adsorption unit, the adsorption unit has a suction state, a vacuum state and a deflation state, and an opening unit is arranged on the vacuum wheel; the opening unit moves along with the tracked robot and intermittently abuts against the connecting track, so that the gas channel is intermittently communicated with the adsorption unit; the adsorption units are sequentially switched in a suction state, a vacuum state and a deflation state in a self-adaptive mode along with movement of the tracked robot. According to the spliced bridge gap detection robot provided by the invention, a spliced gap is detected through the detection probe, the space of a bridge floor is not occupied, the spliced bridge gap detection robot can extend into a narrow gap for detection, the adsorption unit can be switched in different states in a self-adaptive manner when the tracked robot moves, the requirement of a control algorithm can be reduced, and a control program can be simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge inspection robots, and more particularly to a spliced large bridge gap inspection robot. Background Art

[0002] As an important transportation infrastructure, the spliced large bridge has been widely used in various bridge constructions. The spliced large bridge is composed of multiple components such as bridge slabs with standardized sizes, and has the advantages of low construction difficulty, short operation cycle, good interchangeability, and low cost. However, there is often a splicing gap with a width of 1 cm - 2 cm at the splicing part of such bridges. This splicing gap, as a weak link of the bridge, seriously affects the strength and stiffness of the bridge. Especially when cracks appear in the splicing gap, it will lead to frequent accidents during the life cycle of the bridge. For the inspection and maintenance work of the bridge, traditional manual inspections or regular manual patrols are mostly used. This method not only has a high labor intensity and subjective dependence, but also is limited by weather, environmental conditions, and the technical level of inspectors. In the prior art, inspection robots have been used to detect the splicing seams.

[0003] According to the patent application with the publication number: CN108248710A and the publication date of July 6, 2018, a magnetic adsorption crawler wall-climbing robot is disclosed. Magnetic adsorption crawlers are arranged on the left and right sides of its fuselage through crawler suspension mechanisms; the magnetic adsorption crawlers include two parallel chains and magnetic adsorption units fixed on the two chains. A guiding anti-disengagement mechanism is arranged in the middle of the magnetic adsorption units; the crawler suspension mechanism includes a driving wheel, a driven wheel, and a middle guiding plate. The driving wheel and the driven wheel are used to suspend and tension the magnetic adsorption crawlers and drive the magnetic adsorption crawlers to rotate. The middle guiding plate is located between the driving wheel and the driven wheel, and the middle guiding plate is adapted to the guiding anti-disengagement mechanism. Its main technical effect lies in the guiding anti-disengagement mechanism on the crawler, ensuring the straight and smooth operation of the crawler and preventing the crawler from disengaging. The present invention enables the load-bearing capacity of the wall-climbing robot to be above 150 kg, promoting the wall-climbing robot towards industrial-level applications.

[0004] In the prior art, most of the current structural forms of bridge inspection robots are a mobile robot equipped with a set of truss manipulators. The mobile robot moves to a suitable position on the bridge deck, and the truss manipulator extends to the bottom of the bridge slab and scans to complete the inspection work of the bridge. Although this method can, to a certain extent, make up for the problems of high labor intensity and low efficiency in manual inspection, its flexibility is poor. Especially, it cannot detect the narrow splicing gaps at the bottom of the bridge slab. Moreover, this type of inspection robot needs to park its moving body part on the bridge deck, which will affect traffic to a certain extent and has certain risks. Therefore, a spliced large bridge gap inspection robot is proposed, aiming to solve the problems that the existing bridge inspection robots cannot detect the splicing gaps at the bottom of the bridge slab and affect traffic when moving on the bridge deck. Summary of the Invention

[0005] The object of the present invention is to provide a spliced bridge gap detection robot, aiming to solve the problems in the prior art that the bridge detection robot cannot detect the splicing gaps at the bottom of the bridge slab and the movement on the bridge surface affects traffic.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A spliced bridge gap detection robot includes a tracked robot, and further includes: A detection probe, which is arranged on the tracked robot; The tracked robot includes a frame, a suction device arranged on the frame, a vacuum wheel communicated with the suction device, a connecting track connected to the vacuum wheel, and an adsorption unit arranged on the connecting track. The adsorption unit has a suction state, a vacuum state and a deflation state. A gas channel is opened on the vacuum wheel, and an opening unit is arranged in the gas channel; The opening unit intermittently abuts against the connecting track as the tracked robot moves, and intermittently conducts the gas channel with the adsorption unit; The adsorption unit adaptively switches among the suction state, the vacuum state and the deflation state in sequence as the tracked robot moves.

[0007] Preferably, the adsorption unit includes a housing, a sliding core valve, a flexible suction cup, a sealing diaphragm and a first elastic unit. The flexible suction cup is installed at the end of the housing. A suction channel is opened on the housing. The sliding core valve is slidably connected to the suction channel. The sealing diaphragm is connected to the end of the sliding core valve. The first elastic unit is arranged between the housing and the sealing diaphragm.

[0008] Preferably, an exhaust unit is arranged on the housing. The exhaust unit includes a plugging rod, an opening rod and a second elastic unit. A plugging ring groove is opened at the end of the sliding core valve. An exhaust channel is opened on the outer wall of the housing. The exhaust channel is communicated with the external environment and the suction channel. The plugging rod is slidably connected to the exhaust channel. The second elastic unit is arranged between the exhaust channel and the plugging rod. The opening rod is rotatably connected to the housing, and the opening rod is in transmission connection with the plugging rod.

[0009] Preferably, the opening unit includes a fixed block and a film covering. The fixed block is fixedly connected in the gas channel. An air vent groove for gas to pass through is opened on the fixed block. The film covering is arranged on the outer wall on one side of the fixed block, and the film covering covers one side of the air vent groove.

[0010] Preferably, the opening unit further includes a central rod, a third elastic unit, an opening block, a first umbrella rib, and a second umbrella rib. The central rod is slidably connected to the fixed block. The opening block is connected to the end of the central rod. A sliding block is connected to the end of the central rod away from the opening block. A gas pipe is installed in the gas channel. One end of the third elastic unit is connected to the gas pipe, and the other end is connected to the sliding block. The first umbrella rib is rotatably connected to the sliding block, and the other end is connected to the film covering. One end of the second umbrella rib is rotatably connected to the fixed block, and the other end is rotatably connected to the first umbrella rib.

[0011] Preferably, the vacuum wheel is rotatably connected to the frame. The vacuum wheel includes a sprocket body and an air wheel. A connecting pipe is installed on the air wheel. The gas channel is communicated with the connecting pipe. The sprocket body is installed on the outer wall of the connecting pipe. A vacuum cavity is provided on the frame. The suction device is communicated with the vacuum cavity. The vacuum cavity is communicated with the connecting pipe.

[0012] Preferably, the tracked robot further includes a driving mechanism. The driving mechanism includes a driving motor installed on the frame, a transmission gear and an auxiliary wheel arranged at the output end of the driving motor. The transmission gear meshes with the sprocket body. The sprocket body is in transmission connection with the connecting track. The auxiliary wheel is rotatably connected to the frame and is rotatably connected to the connecting track.

[0013] Preferably, it further includes a sliding housing mechanism. The sliding housing mechanism includes a gear box, a transmission shaft rod, and a sliding housing. The gear boxes are respectively arranged at both ends of the frame. The sliding housing is slidably connected to the frame. The gear box is in transmission connection with the vacuum wheel. Both ends of the transmission shaft rod are respectively in transmission connection with the gear boxes on the front and back sides of the frame. The sliding housing is in transmission connection with the transmission shaft rod.

[0014] Preferably, the transmission shaft rod includes a ratchet mechanism and a rotating screw. The ratchet mechanism includes an outer ratchet and an inner ratchet. The outer ratchet is rotatably connected to the frame. One end of the rotating screw is connected to the outer ratchet. The inner ratchet is in transmission connection with the gear box. An inner ratchet pawl is slidably connected to the inner ratchet. The inner ratchet pawl abuts against the inner wall of the outer ratchet.

[0015] Preferably, it further includes a connecting arm. The number of the tracked robots is multiple, and the multiple tracked robots are connected by the connecting arm.

[0016] In the above technical solution, a spliced bridge gap detection robot provided by the present invention has the following beneficial effects: During the movement of the tracked robot, the vacuum wheel is sucked by the suction device arranged on the frame. At the same time, the opening unit intermittently abuts against the connecting track, so that the gas channel is intermittently communicated with the adsorption unit, and then the adsorption unit is evacuated, enabling the tracked robot to adsorb on the side wall of the bridge. Finally, the splicing seam is detected by the detection probe, which can detect in the relatively narrow splicing seam without occupying the bridge deck space, greatly improving the detection efficiency. At the same time, the adsorption unit can adaptively switch between the suction state, the vacuum state and the deflation state during the movement of the tracked robot, greatly reducing the requirements for the control algorithm, simplifying the control program, enabling the tracked robot to respond to the control signal extremely quickly and facilitating the control. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0018] Figure 1 Schematic diagram of the overall structure of the tracked robot with a vacuum wheel arranged at one end provided by the embodiment of the present invention; Figure 2 Schematic diagram of the overall structure of the tracked robot with vacuum wheels arranged at both ends provided by the embodiment of the present invention; Figure 3 Schematic diagram of the structure of a single tracked robot with vacuum wheels arranged at both ends provided by the embodiment of the present invention; Figure 4 Schematic diagram of the overall structure of the adsorption unit provided by the embodiment of the present invention; Figure 5 Schematic diagram of the sectional structure of the adsorption unit provided by the embodiment of the present invention; Figure 6 Schematic diagram of the suction state structure of the adsorption unit provided by the embodiment of the present invention; Figure 7 Schematic diagram of the vacuum state structure of the adsorption unit provided by the embodiment of the present invention; Figure 8 Schematic diagram of the three-dimensional structure of the vacuum wheel provided by the embodiment of the present invention; Figure 9 Schematic diagram of the three-dimensional sectional structure of the vacuum wheel provided by the embodiment of the present invention; Figure 10 Schematic diagram of the three-dimensional structure of the opening unit provided by the embodiment of the present invention; Figure 11 Schematic diagram of the planar structure of the opening unit provided by the embodiment of the present invention; Figure 12Schematic perspective view of the drive mechanism provided by an embodiment of the present invention; Figure 13 Schematic view of the gearbox structure provided by an embodiment of the present invention; Figure 14 Schematic view of the structure of the ratchet mechanism provided by an embodiment of the present invention; Figure 15 Schematic view of the detailed structure of the ratchet mechanism provided by an embodiment of the present invention; Figure 16 Schematic view of the connecting arm structure provided by an embodiment of the present invention; Figure 17 Schematic view of the partition of the traveling state of the tracked robot provided by an embodiment of the present invention; Figure 18 Schematic view of the connection relationship of the sliding core valve provided by an embodiment of the present invention.

[0019] Explanation of reference numerals: 1. Tracked robot; 11. Frame; 12. Suction device; 13. Vacuum wheel; 131. Gas channel; 132. Opening unit; 1321. Fixed block; 1322. Coated film; 1323. Ventilation groove; 1324. Third elastic unit; 1325. Opening block; 1326. First umbrella bone; 1327. Second umbrella bone; 1328. Sliding block; 1329. Central rod; 133. Sprocket body; 134. Air wheel; 135. Connecting pipe; 14. Connecting track; 15. Adsorption unit; 151. Housing; 1511. Suction channel; 152. Sliding core valve; 1521. Insertion ring groove; 1522. Ventilation hole; 153. Flexible suction cup; 154. Sealing film; 155. First elastic unit; 156. Exhaust unit; 1561. Insertion rod; 1562. Opening rod; 1563. Second elastic unit; 1564. Connecting rod; 1565. Exhaust channel; 157. Fixed rod; 16. Vacuum cavity; 2. Detection probe; 3. Drive mechanism; 31. Drive motor; 32. Transmission gear; 33. Auxiliary wheel; 34. Driving wheel; 4. Sliding housing mechanism; 41. Gearbox; 411. Outer shell; 412. First gear; 413. Third gear; 414. Third gear; 415. Fourth gear; 42. Transmission shaft rod; 43. Sliding shell; 44. Ratchet mechanism; 441. Outer ratchet; 4411. Ratchet groove; 442. Inner ratchet; 45. Rotating screw; 5. Connecting arm; 51. First winch; 52. Second winch; 53. First flexible rope; 54. Second flexible rope; 55. Connecting plate; 56. Steel wire column; 57. Outer cover plate; A. First area; B. Second area; C. Third area. Detailed implementation manners

[0020] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] Please refer to Figure 1 — Figure 18 , a spliced bridge gap detection robot, including a tracked robot 1, and further including: A detection probe 2, which is arranged on the tracked robot 1; The tracked robot 1 includes a frame 11, a suction device 12 arranged on the frame 11, a vacuum wheel 13 communicated with the suction device 12, a connecting track 14 connected to the vacuum wheel 13, and an adsorption unit 15 arranged on the connecting track 14. The adsorption unit 15 has a suction state, a vacuum state, and a deflation state. A gas channel 131 is opened on the vacuum wheel 13, and an opening unit 132 is arranged in the gas channel 131; The opening unit 132 intermittently abuts against the connecting track 14 as the tracked robot 1 moves, and intermittently conducts the gas channel 131 and the adsorption unit 15; The adsorption unit 15 adaptively switches among the suction state, the vacuum state, and the deflation state in sequence as the tracked robot 1 moves.

[0022] Specifically, the detection probe 2 is of a flexible robotic arm structure, which can realize the switching of various different poses, and thus can ensure that the detection probe 2 can extend into the bridge deck splicing gap for detection. It should be noted that the flexible robotic arm structure is a conventional technology in the prior art, so its specific structure and working principle will not be elaborated here. The detection probe 2 can adopt a camera.

[0023] The tracked robot 1 includes a frame 11, a suction device 12, a vacuum wheel 13, a connecting track 14, and an adsorption unit 15. The suction device 12 is disposed on the frame 11. The vacuum wheel 13 is rotatably connected to the frame 11. The connecting track 14 is drivingly connected to the vacuum wheel 13. The adsorption unit 15 is fixedly installed on the connecting track 14. During the movement of the tracked robot 1, the vacuum wheel 13 is suctioned by the suction device 12. The gas passage 131 on the vacuum wheel 13 abuts against the connecting track 14 while rotating, so that the gas passage 131 can communicate with the adsorption unit 15. At the same time, due to the rotational action of the connecting track 14, the adsorption unit 15 on the connecting track 14 intermittently communicates with the vacuum wheel 13. As a result, the adsorption unit 15 has three states, including a suction state, a vacuum state, and a deflation state. Among them, the suction state is that after the adsorption unit 15 communicates with the gas passage 131, the adsorption unit 15 is suctioned by the suction device 12. The vacuum state is that after suction and the adsorption unit 15 abuts against the bridge surface, at this time, the adsorption unit 15 can adhere to the side wall of the bridge surface. The deflation state is that the adsorption unit 15 returns to the normal air pressure state. Specifically, the suction device 12 is a vacuum pump for suction.

[0024] In the process of moving the tracked robot 1 of the present invention, the vacuum wheel 13 is suctioned by the suction device 12 disposed on the frame 11. At the same time, the opening unit 132 intermittently abuts against the connecting track 14, so that the gas passage 131 intermittently communicates with the adsorption unit 15. Then, the adsorption unit 15 is evacuated, so that the tracked robot 1 can adsorb on the side wall of the bridge. Finally, the splicing seam is detected by the detection probe 2. It can extend into the relatively narrow splicing seam for detection without occupying the bridge surface space, greatly improving the detection efficiency. At the same time, the adsorption unit 15 can adaptively switch between the suction state, the vacuum state, and the deflation state during the movement of the tracked robot 1, greatly reducing the requirements for the control algorithm, simplifying the control program, enabling the tracked robot 1 to respond to control signals extremely quickly, and facilitating control.

[0025] As an embodiment provided by the present invention, as Figures 4 - 7 shown, the adsorption unit 15 includes a housing 151, a sliding core valve 152, a flexible suction cup 153, a sealing diaphragm 154, and a first elastic unit 155. Specifically, the housing 151 is a hollow cylindrical structure and has a large-diameter port and a small-diameter port. Among them, the small-diameter port is installed on the connecting track 14. During the rotation of the connecting track 14 and the vacuum wheel 13, the gas passage 131 on the vacuum wheel 13 communicates with the adsorption unit 15, and the adsorption unit 15 is evacuated by the suction device 12 to achieve negative pressure.

[0026] The flexible suction cup 153 is fixedly installed at the end of the housing 151. Preferably, the flexible suction cup 153 is installed at the large-diameter port of the housing 151, which can increase the contact area with the side wall of the bridge deck. At the same time, the flexible suction cup 153 is made of a flexible material and can undergo elastic deformation during the attachment process to better adapt to the fine curvature and tiny height difference of the bridge deck. While enhancing the sealing performance, it also reduces the probability of air leakage and is particularly suitable for stable operation on rough surfaces such as concrete and stone.

[0027] A suction channel 1511 is opened inside the housing 151, and the sliding core valve 152 is slidably connected to the suction channel 1511. As Figure 18 shown, air-permeable holes 1522 are opened on the side wall of the sliding core valve 152. As Figures 4 - 7 shown, in the normal state, the air-permeable holes 1522 are located at the large-diameter end of the housing 151 and are connected to the suction channel 1511. The sliding core valve 152 can be kept sliding in the suction channel 1511 to connect or close the large-diameter end and the small-diameter end of the housing 151. The sealing diaphragm 154 is fixedly installed at the end of the sliding core valve 152, and the circumferential side wall of the sealing diaphragm 154 abuts against the inner wall of the housing 151, so that two spaces are formed inside the housing 151. As a preferred embodiment provided by the present invention, the first elastic unit 155 is specifically a tension spring. One end of the first elastic unit 155 abuts against the sealing diaphragm 154 on the sliding core valve 152, and the other end abuts against the inner wall of the bottom of the housing 151. It should be noted that the bottom of the housing 151 is connected to the outside to ensure that gas can pass through.

[0028] The adsorption unit 15 has a suction state, a vacuum state, and a deflation state. As Figure 17 shown, during the movement of the tracked robot 1, the entire track can be divided into a first region A, a second region B, and a third region C. Among them, the adsorption unit 15 in the first region A is in the suction state, the adsorption unit 15 in the second region B is in the suction state, and the adsorption unit 15 in the third region C is in the deflation state.

[0029] The suction state is that when the adsorption unit 15 on the connecting crawler 14 abuts against the opening unit 132 on the vacuum wheel 13, it is opened through the opening unit 132, so that the gas channel 131 inside the vacuum wheel 13 is communicated with the adsorption unit 15, and the adsorption unit is sucked by the suction device 12. The interval of the gas channel 131 on the vacuum wheel 13 is adapted to the interval between the adsorption units 15, so that during the rotation of the vacuum wheel 13, the gas channel 131 can be intermittently communicated with different adsorption units 15. The adsorption unit 15 rotates synchronously with the connecting crawler 14 and the vacuum wheel 13, so that the flexible suction cup 153 on the adsorption unit 15 abuts against the wall surface. When the flexible suction cup 153 is completely in contact with the wall surface, the inside of the adsorption unit 15 maintains a semi-vacuum state, thereby enabling the adsorption unit 15 to be adsorbed on the wall surface. At this time, the vacuum wheel 13 is separated from the adsorption unit 15, and the adsorption unit 15 is in the adsorption state.

[0030] As a further embodiment provided by the present invention, an exhaust unit 156 is provided on the housing 151. Specifically, the exhaust unit 156 includes a plugging rod 1561, an opening rod 1562 and a second elastic unit 1563. An exhaust channel 1565 is opened on the housing 151. One end of the exhaust channel 1565 is communicated with the external environment of the housing 151, and the other end is communicated with the suction channel 1511. The plugging rod 1561 is slidably connected inside the exhaust channel 1565. Specifically, the second elastic unit 1563 is a compression spring. One end of the second elastic unit 1563 abuts against the plugging rod 1561, and the other end abuts against the inner wall of the exhaust channel 1565. The plugging rod 1561 is driven by the second elastic unit 1563 to always move towards the sliding core valve 152. A plugging ring groove 1521 is opened at the end of the sliding core valve 152. The end of the plugging rod 1561 is a wedge-shaped structure. The end of the plugging rod 1561 is driven by the second elastic unit 1563 to always move towards the sliding core valve 152. One end of the plugging rod 1561 away from the sliding core valve 152 penetrates and extends to the outside of the housing 151. A fixing rod 157 is fixedly installed on the outer wall of the housing 151. The opening rod 1562 is rotatably connected to the end of the fixing rod 157. A connecting rod 1564 is rotatably connected to the outer wall of the opening rod 1562. One end of the connecting rod 1564 is rotatably connected to one end of the plugging rod 1561 located outside the housing 151. When the opening rod 1562 rotates, it can rotate around the hinge point with the fixing rod 157. While the opening rod 1562 rotates, it can push the plugging rod 1561 to slide in the exhaust channel 1565 through the connecting rod 1564.

[0031] As an embodiment provided by the present invention, as Figures 9 - 11As shown in the figure, the opening unit 132 includes a fixed block 1321 and a film covering sheet 1322. The fixed block 1321 is fixedly installed at the end of the gas passage 131. An air vent groove 1323 is formed in the fixed block 1321. The film covering sheet 1322 is arranged on the fixed block 1321 and covers the air vent groove 1323.

[0032] As an embodiment provided by the present invention, during the rotation of the vacuum wheel 13, when the gas passage 131 of the vacuum wheel 13 is communicated with the adsorption unit 15 provided on the connecting crawler 14, the gas passage 131 is sucked by the vacuum wheel 13. At this time, under the suction action, the film covering sheet 1322 is opened, the gas passage 131 is communicated with the adsorption unit 15, and the adsorption unit 15 is sucked by the suction device 12, so that the inside of the adsorption unit 15 is in a negative pressure state, and the adsorption unit 15 can adsorb on the side wall of the bridge deck.

[0033] As a further embodiment provided by the present invention, as Figure 10 and Figure 11 shown in the figure, the opening unit 132 further includes a central rod 1329, a third elastic unit 1324, an opening block 1325, a first rib 1326 and a second rib 1327. The central rod 1329 is slidably connected to the fixed block 1321. The opening block 1325 is connected to the end of the central rod 1329. A sliding block 1328 is connected to the end of the central rod 1329 away from the opening block 1325. A gas pipe 136 is installed inside the gas passage 131. The fixed block 1321 is fixedly installed at the end of the gas pipe 136, that is, the fixed block 1321 is fixedly connected to the end of the gas passage 131 through the gas pipe 136 for easy assembly. One end of the third elastic unit 1324 is connected to the gas pipe 136, and the other end is connected to the sliding block 1328. The gas pipe 136 is communicated with the gas passage 131. The first rib 1326 is rotatably connected to the sliding block 1328, and the other end is connected to the film covering sheet 1322. One end of the second rib 1327 is rotatably connected to the fixed block 1321, and the other end is rotatably connected to the first rib 1326. The third elastic unit 1324 is specifically a compression spring.

[0034] When the opening rod 1562 abuts against the abutting shell 17 or the sliding shell 43, the opening rod 1562 rotates, drives the inserting rod 1561 to move outward through the connecting rod 1564, and further separates the inserting rod 1561 from the inserting ring groove 1521 on the sliding core valve 152. At this time, the first elastic unit 155 resumes deformation, pulls the sealing diaphragm 154 back to its original position, and makes the flexible suction cup 153 lose its adsorption effect.

[0035] As an embodiment provided by the present invention, as Figure 12As shown in the figure, the vacuum wheel 13 is rotatably connected to the frame 11. The vacuum wheel 13 includes a sprocket body 133 and an air wheel 134. A connecting pipe 135 is installed on the air wheel 134. Specifically, the installation direction of the connecting pipe 135 is the axial direction of the air wheel 134. The gas channel 131 is opened in the circumferential direction of the air wheel 134. The number of gas channels 131 is several, and several gas channels 131 are arranged in a circular array inside the air wheel 134. The gas channel 131 is communicated with the connecting pipe 135. A vacuum cavity 16 is provided on the frame 11. The suction device 12 is communicated with the vacuum cavity 16, and the connecting pipe 135 is communicated with the vacuum cavity 16. When the suction device 12 performs suction, the plurality of gas channels 131 are simultaneously sucked through the connecting pipe 135.

[0036] The vacuum wheel 13 is kept in communication with the vacuum cavity 16 through the connecting pipe 135, and then the plurality of gas channels 131 are sucked through the suction device 12.

[0037] As an embodiment provided by the present invention, as Figure 12 shown in the figure, it further includes a driving mechanism 3. Specifically, the driving mechanism 3 includes a driving motor 31, a transmission gear 32 and an auxiliary wheel 33. The driving motor 31 is fixedly installed on the inner wall of one side of the frame 11. The transmission gear 32 is fixedly installed on the output end of the driving motor 31. The auxiliary wheel 33 is rotatably connected to the frame 11 through a rotating shaft. The outer wall of the auxiliary wheel 33 abuts against the connecting track 14 and can provide auxiliary rotation during the rotation of the connecting track 14. Tooth openings are provided on the inner wall of the connecting track 14. The connecting track 14 is kept in transmission connection with the sprocket body 133 through the tooth openings. Then, the driving motor 31 can be used to drive the transmission gear 32 to rotate, and then the connecting track 14 is driven to rotate through the engagement of the sprocket body 133 and the tooth openings, realizing the walking of the tracked robot 1.

[0038] It should be noted that the number of the driving mechanisms 3 can be two, at least one. When the number of the driving mechanisms 3 is two, they are symmetrically arranged on both sides of the frame 11. When the number of the driving mechanisms 3 is one, a transmission connection is maintained between the two side transmission wheels 34 or between the two side vacuum wheels 13.

[0039] Preferably, the number of the driving mechanisms 3 is two. The driving mechanisms 3 arranged on both sides of the frame 11 can respectively drive the connecting tracks 14 on both sides to rotate.

[0040] As an embodiment provided by the present invention, as Figures 13 - 15As shown, it also includes a sliding housing mechanism 4, which includes a gear box 41, a transmission shaft 42 and a sliding shell 43. The gear box 41 is fixedly installed on the frame 11, and the gear box 41 is in transmission connection with the vacuum wheel 13. Specifically, the gear box 41 includes a housing 411, a first gear 412, a second gear 413, a third gear 414 and a fourth gear 415. The housing 411 is fixedly installed on the outer wall of one side of the frame 11. The first gear 412, the second gear 413, the third gear 414 and the fourth gear 415 are respectively rotatably connected to the four adjacent inner walls of the gear box 41, and the first gear 412, the second gear 413, the third gear 414 and the fourth gear 415 are meshed in sequence. The first gear 412 is connected to the vacuum wheel 13. When the vacuum wheel 13 keeps rotating, the first gear 412 can be driven to keep rotating. The second gear 413 and the fourth gear 415 meshed with it are synchronously driven to rotate by the rotation of the first gear 412, and the third gear 414 is further driven to keep rotating.

[0041] As a preferred embodiment provided by the present invention, the first gear 412, the second gear 413, the third gear 414 and the fourth gear 415 are all bevel gears.

[0042] As a preferred embodiment provided by the present invention, Figure 13 As shown, the gear boxes 41 are arranged at the front and rear ends of the frame 11, and the two ends of the transmission shaft 42 are respectively in transmission connection with the gear boxes 41 on both sides.

[0043] Furthermore, a slide rail is provided on the frame 11, and the sliding shell 43 is slidably connected to the slide rail, and the sliding shell 43 is threadedly connected to the transmission shaft 42, and the transmission shaft 42 is driven to rotate through the gear box 41 on one side, so that the sliding shell 43 moves away from the travel direction of the crawler robot 1.

[0044] Specifically, the transmission shaft 42 includes a ratchet mechanism 44 and a rotating screw 45. The ratchet mechanism 44 includes an outer ratchet 441 and an inner ratchet 442. A ratchet groove 4411 is opened on the side wall of the outer ratchet 441. The inner ratchet 442 is fixedly connected to the fourth gear 415. When the fourth gear 415 rotates, it can synchronously drive the inner ratchet 442 to keep rotating. Furthermore, an inner pawl 443 is slidably connected to the inner ratchet 442, and a compression spring is arranged between the inner pawl 443 and the inner ratchet 442. The compression spring drives the inner pawl 443 to slide outward and abut against the ratchet groove 4411 on the outer ratchet 441.

[0045] Due to the design of the ratchet groove 4411 set in the outer ratchet 441 of the ratchet mechanism 44, the ratchet mechanism 44 can only transmit rotation in one direction. For example, when the tracked robot 1 moves forward and the vacuum wheels 13 on the front and rear sides rotate counterclockwise at the same time, because the same gear box 41 is arranged on the outside of the frame 11, the two fourth gears 415 directly connected to the ratchet mechanism 44 are in opposite transmission directions. Therefore, under the symmetrically arranged ratchet mechanism 44, only the outer ratchet 441 on one side rotates, and the rotation of the rotating screw 45 drives the sliding shell 43 with the same thread to move to the right, thereby playing a role of mechanical limit in the adsorption process. At the same time, the same is true for the reverse movement, and the position of the sliding shell 43 can be controlled by changing the rotation direction of the vacuum wheel 13, without the need for unnecessary complex control.

[0046] Through the cooperation of the ratchet mechanism 44, the rotating screw 45, the gear box 41 and the vacuum wheel 13, automatic linkage control can be realized, simplifying the complexity of the system. The mechanism uses the ratchet-gear combination and the screw drive to realize the passive linkage between the forward / backward direction of the crawler robot 1 and the displacement of the sliding shell 43. Without relying on motors, sensors or control programs, the position of the sliding shell 43 can be automatically adjusted during the movement of the vehicle, which significantly reduces the complexity of the system and the difficulty of control, and improves the overall reliability.

[0047] Possessing one-way drive and reliable mechanical limit function: Through the combination of ratchet block and spring, the mechanism has direction-selective drive capability, which can ensure that the sliding shell 43 only moves downward in a specific wheel to prevent reverse interference. In adsorption or contact tasks, it can provide a stable mechanical limit effect to ensure the precise positioning of the structure and the controllability of repetitive actions.

[0048] The transmission shaft 42 and the gear box 41 are symmetrical in structure and have strong adaptability, which is suitable for complex environments: the gear box 41 and the transmission shaft 42 are symmetrically arranged on both sides of the frame 11, and with the double screw structure, the sliding shell 43 moves to both ends when the vehicle moves forward and backward, automatically switches the limit state, and improves the environmental adaptability and task adaptability of the system without manual intervention. This design is suitable for complex working conditions with compact structure and limited external intervention.

[0049] As one of the embodiments provided by the present invention, Figure 12 As shown, the driving mechanism 3 also includes a transmission wheel 34. At this time, the crawler robot 1 is only provided with a vacuum wheel 13 at one end. At this time, the crawler robot 1 can only maintain unidirectional adsorption movement. The transmission wheel 34 is rotatably connected to the frame 11 and abuts against the connecting track 14. The transmission wheel 34 is arranged on the crawler robot 1 at one end away from the vacuum wheel 13. It should be pointed out that the transmission wheel 34 is only a transmission component and is not connected to the suction device 12.

[0050] It should be pointed out that when only one end of the crawler robot 1 is provided with the vacuum wheel 13 , the number of the crawler robots 1 is two and they are symmetrically arranged, and the two crawler robots 1 are connected via the connecting arm 5 .

[0051] In this embodiment, an abutment shell 17 is provided on the outer wall of the frame 11 . The abutment shell 17 is provided at one end of the crawler robot 1 which is away from the forward direction, and is used for abutting against the opening rod 1562 .

[0052] As a preferred embodiment of the crawler robot 1 provided by the present invention, Figure 3 As shown, there is one crawler robot 1, and vacuum wheels 13 are provided at both ends of the crawler robot 1 to enable the crawler robot 1 to move forward and backward.

[0053] As another embodiment of the crawler robot 1 provided by the present invention, there are two crawler robots 1 , and the two crawler robots 1 are connected via a connecting arm 5 .

[0054] When there are two tracked robots 1 and they are connected by the connecting arm 5, an almost completely symmetrical structure is adopted, so that each part is evenly stressed during the working process, unnecessary additional loads are reduced, and stability and efficiency are improved.

[0055] Specifically, the connecting arm 5 includes a first winch 51, a second winch 52, a first flexible rope 53, a second flexible rope 54, a connecting plate 55, a steel wire column 56 and an outer cover plate 57. Specifically, there are several connecting plates 55, and the several connecting plates 55 are fixedly connected to the steel wire column 56. There are two outer cover plates 57, and the two outer cover plates 57 are respectively fixedly connected to the two ends of the steel wire column 56. The outer cover plate 57 can be connected to the frame 11 of the crawler robot 1, so as to connect the two crawler robots 1 in series.

[0056] The first winch 51 and the second winch 52 are both driven to rotate by winch motors, and respectively drive the first flexible rope 53 and the second flexible rope 54 to rotate.

[0057] Preferably, the first winch 51 is fixedly installed on one of the crawler robots 1 , and the second winch 52 is fixedly installed on the other crawler robot 1 .

[0058] like Figure 16As shown, holes are provided at the four corners of the connecting plate 55, and the first flexible rope 53 is connected to two diagonally located perforations of each connecting plate 55, and the second flexible rope 54 is connected to the other two diagonally located perforations of each connecting plate 55, so that the first flexible rope 53 and the second flexible rope 54 are cross-staggered. Further, the two ends of the first flexible rope 53 are respectively fixedly connected to one of the outer cover plates 57, and the two ends of the second flexible rope 54 are respectively fixedly connected to the other outer cover plate 57, so that when the first capstan 51 or the second capstan 57 rotates, the first flexible rope 53 or the second flexible rope 54 can be driven to keep moving to adjust the posture of the connecting arm 5.

[0059] like Figure 16 As shown, the first flexible rope 53 is connected to the first winch 51, and the second flexible rope 54 is connected to the second winch 52. When in use, when the connecting arm 5 needs to keep moving in the horizontal direction, the second flexible rope 54 is driven to move by the second winch 52. Since the two ends of the second flexible rope 54 are fixed on another outer cover plate 57, when the second flexible rope 54 keeps moving, the length of the second flexible rope 54 on both sides of the wire column 56 changes. When moving to the left, the length of the second flexible rope 54 on the left side is shortened, and the length of the second flexible rope 54 on the right side is extended. When moving to the right side, the length of the second flexible rope 54 on the left side is extended, and the length of the second flexible rope 54 on the right side is shortened. When it is necessary to keep rotating in the vertical direction, the first flexible rope 53 is driven to move by the first winch 51.

[0060] Working principle: See also Figure 1 and Figure 12 , the crawler robot 1 is described with only one end being the vacuum wheel 13. In this case, one end of the crawler robot 1 is the vacuum wheel 13, and the other end is the transmission wheel 34; When the crawler robot 1 needs to move forward, the driving motor 31 of the driving mechanism 3 drives the transmission gear 32 to keep rotating, thereby driving the transmission wheel 34 to keep rotating, and the rotation of the transmission wheel 34 drives the connecting crawler 14 to keep rotating, thereby driving the vacuum wheel 13 to keep rotating; During the rotation of the vacuum wheel 13, the suction device 12 continuously suctions the vacuum wheels 13 on both sides of the tracked robot 1 through the vacuum cavity 16. When the adsorption unit 15 on the connecting track 14 abuts against the opening block 1325 of the opening unit 132, the opening block 1325 is driven to move towards the inside of the gas passage 131 under the action of the connecting track 14. While the opening block 1325 moves inward, the sliding block 1328 is pushed to move through the central rod 1329. The movement of the sliding block 1328 drives the first umbrella rib 1326 to rotate, opening the film covering piece 1322 covering the fixed block 1321, so that the gas passage 131 is communicated with the suction passage 1511 of the adsorption unit 15. The inside of the housing 151 is suctioned by the suction device 12. Since a sealing diaphragm 154 is arranged inside the housing 151, during suction, the sliding core valve 152 and the sealing diaphragm 154 can be driven to move. At this time, the first elastic unit 155 is stretched, making the inside of 151 in a negative pressure state. During suction, since the suction device 12 continuously suctions the adsorption unit 15, the sliding core valve 152 will move to the limit position of the gas passage 131, that is, as Figure 7 shown in the state. At this time, when the flexible suction cup 153 contacts the wall, the upper and lower spaces of the sealing diaphragm 154 are communicated. The negative pressure state inside 151 is realized through the suction device 12, and the adsorption of the adsorption unit 15 is realized, that is, the adsorption state. Due to the rotational action of the connecting track 14 and the vacuum wheel 13, the adsorption unit 15 is separated from the opening unit 132. Under the action of the third elastic unit 1324, the sliding block 1328 is driven to reset, so that the gas passage 131 is closed by the film covering piece 1322 again. Since the suction cup is in contact with the contact surface at this time and is isolated from the outside atmosphere, after the adsorption unit 15 is separated from the opening unit 132, under the action of the first elastic unit 155, the sliding core valve 152 is reset, and the insertion rod 1561 of the opening unit 132 is inserted into the insertion ring groove 1521 on the sliding core valve 152 to prevent the sliding core valve 152 from completely resetting. At this time, the inside of the housing 151 is in a semi-vacuum state, thus generating an adsorption force. Therefore, the flexible suction cup 153 is in an adsorption state at this time.

[0061] Driven by the driving mechanism 3, the connecting track 14 continues to rotate. When the opening rod 1562 of the exhaust unit 156 abuts against the abutting housing 17, the opening rod 1562 rotates, driving the insertion rod 1561 to move outward through the connecting rod 1564. Further, the insertion rod 1561 is separated from the insertion ring groove 1521 on the sliding core valve 152. At this time, the first elastic unit 155 recovers its deformation, pulling the sealing diaphragm 154 to reset, so that the flexible suction cup 153 loses its adsorption effect. At this time, the adsorption unit 15 loses its suction effect, and the adsorption unit 15 is in a deflation state.

[0062] After moving to the specified position, the suction device 12 can be turned off, and the adsorption unit 15 adsorbed to the side wall of the bridge deck keeps adsorbed to the side wall of the bridge deck. The detection probe 2 is used to detect the splicing gap of the bridge. The detection probe 2 adopts a flexible robotic arm structure and can extend into the gap for detection.

[0063] Please refer to Figure 2 、 Figure 3 、 Figures 13 - 15 , taking the crawler robot 1 with vacuum wheels 13 provided on both sides as an example. At this time, the vacuum wheel 13 at one end can be driven; Among them, the working principles of the vacuum wheel 13, the suction device 12, the drive motor 31, the transmission gear 32, the auxiliary wheel 33, and the connecting crawler 14 are the same as those described above, and will not be elaborated here.

[0064] It should be noted that in this embodiment, the opening rod 1562 abuts against the sliding shell 43 to drive the sliding core valve 152 to reset.

[0065] Taking Figure 13 the crawler robot 1 moving forward to the left as an example. At this time, the vacuum wheels 13 at the front and rear ends both keep rotating counterclockwise. The first gear 412, the second gear 413, the third gear 414, and the fourth gear 415 inside the gearbox 41 on the left drive the inner ratchet 442 to keep rotating. In this transmission direction, the inner ratchet pawl 443 on the inner ratchet 442 abuts against the ratchet groove 4411 on the outer ratchet 441, driving the outer ratchet 441 to keep rotating, and then can drive the rotating screw 45 on one side to keep rotating. The rotation of the rotating screw 45 drives the sliding shell 43 to slide on the frame 11 in the direction away from the advancing direction of the crawler robot 1. When the sliding shell 43 slides onto the rotating screw 45 of the other ratchet mechanism 44, the sliding shell 43 meshes with the rotating screw 45 on the other side. Under the pushing action of the sliding shell 43, the rotating screw 45 on the other side rotates. However, since the transmission directions of the two ratchet mechanisms 44 are opposite, at this time, the outer ratchet 441 of the other ratchet mechanism 44 rotates outside the inner ratchet 442, and the inner ratchet 442 does not rotate.

[0066] Furthermore, the thread directions of the rotating screws 45 at both ends of the crawler robot 1 are the same. Taking Figure 3 the crawler robot 1 moving forward to the left as an example, when the sliding shell 43 slides onto the rotating screw 45 on the right side, it can directly mesh with the rotating screw 45 on the right side to drive the rotating screw 45 to rotate. However, since Figure 3The ratchet mechanisms 44 on the left and right sides have opposite transmission directions. At this time, the outer ratchet 441 of the ratchet mechanism 44 on the right rotates outside the inner ratchet 442. Conversely, when moving forward to the right, the ratchet mechanism 44 on the right is driven, and the rotating screw 45 on the right rotates in the reverse thread direction. Therefore, the sliding housing 43 can be pushed to the left, and the ratchet mechanism 44 on the left cannot be driven.

[0067] When the tracked robot 1 moves forward to the other side, the working principle of the moving part is the same as above, so it will not be described again.

[0068] It should be noted that in this embodiment, the number of vacuum cavities 16 is two, which are respectively arranged at the front and rear ends of the frame 11. The suction devices 12 are respectively in communication with the two vacuum cavities 16. When moving to one side, the vacuum wheels 13 on the side away from the moving direction do not suck, and only one end of the vacuum cavity 16 is sucked through the electromagnetic valve control of the suction device 12.

[0069] The first elastic unit 155, the second elastic unit 1563, and the third elastic unit 1324 mentioned in this article have elastic coefficients that meet the technical requirements of the technical solution of the present invention.

[0070] Those skilled in the art can understand that other similar connection methods can also implement the present invention. For example, welding, bonding, or screwing, etc.

[0071] Only some exemplary embodiments of the present invention have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the protection scope of the claims of the present invention.

Claims

1. A spliced bridge gap detection robot, including a crawler robot (1), characterized in that, It further includes: A detection probe (2), which is arranged on the tracked robot (1); The tracked robot (1) includes a frame (11), a suction device (12) arranged on the frame (11), a vacuum wheel (13) communicated with the suction device (12), a connecting track (14) connected to the vacuum wheel (13), and an adsorption unit (15) arranged on the connecting track (14). The adsorption unit (15) has a suction state, a vacuum state, and a deflation state. A gas passage (131) is formed on the vacuum wheel (13), and an opening unit (132) is arranged in the gas passage (131); The opening unit (132) intermittently abuts against the connecting track (14) as the tracked robot (1) moves, and intermittently conducts the gas passage (131) and the adsorption unit (15); The adsorption unit (15) adaptively switches among the suction state, the vacuum state, and the deflation state in sequence as the tracked robot (1) moves.

2. The spliced bridge gap detection robot according to claim 1, characterized in that, The adsorption unit (15) includes a housing (151), a sliding core valve (152), a flexible suction cup (153), a sealing diaphragm (154), and a first elastic unit (155). The flexible suction cup (153) is installed at the end of the housing (151). A suction passage (1511) is formed on the housing (151). The sliding core valve (152) is slidably connected to the suction passage (1511). The sealing diaphragm (154) is connected to the end of the sliding core valve (152). The first elastic unit (155) is arranged between the housing (151) and the sealing diaphragm (154).

3. The spliced bridge gap detection robot according to claim 2, characterized in that, An exhaust unit (156) is arranged on the housing (151). The exhaust unit (156) includes a plugging rod (1561), an opening rod (1562), and a second elastic unit (1563). A plugging ring groove (1521) is formed at the end of the sliding core valve (152). An exhaust passage (1565) is formed on the outer wall of the housing (151). The exhaust passage (1565) is communicated with the external environment and the suction passage (1511). The plugging rod (1561) is slidably connected to the exhaust passage (1565). The second elastic unit (1563) is arranged between the exhaust passage (1565) and the plugging rod (1561). The opening rod (1562) is rotatably connected to the housing (151), and the opening rod (1562) is in transmission connection with the plugging rod (1561).

4. The spliced bridge gap detection robot according to claim 1, characterized in that, The opening unit (132) includes a fixed block (1321) and a film covering (1322). The fixed block (1321) is fixedly connected in the gas passage (131). An air vent groove (1323) for gas to pass through is formed on the fixed block (1321). The film covering (1322) is arranged on the outer wall of one side of the fixed block (1321), and the film covering (1322) covers one side of the air vent groove (1323).

5. The spliced bridge gap detection robot according to claim 4, characterized in that The opening unit (132) further comprises a central rod (1329), a third elastic unit (1324), an opening block (1325), a first rib (1326) and a second rib (1327); the central rod (1329) is slidably connected to the fixed block (1321); the opening block (1325) is connected to the end of the central rod (1329); one end of the central rod (1329) away from the opening block (1325) is connected to the sliding block (1328); a gas pipe (136) is installed in the gas passage (131); one end of the third elastic unit (1324) is connected to the gas pipe (136) and the other end is connected to the sliding block (1328); the first rib (1326) is rotatably connected to the sliding block (1328) and the other end is connected to the film sheet (1322); one end of the second rib (1327) is rotatably connected to the fixed block (1321) and the other end is rotatably connected to the first rib (1326).

6. The spliced bridge gap detection robot according to claim 1, characterized in that, The vacuum wheel (13) is rotatably connected to the frame (11); the vacuum wheel (13) comprises a sprocket body (133) and an air wheel (134); a connecting pipe (135) is installed on the air wheel (134); the gas channel (131) is connected to the connecting pipe (135); the sprocket body (133) is installed on the outer wall of the connecting pipe (135); a vacuum chamber (16) is provided on the frame (11); the suction device (12) is connected to the vacuum chamber (16); and the vacuum chamber (16) is connected to the connecting pipe (135).

7. The spliced bridge gap detection robot according to claim 6, characterized in that, The crawler robot (1) further comprises a driving mechanism (3), the driving mechanism (3) comprising a driving motor (31) mounted on a frame (11), a transmission gear (32) and an auxiliary wheel (33) arranged at an output end of the driving motor (31), the transmission gear (32) being meshed with a sprocket body (133), the sprocket body (133) being in transmission connection with a connecting crawler (14), the auxiliary wheel (33) being rotationally connected to the frame (11), and the auxiliary wheel (33) being rotationally connected to the connecting crawler (14).

8. The spliced bridge gap detection robot according to claim 1, characterized in that The invention also comprises a sliding housing mechanism (4), the sliding housing mechanism (4) comprising a gear box (41), a transmission shaft (42) and a sliding housing (43), the gear boxes (41) being respectively arranged at two ends of the frame (11), the sliding housing (43) being slidably connected to the frame (11), the gear box (41) being transmission-connected to the vacuum wheel (13), the two ends of the transmission shaft (42) being transmission-connected to the gear boxes (41) at the front and rear sides of the frame (11), and the sliding housing (43) being transmission-connected to the transmission shaft (42).

9. The spliced bridge gap detection robot according to claim 8, wherein, The drive shaft rod (42) includes a ratchet mechanism (44) and a rotating screw (45). The ratchet mechanism (44) includes an outer ratchet (441) and an inner ratchet (442). The outer ratchet (441) is rotatably connected to the frame (11). One end of the rotating screw (45) is connected to the outer ratchet (441). The inner ratchet (442) is drivingly connected to the gearbox (41). An inner ratchet pawl (443) is slidably connected to the inner ratchet (442), and the inner ratchet pawl (443) abuts against the inner wall of the outer ratchet (441).

10. The spliced bridge gap detection robot according to claim 1, characterized in that, It further includes a connecting arm (5). The number of the tracked robots (1) is multiple, and the multiple tracked robots (1) are connected to each other through the connecting arm (5).

Images