Automatic inspection equipment for interior of bridge tower

Abstract

The utility model relates to the technical field of inspection, in particular to automatic inspection equipment for the interior of a bridge tower, which comprises an external rack and a mobile robot assembly, and is characterized in that the mobile robot assembly comprises a lifting platform, a buffer platform, a control system, a driving motor and a mechanical arm component, the buffer platform is connected with the lifting platform, the control system is connected with the lifting platform, the driving motor is arranged on the lifting platform, the mechanical arm component is arranged on the lifting platform, a guide rail used for moving of the mobile robot assembly is erected in the bridge tower, a sliding contact line power supply system is arranged on the guide rail, and the mobile robot assembly is provided with the mechanical arm component. The system can safely and stably move and collect image information according to an inspection target area, and the efficiency and reliability of inspection work can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection, especially relates to a bridge tower internal automatic inspection equipment. BACKGROUND

[0002] As a building exposed to natural environment and transportation activities for a long time, Xihoumen Bridge faces the risk of continuous disease and damage. These diseases include corrosion, cracking, deformation, etc., which may pose a potential threat to the structural safety and life of the bridge.

[0003] The bridge inspection and maintenance usually rely on manual inspection, but the main tower interior is usually difficult to access, and engineers need to perform inspection tasks in a dangerous high-altitude environment, and it is difficult to achieve efficient inspection in a small space. Manual inspection is also affected by subjective factors, which may lead to missed detection or misjudgment of diseases. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a bridge tower internal automatic inspection equipment, which aims at solving the problem that the bridge inspection and maintenance usually rely on manual inspection, but the main tower interior is usually difficult to access, and engineers need to perform inspection tasks in a dangerous high-altitude environment, and it is difficult to achieve efficient inspection in a small space. Manual inspection is also affected by subjective factors, which may lead to missed detection or misjudgment of diseases.

[0005] To achieve the above purpose, the utility model provides a bridge tower internal automatic inspection equipment, external rack and mobile robot assembly, the mobile robot assembly includes lifting platform, buffer platform, control system, drive motor and mechanical arm component, the lifting platform is connected with the external rack, and is located on one side of the rack, the buffer platform is connected with the lifting platform, and is located on one side of the lifting platform, the control system is connected with the lifting platform, and is located on one side of the lifting platform, the drive motor is arranged on the lifting platform, and is located on one side of the lifting platform close to the control system, the mechanical arm component is arranged on the lifting platform.

[0006] Among them, the mechanical arm component includes first telescopic part, first arm and second arm, the first telescopic part is connected with the lifting platform, and is located on one side of the lifting platform, the first arm is arranged on the first telescopic part, and the second arm is arranged on the first arm.

[0007] Among them, the first arm includes second telescopic part and first rotating part, the second telescopic part is connected with the first telescopic part, and is located on one side of the first telescopic part, and the first rotating part is connected with the second telescopic part, and is located on one side of the second telescopic part.

[0008] The second arm comprises a third telescopic component and a second rotating component, the third telescopic component is connected with the first rotating component and located on one side of the first rotating component, and the second rotating component is connected with the third telescopic component and located on one side of the third telescopic component.

[0009] The second arm further comprises a light supplement lamp and a camera, the light supplement lamp is connected with the second rotating component and located on one side of the second rotating component, and the camera is connected with the second rotating component and located on one side of the second rotating component close to the light supplement lamp.

[0010] The utility model discloses a kind of bridge tower internal automatic inspection equipment, by erecting guide rail for the movement of mobile robot in place, and installing the mechanical arm component on the mobile robot component, installing image acquisition equipment on the mechanical arm component, and being configured with positioning device on the mobile robot component, in the process that the mobile robot component travels on guide rail, by positioning device obtains the relative position information of target area and the mobile robot component, so that the mobile robot component can move vertically on tower wall and return to starting position safely, complete inspection work. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical scheme in the embodiments of the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description.

[0012] Figure 1 is the structure diagram of the bridge tower internal automatic inspection equipment of the first embodiment of the utility model.

[0013] In the figure: 101-external gear rack, 102-mobile robot component, 103-lifting platform, 104-buffer platform, 105-control system, 106-driving motor, 107-first telescopic component, 108-second telescopic component, 109-first rotating component, 110-third telescopic component, 111-second rotating component, 112-light supplement lamp, 113-camera. DETAILED DESCRIPTION

[0014] The embodiments of the utility model will be described in detail below, the examples of the embodiments are shown in the drawings, the embodiments described below by referring to the drawings are exemplary, and are intended to explain the utility model, and cannot be understood as the limitation of the utility model.

[0015] The first embodiment of the present application is:

[0016] Please refer to Figure 1 , wherein Figure 1 is the structure diagram of the bridge tower internal automatic inspection equipment of the first embodiment of the utility model.

[0017] The utility model provides a kind of bridge tower internal automatic inspection equipment, including external rack 101 and mobile robot assembly 102, the mobile robot assembly 102 includes lifting platform 103, buffer platform 104, control system 105, drive motor 106 and mechanical arm component, the mechanical arm component includes first telescopic component 107, first arm and second arm, the first arm includes second telescopic component 108 and first rotating component 109, the second arm includes third telescopic component 110, second rotating component 111, light supplementing lamp 112 and camera 113.It is solved by the foregoing scheme that it is usually relied on artificial inspection to patrol and maintain, but main tower interior is usually difficult to access, and engineering personnel need to perform the patrol task in dangerous high-altitude environment, and it is difficult to achieve efficient inspection in narrow space, artificial inspection is also influenced by subjective factor, possibly leading to the missed detection or misjudgment of disease, it can be understood that the foregoing scheme can be used in the case where bridge tower interior is automatically inspected.

[0018] In the embodiment, the mobile robot assembly 102 moves on the guide rail in the bridge tower through the external rack 101, and a power supply system is also installed at the bottom of the bridge tower. The power supply system is composed of a main power supply, a backup power supply and a power monitoring system, and can supply power.

[0019] The lifting platform 103 is connected with the external rack 101 and located on one side of the rack, the buffer platform 104 is connected with the lifting platform 103 and located on one side of the lifting platform 103, the control system 105 is connected with the lifting platform 103 and located on one side of the lifting platform 103, the driving motor 106 is arranged on the lifting platform 103 and located on one side of the lifting platform 103 close to the control system 105, the mechanical arm member is arranged on the lifting platform 103, the first telescopic component 107 is connected with the lifting platform 103 and located on one side of the lifting platform 103; the first arm is arranged on the first telescopic component 107, the second arm is arranged on the first arm, the second telescopic component 108 is connected with the first telescopic component 107 and located on one side of the first telescopic component 107; the first rotating component 109 is connected with the second telescopic component 108 and located on one side of the second telescopic component 108, the third telescopic component 110 is connected with the first rotating component 109 and located on one side of the first rotating component 109; the second rotating component 111 is connected with the third telescopic component 110 and located on one side of the third telescopic component 110, the light supplement lamp 112 is connected with the second rotating component 111 and located on one side of the second rotating component 111; the camera 113 is connected with the second rotating component 111 and located on one side of the second rotating component 111 close to the light supplement lamp 112, the mobile robot assembly 102 is composed of the lifting platform 103, the buffer platform 104, the control system 105, the driving motor 106 and the mechanical arm member. The mechanical arm member is composed of the first telescopic component 107, the first arm and the second arm. The first arm is further composed of the second telescopic component 108 and the first rotating component 109, and the second arm is further composed of the third telescopic component 110 and the second rotating component 111. The second rotating component 111 carries the light supplement lamp 112 and the camera 113. The power supply system at the bottom of the bridge tower is composed of a main power supply, a backup power supply and a power monitoring system. The lifting platform 103 carries the driving motor 106 and the control system 105, controls the movement of the lifting platform 103, the mechanical arm member and each component through a slide wire power supply system, and carries a gear and rack transmission system.Wherein the camera 113, the light supplement lamp 112 light source, the mechanical arm, the lifting platform 103 are powered by sliding contact line, and are in contact with the guide rail for power supply. The lifting platform 103 carries the mechanical arm component, the joint of the mechanical arm component moves by stretching and rotating, the mechanical arm component carries the light supplement lamp 112 light source and the camera 113, the buffer platform 104 is located at the bottom of the mobile robot assembly 102, and is used for handling emergency situations, especially for equipment fault reset.

[0020] When using the bridge tower internal automatic inspection equipment of the embodiment, the working principle is as follows:

[0021] 1, preparation stage

[0022] System check: in the control center, the technical team carries out comprehensive inspection on the software and hardware of the robot, ensures that the sensors, the camera 113, the mechanical arm component and its parts, and the communication equipment are in the best state.

[0023] Inspection planning: the algorithm combines maintenance records and past inspection data to plan the path and key areas of inspection, including detailed inspection of the main tower wall, key welds, steel ladder joints and steel platform structure.

[0024] 2, layer by layer inspection

[0025] Smooth ascent: the robot starts to ascend along the guide rail, and the high-precision drive system ensures smooth movement and reduces the influence of vibration on positioning.

[0026] Layer by layer stop: when moving to a specific layer, the moving platform stops ascending, and the mechanical arm component starts to move.

[0027] 3, image acquisition

[0028] Tower wall image acquisition: the mechanical arm component carries the camera 113, surrounds the tower wall, adjusts the angle of the camera 113, and collects the image data of the tower wall of the layer.

[0029] Ladder image acquisition: the mechanical arm component carries the camera 113, goes deep into the steel platform to the steel ladder, adjusts the angle of the camera 113, and collects the image data of the steel platform and the steel ladder.

[0030] 4, manual intervention

[0031] Abnormal situation: if the automatic inspection equipment detects an abnormal situation, it will automatically mark, record abnormal information and report to the control center.

[0032] Takeover Control: Upon reaching a key area or detecting an anomaly, the control center can choose whether to take over control of the inspection equipment. If takeover is selected, the control center will control the equipment's movement. After the takeover control ends, the automatic inspection equipment will resume data collection for that layer.

[0033] 5. Inspection ends

[0034] Comprehensive Coverage: The robot completes the inspection tasks on each floor and reaches the top floor, ensuring a comprehensive inspection of all areas inside the main tower.

[0035] Equipment Reset: After completing the task, the automatic inspection equipment performs an equipment reset, smoothly returns to the starting point along the original route, and automatically checks the equipment status at the same time.

[0036] 6. Handling Power Anomalies

[0037] The automatic inspection equipment is equipped with a power monitoring system that monitors the power supply status in real time. When the main power supply is found to be insufficient to meet the equipment's needs, the backup power supply system is activated. The backup power supply should have the power to reset the equipment. The power monitoring system monitors the power supply status in real time. When the main power supply returns to normal and the equipment resets, it switches back to the main power supply and awaits the next instruction.

[0038] 7. Other abnormal handling

[0039] If any other abnormal situation occurs with the equipment, a reset operation must be performed. The platform stops moving and checks whether the robotic arm has been retracted. When the robotic arm has been safely retracted, the platform descends to the starting position and reports the abnormal situation.

[0040] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A bridge tower internal automatic inspection device comprising an external rack and a mobile robot assembly, characterized in that, The mobile robot assembly comprises a lifting platform, a buffer platform, a control system, a driving motor and a mechanical arm component, the lifting platform is connected with the external gear rack and located on one side of the gear rack, the buffer platform is connected with the lifting platform and located on one side of the lifting platform, the control system is connected with the lifting platform and located on one side of the lifting platform, the driving motor is arranged on the lifting platform and located on one side of the lifting platform close to the control system, and the mechanical arm component is arranged on the lifting platform.

2. The automatic inspection equipment in the bridge tower interior according to claim 1, characterized in that, The mechanical arm component comprises a first telescopic component, a first arm and a second arm, the first telescopic component is connected with the lifting platform and located on one side of the lifting platform, the first arm is arranged on the first telescopic component, and the second arm is arranged on the first arm.

3. The automatic inspection equipment in the bridge tower interior according to claim 2, characterized in that, The first arm comprises a second telescopic component and a first rotating component, the second telescopic component is connected with the first telescopic component and located on one side of the first telescopic component, and the first rotating component is connected with the second telescopic component and located on one side of the second telescopic component.

4. The automatic inspection equipment in the bridge tower interior according to claim 2, characterized in that, The second arm comprises a third telescopic component and a second rotating component, the third telescopic component is connected with the first rotating component and located on one side of the first rotating component, and the second rotating component is connected with the third telescopic component and located on one side of the third telescopic component.

5. The automatic inspection equipment in the bridge tower interior according to claim 4, characterized in that, The second arm further comprises a light supplement lamp and a camera, the light supplement lamp is connected with the second rotating component and located on one side of the second rotating component, and the camera is connected with the second rotating component and located on one side of the second rotating component close to the light supplement lamp.

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