CN110320216A - A kind of U-rail formula Detection System for Bridge - Google Patents
A kind of U-rail formula Detection System for Bridge Download PDFInfo
- Publication number
- CN110320216A CN110320216A CN201910532189.1A CN201910532189A CN110320216A CN 110320216 A CN110320216 A CN 110320216A CN 201910532189 A CN201910532189 A CN 201910532189A CN 110320216 A CN110320216 A CN 110320216A
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- CN
- China
- Prior art keywords
- track
- bridge
- workbench
- detection
- detection system
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
Abstract
The invention discloses a kind of U-rail formula Detection System for Bridge, including two supporting tracks being fixed on bridge, workbench is slidably connected between two supporting tracks, the workbench includes cross track, and cross track both ends pass through arc track and are connected with vertical track；The workbench slidably connects detection robot；Detection robot includes walking movement portion, and walking movement portion is connected with detection work department by extending arm rotation；Camera is installed in detection work department；Robot is wired or wireless is connected with remote data center for workbench and detection；The cross track, arc track and vertical track are I-shaped track；Walking movement portion includes erecting bed, and erecting bed two sides pass through connecting rod respectively and are connected at least two to be connected with the idler wheel of I-shaped track cooperation, and idler wheel is connected with motor by speed reducer；The idler wheel is gear；There are several teeth with gear cooperation along I-shaped track length direction progressive forming.The configuration of the present invention is simple, it is easy to use, shot detection can be carried out in different angle according to the shape of bridge bottom, and detection while to bridge bottom and bridge side may be implemented.
Description
Technical field
The invention belongs to machinery field more particularly to a kind of U-rail formula Detection System for Bridge.
Background technique
Crack, which occurs, in bridge surface means structural damage occur inside bridge, and extraneous steam is easily accessible bridge
Inside to accelerate the corrosion of reinforcing bar, and then causes the bearing capacity of bridge to decline, and drastically influences the safety trip of people.
Therefore, the crack for capturing, checking bridge surface in time guarantees the reliable fortune of bridge for indicating or finding engineering dangerous situation in time
Battalion and the service life for extending bridge have very important significance.The Crack Detection of bridge upper surface is fairly simple at present,
Pass through artificial or detection vehicle detection.But special device is then needed to the detection of bridge bottom and side, such as:
Invention 201510066795.0 discloses a kind of concrete bridge bottom crack detecting device.It is mutually equal including two
Capable rail brackets, a guide rail, two picture pick-up devices, radio transmission apparatus and monitoring device；Two rail brackets settings exist
Between two adjacent bridge piers, it is transversely parallel to bridge bottom surface；Guide rail is vertically set between two rail brackets, and can be along leading
Rail bracket is mobile；Two picture pick-up devices are arranged on guide rail, and can move along guide rail；Two picture pick-up devices and two rail brackets
Between be respectively arranged with first stroke switch, second stroke switch is provided between two picture pick-up devices；It is arranged on picture pick-up device
There is rotatable bracket, the camera that can be swung up and down is installed on bracket, for shooting bridge bottom surface, the figure of camera shooting
As being wirelessly transmitted to monitoring device by radio transmission apparatus.The concrete bridge bottom crack detecting device economy, efficiently and
And precision is high.
In order to solve above-mentioned technology to the lower limitation of bridge width detection efficiency；Invention 201810284780.5 discloses
A kind of detection device for bridge bottom crack, including two walking tracks, support component, detection components, controller units
And remote data center；Support component includes support frame and driving mechanism；Support frame is set between two walking tracks, by driving
Mechanism driving is moved along walking track；Detection components include multiple cameras, supporting table of creeping and are fixed on supporting table of creeping
On Ground Penetrating Radar；Multiple cameras are arranged on the support frame at equal intervals；Supporting table of creeping is movably connected with support frame；Controller
Unit receives and judges that the image of all camera shootings generates supporting table of creeping when judging that gap occurs in bridge bottom surface
Run trace；Then it controls supporting table of creeping to walk along aforementioned run trace, while Ground Penetrating Radar being utilized to carry out bridge seam
The depth and width of gap detect, and save data.Realize full-automatic detection, detection accuracy is high, and can be suitable for span it is big,
Irregular Crack Detection.
But above-mentioned apparatus can only detect bridge bottom, there is presently no simultaneously to bridge bottom and side
The device that face is detected simultaneously.And above-mentioned apparatus is overhauled or is dismounted, and needs not only to grasp under staff to bridge bottom
Make trouble and it is easy to appear danger.
Summary of the invention
To solve the above problems, the invention discloses a kind of U-rail formula Detection System for Bridge.The configuration of the present invention is simple,
It is easy to use, shot detection can be carried out in different angle according to the shape of bridge bottom, and may be implemented to bridge bottom and bridge side
It is detected while face.Simultaneously can realize installation detection robot construction personnel, be not required to down to bridge bottom directly in bridge floor install with
The technical effect of recycling, the personnel equipment's risk for preventing lower bridge installation from generating.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of U-rail formula Detection System for Bridge, including two supporting tracks being fixed on bridge, two supporting tracks
Between slidably connect workbench, the workbench includes cross track, and cross track both ends pass through arc track and connect
There is vertical track；The workbench slidably connects detection robot；Detecting robot includes walking movement portion, walking movement
Portion is connected with detection work department by extending arm rotation；Camera is installed in detection work department；Workbench and detection machine
People is wired or wireless to be connected with remote data center；The cross track, arc track and vertical track are I-shaped track；
Walking movement portion includes erecting bed, and erecting bed two sides pass through the rolling that connecting rod is connected at least two with the cooperation of I-shaped track respectively
Wheel is connected, and idler wheel is connected with motor by speed reducer；The idler wheel is gear；Have along I-shaped track length direction progressive forming
Several teeth with gear cooperation.
Further to improve, the extending arm includes the first articulated jib with running part articulated connection, the first articulated jib hinge
It is connected to the second articulated jib in succession, the second articulated jib and workbench rotation connect.
Further to improve, the extending arm includes that connection pedestal is rotated with running part, and pedestal articulated connection first is hinged
Arm, the first articulated jib are hingedly connected with the second articulated jib, and the second articulated jib is connect with workbench.
It is further to improve, light source is also connected on the extending arm.
Further to improve, the supporting track is rope；It is sliding that the workbench two sides are separately installed at least two
Wheel, rope are wrapped on pulley.
Further to improve, the rope ends pass through sucker respectively and are fixed on bridge；Sucker is communicated with air pump.
Further to improve, the corresponding central angle of the arc track is 90 °, and both ends are respectively with cross track and vertically
Track is tangent.
Detailed description of the invention
Fig. 1 is the overlooking structure diagram of bridge floor detection system；
Fig. 2 is the schematic perspective view for detecting robot；
Fig. 3 is the attachment structure schematic diagram of workbench and supporting track；
Fig. 4 is a kind of detection schematic diagram of box beam；
Fig. 5 is the workbench positive structure diagram in embodiment 3；
Fig. 6 is the workbench side structure schematic view in embodiment 4；
Fig. 7 is the workbench positive structure diagram in embodiment 4；
Fig. 8 is the structural schematic diagram of U-rail formula Detection System for Bridge.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
Embodiment 1
A kind of bridge floor detection system as shown in Figs. 1-3 fixes two supporting tracks 1 on bridge, two bearings
Workbench 2 is slidably connected between track 1, the workbench 2 slidably connects at least three detection robot 7；Detect machine
People 7 includes walking movement portion 3, and walking movement portion 3 is connected with detection work department 5 by the rotation of extending arm 4；It detects in work department 5
Camera 6 is installed；Robot 7 is wired or wireless is connected with remote data center for workbench 2 and detection.The extending arm 4
Including rotating connection pedestal 43, the first articulated jib 41 of articulated connection of pedestal 43 with running part, the first articulated jib 41 is hingedly connected with
Second articulated jib 42, the second articulated jib 42 are connect with workbench 2.Since bridge bottom is easy to detect work department without GPS signal
5 are also equipped with navigation device and environmental perception device；Navigation device is navigator, the illumination inductor of environmental perception device.It stretches
Light source 8 is also connected in swing arm 4.
Workbench 2 is I-shaped track；Walking movement portion 3 includes erecting bed 12, and erecting bed 12 is matched with I-shaped track
The idler wheel 9 of conjunction is connected, and idler wheel 9 is connected with motor 10 by speed reducer 11.
Supporting track 1 is I-shaped track；Idler wheel 9 with the cooperation of I-shaped track, idler wheel 9 are installed on workbench 2
Motor 10 is connected with by speed reducer 11.
Above-mentioned detection robot 7 is realized by walking movement portion 3 and is walked along 2 length direction of workbench, and stretching, extension is passed through
First articulated jib 41 of arm 4 and the second articulated jib 42 realize the height adjustment and vertical angular adjustment of detection work department 5, by with
Running part rotation connection pedestal 43 realizes the angular adjustment of detection 5 horizontal plane of work department, forms various postures consequently facilitating adjusting.
Embodiment 2
A kind of bridge bottom surface detection method, includes the following steps:
Step 1: measuring three-dimensional modeling to pontic bottom construction by remote data center；
Step 2: being divided into several measuring units according to each chair mechanisms feature in pontic bottom；The measuring unit is
Detection robot 7 does not adjust in lower situation, and the photographic quality that camera 6 is shot reaches the bridge area of specified degree；Specifically
I.e. camera 6 photo captured in certain focusing range be clearly, and within the scope of measuring unit, camera with
The distance in corresponding shooting face to guarantee the degree of cleaning of shooting photo, therefore is measuring i.e. in the focusing range of camera 6
Within the scope of unit, it is only necessary to run workbench 2 along supporting track, be spelled after each measuring unit shooting
The whole picture to form measuring unit is connect, the shooting attitude angle that camera is moved to next measuring unit is then controlled, until
Shooting is completed.
Step 3: camera shooting posture and the position of each detection robot 7 are determined, according to detection machine to each measuring unit
Camera shooting posture and position of the device people 7 in corresponding measuring unit；Planning obtains the running track of each detection robot 7；
It is examined Step 4: remote data center control detection robot 7 is run according to running track to the bridge for completing setting
Survey work.
When needing maintenance or detachable, detection robot slides into vertical 23 top of track, and staff can be to inspection
Robot is surveyed to be overhauled or dismantled.
Embodiment 3
As shown in figure 5, in order to realize fixation of the robot on workbench 2, motor 10 is self-locking motor；Idler wheel 9 is
Gear has several teeth with gear cooperation along 2 length direction progressive forming of workbench；Table on erecting bed 12 and I-shaped track
It is close to setting in face.
Embodiment 4
As shown in figure 5, on the basis of embodiment 1, following improvement or replacement can be entered: realizing that detection work department 5 is vertical
Body adjust mode can also be just like under type: the extending arm 4 include with running part articulated connection the first articulated jib 41, first
Articulated jib 41 is hingedly connected with the second articulated jib 42, and the second articulated jib 42 is connected with the rotation of workbench 2.
Embodiment 5
As shown in Figure 6 and Figure 7, in order to save cost, it is convenient for changing supporting track 1, and reduce the damage to bridge, to bridge
Beam is improved as follows: the supporting track 1 is rope；The walking movement portion 3 includes erecting bed 12,12 two sides of erecting bed point
At least two pulleys 13 are not installed, rope is wrapped on pulley 13.
Rope ends pass through sucker 14 respectively and are fixed on bridge；Sucker 14 is communicated with air pump 15.
Reducing costs for steel supporting track 1 is replaced by rope in this way, and it is realized by sucker 14 and is quickly torn open
Dress.
Embodiment 6
As shown in figure 8, on the basis of embodiment 1, in order to realize simultaneously to the detection of bridge side, being changed as follows
Into: workbench 2 includes cross track 21, and 21 both ends of cross track pass through arc track 22 and are connected with vertical track 23；It is horizontal
It is I-shaped track to track 21, arc track 22 and vertical track 23；Walking movement portion 3 includes erecting bed 12, erecting bed
12 two sides pass through respectively connecting rod 16 be connected at least two with I-shaped track cooperation idler wheel 9 be connected, idler wheel 9 passes through speed reducer
11 are connected with motor 10；The idler wheel 9 is gear；There is the cooperation of several and gear along I-shaped track length direction progressive forming
Tooth 17.
Robot can be run on the U-rail that transversely track 21, arc track 22 and vertical track 23 form in this way
And keeping robot by gear and tooth 17 is not in sliding in vertical track 23.
Although the embodiments of the present invention have been disclosed as above, but it is not restricted to listed fortune in specification and embodiment
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily real
Now other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is not limited to
Specific details and depicted herein.
Claims (7)
1. a kind of U-rail formula Detection System for Bridge, including two supporting tracks (1) being fixed on bridge, two supporting rails
Workbench (2) are slidably connected between road (1), which is characterized in that the workbench (2) includes cross track (21), laterally
Track (21) both ends pass through arc track (22) and are connected with vertical track (23)；The workbench (2) slidably connects inspection
It surveys robot (7)；Detection robot (7) includes walking movement portion (3), and walking movement portion (3) pass through extending arm (4) rotation connection
There are detection work department (5)；Camera (6) are installed in detection work department (5)；Workbench (2) and detection robot (7) are wired
Or it is wirelessly connected with remote data center；The cross track (21), arc track (22) and vertical track (23) are I-shaped
Shape track；Walking movement portion (3) includes erecting bed (12), and erecting bed (12) two sides pass through connecting rod (16) respectively and are connected at least two
A idler wheel (9) with the cooperation of I-shaped track is connected, and idler wheel (9) is connected with motor (10) by speed reducer (11)；The idler wheel
It (9) is gear；There are several teeth (17) with gear cooperation along I-shaped track length direction progressive forming.
2. U-rail formula Detection System for Bridge as described in claim 1, which is characterized in that the extending arm (4) includes and row
The first articulated jib (41) of portion's articulated connection is walked, the first articulated jib (41) is hingedly connected with the second articulated jib (42), and second is hinged
Arm (42) and workbench (2) rotation connect.
3. U-rail formula Detection System for Bridge as described in claim 1, which is characterized in that the extending arm (4) includes and row
Portion's rotation connection pedestal (43) is walked, pedestal (43) is articulated and connected the first articulated jib (41), and the first articulated jib (41) is hingedly connected with
Second articulated jib (42), the second articulated jib (42) are connect with workbench (2).
4. U-rail formula Detection System for Bridge as described in claim 1, which is characterized in that be also connected on the extending arm (4)
There are light source (8).
5. U-rail formula Detection System for Bridge as described in claim 1, which is characterized in that the supporting track (1) is rope
Rope；Workbench (2) two sides are separately installed at least two pulleys (13), and rope is wrapped on pulley (13).
6. U-rail formula Detection System for Bridge as described in claim 1, which is characterized in that the rope ends pass through respectively
Sucker (14) is fixed on bridge；Sucker (14) is communicated with air pump (15).
7. U-rail formula Detection System for Bridge as described in claim 1, which is characterized in that the arc track (22) is corresponding
Central angle be 90 °, and both ends are tangent with cross track (21) and vertical track (23) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910532189.1A CN110320216A (en) | 2019-06-19 | 2019-06-19 | A kind of U-rail formula Detection System for Bridge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910532189.1A CN110320216A (en) | 2019-06-19 | 2019-06-19 | A kind of U-rail formula Detection System for Bridge |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110320216A true CN110320216A (en) | 2019-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910532189.1A Pending CN110320216A (en) | 2019-06-19 | 2019-06-19 | A kind of U-rail formula Detection System for Bridge |
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| Country | Link |
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| CN (1) | CN110320216A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112798208A (en) * | 2021-01-25 | 2021-05-14 | 上海应用技术大学 | Intelligent remote control monitoring system of bridge support |
| CN115060565A (en) * | 2022-08-16 | 2022-09-16 | 昆明理工大学 | Detection equipment and method for pre-splitting blasting model test |
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| CN201357939Y (en) * | 2009-01-16 | 2009-12-09 | 华南理工大学 | Multi-degree-of-freedom moving mechanism of flaw detecting device for underwater bridge structure |
| CN102071638A (en) * | 2009-11-23 | 2011-05-25 | 山东科技大学 | Special mobile robot dedicated for detection and construction on back of bridge beam and bridge plate |
| CN102513997A (en) * | 2011-12-07 | 2012-06-27 | 金华职业技术学院 | Mechanical arm |
| CN105133490A (en) * | 2015-09-10 | 2015-12-09 | 来安县新元机电设备设计有限公司 | Bridge detection device and detection method thereof |
| CN105200918A (en) * | 2015-09-10 | 2015-12-30 | 舟山市智海技术开发有限公司 | Bridge detection structure and bridge detection method adopting same |
| CN107881910A (en) * | 2017-12-20 | 2018-04-06 | 厦门大学嘉庚学院 | A kind of bridge detection robot |
| CN108254384A (en) * | 2018-04-02 | 2018-07-06 | 江苏中路工程检测有限公司 | A kind of detection device for bridge bottom crack |
| CN108360375A (en) * | 2018-01-26 | 2018-08-03 | 苏交科集团股份有限公司 | A kind of unmanned engineering detecting vehicle |
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2019
- 2019-06-19 CN CN201910532189.1A patent/CN110320216A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201357939Y (en) * | 2009-01-16 | 2009-12-09 | 华南理工大学 | Multi-degree-of-freedom moving mechanism of flaw detecting device for underwater bridge structure |
| CN102071638A (en) * | 2009-11-23 | 2011-05-25 | 山东科技大学 | Special mobile robot dedicated for detection and construction on back of bridge beam and bridge plate |
| CN102513997A (en) * | 2011-12-07 | 2012-06-27 | 金华职业技术学院 | Mechanical arm |
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| CN107881910A (en) * | 2017-12-20 | 2018-04-06 | 厦门大学嘉庚学院 | A kind of bridge detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112798208A (en) * | 2021-01-25 | 2021-05-14 | 上海应用技术大学 | Intelligent remote control monitoring system of bridge support |
| CN115060565A (en) * | 2022-08-16 | 2022-09-16 | 昆明理工大学 | Detection equipment and method for pre-splitting blasting model test |
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Application publication date: 20191011 |