Automatic inspection robot for state evaluation before bridge wet joint construction

Abstract

The utility model discloses an automatic inspection robot for state evaluation before bridge wet joint construction, which relates to the technical field of bridge engineering and comprises a detection box, the bottom of the detection box is rotatably connected with a bottom plate with a bottom camera through a rotating shaft, and positioning components are arranged at the front end and the rear end of the bottom plate. A mounting frame in the positioning assembly is fixedly connected with a bottom plate, the output end of a motor on the mounting frame is connected with a bidirectional threaded rod, a sliding rod is arranged below the bidirectional threaded rod in parallel, moving frames are spirally connected to the two ends of the bidirectional threaded rod, the moving frames are slidably mounted on the sliding rod, and connecting rods are rotationally connected to the bottoms of the moving frames and hinged to connecting arms. Due to the fact that the anti-skid plate is arranged in the positioning assembly, the robot can be in direct contact with the ground, the contact area is larger, the anti-skid performance is better, the robot can be kept at the stable position on the wet and slippery surface or the surface with impurities, and the possibility that the position of the robot deviates is reduced.

Description

Technical Field

[0001] This utility model relates to the field of bridge engineering technology, specifically to an automated inspection robot for assessing the condition of bridge wet joints before construction. Background Technology

[0002] Precast bridge construction technology, which involves mass-producing precast components in a factory and assembling the precast structure on-site, offers advantages such as rapid construction speed, environmental protection, higher safety and quality, and space saving, and is widely used in modern bridge construction. During on-site construction, the individual precast bridge components are connected into a whole through cast-in-place wet joints. The pouring of wet joints is a key construction step that determines the construction speed and quality of the bridge.

[0003] Chinese utility model patent application number 202223507537.6 provides an automated inspection robot for assessing the condition of bridge wet joints before construction. Based on the surrounding scene conditions captured by the front-facing camera, the robot determines the movement posture required to cross the wet joint. Then, the robot stops in front of the wet joint, and the lateral telescopic rod extends until it reaches the precast bridge panel on the other side and stops. At the same time, the vertical telescopic rod extends and supports the precast bridge panel on the other side. The omnidirectional wheels rotate, causing the robot to move forward, while the lateral telescopic rod continuously retracts until a pair of front omnidirectional wheels complete the crossing. The inspection box is rotated 180 degrees, the vertical telescopic rod supports the initial precast bridge panel, and the lateral telescopic rod continuously extends, allowing the rear omnidirectional wheels to complete the crossing. Finally, the lateral telescopic rod and the vertical retracting rod retract to the state before crossing the wet joint.

[0004] However, during the use of the aforementioned equipment, it was found that the presence of water, dust, or other impurities at the wet joints reduces the friction between the casters and the ground. When the automated inspection robot performs rotation, extension, or other movements, it generates significant lateral forces or torques. Insufficient friction can cause the casters to slip, leading to deviations in the robot's position. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides an automated inspection robot for pre-construction condition assessment of bridge wet joints. This solves the problem mentioned in the background technology that when the automated inspection robot performs rotation, extension, and other actions, it generates large lateral forces or torques, and in the case of insufficient friction, the casters are prone to slippage, leading to deviations in the robot's position.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an automated inspection robot for pre-construction condition assessment of bridge wet joints, comprising an inspection box, an antenna mounted on the top of the inspection box, a front-facing camera at the front end of the inspection box, and a bottom of the inspection box rotatably connected to a base plate carrying a bottom camera via a rotating shaft. Positioning components are provided at both the front and rear ends of the base plate, each positioning component including a mounting frame fixedly connected to the base plate. A motor is mounted on the mounting frame, and a bidirectional threaded rod is connected to the output end of the motor. The bidirectional threaded rod is rotatably mounted on the mounting frame. A sliding rod is parallel to the bottom of the bidirectional threaded rod and fixedly mounted on the mounting frame. A movable frame is helically connected to both ends of the bidirectional threaded rod and slidably mounted on the sliding rod. A connecting rod is rotatably connected to the bottom of the movable frame, and a connecting arm is hinged to the connecting rod. The connecting arm is fixedly mounted on an anti-slip plate.

[0007] Preferably, an anti-slip pad is adhered to the bottom of the anti-slip plate.

[0008] Preferably, a horizontal telescopic rod is installed at the front end of the testing box, one end of which is L-shaped and fixedly connected to the mounting plate, and a vertical telescopic rod is installed at the bottom of the mounting plate.

[0009] Preferably, the lateral telescopic rod extends and retracts along its length, and the vertical telescopic rod extends and retracts freely along the vertical direction.

[0010] Preferably, an infrared sensor is mounted on the mounting plate, with the infrared emitting end of the infrared sensor pointing vertically downwards.

[0011] This invention provides an automated inspection robot for assessing the condition of wet joints in bridges before construction. It offers the following advantages:

[0012] (1) By setting an anti-slip plate in the positioning component, the anti-slip plate can directly contact the ground when encountering water, dust or other impurities at wet joints. The anti-slip plate usually has a larger contact area and better anti-slip performance, which can effectively increase the friction with the ground and reduce the sliding caused by insufficient friction. This allows the robot to maintain a stable position on wet or impure surfaces and reduces the possibility of robot position deviation. Attached Figure Description

[0013] Figure 1 This is a diagram showing the overall structure of this utility model;

[0014] Figure 2 This utility model Figure 1 Structural diagram of the midsole plate;

[0015] Figure 3 This utility model Figure 1 Overall structure bottom view;

[0016] Figure 4 This utility model Figure 2 A structural diagram of the positioning component.

[0017] In the diagram, 1 is the detection box; 11 is the antenna; and 12 is the front-facing camera.

[0018] 2. Base plate; 21. Hinge; 22. Bottom camera;

[0019] 3. Horizontal telescopic bar; 31. Mounting plate; 32. Vertical telescopic bar;

[0020] 4. Infrared sensor;

[0021] 5. Positioning assembly; 51. Mounting bracket; 52. Two-way threaded rod; 53. Motor; 54. Slide rod; 55. Moving frame; 56. Connecting rod; 57. Connecting arm; 58. Anti-slip plate;

[0022] 6. Anti-slip mat. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Example 1:

[0025] When automated inspection robots perform rotation, extension, and other actions, they generate significant lateral forces or torques. If there is insufficient friction, the casters are prone to slipping, causing the robot's position to deviate.

[0026] To resolve the above issues, please refer to [link / reference]. Figures 1-4This utility model provides an automated inspection robot for assessing the condition of wet joints in bridges before construction. It includes an inspection box 1, an antenna 11 mounted on the top of the inspection box 1, a front-facing camera 12 at the front end of the inspection box 1, and a bottom plate 2 with a bottom camera 22 rotatably connected to the bottom of the inspection box 1 via a pivot 21. Positioning components 5 are provided at both the front and rear ends of the bottom plate 2. The positioning components 5 include a mounting frame 51, which is fixedly connected to the bottom plate 2. A motor 53 is mounted on the mounting frame 51, and a bidirectional threaded rod 52 is connected to the output end of the motor 53. The bidirectional threaded rod 52 is rotatably mounted on the mounting frame 51. A sliding rod 54 is arranged parallel below the bidirectional threaded rod 52 and is fixedly mounted on the mounting frame 51. A movable frame 55 is screwed onto both ends of the bidirectional threaded rod 52 and is slidably mounted on the sliding rod 54. A connecting rod 56 is rotatably connected to the bottom of the movable frame 55, and a connecting arm 57 is hinged to the connecting rod 56. An anti-slip plate 58 is fixedly mounted on the connecting arm 57.

[0027] Anti-slip pads 6 are glued to the bottom of anti-slip plate 58.

[0028] Specifically, the motor 53 in the positioning component 5 drives the bidirectional threaded rod 52 to rotate. Since the threads at both ends of the bidirectional threaded rod 52 are in opposite directions, the movable frame 55, which is helically connected at both ends, will move in opposite directions along the slide bar 54 under the drive of the bidirectional threaded rod 52. The movable frame 55 slides on the slide bar 54, which serves as a guide and limiter, ensuring the accurate movement trajectory of the movable frame 55. The movable frame 55 is hinged to the connecting arm 57 via the connecting rod 56. When the movable frame 55 moves, it will drive the connecting arm 57 to move via the connecting rod 56, thereby controlling the position of the anti-slip plate 58. When the inspection robot needs to be positioned, the anti-slip plate 58 descends to contact the ground, increasing the contact area between the robot and the ground. The anti-slip pad 6 bonded to the bottom of the anti-slip plate 58 further increases the friction between the robot and the ground, effectively preventing the robot from sliding even when there is water, dust, or other impurities at the wet joint, ensuring that the robot can maintain a stable standing and running state.

[0029] The positioning component 5 precisely controls the position and pressure of the anti-slip plate 58, which, together with the anti-slip pad 6, generates a large friction force with the ground. This effectively resists the lateral force or torque generated when the robot rotates, extends, or retracts, greatly improving the robot's stability and making it less prone to slipping or tipping over. This ensures that the robot can work in the predetermined posture.

[0030] Further;

[0031] To achieve coverage across wet joints, please refer to Figures 1-4The front end of the test box 1 is equipped with a horizontal telescopic rod 3. One end of the horizontal telescopic rod 3 is L-shaped and fixedly connected to the mounting plate 31. A vertical telescopic rod 32 is installed at the bottom of the mounting plate 31.

[0032] The horizontal telescopic rod 3 extends and retracts along its length, while the vertical telescopic rod 32 extends and retracts freely along its vertical direction.

[0033] An infrared sensor 4 is mounted on the mounting plate 31, with the infrared emitting end of the infrared sensor 4 pointing vertically downwards.

[0034] Specifically, the robot observes the surrounding scene through the front-facing camera 12, determines that it needs to cross the wet joint, moves to a suitable position in front of the wet joint and stops, and extends by the horizontal telescopic rod 3. During this process, the infrared emitter of the infrared sensor 4 is vertically downward, which can monitor the distance between the mounting plate 31 and the ground in real time. When the infrared sensor 4 detects that the horizontal telescopic rod 3 has moved to a suitable position on the other side of the wet joint, the vertical telescopic rod 32 is extended to contact the ground and provide stable support.

[0035] Then, the drive assembly inside the base plate 2 drives the base plate 2 to move the equipment, so that the front end of the inspection robot moves to the other side of the wet joint under the support of the vertical telescopic rod 32. At this time, the positioning assembly 5 is activated, causing the positioning assemblies 5 at the front and rear ends of the base plate 2 to contact the ground on both sides of the wet joint and form support. Then, the vertical telescopic rod 32 retracts, and with the rotation of the rotating shaft 21, the inspection box 1 rotates. When the vertical telescopic rod 32 rotates to the original wet joint side, it extends and provides support. After that, the positioning assembly 5 retracts, and the drive assembly inside the base plate 2 drives the equipment to move again, so that the inspection robot can cross the wet joint.

[0036] The robot can smoothly traverse wet joints, ensuring its continuous movement and inspection on the bridge structure. Without human intervention or complex handling operations, the robot can autonomously complete the inspection of multiple wet joints, greatly improving the efficiency of the inspection work.

[0037] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automated inspection robot for pre-construction condition assessment of wet joints in bridges, comprising an inspection box (1), wherein an antenna (11) is mounted on the top of the inspection box (1), a front-facing camera (12) is provided at the front end of the inspection box (1), and the bottom of the inspection box (1) is rotatably connected to a base plate (2) carrying a bottom camera (22) via a pivot (21), characterized in that: Positioning components (5) are provided at both the front and rear ends of the base plate (2). The positioning components (5) include a mounting frame (51). The mounting frame (51) is fixedly connected to the base plate (2). A motor (53) is installed on the mounting frame (51). The output end of the motor (53) is connected to a bidirectional threaded rod (52). The bidirectional threaded rod (52) is rotatably mounted on the mounting frame (51). A sliding rod (54) is arranged parallel below the bidirectional threaded rod (52). The sliding rod (54) is fixedly mounted on the mounting frame (51). A movable frame (55) is screwed onto both ends of the bidirectional threaded rod (52). The movable frame (55) is slidably mounted on the sliding rod (54). A connecting rod (56) is rotatably connected to the bottom of the movable frame (55). A connecting arm (57) is hinged to the connecting rod (56). An anti-slip plate (58) is fixedly mounted on the connecting arm (57).

2. The automated inspection robot for pre-construction condition assessment of bridge wet joints according to claim 1, characterized in that: An anti-slip pad (6) is attached to the bottom of the anti-slip plate (58).

3. The automated inspection robot for pre-construction condition assessment of bridge wet joints according to claim 1, characterized in that: The front end of the testing box (1) is equipped with a horizontal telescopic rod (3), one end of which is L-shaped and fixedly connected to the mounting plate (31). A vertical telescopic rod (32) is installed at the bottom of the mounting plate (31).

4. The automated inspection robot for pre-construction condition assessment of bridge wet joints according to claim 3, characterized in that: The horizontal telescopic rod (3) extends and retracts along its length, and the vertical telescopic rod (32) extends and retracts freely along the vertical direction.

5. The automated inspection robot for pre-construction condition assessment of bridge wet joints according to claim 3, characterized in that: An infrared sensor (4) is mounted on the mounting plate (31), with the infrared emitting end of the infrared sensor (4) pointing vertically downwards.

Images