CN112746560A

CN112746560A - Robot for road and bridge detection and detection method

Info

Publication number: CN112746560A
Application number: CN202011577943.2A
Authority: CN
Inventors: 任志鹏
Original assignee: Lu'an Cybertron Auto Parts Co ltd
Current assignee: Lu'an Cybertron Auto Parts Co ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-05-04

Abstract

The application provides a robot for detecting a road and a bridge and a detection method, wherein the robot comprises a lifting mechanism, a crawling mechanism and a detection assembly, the lifting mechanism and the crawling mechanism are connected through two ends of a connecting rod, and the detection assembly is arranged at the bottom of the lifting mechanism; the climbing mechanism is including the U type seat of inversion setting, and the top of U type seat is provided with the installation casing, and the first drive wheel of output shaft fixedly connected with of second motor, and the inner wall of U type seat rotates and connects the pivot, and the surface of pivot is provided with first gyro wheel, and the one end of pivot runs through U type seat and extends to the outside of U type seat, and the surface of pivot has cup jointed the first follow driving wheel that is located first drive wheel below. Through setting up the mechanism of crawling, when examining the bottom and the side of bridge, make it can stretch into the bottom of bridge, detect the bridge from this, whole process through the setting of the mechanism of crawling makes whole equipment can move by oneself, need not the manpower and has promoted, has saved a large amount of manpower and materials.

Description

Robot for road and bridge detection and detection method

Technical Field

The invention relates to the technical field of bridge detection, in particular to a robot and a detection method for detecting a road and a bridge.

Background

The bridge, generally mean erect in river, lake and sea, make the structure that vehicles and pedestrians can pass smoothly, in order to adapt to the modern high-speed traffic industry that develops, the bridge also draws the application as spanning mountain stream, unfavorable geology or meet other traffic needs and erect and make the building that pass more convenient, the bridge generally is made up of superstructure, substructure, support and affiliated structure, the superstructure is also called the bridge and strides the structure, it is the main structure to stride the obstacle, the substructure includes abutment, pier and foundation; the support is a force transmission device arranged at the supporting positions of the bridge span structure and the bridge pier or the bridge abutment; the auxiliary structures refer to bridge head butt straps, tapered revetments, diversion works and the like.

Through retrieval, the Chinese patent discloses a bridge detection device (with publication number of CN 109708683B), and the technology of the patent adds a platform which can be automatically adsorbed on the lower end face of the bridge to improve the stability of the detection device, thereby improving the safety performance, but the volume of the monitoring equipment is too large, so that more manpower and material resources are consumed for each detection, and the monitoring equipment cannot be applied to the bridge erected on the river;

in addition, the existing bridge detection equipment mostly adopts gears and other transmission, and in the moving process, the loss of the gears is large, the loss of the gears is too fast, and the normal use of the equipment is influenced.

Disclosure of Invention

In order to solve the problems in the background art, the invention aims to provide a robot and a detection method for detecting a road and a bridge, and the robot and the detection method have the advantages of small size, capability of being hung on the bridge, capability of automatically moving only by manual control, low loss of transmission parts and longer service life.

In order to achieve the purpose, the invention provides the following technical scheme:

a robot for detecting a road and a bridge and a detection method thereof comprise a lifting mechanism, a crawling mechanism and a detection assembly, wherein the lifting mechanism and the crawling mechanism are connected through two ends of a connecting rod, and the detection assembly is arranged at the bottom of the lifting mechanism; the lifting mechanism is used for adjusting the distance between the crawling mechanism and the detection mechanism;

the crawling mechanism comprises an inverted U-shaped seat, an installation shell is arranged at the top of the U-shaped seat, an output shaft of a second motor is fixedly connected with a first driving wheel, the inner wall of the U-shaped seat is rotatably connected with a rotating shaft, a first roller is arranged on the surface of the rotating shaft and used for being attached to a bridge railing to drive the robot to roll on the bridge railing, one end of the rotating shaft penetrates through the U-shaped seat and extends to the outside of the U-shaped seat, a first driven wheel located below the first driving wheel is sleeved on the surface of the rotating shaft, and the first driving wheel is used for driving the first driven wheel to rotate;

the detection assembly comprises a vertically arranged rotary driving mechanism, a side camera is arranged on one side of the rotary driving mechanism, a transversely arranged second electric push rod is arranged at the bottom of the rotary driving mechanism, a mounting plate is fixedly connected with one end of the second electric push rod, crack sensors are arranged on the front surface and the back surface of the mounting plate, and a bottom camera is arranged at the top of the mounting plate.

As a further scheme of the present invention, the lifting mechanism includes a lifting seat and a rack, the rack penetrates through the lifting seat and is slidably connected to the lifting seat, a first motor is disposed inside the lifting seat, an output shaft of the first motor is fixedly connected to a gear, and the gear is engaged with the rack.

As a further scheme of the present invention, a controller is disposed inside the mounting housing, a third electric push rod is further disposed on the top of the mounting plate, a mark drawing member is disposed on the top of the third electric push rod, the output ends of the side camera, the bottom camera and the crack sensor are electrically connected to the input end of the controller, and the output end of the controller is electrically connected to the input ends of the rotation driving mechanism, the second electric push rod and the third electric push rod.

As a further scheme of the invention, the marking and drawing part is a carbon block or a pigment spray head or a sponge containing liquid pigment.

As a further scheme of the invention, the surface of the rotating shaft is also provided with a first synchronous wheel positioned on one side of a first driven wheel, the inner wall of the U-shaped seat is also provided with two screw rods, and the surface of each screw rod is in threaded connection with two threaded positioning plates.

As a further scheme of the invention, the bottom of the threaded positioning plate is provided with positioning plates, the opposite sides of the two positioning plates are respectively provided with a second roller, the second rollers are used for rolling along the two sides of a bridge railing, one end of each lead screw is smooth and penetrates to the outside of the U-shaped seat, the surfaces of the two lead screws are respectively provided with a second synchronizing wheel, the surfaces of the first synchronizing wheel and the second synchronizing wheel are in transmission connection with a belt, one side of the U-shaped seat is provided with a belt stretching assembly positioned on the inner side of the belt, when the belt stretching assembly contracts, the first synchronizing wheel and the second synchronizing wheel synchronously roll through the belt, and when the belt stretching assembly stretches, the first synchronizing wheel and the second synchronizing wheel are separated from each other to avoid transmission.

As a further aspect of the present invention, a pressure sensor is disposed on the second roller, the driving device of the distraction assembly and the pressure sensor are both electrically connected to the controller, and when the pressure sensor senses pressure, the controller controls the driving device of the distraction assembly to drive the distraction assembly to be in the distraction state.

As a further scheme of the invention, the belt stretching assembly comprises a cross bar arranged on one side of the U-shaped seat, one end of the cross bar is fixedly connected with a supporting block, the top and the bottom of the supporting block are both fixedly connected with first electric push rods, and opposite ends of the two first electric push rods are both provided with pulleys which are in transmission connection with the belt.

As a further scheme of the invention, the thread directions of two ends of the surface of the screw rod are opposite, the bottom of the thread positioning plate is provided with a locking steel plate, and the positioning plate is fixedly connected with the thread positioning plate through the locking steel plate.

As a further scheme of the present invention, the surfaces of the first driving wheel and the first driven wheel are both provided with magnetic columns distributed annularly, the magnetic columns are permanent magnet material members, and the magnetic poles of the corresponding ends of the upper magnetic column and the lower magnetic column are the same.

Compared with the prior art, the invention has the beneficial effects that:

1. through the arrangement of the crawling mechanism, when the bottom and the side faces of the bridge are detected, the crawling mechanism is hung at the upper end of a bridge guardrail and then clamped on the bridge, at the moment, the height and the direction of the detection assembly are adjusted through adjusting the lifting mechanism, so that the detection assembly can extend into the bottom of the bridge, the bridge is detected, and in the whole process, through the arrangement of the crawling mechanism, the whole equipment can move automatically, manpower is not needed to be pushed, and a large amount of manpower and material resources are saved;

2. by arranging the first magnetic part and the first driven wheel, when the crawling mechanism is fixed, the controller controls the second motor to work, the second motor drives the first driven wheel to rotate when working, so that the rotating shaft rotates along with the magnetic part synchronously, the first roller wheel rotates, so that the whole equipment is driven to slide on a bridge guardrail, the rotating shaft drives the first synchronous wheel to rotate when rotating, the first synchronous wheel drives the second synchronous wheel to rotate through a belt, thereby driving a screw rod to rotate, the screw rod drives two threaded positioning plates to approach each other when rotating, in the process that the two threaded positioning plates approach each other, the second roller wheel is attached to two sides of the guardrail, the first driven wheel is subjected to resistance, at the moment that the rotation of the first motor is blocked, the controller controls the belt opening component to open the belt, so that the belt is not contacted with the first synchronous wheel, and the crawling mechanism can be fixed on the guardrail to move, the whole process can be automatically positioned according to the width of the guardrail, the synchronism is higher, the loss is smaller, and the service life is longer;

3. through setting up the locking plate, make the locating plate can change, wherein the shape of locating plate can select according to bridge railing's actual conditions, makes this equipment can be suitable for multiple bridge railing and uses.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic structural view of a U-shaped seat according to the present invention;

FIG. 4 is a side view of the U-shaped seat of the present invention;

FIG. 5 is a cross-sectional view of the lifting base of the present invention

Fig. 6 is a schematic structural diagram of the present invention.

In the figure: 1. a connecting rod; 2. a lifting seat; 3. a first motor; 4. a gear; 5. a rack; 6. a limiting chute; 7. a convex slider; 8. a U-shaped seat; 9. installing a shell; 10. a controller; 11. a second motor; 12. a first magnetic member; 13. a rotating shaft; 14. a first roller; 15. a first driven wheel; 16. a first synchronizing wheel; 17. a screw rod; 18. a second synchronizing wheel; 19. a belt; 20. a belt spreader assembly; 201. a cross bar; 202. a first electric push rod; 203. a pulley; 21. a screw thread positioning plate; 22. positioning a plate; 23. a second roller; 24. a magnetic column; 25. a rotation driving mechanism; 26. a side camera; 27. a bottom camera; 28. a crack sensor; 29. a third electric push rod; 30. marking a drawing part; 31. a second electric push rod.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings

Referring to fig. 1 to 6, in an embodiment of the present invention, a robot for detecting a road and a bridge and a detection method thereof include a lifting mechanism, a connecting rod 1 is disposed at the top of the lifting mechanism, a crawling mechanism is disposed at one end of the connecting rod 1 away from the lifting mechanism, and a detection assembly is disposed at the bottom of the lifting mechanism;

the lifting mechanism comprises a lifting seat 2 and a rack 5, the rack 5 penetrates through the lifting seat 2 and is in sliding connection with the lifting seat 2, a first motor 3 is arranged inside the lifting seat 2, an output shaft of the first motor 3 is fixedly connected with a gear 4, and the gear 4 is in meshing connection with the rack 5;

the crawling mechanism comprises an inverted U-shaped seat 8, a mounting shell 9 is arranged at the top of the U-shaped seat 8, a controller 10 is arranged inside the mounting shell 9, a rechargeable battery is arranged inside the mounting shell 9, a second motor 11 is arranged inside the mounting shell 9, an output shaft of the second motor 11 penetrates through the mounting shell 9 and extends to the outside of the mounting shell 9, a first magnetic part 12 is fixedly connected with an output shaft of the second motor 11, a rotating shaft 13 is rotatably connected with the inner wall of the U-shaped seat 8, a first roller 14 is arranged on the surface of the rotating shaft 13, one end of the rotating shaft 13 penetrates through the U-shaped seat 8 and extends to the outside of the U-shaped seat 8, a first driven wheel 15 positioned below the first magnetic part 12 is sleeved on the surface of the rotating shaft 13, the first driven wheel 15 is matched with the first magnetic part 12, a first synchronizing wheel 16 positioned on one side of the first driven wheel 15 is further arranged on the surface of the, the inner wall of U type seat 8 still is provided with the lead screw 17 that quantity is two, the surperficial threaded connection of lead screw 17 has the screw thread positioning plate 21 that quantity is two, the bottom of screw thread positioning plate 21 is provided with locating plate 22, the opposite side of two locating plates 22 all is provided with second gyro wheel 23, the one end of lead screw 17 is smooth form and runs through to the outside of U type seat 8, and the surface of two lead screws 17 all is provided with second synchronizing wheel 18, the surface transmission of first synchronizing wheel 16 and second synchronizing wheel 18 is connected with belt 19, one side of U type seat 8 is provided with the belt that is located belt 19 inboard and struts subassembly 20. When the belt expanding assembly 20 is contracted, the first synchronous wheel 16 and the second synchronous wheel 18 synchronously roll through the belt 19, and when the belt expanding assembly 20 is expanded, the first synchronous wheel 16 and the second synchronous wheel 18 are separated from each other to be free from transmission. The second roller 23 is provided with a pressure sensor, the driving device and the pressure sensor of the distraction assembly 20 are electrically connected to the controller 10, and when the pressure sensor senses pressure, the controller 10 controls the driving device of the distraction assembly 20 to drive the distraction assembly 20 to be in the distraction state. Can make screw thread positioning plate 21 when contacting second gyro wheel 23 bridge railing like this, can strut belt 19, prevent further compressing tightly of second gyro wheel 23, when can improving the life-span of second gyro wheel 23, slide also more in the same direction as smooth and synchronous.

In fig. 1, the connecting rod 1 is an L-shaped rod, and the two ends of the connecting rod 1 are respectively fixedly connected with the lifting mechanism and the crawling mechanism through screws, and are connected through screws, so that the lifting mechanism and the crawling mechanism can be detached, and the follow-up transportation and carrying are convenient.

In fig. 5, one side of the rack 5 is provided with a limit sliding groove 6, one side of the inner wall of the lifting seat 2 is provided with a convex slider 7 matched with the limit sliding groove 6, and the convex slider 7 is clamped inside the limit sliding groove 6 in the process of moving the rack 5, so that the effect of limiting the rack 5 is achieved, and the rack is prevented from inclining.

In fig. 1 and 2, the detecting assembly includes a vertically disposed rotary driving mechanism 25, a side camera 26 is disposed on one side of the rotary driving mechanism 25, a second electric push rod 31 is disposed at the bottom of the rotary driving mechanism 25, a mounting plate is fixedly connected to one end of the second electric push rod 31, crack sensors 28 are disposed on the front and back of the mounting plate, a bottom camera 27 is disposed at the top of the mounting plate, a third electric push rod 29 is further disposed at the top of the mounting plate, a mark drawing member 30 is disposed at the top of the third electric push rod 29, the output ends of the side camera 26, the bottom camera 27 and the crack sensor 28 are electrically connected to the input end of the controller 10, the output end of the controller 10 is electrically connected to the input ends of the rotary driving mechanism 25, the second electric push rod 31 and the third electric push rod 29, during use, the second electric push rod 31 is driven to rotate by the rotary driving mechanism 25, the device can rotate to the bottom of a bridge, in the moving process of the whole device, the side camera 26 and the bottom camera 27 shoot the side face and the bottom of the bridge, a follow-up worker can analyze the condition of the bridge through a recorded video, meanwhile, the crack sensor 28 detects the bottom of the bridge, if a crack appears at the bottom of the bridge, the crack sensor 28 transmits a signal to the controller 10, the controller 10 controls the second motor 11 to stop, at the moment, the device stops advancing, the controller 10 controls the third electric push rod 29 to work, the third electric push rod 29 pushes the mark drawing piece 30 to move upwards, so that the mark drawing piece 30 leaves a trace at the crack, and a crack point can be found out quickly in the follow-up process; the marking and drawing member 30 is a carbon block or a pigment spray head or a sponge containing liquid pigment.

Furthermore, because there are many piers at the bottom of the bridge, when encountering a pier, the controller 10 controls the rotation driving mechanism 25 to operate, so that the second electric push rod 31 is rotated out from the bottom of the bridge, and after crossing the bridge, the rotation driving mechanism 25 drives the second electric push rod 31 to turn over below the bridge, without releasing the fixation.

The connection between the first driving wheel 12 and the first driven wheel 15 can be realized in various forms, and the most common form is realized by meshing of gears, so that the design has the advantage of more stability.

In this embodiment, in fig. 3, the surfaces of the first magnetic part 12 and the first driven wheel 15 are both provided with magnetic columns 24 distributed annularly, the magnetic columns 24 are permanent magnet material members, the magnetic poles of the corresponding ends of the upper magnetic column 24 and the lower magnetic column 24 are the same, the upper and lower two groups of magnetic columns 24 with the same magnetic poles are adopted, and in the use process, the second motor 11 drives the first magnetic part 12 to rotate;

the circumference of the first magnetic member 12 is three times the circumference of the first driven wheel 15, the number of the upper magnetic columns 24 is three times the number of the lower magnetic columns 24, and the circumference of the first magnetic member 12 is three times the circumference of the first driven wheel 15, so that the first driven wheel 15 can rotate for three revolutions when the first magnetic member 12 rotates for one revolution, and the rotating shaft 13 can still maintain a certain rotating speed even if the rotating speed of the second motor 11 is slow, and the use effect is better.

In another embodiment, the first driving wheel 12 and the first driven wheel 15 are respectively provided with a driving rubber column and a driven rubber column, which are arranged in the same way as the magnetic columns and are corresponding multiple groups, and the difference is that the driving rubber column and the driven rubber column are contacted in the driving process, i.e. the minimum distance between the first driving wheel 12 and the first driven wheel 15 is smaller than the sum of the lengths of the driving rubber column and the driven rubber column. The driving rubber column and the driven rubber column can be deformed, so that the driving can be normally carried out, and when the first roller 14 encounters a barrier, the driving rubber column and the driven rubber column can be deformed and separated due to overlarge contact force, so that the motor cannot be damaged due to overlarge driving force.

In fig. 6, the belt stretching assembly 20 includes a cross bar 201 disposed on one side of the U-shaped seat 8, one end of the cross bar 201 is fixedly connected with a supporting block, the top and bottom of the supporting block are fixedly connected with first electric push rods 202, the opposite ends of the two first electric push rods 202 are respectively provided with a pulley 203, and the pulleys 203 are in transmission connection with the belt 19, when the second roller 23 is attached to the guardrail, the controller 10 controls the first electric push rods 202 to work, the two first electric push rods 202 push the two pulleys 203 to move, so that the pulleys 203 tension the belt 19, and the belt 19 is not in contact with the first synchronous wheel 16, at this time, when the rotating shaft 13 rotates, the screw rod 17 does not rotate along with the rotating shaft, so that the positions of the two threaded positioning plates 21 do not move, and the crawling mechanism can be fixed on the guardrail to move;

further, in order to prevent the belt 19 from breaking when the pulley 203 tensions the belt 19, the belt 19 is made of an elastic material, which may be a rubber material, and since the belt 19 is tensioned only by being out of contact with the first synchronizing wheel 16, the amount of deformation of the belt 19 is small, and the subsequent use thereof is not affected.

In fig. 4, the directions of the threads at the two ends of the surface of the screw rod 17 are opposite, the bottom of the threaded positioning plate 21 is provided with a locking steel plate, the positioning plate 22 is fixedly connected with the threaded positioning plate 21 through the locking steel plate, the cross section of the positioning plate 22 can be arc-shaped or L-shaped, the positioning plate 22 can be replaced by arranging the locking plate, wherein the shape of the positioning plate 22 can be selected according to the actual situation of the bridge guardrail, so that the device can be suitable for various bridge guardrails.

In fig. 4, the surface of the first roller 14 is coated with a rubber pad, which increases the friction between the first roller 14 and the guard rail, so that when the first roller 14 rotates, the U-shaped seat 8 can be driven to move by the friction between the first roller and the guard rail, thereby moving the whole device.

In this application, the controller 10 may be electrically connected to all electrical components in the embodiment to implement receiving and sending of signals, so as to integrally control the whole operation process, and the whole control process may be implemented by a preset program in the controller 10, or may be implemented by manually and actively controlling each step.

The working principle of the invention is as follows: when the bottom and the side of the bridge are detected, the crawling mechanism is hung at the upper end of a bridge guardrail and then clamped on the bridge, the controller 10 controls the second motor 11 to work, the second motor 11 drives the first driving wheel 12 to enable the first driven wheel 15 to rotate, so that the rotating shaft 13 can rotate, the effect of driving the rotating shaft 13 is achieved, the rotating shaft 13 drives the second roller 23 to rotate when rotating, the second roller 23 moves along the guardrail to drive the whole device to slide on the bridge guardrail, the rotating shaft 13 drives the first synchronizing wheel 16 to rotate when rotating, the first synchronizing wheel 16 drives the second synchronizing wheel 18 to rotate through the belt 19, so as to drive the screw rod 17 to rotate, the screw rod 17 drives the two thread adjusting plates 21 to approach each other when rotating, the second roller 23 is attached to two sides of the guardrail when the two thread adjusting plates 21 approach each other, the second roller 23 is provided with a pressure sensor, the driving device and the pressure sensor of the distracting assembly 20 are electrically connected to the controller 10, and when the pressure sensor senses pressure, the controller 10 controls the driving device of the distracting assembly 20 to drive the distracting assembly 20 to be in the distracted state. Can make screw thread positioning plate 21 when contacting second gyro wheel 23 bridge railing like this, can strut belt 19, prevent further compressing tightly of second gyro wheel 23, when can improving the life-span of second gyro wheel 23, slide also more in the same direction as smooth and synchronous. Meanwhile, the controller 10 controls the first electric push rods 202 to work, the two first electric push rods 202 push the two pulleys 203 to move, so that the pulleys 203 tension the belt 19 and the belt 19 is not in contact with the first synchronous wheel 16, at the moment, when the rotating shaft 13 rotates, the screw rod 17 cannot rotate along with the rotating shaft, so that the positions of the two threaded positioning plates 21 do not move any more, at the moment, the first motor 3 drives the gear 4 to rotate, the gear 4 drives the rack 5 to move when rotating, and therefore, the effect of adjusting the height of the detection assembly is achieved, the second electric push rod 31 is driven to rotate through the rotation of the rotary driving mechanism 25 and can rotate to the bottom of the bridge, in the moving process of the whole device, the side cameras 26 and the bottom camera 27 shoot the side face and the bottom of the bridge, a subsequent worker can analyze the condition of the bridge through recorded videos, and the crack sensor 28 detects the bottom of the bridge, if a crack appears at the bottom of the bridge, the crack sensor 28 transmits a signal to the controller 10, the controller 10 controls the second motor 11 to stop, at this time, the apparatus stops moving forward, and at the same time, the controller 10 controls the third electric push rod 29 to work, and the third electric push rod 29 pushes the mark drawing piece 30 to move upwards, so that the mark drawing piece 30 leaves a trace at the crack, and a crack point is found quickly in the following.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.

Claims

1. The robot for detecting the road and the bridge is characterized by comprising a lifting mechanism, a crawling mechanism and a detection assembly, wherein the lifting mechanism and the crawling mechanism are connected through two ends of a connecting rod (1), and the detection assembly is arranged at the bottom of the lifting mechanism;

the lifting mechanism is used for adjusting the distance between the crawling mechanism and the detection mechanism;

the crawling mechanism comprises an inverted U-shaped seat (8), an installation shell (9) is arranged at the top of the U-shaped seat (8), a first driving wheel (12) is fixedly connected to an output shaft of a second motor (11), a rotating shaft (13) is rotatably connected to the inner wall of the U-shaped seat (8), a first roller (14) is arranged on the surface of the rotating shaft (13), the first roller (14) is used for being attached to a bridge railing to drive the robot to roll on the bridge railing, one end of the rotating shaft (13) penetrates through the U-shaped seat (8) and extends to the outside of the U-shaped seat (8), a first driven wheel (15) located below the first driving wheel (12) is sleeved on the surface of the rotating shaft (13), and the first driving wheel (12) is used for driving the first driven wheel (15) to rotate;

the detection assembly comprises a vertically arranged rotary driving mechanism (25), a side camera (26) is arranged on one side of the rotary driving mechanism (25), a transversely arranged second electric push rod (31) is arranged at the bottom of the rotary driving mechanism (25), a mounting plate is fixedly connected with one end of the second electric push rod (31), a crack sensor (28) is arranged on the front face and the back face of the mounting plate, and a bottom camera (27) is arranged at the top of the mounting plate.

2. The robot for detecting the road and bridge according to claim 1, wherein the lifting mechanism comprises a lifting seat (2) and a rack (5), the rack (5) penetrates through the lifting seat (2) and is slidably connected with the lifting seat (2), a first motor (3) is arranged inside the lifting seat (2), a gear (4) is fixedly connected to an output shaft of the first motor (3), and the gear (4) is meshed with the rack (5).

3. The robot for detecting the road and bridge as claimed in claim 1, wherein a controller (10) is arranged inside the mounting shell (9), a third electric push rod (29) is further arranged on the top of the mounting plate, a mark drawing part (30) is arranged on the top of the third electric push rod (29), the output ends of the side camera (26), the bottom camera (27) and the crack sensor (28) are electrically connected with the input end of the controller (10), and the output end of the controller (10) is electrically connected with the input ends of the rotary driving mechanism (25), the second electric push rod (31) and the third electric push rod (29).

4. A robot for road and bridge detection according to claim 3, characterised in that the marking and drawing element (30) is a carbon block or a pigment spray head or a sponge containing liquid pigment.

5. The robot for detecting the road and bridge as claimed in claim 3, wherein the surface of the rotating shaft (13) is further provided with a first synchronizing wheel (16) positioned on one side of the first driven wheel (15), the inner wall of the U-shaped seat (8) is further provided with two screw rods (17), and the surface of each screw rod (17) is in threaded connection with two threaded positioning plates (21).

6. The robot for detecting the road and bridge as claimed in claim 5, wherein the bottom of the threaded positioning plate (21) is provided with positioning plates (22), the opposite sides of the two positioning plates (22) are respectively provided with a second roller (23), the second rollers (23) are used for being attached to two sides of a bridge rail to roll, one end of each screw rod (17) is smooth and penetrates through the outside of the U-shaped seat (8), the surfaces of the two screw rods (17) are respectively provided with a second synchronizing wheel (18), the surfaces of the first synchronizing wheel (16) and the second synchronizing wheel (18) are in transmission connection with a belt (19), one side of the U-shaped seat (8) is provided with a belt stretching assembly (20) located on the inner side of the belt (19), when the belt stretching assembly (20) is contracted, the first synchronizing wheel (16) and the second synchronizing wheel (18) synchronously roll through the belt (19), when the belt stretching assembly (20) is stretched, the first synchronizing wheel (16) and the second synchronizing wheel (18) are separated from each other to avoid transmission.

7. The robot for detecting the road and bridge as claimed in claim 6, wherein a pressure sensor is arranged on the second roller (23), the driving device of the distraction assembly (20) and the pressure sensor are both electrically connected with the controller (10), and when the pressure sensor senses pressure, the controller (10) controls the driving device of the distraction assembly (20) to drive the distraction assembly (20) to be in a distraction state.

8. The robot for detecting the road and bridge as claimed in claim 7, wherein the belt stretching assembly (20) comprises a cross bar (201) arranged on one side of the U-shaped seat (8), a supporting block is fixedly connected to one end of the cross bar (201), first electric push rods (202) are fixedly connected to the top and the bottom of the supporting block, pulleys (203) are arranged at the opposite ends of the two first electric push rods (202), and the pulleys (203) are in transmission connection with the belt (19).

9. The robot for detecting the road and bridge as claimed in claim 8, wherein the thread directions of the two ends of the surface of the screw rod (17) are opposite, the bottom of the threaded adjusting plate (21) is provided with a locking steel plate, and the positioning plate (22) is fixedly connected with the threaded adjusting plate (21) through the locking steel plate.

10. A robot for road and bridge detection according to claim 3, characterized in that the surfaces of the first driving wheel (12) and the first driven wheel (15) are provided with magnetic columns (24) distributed annularly, the magnetic columns are permanent magnet material members, and the magnetic poles of the corresponding ends of the upper magnetic column (24) and the lower magnetic column (24) are the same.