CN115584682A - Bridge crack detection device and detection method thereof - Google Patents
Bridge crack detection device and detection method thereof Download PDFInfo
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- CN115584682A CN115584682A CN202211403889.9A CN202211403889A CN115584682A CN 115584682 A CN115584682 A CN 115584682A CN 202211403889 A CN202211403889 A CN 202211403889A CN 115584682 A CN115584682 A CN 115584682A
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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Abstract
The invention discloses bridge detection equipment, in particular to a bridge crack detection device and a detection method thereof, wherein the bridge crack detection device comprises a carrier, a detection device and a detection device, wherein the carrier is movably arranged on a bridge floor; the mechanical arm is connected with the carrier at one end; and the detection mechanism is connected with the other end of the mechanical arm, and the mechanical arm moves the detection mechanism from the bridge floor to the bottom of the bridge. The detection mechanism comprises a supporting component and a loading component capable of moving on the supporting component, the loading component comprises an image acquisition device, and the loading component moves to enable the image acquisition device to acquire image data of the bottom surface of the bridge on the moving path. The carrier is the engineering vehicle, and the arm is installed on the engineering vehicle, and the tip of arm is installed the supporting component, sets up the load subassembly on the supporting component. The load assembly is provided with a camera as an image acquisition device. The supporting component is connected with the load component and can be abutted against the bottom surface of the bridge, so that a stable platform is provided for the load component.
Description
Technical Field
The invention belongs to the technical field of crack detection, and particularly relates to a bridge crack detection device and a detection method thereof.
Background
More than 90% of the concrete bridge damages are caused by cracks. Concrete members work with cracks, generally have no great harm to the normal use of a structure, and can be allowed to exist, but some cracks are continuously expanded under the action of use load or external physical and chemical factors, so that concrete carbonization and protective layer peeling are caused, mechanical discontinuities are formed in the bridge, the bearing capacity of the bridge is greatly reduced, and even collapse accidents occur in severe cases.
The invention patent with the application number of 201710054344.4 discloses a bridge crack detection device and a detection method, the bridge crack automatic detection device comprises a control device, an installation trolley, a telescopic rod mechanism and a detection device, wherein the control device comprises data processing equipment, a display, a walking controller, a camera shutter frequency detection unit, a telescopic rod adjusting device, a telescopic rod adjusting controller, a first distance detection unit, a second distance detection unit, an illumination brightness detection unit, a brightness adjusting module and an illumination brightness controller; the detection method comprises the following steps: 1. preparation work before detection; 2. shooting and uploading images; 3. image interception; 4. processing a bridge crack image; 5. calibrating the image of the calibration object; 6. and calculating and synchronously outputting the crack parameters of the bridge.
In the bridge crack detection device, when the crack is measured, the platform of the load is suspended, and the load is easy to shake under the action of external force, so that the accuracy of measurement is influenced.
Disclosure of Invention
The present invention is directed to solve the above problems, and an object of the present invention is to provide a bridge crack detection device capable of reducing the influence of external force on measurement.
The purpose of the invention is realized by the following steps: a bridge crack detection device, comprising:
the carrier is movably arranged on the bridge floor;
the mechanical arm is connected with the carrier at one end;
the detection mechanism is connected with the other end of the mechanical arm, and the mechanical arm moves the detection mechanism from the bridge floor to the bottom of the bridge;
the detection mechanism comprises a support assembly and a load assembly capable of moving on the support assembly, the load assembly comprises an image acquisition device, and the load assembly moves to enable the image acquisition device to acquire image data of the bottom surface of the bridge on the moving path.
In the technical scheme, the carrier is an engineering vehicle, the mechanical arm is installed on the engineering vehicle, the end part of the mechanical arm is provided with the supporting component, and the supporting component is provided with the load component. The load assembly is provided with a camera as an image acquisition device. The supporting component is connected with the load component and can be propped against the bottom surface of the bridge, so that a stable platform is provided for the load component.
In this technical scheme, it is further that the supporting component includes:
a first guide bracket;
the second guide bracket is arranged in parallel with the first guide bracket;
the connecting bracket is connected with the first guide bracket and the second guide bracket;
the image acquisition equipment comprises a first guide rail, a second guide rail, a load supporting plate and a sliding block, wherein the first guide rail is arranged on the first guide bracket, the second guide rail is arranged on the second guide bracket, the first guide rail and/or the second guide rail are/is provided with a driving assembly for driving the load assembly to move along the first guide rail and the second guide rail, the load assembly comprises a load supporting plate, the image acquisition equipment is arranged on the load supporting plate, the load supporting plate is provided with the sliding block embedded into the first guide rail and the second guide rail, and the driving assembly drives the sliding block to move.
In the technical scheme, the supporting component comprises a first guiding support and a second guiding support which are arranged in parallel, a first guide rail and a second guide rail are respectively arranged on the first guiding support and the second guiding support, the first guide rail and the second guide rail span across the load supporting plate, sliding blocks embedded into the first guide rail and the second guide rail are arranged on the load supporting plate, the sliding blocks can be driven to move through the driving component, so that the load supporting plate is driven to move along the first guiding support and the second guiding support, and a measuring device on the load supporting plate can detect the bottom surface of a bridge on a moving path.
Above-mentioned technical scheme, it is further, be equipped with the fixed subassembly that is used for conflicting with the bridge bottom surface on the supporting component, fixed subassembly includes:
a first support member disposed on the support assembly;
a first elastic member disposed on the first support member;
a second supporting member disposed on the first elastic member;
a second elastic member disposed on the second support member;
the contact piece is arranged on the second elastic piece and can contact with the bottom surface of the bridge;
wherein, one side of first support piece towards second support piece is equipped with first connecting portion, and one side of second support piece towards first support piece is equipped with the second connecting portion, first connecting portion and second connecting portion rotatable coupling, the both ends of first elastic component are equipped with first connecting block and second connecting block respectively, first connecting block and first support piece rotatable coupling, second connecting block and second support piece rotatable coupling.
In this technical scheme, first support piece, first elastic component, second support piece and second elastic component set up from bottom to top in proper order. The first supporting piece and the second supporting piece are both of plate-shaped structures and play roles in supporting and bearing. The first connecting block and the second connecting block are rotatably connected, so that the first supporting piece and the second supporting piece can rotate relatively. Be provided with a plurality of first elastic component, first elastic component through set up the connecting block at both ends respectively with first connecting block and second connecting block rotatable coupling. When first backup pad rotated with the second backup pad relatively, the elastic component in the corresponding direction can compress, and when the second backup pad was parallel with the bridge bottom surface, the compression through first elastic component can make the structure remain stable to the messenger that can be better contradicts the piece and keeps the laminating with the bridge bottom surface, guarantees the stability of support piece subassembly.
Above-mentioned technical scheme, further, the second elastic component includes:
a support housing disposed on the second support;
the first supporting blocks are arranged on the inner wall of the supporting shell in a plurality of rotatable modes;
the second supporting blocks are arranged on the inner wall of the supporting shell in a plurality of rotatable modes;
wherein the first supporting block is arranged above the second supporting block, the first supporting block and the second supporting block are arranged in a staggered way, so that two ends of the first supporting block are respectively butted with the ends of the second supporting blocks at two sides,
the first supporting block is provided with an elastic part, the elastic part is connected with a third supporting piece, and the contact piece is arranged on the third supporting piece.
Among this technical scheme, the support housing is cylindrical structure, is provided with first bulge on the first supporting block, and first bulge makes first supporting block and the inner wall rotatable coupling of support housing through the pivot. The second support block is provided with a second bulge, and the second bulge enables the second support block to be rotatably connected with the support shell through a rotating shaft. The first supporting block is arranged between two adjacent second supporting blocks, and the first supporting block and the second supporting blocks are arranged in a staggered mode. The first supporting piece is provided with an elastic part which is connected with the third supporting piece together, and the abutting piece is arranged on the third supporting piece.
When the uneven first supporting shoe that leads to of pressure pushes down towards one side slope, the second supporting shoe that contradicts rather than this one side also inclines to push down, makes the opposite side slope of second supporting shoe lift up to make two adjacent first supporting shoes receive opposite effort, thereby guarantee whole second elastic stability, prevent that the second elastic component from leading to the conflict piece to produce the skew because the pressure inequality and rocking, guarantee the stability of contradicting of conflict piece and bridge bottom surface.
Among the above-mentioned technical scheme, further, conflict piece includes:
a first partition plate which is arranged on the upper surface of the shell,
a second partition plate disposed in parallel with the first partition plate;
a third partition plate disposed in parallel with the second partition plate;
the output shaft of the first telescopic assembly penetrates through the first partition plate and pushes the second partition plate to move;
the bridge comprises a first partition plate, a second partition plate, a third partition plate and a fourth partition plate, wherein a first buffer piece is arranged between the first partition plate and the second partition plate, a second buffer piece is arranged between the second partition plate and the third partition plate, and a collision part capable of colliding with the bottom surface of the bridge is arranged on the third partition plate.
In this technical scheme, one side of first baffle is provided with first flexible subassembly, and the output shaft of first flexible subassembly passes first baffle to the opposite side of first baffle. The output shaft of first flexible subassembly can promote one side of second baffle. The first buffer part and the second buffer part are springs, and the abutting part can be enabled to have the capacity of bearing pressure in two directions through the first buffer part and the second buffer part, so that the safety and the stability of the structure are guaranteed.
Among the above-mentioned technical scheme, further, conflict portion includes:
a support ring disposed on the third separator;
the adjusting sheet is provided with a plurality of adjusting sheets which are rotatably arranged on the supporting ring;
the pushing mechanism is used for driving the adjusting sheet to rotate;
wherein, pushing mechanism includes the flexible subassembly of second, and the output shaft of the flexible subassembly of second has the push disk, be equipped with a plurality of catch bars that pass the third baffle on the push disk, the catch bar is connected with the push ring jointly, is equipped with a plurality of connecting rods that correspond and connect with the adjustment sheet on the push ring.
In this technical scheme, the equidistant circumference of adjustment flap distributes on the support ring. The flexible subassembly of second is connected with the push disk, and the second bolster setting sets up the catch bar on the push disk between second baffle and push disk, and the removal of push rod drives the removal of push ring, and the removal of push ring drives the removal of connecting rod to make the rotation in step that can all adjustment tabs, rotation through the adjustment tab can adjust and the bridge bottom surface between area of contact, thereby adapt to different bridge bottom surfaces.
In the above technical solution, furthermore, a linear bearing is arranged on the third partition plate, the push rod penetrates through the linear bearing, a first butterfly-shaped piece is arranged at one end of the push rod, a second butterfly-shaped piece is arranged at the other end of the push rod, the first butterfly-shaped piece is connected with the push disk, and the second butterfly-shaped piece is connected with the push ring.
Among this technical scheme, first butterfly piece all has elasticity with the second butterfly piece, can further improve the stability of contradicting with the bridge bottom surface through first butterfly piece and second butterfly piece, and certain redundant space that provides simultaneously prevents that the arm action transition from resulting in the structural damage of contradicting the thing.
The application also provides a bridge crack detection method, which comprises the following steps;
s1: moving the carrier to a designated position;
s2: moving the detection mechanism to the bottom surface of the bridge through a manipulator;
s3: adjusting the manipulator to enable the fixing component to abut against the bottom surface of the bridge;
s4: driving the first telescopic assembly and the second telescopic assembly to enable the contact piece to be attached to the bottom surface of the bridge;
s5: driving the load assembly to move to detect cracks on the bottom surface of the bridge deck in the current area;
s6: after detection is finished, the first telescopic assembly and the second telescopic assembly are driven to be loosened;
s7: and adjusting the manipulator to separate the fixing assembly from the bottom surface of the bridge floor and then returning to the step S1.
Among the above-mentioned technical scheme, the carrier removes the position that needs to detect on the bridge floor, and the manipulator removes detection mechanism to the bridge bottom surface, makes fixed subassembly can contradict or be close to the bridge bottom surface as far as with the bridge bottom surface. First flexible subassembly and the flexible subassembly of second can make conflict piece further with the laminating of bridge bottom surface to make supporting component remain stable, reduce the influence of external force alignment. And after the supporting component keeps stable, the load component moves, and the bottom surface of the bridge in the area is detected. After the detection is finished, the first telescopic assembly and the second telescopic assembly retract, the fixed assembly is far away from the bridge and is abutted by the manipulator, and the process is repeated until the crack of the bottom surface of the whole bridge is detected after the carrier is moved to the next detection position.
The invention has the beneficial effects that:
1. through supporting component and the fixed subassembly of setting on supporting component can keep detection mechanism's stability when detection mechanism removes to the bridge bottom surface, reduce external force to detection mechanism's influence, guarantee the accuracy that detects.
2. The fixed subassembly comprises first support piece, first elastic component, second support piece and the second elastic component that sets gradually, makes fixed subassembly constitute two-layer structure, can guarantee the stability of support through first elastic component and second elastic component, can rotate between first support piece and the second support piece simultaneously, makes fixed subassembly can adapt to the bridge bottom surface of slope, further guarantees fixed stability.
3. The second elastic component comprises a first supporting block and a second supporting block which are arranged in a staggered mode, the second elastic component can be prevented from shifting and shaking due to the fact that the pressure is uneven and the collision component is caused by the cooperation of the first supporting block and the second supporting block, and the stability of collision of the collision component and the bottom surface of the bridge is guaranteed.
4. The second telescopic assembly can drive the adjusting sheet to rotate, and the contact area between the contact part and the bottom surface of the bridge can be adjusted, so that the bridge is suitable for different bottom surfaces of the bridge.
5. Be provided with first butterfly piece and second butterfly piece, through the certain redundant space that first butterfly piece and second butterfly piece can provide, prevent that the arm action transition from resulting in the structural damage of touch-sensitive piece.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the detecting mechanism;
FIG. 3 is a schematic view of the structure at A in FIG. 2;
FIG. 4 is a schematic view of the structure at B in FIG. 3;
FIG. 5 is a schematic view of the first and second support blocks;
FIG. 6 is a schematic view of the contact member;
wherein the reference numerals are: 100. a carrier; 110. a bridge; 200. a mechanical arm; 300. a detection mechanism; 310. a first guide bracket; 311. a second guide bracket; 320. a first guide rail; 321. a second guide rail; 330. a slider; 340. a load support plate; 400. a fixing component; 410. a first support member; 420. a second support member; 430. a second elastic member; 431. a third support member; 432. a second support block; 433. an elastic part; 434. a connecting rod; 435. a rotating shaft; 436. a first support block; 440. a contact member; 441. a first separator; 442. a second separator; 443. a third partition plate; 444. pushing the disc; 445. a first drive motor; 446. a second drive motor; 447. a first buffer member; 448. a second buffer member; 449. a linear bearing; 450. a connecting disc; 451. a guide rod; 500. a regulating sheet; 510. a connecting rod; 520. a push ring; 530. a push rod; 531. a second butterfly shaped segment; 532. a first butterfly flap.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following description clearly and completely describes the technical solution in the embodiments of the present invention with reference to the accompanying drawings:
example 1:
referring to fig. 1, the present embodiment provides a crack detection apparatus for a bridge 110, including:
a carrier 100 movably disposed on a deck;
a robot arm 200 having one end connected to the carrier 100;
a detection mechanism 300 connected to the other end of the robot arm 200, the robot arm 200 moving the detection mechanism 300 from the bridge floor to the bridge bottom;
the detection mechanism 300 includes a support assembly and a load assembly movable on the support assembly, the load assembly including an image capture device, the load assembly moving to cause the image capture device to obtain image data of the bottom surface of the bridge 110 on the path of travel. The carrier 100 is an engineering vehicle, the mechanical arm 200 is mounted on the engineering vehicle, a support assembly is mounted at the end of the mechanical arm 200, and a load assembly is arranged on the support assembly. The load assembly is provided with a camera as an image acquisition device. The support assembly is connected to the load assembly and can abut against the bottom surface of the bridge beam 110, thereby providing a stable platform for the load assembly.
Example 2:
the present embodiment provides a crack detection device for a bridge 110, which includes the following technical features in addition to the technical solutions of the above embodiments.
Referring to fig. 2, the support assembly includes:
a first guide bracket 310;
a second guide bracket 311 disposed in parallel with the first guide bracket 310;
a connecting bracket connecting the first guide bracket 310 and the second guide bracket 311;
be equipped with first guide rail 320 on the first guide bracket 310, be equipped with second guide rail 321 on the second guide bracket 311, be equipped with the drive assembly that drive load subassembly removed along first guide rail 320 and second guide rail 321 on first guide rail 320 and/or the second guide rail 321, load subassembly includes the load backup pad, and image acquisition equipment arranges the load backup pad in, be equipped with the sliding block 330 of embedding in first guide rail 320 and the second guide rail 321 in the load backup pad, drive assembly drive sliding block 330 removes.
The supporting component is composed of a first guiding support 310 and a second guiding support 311 which are arranged in parallel, a first guide rail 320 and a second guide rail 321 are respectively arranged on the first guiding support 310 and the second guiding support 311, the first guide rail 320 and the second guide rail 321 cross a load supporting plate, a sliding block 330 embedded in the first guide rail 320 and the second guide rail 321 is arranged on the load supporting plate, the driving component can drive the sliding block 330 to move, so that the load supporting plate is driven to move along the first guiding support 310 and the second guiding support 311, and a measuring device on the load supporting plate can detect the bottom surface of the bridge 110 on the moving path.
Example 3:
the present embodiment provides a crack detection apparatus for a bridge 110, which includes the following technical features in addition to the technical solutions of the above embodiments.
Referring to fig. 1, 2 and 3, a fixing assembly 400 for abutting against the bottom surface of the bridge is disposed on the supporting assembly, and the fixing assembly 400 includes:
a first support 410 disposed on the support assembly;
a first elastic member disposed on the first support 410;
a second support member 420 disposed on the first elastic member;
a second elastic member 430 disposed on the second support member 420;
a contact member 440 disposed on the second elastic member 430 and capable of contacting the bridge bottom surface;
one side of the first supporting member 410 facing the second supporting member 420 is provided with a first connecting portion, one side of the second supporting member 420 facing the first supporting member 410 is provided with a second connecting portion, the first connecting portion and the second connecting portion are rotatably connected, two ends of the first elastic member are respectively provided with a first connecting block and a second connecting block, the first connecting block and the first supporting member 410 are rotatably connected, and the second connecting block and the second supporting member 420 are rotatably connected.
The first support 410, the first elastic member, the second support 420 and the second elastic member 430 are sequentially disposed from bottom to top. The first support member 410 and the second support member 420 are both plate-shaped structures, and have supporting and bearing functions. The first connecting block and the second connecting block are rotatably connected to enable the first support 410 and the second support 420 to rotate relatively. Be provided with a plurality of first elastic components, first elastic component through set up the connecting block at both ends respectively with first connecting block and second connecting block rotatable coupling. When first backup pad and second backup pad rotated relatively, the elastic component in the corresponding direction can compress, and when the second backup pad was parallel with bridge 110 bottom surface, the compression through first elastic component can make the structure remain stable to the messenger that can be better keeps the laminating with bridge 110 bottom surface, guarantees the stability of support piece subassembly.
Referring to fig. 5, in the present embodiment, further, the second elastic element 430 includes:
a support housing disposed on the second support 420;
a plurality of first supporting blocks 436 rotatably disposed on an inner wall of the supporting housing;
a plurality of second supporting blocks 432 rotatably disposed on the inner wall of the supporting case;
the first supporting block 436 is arranged above the second supporting block 432, the first supporting block 436 and the second supporting block 432 are arranged in a staggered manner, so that two ends of the first supporting block 436 respectively abut against the end portions of the second supporting blocks 432 on two sides, an elastic portion 433 is arranged on the first supporting block 436, the elastic portion 433 is connected with a third supporting member 431 together, and the abutting member 440 is arranged on the third supporting member 431.
The supporting housing is a cylindrical structure, and the first supporting block 436 is provided with a first protrusion, which rotatably connects the first supporting block 436 with the inner wall of the supporting housing through the rotating shaft 435. A second protrusion is disposed on the second supporting block 432, and the second protrusion enables the second supporting block 432 to be rotatably connected with the supporting housing through the rotating shaft 435. The first supporting block 436 is disposed between two adjacent second supporting blocks 432, and the first supporting block 436 and the second supporting blocks 432 are disposed in a staggered manner. The first supporting member 410 is provided with a connecting rod 434, the top of the connecting rod 434 is provided with an elastic part 433, and the elastic part 433 is made of rubber and has good elasticity. The elastic parts 433 are commonly connected to the third support 431, and the contact part 440 is disposed on the third support 431.
When the first supporting block 436 is pressed down obliquely towards one side due to uneven pressure, the second supporting block 432 abutting against the one side is also pressed down obliquely, so that the other side of the second supporting block 432 is lifted up obliquely, and two adjacent first supporting blocks 436 are subjected to opposite acting forces, so that the stability of the whole second elasticity is ensured, the second elastic member 430 is prevented from generating offset shaking of the abutting member 440 due to uneven pressure, and the stability of the abutting member 440 abutting against the bottom surface of the bridge 110 is ensured.
Example 4:
the present embodiment provides a crack detection device for a bridge 110, which includes the following technical features in addition to the technical solutions of the above embodiments.
Referring to fig. 3 and 4, the contact member 440 includes:
the first partition plate 441 is provided at a position where,
a second partition 442 disposed in parallel with the first partition 441;
a third partition 443 disposed in parallel with the second partition 442;
a first telescopic assembly, the output shaft of which passes through the first partition 441 and pushes the second partition 442 to move;
a first buffer member 447 is disposed between the first partition 441 and the second partition 442, a second buffer member 448 is disposed between the second partition 442 and the third partition 443, and the third partition 443 is provided with a contact portion capable of contacting the bottom surface of the bridge 110.
One side of the first partition 441 is provided with a first telescopic assembly, and an output shaft of the first telescopic assembly passes through the first partition 441 to the other side of the first partition 441. The output shaft of the first retraction assembly can push one side of the second diaphragm 442. The first telescopic assembly includes a first driving motor 445, an output shaft of the first driving motor 445 is connected with a lead screw, the lead screw is connected with a connection disc 450 connected with the second partition 442, and the movement of the connection disc 450 can be driven by a low lever, thereby pushing the movement of the second partition 442. Meanwhile, the guide bar 451 penetrates through the connecting disc 450, so that the stability of the movement of the connecting disc 450 can be ensured.
The first buffer member 447 and the second buffer member 448 are both springs, and the contact member 440 can have bidirectional pressure-bearing capacity through the space between the first buffer member 447 and the second buffer member, so that the safety and the stability of the structure are ensured.
Example 5:
the present embodiment provides a crack detection apparatus for a bridge 110, which includes the following technical features in addition to the technical solutions of the above embodiments.
Referring to fig. 4 and 6, further, the interference part includes:
a support ring placed on the third partition 443;
a plurality of tabs 500 rotatably disposed on the support ring;
a pushing mechanism for driving the rotation of the blade 500;
the pushing mechanism comprises a second telescopic assembly, an output shaft of the second telescopic assembly is connected with a pushing disc 444, the second telescopic assembly comprises a second driving motor 446, and the second driving motor 446 is preferably a voice coil motor. The pushing plate 444 is provided with a plurality of pushing rods 530 penetrating through the third partition 443, the pushing rods 530 are connected with a pushing ring 520, and the pushing ring 520 is provided with a plurality of connecting rods 510 corresponding to and connected with the regulating sheet 500.
The tabs 500 are equally spaced circumferentially about the support ring. The second telescopic assembly is connected with a push disc 444, a second buffer 448 is arranged between the second partition 442 and the push disc 444, a push rod 530 is arranged on the push disc 444, the push rod moves to drive the push ring 520 to move, and the push ring 520 moves to drive the connecting rod 510 to move, so that all the adjusting sheets 500 can synchronously rotate, the contact area between the adjusting sheets 500 and the bottom surface of the bridge 110 can be adjusted through the rotation of the adjusting sheets 500, and the bottom surfaces of different bridges 110 can be adapted.
Referring to fig. 6, in this embodiment, a linear bearing 449 is disposed on the third partition 443, the push rod 530 passes through the linear bearing 449, a first butterfly plate 532 is disposed at one end of the push rod 530, a second butterfly plate 531 is disposed at the other end of the push rod 530, the first butterfly plate 532 is connected to the push disk 444, and the second butterfly plate 531 is connected to the push ring 520.
The first butterfly-shaped piece 532 and the second butterfly-shaped piece 531 are elastic, so that the stability of the contact with the bottom surface of the bridge 110 can be further improved through the first butterfly-shaped piece 532 and the second butterfly-shaped piece 531, and a certain redundant space is provided at the same time, so that the structural damage of the contact piece 440 caused by the motion transition of the mechanical arm 200 is prevented.
Example 6:
the embodiment provides a crack detection method for a bridge 110, which comprises the following steps;
s1: moving the carrier 100 to a designated position;
s2: moving the detection mechanism 300 to the bottom surface of the bridge 110 by a manipulator;
s3: adjusting the manipulator to make the fixing assembly 400 abut against the bottom surface of the bridge 110;
s4: driving the first and second telescoping assemblies to make the contact member 440 fit the bottom surface of the bridge 110;
s5: driving the load assembly to move to detect cracks on the bottom surface of the bridge floor in the current area;
s6: after detection is finished, the first telescopic assembly and the second telescopic assembly are driven to be loosened;
s7: the adjusting robot returns to S1 after separating the fixing assembly 400 from the bottom surface of the bridge deck.
The carrier 100 moves on the bridge floor to the position to be detected, and the robot moves the detection mechanism 300 to the bottom surface of the bridge 110, so that the fixing member 400 can abut against the bottom surface of the bridge 110 or approach the bottom surface of the bridge 110 as close as possible. The first telescopic assembly and the second telescopic assembly enable the contact part 440 to be further attached to the bottom surface of the bridge 110, so that the supporting assembly is kept stable, and the influence of external force alignment is reduced. After the supporting assembly keeps stable, the loading assembly moves, and the bottom surface of the bridge 110 in the area is detected. After the detection is completed, the first and second retractable assemblies retract, the robot makes the fixing assembly 400 abut against the bridge 110, and the carrier 100 moves to the next detection position and repeats the above process until the crack detection on the bottom surface of the whole bridge 110 is completed.
The above-mentioned embodiments are only preferred embodiments of the present invention, not all embodiments, and other embodiments obtained by those skilled in the art based on the above-mentioned embodiments should also belong to the protection scope of the present invention without any creative effort, so that: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (8)
1. A bridge crack detection device, characterized in that includes:
a carrier (100) movably disposed on the deck;
a robot arm (200) having one end connected to the carrier (100);
a detection mechanism (300) connected to the other end of the robot arm (200), the robot arm (200) moving the detection mechanism (300) from the bridge floor to the bridge bottom;
wherein the detection mechanism (300) comprises a support component and a load component capable of moving on the support component, the load component comprises an image acquisition device, and the load component moves to enable the image acquisition device to acquire image data of the bottom surface of the bridge (110) on the moving path.
2. The bridge crack detection device of claim 1, wherein the support assembly comprises:
a first guide bracket (310);
a second guide bracket (311) arranged in parallel with the first guide bracket (310);
a connecting bracket connecting the first guide bracket (310) and the second guide bracket (311);
the image acquisition device comprises a first guide rail (320), a second guide rail (321), a driving assembly and a load assembly, wherein the first guide rail (320) is arranged on the first guide bracket (310), the second guide rail (321) is arranged on the second guide bracket (311), the driving assembly for driving the load assembly to move along the first guide rail (320) and the second guide rail (321) is arranged on the first guide rail (320) and/or the second guide rail (321), the load assembly comprises a load supporting plate, the image acquisition device is arranged on the load supporting plate (340), a sliding block (330) embedded into the first guide rail (320) and the second guide rail (321) is arranged on the load supporting plate, and the driving assembly drives the sliding block (330) to move.
3. The bridge crack detection device of claim 1 wherein the support assembly is provided with a fixing assembly (400) for abutting against the bottom surface of the bridge, and the fixing assembly (400) comprises:
a first support (410) disposed on the support assembly;
a first elastic member disposed on the first support member (410);
a second supporting member (420) disposed on the first elastic member;
a second elastic member (430) disposed on the second support member (420);
a contact member (440) disposed on the second elastic member (430) and capable of contacting the bridge bottom surface;
wherein, one side of first support piece (410) towards second support piece (420) is equipped with first connecting portion, and one side of second support piece (420) towards first support piece (410) is equipped with the second connecting portion, first connecting portion and second connecting portion rotatable coupling, the both ends of first elastic component are equipped with first connecting block and second connecting block respectively, first connecting block and first support piece (410) rotatable coupling, second connecting block and second support piece (420) rotatable coupling.
4. A bridge crack detection device as claimed in claim 3, characterized in that the second elastic member (430) comprises:
a support housing disposed on the second support (420);
a first support block (436) provided with a plurality and rotatably disposed on an inner wall of the support case;
a plurality of second supporting blocks (432) which are rotatably arranged on the inner wall of the supporting shell;
wherein the first supporting block (436) is arranged above the second supporting block (432), the first supporting block (436) and the second supporting block (432) are arranged in a staggered manner, so that two ends of the first supporting block (436) are respectively abutted against the ends of the second supporting blocks (432) at two sides,
an elastic part (433) is arranged on the first supporting block (436), the elastic part (433) is connected with a third supporting part (431), and the contact part (440) is arranged on the third supporting part (431).
5. A bridge crack detection device according to claim 3, characterized in that the abutment (440) comprises:
a first diaphragm (441);
a second partition plate (442) disposed in parallel with the first partition plate (441);
a third partition (443) disposed in parallel with the second partition (442);
the output shaft of the first telescopic assembly penetrates through the first partition plate (441) and pushes the second partition plate (442) to move;
the first buffer piece (447) is arranged between the first partition plate (441) and the second partition plate (442), the second buffer piece (448) is arranged between the second partition plate (442) and the third partition plate (443), and the third partition plate (443) is provided with a collision part capable of colliding with the bottom surface of the bridge (110).
6. The bridge crack detection device of claim 5, wherein the collision part comprises:
a support ring placed on the third partition (443);
a plurality of adjusting sheets (500) which are arranged on the supporting ring in a rotatable way;
a pushing mechanism for driving the rotation of the regulating blade (500);
the pushing mechanism comprises a second telescopic assembly, an output shaft of the second telescopic assembly is connected with a pushing disc (444), a plurality of pushing rods (530) penetrating through a third partition plate (443) are arranged on the pushing disc (444), the pushing rods (530) are connected with a pushing ring (520) together, and a plurality of connecting rods (510) corresponding to and connected with the adjusting sheet (500) are arranged on the pushing ring (520).
7. The bridge crack detection device according to claim 6, wherein a linear bearing (449) is arranged on the third partition plate (443), a push rod (530) penetrates through the linear bearing (449), a first butterfly piece (532) is arranged at one end of the push rod (530), a second butterfly piece (531) is arranged at the other end of the push rod (530), the first butterfly piece (532) is connected with the push block, and the second butterfly piece (531) is connected with the push ring (520).
8. The bridge crack detection method is characterized by comprising the following steps of;
s1: moving the carrier (100) to a designated position;
s2: moving the detection mechanism (300) to the bottom surface of the bridge (110) through a manipulator;
s3: adjusting the manipulator to enable the fixing component (400) to abut against the bottom surface of the bridge (110);
s4: driving the first telescopic assembly and the second telescopic assembly to enable the abutting piece (440) to be attached to the bottom surface of the bridge (110);
s5: driving the load assembly to move to detect cracks on the bottom surface of the bridge deck in the current area;
s6: after detection is finished, the first telescopic assembly and the second telescopic assembly are driven to be loosened;
s7: and adjusting the manipulator to separate the fixing assembly (400) from the bottom surface of the bridge floor and then returning to S1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211403889.9A CN115584682B (en) | 2022-11-10 | 2022-11-10 | Bridge crack detection device and detection method thereof |
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| CN202211403889.9A CN115584682B (en) | 2022-11-10 | 2022-11-10 | Bridge crack detection device and detection method thereof |
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| CN215812468U (en) * | 2021-09-24 | 2022-02-11 | 杨文义 | Improved self-propelled bridge bottom surface crack detection device |
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|---|---|
| CN115584682B (en) | 2023-06-23 |
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