CN111005315A - Bridge bottom surface detection structure and detection method thereof - Google Patents
Bridge bottom surface detection structure and detection method thereof Download PDFInfo
- Publication number
- CN111005315A CN111005315A CN201911318988.5A CN201911318988A CN111005315A CN 111005315 A CN111005315 A CN 111005315A CN 201911318988 A CN201911318988 A CN 201911318988A CN 111005315 A CN111005315 A CN 111005315A
- Authority
- CN
- China
- Prior art keywords
- rod
- plate
- transition
- hinged
- starting
- Prior art date
- 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.)
- Granted
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
-
- 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
Abstract
The invention discloses a bridge bottom surface detection structure and a detection method thereof. The bridge bottom surface detection structure comprises a carrier loader, a supporting device arranged on the carrier loader, an auxiliary device arranged on the supporting device, a stretching device movably arranged on the auxiliary device, and a detection device arranged on the stretching device. The supporting device comprises an upright post, a transverse component arranged on the upright post, and a longitudinal component arranged on the transverse component; the auxiliary device comprises a vertical plate, and auxiliary components which are rotatably arranged at two ends of the vertical plate and have a steering extension function; the stretching device comprises a translation plate and a fixed plate arranged on the vertical plate, wherein one end of the fixed plate is arranged on the fixed plate through a starting part, the other end of the fixed plate is arranged on the translation plate through a stopping part, and the stretching device is a telescopic stretching assembly. The invention overcomes the defects of the prior art, and provides a detection structure special for the bottom surface of a bridge, which solves the problems of high working strength and high detection risk caused by manual detection of the bottom surface of the bridge.
Description
Technical Field
The invention relates to the technical field of bridge detection, in particular to a bridge bottom surface detection structure and a detection method thereof.
Background
Along with the development of highway bridge business in China, more and more bridges are provided, and meanwhile, a plurality of existing bridges gradually enter a maintenance and repair stage. Experts think that the bridge enters the aging period when the bridge is used for more than 25 years, and according to statistics, 40% of the total number of bridges in China belongs to the category and all belong to 'aged' bridges. And as the number of the bridge maintenance devices is increasing over time, bridge managers pay more and more attention to the maintenance of the bridges. In order to meet the requirement of continuous development of road transportation load capacity, the existing road bridge is fully utilized to continuously and safely serve road transportation, and the bridge needs to be detected according to the road maintenance technical specification issued by the ministry of transportation.
Bridge crack detection is one of the important detection items of bridge, and the detection method to bridge crack at home and abroad is mainly manual detection at present, and manual detection needs to consume a large amount of manpower and material resources, still can have subjective interference factor in the testing process, and accuracy and efficiency are lower, and simultaneously when detecting bridge bottom surface crack, staff need rely on equipment such as scaffold frame, operation hanging flower basket to go down to the bridge bottom surface in person and detect, and danger is big.
Disclosure of Invention
The invention discloses a bridge bottom surface detection structure, which comprises a carrier loader, a supporting device arranged on the carrier loader, an auxiliary device arranged on the supporting device and used for providing a detection channel, a stretching device movably arranged on the auxiliary device and used for walking along the X direction, and a detection device arranged on the stretching device and used for detecting cracks on the bottom surface of a bridge, and is characterized in that:
the supporting device comprises an upright post, a transverse component which is arranged on the upright post and adjustable in length along the X direction, and a longitudinal component which is arranged on the transverse component and adjustable in length along the Z direction;
the auxiliary device comprises a vertical plate which is arranged on the longitudinal component and provided with through grooves at two ends, and an auxiliary component which is rotatably arranged at two ends of the vertical plate, is positioned at the through grooves and has a steering extension function;
the stretching device comprises a translation plate and a fixed plate arranged at the top of the vertical plate, wherein one end of the stretching device is arranged on the fixed plate through a starting part, the other end of the stretching device is arranged on the translation plate through a stopping part, and the stretching device can stretch along the X direction.
The invention discloses a preferable bridge bottom surface detection structure which is characterized in that a transverse assembly comprises an outer rod, a loop bar A, a loop bar B, a fixed block and a first oil cylinder, wherein the outer rod is vertically installed at the top of an upright post, one end of the outer rod is open, the loop bar A is movably installed in the outer rod, one end of the loop bar A extends out of the outer rod, two ends of the loop bar A are open, the loop bar B is movably installed in the loop bar A, one end of the loop bar B extends out of the loop bar A, the fixed block is vertically installed at the top of the loop bar.
The invention discloses a preferable bridge bottom surface detection structure which is characterized in that a pair of first sliding columns distributed along the Z direction are installed on the inner surface of an outer rod, and a pair of first sliding chutes distributed along the Z direction and matched with the first sliding columns are arranged on the outer surface of a loop rod A;
a pair of second sliding columns distributed along the Z direction are mounted on the inner surface of the sleeve rod A, and a pair of second sliding grooves distributed along the Z direction and matched with the second sliding columns are formed in the outer surface of the sleeve B;
a pair of first baffles distributed along the X direction are mounted on the inner surface of the opening end of the outer rod, and a pair of first limiting plates distributed along the X direction are mounted on the outer surfaces of the two ends of the loop bar A;
a pair of second baffles distributed along the X direction are installed on the inner surface of one end, far away from the outer rod, of the loop bar A, and a pair of second limiting plates distributed along the X direction are installed on the outer surface of one end, extending into the sleeve A, of the loop bar B.
The invention discloses a preferable bridge bottom surface detection structure which is characterized in that a longitudinal assembly comprises a vertical arm vertically installed on a loop bar B, a supporting arm vertically installed at the bottom of the vertical arm, a plurality of second oil cylinders installed at the bottom of the supporting arm and distributed along the Y direction, and a supporting seat installed on an expansion rod of the second oil cylinder.
The invention discloses a preferable bridge bottom detection structure which is characterized in that an auxiliary assembly is rotatably arranged on a vertical plate through a rolling bearing, is positioned in a through groove and is parallel to a Z direction, a rotating shaft is arranged on the vertical plate, an output shaft of the first motor is connected with the rotating shaft, an auxiliary shaft is arranged in the through groove and is positioned below the rotating shaft, a first gear is arranged on the auxiliary shaft, one end of the first gear is fixed on the rotating shaft and is rotatably arranged on the auxiliary shaft through the rolling bearing, the other end of the first gear extends out of the vertical plate, a main frame is movably arranged on the inner surface of the main frame and is positioned at one end of the main frame inserted into the vertical plate, a first rack which is arranged on the inner surface of the main frame, is engaged with the first gear and is positioned at one end of the main frame far away from a supporting seat, a fixing, the auxiliary frame is of a U-shaped structure, one end of the auxiliary frame is movably mounted on the main frame, the other end of the auxiliary frame is movably mounted on the main frame, a second rack which is mounted on the inner surface of the auxiliary frame and is positioned at one end, close to the supporting seat, of the auxiliary frame and meshed with the second gear, and a third rack which is mounted on the inner surface of the main frame, is positioned at one side, far away from the second rack, of the second gear and meshed with the second gear.
The invention discloses a preferable bridge bottom surface detection structure which is characterized in that a plurality of first electric push rods distributed along the length direction of a main frame are installed at the top of the main frame, the first electric push rods are positioned on one side, far away from a supporting seat, of the main frame, a first sliding rail is arranged above the first electric push rods, and the first sliding rail is installed on a telescopic rod of the first electric push rods;
a plurality of second electric push rods distributed along the length direction of the auxiliary frame are mounted at the top of the auxiliary frame, the second electric push rods are positioned on one side of the auxiliary frame, which is far away from the supporting seat, a second slide rail is arranged above the second electric push rods, and the second slide rail is mounted on a telescopic rod of the second electric push rod;
the first slide rail and the second slide rail are always on the same straight line; and a pair of third sliding rails distributed along the Y direction is installed at the top of the vertical plate.
The invention discloses a preferable bridge bottom surface detection structure which is characterized in that a stretching assembly comprises a plurality of transition plates which are movably arranged on a third slide rail and are uniformly distributed along the X direction, and a transition piece which is positioned between two adjacent transition plates and is used for driving the transition plates to move along the X direction;
the transition piece comprises a driving rod positioned between two adjacent transition plates, a first driving shaft, a second driving shaft, a third gear, a fourth gear, a transition rod A, a transition rod D, a transition rod E and a transition rod F, wherein the first driving shaft and the second driving shaft are rotatably arranged on the transition plates through rolling bearings and are distributed along the X direction, the third gear is arranged on the first driving shaft, the fourth gear is arranged on the second driving shaft and is meshed with the third gear, the transition rod A is hinged to the transition plate close to the fixed plate at one end, one end of the transition rod A is hinged to the transition plate far away from the fixed plate, the other end of the transition rod B is hinged to the driving rod together with the transition rod A, the transition rod B is always symmetrical to the transition rod A relative to the driving rod in the movement process, one end of the transition rod C is hinged to the transition plate close to the fixed plate, one end of the transition rod D is, one end of the transition rod G is hinged on the second driving shaft, the other end of the transition rod G and the transition rod E are commonly hinged on the driving rod, and the transition rod G and the transition rod F are symmetrical about the driving rod all the time in the motion process.
The invention discloses a preferable bridge bottom surface detection structure which is characterized in that an initial piece comprises an initial plate positioned between a fixed plate and an extension assembly, an initial rod A, an initial rod B, an initial rod C, an initial rod D, an initial rod E, an initial rod F, an initial shaft F, a second motor and a third motor, wherein one end of the initial rod A is hinged on the fixed plate, one end of the initial rod D is hinged on a transition plate nearest to the fixed plate, the other end of the initial rod E is hinged on the initial plate together with the initial rod A, the initial rod B is always symmetrical to the initial rod A about the initial plate in the motion process, one end of the initial rod C is hinged on the fixed plate, one end of the initial rod D is hinged on the initial plate, one end of, the starting rod G is arranged on the starting shaft at one end, is hinged to the starting plate with the starting rod F at the other end, and is symmetrical to the starting rod E about the starting plate all the time in the motion process.
The invention discloses a preferable bridge bottom surface detection structure which is characterized in that a termination piece comprises a termination plate positioned between a translation plate and an extension assembly, a termination rod A with one end hinged on the translation plate, a termination rod B with one end hinged on the transition plate nearest to the translation plate and the other end hinged on the termination plate together with the termination rod A, a termination rod B with one end hinged on the translation plate, a termination rod D with one end hinged on the termination plate, a termination rod C with one end hinged on the translation plate and the other end hinged on the transition plate nearest to the translation plate and the other end hinged with the termination rod C, the end rods D are hinged to the end rod E at one point, one end of the end rod F is hinged to the end rod F on the first driving shaft closest to the translation plate, one end of the end rod G is hinged to the translation plate, the other end of the end rod G and the end rod F are hinged to the end plate in a common mode, and the end rod G and the end rod F are symmetrical with each other about the end plate in the motion process.
The invention discloses a preferable bridge bottom surface detection structure which is characterized in that a detection device comprises a camera installed on a translation plate.
The detection method of the invention comprises the following steps:
s1: according to the thickness of the bridge and the distance between the carrying vehicle and the edge of the bridge, the supporting device is utilized to drive the auxiliary device to move in the X direction and the Z direction, so that the auxiliary device extends into the bottom of the bridge;
s2: the auxiliary device rotates around the Z direction and extends along the X direction, so that the main frame rotates by 90 degrees, the auxiliary frame extends out of the main frame, and the first slide rail, the second slide rail and the third slide rail are positioned on the same straight line to provide a detection channel for the extension device;
s3: the stretching device drives the translation plate to move along the detection channel, and the detection device completes detection work of the bridge ground.
The invention has the following beneficial effects: the invention overcomes the defects of the prior art, and provides a detection structure special for the bottom surface of a bridge, which solves the problems of low detection efficiency, high working strength and high detection risk caused by manual detection of the bottom surface of the bridge.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic view of the supporting device of the present invention;
FIG. 3 is a sectional view taken along A-A of FIG. 2;
FIG. 4 is a first top view of the auxiliary device and the stretching device according to the present invention;
FIG. 5 is a second top view of the auxiliary device and the extending device of the present invention;
FIG. 6 is a front view of the auxiliary device of the present invention;
FIG. 7 is a first sectional view of the auxiliary device of the present invention;
FIG. 8 is a second sectional view of the auxiliary device of the present invention;
FIG. 9 is a first schematic view of the stretching apparatus of the present invention;
fig. 10 is a schematic structural view of the stretching device of the present invention.
The figures are labeled as follows:
100-carrying vehicle.
200-supporting device, 201-upright post, 202-transverse assembly, 203-longitudinal assembly, 204-outer rod, 205-loop rod A, 206-loop rod B, 207-fixed block, 208-first oil cylinder, 209-first sliding column, 210-first sliding chute, 211-second sliding column, 212-second sliding chute, 213-first baffle, 214-first limiting plate, 215-second baffle, 216-second limiting plate, 217-vertical arm, 218-supporting arm, 219-second oil cylinder and 220-supporting seat.
300-auxiliary device, 301-through groove, 302-vertical plate, 303-auxiliary component, 304-rotating shaft, 305-first motor, 306-first gear, 307-main frame, 308-main frame, 309-first rack, 310-fixed seat, 312-second gear, 313-auxiliary frame, 314-second rack, 315-third rack, 316-first electric push rod, 317-first slide rail, 318-second electric push rod, 319-second slide rail, 320-first fixed groove, 321-second fixed groove, 322-first guide rail, 323-second guide rail, 324-auxiliary shaft
400-extension device, 401-translation plate, 402-fixation plate, 403-extension assembly, 404-starting part, 405-end part, 406-transition plate, 407-transition part, 408-drive rod, 409-third gear, 410-fourth gear, 411-transition rod a, 412-transition rod B, 413-transition rod C, 414-transition rod D, 415-transition rod E, 416-transition rod F, 417-transition rod G, 419-starting plate, 420-starting rod a, 421-starting rod B, 422-starting rod C, 423-starting rod D, 424-starting rod E, 425-starting rod F, 426-starting rod G, 427-end plate, 428-end rod a, 429-end rod B, 430-end rod C, 431-end lever D, 432-end lever E, 433-end lever F, 434-end lever G.
500-detection means, 501-camera.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
As shown in fig. 1, a bridge bottom surface detection structure and a detection method thereof include a carrier vehicle 100, a supporting device 200 mounted on the carrier vehicle 100, an auxiliary device 300 mounted on the supporting device 200 and used for providing a detection channel, a stretching device 400 movably mounted on the auxiliary device 300 and used for traveling in an X direction, and a detection device 500 mounted on the stretching device 400 and used for detecting a crack on a bridge bottom surface.
As shown in FIG. 2, the supporting device 200 includes a column 201, a transverse assembly 202 mounted on the column 201 and adjustable in length in the X direction, and a longitudinal assembly 203 mounted on the transverse assembly 202 and adjustable in length in the Z direction.
The transverse assembly 202 comprises an outer rod 204 vertically mounted on the top of the upright 201 and having an open end, a loop bar A205 movably mounted in the outer rod 204 and having an end extending out of the outer rod 204 and an open end, a loop bar B206 movably mounted in the loop bar A205 and having an end extending out of the loop bar A205, a fixed block 207 vertically mounted on the top of the loop bar B206, and a first oil cylinder 208 mounted on the outer rod 204 and having an expansion link mounted on the fixed block 207.
The longitudinal assembly 203 comprises a vertical arm 217 vertically installed on the loop bar B206, a supporting arm 218 vertically installed at the bottom of the vertical arm 217, a plurality of second oil cylinders 219 installed at the bottom of the supporting arm 218 and distributed along the Y direction, and a supporting seat 220 installed on an expansion rod of the second oil cylinders 219.
As shown in fig. 3, a pair of first sliding posts 209 distributed along the Z direction are installed on the inner surface of the outer rod 204, and a pair of first sliding slots 212 distributed along the Z direction and matched with the first sliding posts 209 are arranged on the outer surface of the loop rod a 205;
a pair of second sliding columns distributed along the Z direction are mounted on the inner surface of the sleeve rod A205, and a pair of second sliding grooves distributed along the Z direction and matched with the second sliding columns are formed in the outer surface of the sleeve B;
a pair of first baffles 213 distributed along the X direction are mounted on the inner surface of the opening end of the outer rod 204, and a pair of first limiting plates 214 distributed along the X direction are mounted on the outer surfaces of the two ends of the loop bar A205;
a pair of second stop plates 215 distributed along the X direction are mounted on the inner surface of one end of the loop bar a205 far away from the outer bar 204, and a pair of second stop plates 216 distributed along the X direction are mounted on the outer surface of one end of the loop bar B206 extending into the sleeve a.
The supporting device 200 drives the auxiliary device 300 to move in the X direction and the Z direction, so that the auxiliary device 300 is driven to move to the bottom of the bridge, the position of the auxiliary device 300 is adjusted, and preparation is made for the detection device 500 to detect cracks at the bottom of the bridge;
the transverse assembly 202 is used for driving the auxiliary device 300 to move in the X direction, and the telescopic rod of the first oil cylinder 208 stretches and retracts to drive the sleeve rod A205 and the sleeve B to move in the X direction; the position of the loop bar A205 is limited by the first limit plate 214 and the first baffle 213, so that the loop bar A205 is prevented from sliding out of the outer bar 204; the position of the loop bar B206 is limited by the second limit plate 216 and the second baffle 215, so that the loop bar B206 is prevented from sliding out of the loop bar A205;
the longitudinal component 203 is utilized to drive the auxiliary device 300 to move in the Z direction, and the telescopic rod of the second oil cylinder 219 stretches and retracts to drive the auxiliary device 300 to move in the Z direction.
As shown in fig. 4, 5, 7, and 8, the auxiliary device 300 includes a vertical plate 302 installed on the longitudinal component 203 and having through slots 301 at two ends thereof, and an auxiliary component 303 rotatably installed at two ends of the vertical plate 302 and located at the through slots 301 and having a steering extension function;
the auxiliary assembly 303 is rotatably mounted on the vertical plate 302 through a rolling bearing, is located in the through groove 301, and is parallel to the Z direction, a rotating shaft 304 which is mounted on the vertical plate 302 and has an output shaft connected with the rotating shaft 304, an auxiliary shaft 324 which is mounted in the through groove 301 and is located below the rotating shaft 304, a first gear 306 which is mounted on the auxiliary shaft 324, a main frame 307 of which one end is fixed on the rotating shaft 304 and is rotatably mounted on the auxiliary shaft 324 through the rolling bearing and the other end extends out of the vertical plate 302, a pair of first guide rails 322 which are mounted in the main frame 307 and are distributed along the width direction of the main frame 307, a main frame 308 which is mounted on the first guide rails 322 and is located at one end of the main frame 307 inserted into the vertical plate 302, a first rack 309 which is mounted on the inner surface of the main frame 308 and is engaged with the first gear 306 and is located at one end of the main frame 308, the main shaft is rotatably installed on the fixed seat 310 through a rolling bearing, the second gear 312 is installed on the main shaft, the second guide rail 323 is installed on the inner surface of the main frame 307, the subframe 313 is of a U-shaped structure, one side of the subframe is installed on the first guide rail 322, the other side of the subframe is installed on the second guide rail 323, the second rack 314 is installed on the inner surface of the subframe 313, is positioned at one end, close to the supporting seat 220, of the subframe 313 and is meshed with the second gear 312, and the third rack 315 is installed on the inner surface of the main frame 307, is positioned at one side, far away from the second rack 314, of the second gear.
As shown in fig. 6, a plurality of first electric push rods 316 distributed along the length direction of the main frame 308 are installed at the top of the main frame 308, the first electric push rods 316 are located at one side of the main frame 308 away from the support base 220, a first slide rail 317 is arranged above the first electric push rods 316, and the first slide rail 317 is installed on a telescopic rod of the first electric push rods 316;
a plurality of second electric push rods 318 distributed along the length direction of the subframe 313 are mounted at the top of the subframe 313, the second electric push rods 318 are positioned at one side of the subframe 313 far away from the supporting seat 220, a second sliding rail 319 is arranged above the second electric push rods 318, and the second sliding rail 319 is mounted on a telescopic rod of the second electric push rods 318;
the first slide rail 317 and the second slide rail 319 are always in a straight line. A pair of third slide rails distributed along the Y direction is installed on the top of the vertical plate 302. The parameters of the first slide rail 317, the second slide rail 319 and the third slide rail are completely the same.
The auxiliary assembly 303 drives the main frame 307 to rotate and drives the auxiliary frame 313 to slide out of the main frame 307 in the rotating process, so that a detection channel is formed for the movement of the translation plate 401;
when the supporting device 200 drives the auxiliary device 300 to move to the bottom of the bridge and needs to be detected, the first motor 305 drives the rotating shaft 304 to rotate, the main frame 307 rotates into the bridge along with the rotating shaft 304, the main frame 308 rotates along with the main frame 307, and the first rack 309 is meshed with the first gear 306 in the rotating process, so that the main frame 308 and the main frame 307 move relatively, and the main frame 308 moves towards the direction close to the main frame 307; the fixed seat 310 moves along with the main frame 308, so that the second gear 312 and the second rack 314 relatively move, the second gear 312 rotates, the second gear 312 is meshed with the third rack 315, and the auxiliary frame 313 moves in a direction away from the main frame 307; when the main frame 308 rotates by 90 degrees, the auxiliary frame 313 moves to the maximum stroke, the main frame 308, the main frame 307 and the auxiliary frame 313 are in a straight line, and the auxiliary assembly 303 stops moving; at this time, the telescopic rod of the first electric push rod 316 extends to drive the first slide rail 317 and the third slide rail to be located on the same plane, and the telescopic rod of the second electric push rod 318 extends to drive the second slide rail 319 and the third slide rail to be located on the same plane, so that the first slide rail 317, the second slide rail 319 and the third slide rail are located on the same straight line.
After the detection is finished, at this time, the first electric push rod 316 and the telescopic rod drive the first sliding rail 317 to return to the first fixing groove 320, and the second electric push rod 318 and the telescopic rod extend to drive the second sliding rail 319 to return to the second fixing groove 321; then the first motor 305 drives the rotating shaft 304 to rotate, the main frame 307 rotates to the outside of the bridge along with the rotating shaft 304, the main frame 308 rotates along with the main frame 307, and the first rack 309 is meshed with the first gear 306 in the rotating process, so that the main frame 308 and the main frame 307 move relatively, and the main frame 308 moves in the direction away from the main frame 307; the fixed seat 310 moves along with the main frame 308, so that the second gear 312 and the second rack 314 relatively move, the second gear 312 rotates, the second gear 312 is meshed with the third rack 315, and the auxiliary frame 313 moves towards the main frame 307; when the main frame 308 rotates 90 °, the sub-frame 313 returns to the main frame 307, and the main frame 308, the main frame 307, and the sub-frame 313 are aligned, and the sub-assembly 303 stops moving.
As shown in fig. 9 and 10, the stretching device 400 includes a translation plate 401, a fixed plate 402 mounted on top of the vertical plate 302, and a stretching assembly 403 mounted on the fixed plate 402 at one end via a starting member 404 and mounted on the translation plate 401 at the other end via a stopping member 405, and capable of stretching in the X direction.
The extending assembly 403 comprises a plurality of transition plates 406 which are mounted on the third slide rail and uniformly distributed along the X direction, and a transition piece 407 which is located between two adjacent transition plates 406 and is used for driving the transition plates 406 to move along the X direction;
the transition piece 407 comprises a driving rod 408 positioned between two adjacent transition plates 406, a first driving shaft and a second driving shaft which are rotatably installed on the transition plates 406 through rolling bearings and distributed along the X direction, a third gear 409 installed on the first driving shaft, a fourth gear 410 installed on the second driving shaft and meshed with the third gear 409, a transition rod A411 with one end hinged on the transition plate 406 close to the fixed plate 402, a transition rod B412 with one end hinged on the transition plate 406 far from the fixed plate 402 and the other end hinged on the driving rod 408 together with the transition rod A411, a transition rod C413 with one end hinged on the transition plate 406 close to the fixed plate 402, a transition rod D414 with one end hinged on the driving rod 408, a transition rod E415 with one end hinged on the transition plate 406 far from the fixed plate 402 and the other end hinged on a point together with the transition rod C413 and the transition rod D414 during the movement, a transition rod F416 with one end hinged on the first driving shaft and the other end hinged on the driving rod 408 with the transition rod E415, wherein the transition rod G417 is always symmetrical to the transition rod F416 and is relative to the driving rod 408 in the motion process;
the third gear 409 is identical to the fourth gear 410;
the starting member 404 includes a starting plate 419 between the fixed plate 402 and the stretching assembly 403, a starting rod a420 having one end hinged to the fixed plate 402, a starting rod B421 having one end hinged to a transition plate 406 nearest to the fixed plate 402 and the other end hinged to the starting plate 419 together with the starting rod a420 and always symmetrical to the starting rod a420 with respect to the starting plate 419 during movement, a starting rod C422 having one end hinged to the fixed plate 402, a starting rod D423 having one end hinged to the starting plate 419, a starting rod E424 having one end hinged to the transition plate 406 near to the fixed plate 402 and the other end hinged to the starting rod C422 and the starting rod D423 together, a starting rod F425 having one end hinged to a second driving shaft nearest to the fixed plate 402, a starting shaft rotatably mounted on the fixed plate 402 by a rolling bearing, a second motor mounted on the fixed plate 402 and having an output shaft connected to the starting shaft, a starting shaft mounted on the starting shaft and the other end hinged to the starting rod F together with, A starting rod G426, which is always symmetrical with the starting rod E424 about the starting plate 419 during the movement.
The stop 405 comprises a stop plate 427 located between the translating plate 401 and the extension assembly 403, a stop rod a428 hinged at one end to the translating plate 401, a stop rod B429 hinged at one end to the transition plate 406 closest to the translating plate 401 and at the other end to the stop plate 427 together with the stop rod a428, a stop rod B429 symmetrical to the stop rod a428 about the stop plate 427 during movement, a stop rod C430 hinged at one end to the translating plate 401, a stop rod D431 hinged at one end to the stop plate 427, a stop rod E432 hinged at one end to the transition plate 406 closest to the translating plate 401 and at the other end to the stop rod C430, the stop rod D431 together at one point, a stop rod F433 hinged at one end to the first drive shaft closest to the translating plate 401, a stop lever G434, hinged at one end to the translation plate 401 and at the other end to the stop plate 427 in common with the stop lever F433, is always symmetrical to the stop lever F433 about the stop plate 427 during movement.
The extension device 400 drives the translation plate 401 to slide on the first slide rail 317, the second slide rail 319 and the third slide rail, and the detection device 500 moves along with the translation plate 401, so that the crack condition at the bottom of the bridge is detected and recorded;
the second motor is used for driving the starting rod G426 to rotate anticlockwise, the starting rod G426 drives the starting rod F425 to move, the starting rod F425 is always symmetrical to the starting rod G426 about the starting plate 419 in the moving process, the starting rod F425 drives the fourth gear 410 to rotate, the third gear 409 is meshed with the fourth gear 410, the movement is transmitted to the extension component 403 and the stopping component 405, the starting component 404, the transition component 407 and the stopping component 405 form a link mechanism, the movement principle is the same, and therefore the translation plate 401 and the transition plate 406 are driven to do linear movement on the first sliding rail 317, the second sliding rail 319 and the third sliding rail.
Movement principle of the initiator 404: a link mechanism is formed among the starting lever a420, the starting lever B421, the starting lever C422, the starting lever D423, the starting lever E424, the starting lever F425, the starting lever G426, the starting plate 419, and the like; the starting rod A420 is parallel to the starting rod F425 during the movement process, and the starting rod B421 is symmetrical to the starting rod A420 about the starting plate 419 during the movement process; the starting plate 419 moves, the stretching assembly 403 moves, and the starting rod C422, the starting rod D423 and the starting rod E424 are driven to move; when the start rod G426 and the start rod F425 move to a straight line and parallel to the X direction, the second motor stops moving, the start rod C422 and the start rod E424 are in a straight line, and the expansion assembly 403, the transition piece 407, and the stop piece 405 are fully expanded;
the second motor drives the start rod G426 to rotate clockwise, which drives the extension assembly 403, the transition member 407, and the stop member 405 to close, and the translation plate 401 returns to the initial position.
The detection device 500 comprises a camera 501 mounted on the translation plate 401. The crack condition at the bottom of the bridge is recorded by the camera 501.
The control system adopts the programmable numerical control system PLC with stable performance as the control system, the control system is electrically connected with the upper computer, and the control system transmits and displays the data detected by the camera to the screen of the upper computer. The control system realizes the automatic control of the supporting device, the auxiliary device and the stretching device, and according to the actual conditions and the setting: the length of the transverse component in the X direction, the length of the longitudinal component in the Z direction, the elongation of the first electric push rod telescopic rod, the elongation of the second electric push rod telescopic rod and other parameters. The control system has the functions of indicating and correcting, memorizing breakpoints and protecting broken arcs.
The detection method of the invention comprises the following steps:
s1: according to the thickness of the bridge and the distance between the carrying vehicle and the edge of the bridge, the supporting device is utilized to drive the auxiliary device to move in the X direction and the Z direction, so that the auxiliary device extends into the bottom of the bridge;
s2: the auxiliary device rotates around the Z direction and extends along the X direction, so that the main frame rotates by 90 degrees, the auxiliary frame extends out of the main frame, and the first slide rail, the second slide rail and the third slide rail are positioned on the same straight line to provide a detection channel for the extension device;
s3: the stretching device drives the translation plate to move along the detection channel, and the detection device completes detection work of the bridge ground.
Many other changes and modifications can be made without departing from the spirit and scope of the invention. It is to be understood that the invention is not to be limited to the specific embodiments, but only by the scope of the appended claims.
Claims (10)
1. A bridge bottom surface detection structure comprises a carrier vehicle (100), a supporting device (200) installed on the carrier vehicle (100), an auxiliary device (300) installed on the supporting device (200) and used for providing a detection channel, a stretching device (400) movably installed on the auxiliary device (300) and used for walking along the X direction, and a detection device (500) installed on the stretching device (400) and used for detecting cracks on the bottom surface of a bridge, and is characterized in that:
the supporting device (200) comprises a vertical column (201), a transverse component (202) which is installed on the vertical column (201) and adjustable in length along the X direction, and a longitudinal component (203) which is installed on the transverse component (202) and adjustable in length along the Z direction;
the auxiliary device (300) comprises a vertical plate (302) which is arranged on the longitudinal component (203) and provided with through grooves (301) at two ends, and an auxiliary component (303) which is rotatably arranged at two ends of the vertical plate (302), is positioned at the through grooves (301) and has a steering extension function;
the stretching device (400) comprises a translation plate (401), a fixing plate (402) arranged at the top of the vertical plate (302), and a stretching assembly (403) which is arranged on the fixing plate (402) through a starting piece (404) at one end and on the translation plate (401) through a stopping piece (405) at the other end and can stretch and retract along the X direction.
2. The bridge floor detection structure of claim 1, wherein the transverse assembly (202) comprises an outer rod (204) vertically installed on the top of the upright column (201) and having an open end, a loop rod A (205) movably installed in the outer rod (204) and having one end extending out of the outer rod (204) and two open ends, a loop rod B (206) movably installed in the loop rod A (205) and having one end extending out of the loop rod A (205), a fixed block (207) vertically installed on the top of the loop rod B (206), and a first cylinder (208) installed on the outer rod (204) and having an expansion link installed on the fixed block (207);
the longitudinal assembly (203) comprises a vertical arm (217) vertically installed on a loop bar B (206), a supporting arm (218) vertically installed at the bottom of the vertical arm (217), a plurality of second oil cylinders (219) installed at the bottom of the supporting arm (218) and distributed along the Y direction, and a supporting seat (220) installed on a telescopic bar of the second oil cylinders (219).
3. The bridge bottom surface detection structure according to claim 2, wherein a pair of first sliding columns (209) distributed along the Z direction are installed on the inner surface of the outer rod (204), and a pair of first sliding chutes (210) which are distributed along the Z direction and are matched with the first sliding columns (209) are arranged on the outer surface of the loop rod A (205);
a pair of second sliding columns distributed along the Z direction are mounted on the inner surface of the loop bar A (205), and a pair of second sliding grooves distributed along the Z direction and matched with the second sliding columns are formed in the outer surface of the sleeve B;
a pair of first baffles (213) distributed along the X direction are mounted on the inner surface of the opening end of the outer rod (204), and a pair of first limiting plates (214) distributed along the X direction are mounted on the outer surfaces of the two ends of the loop rod A (205);
a pair of second baffles (215) distributed along the X direction are installed on the inner surface of one end, away from the outer rod (204), of the loop bar A (205), and a pair of second limiting plates (216) distributed along the X direction are installed on the outer surface of one end, extending into the sleeve A, of the loop bar B (206).
4. A bridge bottom surface detecting structure according to claim 3, wherein the auxiliary component (303) is rotatably mounted on the vertical plate (302) through a rolling bearing, and is located in the through slot (301), and the rotating shaft (304) is parallel to the Z direction, the first motor (305) is mounted on the vertical plate (302) and has an output shaft connected to the rotating shaft (304), the auxiliary shaft (324) is mounted in the through slot (301) and is located below the rotating shaft (304), the first gear (306) is mounted on the auxiliary shaft (324), the main frame (307) has one end fixed to the rotating shaft (304) and rotatably mounted on the auxiliary shaft (324) through the rolling bearing, and the other end extends out of the vertical plate (302), the main frame (308) is movably mounted on the inner surface of the main frame (307) and is located at one end of the main frame (307) inserted into the vertical plate (302), and the main frame (308) is mounted on the inner surface of the, The main frame structure comprises a first rack (309) located at one end, far away from a support seat (220), of a main frame (308), a fixing seat (310) of a U-shaped structure, a main shaft vertically installed on the inner surface of the main frame (308) and located at one side, close to the support seat (220), of the main frame (308), a main shaft installed on the fixing seat (310) in a rotating mode through a rolling bearing, a second gear (312) installed on the main shaft, one end of the main frame (307) is movably installed, the other end of the main frame (308) is movably installed, a subframe (313) of the U-shaped structure, a second rack (314) installed on the inner surface of the subframe (313) and located at one end, close to the support seat (220), of the subframe (313) and meshed with the second gear (312), and a third rack (315) installed on the inner surface of the main frame (307) and located at one side, far away.
5. The bridge bottom surface detection structure according to claim 4, wherein a plurality of first electric push rods (316) distributed along the length direction of the main frame (308) are installed at the top of the main frame (308), the first electric push rods (316) are located on one side of the main frame (308) far away from the supporting seat (220), a first sliding rail (317) is arranged above the first electric push rods (316), and the first sliding rail (317) is installed on an expansion link of the first electric push rods (316);
a plurality of second electric push rods (318) distributed along the length direction of the subframe (313) are mounted at the top of the subframe (313), the second electric push rods (318) are positioned on one side, away from the supporting seat (220), of the subframe (313), a second sliding rail (319) is arranged above the second electric push rods (318), and the second sliding rail (319) is mounted on a telescopic rod of the second electric push rods (318);
the first sliding rail (317) and the second sliding rail (319) are always on the same straight line; and the top of the vertical plate (302) is provided with a pair of third sliding rails distributed along the Y direction.
6. The bridge bottom surface detection structure of claim 5, wherein the extension assembly (403) comprises a plurality of transition plates (406) movably mounted on a third slide rail and uniformly distributed along the X direction, and a transition piece (407) located between two adjacent transition plates (406) and used for driving the transition plates (406) to move along the X direction;
the transition piece (407) comprises a driving rod (408) positioned between two adjacent transition plates (406), a first driving shaft and a second driving shaft which are rotatably arranged on the transition plates (406) through rolling bearings and distributed along the X direction, a third gear (409) arranged on the first driving shaft, a fourth gear (410) arranged on the second driving shaft and meshed with the third gear (409), a transition rod A (411) with one end hinged on the transition plate (406) close to the fixed plate (402), a transition rod B (412) with one end hinged on the transition plate (406) far away from the fixed plate (402) and the other end hinged on the driving rod (408) together with the transition rod A (411), a transition rod C (413) with one end hinged on the transition plate (406) close to the fixed plate (402) and a transition rod D (414) with one end hinged on the driving rod (408), one end of the transition rod G (417) is hinged to a transition plate (406) far away from the fixing plate (402), the other end of the transition rod G is hinged to a transition rod E (415) at one point together with the transition rod C (413) and the transition rod D (414), one end of the transition rod G is hinged to a transition rod F (416) on the first driving shaft, one end of the transition rod G is hinged to the second driving shaft, the other end of the transition rod G and the transition rod E (415) are hinged to a driving rod (408) together, and the transition rod G and the transition rod E are always symmetrical to the transition rod F (.
7. A bridge floor detection structure according to claim 6, wherein the starting member (404) comprises a starting plate (419) located between the fixed plate (402) and the extension member (403), a starting rod A (420) hinged at one end to the fixed plate (402), a transition plate (406) nearest to the fixed plate (402) and hinged at the other end to the starting plate (419) together with the starting rod A (420), a starting rod B (421) which is always symmetrical to the starting rod A (420) with respect to the starting plate (419) during the movement, a starting rod C (422) hinged at one end to the fixed plate (402), a starting rod D (423) hinged at one end to the starting plate (419), a starting rod E (424) hinged at one end to the transition plate (406) near the fixed plate (402) and hinged at the other end to a point together with the starting rod C (422) and the starting rod D (423), the starting rod F (425) is hinged to a second driving shaft which is closest to the fixing plate (402) at one end, the starting shaft is rotatably installed on the fixing plate (402) through a rolling bearing, the second motor is installed on the fixing plate (402) and an output shaft is connected with the starting shaft, and the starting rod G (426) is installed on the starting shaft at one end, is hinged to the starting plate (419) together with the starting rod F (425) at the other end and is symmetrical to the starting rod E (424) about the starting plate (419) all the time in the motion process.
8. A bridge floor detection structure according to claim 6 or 7, wherein the stop member (405) comprises a stop plate (427) between the translation plate (401) and the extension member (403), a stop rod A (428) hinged at one end to the translation plate (401), a stop rod B (429) hinged at one end to the transition plate (406) nearest to the translation plate (401) and hinged at the other end to the stop plate (427) together with the stop rod A (428), symmetrical with the stop rod A (428) with respect to the stop plate (427) throughout the movement, a stop rod C (430) hinged at one end to the translation plate (401), a stop rod D (431) hinged at one end to the stop plate (427), a stop rod E (432) hinged at one end to the transition plate (406) nearest to the translation plate (401) and hinged at the other end to a point together with the stop rod C (430) and the stop rod D (431), a stop lever F (433) hinged at one end to the first drive shaft closest to the translating plate (401), a stop lever G (434) hinged at one end to the translating plate (401) and at the other end to the stop plate (427) in common with the stop lever F (433), the stop lever G being symmetrical with the stop lever F (433) about the stop plate (427) throughout its movement.
9. A bridge floor detection structure according to claim 8, characterized in that the detection means (500) comprises a camera (501) mounted on the translating plate (401).
10. A detection method for the bridge floor detection structure according to claim 9, characterized in that the detection steps are as follows:
s1: according to the thickness of the bridge and the distance between the carrying vehicle (100) and the edge of the bridge, the supporting device (200) is utilized to drive the auxiliary device (300) to move in the X direction and the Z direction, so that the auxiliary device (300) extends into the bottom of the bridge;
s2: the auxiliary device (300) rotates around the Z direction and extends along the X direction, so that the main frame (307) rotates by 90 degrees, the auxiliary frame (313) extends out of the main frame (307), and the first sliding rail (317), the second sliding rail (319) and the third sliding rail are positioned on the same straight line and provide a detection channel for the extension device (400);
s3: the stretching device (400) drives the translation plate (401) to move along the detection channel, and the detection device (500) completes detection work of the bridge ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911318988.5A CN111005315B (en) | 2019-12-19 | 2019-12-19 | Bridge bottom surface detection structure and detection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911318988.5A CN111005315B (en) | 2019-12-19 | 2019-12-19 | Bridge bottom surface detection structure and detection method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111005315A true CN111005315A (en) | 2020-04-14 |
| CN111005315B CN111005315B (en) | 2021-06-15 |
Family
ID=70117248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911318988.5A Active CN111005315B (en) | 2019-12-19 | 2019-12-19 | Bridge bottom surface detection structure and detection method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111005315B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323426A (en) * | 2020-04-16 | 2020-06-23 | 徐化荣 | Underwater pier detection structure and detection method thereof |
| CN111521553A (en) * | 2020-04-28 | 2020-08-11 | 徐化荣 | Bridge detection structure and detection method thereof |
| CN111751408A (en) * | 2020-07-03 | 2020-10-09 | 义乌市城市规划设计研究院有限公司 | Multi-bridge crack detection flaw detection device |
| CN114047325A (en) * | 2022-01-13 | 2022-02-15 | 湖南路桥建设集团有限责任公司 | Crack detection device for double-layer support bridge |
| CN116084278A (en) * | 2023-04-10 | 2023-05-09 | 交通运输部公路科学研究所 | Integrated modularized bridge detection operation robot platform and detection method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005133471A (en) * | 2003-10-31 | 2005-05-26 | Kyoryo Maintenance:Kk | Inspection device for long attachment at lower face of bridge |
| KR101013493B1 (en) * | 2008-06-05 | 2011-02-10 | 한양대학교 산학협력단 | Apparatus for inspecting bridge |
| CN104294759A (en) * | 2014-11-05 | 2015-01-21 | 中铁二院工程集团有限责任公司 | Intelligent detection device for railway bridge |
| CN206521697U (en) * | 2017-01-19 | 2017-09-26 | 广州大学 | A kind of portable bridge detection means |
| CN108842615A (en) * | 2018-08-01 | 2018-11-20 | 四川兴昌建设工程有限公司 | A kind of bridge maintenance device |
| CN208362912U (en) * | 2018-06-08 | 2019-01-11 | 无锡市高桥检测科技有限公司 | The bridge detecting device of adjustable automation collection data |
| CN110468705A (en) * | 2019-08-29 | 2019-11-19 | 厦门大学嘉庚学院 | A kind of bridge inspection vehicle folded |
-
2019
- 2019-12-19 CN CN201911318988.5A patent/CN111005315B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005133471A (en) * | 2003-10-31 | 2005-05-26 | Kyoryo Maintenance:Kk | Inspection device for long attachment at lower face of bridge |
| KR101013493B1 (en) * | 2008-06-05 | 2011-02-10 | 한양대학교 산학협력단 | Apparatus for inspecting bridge |
| CN104294759A (en) * | 2014-11-05 | 2015-01-21 | 中铁二院工程集团有限责任公司 | Intelligent detection device for railway bridge |
| CN206521697U (en) * | 2017-01-19 | 2017-09-26 | 广州大学 | A kind of portable bridge detection means |
| CN208362912U (en) * | 2018-06-08 | 2019-01-11 | 无锡市高桥检测科技有限公司 | The bridge detecting device of adjustable automation collection data |
| CN108842615A (en) * | 2018-08-01 | 2018-11-20 | 四川兴昌建设工程有限公司 | A kind of bridge maintenance device |
| CN110468705A (en) * | 2019-08-29 | 2019-11-19 | 厦门大学嘉庚学院 | A kind of bridge inspection vehicle folded |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323426A (en) * | 2020-04-16 | 2020-06-23 | 徐化荣 | Underwater pier detection structure and detection method thereof |
| CN111521553A (en) * | 2020-04-28 | 2020-08-11 | 徐化荣 | Bridge detection structure and detection method thereof |
| CN111751408A (en) * | 2020-07-03 | 2020-10-09 | 义乌市城市规划设计研究院有限公司 | Multi-bridge crack detection flaw detection device |
| CN111751408B (en) * | 2020-07-03 | 2020-12-15 | 义乌市城市规划设计研究院有限公司 | Multi-bridge crack detection flaw detection device |
| CN114047325A (en) * | 2022-01-13 | 2022-02-15 | 湖南路桥建设集团有限责任公司 | Crack detection device for double-layer support bridge |
| CN116084278A (en) * | 2023-04-10 | 2023-05-09 | 交通运输部公路科学研究所 | Integrated modularized bridge detection operation robot platform and detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111005315B (en) | 2021-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111005315B (en) | Bridge bottom surface detection structure and detection method thereof | |
| CN108035248B (en) | A kind of unmanned bridge machinery and maintenance unit | |
| CN204479486U (en) | A kind of Three Degree Of Freedom Image-capturing platform detected for bridge basal crack | |
| CN112048951B (en) | Sleeper replacing device for railway track traffic | |
| CN104588540B (en) | Straight device smoothed out with the fingers by a kind of reinforcing bar | |
| CN102896626B (en) | Automatic line-marking device | |
| CN107121445A (en) | A kind of equipment suitable for transformer station's X camera detections | |
| CN103625932B (en) | Automatic elevator guide rail stacker | |
| CN114954561A (en) | Safety detection device for track traffic in tunnel | |
| CN104792620A (en) | Mine conveyor belt comprehensive performance parameter experiment platform | |
| CN103599978B (en) | Automatic twist correction machine for elevator guide rails | |
| CN102798547B (en) | Movable quick coal sampler using forklift as carrier and application method of movable quick coal sampler | |
| CN107008785A (en) | Automobile longitudinal girder bending production equipment | |
| CN104401726A (en) | Automatic taking and lifting device of bar reinforcement conveying equipment | |
| CN204203008U (en) | A kind of steel rail static bending pressure testing machine | |
| CN203526280U (en) | Automatic torsion correcting machine of elevator guide rail | |
| CN110904941B (en) | Sampling structure for road bed detection and sampling method thereof | |
| CN103344444B (en) | The automatic tyre mounting device of tyre tester and method | |
| CN105699673B (en) | A kind of single driving sliding turnover device | |
| CN208305034U (en) | Bearing line grabbing device | |
| CN216116726U (en) | Jack loading device for jack detection | |
| CN203875536U (en) | Pressing mechanism for box bar assembly machine | |
| CN202628582U (en) | Testing device for fan | |
| CN210318046U (en) | Steel rail position adjusting device | |
| CN109353827A (en) | A kind of rail steel automatic and accurate spacing grouping method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210526 Address after: 233200 Room 101, building 16, shanghefang, Dingcheng Town, Dingyuan County, Chuzhou City, Anhui Province Applicant after: Anhui Demao Construction Engineering Co.,Ltd. Address before: No. 341, liangxinzhuang village, Yong'an Township, Shizhong District, Zaozhuang City, Shandong Province 277100 Applicant before: Liu Tongtong |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |