A crawler robot for bridge expansion joint detection

Abstract

This application relates to a tracked robot for inspecting bridge expansion joints, comprising: a frame; two sets of moving components mounted on opposite sides of the frame, each set of moving components including a set of moving wheels and a track wound around the moving wheels; a vision inspection device mounted on the frame, used to collect deformation data of the track, and the vision inspection device is signal-connected to a controller; a drive assembly mounted on one end of the frame, with its output shaft connected to a drive wheel, and the track on the corresponding side wound around the drive wheel; and an adjustment mechanism mounted on the end of the frame away from the drive assembly, the adjustment mechanism being signal-connected to the controller, the adjustment mechanism being connected to an adjustment wheel, and the track on the corresponding side wound around the adjustment wheel, the adjustment mechanism being used to drive the adjustment wheel to move toward or away from the drive wheel.

Description

Technical Field

[0001] This application relates to the field of bridge engineering technology, specifically to a tracked robot for detecting bridge expansion joints. Background Technology

[0002] The tracked robot used for bridge expansion joint inspection is an intelligent mobile robot specifically designed for bridge inspection. It uses tracks as its movement mechanism and is equipped with vision inspection devices and various sensors. It can move flexibly between complex structures such as bridge expansion joints to complete the inspection of defects such as cracks and damage.

[0003] In related technologies, most tracked robots do not have a tension adjustment structure for their track walking mechanism, making it impossible to flexibly adjust the tension according to the working conditions and track wear. If the track is too tight, it will easily aggravate component wear and increase the operating load. If it is too loose, it will easily cause slippage and deviation, which will seriously affect the robot's walking stability and detection accuracy. Summary of the Invention

[0004] This application provides a tracked robot for bridge expansion joint inspection, which solves the problem that most tracked robots in related technologies do not have a tension adjustment structure for their track walking mechanism. This makes it impossible to flexibly adjust the tension according to the working conditions and track wear. If the track is too tight, it will easily aggravate component wear and increase the operating load. If it is too loose, it will easily cause slippage and deviation, which seriously affects the robot's walking stability and inspection accuracy.

[0005] In a first aspect, embodiments of this application provide a tracked robot for detecting bridge expansion joints, comprising: a frame; two sets of moving components, the two sets of moving components being mounted on opposite sides of the frame, each set of moving components including a set of moving wheels and a track wound around the set of moving wheels; a vision inspection instrument, the vision inspection instrument being mounted on the frame, the vision inspection instrument being used to collect deformation data of the track, and the vision inspection instrument being signal-connected to a controller; a drive assembly, the drive assembly being mounted on one end of the frame, and the output shaft of the drive assembly being connected to a drive wheel, the track on the corresponding side being wound around the drive wheel; and an adjustment mechanism, the adjustment mechanism being mounted on the end of the frame away from the drive assembly, the adjustment mechanism being signal-connected to the controller, the adjustment mechanism being connected to an adjustment wheel, the track on the corresponding side being wound around the adjustment wheel, and the adjustment mechanism being used to drive the adjustment wheel to move in a direction closer to or away from the drive wheel.

[0006] In conjunction with the first aspect, in one embodiment, the tracked robot further includes a debris cleaning mechanism, which is installed on one end of the frame near the adjustment mechanism, and the debris cleaning mechanism and the adjustment mechanism are arranged at a distance.

[0007] In conjunction with the first aspect, in one embodiment, the debris cleaning mechanism includes: a shovel assembly, the shovel assembly including a fixing frame, the fixing frame being fixed to one end of the frame near the adjusting mechanism, a shovel plate being connected to the side of the fixing frame away from the frame, the shovel plate extending obliquely toward the side away from the fixing frame; and a cleaning brush mechanism, the cleaning brush mechanism including a rotary drive assembly, a cleaning brush assembly being fixed to the output shaft of the rotary drive assembly, the rotary drive assembly being used to drive the cleaning brush assembly to rotate axially about the output shaft of the rotary drive assembly.

[0008] In conjunction with the first aspect, in one embodiment, the cleaning mechanism further includes: a limiting component, the limiting component including an arc-shaped limiting plate, the arc-shaped limiting plate being installed at the bottom of the fixing frame, and the arc-shaped limiting plate having an arc-shaped limiting groove; and a limiting rod, the limiting rod being fixed to the side of the cleaning brush assembly away from the rotary drive component, and the end of the limiting rod away from the cleaning brush assembly extending into the arc-shaped limiting groove.

[0009] In conjunction with the first aspect, in one embodiment, the cleaning brush assembly includes: a U-shaped plate connected to the output shaft of the rotary drive assembly, the U-shaped plate having a plurality of spaced through holes on its surface; a cleaning component including a brush body and a connector fixed to the brush body, the connector including a connecting plate and a plurality of through rods fixed to the connecting plate, each through rod corresponding to one of the through holes, and the end of each through rod away from the connecting plate being fixed to the brush body, the connecting plate and the brush body being located on opposite sides of the U-shaped plate surface, and a stabilizing frame sleeved on both sides of the U-shaped plate protruding from the plate body being fixed to the top of the brush body; and a plurality of elastic members, one end of each elastic member being fixed to the top surface of the brush body and the other end being fixed to the bottom surface of the U-shaped plate.

[0010] In conjunction with the first aspect, in one embodiment, a rotating gimbal is also fixed to the top surface of the vehicle frame, and a robotic arm is connected to the end of the rotating gimbal away from the vehicle frame. The vision inspection instrument is installed on the side of the robotic arm away from the rotating gimbal.

[0011] In conjunction with the first aspect, in one embodiment, the vision inspection device includes: a high-definition industrial camera, which is signal-connected to the controller and is used to acquire visual images of the expansion joint; and a laser profile sensor, which is signal-connected to the controller and is used to acquire deformation data of the track.

[0012] In conjunction with the first aspect, in one embodiment, the drive assembly includes a dual-axis motor mounted at one end of the frame, with two output shafts of the dual-axis motor respectively connected to the drive wheels, each drive wheel extending into the track on the corresponding side; the adjustment mechanism includes two sets of adjustment components, both sets of adjustment components mounted on the side of the frame away from the dual-axis motor, each set of adjustment components connected to an adjustment wheel, each adjustment wheel extending into the track on the corresponding side.

[0013] In conjunction with the first aspect, in one embodiment, each set of adjustment components includes: a fixing block, the fixing block being fixed to one end of the vehicle frame, the fixing block having a receiving cavity in its middle, the fixing block also having a top surface through hole and a bottom surface through hole, the top surface through hole and the bottom surface through hole respectively communicating with the receiving cavity; the fixing block also having a side wall through hole, the side wall through hole communicating with the receiving cavity, and the side wall through hole penetrating from one side of the fixing block to the other side; a threaded rod, one end of the threaded rod being rotatably mounted in the receiving cavity, and the other end passing through the receiving cavity along the side wall of the fixing block. A cavity; a drive motor, which is mounted on the fixed block and signal-connected to the controller, with its output shaft connected to the threaded rod, the drive motor driving the threaded rod to rotate axially around the threaded rod; a drive block, threadedly connected to the threaded rod, with movable blocks fixed to its top and bottom surfaces respectively, the movable blocks passing through corresponding holes in the top and bottom surfaces, a connecting rod fixed to the side of the drive block near the adjusting wheel, and the end of the connecting rod away from the drive block fixed to the adjusting wheel.

[0014] In conjunction with the first aspect, in one embodiment, a driven wheel is fixed to the side of the threaded rod that extends out of the accommodating cavity; a driving wheel is fixed to the output shaft of the drive motor, and the driving wheel is connected to the driven wheel via a transmission chain.

[0015] The beneficial effects of the technical solutions provided in this application include: The deformation data of the track is acquired by a vision inspection device and transmitted to the controller. During the movement of the vehicle frame through the cooperation of the drive component and the moving component, the controller can control the adjustment mechanism to drive the adjustment wheel to move towards or away from the drive wheel in real time according to the acquired deformation data. Since the adjustment wheel extends into the track on the corresponding side, the track tension can be dynamically adjusted. This solves the problem that most track walking mechanisms in related technologies do not have a tension adjustment structure, which affects the stability and detection accuracy of robot walking. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A first-view perspective three-dimensional structural diagram of a tracked robot provided in an embodiment of this application; Figure 2 A three-dimensional structural diagram of a tracked robot from a second perspective, provided in an embodiment of this application; Figure 3 A three-dimensional structural diagram of a tracked robot from a third-person perspective, provided in an embodiment of this application; Figure 4 A three-dimensional structural schematic diagram of the adjustment component provided in the embodiments of this application; Figure 5 This is a schematic diagram of the disassembled structure of the adjustment component provided in the embodiments of this application; Figure 6 A three-dimensional structural diagram of the debris cleaning mechanism provided in the embodiments of this application; Figure 7 A three-dimensional structural schematic diagram of the stone-shovel assembly provided in the embodiments of this application; Figure 8 This is a three-dimensional structural diagram of the cleaning mechanism provided in the embodiments of this application.

[0018] In the picture: 1. Frame; 2. Moving components; 21. Moving wheel set; 211. Support wheel; 212. Stabilizing wheel; 22. Track; 23. Drive wheel; 24. Adjustable wheel; 25. Side frame; 3. Visual inspection instrument; 4. Drive components; 41. Dual-axis motor; 5. Adjustment mechanism; 51. Adjustment assembly; 511. Fixing block; 5111. Accommodating cavity; 5112. Top surface perforation; 5113. Bottom surface perforation; 5114. Side wall perforation; 512. Threaded rod; 513. Drive motor; 514. Drive block; 515. Moving block; 516. Driven wheel; 517. Drive wheel; 518. Transmission chain; 519. Connecting rod 6. Debris removal mechanism; 61. Stone scraper assembly; 611. Fixing frame; 612. Scraper plate; 62. Cleaning brush mechanism; 621. Rotary drive assembly; 6221. Arc-shaped limiting plate; 6222. Arc-shaped limiting groove; 623. Cleaning brush assembly; 6231. U-shaped plate; 6232. Brush body; 6233. Connecting plate; 6234. Through rod; 624. Limiting rod; 625. Elastic element; 7. Rotating gimbal; 8. Robotic arm; 9. Controller. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0020] See Figure 1 and Figure 2 The image shows a tracked robot for bridge expansion joint inspection provided in this application embodiment. It may include: a frame 1; two sets of moving components 2, each set of moving components 2 mounted on opposite sides of the frame 1, each set of moving components 2 including a set of moving wheels 21 and a track 22 wound around the moving wheels 21; a vision inspection device 3, mounted on the frame 1, used to collect deformation data of the track 22, and signal-connected to a controller 9; and a drive assembly 4. A driving component 4 is installed at one end of the frame 1, and the output shaft of the driving component 4 is connected to a drive wheel 23. The track 22 on the corresponding side is wound around the drive wheel 23. An adjustment mechanism 5 is installed at the end of the frame 1 away from the driving component 4. The adjustment mechanism 5 is signal-connected to the controller 9. The adjustment mechanism 5 is connected to an adjustment wheel 24, and the track 22 on the corresponding side is wound around the adjustment wheel 24. The adjustment mechanism 5 is used to drive the adjustment wheel 24 to move in a direction closer to or away from the drive wheel 23. In this embodiment, two sets of moving components 2 can be considered as being on the left and right sides of the frame 1 respectively, the driving component 4 is installed at the rear end of the frame 1, and the adjustment mechanism 5 is installed at the front end of the frame 1.

[0021] In this embodiment, the deformation data of the track 22 is acquired by the vision inspection instrument 3 and transmitted to the controller 9. During the movement of the chassis 1 through the cooperation of the drive assembly 4 and the moving assembly 2, the controller 9 can control the adjustment mechanism 5 to drive the adjustment wheel 24 to move towards or away from the drive wheel 23 in real time according to the acquired deformation data. Since the adjustment wheel 24 extends into the track 22 on the corresponding side, the tension of the track 22 can be dynamically adjusted. Specifically, when the chassis 1 moves using the drive assembly, the drive assembly drives the drive wheel 23 to rotate, which drives the track 22, which is wrapped around the outside of the drive wheel 23 and the moving wheel set 21, to rotate cyclically, thereby propelling the whole machine along the bridge expansion joint. In this embodiment, during the real-time acquisition of deformation data of the track 22 by the vision inspection device 3 and the real-time transmission of the acquired data to the controller 9, the deformation data of the track 22 acquired by the vision inspection device 3 can be the sag of the track 22, that is, the sag or downward amount of the track 22 between two adjacent wheel sets, which can be used to reflect the overall tension of the track 22. In some other embodiments, the deformation data of the track 22 can also be the contour shape or curvature change of the ground contact section of the track 22, which can be used to evaluate the contact state between the track 22 and the road surface and the local stress deformation. This embodiment solves the problem in related technologies that most track 22 walking mechanisms do not have a tension adjustment structure, which affects the stability and detection accuracy of robot walking.

[0022] In some optional embodiments, the tracked robot may further include a debris cleaning mechanism 6, which is installed on the end of the frame 1 near the adjustment mechanism 5, and the debris cleaning mechanism 6 is spaced apart from the adjustment mechanism 5. It should be understood that bridge expansion joints and their surrounding areas inevitably contain sand, gravel, or small stones. During inspection using a tracked robot, these not only affect the inspection results but also easily adhere to the track 22, causing jamming and inconvenience for the robot. Therefore, in this embodiment, by adding a debris cleaning mechanism 6 to the tracked robot, debris such as sand and small stones can be cleaned from the bridge expansion joint during the robot's movement. Furthermore, because the debris cleaning mechanism 6 is installed on the end of the frame 1 near the adjustment mechanism 5 and is spaced apart from the adjustment mechanism 5, it can minimize or avoid interference with the operation of the adjustment mechanism 5 while cleaning debris, thus ensuring the robot's smooth movement, reliable tension adjustment, and continuous inspection operation in the expansion joint environment.

[0023] See Figure 6 and 7As shown, in some optional embodiments, the debris cleaning mechanism 6 may include: a shovel assembly 61, which includes a fixing frame 611 fixed to one end of the frame 1 near the adjusting mechanism 5, and a shovel plate 612 connected to the side of the fixing frame 611 away from the frame 1, the shovel plate 612 extending obliquely toward the side away from the fixing frame 611; and a cleaning brush mechanism 62, which includes a rotary drive assembly 621, the output shaft of which is fixed to a cleaning brush assembly 623, the rotary drive assembly 621 being used to drive the cleaning brush assembly 623 to rotate about the axial direction of the output shaft of the rotary drive assembly 621. In this embodiment, the fixed frame 611 can minimize the height of the shovel plate 612, allowing it to be closer to the bottom working surface of the bridge expansion joint. Furthermore, the inclined shovel plate 612 can proactively contact and push away large debris during robot movement, reducing the burden on the cleaning brush. The rotary drive assembly 621 drives the cleaning brush assembly 623 to rotate continuously around the axial direction, performing a secondary fine cleaning of the fine mud, dust, or debris adhering to the surface of the track 22 remaining after the shovel plate 612 has cleaned. The cooperation between the shovel assembly 61 and the cleaning brush mechanism 62 forms an effective graded cleaning mode, enhancing the robot's cleaning capability and preventing debris in the expansion joint from affecting the movement of the detection and moving assembly 2, ensuring the accuracy of the detection data.

[0024] See Figure 8 As shown, in some optional embodiments, the cleaning mechanism 62 may further include: a limiting component, the limiting component including an arc-shaped limiting plate 6221, the arc-shaped limiting plate 6221 being installed at the bottom of the fixing frame 611, and the arc-shaped limiting plate 6221 having an arc-shaped limiting groove 6222; and a limiting rod 624, the limiting rod 624 being fixed to the side of the cleaning brush assembly 623 away from the rotary drive assembly 621, and the end of the limiting rod 624 away from the cleaning brush assembly 623 extending into the arc-shaped limiting groove 6222. In this embodiment, by setting the arc-shaped limiting plate 6221 and the limiting rod 624 to cooperate with each other, when the cleaning brush assembly 623 rotates with the rotary drive assembly 621, the limiting rod 624 slides synchronously along the arc-shaped limiting groove 6222, and the arc-shaped limiting groove 6222 provides a stable guiding effect for the rotation of the cleaning brush assembly 623. The cooperation between the arc-shaped limiting plate 6221 and the limiting rod 624 can absorb the lateral impact force generated when the cleaning brush assembly 623 comes into contact with the ground or debris, and minimize the excessive displacement or jamming of the brush body 6232, while also ensuring a smooth and continuous cleaning process.

[0025] In some optional embodiments, the cleaning brush assembly 623 may include: a U-shaped plate 6231 connected to the output shaft of the rotary drive assembly 621, the U-shaped plate 6231 having a plurality of spaced through holes on its surface; and a sweeping component including a brush body 6232 and a connector fixed to the brush body 6232, the connector including a connecting plate 6233 and a plurality of through rods 6234 fixed to the connecting plate 6233, each through rod 6234 corresponding to a brush body 6232. Each of the aforementioned through holes has one end of the through rod 6234 away from the connecting plate 6233 fixed to the brush body 6232. The connecting plate 6233 and the brush body 6232 are located on opposite sides of the surface of the U-shaped plate 6231. A stabilizing frame 6235 is fixed to the top of the brush body 6232 and sleeved on both sides of the U-shaped plate 6231 protruding from the plate. Multiple elastic elements 625 are provided, with one end of each elastic element 625 fixed to the top surface of the brush body 6232 and the other end fixed to the bottom surface of the U-shaped plate 6231. In this embodiment, the U-shaped opening of the U-shaped plate 6231 is arranged downwards. The rotation drive assembly 621 may include a servo motor. A connecting shaft is fixedly installed at the output shaft of the servo motor. The bottom of the connecting shaft is fixedly installed with the U-shaped plate 6231. The connecting plate 6233 and the multiple through rods 6234 are arranged in a "mountain" shape. The bristles of the brush body 6232 are relatively hard bristles. Specifically, when the rotary drive assembly 621 is activated, power is transmitted to the U-shaped plate 6231, causing it to rotate around its axis. The U-shaped plate 6231, through the cooperation of the through hole and the through rod 6234, synchronously transmits the rotational torque to the sweeping component, causing the brush body 6232 to adhere to the ground for sweeping operations. In this embodiment, the elastic element 625 is a telescopic spring. The brush body 6232 can maintain contact pressure with the bridge surface through the telescopic spring, improving the adaptability of the cleaning brush assembly 623 to uneven road surfaces and the cleaning cleanliness. Preferably, the top of the brush body 6232 is fixedly sleeved on the stabilizing frame 6235 protruding from both sides of the U-shaped plate 6231, which enhances the connection stability between the U-shaped plate 6231 and the brush body.

[0026] In some optional embodiments, a rotating gimbal 7 is also fixed to the top surface of the frame 1. A robotic arm 8 is connected to the end of the rotating gimbal 7 away from the frame 1, and the vision inspection instrument 3 is installed on the side of the robotic arm 8 away from the rotating gimbal 7. In this embodiment, a rotating gimbal 7 that supports 360° continuous rotation is selected, and the robotic arm 8 also adopts a structure with a pitch angle adjustment range of -15° to 90°. Through the cooperation of the rotating gimbal 7 and the robotic arm 8, the posture of the vision inspection instrument 3 can be flexibly adjusted to adapt to the inspection needs of different parts of the expansion joint (such as vertical gaps and diagonal cracks) to meet the inspection needs inside the expansion joint gap.

[0027] In some optional embodiments, the vision inspection device 3 may include: a high-definition industrial camera, which is signal-connected to the controller 9, and is used to acquire visual images of the expansion joint; and a laser contour sensor, which is signal-connected to the controller 9, and is used to acquire deformation data of the track 22. In this embodiment, the high-definition industrial camera and the laser contour sensor synchronously acquire visual images and contour deformation data of the expansion joint. The data can be analyzed in real time by the edge computing unit within the controller 9 to identify the type and severity of defects. Specifically, the visual images of the expansion joint acquired by the high-definition industrial camera may include the direction and width of cracks on the expansion joint surface, areas of material damage and spalling, rust distribution, foreign object accumulation, and relative misalignment of expansion joint components. These conditions of the expansion joint can be recorded to facilitate subsequent maintenance by personnel. In addition, during the movement of the tracked robot, the high-definition industrial camera can also acquire real-time information on the distribution of debris or gravel within the expansion joint. When the controller 9 acquires the data captured by the high-definition industrial camera, it determines which areas have a large amount of debris or gravel and need to be cleaned. After the tracked robot moves to the corresponding area, the shovel plate 612 uses the inertia of the robot's movement to push the debris to both sides. Preferably, the edge of the shovel plate 612 is designed with rounded corners to avoid scratching the bridge surface. At the same time, the controller 9 controls the rotary drive component 621 to drive the U-shaped plate 6231 to swing in an arc, driving the brush body 6232 to clean back and forth. The deformation data of the track 22 collected by the laser contour sensor can specifically be the sag or droop of the track 22 between two adjacent wheel sets. The controller 9 determines whether the track 22 is loose based on the acquired sag data, and controls the adjustment mechanism 5 to make adjustments based on the judgment result.

[0028] In some optional embodiments, the drive assembly 4 may include a dual-axis motor 41, which is mounted at one end of the frame 1. The two output shafts of the dual-axis motor 41 are respectively connected to drive wheels 23, each drive wheel 23 extending into the corresponding side of the track 22. The adjustment mechanism 5 includes two sets of adjustment components 51, both sets of adjustment components 51 are mounted on the side of the frame 1 away from the dual-axis motor 41, and each set of adjustment components 51 is connected to an adjustment wheel 24, each adjustment wheel 24 extending into the corresponding side of the track 22. Preferably, an outer casing may be installed at the rear end of the frame 1 to house the dual-axis motor 41, thereby protecting the dual-axis motor 41 and extending its service life. Both output shafts of the dual-axis motor 41 are fixedly mounted with rotating shafts extending to the outside of the outer casing. Circular holes adapted to the rotating shafts are opened on opposite sides of the outer casing, and the circular holes are clearance-fitted with the rotating shafts to reduce friction. Preferably, the circular holes can be sealed to prevent foreign objects from entering. Furthermore, stabilizing plates can be installed on opposite sides of the outer casing. These stabilizing plates are fixed to the rear end of the frame 1. Each stabilizing plate has a long through-hole extending along its own direction, allowing the rotating shaft to pass through the through-hole and connect to the drive wheel 23. The stabilizing plates enhance the installation stability and bending stiffness of the rotating shaft. In this embodiment, the dual-axis motor 41 provides the power source for robot movement, synchronously driving the tracks 22 on both sides through the two output shafts. The dual-axis design simplifies the transmission system, reduces energy loss, and works in conjunction with the adjustment mechanism 5 to dynamically adjust the tension of the tracks 22. The rotating shafts transmit motor torque to the drive wheel 23, driving the tracks 22. The rotating shafts pass through the stabilizing plates and are fixed through the long through-holes to avoid vibration during high-speed rotation.

[0029] See Figure 4 and Figure 5As shown, in some optional embodiments, each set of adjustment components 51 includes: a fixing block 511, which is fixed to one end of the frame 1, and has a receiving cavity 5111 in the middle of the fixing block 511. The fixing block 511 also has a top surface through hole 5112 and a bottom surface through hole 5113, which are respectively connected to the receiving cavity 5111; the fixing block 511 also has a side wall through hole 5114, which is connected to the receiving cavity 5111 and penetrates from one side of the fixing block 511 to the other side; and a threaded rod 512, one end of which is rotatably mounted in the receiving cavity 5111, and the other end of which passes through the receiving cavity 5111 along the side wall of the fixing block 511. Cavity 5111; Drive motor 513, the drive motor 513 is mounted on the fixed block 511, the drive motor 513 is signal connected to the controller 9, the output shaft of the drive motor 513 is connected to the threaded rod 512, the drive motor 513 is used to drive the threaded rod 512 to rotate around the axial direction of the threaded rod 512; Drive block 514, the drive block 514 is threadedly connected to the threaded rod 512, the top surface and bottom surface of the drive block 514 are respectively fixed with moving blocks 515, the moving blocks 515 are respectively passed through the top surface through hole 5112 and the bottom surface through hole 5113 on the corresponding side, the side of the drive block 514 near the adjusting wheel 24 is fixed with a connecting rod 519, the end of the connecting rod 519 away from the drive block 514 is fixed with the adjusting wheel 24. That is, the accommodating cavity 5111 extends along the front-rear direction of the frame 1, and the drive block 514 passes through the accommodating cavity 5111 via the threaded rod 512. The drive motor 513 can be a servo motor. In this embodiment, the fixing block 511 serves as the mounting base for the threaded rod 512 and the servo motor, providing structural support. A rectangular accommodating cavity 5111 is formed on the inner side of the fixing block 511 to limit the range of motion of the drive block 514. Movable blocks 515 are fixed on the top and bottom surfaces of the drive block 514, respectively. The movable block 515 located on the top surface of the drive block 514 passes through the top surface through hole 5112, and the movable block 515 located on the bottom surface of the drive block 514 passes through the bottom surface through hole 5113. The top surface through hole 5112 and the bottom surface through hole 5113 are respectively connected to the movable blocks 514. 5. The drive block 514 is prevented from rotating during its movement on the threaded rod 512. The threaded rod 512 converts the rotational motion of the servo motor into linear motion. The drive block 514 drives the adjusting wheel 24 to move through the connecting rod 519, adjusting the tension of the track 22. The threaded transmission has strong self-locking properties, ensuring stable tension of the track 22. The drive block 514 is slidably connected to the top perforation 5112 and the bottom perforation 5113, eliminating the rotational freedom of the drive block 514. The servo motor precisely controls the rotation angle of the threaded rod 512, realizing fine adjustment of the track 22 tension.

[0030] In some optional embodiments, a driven wheel 516 is fixed to one side of the threaded rod 512 that protrudes from the receiving cavity 5111; a driving wheel 517 is fixed to the output shaft of the drive motor 513, and the driving wheel 517 is connected to the driven wheel 516 via a transmission chain 518. In this embodiment, the transmission chain 518 transmits power from the driving wheel 517 to the driven wheel 516, which together drive the threaded rod 512 to adapt to different bridge surface slopes (such as increasing tension when going uphill to prevent the track 22 from slipping) and compensate for the elastic loosening of the track 22 due to long-term use.

[0031] See Figure 3 As shown in this embodiment, side frames 25 can be fixed to both the left and right sides of the chassis 1. Each set of movable wheel groups 21 can include multiple support wheels 211 and multiple stabilizing wheels 212. Each side frame 25 has four support wheels 211 arranged in pairs, one above the other. Each side frame 25 has eight stabilizing wheels 212. The top stabilizing wheels 212 are five in equal distance from left to right, and the bottom stabilizing wheels 212 are three in equal distance from left to right. The track 22 uses segmented elastic track plates, and the surface of the track plates has diamond-shaped anti-slip ridges to improve grip on wet and slippery bridge surfaces. In this embodiment, the track 22 forms a closed-loop transmission system by bypassing the support wheels 211 and stabilizing wheels 212. The support wheels 211 provide the main support force, and the stabilizing wheels 212 ensure that the track 22 maintains stable operation in complex terrain, preventing derailment. The side frame 25 supports the support wheel 211 and the stabilizing wheel 212, forming the transmission frame of the track 22. It is made of high-strength aluminum alloy or carbon fiber material to reduce weight while ensuring rigidity. Grooves can be opened on the inner side of the side frame 25 to facilitate the installation and maintenance of the stabilizing wheel 212 and the support wheel 211. The support wheel 211 bears the weight of the robot and provides the main support force. The stabilizing wheel 212 guides the running direction of the track 22 and prevents derailment. Especially on the uneven surface of the bridge expansion joint, the support wheel 211 disperses the pressure and avoids local overload. The stabilizing wheel 212 is set with 5 at the top and 3 at the bottom to form a multi-level guide and improve the stability of the track 22. The track 22 is in direct contact with the bridge surface, providing traction and passability. The segmented elastic track 22 plates adapt to the irregular surface of the expansion joint and reduce impact. The diamond anti-slip ridge increases the coefficient of friction and prevents slipping on wet bridge surfaces. High-strength rubber or polyurethane is wear-resistant and anti-aging.

[0032] During use, ensure there are no strong electromagnetic interferences, flammable or explosive gases, or other hazardous factors in the bridge expansion joint area. Check the tension of track 22 and adjust it to a suitable level using adjustment mechanism 5 to avoid slippage due to excessive looseness or increased energy consumption due to excessive tightness. Check the wear of brush body 6232; replace it if the bristles are shortened to ensure cleaning effectiveness. Check the cleanliness of the lens of vision inspection instrument 3 and wipe it with a special cloth to avoid dust affecting image quality. Set parameters such as detection path, speed (recommended 0.1-0.5 m / s, adjusted according to bridge surface flatness), and cleaning frequency (e.g., cleaning once every 10 meters) through the ground control terminal. Turn on the power to controller 9, and the robot will automatically complete sensor calibration (e.g., IMU zero-point calibration, laser sensor calibration). Drive component 4 will run at low speed. Check if track 22 transmission is smooth and without abnormal noise. The robot moves along the preset path, and vision inspection is performed. Instrument 3 continuously collects data. When debris accumulation is detected in the expansion joint, controller 9 triggers the cleaning mechanism, the servo motor starts, and the cleaning brush swings to remove the debris. If a serious defect is found (such as a crack width exceeding 5mm), the robot pauses its movement and sends an alarm message to the ground control center via the 5G module. The edge computing unit processes the detection data in real time and generates a defect report (including location, type, and severity). The 5G module uploads the report and raw data to the cloud to support subsequent analysis (such as defect development trend prediction). After each use, the mud on the track 22 is cleaned to prevent corrosion. The lubrication of components such as the threaded rod 512 and the transmission chain 518 is checked and grease is applied regularly. The cleaning brush is replaced every month (adjusted according to the frequency of use). The performance of the dual-axis motor 41 and the servo motor is tested annually, and bearings or seals are replaced if necessary.

[0033] In this embodiment, when the tension of the track 22 needs to be adjusted, the servo motor drives the drive wheel 517, which in turn drives the driven wheel 516 to rotate via the transmission chain 518. This causes the threaded rod 512 to rotate, and the drive block 514 moves axially along the threaded rod 512. The position of the driven wheel is adjusted via the connecting rod 519, thereby adjusting the tension of the track 22 to adapt to different terrain requirements and achieve the purpose of conveniently adjusting the tension of the track 22. In addition, by setting up the debris cleaning mechanism 6, the shovel plate 612 initially removes large debris from the expansion joint, reducing the burden on the brush body 6232. The servo motor drives the connecting shaft to rotate, causing the U-shaped plate 6231 to swing in an arc. The limit rod 624 is in... The arc-shaped limiting groove 6222 slides within the U-shaped plate 6231, restricting its movement trajectory. The brush body 6232 maintains contact pressure with the bridge surface through a telescopic spring, brushing away debris inside and around the expansion joint, preventing it from affecting the movement of the detection and drive components 4, ensuring the accuracy of the detection data, and achieving the purpose of having a cleaning structure. This solves the problem of not having an adjustment structure, making it inconvenient to adjust the tension of the track 22. Tracks 22 that are too tight or too loose result in poor stability. In addition, without a cleaning structure, there will inevitably be sand or small stones in and around the bridge expansion joint, which not only affects the detection effect during the detection process but also easily adheres to the track 22, causing jamming and making it inconvenient to use the robot.

[0034] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0035] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A tracked robot for inspecting bridge expansion joints, characterized in that, It includes: Frame (1); Two sets of moving components (2) are mounted on opposite sides of the frame (1). Each set of moving components (2) includes a set of moving wheels (21) and a track (22) wrapped around the set of moving wheels (21). A visual inspection instrument (3) is installed on the frame (1). The visual inspection instrument (3) is used to collect deformation data of the track (22), and the visual inspection instrument (3) is connected to a controller (9). Drive assembly (4), the drive assembly (4) is mounted on one end of the frame (1), and the output shaft of the drive assembly (4) is connected to a drive wheel (23), and the track (22) on the corresponding side is wound around the drive wheel (23). An adjustment mechanism (5) is installed on one end of the frame (1) away from the drive assembly (4). The adjustment mechanism (5) is signal-connected to the controller (9). The adjustment mechanism (5) is connected to an adjustment wheel (24). The track (22) on the corresponding side is wound around the adjustment wheel (24). The adjustment mechanism (5) is used to drive the adjustment wheel (24) to move toward or away from the drive wheel (23).

2. The tracked robot for bridge expansion joint inspection as described in claim 1, characterized in that, The tracked robot also includes: The debris cleaning mechanism is installed on one end of the frame (1) near the adjustment mechanism (5), and the debris cleaning mechanism and the adjustment mechanism (5) are arranged at intervals.

3. The tracked robot for bridge expansion joint inspection as described in claim 2, characterized in that, The debris cleaning mechanism includes: A stone-shoveling assembly (61) includes a fixing frame (611) fixed to one end of the frame (1) near the adjustment mechanism (5). A shovel plate (612) is connected to the side of the fixing frame (611) away from the frame (1). The shovel plate (612) extends obliquely toward the side away from the fixing frame (611). The cleaning mechanism (62) includes a rotary drive assembly (621), the output shaft of which is fixed with a cleaning brush assembly (623), and the rotary drive assembly (621) is used to drive the cleaning brush assembly (623) to rotate axially around the output shaft of the rotary drive assembly (621).

4. The tracked robot for bridge expansion joint inspection as described in claim 3, characterized in that, The cleaning mechanism (62) further includes: The limiting component includes an arc-shaped limiting plate (6221), which is installed at the bottom of the fixing frame (611) and has an arc-shaped limiting groove (6222). A limiting rod (624) is fixed to the side of the cleaning brush assembly (623) away from the rotary drive assembly (621), and one end of the limiting rod (624) away from the cleaning brush assembly (623) extends into the arc-shaped limiting groove (6222).

5. The tracked robot for bridge expansion joint inspection as described in claim 3, characterized in that, The cleaning brush assembly (623) includes: U-shaped plate (6231), the U-shaped plate (6231) is connected to the output shaft of the rotary drive assembly (621), and the surface of the U-shaped plate (6231) has a plurality of spaced through holes; The cleaning component includes a brush body (6232) and a connector fixed to the brush body (6232). The connector includes a connecting plate (6233) and a plurality of through rods (6234) fixed to the connecting plate (6233). Each through rod (6234) is inserted through a through hole, and the end of the through rod (6234) away from the connecting plate (6233) is fixed to the brush body (6232). The connecting plate (6233) and the brush body (6232) are located on opposite sides of the surface of the U-shaped plate (6231). The top of the brush body (6232) is fixed with a stabilizing frame (6235) that is sleeved on both sides of the U-shaped plate (6231) and protrudes from the plate. Multiple elastic elements (625), one end of each elastic element (625) is fixed to the top surface of the brush body (6232), and the other end is fixed to the bottom surface of the U-shaped plate (6231).

6. The tracked robot for bridge expansion joint inspection as described in claim 2, characterized in that: The top surface of the frame (1) is also fixed with a rotating gimbal (7), and a robotic arm (8) is connected to the end of the rotating gimbal (7) away from the frame (1). The vision inspection instrument (3) is installed on the side of the robotic arm (8) away from the rotating gimbal (7).

7. The tracked robot for bridge expansion joint inspection as described in claim 6, characterized in that, The visual inspection device (3) includes: A high-definition industrial camera is connected to the controller (9) via a signal. The high-definition industrial camera is used to acquire visual images of expansion joints. A laser profile sensor is connected to the controller (9) via a signal and is used to collect deformation data of the track (22).

8. The tracked robot for bridge expansion joint inspection as described in claim 1, characterized in that: The drive assembly (4) includes a dual-axis motor (41), which is mounted on one end of the frame (1). The two output shafts of the dual-axis motor (41) are respectively connected to the drive wheels (23), and each drive wheel (23) extends into the track (22) on the corresponding side. The adjustment mechanism (5) includes two sets of adjustment components (51). Both sets of adjustment components (51) are installed on the side of the frame (1) away from the dual-axis motor (41). Each set of adjustment components (51) is connected to the adjustment wheel (24). Each adjustment wheel (24) extends into the track (22) on the corresponding side.

9. The tracked robot for bridge expansion joint inspection as described in claim 8, characterized in that, Each set of adjustment components (51) includes: A fixing block (511) is fixed to one end of the frame (1). The fixing block (511) has a receiving cavity (5111) in the middle. The fixing block (511) also has a top surface through hole (5112) and a bottom surface through hole (5113). The top surface through hole (5112) and the bottom surface through hole (5113) are respectively connected to the receiving cavity (5111). The fixing block (511) is also provided with a side wall through hole (5114), which is connected to the receiving cavity (5111) and the side wall through hole (5114) penetrates from one side of the fixing block (511) to the other side. A threaded rod (512) has one end rotatably mounted in the receiving cavity (5111) and the other end protruding from the receiving cavity (5111) along the side wall of the fixing block (511). A drive motor (513) is mounted on the fixed block (511). The drive motor (513) is signal-connected to the controller (9). The output shaft of the drive motor (513) is connected to the threaded rod (512). The drive motor (513) is used to drive the threaded rod (512) to rotate around the axial direction of the threaded rod (512). A drive block (514) is threadedly connected to the threaded rod (512). Movable blocks (515) are fixed on the top and bottom surfaces of the drive block (514). The movable blocks (515) are respectively inserted through the top through hole (5112) and bottom through hole (5113) on the corresponding side. A connecting rod (519) is fixed on the side of the drive block (514) near the adjusting wheel (24). The end of the connecting rod (519) away from the drive block (514) is fixed to the adjusting wheel (24).

10. The tracked robot for bridge expansion joint inspection as described in claim 9, characterized in that: A driven wheel (516) is fixed on one side of the threaded rod (512) that protrudes from the receiving cavity (5111). The output shaft of the drive motor (513) is fixed with a drive wheel (517), which is connected to the driven wheel (516) via a transmission chain (518).

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