Pier detection robot

Abstract

The utility model discloses a bridge pier detection robot. The bridge pier detection robot specifically comprises a first rod group and a second rod group movably connected to the first rod group, the first rod set comprises a second moving set and a first moving set which are connected to the first rod set in a displaceable mode. The first rod set is further provided with first monitoring equipment and a first illuminating lamp. The second rod group comprises a third moving group, a second monitoring device and a second illuminating lamp which are connected to the second rod group in a displaceable manner; according to the device, a semi-surrounding structure is adopted, the first rod set and the second rod set which are movably connected are matched with the adjustable moving set, the device can be fixed to bridge piers of different specifications and sizes, monitoring equipment and an illuminating lamp are installed, the device can adapt to underwater detection and detection work of the bridge piers with dark sight lines, and the detection efficiency is improved. Therefore, the device has relatively high adaptability; the three-direction moving sets abut against and are fixed to the bridge pier, the rolling wheels in each moving set are driven by a motor, stress is uniform, the device is in a horizontal state, and high stability is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of detection robots, in particular to a bridge pier detection robot. Background Art

[0002] The pier is one of the main supporting structures of the bridge. It is located in the river or on the shore to support the bridge span, so that the load from the superstructure can be transferred to the foundation. The function of the pier is to support the span structure and connect with the embankment to ensure the stability and reliability of the entire bridge. As the main load-bearing structure of the bridge, the stability of the pier directly affects the overall safety of the bridge. Through comprehensive and detailed inspection of the pier, potential damage, cracks or deformation problems can be discovered in time, thereby ensuring the safe operation of the bridge. In addition, since the bridge may be affected by various factors such as the natural environment and vehicle loads during long-term use, various problems may occur in the pier. Through regular inspection, these problems can be discovered in time, and corresponding measures can be taken to repair or reinforce them to prevent potential risks. However, since the piers are often in inaccessible or underwater areas, their inspection is also difficult.

[0003] In the prior art, people usually use pier detection devices to detect piers. For example, a patent with application number CN202221412250.2 discloses a pier detection device for high pier bridges. This device adopts a circular ring structure to be mounted on the pier, and a motor drives a rotating roller to move upward on the pier. During the movement, the pier detection work is realized through the cameras distributed around. Although this device can complete the detection of piers, the circular structure of this device is directly connected and fixed by a plug block, and the distance between the roller and the outer surface of the pier cannot be adjusted, and it cannot meet the fixation of piers of different specifications; in addition, this device is not equipped with lighting equipment, and cannot meet the detection work in dark vision or underwater environment, so there is a problem of poor adaptability; moreover, the up and down displacement of this device is driven by the rotating roller to drive the roller to follow. This drive makes the two sides of the device unevenly stressed, which is easy to cause roller wear or the two sides of the device cannot be level, and then there is a problem of poor stability of the device. In summary, a new type of pier detection device is urgently needed to solve the above problems.

[0004] The information disclosed in this background technology section is only used to deepen the understanding of the background technology of the present disclosure, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art known to those skilled in the art. Utility Model Content

[0005] In view of at least one of the above technical problems, the present disclosure provides a bridge pier inspection robot, aiming to solve the problems of poor adaptability and poor stability of bridge pier inspection devices in the prior art.

[0006] According to one aspect of the present disclosure, a bridge pier inspection robot is provided, comprising a first rod group in which a longitudinal rod and a transverse rod are connected and fixed, and a second rod group connected to the first rod group, wherein the second rod group comprises a main rod and an extension rod extending perpendicularly from the main rod, and an active opening corresponding to the extension rod is provided on the longitudinal rod, and the second rod group is movably connected to the first rod group through the active opening in which the extension rod cooperates with the first rod group;

[0007] The first rod group further comprises a second movable group displaceably connected longitudinally to the side of the longitudinal rod and a first movable group displaceably connected transversely to the side of the transverse rod, a first monitoring device is also extendedly mounted on the first rod group, and a first lighting lamp for lighting is also fixed on the first monitoring device;

[0008] The second rod group also includes a third moving group displaceably connected longitudinally to the side of the main rod and a second monitoring device displaceably connected longitudinally to the main rod, and a second lighting lamp for lighting is also fixed on the second monitoring device.

[0009] In some embodiments of the present disclosure, a first slot strip for limiting the second moving group is formed on the inner side surface of the longitudinal rod, and a second slot strip for limiting the first moving group is formed on the inner side surface of the transverse rod.

[0010] In some embodiments of the present disclosure, a monitoring base is also extended and fixed at the intersection of the longitudinal rod and the transverse rod, and the first monitoring device is rotatably mounted on the monitoring base.

[0011] In some embodiments of the present disclosure, a third slot bar for limiting the third moving group is provided on the inner side of the main rod, and a slot rail for limiting the second monitoring device is also provided on the upper side of the main rod.

[0012] In some embodiments of the present disclosure, a monitoring roller is installed below the second monitoring device, the monitoring roller is engaged in the groove rail, and drives the second monitoring device to move along the groove rail.

[0013] In some embodiments of the present disclosure, the second movable group includes a block clamped in the first clamping groove strip, a fixing frame corresponding to the block and attached to the inner side of the longitudinal rod, a block bolt passing through and connected between the block and the fixing frame, a fixed block fixed on the fixing frame, and a follower block movably fixed on the fixed frame, and a roller assembly attached to the surface of the pier is also fixed on the follower block.

[0014] In some embodiments of the present disclosure, the second moving group further includes a limiting bolt passing through the fixed block, the limiting bolt abuts against the follower block, and a reset spring sleeved on the limiting bolt is further connected between the fixed block and the follower block.

[0015] In some embodiments of the present disclosure, a pressure sensor is provided between the roller assembly and the follower block, and a driving motor for driving the roller assembly is also provided on the roller assembly.

[0016] In some embodiments of the present disclosure, the outer side of the longitudinal rod is further provided with a rod fixing bolt for fixing the extension rod.

[0017] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0018] 1. The device of the present application adopts a semi-enclosed structure and a first rod group and a second rod group that are movably connected, and an adjustable moving group, which can fix the robot on bridge piers of different sizes, thereby realizing the detection of bridge piers of different sizes, making the device highly adaptable.

[0019] 2. The device of the present application adopts a three-party moving group to be fixed on the bridge pier, and the rollers in each moving group are driven by a motor, and the force is evenly distributed, which can reduce the wear of the rollers and keep the device in a horizontal state, thereby making the device of the present application have higher stability.

[0020] 3. The device of the present application is equipped with monitoring equipment and lighting with adjustable position and direction, so that the device can also be used for underwater inspection work and bridge pier inspection work with dim vision, making the device of the present application highly adaptable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a detection robot in one embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of a structure for detecting another direction of the robot in one embodiment of the present application;

[0023] Figure 3 for Figure 2 A magnified schematic diagram of the middle part;

[0024] Figure 4 This is a schematic diagram of the front structure of the detection robot in one embodiment of the present application;

[0025] Figure 5 for Figure 4 Enlarged schematic diagram of part B in the middle.

[0026] In the above figures, 1, first rod group; 11, longitudinal rod; 111, first slot bar; 12, transverse rod; 121, second slot bar; 13, first monitoring device; 14, first lighting lamp; 15, first moving group; 16, second moving group; 161, block; 162, block bolt; 163, fixing frame; 164, fixing block; 165, follower block; 166, pressure sensor; 167, roller assembly; 1671, driving motor; 168, limit bolt; 169, reset spring; 17, rod fixing bolt; 18, monitoring base;

[0027] 2. The second rod group; 21. The main rod; 211. The third slot bar; 212. The slot rail; 22. The extension rod; 23. The second monitoring device; 231. The monitoring roller; 24. The second lighting lamp; 25. The third moving group. DETAILED DESCRIPTION

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "vertical", "horizontal", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The "first", "second", etc. involved in the present application are used to distinguish the objects being described and do not have any order or technical meaning. The "connection" and "connection" involved in the present application, unless otherwise specified, include direct and indirect connections (connections).

[0029] The embodiment of the present application solves the problems of poor adaptability and poor stability of the pier detection device in the prior art by providing a pier detection robot; in order to better understand the technical solution of the present application, the above technical solution will be described in detail below in combination with the drawings in the specification and specific implementation methods.

[0030] This example discloses a bridge pier inspection robot, see Figures 1 to 5 , specifically comprising a first rod group 1 in which a longitudinal rod 11 and a transverse rod 12 are connected and fixed, and also comprising a second rod group 2 connected to the first rod group 1, the second rod group 2 comprising a main rod 21 and an extension rod 22 vertically extending from the main rod 21, a movable opening corresponding to the extension rod 22 is opened on the longitudinal rod 11, and the second rod group 2 can be movably connected to the first rod group 1 through the movable opening matched with the extension rod 22;

[0031] The first rod group 1 further includes a second movable group 16 displaceably connected longitudinally to the side of the longitudinal rod 11 and a first movable group 15 displaceably connected transversely to the side of the transverse rod 12. A first monitoring device 13 is also extendedly mounted on the first rod group 1, and a first lighting lamp 14 for lighting is also fixed on the first monitoring device 13.

[0032] The second rod group 2 also includes a third moving group 25 displaceably connected longitudinally to the side of the main rod 21 and a second monitoring device 23 displaceably connected longitudinally to the main rod 21. A second lighting lamp 24 for lighting is also fixed to the second monitoring device 23.

[0033] The inner side surface of the longitudinal rod 11 is provided with a first slot strip 111 for limiting the second moving group 16, and the inner side surface of the transverse rod 12 is provided with a second slot strip 121 for limiting the first moving group 15; the outer side surface of the longitudinal rod 11 is also provided with a rod fixing bolt 17 for fixing the extension rod 22; the intersection of the longitudinal rod 11 and the transverse rod 12 is also extendedly fixed with a monitoring base 18, and the first monitoring device 13 is rotatably mounted on the monitoring base 18; the second moving group 16 includes a block 161 clamped in the first slot strip 111, a fixing frame 163 corresponding to the block 161 and attached to the inner side surface of the longitudinal rod 11, and a connecting rod 161 and the fixing frame 163 are connected. The second movable group 16 further comprises a clamping bolt 162 therebetween, a fixed block 164 fixed on the fixed frame 163, and a follower block 165 movably fixed on the fixed frame 163, on which a roller assembly 167 in contact with the surface of the pier is also fixed; the second movable group 16 also comprises a limiting bolt 168 passing through the fixed block 164, the limiting bolt 168 abuts against the follower block 165, and a return spring 169 sleeved on the limiting bolt 168 is further connected between the fixed block 164 and the follower block 165; a pressure sensor 166 is provided between the roller assembly 167 and the follower block 165, and a driving motor 1671 for driving the roller assembly 167 is also provided on the roller assembly 167.

[0034] The inner side surface of the main rod 21 is provided with a third slot 211 for limiting the third moving group 25, and the upper surface of the main rod 21 is also provided with a slot rail 212 for limiting the second monitoring device 23; a monitoring roller 231 is installed below the second monitoring device 23, and the monitoring roller 231 is engaged in the slot rail 212, and drives the second monitoring device 23 to move along the slot rail 212; the robot of the present application adopts a semi-enclosed structure and a first rod group 1 and a second rod group 2 that are movably connected, and are combined with an adjustable moving group, which can be fixed on bridge piers of different sizes, so as to realize the detection of bridge piers of different sizes, so that the robot of the present application has high adaptability.

[0035] When implementing the device of the present application, first adjust the extension amount of the extension rod 22 according to the size of the bridge pier, and screw in the rod fixing bolt 17 to fix the extension rod 22; then, by turning the block bolt 162 counterclockwise, the fixing frame 163 is moved, and then the second moving group 16 is pushed and adjusted to a suitable position by hand, and then the block bolt 162 is turned clockwise to fix the fixing frame 163 on the longitudinal rod 11, and the first moving group 15 and the third moving group 25 repeat the above-mentioned adjustment operation of the second moving group 16; after the adjustment is completed, the robot is placed at the appropriate position of the bridge pier, and the limit bolt 168 is rotated clockwise by hand, and the limit bolt 168 pushes the follower block 165 and the roller group 167 fixed on the follower block 165. , so that the roller group 167 is closely attached to the outer surface of the pier. In order to avoid the situation where the roller group 167 is too tightly attached and affects the rolling of the roller group 167 and increases the loss, or the roller group 167 is not tightly attached and causes the robot to slip or tilt, the pressure sensor 166 arranged between the roller group 167 and the follower block 165 can monitor the pressure of the roller group 167 in real time. The working principle of the pressure sensor 166 here is the existing technology, and the specific principle is not repeated in this embodiment; then follow the steps of adjusting the second moving group 16 as mentioned above, fine-tune the third moving group 25 and adjust the first moving group 15; finally, by adjusting the position and monitoring angle of the second monitoring device 23, it cooperates with the first monitoring device 13 to monitor and the coverage range surrounds the bridge pier. After the installation is completed, the robot is made to move downward or upward synchronously by controlling the driving motor 1671 in the second moving group 16 and the corresponding driving motors in the first moving group 15 and the third moving group 25. The motor-driven roller rotation here is the prior art in this field, and the specific working principle is no longer repeated. The three-party moving group is fixed on the bridge pier, and the rollers in each moving group are driven by a motor, which is evenly stressed, can reduce roller wear, and put the robot in a horizontal state, thereby making the robot of the present application have higher stability; in addition, the monitoring equipment of the robot of the present application is also provided with a lighting lamp, which can make it adapt to underwater detection work and bridge pier detection work with dim vision, so that the robot of the present application has higher adaptability. After the inspection is completed, the robot is loosened by loosening the rod fixing bolt 17 counterclockwise, and then removed from the pier. Then, the corresponding limit bolts in the second moving group 16, the first moving group 15 and the third moving group 25 are rotated counterclockwise. In the absence of limit bolts pushing and limiting, the rollers in the second moving group 16, the first moving group 15 and the third moving group 25 are reset under the tension of their corresponding reset springs for next use.

[0036] Although some preferred embodiments of the utility model have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the utility model.

[0037] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of this application and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A bridge pier inspection robot, comprising a first rod group (1) in which a longitudinal rod (11) and a transverse rod (12) are connected and fixed, characterized in that: The invention also comprises a second rod group (2) connected to the first rod group (1), wherein the second rod group (2) comprises a main rod (21) and an extension rod (22) extending perpendicularly from the main rod (21), and a movable opening corresponding to the extension rod (22) is provided on the longitudinal rod (11), and the second rod group (2) is movably connected to the first rod group (1) through the movable opening that cooperates with the extension rod (22); The first rod group (1) further comprises a second movable group (16) displaceably connected longitudinally to the side of the longitudinal rod (11) and a first movable group (15) displaceably connected transversely to the side of the transverse rod (12); a first monitoring device (13) is also extendedly mounted on the first rod group (1), and a first lighting lamp (14) for lighting is also fixed on the first monitoring device (13); The second rod group (2) also includes a third movable group (25) displaceably connected longitudinally to the side of the main rod (21) and a second monitoring device (23) displaceably connected longitudinally to the main rod (21), and a second lighting lamp (24) for lighting is also fixed on the second monitoring device (23).

2. The bridge pier inspection robot according to claim 1, characterized in that: The inner side surface of the longitudinal rod (11) is provided with a first slot strip (111) for limiting the second movable group (16), and the inner side surface of the transverse rod (12) is provided with a second slot strip (121) for limiting the first movable group (15).

3. The bridge pier inspection robot according to claim 2, characterized in that: A monitoring base (18) is also extended and fixed at the intersection of the longitudinal rod (11) and the transverse rod (12), and the first monitoring device (13) is rotatably mounted on the monitoring base (18).

4. The bridge pier inspection robot according to claim 3, characterized in that: The inner side surface of the main body rod (21) is provided with a third slot strip (211) for limiting the third moving group (25), and the upper surface of the main body rod (21) is also provided with a slot rail (212) for limiting the second monitoring device (23).

5. The bridge pier inspection robot according to claim 4, characterized in that: A monitoring roller (231) is installed below the second monitoring device (23); the monitoring roller (231) is clamped in the groove rail (212) and drives the second monitoring device (23) to move along the groove rail (212).

6. The bridge pier inspection robot according to claim 5, characterized in that: The second moving group (16) comprises a clamping block (161) clamped in the first clamping groove strip (111), a fixing frame (163) at a position corresponding to the clamping block (161) and in contact with the inner side surface of the longitudinal rod (11), a clamping block bolt (162) passing through and connected between the clamping block (161) and the fixing frame (163), a fixing block (164) fixed on the fixing frame (163), and a follower block (165) movably fixed on the fixing frame (163), and a roller assembly (167) in contact with the surface of the pier is also fixed on the follower block (165).

7. The bridge pier inspection robot according to claim 6, characterized in that: The second moving group (16) further comprises a limiting bolt (168) passing through the fixed block (164), the limiting bolt (168) abutting against the follower block (165), and a return spring (169) sleeved on the limiting bolt (168) is connected between the fixed block (164) and the follower block (165).

8. The bridge pier inspection robot according to claim 7, characterized in that: A pressure sensor (166) is provided between the roller assembly (167) and the follower block (165), and a driving motor (1671) for driving the roller assembly (167) is also provided on the roller assembly (167).

9. The bridge pier inspection robot according to claim 8, characterized in that: The outer side surface of the longitudinal rod (11) is also provided with a rod fixing bolt (17) for fixing the extension rod (22).

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