Robot for detecting surface defects of bridge

Abstract

The utility model discloses a robot for detecting surface defects of a bridge, which comprises an obstacle crossing device, two groups of moving joints I are respectively arranged on two opposite sides of the obstacle crossing device, each group of moving joints I is connected with a group of moving joints II, and each group of moving joints II is connected with a group of adsorption devices; and photographing equipment is arranged above the obstacle crossing device. According to the utility model, the problems of low detection efficiency and large potential safety hazard existing in the current manual detection mode are solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automated detection and relates to a robot used for detecting surface defects of bridges. Background Art

[0002] With the continuous advancement of bridge construction technology, the safety and stability of bridge piers, as an essential component of bridge structures, have become particularly important. Because bridge piers are subjected to harsh environments such as alternating stress and temperature fluctuations for long periods of time, cracking, rusting, and other defects are prone to occur on the bridge walls. This not only severely weakens the durability of the structure but also poses a potential threat to the safety of the bridge. To promptly detect and address these defects, bridge inspection is crucial. However, in actual construction, especially in complex terrain such as rivers, seas, and canyons, areas such as high piers and beam bottoms are often difficult to reach, making it difficult for inspectors to conduct comprehensive inspections, resulting in so-called "inspection blind spots." These blind spots prevent inspectors from conducting a comprehensive and accurate assessment of the bridge's health. Currently, bridge inspections rely heavily on manual labor, which carries the risk of inefficiency, safety hazards, and misjudgment. Utility Model Content

[0003] The purpose of the utility model is to provide a robot for detecting surface defects of bridges, which solves the problems of low detection efficiency and great safety hazards in the current manual detection method.

[0004] The technical solution adopted by the present invention is a robot for detecting surface defects of bridges, comprising an obstacle crossing device, wherein two groups of motion joints I are respectively provided on opposite sides of the obstacle crossing device, each group of motion joints I is connected to a group of motion joints II, and each group of motion joints II is connected to a group of vacuum adsorption devices; a photographing device is provided above the obstacle crossing device.

[0005] The utility model is also characterized in that:

[0006] The two ends of the obstacle crossing device are respectively connected to the motion joint I through connecting plates, and two groups of support frames are provided on the connecting plates, and a group of motion joints I is installed on each group of support frames.

[0007] Each set of support frames includes two parallel partitions, and the two partitions are vertically fixed on the connecting plate.

[0008] The motion joint I includes a horizontally arranged shaft I, the two ends of which are respectively mounted on two partitions, and bearings I and bearing II are respectively provided at the connections between the two ends of the shaft I and the partitions; one end of the shaft I is coaxially sleeved with a sleeve and passes through the partition to be connected to the motor I.

[0009] Motion joint II includes a box body, and the two ends of the box body are fixed to shaft I through two connecting parts; a shaft II is provided in the box body in the vertical direction, and a bevel gear B is coaxially fixed to shaft II, which is engaged with bevel gear A, and the central axis of bevel gear A is connected to motor II; bearings III are respectively provided at the connection between the upper and lower ends of shaft II and the box body; and the two ends of shaft II are respectively connected to the two ends of U-shaped connecting plate A after extending out of the box body, and the side of connecting plate A is fixedly connected to L-shaped connecting plate B by bolts.

[0010] The vacuum adsorption device comprises a disc frame, on which four vacuum generators are evenly distributed. Each vacuum generator is connected to a vacuum suction cup, and the disc frame is connected to the connecting plate B through a connecting frame.

[0011] The obstacle crossing device includes a horizontally arranged support base, with a shaft III provided at the bottom center of the support base, and both ends of the shaft III are fixed to the support base through bearing seats A respectively; a bevel gear C is coaxially sleeved on the shaft III, and bevel gears D are provided on opposite sides of the bevel gear C respectively, each bevel gear D is coaxially sleeved on one end of the shaft IV, and the other end of the shaft IV is fixedly connected to the center of the connecting plate V, and the two ends of the connecting plate V are respectively connected to the connecting plates; the shaft IV is sleeved on the bearing seat B, and the bearing seat B is fixed to the bottom surface of the support base.

[0012] The beneficial effects of this utility model include: the quadrupedal structure of the bridge pier inspection robot is equipped with two joints on each leg, giving the robot a wider range of motion and more precise control capabilities, ensuring stable adhesion and flexible movement on vertical surfaces. The robotic arm design incorporates multiple degrees of freedom, with two joints in each arm responsible for swinging and rotating, respectively, significantly enhancing the robot's flexibility and adaptability to complex surface environments. The adsorption system utilizes advanced negative pressure adsorption technology. Through precise control of solenoid valves and vacuum generators, it achieves strong adhesion to surfaces of varying materials, unaffected by the surface's magnetic conductivity. The obstacle-crossing mechanism utilizes a bevel gear structure to enhance the robot's ability to overcome obstacles. By adjusting the relative height of the legs, the robot maintains balance and stability when encountering obstacles. The bridge pier inspection transition robot consists of multiple components, including a body, a main arm, a forearm, a suction cup, and a motor. These components work together efficiently to achieve the robot's versatility, enabling it to perform challenging tasks such as bridge inspection. This solution addresses challenges in bridge inspection, reduces costs and risks, and is of great significance for ensuring infrastructure safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the general assembly of a robot for detecting surface defects of bridges according to the present invention;

[0014] Figure 2This is a schematic structural diagram of the connection between the middle support frame and the motion joint I of the robot for detecting bridge surface defects according to the present invention;

[0015] Figure 3 This is a schematic structural diagram of the motion joint I of the robot used for detecting surface defects of bridges according to the utility model;

[0016] Figure 4 This is a schematic diagram of the motion joint II of the robot used for detecting surface defects of bridges according to the utility model;

[0017] Figure 5 This is a schematic diagram of the meshing state of bevel gear I and bevel gear II in a robot used for detecting surface defects of a bridge according to the utility model;

[0018] Figure 6 It is a schematic diagram of a vacuum adsorption device of a robot used for detecting surface defects of a bridge according to the utility model;

[0019] Figure 7 This is a structural schematic diagram of the obstacle crossing device of the robot used for detecting surface defects of the bridge according to the utility model.

[0020] In the figure, 1. Motion joint I, 1-1. Motor I, 1-2. Sleeve, 1-3. Shaft I, 1-4. Circlip, 1-5. Bearing I, 1-6. Coupling, 1-7. Connector, 1-8. Bearing II;

[0021] 2. Motion joint II, 2-1. Bearing III, 2-3. Shaft II, 2-4. Motor II, 2-5. Connecting plate A, 2-6. Connecting plate B, 2-7. Bevel gear A, 2-8. Housing, 2-9. Bevel gear B;

[0022] 3. Photographic equipment;

[0023] 4. Vacuum adsorption device, 4-1. Vacuum generator, 4-2. Vent, 4-3. Vacuum suction cup, 4-4. Connecting frame, 4-5. Disc frame;

[0024] 5. Obstacle crossing device; 5-1. Connecting plate V, 5-2. Bevel gear C, 5-3. Shaft III, 5-4. Bearing seat A, 5-5. Bearing seat B, 5-6. Bevel gear D, 5-7. Shaft IV, 5-8. Support seat;

[0025] 6. Connecting plate, 7. Partition plate. DETAILED DESCRIPTION

[0026] The present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0027] Example 1

[0028] The utility model is used for a robot to detect surface defects of bridges, such as Figure 1 As shown, it includes motion joint I 1, motion joint II 2, photographing equipment 3, vacuum adsorption device 4, and obstacle crossing device 5.

[0029] The photographing device 3 is fixed on one side of the obstacle crossing device 5. Four groups of motion arms consisting of motion joints I1 and motion joints II2 are distributed on opposite sides of the obstacle crossing device 5 (including a total of four groups of motion joints I1 and motion joints II2). Each motion joint II2 is connected to the vacuum adsorption device 4.

[0030] The two ends of the obstacle crossing device 5 are connected to the motion joint I1 through a connecting plate 6. Two sets of support frames are provided on the connecting plate 6. Figure 2 As shown, each set of support frames includes two partitions 7, and each set of support frames is installed with a set of motion joints I1.

[0031] Example 2

[0032] like Figure 3 As shown, motion joint I1 comprises a horizontally arranged shaft I1-3, with its ends mounted on two partitions 7. Bearings I1-5 and II1-8 are located at the junctions between shaft I1-3 and the partitions 7, respectively. One end of shaft I1-3 is coaxially sleeved with sleeve 1-2, which passes through partitions 7 and connects to motor I1-1. The other end of shaft I1-3, after passing through partitions 7, is coaxially sleeved with circlip 1-4. Shaft I1-3 is connected to the main shaft of motor I1-1 via coupling 1-6.

[0033] Example 3

[0034] like Figure 4 As shown, the motion joint II2 includes a box 2-8, and the two ends of the box 2-8 are fixed on the shaft I1-3 through two connecting pieces 1-7; a shaft II2-3 is provided in the box 2-8 along the vertical direction, and a bevel gear B2-9 is coaxially fixed on the shaft II2-3, and the bevel gear B2-9 is meshed with the bevel gear A2-7, as shown in FIG. Figure 5 As shown, the central axis of the bevel gear A2-7 is connected to the motor II2-4; the upper and lower ends of the shaft II2-3 are connected to the housing 2-8 with bearings III2-1 respectively; and the two ends of the shaft II2-3 extend out of the housing 2-8 and are respectively connected to the two ends of the U-shaped connecting plate A2-5, and the side of the connecting plate A2-5 is fixedly connected to the L-shaped connecting plate B2-6 by bolts;

[0035] Power for joint II 2 is transmitted from motor II 2-4 through bevel gear A2-7 to shaft II 2-3. Shaft II 2-3 is tightly connected to housing 2-8 and equipped with retaining washers to prevent axial movement. Bearings are placed on either side of shaft II 2-3. Rotation of shaft II 2-3 drives connecting plate A2-5, achieving the leg's swinging motion.

[0036] like Figure 6 As shown, the vacuum adsorption device 4 includes a disc frame 4-5, on which four vacuum generators 4-1 are evenly distributed. Each vacuum generator 4-1 is connected to a vacuum suction cup 4-3. A connecting frame 4-4 is provided at the center of the upper portion of the disc frame 4-5, which is connected to the connecting plate B2-6 via the connecting frame 4-4. The vacuum generator 4-1 sucks the air out of the vacuum suction cup 4-3 through the vent 4-2, forming a low-pressure area between the vacuum suction cup 4-3 and the bridge wall. Due to the presence of external atmospheric pressure, this low-pressure area forms a pressure difference with the outside, which generates an adsorption force, allowing the vacuum suction cup 4-3 to be tightly adsorbed on the wall surface. The vacuum suction cup 4-3 is made of high-temperature resistant nitrile rubber, providing more reliable adsorption for the bridge pier inspection robot.

[0037] like Figure 7 As shown, the obstacle crossing device 5 includes a horizontally arranged support base 5-8. A shaft III5-3 is mounted at the bottom center of the support base 5-8. Both ends of the shaft III5-3 are secured to the support base 5-8 via bearing blocks A5-4. A bevel gear C5-2 is coaxially sleeved on the shaft III5-3. Bevel gears D5-6 are mounted on opposite sides of the bevel gear C5-2. Each bevel gear D5-6 is coaxially sleeved on one end of a shaft IV5-7. The other end of the shaft IV5-7 is fixedly connected to the center of a connecting plate V5-1. The ends of the connecting plate V5-1 are connected to a connecting plate 6. The shaft IV5-7 is sleeved on a bearing block B5-5, which is secured to the bottom surface of the support base 5-8. A camera device 3 is mounted above the support base 5-8.

[0038] The rotation of axis IV5-7 drives the rotation of one leg (composed of kinematic joints I1 and II2). Because bevel gear C5-2 is fixed, when one leg encounters an obstacle, the meshing of bevel gears C5-2 and D5-6 adjusts the relative height of the legs, preventing the wall-climbing robot from stalling or tipping over.

[0039] The working process of the robot for detecting surface defects of bridges of the utility model is as follows: the whole process flow is as follows: preparation work, movement process, detection and recording.

[0040] Preparation: After the bridge pier detection function robot is started, the vacuum generator 4-1 in the vacuum adsorption device 4 first sucks out the air inside the vacuum suction cup 4-3 through the vent 4-2, so that the vacuum suction cup 4-3 establishes a stable adsorption connection with the bridge wall, ensuring that the robot can be fixed on the wall.

[0041] Movement process: Motor I1-1 in joint I1 of the arm rotates, driving box 2-8 to lift and lower the leg. Motor II2-4 in joint II2 of the arm transmits power to shaft II2-3 via bevel gear A2-7. Bevel gear A2-7 meshes with bevel gear B2-9, rotating shaft II2-3. This rotation of shaft II2-3 rotates connecting plate A2-5, achieving the leg's swinging motion. The robot's movement follows a pre-set diagonal motion sequence: "leg lift—leg swing—leg drop." A set of arm joints are driven by power to lift. Joint II2, lifted, rotates in the forward or reverse direction of the robot's motion, preparing for the next landing position. The robot then returns to its new position on the wall, where the suction cup reestablishes suction. The robot's center of gravity shifts to the newly landed leg. The lifting, swinging, and dropping process repeats. When encountering an obstacle during movement, the obstacle crossing device 5 will adjust the relative height of the legs on both sides through the engagement of the bevel gear 5-2 and the bevel gear 5-6, preventing the wall-climbing robot from stopping or rolling over when crossing the obstacle.

[0042] Inspection and Recording: During its movement, the robot's camera 3 automatically captures and photographs the wall surface, identifying defects such as cracks and rust, and records the data. This data can be transmitted wirelessly or wired to the backend control center for analysis and evaluation by technical personnel. After completing the entire wall inspection task, the robot returns to its starting position or performs other tasks according to a pre-set path or operating instructions.

Claims

1. A robot for detecting surface defects of bridges, characterized by: The device comprises an obstacle crossing device (5), wherein two sets of motion joints I (1) are respectively provided on opposite sides of the obstacle crossing device (5), each set of motion joints I (1) is connected to a set of motion joints II (2), and each set of motion joints II (2) is connected to a set of vacuum adsorption devices (4); a photographing device (3) is provided above the obstacle crossing device (5); The two ends of the obstacle crossing device (5) are respectively connected to the motion joint I (1) through a connecting plate (6), and two groups of support frames are provided on the connecting plate (6), and a group of motion joint I (1) is installed on each group of the support frames; Each group of support frames comprises two parallel partitions (7), and the two partitions (7) are vertically fixed on the connecting plate (6); The motion joint I (1) includes a horizontally arranged shaft I (1-3), with both ends of the shaft I (1-3) respectively mounted on two partitions (7), and bearings I (1-5) and bearings II (1-8) respectively provided at the connection points between the two ends of the shaft I (1-3) and the partitions (7); one end of the shaft I (1-3) is coaxially sleeved with a sleeve (1-2) and passes through the partition (7) to be connected to the motor I (1-1); The motion joint II (2) includes a box body (2-8), the two ends of the box body (2-8) are fixed to the shaft I (1-3) through two connecting pieces (1-7); a shaft II (2-3) is provided in the box body (2-8) along the vertical direction, a bevel gear B (2-9) is coaxially fixed to the shaft II (2-3), the bevel gear B (2-9) is meshed with the bevel gear A (2-7), and the central axis of the bevel gear A (2-7) is connected to the motor II (2-4); bearings III (2-1) are respectively provided at the connection points between the upper and lower ends of the shaft II (2-3) and the box body (2-8); and the two ends of the shaft II (2-3) are respectively connected to the two ends of the U-shaped connecting plate A (2-5) after extending out of the box body (2-8), and the side of the connecting plate A (2-5) is fixedly connected to the L-shaped connecting plate B (2-6) by bolts.

2. The robot for detecting bridge surface defects according to claim 1, characterized in that: The vacuum adsorption device (4) comprises a disc frame (4-5), four vacuum generators (4-1) are evenly distributed on the disc frame (4-5), each vacuum generator (4-1) is connected to a vacuum suction cup (4-3), and the disc frame (4-5) is connected to the connecting plate B (2-6) via a connecting frame (4-4).

3. The robot for detecting bridge surface defects according to claim 1, characterized in that: The obstacle crossing device (5) includes a horizontally arranged support base (5-8), a shaft III (5-3) is provided at the bottom center of the support base (5-8), and both ends of the shaft III (5-3) are fixed to the support base (5-8) through bearing bases A (5-4); a bevel gear C (5-2) is coaxially sleeved on the shaft III (5-3), and bevel gears D (5-6) are provided on opposite sides of the bevel gear C (5-2), each bevel gear D (5-6) is coaxially sleeved on one end of the shaft IV (5-7), and the other end of the shaft IV (5-7) is fixedly connected to the center of the connecting plate V (5-1), and the two ends of the connecting plate V (5-1) are respectively connected to the connecting plate (6); the shaft IV (5-7) is sleeved on the bearing base B (5-5), and the bearing base B (5-5) is fixed to the bottom surface of the support base (5-8).

Images