CN115584682B - Bridge crack detection device and detection method thereof - Google Patents
Bridge crack detection device and detection method thereof Download PDFInfo
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- CN115584682B CN115584682B CN202211403889.9A CN202211403889A CN115584682B CN 115584682 B CN115584682 B CN 115584682B CN 202211403889 A CN202211403889 A CN 202211403889A CN 115584682 B CN115584682 B CN 115584682B
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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 which is movably arranged on a bridge deck; one end of the mechanical arm is connected with the carrier; the detection mechanism is connected with the other end of the mechanical arm, and the mechanical arm moves the detection mechanism from the bridge deck 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 a moving path. The carrier is engineering vehicle, and the arm is installed on engineering vehicle, and supporting component is installed to the tip of arm, sets up load subassembly on the supporting component. The load assembly is provided with a camera as an image acquisition device. The support assembly is connected with the load assembly and can be abutted against the bottom surface of the bridge, so that a stable platform is provided for the load assembly.
Description
Technical Field
The invention belongs to the technical field of crack detection, and particularly relates to a bridge crack detection device and a bridge crack detection method.
Background
More than 90% of the damage to concrete bridges is caused by cracks. The concrete members are all provided with cracks, so that the normal use of the structure is generally not greatly damaged, the concrete members can be allowed to exist, but some cracks are continuously expanded under the action of using load or external physical and chemical factors, so that the concrete is carbonized, a protective layer is peeled off, mechanical discontinuities are formed in the bridge, the bearing capacity of the bridge is greatly reduced, and even collapse accidents occur in serious cases.
The invention patent with application number 201710054344.4 discloses a bridge crack detection device and a bridge crack detection method, wherein 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 and 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. preparing work before detection; 2. shooting and uploading an image; 3. capturing an image; 4. processing bridge crack images; 5. calibrating a calibration object image; 6. and calculating and synchronously outputting bridge crack parameters.
Among the above-mentioned bridge crack detection device, when measuring the crack, the platform of load is unsettled setting, produces easily to rock under the exogenic action, influences measuring accuracy.
Disclosure of Invention
The invention aims to solve the technical problems, and provides a bridge crack detection device capable of reducing the influence of external force on measurement.
The purpose of the invention is realized in the following way: a bridge crack detection device, comprising:
the carrier is movably arranged on the bridge deck;
one end of the mechanical arm is connected with the carrier;
the detection mechanism is connected with the other end of the mechanical arm, and the mechanical arm moves the detection mechanism from the bridge deck to the bottom of the bridge;
the detection mechanism comprises a supporting component and a load component capable of moving on the supporting component, the load component comprises an image acquisition device, and the movement of the load component enables the image acquisition device to acquire image data of the bottom surface of a bridge on a moving path.
In the technical scheme, the carrier is an engineering vehicle, the mechanical arm is arranged on the engineering vehicle, the end part of the mechanical arm is provided with a supporting component, and the supporting component is provided with a load component. The load assembly is provided with a camera as an image acquisition device. The support assembly is connected with the load assembly and can be abutted against the bottom surface of the bridge, so that a stable platform is provided for the load assembly.
In this technical scheme, further, 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 used for connecting the first guide bracket and the second guide bracket;
the image acquisition device comprises a first guide support, a second guide support, a first guide rail, a second guide rail, a driving assembly, a load assembly and an image acquisition device, wherein the first guide rail is arranged on the first guide support, the second guide support is provided with the second guide rail, the driving assembly is arranged on the first guide rail and/or the second guide rail and is used for driving the load assembly to move along the first guide rail and the second guide rail, the load assembly comprises a load support plate, the image acquisition device is arranged on the load support plate, a sliding block embedded in the first guide rail and the second guide rail is arranged on the load support plate, and the driving assembly drives the sliding block to move.
In this technical scheme, supporting component comprises parallel arrangement's first guide support and second guide support, is provided with first guide rail and second guide rail on first guide support and the second guide support respectively, and first guide rail and second guide rail are listed as and are spanned there is the load backup pad, set up the sliding block of embedding first guide rail and second guide rail in the load backup pad, can drive the removal of sliding block through drive assembly to drive the load backup pad and remove along first guide support and second guide support, make the measuring device in the load backup pad can detect the bridge bottom surface on the travel path.
Above-mentioned technical scheme, further, be equipped with on the supporting component be used for with bridge bottom surface conflict fixed subassembly, fixed subassembly includes:
a first support disposed on the support assembly;
a first elastic member disposed on the first support member;
a second support member disposed on the first elastic member;
a second elastic member disposed on the second support member;
the abutting piece is arranged on the second elastic piece and can abut against the bottom surface of the bridge;
the first support piece is provided with a first connecting portion towards one side of the second support piece, the second support piece is provided with a second connecting portion towards one side of the first support piece, the first connecting portion is rotatably connected with the second connecting portion, two ends of the first elastic piece are respectively provided with a first connecting block and a second connecting block, the first connecting blocks are rotatably connected with the first support piece, and the second connecting blocks are rotatably connected with the second support piece.
In the technical scheme, the first supporting piece, the first elastic piece, the second supporting piece and the second elastic piece are sequentially arranged from bottom to top. The first supporting piece and the second supporting piece are 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. A plurality of first elastic pieces are arranged, and the first elastic pieces are respectively and rotatably connected with the first connecting blocks and the second connecting blocks through connecting blocks arranged at two ends. When first backup pad and second backup pad relative rotation, the elastic component on the corresponding direction can compress, when second backup pad and bridge bottom surface parallel, can make the structure keep stable through the compression of first elastic component to can be better make the laminating that contradict the piece to keep and bridge bottom surface, guarantee the stability of support piece subassembly.
The above technical scheme, further, the second elastic component includes:
a support housing disposed on the second support;
the first supporting blocks are provided with a plurality of supporting blocks and are rotatably arranged on the inner wall of the supporting shell;
the second supporting blocks are provided with a plurality of supporting blocks and are rotatably arranged on the inner wall of the supporting shell;
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 dislocation way, so that the two ends of the first supporting block respectively collide with the end parts of the second supporting blocks at the two sides,
the first supporting block is provided with an elastic part, the elastic parts are connected with a third supporting piece together, and the abutting piece is arranged on the third supporting piece.
In the technical scheme, the support shell is of a cylindrical structure, the first supporting block is provided with a first protruding part, and the first protruding part enables the first supporting block to be rotatably connected with the inner wall of the support shell through the rotating shaft. The second supporting block is provided with a second protruding part, and the second protruding part enables the second supporting block to be rotatably connected with the supporting shell through a rotating shaft. The first supporting blocks are arranged between two adjacent second supporting blocks, and the first supporting blocks and the second supporting blocks are arranged in a staggered mode. The first supporting piece is provided with an elastic part, the elastic parts are connected with the third supporting piece together, and the abutting piece is arranged on the third supporting piece.
When the first supporting block is inclined downwards towards one side due to uneven pressure, the second supporting block which is abutted against the side of the first supporting block is inclined downwards, so that the other side of the second supporting block is inclined upwards, two adjacent first supporting blocks are subjected to opposite acting forces, the stability of the whole second elasticity is ensured, the second elastic piece is prevented from being offset and swaying due to uneven pressure, and the stability of the abutting piece and the bridge bottom surface is ensured.
In the above technical scheme, further, the conflict piece includes:
the first separator plate is arranged on the first side of the first plate,
a second separator disposed in parallel with the first separator;
a third separator disposed in parallel with the second separator;
a first telescopic assembly, an output shaft of which passes through the first partition and pushes the second partition to move;
the first buffer piece is arranged between the first partition board and the second partition board, the second buffer piece is arranged between the second partition board and the third partition board, and the third partition board is provided with a collision part which can collide with the bottom surface of the bridge.
In the technical scheme, one side of a first baffle is provided with a first telescopic component, and an output shaft of the first telescopic component penetrates through the first baffle to the other side of the first baffle. The output shaft of the first telescopic assembly can push one side of the second partition plate. The first buffer piece and the second buffer piece are springs, and the abutting piece can have bidirectional bearing capacity through the first buffer piece and the second buffer piece, so that the safety and the stability of the structure are guaranteed.
In the above technical solution, further, the abutting portion includes:
a support ring disposed on the third partition;
the adjusting sheets are provided with a plurality of adjusting pieces and can be rotatably arranged on the supporting ring;
a pushing mechanism for driving the rotation of the regulating plate;
the pushing mechanism comprises a second telescopic assembly, an output shaft of the second telescopic assembly is connected with a pushing disc, a plurality of pushing rods penetrating through the third partition plate are arranged on the pushing disc, pushing rings are connected with the pushing rods together, and a plurality of connecting rods corresponding to and connected with the adjusting pieces are arranged on the pushing rings.
In the technical scheme, the regulating pieces are circumferentially distributed on the supporting ring at equal intervals. The second telescopic assembly is connected with a pushing disc, the second buffer piece is arranged between the second partition plate and the pushing disc, a pushing rod is arranged on the pushing disc, the pushing rod is moved to drive the pushing ring to move, the pushing ring is moved to drive the connecting rod to move, so that all the adjusting pieces can synchronously rotate, the contact area between the adjusting pieces and the bottom surface of the bridge can be adjusted through rotation of the adjusting pieces, and different bottom surfaces of the bridge are adapted.
In the above technical scheme, further, be equipped with linear bearing on the third baffle, the catch bar passes linear bearing, the one end of catch bar is equipped with first butterfly piece, and the other end of catch bar is equipped with the second butterfly piece, and first butterfly piece is connected the catch plate, the second butterfly piece is connected the push ring.
In 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 prevents that the arm action from passing through and leading to the structural damage of conflict piece simultaneously.
The application also provides a method for detecting the bridge cracks, which comprises the following steps of;
s1: moving the carrier to a designated position;
s2: moving the detection mechanism to the bottom surface of the bridge through the mechanical arm;
s3: adjusting the mechanical arm to enable the fixing assembly to be in contact with the bottom surface of the bridge;
s4: driving the first telescopic assembly and the second telescopic assembly to enable the abutting piece to be attached to the bottom surface of the bridge;
s5: driving the load assembly to move to detect the bottom surface crack of the bridge in the current area;
s6: after the detection is completed, the first telescopic assembly and the second telescopic assembly are driven to be loosened;
s7: and (2) adjusting the mechanical arm to separate the fixed component from the bottom surface of the bridge, and returning to the step (S1).
According to the technical scheme, the carrier moves to the position to be detected on the bridge deck, and the mechanical arm moves the detection mechanism to the bottom surface of the bridge, so that the fixing assembly can collide with the bottom surface of the bridge or be close to the bottom surface of the bridge as much as possible. The first telescopic component and the second telescopic component can enable the abutting piece to be further attached to the bottom surface of the bridge, so that the supporting component is kept stable, and the external force alignment influence is reduced. And the load assembly moves after the support assembly keeps stable, and the bottom surface of the bridge in the area is detected. After the completion, first flexible subassembly and flexible subassembly of second are retracted, and the arm makes fixed subassembly keep away from the bridge and contradicts, and the carrier is moved and is repeated above-mentioned process after next department detects the position until the crack detection of whole bridge bottom surface finishes.
The beneficial effects of the invention are as follows:
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, reduces external force to detection mechanism's influence, guarantees the accuracy of detection.
2. The fixed subassembly comprises first support piece, first elastic component, second support piece and the second elastic component that set gradually, makes fixed subassembly constitute two-layer structure, can guarantee the stability that supports 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 the stability of fixing.
3. The second elastic piece includes dislocation set's first supporting shoe and second supporting shoe, can prevent through the cooperation of first supporting shoe and second supporting shoe that the second elastic piece from producing the skew because the uneven conflict piece that leads to of pressure from rocking, guarantees the stability that conflict piece and bridge bottom surface contradict.
4. Can drive the rotation of regulating plate through the flexible subassembly of second, can adjust the area of contact between conflict piece and the bridge bottom surface to adapt to different bridge bottom surfaces.
5. Be provided with first butterfly piece and second butterfly piece, can provide certain redundant space through first butterfly piece and second butterfly piece, prevent that the arm action from passing through and leading to the structural damage of conflict piece.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of the detection 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 structural view of a first support block and a second support block;
FIG. 6 is a schematic view of the structure of the interference member;
wherein the reference numerals are as follows: 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 sliding block; 340. a load support plate; 400. a fixing assembly; 410. a first support; 420. a second support; 430. a second elastic member; 431. a third support; 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 separator; 444. pushing the disc; 445. a first driving motor; 446. a second driving 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 piece; 510. a connecting rod; 520. pushing the ring; 530. a push rod; 531. a second butterfly piece; 532. a first butterfly plate.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present invention, the following description of the embodiments of the present invention is provided with reference to the accompanying drawings:
example 1:
referring to fig. 1, the present embodiment provides a bridge 110 crack detection device, including:
a carrier 100 movably disposed on the deck;
a mechanical arm 200, one end of which is connected to the carrier 100;
the detection mechanism 300 is connected with the other end of the mechanical arm 200, and the mechanical arm 200 moves the detection mechanism 300 from the bridge deck to the bottom of the bridge;
the detection mechanism 300 includes a support assembly and a load assembly movable on the support assembly, the load assembly including an image acquisition device, the movement of the load assembly causing the image acquisition device to acquire image data of the underside of the bridge 110 along a path of movement. The carrier 100 is an engineering vehicle, the mechanical arm 200 is installed on the engineering vehicle, the end part of the mechanical arm 200 is provided with a supporting component, and the supporting component is provided with a load component. The load assembly is provided with a camera as an image acquisition device. The support assembly is coupled to the load assembly and is capable of interfering with the underside of the bridge 110 to provide a stable platform for the load assembly.
Example 2:
the present embodiment provides a device for detecting cracks of a bridge beam 110, which includes the following technical features in addition to the technical scheme of the above embodiment.
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 connection bracket connecting the first guide bracket 310 and the second guide bracket 311;
the first guide bracket 310 is provided with a first guide rail 320, the second guide bracket 311 is provided with a second guide rail 321, the first guide rail 320 and/or the second guide rail 321 are provided with a driving assembly for driving a load assembly to move along the first guide rail 320 and the second guide rail 321, the load assembly comprises a load supporting plate, the image acquisition device is arranged on the load supporting plate, the load supporting plate is provided with a sliding block 330 embedded in the first guide rail 320 and the second guide rail 321, and the driving assembly drives the sliding block 330 to move.
The support assembly comprises a first guide bracket 310 and a second guide bracket 311 which are arranged in parallel, a first guide rail 320 and a second guide rail 321 are respectively arranged on the first guide bracket 310 and the second guide bracket 311, the first guide rail 320 and the second guide rail 321 are transversely provided with 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, and the sliding block 330 can be driven to move through the driving assembly, so that the load supporting plate is driven to move along the first guide bracket 310 and the second guide bracket 311, and a measuring device on the load supporting plate can detect the bottom surface of the bridge 110 on a moving path.
Example 3:
the present embodiment provides a device for detecting cracks of a bridge beam 110, which includes the following technical features in addition to the technical scheme of the above embodiment.
Referring to fig. 1, 2 and 3, the support assembly is provided with a fixing assembly 400 for abutting against the bottom surface of the bridge, and the fixing assembly 400 includes:
a first support 410 disposed on the support assembly;
a first elastic member disposed on the first support member 410;
a second support 420 disposed on the first elastic member;
a second elastic member 430 disposed on the second support member 420;
an abutting member 440 disposed on the second elastic member 430 and capable of abutting against the bridge floor;
the first support piece 410 is equipped with first connecting portion towards one side of second support piece 420, and one side of second support piece 420 towards first support piece 410 is equipped with the second connecting portion, and 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, and first connecting block and first support piece 410 rotatable coupling, second connecting block and second support piece 420 rotatable coupling.
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 supporting member 410 and the second supporting member 420 are both plate-shaped structures, and play a role in supporting and bearing. The first connection block is rotatably connected with the second connection block, so that the first support 410 and the second support 420 can rotate relatively. A plurality of first elastic pieces are arranged, and the first elastic pieces are respectively and rotatably connected with the first connecting blocks and the second connecting blocks through connecting blocks arranged at two ends. When first backup pad and second backup pad relative rotation, the elastic component on the corresponding direction can compress, when second backup pad and bridge 110 bottom surface parallel, can make the structure keep stable through the compression of first elastic component to can be better make conflict piece 440 keep the laminating with bridge 110 bottom surface, guarantee the stability of support piece subassembly.
Referring to fig. 5, in the present embodiment, further, the second elastic member 430 includes:
a support housing disposed on the second support 420;
a first support block 436 provided with a plurality of rotatably disposed on an inner wall of the support housing;
a second support block 432 provided with a plurality of rotatably disposed on an inner wall of the support housing;
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 mode, two ends of the first supporting block 436 respectively collide with the end parts of the second supporting blocks 432 on two sides, the first supporting block 436 is provided with an elastic part 433, the elastic parts 433 are commonly connected with the third supporting piece 431, and the collision piece 440 is arranged on the third supporting piece 431.
The support housing is a cylindrical structure, and the first support block 436 is provided with a first protruding portion, and the first protruding portion enables the first support block 436 to be rotatably connected with the inner wall of the support housing through the rotating shaft 435. The second supporting block 432 is provided with a second protruding portion, and the second protruding portion enables the second supporting block 432 to be rotatably connected with the supporting shell through the rotating shaft 435. The first support block 436 is disposed between two adjacent second support blocks 432, and the first support block 436 and the second support 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 material and has good elasticity. The elastic portion 433 is connected to the third supporting member 431, and the abutting member 440 is disposed on the third supporting member 431.
When the first support blocks 436 are inclined downward toward one side due to uneven pressure, the second support blocks 432 abutting against the one side of the first support blocks are also inclined downward, so that the other side of the second support blocks 432 are inclined upward, and the two adjacent first support blocks 436 are subjected to opposite acting forces, so that the stability of the whole second elasticity is ensured, the second elastic piece 430 is prevented from generating offset shaking due to uneven pressure, and the stability of the abutting piece 440 abutting against the bottom surface of the bridge 110 is ensured.
Example 4:
the present embodiment provides a device for detecting cracks of a bridge beam 110, which includes the following technical features in addition to the technical scheme of the above embodiment.
Referring to fig. 3 and 4, the interference member 440 includes:
the first partition 441 is provided with a first opening,
a second separator 442 disposed in parallel with the first separator 441;
a third separator 443 disposed in parallel with the second separator 442;
a first telescopic assembly, the output shaft of which passes through the first diaphragm 441 and pushes the second diaphragm 442 to move;
the first buffer member 447 is disposed between the first and second partition boards 441 and 442, the second buffer member 448 is disposed between the second and third partition boards 442 and 443, and the third partition board 443 is provided with a collision portion capable of abutting against the bottom surface of the bridge beam 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 telescopic 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 screw rod, the screw rod is connected with a connection disc 450 connected with the second diaphragm 442, and the movement of the connection disc 450 can be driven through a lower rod, thereby pushing the movement of the second diaphragm 442. Meanwhile, the guide bar 451 passes through the connection disc 450, so that the movement stability of the connection disc 450 can be ensured.
The first buffer member 447 and the second buffer member 448 are springs, and the abutting member 440 can have a bidirectional pressure-bearing capability between the first buffer member 447 and the second buffer member, thereby ensuring the safety and stability of the structure.
Example 5:
the present embodiment provides a device for detecting cracks of a bridge beam 110, which includes the following technical features in addition to the technical scheme of the above embodiment.
Referring to fig. 4 and 6, further, the interference portion includes:
a support ring disposed on the third barrier 443;
a plurality of adjustment tabs 500 rotatably disposed on the support ring;
a pushing mechanism for driving 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, the second telescopic assembly comprises a second driving motor 446, and the second driving motor 446 is preferably a voice coil motor. The push plate 444 is provided with a plurality of push rods 530 penetrating through the third partition 443, the push rods 530 are commonly connected with a push ring 520, and the push ring 520 is provided with a plurality of connecting rods 510 corresponding to and connected with the adjusting plates 500.
The tabs 500 are equally circumferentially distributed on the support ring. The second telescopic assembly is connected with a pushing disc 444, a second buffer piece 448 is arranged between the second partition plate 442 and the pushing disc 444, a pushing rod 530 is arranged on the pushing disc 444, the pushing rod moves to drive the pushing ring 520 to move, and the pushing ring 520 moves to drive the connecting rod 510 to move, so that all the adjusting plates 500 can synchronously rotate, the contact area between the adjusting plates 500 and the bottom surface of the bridge 110 can be adjusted through rotation of the adjusting plates 500, and different bottom surfaces of the bridge 110 are adapted.
Referring to fig. 6, in this embodiment, further, a linear bearing 449 is disposed on the third partition 443, the push rod 530 passes through the linear bearing 449, a first butterfly piece 532 is disposed at one end of the push rod 530, a second butterfly piece 531 is disposed at the other end of the push rod 530, the first butterfly piece 532 is connected to the push plate 444, and the second butterfly piece 531 is connected to the push ring 520.
The first butterfly piece 532 and the second butterfly piece 531 all have elasticity, can further improve the stability of contradicting with bridge 110 bottom surface through first butterfly piece 532 and second butterfly piece 531, and certain redundant space that provides prevents that arm 200 action transition from leading to the structural damage of conflict piece 440 simultaneously.
Example 6:
the embodiment provides a bridge 110 crack detection method, which comprises 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 by a mechanical arm;
s3: adjusting the mechanical arm to enable the fixing assembly 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 the bottom surface crack of the bridge in the current area;
s6: after the detection is completed, the first telescopic assembly and the second telescopic assembly are driven to be loosened;
s7: the mechanical arm is adjusted to separate the fixing assembly 400 from the bottom surface of the bridge and then returns to S1.
The carrier 100 moves to the position to be detected on the bridge deck, and the mechanical arm moves the detection mechanism 300 to the bottom surface of the bridge 110, so that the fixing assembly 400 can collide with the bottom surface of the bridge 110 or be as close to the bottom surface of the bridge 110 as possible. The first telescopic component and the second telescopic component can enable the abutting piece 440 to be further attached to the bottom surface of the bridge 110, so that the supporting component is kept stable, and the alignment influence of external force is reduced. The support assembly remains stable and the load assembly moves to detect the underside of the bridge 110 in this area. After the completion, the first telescopic assembly and the second telescopic assembly are retracted, the mechanical arm enables the fixed assembly 400 to be far away from the bridge 110 for collision, and the process is repeated until the crack detection of the bottom surface of the whole bridge 110 is completed after the carrier 100 moves to the next detection position.
The above embodiments are only preferred embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art based on the above embodiments without making any inventive effort shall fall within the scope of the present invention, so: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (5)
1. Bridge crack detection device, characterized by includes:
a carrier (100) movably disposed on the deck;
a mechanical arm (200) one end of which is connected to the carrier (100);
the detection mechanism (300) is connected with the other end of the mechanical arm (200), and the mechanical arm (200) moves the detection mechanism (300) from the bridge deck to the bottom of the bridge;
the detection mechanism (300) comprises a supporting component and a load component capable of moving on the supporting component, wherein 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 a moving path;
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);
the image acquisition device comprises a first guide bracket (310), a second guide bracket (311), a first guide rail (320) and/or a second guide rail (321), wherein the first guide bracket (310) is provided with the first guide rail (320), the second guide bracket (311) is provided with the second guide rail (321), the first guide rail (320) and/or the second guide rail (321) are provided with a driving component for driving a load component to move along the first guide rail (320) and the second guide rail (321), the load component comprises a load supporting plate, the image acquisition device is arranged on the load supporting plate (340), and the load supporting plate is provided with a sliding block (330) embedded in the first guide rail (320) and the second guide rail (321), and the driving component drives the sliding block (330) to move;
the support assembly is last to be equipped with be used for with bridge bottom surface conflict fixed subassembly (400), fixed subassembly (400) include:
a first support (410) disposed on the support assembly;
a first elastic member disposed on the first support member (410);
a second support (420) disposed on the first elastic member;
a second elastic member (430) disposed on the second support member (420);
a collision member (440) disposed on the second elastic member (430) and capable of colliding with the bridge floor;
the first support piece (410) is provided with a first connecting part towards one side of the second support piece (420), one side of the second support piece (420) towards the first support piece (410) is provided with a second connecting part, the first connecting part is rotatably connected with the second connecting part, two ends of the first elastic piece are respectively provided with a first connecting block and a second connecting block, the first connecting blocks are rotatably connected with the first support piece (410), and the second connecting blocks are rotatably connected with the second support piece (420);
the second elastic member (430) includes:
a support housing disposed on the second support (420);
a first support block (436) provided with a plurality of rotatably disposed on an inner wall of the support housing;
a second support block (432) provided with a plurality of rotatably disposed on an inner wall of the support housing;
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 dislocation way, so that the two ends of the first supporting block (436) respectively collide with the end parts of the second supporting blocks (432) on the two sides,
the first supporting block (436) is provided with an elastic part (433), the elastic parts (433) are connected with a third supporting piece (431) together, and the abutting piece (440) is arranged on the third supporting piece (431).
2. The bridge crack detection device according to claim 1, wherein the interference member (440) comprises:
a first separator (441);
a second separator (442) disposed in parallel with the first separator (441);
a third separator (443) that is disposed in parallel with the second separator (442);
a first telescopic assembly, the output shaft of which passes through the first baffle (441) and pushes the second baffle (442) to move;
the first buffer piece (447) is arranged between the first baffle (441) and the second baffle (442), the second buffer piece (448) is arranged between the second baffle (442) and the third baffle (443), and the third baffle (443) is provided with a collision part which can collide with the bottom surface of the bridge (110).
3. The bridge crack detection device according to claim 2, wherein the interference portion includes:
a support ring disposed on the third barrier (443);
a plurality of adjusting pieces (500) rotatably disposed on the support ring;
a pushing mechanism for driving rotation of the regulating piece (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 plates (500) are arranged on the pushing ring (520).
4. A bridge crack detection device according to claim 3, characterized in that the third partition plate (443) is provided with a linear bearing (449), the push rod (530) passes through the linear bearing (449), one end of the push rod (530) is provided with a first butterfly piece (532), the other end of the push rod (530) is provided with a second butterfly piece (531), the first butterfly piece (532) is connected with the push disc (444), and the second butterfly piece (531) is connected with the push ring (520).
5. A bridge crack detection method using the bridge crack detection device according to any one of claims 3 to 4, characterized by comprising the steps of;
s1: moving the carrier (100) to a specified position;
s2: moving the detection mechanism (300) to the bottom surface of the bridge (110) through a mechanical arm;
s3: adjusting the mechanical arm to enable the fixing assembly (400) to be in contact with 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 the bottom surface crack of the bridge in the current area;
s6: after the detection is completed, the first telescopic assembly and the second telescopic assembly are driven to be loosened;
s7: and (4) adjusting the mechanical arm to separate the fixing assembly (400) from the bottom surface of the bridge and 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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| 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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| CN115584682B true CN115584682B (en) | 2023-06-23 |
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| CN116335025A (en) * | 2023-04-21 | 2023-06-27 | 山东鼎昌复合材料有限公司 | Expressway bridge inspection platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6660058B2 (en) * | 2015-12-25 | 2020-03-04 | 日本トムソン株式会社 | Bridge inspection equipment |
| JP6968360B2 (en) * | 2017-08-18 | 2021-11-17 | Ｏ・Ｔ・テクノリサーチ株式会社 | Bridge inspection method |
| CN109060282B (en) * | 2018-10-23 | 2021-06-25 | 南京轩世琪源软件科技有限公司 | Road and bridge detection device |
| CN109468948B (en) * | 2019-01-14 | 2019-09-20 | 长沙理工大学 | A kind of folding-jib both arms bridge inspection vehicle |
| CN109580657B (en) * | 2019-01-23 | 2021-08-20 | 郑州工程技术学院 | Crack detection method in bridge quality detection |
| CN212483407U (en) * | 2020-06-16 | 2021-02-05 | 山东省公路桥梁检测中心有限公司 | Bridge bottom surface crack detection device |
| KR102210981B1 (en) * | 2020-08-24 | 2021-02-03 | 주식회사 케이원레일 | inspection walkway of bridge |
| CN215179744U (en) * | 2021-06-08 | 2021-12-14 | 河南省豫通工程管理咨询有限公司 | Bridge crack automatic checkout equipment |
| CN215812468U (en) * | 2021-09-24 | 2022-02-11 | 杨文义 | Improved self-propelled bridge bottom surface crack detection device |
| CN216238117U (en) * | 2021-11-23 | 2022-04-08 | 内蒙古工业大学 | Mechanical arm of bridge detection vehicle |
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