A special operation robot for complex working conditions acquisition

Abstract

This invention discloses a special-purpose robot for collecting data under complex working conditions, relating to the field of special-purpose robots. It includes an overhead installation mechanism, an overhead walking mechanism, and a detection mechanism. The overhead installation mechanism includes a front anchor frame, a rear anchor frame, and overhead steel cables. Two overhead steel cables are arranged parallel to each other between the front and rear anchor frames, with their ends connected to the front and rear anchor frames respectively. The overhead walking mechanism includes a walking base that can move on the overhead steel cables. A deflection platform is rotatably mounted on the walking base, with its rotation axis arranged horizontally. The detection mechanism includes a detection base plate, a detection box seat, and industrial cameras. The detection base plate is mounted on the deflection platform, and the detection box seat is slidably mounted on the detection base plate. Multiple industrial cameras are linearly arranged inside the detection box seat, enabling the detection of the inner top wall of the culvert. This eliminates the blind spots caused by insufficient height in traditional special-purpose robots, achieving comprehensive coverage detection of the inner top wall of the culvert.

Description

Technical Field

[0001] This invention relates to the field of special-purpose robots, specifically a special-purpose robot for collecting data under complex working conditions. Background Technology

[0002] Specialized robots are needed for data collection and quality inspection in complex working conditions and environments. Complex working conditions typically manifest as confined and narrow working environments, irregular spatial structures, harsh environmental conditions (such as dampness, dust, and dim lighting), or inaccessible working areas (such as high altitudes, deep trenches, and overhead structures). During manual inspection, inspectors must enter hazardous areas, facing high safety risks, and are limited by their perspective and physical strength, making it easy to miss hidden defects and compromise data accuracy. In such cases, specialized robots are needed to replace manual inspection. Culverts, as key structures in transportation and water conservancy infrastructure, are typical examples of complex working conditions. The spaces inside culverts are narrow and enclosed, dimly lit, poorly ventilated, and constantly damp. The inner roof wall, as the core component bearing the load from above and resisting erosion, is prone to defects such as cracks, hollow areas, leaks, and concrete spalling. However, existing detection methods have significant shortcomings in inspecting the roof walls of culverts: Firstly, the roof walls inside culverts are generally quite high, and traditional special-operation robots, mostly using tracked drive designs, are limited by their own structural height, making it difficult for detection components to reach the roof area. This results in insufficient detection height and range, making it impossible to comprehensively cover cracks, leaks, and other defects in the roof walls, creating numerous blind spots. Secondly, in the crack seepage detection stage, the humid environment inside culverts causes water vapor to easily condense on the roof surface. Existing vision inspection systems struggle to distinguish between water vapor and water droplets seeping through cracks, easily misjudging water vapor as seepage marks, leading to inaccurate detection results. At the same time, some cracks have a slow water seepage rate, and no obvious water droplet seepage may appear during a single inspection period, leading to missed or incorrect detection of the water seepage characteristics of cracks, making it impossible to accurately assess the severity of the cracks. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a special operation robot for collecting data under complex working conditions, thereby solving the deficiencies of the prior art.

[0004] The objective of this invention is achieved through the following technical solution: a special-purpose robot for collecting data under complex working conditions, comprising an overhead installation mechanism, an overhead walking mechanism, a detection mechanism, and a water-permeable vibration mechanism. The overhead installation mechanism includes a front anchor frame, a rear anchor frame, and overhead steel cables. Two overhead steel cables are arranged parallel to each other between the front and rear anchor frames, with both ends of the overhead steel cables connected to the front and rear anchor frames respectively. The overhead walking mechanism includes a walking base capable of moving on the overhead steel cables. A deflection platform is rotatably mounted on the walking base, and the rotation axis of the deflection platform is horizontally arranged. The detection mechanism includes a detection base plate... The system includes a detection box base and industrial cameras. The detection base plate is mounted on a deflection platform, and the detection box base is slidably mounted on the detection base plate. Multiple industrial cameras are linearly arranged inside the detection box base. The water seepage vibration mechanism includes a lifting base plate, a position adjustment seat, and a vibration turntable. The lifting base plate is mounted on a traveling base and has a degree of freedom to move along the height direction of the traveling base. The position adjustment seat is slidably mounted on the lifting base plate, and the vibration turntable is rotatably mounted on the position adjustment seat. Multiple vibration excitation rods are slidably inserted through the top of the vibration turntable, and the vibration excitation rods have a linear degree of freedom to reciprocate along the height direction of the vibration turntable.

[0005] Furthermore, the vibrating turntable is provided with a driving cavity, and the plurality of vibrating excitation rods are evenly divided into two rows. The vibrating excitation rods in each row pass through the driving cavity and are connected to the lifting rods. A first spring is sleeved on the vibrating excitation rod. The first spring is located in the driving cavity, and the two ends of the first spring are respectively connected to the vibrating turntable and the vibrating excitation rod. A driving assembly is provided in the driving cavity. The driving assembly includes a horizontal sliding seat and a driving push rod. The driving push rod is disposed on the horizontal sliding seat and has the degree of freedom to move along the axial direction of the vibrating excitation rod. The horizontal sliding seat is used to drive the driving push rod to reciprocate between the two lifting rods.

[0006] Furthermore, the drive assembly also includes a servo motor and a cam. The servo motor is mounted on a vibrating turntable, and the output shaft of the servo motor is connected to the cam. The rotation axis of the cam is horizontally set. The sidewall of the cam has a track groove along its circumference. Two track grooves are formed along the axial direction of the cam. The two track grooves are located directly below the two lifting rods. The track grooves have notches at the proximal end of the cam. The sidewall of the cam has a first inclined groove and a second inclined groove at the notches of the track grooves. The first inclined groove and the second inclined groove are arranged in an X shape. The two ends of the first inclined groove are connected to one end of the two track grooves, and the two ends of the second inclined groove are connected to the other end of the two track grooves. The bottom of the drive rod is movably connected to a paddle that passes through a horizontal sliding seat. The paddle slides and adapts to the track groove. A second spring is sleeved on the drive rod. The two ends of the second spring are connected to the horizontal sliding seat and the drive rod, respectively.

[0007] Furthermore, two supports are fixedly fixed at intervals along a direction perpendicular to the overhead steel cable on the walking base, and a main shaft is arranged between the two supports. The main shaft is rotatably connected to the supports, and a bushing is fixedly sleeved on the main shaft. The deflection platform is fixed on the bushing. A first motor is arranged on one of the supports, and the output shaft of the first motor is driven and connected to the main shaft. A lead screw groove is opened on the top of the detection base plate, and a lead screw is rotatably arranged in the lead screw groove. A lead screw nut is threaded on the lead screw, and the lead screw nut is slidably adapted to the lead screw groove. The detection box base is installed on the lead screw nut. A second motor is installed at one end of the detection base plate, and the output shaft of the second motor is driven and connected to the lead screw.

[0008] Furthermore, the top surface of the testing chamber is transparent, and a cleaning assembly is provided on the testing chamber. The cleaning assembly includes a film feeding roller, a film taking-up roller, and a film winding motor. The film feeding roller and the film taking-up roller are rotatably mounted at both ends of the testing chamber. A transparent film is wound onto the film feeding roller, and the transparent film is wound around the film taking-up roller after passing through the top surface of the testing chamber. The film winding motor is mounted on the testing chamber, and the output shaft of the film winding motor is connected to the film taking-up roller.

[0009] Furthermore, the water-permeable vibration mechanism also includes a scissor-type telescopic structure and a base plate electric push rod. Scissor-type telescopic structures are provided on both sides of the lifting base plate. One end of the bottom of each scissor-type telescopic structure is hinged to the walking base, and the other end is slidably connected to the walking base. One end of the top of each scissor-type telescopic structure is hinged to the lifting base plate, and the other end is slidably connected to the lifting base plate. The sliding ends of the bottom of the two sets of scissor-type telescopic structures are connected together by a connecting rod. The base plate electric push rod is mounted on the walking base, and the telescopic shaft of the base plate electric push rod is connected to the connecting rod.

[0010] Furthermore, the top of the lifting base plate is provided with a sliding groove, and a position screw is rotatably installed in the sliding groove. A position slider is threaded onto the position screw and slides to fit into the sliding groove. A position adjustment seat is installed on the position slider. A third motor is installed at one end of the lifting base plate, and the output shaft of the third motor is driven and connected to the position screw. A rotating shaft is fixed on one side of the vibrating turntable and is rotatably connected to the position adjustment seat. A fourth motor is installed on the side wall of the position adjustment seat, and the output shaft of the fourth motor is driven and connected to the rotating shaft.

[0011] Furthermore, both the front and rear anchoring frames are equipped with cable drive assemblies. The cable drive assembly includes a traction motor, a cable roller, and a drive cable. The cable roller is rotatably mounted, one end of the drive cable is wound around the cable roller, and the other end is connected to the traveling base. The output shaft of the traction motor is connected to a drive gear, and one end of the cable roller is connected to a driven gear. The driven gear meshes with the drive gear.

[0012] Furthermore, the walking base includes an upper walking base and a lower walking base. The bottom of the upper walking base is rotatably equipped with two upper shafts, and two upper V-shaped wheels are fixedly mounted on the upper shafts. The top of the lower walking base is rotatably equipped with two lower shafts, and two lower V-shaped wheels are fixedly mounted on the lower shafts. The lower walking base is connected to the upper walking base by bolts, and the overhead steel cable is restricted between the upper V-shaped wheels and the lower V-shaped wheels.

[0013] Furthermore, it also includes a sound wave excitation mechanism, which includes a base and an impact rod. The base is fixed to the top of the position adjustment seat, and the impact rod slides through the top of the base. The base has an installation cavity, and the impact rod passes through the installation cavity and is connected to a rack. An excitation motor is installed on the side wall of the base, and the output shaft of the excitation motor passes through the installation cavity and is connected to a semi-gear. The toothed area of ​​the semi-gear meshes with the rack. The impact rod is connected to an impact spring, and the end of the impact spring away from the impact rod is connected to the base.

[0014] The beneficial effects of this invention are:

[0015] 1. An overhead steel cable support system is constructed using an overhead installation mechanism, coupled with a walking base that can move stably on the steel cable. This overcomes the height limitations of traditional tracked robots and easily adapts to high-ceiling-wall operation scenarios such as culverts. The walking base achieves precise movement along the length of the culvert via a steel cable drive component, enabling the inspection mechanism to cover the inner ceiling of the culvert for inspection work. This effectively eliminates blind spots caused by insufficient height in traditional special-operation robots, achieving comprehensive coverage inspection of the inner ceiling of the culvert.

[0016] 2. The vibration excitation rod repeatedly strikes around the crack, which on the one hand shakes off the water vapor condensed on the top surface to avoid confusion between water vapor and seeping water droplets; on the other hand, it accelerates the water seepage rate inside the crack, so that the crack that originally seeped slowly will show obvious seepage characteristics during the detection period, effectively solving the problem of missed detection of slow seepage cracks. Attached Figure Description

[0017] Figure 1 This is a partial structural schematic diagram of a special-purpose robot for collecting data under complex working conditions according to the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of a special-purpose robot for collecting data under complex working conditions, according to the present invention. Figure 1 ;

[0019] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0020] Figure 4 This is a schematic diagram of the structure of a special-purpose robot for collecting data under complex working conditions, according to the present invention. Figure 2 ;

[0021] Figure 5 for Figure 4 Enlarged view at point B in the middle;

[0022] Figure 6 This is a schematic diagram of the structure of a special-purpose robot for collecting data under complex working conditions, according to the present invention. Figure 3 ;

[0023] Figure 7 This is a schematic diagram of the internal structure of the vibration turntable in a special operation robot for collecting data under complex working conditions, according to the present invention.

[0024] Figure 8 This is a schematic diagram of the cam structure in a special-operation robot for collecting data under complex working conditions according to the present invention;

[0025] Figure 9 This is a schematic diagram of the internal structure of the base of a special-operation robot for collecting data under complex working conditions, according to the present invention.

[0026] Figure 10 for Figure 9 Enlarged view at point C;

[0027] Figure 11 This is a front view of the walking base in a special-operation robot for collecting data under complex working conditions, according to the present invention.

[0028] In the diagram, 1-front anchor frame, 2-rear anchor frame, 3-overhead steel cable, 4-walking base, 5-deflection platform, 6-detection base plate, 7-detection box base, 8-industrial camera, 9-lifting base plate, 10-position adjustment seat, 11-vibration turntable, 12-vibration excitation rod, 13-drive cavity, 14-lifting rod, 15-first spring, 16-horizontal sliding seat, 17-drive top rod, 18-servo motor, 19-cam, 20-track groove, 21-first inclined groove, 22-second inclined groove, 23-paddle, 24-second spring, 25-support, 26-main shaft, 27-first motor, 28-screw groove, 29-screw, 30-second motor, 31-film feeding roller, 32-film taking roller, 33-film winding motor, 34-shearing roller Telescopic structure, 35-base plate electric push rod, 36-connecting rod, 37-slide groove, 38-position screw, 39-third motor, 40-rotating shaft, 41-fourth motor, 42-traction motor, 43-steel cable roller, 44-drive steel cable, 45-drive gear, 46-driven gear, 47-upper traveling seat, 48-lower traveling seat, 49-upper shaft, 50-upper V-wheel, 51-lower shaft, 52-lower V-wheel, 53-base, 54-impact rod, 55-rack, 56-excitation motor, 57-half-gear, 58-impact spring, 59-first vibration damping shaft, 60-second vibration damping shaft, 61-vibration damping gear, 62-vibration damping ratchet, 63-vibration damping rack, 64-electric push rod, 65-vibration damping pawl, 66-pawl spring. Detailed Implementation

[0029] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0030] Example 1

[0031] like Figures 1 to 11As shown, a special-purpose robot for collecting data under complex working conditions includes an overhead mounting mechanism, an overhead walking mechanism, a detection mechanism, and a water-permeable vibration mechanism. The overhead mounting mechanism includes a front anchor frame 1, a rear anchor frame 2, and overhead steel cables 3. Two overhead steel cables 3 are arranged parallel to each other between the front anchor frame 1 and the rear anchor frame 2, with both ends of the overhead steel cables 3 connected to the front anchor frame 1 and the rear anchor frame 2, respectively. The overhead walking mechanism includes a walking base 4 that can move on the overhead steel cables 3. A deflection platform 5 is rotatably mounted on the walking base 4, and the rotation axis of the deflection platform 5 is arranged horizontally. The detection mechanism includes a detection base plate 6, a detection box base 7, and industrial cameras 8. The detection base plate 6 is mounted on the deflection platform 5, and the detection box base 7 is slidably mounted on the detection base plate 6. Multiple industrial cameras 8 are linearly arranged inside the detection box base 7. The water-permeable vibration mechanism includes a lifting base plate 9, a position adjustment seat 10, and a vibration turntable 11. The lifting base plate 9 is mounted on the walking base 4. The lifting base plate 9 has the freedom to move along the height direction of the walking base 4. The position adjustment seat 10 is slidably set on the lifting base plate 9. The vibration turntable 11 is rotatably set on the position adjustment seat 10. Multiple vibration excitation rods 12 are slidably passed through the top of the vibration turntable 11. The vibration excitation rods 12 have the linear freedom to move back and forth along the height direction of the vibration turntable 11. The front anchor frame 1 and the rear anchor frame 2 are respectively arranged at both ends of the length direction of the culvert. Both the front anchor frame 1 and the rear anchor frame 2 are fixed to the ground with anchor rods. The overhead steel cable 3 passes through the culvert and connects the front anchor frame 1 and the rear anchor frame 2. The walking base 4 is supported by the overhead steel cable 3. The installation height of the overhead steel cable 3 is arranged according to the height of the culvert, so that the detection mechanism and the seepage vibration mechanism can approach the inner top wall of the culvert to complete the detection operation. By moving overhead, it gets rid of the height limitation of the traditional tracked robot and can easily adapt to high top wall operation scenarios such as culverts.The specific testing process is as follows: The traveling base 4 drives the testing mechanism and the water-permeable vibration mechanism to move along the length of the culvert. The industrial camera 8 performs visual imaging inspection of the inner top wall of the culvert. The traveling base 4 moves a distance equal to or less than the coverage distance of the industrial camera 8 along the length of the culvert, ensuring that the industrial camera 8 covers the entire length of the culvert. Next, the movement of the testing box 7 on the testing base plate 6 drives the industrial camera 8 to move along the width of the culvert. This allows the testing box 7 and the traveling base 4 to work together to achieve comprehensive inspection of the inner top wall of the culvert, avoiding missed detections. When the industrial camera 8 detects a crack, the traveling base 4 drives the water-permeable vibration mechanism to move to the crack location. The device is first positioned so that the vibration excitation rod 12 is positioned below the crack by the position adjustment seat 10. Then, the vibration excitation rod 12 is moved upward by the lifting base plate 9 to approach the inner top wall of the culvert. The angle of the vibration excitation rod 12 is adjusted by the deflection of the vibration turntable 11. The deflection axis of the vibration turntable 11 is set horizontally so that the vibration excitation rod 12 adapts to the culvert with an arc-shaped inner top wall. By frequently striking the area around the crack with the vibration excitation rod 12, the water vapor condensed on the top wall surface can be shaken off, avoiding confusion between water vapor and seeping water droplets. On the other hand, it can accelerate the water seepage rate inside the crack, so that the originally slow seeping crack will show obvious seepage characteristics during the detection period, effectively solving the problem of missed detection of slow seeping cracks.

[0032] Furthermore, when water seepage occurs in the crack, it indicates that the crack needs to be repaired. At this time, the location of the crack needs to be marked so that maintenance personnel can find the crack that needs repair in a timely manner. Therefore, a paint tank and a paint pump are installed on the lifting base plate 9, and a paint gun is installed on the vibrating turntable 11. The paint gun is connected to the paint pump through a hose, and the paint pump is connected to the paint tank through a paint inlet pipe. When water seepage is detected in the crack, the paint pump is started, and the paint gun sprays paint near the crack to mark it, so that maintenance personnel can quickly find the crack that needs repair.

[0033] Example 2

[0034] Based on Example 1, such as Figures 1 to 6As shown, both the front anchor frame 1 and the rear anchor frame 2 are equipped with cable drive assemblies. The cable drive assembly includes a traction motor 42, a cable roller 43, and a drive cable 44. The cable roller 43 is rotatably mounted, and one end of the drive cable 44 is wound around the cable roller 43, while the other end is connected to the traveling base 4. The output shaft of the traction motor 42 is connected to a drive gear 45, and one end of the cable roller 43 is connected to a driven gear 46. The driven gear 46 meshes with the drive gear 45. The traveling base 4 includes an upper traveling base 47 and a lower traveling base 48. Two upper shafts 49 are rotatably mounted on the bottom of the upper traveling base 47, and two upper V-shaped wheels 50 are fixedly mounted on the upper shafts 49. Two lower shafts 51 are rotatably mounted on the top of the lower traveling base 48, and two lower V-shaped wheels 52 are fixedly mounted on the lower shafts 51. The seat 48 is bolted to the upper traveling seat 47. The overhead steel cable 3 is confined between the upper V-shaped wheel 50 and the lower V-shaped wheel 52. First, the upper V-shaped wheel 50 is placed on the overhead steel cable 3. Then, the lower traveling seat 48 is installed on the upper traveling seat 47 from below the overhead steel cable 3, so that the overhead steel cable 3 is located in the V-shaped space between the upper V-shaped wheel 50 and the lower V-shaped wheel 52. Thus, the traveling base 4 is stably installed on the overhead steel cable 3. The two traction motors 42 rotate in opposite directions, causing the steel cable roller 43 of one steel cable drive component to wind up the driving steel cable 44, and the steel cable roller 43 of the other steel cable drive component to release the driving steel cable 44, thereby pulling the traveling base 4 to move on the overhead steel cable 3. By changing the winding and releasing states of the two steel cable drive components, the traveling base 4 can move back and forth.

[0035] Example 3

[0036] When no obvious water seepage is detected from a crack, it is still necessary to further detect the longitudinal depth of the crack to determine whether the crack needs to be repaired later. Traditional ultrasonic testing can quickly detect crack depth, but cracks in culverts are not standard longitudinal cracks; their internal cracks extend laterally and longitudinally to varying degrees. This results in low accuracy of ultrasonic crack detection. Therefore, based on Example 2, as... Figures 1 to 10As shown, it also includes a sound wave excitation mechanism, which includes a base 53 and an impact rod 54. The base 53 is fixed to the top of the position adjustment seat 10, and the impact rod 54 slides through the top of the base 53. The base 53 has an installation cavity, and the impact rod 54 passes through the installation cavity and is connected to a rack 55. An excitation motor 56 is installed on the side wall of the base 53. The output shaft of the excitation motor 56 passes through the installation cavity and is connected to a semi-gear 57. The toothed area of ​​the semi-gear 57 meshes with the rack 55. An impact spring 58 is connected to the impact rod 54, and the end of the impact spring 58 away from the impact rod 54 is connected to the base 53. The sound wave excitation mechanism also includes an ultrasonic generator, which uses a combination of mechanical detection and ultrasonic detection to jointly determine the depth of the crack. The principle of mechanical crack detection is that by striking the crack, the different crack depths produce different echo timbres. The excitation motor 56 drives the semi-gear 57 to rotate. When the toothed area of ​​the semi-gear 57 meshes with the rack 55, the semi-gear 57 drives the rack 55 to move downwards. The rack 55 drives the impact rod 54 to move downwards and compresses the impact spring 58, putting the impact rod 54 into a charged state. This is the initial state of the impact rod 54. When it is necessary to check the crack depth of cracks that have not leaked water, the excitation motor 56 drives the semi-gear 57 to continue rotating, causing the toothed area of ​​the semi-gear 57 to separate from the rack 55, so that the toothless area of ​​the semi-gear 57 corresponds to... The rack 55 causes the impact rod 54 to move upward under the reaction force of the impact spring 58, thereby causing the impact rod 54 to strike the crack and generate an echo. The generated echo is compared with the echo generated by the impact rod 54 striking a crack-free location. When the frequency of the echo is lower than the set range, it indicates that the crack needs to be repaired later. The crack is then marked with a paint gun. In practice, the echo generated by the impact of the impact rod 54 can also be fed back to the control room, where the staff can judge whether the crack needs to be repaired later based on the echo.

[0037] Example 4

[0038] Due to the action of the impact spring 58, such as Figure 1 , Figure 9 and Figure 10As shown, the impact rod 54 frequently strikes the inner wall, generating echoes that overlap and affect judgment. Therefore, based on Embodiment 3, the sound wave excitation mechanism also includes a vibration damping component. The vibration damping component includes a first vibration damping shaft 59, a second vibration damping shaft 60, and an electric push rod 64. Both the first vibration damping shaft 59 and the second vibration damping shaft 60 are rotatably connected to the base 53. A vibration damping gear 61 and a vibration damping ratchet 62 are mounted on the first vibration damping shaft 59. A vibration damping rack 63 is fixed on the impact rod 54. The vibration damping gear 61 meshes with the vibration damping rack 63. A vibration damping device is slidably mounted on the second vibration damping shaft 60. A pawl 65 is mounted on the second damping shaft 60, and a damping spring is fitted on it. The two ends of the damping spring are connected to the damping pawl 65 and the base 53, respectively. When the damping spring is in its normal state, the damping pawl 65 engages with the damping ratchet 62. The electric push rod 64 is mounted on the side wall of the base 53, and the damping pawl 65 is located on the moving path of the telescopic shaft of the electric push rod 64. A pawl spring 66 is connected to the outer arc surface of the damping pawl 65. Under the force of the pawl spring 66, the damping pawl 65 is inserted into the tooth groove of the damping ratchet 62. The engagement between the damping pawl 65 and the damping ratchet 62 restricts the impact. The impact rod 54 has a downward degree of freedom. When the impact rod 54 is in a charged state, the electric push rod 64 extends to push the vibration-damping pawl 65 to separate from the vibration-damping ratchet 62, unlocking the clockwise rotational degree of freedom of the first vibration-damping shaft 59, allowing the impact rod 54 to move downward smoothly into the charged state. When the impact rod 54 moves downward into position, the electric push rod 64 retracts and resets, causing the vibration-damping pawl 65 to reset under the force of the vibration-damping spring. This allows the vibration-damping pawl 65 to engage with the vibration-damping ratchet 62, restricting the clockwise rotational degree of freedom of the first vibration-damping shaft 59, thereby restricting the impact rod 54 from moving downward. When the impact rod 54 is released, it moves upward to strike the top wall of the culvert. At this time, the first damping shaft 59 rotates counterclockwise to allow the impact rod 54 to be released smoothly. When the impact rod 54 bounces back after hitting the top wall, it tends to move downward. Since the first damping shaft 59 cannot rotate clockwise, the impact rod 54 cannot drive the first damping shaft 59 to rotate through the meshing of the damping rack 63 and the damping gear 61. As a result, the impact rod 54 cannot bounce back, and the impact rod 54 only hits the top wall of the culvert once, avoiding the problem of echo confusion.

[0039] Example 5

[0040] Based on Example 4, such as Figures 1 to 8As shown, the vibrating turntable 11 has a driving cavity 13, and multiple vibration excitation rods 12 are evenly divided into two rows. Each row of vibration excitation rods 12 passes through the driving cavity 13 and is connected to a lifting rod 14. A first spring 15 is sleeved on the vibration excitation rod 12. The first spring 15 is located inside the driving cavity 13, and its two ends are respectively connected to the vibrating turntable 11 and the vibration excitation rod 12. A driving assembly is provided inside the driving cavity 13. The driving assembly includes a horizontal sliding seat 16 and a driving push rod 17. The driving push rod 17 is mounted on the horizontal sliding seat 16 and has a lifting rod 17 that extends along the vibration excitation rod 12. The 2-axis movement degree of freedom: the horizontal sliding seat 16 is used to drive the drive rod 17 to reciprocate between the two lifting rods 14. The drive assembly also includes a servo motor 18 and a cam 19. The servo motor 18 is mounted on the vibrating turntable 11, and the output shaft of the servo motor 18 is connected to the cam 19. The rotation axis of the cam 19 is horizontally set. The side wall of the cam 19 has a track groove 20 along its own circumference. Two track grooves 20 are formed along the axial direction of the cam 19. The two track grooves 20 are located directly below the two lifting rods 14. The track grooves 20 form a notch at the proximal end of the cam 19. The side wall of the cam 19 has a first inclined groove 21 and a second inclined groove 22 at the notch of the track groove 20. The first inclined groove 21 and the second inclined groove 22 are arranged in an X shape. The two ends of the first inclined groove 21 are respectively connected to one end of the two track grooves 20, and the two ends of the second inclined groove 22 are respectively connected to the other end of the two track grooves 20. The bottom of the drive rod 17 moves through the horizontal sliding seat 16 and is rotatably connected to a paddle 23. The paddle 23 slides and fits in the track groove 20. A second spring 24 is sleeved on the drive rod 17. The two ends of the second spring 24 are respectively connected to the horizontal sliding seat 16 and the drive rod 17. 7. The servo motor 18 drives the cam 19 to rotate. The distal end of the cam 19 pushes up the paddle 23, causing the drive rod 17 to move upward. When the proximal end of the cam 19 corresponds to the paddle 23, the drive rod 17 moves downward by its own weight. Thus, the rotation of the cam 19 can drive the drive rod 17 to move up and down reciprocally. The drive rod 17 pushes up the lifting rod 14 to move upward. The lifting rod 14 drives the vibration excitation rod 12 to squeeze the first spring 15 to move upward. When the drive rod 17 moves downward, the lifting rod 14 and the vibration excitation rod 12 are reset under the action of the first spring 15.Specifically: the first inclined groove 21 and the second inclined groove 22 are arranged on the proximal end of the cam 19. The paddle 23 moves within the first inclined groove 21, the second inclined groove 22, and the two track grooves 20. When the paddle 23 is located within one of the track grooves 20, as the distal end of the cam 19 rotates upward, the paddle 23 slides within the track groove 20 and pushes up the drive push rod 17. The drive push rod 17 pushes up one of the lifting rods 14, which in turn lifts the connected vibration excitation rod 12, causing it to... A series of vibration excitation rods 12 strike the top wall, and the cam 19 continues to rotate. When the proximal end of the cam 19 deflects upward, the paddle 23 moves into the first inclined groove 21. Under the paddle of the first inclined groove 21, the drive rod 17 drives the horizontal sliding seat 16 to move horizontally, causing the paddle 23 to move into another track groove 20. At this time, another lifting rod 14 is located on the moving path of the drive rod 17, causing the cam 19 to drive the drive rod 17 to lift the other lifting rod 14. 14 drives another row of vibration excitation rods 12 to strike the top wall. Then, cam 19 continues to rotate. When the proximal end of cam 19 deflects upward, the paddle 23 moves from another track groove 20 into the second inclined groove 22. Under the guidance of the second inclined groove 22, the drive rod 17 drives the horizontal sliding seat 16 to move back to its original position, so that the drive rod 17 lifts the previous lifting rod 14 again. Thus, under the rotation of cam 19, the horizontal sliding seat 16 can move back and forth between the two lifting rods 14, so that the drive rod 17 moves cyclically to the bottom of the two lifting rods 14. Through cam 19, the drive rod 17 moves upward to lift the vibration excitation rods 12, so that the two rows of vibration excitation rods 12 alternately strike the inner top wall of the culvert, thereby generating vibration. On the one hand, it can shake off the water vapor condensed on the surface of the top wall to avoid the confusion between water vapor and seepage droplets; on the other hand, it can accelerate the water seepage rate inside the crack, so that the crack that originally seeped slowly will show obvious seepage characteristics during the detection period. In practical implementation, when the vibration excitation rod 12 impacts the inner top wall of the culvert, interference will occur when the cam 19 continues to drive the drive rod 17 upward. Therefore, the vibration excitation rod 12 is a telescopic rod, comprising an upper rod and a lower rod. A sliding hole is provided at the bottom of the upper rod, and the top of the lower rod slides within the sliding hole. A connecting spring is installed within the sliding hole, with its two ends connected to the upper and lower rods respectively. Under the action of the connecting spring, the vibration excitation rod 12 moves upward first to impact the inner top wall of the culvert. When the cam 19 continues to drive the vibration excitation rod 12 upward, the lower rod compresses the connecting spring and moves within the upper rod. This ensures that while vibration is generated, interference does not occur between the various components of the seepage vibration mechanism.

[0041] Furthermore, the water-permeable vibration mechanism also includes a scissor telescopic structure 34 and a base plate electric push rod 35. Scissor telescopic structures 34 are provided on both sides of the lifting base plate 9. One end of the bottom of the scissor telescopic structure 34 is hinged to the traveling base 4, and the other end is slidably connected to the traveling base 4. One end of the top of the scissor telescopic structure 34 is hinged to the lifting base plate 9, and the other end is slidably connected to the lifting base plate 9. The sliding ends of the two sets of scissor telescopic structures 34 are connected together by a connecting rod 36. The base plate electric push rod 35 is installed on the traveling base 4. The telescopic shaft of the base plate electric push rod 35 is connected to the connecting rod 36. The telescopic movement of the base plate electric push rod 35 drives the scissor telescopic structure 34 to extend and retract, thereby driving the lifting base plate 9 to move up and down, thus adjusting the height of the vibration turntable 11. A groove 37 is provided on the top of the lifting base plate 9. A position screw 38 is rotatably installed in the groove 37. A position slider is threaded onto the position screw 38. The position slider slides and adapts to the groove 37. A position adjustment seat 10 is installed on the position slider. A third motor 39 is installed at one end of the lifting base plate 9. The output shaft of the third motor 39 is connected to the position screw 38. The third motor 39 drives the position screw 38 to rotate, causing the position slider to drive the position adjustment seat 10 to move linearly along the axial direction of the position screw 38. The direction of movement is along the width direction of the culvert, thereby adjusting the position of the vibration turntable 11 according to the location of the crack, so that the vibration excitation rod 12 can generate vibration around the crack. A rotating shaft 40 is fixed on one side of the vibration turntable 11. The rotating shaft 40 is rotatably connected to the position adjustment seat 10. A fourth motor 41 is installed on the side wall of the position adjustment seat 10. The output shaft of the fourth motor 41 is connected to the rotating shaft 40. The fourth motor 41 drives the rotating shaft 40 to rotate, and the rotating shaft 40 drives the position vibration turntable 11 to deflect. The axial direction of the rotating shaft 40 is parallel to the length direction of the culvert. For culverts with an arc-shaped inner top wall, the deflection angle of the vibration turntable 11 can be adjusted according to the arc surface, so that the vibration excitation rod 12 can smoothly act on the inner top wall of the culvert to generate vibration.

[0042] Example 6

[0043] Based on Example 5, such as Figures 1 to 6As shown, two supports 25 are fixed at intervals on the walking base 4 along a direction perpendicular to the overhead steel cable 3. A main shaft 26 is arranged between the two supports 25, extending towards the width of the culvert. The main shaft 26 is rotatably connected to the supports 25, and a bushing is fixedly sleeved on the main shaft 26. A deflection platform 5 is fixed on the bushing. A first motor 27 is arranged on one of the supports 25. The output shaft of the first motor 27 is connected to the main shaft 26. The first motor 27 drives the main shaft 26 to deflect, and the main shaft 26 drives the deflection platform 5 to deflect. The deflection platform 5 causes the industrial camera 8 to deflect to an inclined state, adjusting the imaging detection position of the industrial camera 8. The specific application is as follows: Since the detection mechanism and the water seepage vibration mechanism are arranged at intervals along the length of the culvert, when the water seepage vibration mechanism vibrates corresponding to the crack, The industrial camera 8 cannot capture the water seepage from the crack. At this point, the deflection platform 5 deflects the industrial camera 8 towards the crack, allowing it to successfully image and detect the vibration and water seepage. The top of the detection base plate 6 has a lead screw groove 28, within which a lead screw 29 is rotatably mounted. A lead screw nut is threaded onto the lead screw 29, slidingly fitting into the lead screw groove 28. The detection box base 7 is mounted on the lead screw nut. A second motor 30 is installed at one end of the detection base plate 6. The output shaft of the second motor 30 is connected to the lead screw 29. The second motor 30 drives the lead screw 29 to rotate, causing the lead screw nut to move the detection box base 7 linearly along the axial direction of the lead screw 29. This allows the industrial camera 8 to move along the width of the culvert, enabling detection at different locations.

[0044] Example 7

[0045] Because the seepage vibration mechanism vibrates the inner top wall of the culvert, soil, stones, and other debris adhering to the inner top wall of the culvert will fall off. This soil and dust easily accumulate on the top surface of the detection box 7, thus affecting the clarity of the industrial camera 8. Therefore, based on Embodiment Six, as... Figures 1 to 6 As shown, the top surface of the inspection box 7 is transparent. A cleaning assembly is installed on the inspection box 7, which includes a film feeding roller 31, a film take-up roller 32, and a film winding motor 33. The film feeding roller 31 and the film take-up roller 32 are rotatably mounted at both ends of the inspection box 7. A transparent film is wound on the film feeding roller 31. The transparent film passes over the top surface of the inspection box 7 and is wound onto the film take-up roller 32. The film winding motor 33 is mounted on the inspection box 7. The output shaft of the film winding motor 33 is connected to the film take-up roller 32. The film winding motor 33 drives the film take-up roller 32 to rotate, causing the film feeding roller 31 to release the transparent film. This allows the transparent film covered with dust and dirt to detach from the inspection box 7 and be wound onto the film take-up roller 32, while the clean transparent film covers the inspection box 7. This achieves rapid cleaning of the top surface of the inspection box 7, and the cleaning effect is better than that of traditional sweeping, enabling the industrial camera 8 to maintain high clarity for imaging inspection.

Claims

1. A special-purpose robot for data acquisition under complex working conditions, characterized in that, The system includes an overhead installation mechanism, an overhead walking mechanism, a detection mechanism, and a water seepage vibration mechanism. The overhead installation mechanism includes a front anchor frame (1), a rear anchor frame (2), and an overhead steel cable (3). Two overhead steel cables (3) are arranged parallel between the front anchor frame (1) and the rear anchor frame (2). The two ends of the overhead steel cables (3) are respectively connected to the front anchor frame (1) and the rear anchor frame (2). The overhead walking mechanism includes a walking base (4) that can move on the overhead steel cable (3). A deflection platform (5) is rotatably installed on the walking base (4). The rotation axis of the deflection platform (5) is arranged horizontally. The detection mechanism includes a detection base plate (6), a detection box base (7), and an industrial camera (8). The detection base plate (6) is installed on the deflection platform (5). The detection box base (7) is slidably mounted on the detection base plate (6). Multiple industrial cameras (8) are linearly arranged inside the detection box base (7). The water seepage vibration mechanism includes a lifting base plate (9), a position adjustment seat (10), and a vibration turntable (11). The lifting base plate (9) is mounted on the walking base (4) and has the freedom to move along the height direction of the walking base (4). The position adjustment seat (10) is slidably mounted on the lifting base plate (9). The vibration turntable (11) is rotatably mounted on the position adjustment seat (10). Multiple vibration excitation rods (12) are slidably mounted on the top of the vibration turntable (11). The vibration excitation rods (12) have the linear freedom to reciprocate along the height direction of the vibration turntable (11). The vibration turntable (11) is provided with a drive cavity (13). Multiple vibration excitation rods (12) are evenly divided into two rows. Each row of vibration excitation rods (12) passes through the drive cavity (13) and is connected to a lifting rod (14). A first spring (15) is sleeved on the vibration excitation rod (12). The first spring (15) is located in the drive cavity (13). The two ends of the first spring (15) are respectively connected to the vibration turntable (11) and the vibration excitation rod (12). The drive cavity (13) is provided with a drive assembly. The drive assembly includes a horizontal sliding seat (16) and a drive rod (17). The drive rod (17) is set on the horizontal sliding seat (16). The drive rod (17) has the freedom to move along the axial direction of the vibration excitation rod (12). The horizontal sliding seat (16) is used to drive the drive rod (17) to move back and forth between the two lifting rods (14). The drive assembly also includes a servo motor (18) and a cam (19). The servo motor (18) is mounted on the vibrating turntable (11). The output shaft of the servo motor (18) is connected to the cam (19). The rotation axis of the cam (19) is horizontally set. The sidewall of the cam (19) is provided with a track groove (20) along its own circumference. Two track grooves (20) are provided along the axial direction of the cam (19). The two track grooves (20) are respectively located directly below the two lifting rods (14). The track grooves (20) form a notch at the proximal end of the cam (19). The sidewall of the cam (19) is provided with a second track groove (20) at the notch of the track groove (20). A first inclined groove (21) and a second inclined groove (22) are arranged in an X shape. The two ends of the first inclined groove (21) are respectively connected to one end of the two track grooves (20), and the two ends of the second inclined groove (22) are respectively connected to the other end of the two track grooves (20). The bottom of the drive rod (17) moves through the horizontal sliding seat (16) and is rotatably connected to a paddle (23). The paddle (23) slides and adapts to the track groove (20). A second spring (24) is sleeved on the drive rod (17). The two ends of the second spring (24) are respectively connected to the horizontal sliding seat (16) and the drive rod (17).

2. The special-purpose robot for collecting data under complex working conditions according to claim 1, characterized in that, The walking base (4) has two fixed supports (25) at intervals along the direction perpendicular to the overhead steel cable (3). A main shaft (26) is provided between the two supports (25). The main shaft (26) is rotatably connected to the supports (25). A bushing is fixedly sleeved on the main shaft (26). The deflection platform (5) is fixed on the bushing. A first motor (27) is provided on one of the supports (25). The output shaft of the first motor (27) is connected to the main shaft (26). A screw groove (28) is provided on the top of the detection base plate (6). A screw (29) is rotatably provided in the screw groove (28). A screw nut is threaded on the screw (29). The screw nut is slidably adapted to the screw groove (28). The detection box base (7) is installed on the screw nut. A second motor (30) is installed at one end of the detection base plate (6). The output shaft of the second motor (30) is connected to the screw (29).

3. A special-purpose robot for collecting data under complex working conditions according to claim 1, characterized in that, The top surface of the detection box (7) is transparent. A cleaning assembly is provided on the detection box (7). The cleaning assembly includes a film feeding roller (31), a film taking-up roller (32), and a film winding motor (33). The film feeding roller (31) and the film taking-up roller (32) are rotatably installed at both ends of the detection box (7). A transparent film is wound on the film feeding roller (31). The transparent film is wound around the film taking-up roller (32) after passing through the top surface of the detection box (7). The film winding motor (33) is installed on the detection box (7). The output shaft of the film winding motor (33) is connected to the film taking-up roller (32).

4. A special-purpose robot for collecting data under complex working conditions according to claim 1, characterized in that, The water seepage vibration mechanism also includes a scissor telescopic structure (34) and a base plate electric push rod (35). The lifting base plate (9) is provided with scissor telescopic structures (34) on both sides. One end of the bottom of the scissor telescopic structure (34) is hinged to the walking base (4), and the other end of the bottom is slidably connected to the walking base (4). One end of the top of the scissor telescopic structure (34) is hinged to the lifting base plate (9), and the other end of the top is slidably connected to the lifting base plate (9). The sliding ends of the bottom of the two sets of scissor telescopic structures (34) are connected together by a connecting rod (36). The base plate electric push rod (35) is installed on the walking base (4), and the telescopic shaft of the base plate electric push rod (35) is connected to the connecting rod (36).

5. A special-purpose robot for collecting data under complex working conditions according to claim 1, characterized in that, The top of the lifting base plate (9) is provided with a sliding groove (37), and a position screw (38) is rotatably provided in the sliding groove (37). A position slider is threaded on the position screw (38) and the position slider is slidably adapted to the sliding groove (37). The position adjustment seat (10) is installed on the position slider. A third motor (39) is installed at one end of the lifting base plate (9). The output shaft of the third motor (39) is connected to the position screw (38). A rotating shaft (40) is fixed on one side of the vibration turntable (11). The rotating shaft (40) is rotatably connected to the position adjustment seat (10). A fourth motor (41) is installed on the side wall of the position adjustment seat (10). The output shaft of the fourth motor (41) is connected to the rotating shaft (40).

6. A special-purpose robot for collecting data under complex working conditions according to claim 1, characterized in that, Both the front anchor frame (1) and the rear anchor frame (2) are equipped with a cable drive assembly. The cable drive assembly includes a traction motor (42), a cable roller (43), and a drive cable (44). The cable roller (43) is rotatably mounted. One end of the drive cable (44) is wound around the cable roller (43), and the other end is connected to the walking base (4). The output shaft of the traction motor (42) is connected to a drive gear (45). One end of the cable roller (43) is connected to a driven gear (46), and the driven gear (46) meshes with the drive gear (45).

7. A special-purpose robot for collecting data under complex working conditions according to claim 1, characterized in that, The walking base (4) includes an upper walking base (47) and a lower walking base (48). The bottom of the upper walking base (47) is rotatably equipped with two upper shafts (49), and two upper V-shaped wheels (50) are fixedly mounted on the upper shafts (49). The top of the lower walking base (48) is rotatably equipped with two lower shafts (51), and two lower V-shaped wheels (52) are fixedly mounted on the lower shafts (51). The lower walking base (48) is connected to the upper walking base (47) by bolts. The overhead steel cable (3) is restricted between the upper V-shaped wheels (50) and the lower V-shaped wheels (52).

8. A special-purpose robot for collecting data under complex working conditions according to claim 1, characterized in that, It also includes a sound wave excitation mechanism, which includes a base (53) and an impact rod (54). The base (53) is fixed to the top of the position adjustment seat (10). The impact rod (54) slides through the top of the base (53). The base (53) has an installation cavity. The impact rod (54) passes through the installation cavity and is connected to a rack (55). An excitation motor (56) is installed on the side wall of the base (53). The output shaft of the excitation motor (56) passes through the installation cavity and is connected to a semi-gear (57). The toothed area of ​​the semi-gear (57) meshes with the rack (55). The impact rod (54) is connected to an impact spring (58). The end of the impact spring (58) away from the impact rod (54) is connected to the base (53).

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