Bridge and tunnel intelligent detection vehicle mechanical arm system

Abstract

The invention discloses a bridge and tunnel intelligent detection vehicle mechanical arm system. A first mechanical arm, a second mechanical arm and a third mechanical arm are driven or controlled bylead screw pairs, the moment of force is large, the rigidity is high, the stability is good, the mechanical arms can be lengthened according to needs without limitation, and wide bridges and large tunnels can be measured only through cameras or other detection devices installed at the tail ends of the mechanical arms.

Description

technical field [0001] The invention relates to the technical field of bridge and tunnel detection, in particular to a bridge and tunnel intelligent detection vehicle mechanical arm system. Background technique [0002] Bridges and tunnels play a pivotal role in the development of the national economy, and they are also a manifestation of my country's comprehensive strength. Cracks are the most common early disease of concrete bridges and tunnels, and they are also the most difficult to detect damage state among many bridges and tunnel diseases, which seriously endanger the safety of bridges. Regular inspection, analysis and evaluation of bridges and tunnels An important guarantee of safety. The current main detection method is manual detection, using a ladder or a detection vehicle to transport the detection personnel to the vicinity of the detected part for operational detection. Due to the heavy weight of the human body and the detection equipment, the aerial ladder or ...

AI Technical Summary

Problems solved by technology

Due to the heavy weight of the human body and detection equipment, the aerial ladder or detection vehicle is also quite large, moving clumsily, with low detection efficiency and high investment costs, especially for the detection of wide bridges or large tunnels.

In order to solve the problems existing in the inspection vehicle, many universities, scientific research institutions and enterprises have explored and researched the inspection vehicle equipment for a long time, and achieved some results, such as the public solution "201620852581.6, a horizontal telescopic super-span Wide bridge inspection vehicle" and "20142032496.9, multi-working condition bridge inspection vehicle" and so on, have greatly improved the inspection vehicle, but did not solve the problem fundamentally

In recent years, some researchers have proposed the concept of automatic detection of bridges and tunnels, and used some modern high-tech achievements to conduct research and experiments. There are two main schemes: one is "miniature UAV image detection". The "draft" of the bridge and the "cross wind" under the bridge make it difficult to locate the drone, and it cannot be detected, let alone marked, and it has not been practical so far; Equipment image acquisition and detection", the research prospect of this method is quite considerable, this technology is also described in "201420058375.9, a bridge inspection vehicle"

However, the "articulated robot-like robotic arm" is not enough to detect wider bridges, because the mechanical arm lengthens, the moment arm and the gravity of the mechanical arm to its joints increase at the same time, that is to say, the torque will increase sharply, so far However, the torque of the articulated robot reducer (RV reducer) cannot meet this torque requirement. Therefore, the method of using the bridge "similar to the mechanical arm of the articulated robot, holding a camera or other detection equipment to detect images" has also encountered a bottleneck.

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