CN117127493A - Method for detecting U-shaped rib of steel box girder - Google Patents

Abstract

The invention discloses a method for detecting a U rib of a steel box girder; the method comprises the first step of responding to a docking signal, driving a longitudinal moving mechanism and a detection mechanism to transversely move to a docking position along a transverse fixed track by a transverse moving mechanism, and setting the alignment position of the transverse moving track and the longitudinal fixed track as the docking position; the second step, responding to the longitudinal movement signal, the longitudinal movement mechanism moves along the longitudinal fixed rail to drive the detection mechanism to move to a longitudinal detection point, and the detection mechanism is set to be a detection area in a region corresponding to the longitudinal detection point; and thirdly, responding to the detection signal, transversely moving the detection mechanism along the longitudinal moving track, and detecting the U rib in the detection area by the detection mechanism. The detection mechanism is driven by the transverse moving mechanism and the longitudinal moving mechanism, so that the position of the detection mechanism is quickly adjusted, the detection speed is high, and the detection efficiency is high; and the track is arranged at the top of the steel box girder, so that the detection device is convenient to move, and the detection efficiency is improved.

Description

A method for detecting U ribs of steel box girder

Technical field

The invention relates to the technical field of steel box girder U-rib detection, and in particular to a steel box girder U-rib detection method.

Background technique

Steel box girder is a commonly used structural form for long-span bridges. Steel box girder often appears in bridge construction as the main beam of long-span bridges. Steel box girder generally consists of top plate, bottom plate, web plate, transverse diaphragm, longitudinal diaphragm and U ribs, etc. are connected by full welding. During the use of steel box girders, coating deterioration, steel plate corrosion, fatigue cracking and other diseases will occur due to environmental erosion and repeated loads. These diseases will threaten the operational safety of the bridge. U-ribs and roofs The space between the steel box girder and the steel box girder is the most susceptible to damage, so regular inspections of the U ribs of the steel box girder are required.

In the existing technology, the U-ribs of steel box girders are mainly detected through manual inspection or inspection robots. However, when steel box girders are used in cross-sea or cross-river bridges, the bottom of the steel box girders will be submerged in the sea or river. Among them, it becomes more difficult for the inspection robot to perform inspections, its movement is limited within the steel box girder, and the detection efficiency is low; in addition, manual inspection is not only highly dangerous but also has low detection efficiency.

Contents of the invention

The main technical problem solved by the present invention is to provide a method for detecting U-ribs of steel box girder, which solves the problem of low detection efficiency of U-ribs of steel box girder.

In order to solve the above technical problems, one technical solution adopted by the present invention is to provide a steel box girder U-rib detection method, which includes the steps:

In the first step, in response to the docking signal, the transverse movement mechanism drives the longitudinal movement mechanism and the detection mechanism to move laterally along the transverse fixed track to the docking position, and the position where the transverse movement track and the longitudinal fixed track are aligned is set as the docking position;

In the second step, in response to the longitudinal movement signal, the longitudinal movement mechanism moves along the longitudinal fixed track, driving the detection mechanism to move to the longitudinal detection point, and sets the area corresponding to the detection mechanism at the longitudinal detection point as the detection area;

In the third step, in response to the detection signal, the detection mechanism moves laterally along the longitudinal moving track, and the detection mechanism detects the U ribs in the detection area.

Preferably, multiple docking positions are set, one docking position corresponds to an area to be inspected, one area to be inspected includes multiple detection areas, multiple longitudinal detection points of the detection mechanism are set, and one longitudinal detection point corresponds to one detection area. .

Preferably, the detection method also includes a fourth step: repeat the second step and the third step, and the detection mechanism detects the U-ribs in the next detection area until all U-ribs in the area to be inspected are completed.

Preferably, the detection method also includes a fifth step: in response to the return signal, the longitudinal moving mechanism returns to the transverse moving track, and the first and fourth steps are repeated until the detection of all U-ribs in the steel box girder is completed.

Preferably, a detection area includes multiple detection intervals, multiple lateral detection points of the detection mechanism are set, and the detection interval corresponding to a lateral detection point of the detection mechanism is a detection interval; the detection mechanism includes a walking component, an adjustment component and a The detection component and the adjustment component are arranged on the walking component, the detection component is arranged on the adjustment component, the walking component is used to drive the detection mechanism to walk, the adjustment component is used to adjust the position of the detection component, and the detection component is used to detect the U rib.

Preferably, the detection mechanism moves along the longitudinal moving track, and the detection mechanism's detection of the U-ribs in the detection area also includes the following steps:

In response to the lateral movement signal, the detection mechanism moves laterally to the lateral detection point;

In response to the concentrated detection signal, the adjustment component changes the position of the detection component and the detection component detects the U-rib within the detection interval;

Repeat the first two steps, and in response to the lateral movement signal and the concentrated detection signal, complete the detection of the U-ribs in the next detection interval; repeat this step until the detection of all U-ribs in the detection area is completed.

Preferably, in response to the concentrated detection signal, the adjustment component changes the position of the detection component while the detection component detects the U-ribs in the detection interval, and further includes the following steps:

In response to the first adjustment signal, the adjustment component adjusts the detection component to a detection position; in response to the first detection signal, the detection component completes detection of the U rib corresponding to the detection position;

In response to the second adjustment signal, the adjustment component adjusts the detection component to another detection position; in response to the second detection signal, the detection component completes detection of the U rib corresponding to the other detection position;

Repeat the previous step, responding to the second adjustment signal and the second detection signal, until the detection of all U ribs in the detection interval is completed.

Preferably, the detection component includes a plurality of detection radars arranged at intervals, and the plurality of detection radars are used to detect the U-ribs in the steel box girder.

Preferably, the transverse movement mechanism includes a transverse movement component and a transverse movement track. The transverse movement track is arranged on the transverse movement component. The transverse movement component is used to drive the transverse movement track to move laterally along the transverse fixed track. The transverse movement track is used to dock with the longitudinal fixed track. , the longitudinal moving mechanism is arranged on the transverse moving track, and the longitudinal moving mechanism enters the longitudinal fixed track from the transverse moving track.

Preferably, the walking assembly includes a walking frame, a walking driving part, a walking pulley and a walking guide wheel. The walking driving part and the walking pulley are arranged on the walking frame. The walking driving part is connected to the walking pulley. The walking driving part is used to drive the walking pulley to slide. The walking guide wheel is set on the lower side of the walking frame; the adjusting component includes a fixing part, an extension part and an adjusting part. The fixing part is connected to multiple walking components, the extension part is set on the fixing part, the adjusting part is set on the extension part, and the extension part It is used to drive the adjustment member to lift and rotate; the extension part includes an extension drive motor, a lifting rotating wheel and an extension arm. The lifting rotating wheel is set on the fixed part. The extension driving motor is connected to the lifting rotating wheel. The extension driving motor is used to drive The lifting and rotating wheel is lifted, lowered and rotated, and the extension arm is arranged on the lifting and rotating wheel.

The beneficial effects of the present invention are: in the present invention, the transverse moving mechanism and the longitudinal moving mechanism drive the detection mechanism to move along the transverse fixed track and the longitudinal fixed track provided on the top of the steel box girder, and at the same time, the detection mechanism moves along the longitudinal moving track, Therefore, the position of the detection mechanism can be quickly adjusted to quickly complete the detection of the U-ribs in the steel box girder, with fast detection speed and high detection efficiency; and by setting the track on the top of the steel box girder, the movement of the detection device is facilitated and the detection efficiency is improved. .

Description of the drawings

Figure 1 is a schematic diagram of the working state of an embodiment of the present invention;

Figure 2 is a schematic diagram of different working states according to an embodiment of the present invention;

Figure 3 is a schematic structural diagram of an embodiment of the present invention;

Figure 4 is a schematic structural diagram of a lateral movement mechanism according to an embodiment of the present invention;

Figure 5 is a schematic structural diagram of the first transverse slide seat according to an embodiment of the present invention;

Figure 6 is a schematic structural diagram of a longitudinal movement mechanism according to an embodiment of the present invention;

Figure 7 is a schematic structural diagram of a detection mechanism according to an embodiment of the present invention;

Figure 8 is a schematic structural diagram of an adjustment assembly according to an embodiment of the present invention;

Figure 9 is a schematic structural diagram of a walking assembly according to an embodiment of the present invention;

Figure 10 is a schematic flow chart of an embodiment of the present invention;

Figure 11 is a schematic diagram of the inspection process according to an embodiment of the present invention;

Figure 12 is a schematic diagram of the detection of the first area to be inspected according to an embodiment of the present invention;

Figure 13 is a schematic flow chart of detecting a detection area according to an embodiment of the present invention;

Figure 14 is a schematic flow chart of detecting a detection interval according to an embodiment of the present invention;

Figure 15 is a schematic diagram of the detection of the first detection interval according to an embodiment of the present invention;

Figure 16 is a schematic diagram of the setup of a laser radar according to an embodiment of the present invention.

Detailed ways

In order to facilitate understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided so that a thorough understanding of the present disclosure will be provided.

It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as commonly understood by those skilled in the technical field belonging to the present invention. The terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not used to limit the present invention. As used in this specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.

For the description of the invention, the symbols “front”, “back”, “upper”, “lower”, “left” and “right” shown in Figure 2 are used without limitation to facilitate understanding of the embodiment and are not intended to limit the present invention. invention. Among them, the front-to-back direction represents the longitudinal direction, the left-to-right direction represents the transverse direction, and the up-and-down direction represents the vertical direction.

Figures 1 to 8 show an embodiment of a U-rib detection device for steel box girder, including a transverse movement mechanism 1, a longitudinal movement mechanism 2 and a detection mechanism 3. The longitudinal movement mechanism 2 is arranged on the transverse movement mechanism 1, and the transverse movement mechanism 1 is In order to drive the longitudinal moving mechanism 2 to move laterally along the transverse fixed rail 4, the detection mechanism 3 is provided on the longitudinal moving mechanism 2, and the detection mechanism 3 is used to move laterally on the longitudinal moving mechanism 2 to detect the U rib;

The lateral movement mechanism 1 includes a lateral movement component 11 and a lateral movement track 12. The lateral movement track 12 is provided on the lateral movement component 11. The lateral movement component 11 is used to drive the lateral movement track 12 to move laterally along the lateral fixed track 4. The lateral movement track 12 For docking with the longitudinal fixed rail 5, the longitudinal moving mechanism 2 is arranged on the transverse moving rail 12, and the longitudinal moving mechanism 2 enters the longitudinal fixed rail 5 from the transverse moving rail 12.

In the present invention, the transverse movement track 12 is provided on the transverse movement component 11, the longitudinal movement mechanism 2 is provided on the transverse movement track 12, the detection mechanism 3 is provided on the longitudinal movement mechanism 2, and the transverse movement component 11 drives the transverse movement track 12 along the Move laterally along the transverse fixed rail 4, when moving to the longitudinal fixed rail 5, the transverse movable rail 12 butts with the longitudinal fixed rail 5, the longitudinal moving mechanism 2 breaks away from the transverse movable rail 12 and enters the longitudinal fixed rail 5 and further moves longitudinally The track 22 moves longitudinally, and the detection mechanism 3 can further move laterally on the longitudinal movement mechanism 2 and extend and rotate to detect the U-rib. The detection device can complete the detection of the U-ribs in the entire steel box girder within a short detection cycle, and there are no detection blind spots, so the detection efficiency of the detection device is high.

As shown in Figures 2 and 3, there are two transverse moving components 11. The two transverse moving components 11 are respectively clamped on two transverse fixed rails 4. The transverse moving component 11 can be a sliding seat or multiple The combination of the sliding seat, when the transverse moving component 11 is a sliding seat, the weight carried by the transverse moving component 11 is small. Considering that the transverse moving component 11 drives the longitudinal moving mechanism 2 to move, when the weight of the longitudinal moving mechanism 2 is large, , a sliding base cannot support its weight and cannot move it.

Preferably, as shown in Figure 4, the transverse movement assembly 11 includes a first transverse slide base 111, a second transverse slide base 112 and a slide base connection part 113. The slide base connection part 113 connects the first transverse slide base 111 and the second transverse slide base 111. The sliding seats 112 are connected together, and the transverse moving rail 12 is fixedly connected to the first transverse sliding seat 111 . The first transverse sliding seat 111 and the second transverse sliding seat 112 are connected through the sliding seat connection part 113, which enhances the load-bearing capacity of the transverse moving assembly 11 and improves the safety during movement. Moreover, multiple sliding seats drive the longitudinal moving mechanism 2 to move at the same time, providing more power and making the horizontal moving mechanism 1 move faster.

The first transverse sliding seat 111 and the second transverse sliding seat 112 have the same structure. The first transverse sliding seat 111 and the second transverse sliding seat 112 are enclosed on the transverse fixed rail 4 and move laterally along the transverse fixed rail 4 .

Preferably, as shown in Figure 5, the first transverse sliding seat 111 and the second transverse sliding seat 112 each include a transverse moving frame 1111, a transverse driving member 1112, at least a pair of transverse pulleys 1113 and at least a pair of transverse guide wheels 1114. The movable frame 1111 is arranged on the transverse movable rail 12, the transverse pulley 1113 is arranged vertically on the transverse movable frame 1111, the transverse driving member 1112 is connected to any one of the transverse pulleys 1113, and at least a pair of transverse guide wheels 1114 is arranged on the transverse movable frame 1111. Front and/or rear.

In this embodiment, the first transverse sliding seat 111 and the second transverse sliding seat 112 each include two pairs of transverse pulleys 1113 and two pairs of transverse guide wheels 1114. The two pairs of transverse pulleys 1113 are vertically arranged on the left and right sides of the transverse moving frame 1111. , wherein one transverse pulley 1113 of each pair of transverse pulleys 1113 is located on the upper side of the leg of the transverse fixed rail 4, and the other is located on the lower side of the leg of the transverse fixed rail 4. The transverse driving member 1112 is connected to any one of the transverse pulleys 1113, and drives the other three transverse pulleys 1113 to slide by driving one of the transverse pulleys 1113. Two pairs of transverse guide wheels 1114 are arranged at the front and rear of the transverse movable frame 1111. The two pairs of transverse guide wheels 1114 resist around the transverse fixed rail 4 to prevent the transverse mobile assembly 11 from falling off the transverse fixed rail 4.

After the transverse movable rail 12 moves to the position of the longitudinal fixed rail 5, the transverse movable rail 12 is docked with the longitudinal fixed rail 5. After docking, the longitudinal moving mechanism 2 breaks away from the transverse movable rail 12 and enters the longitudinal fixed rail 5.

Preferably, as shown in FIG. 6 , the shape of the transverse moving rail 12 is adapted to the shape of the longitudinal fixed rail 5 .

As shown in Figure 2, there are two different states: the longitudinal movement mechanism 2 moves with the transverse movement mechanism 1 and the longitudinal movement mechanism 2 enters the longitudinal fixed rail 5. When the transverse movement rail 12 is docked with the longitudinal fixed rail 5, the transverse movement occurs. The track 12 and the longitudinal fixed track 5 are completely matched, and the longitudinal moving mechanism 2 can easily enter the longitudinal fixed track 5 . The transverse movement mechanism 1 adjusts the transverse positions of the longitudinal movement mechanism 2 and the detection mechanism 3. After the longitudinal movement mechanism 2 enters the longitudinal fixed track 5, it can move longitudinally along the longitudinal fixed track 5 to change the longitudinal position of the detection mechanism 3.

Preferably, as shown in Figure 6, the longitudinal movement mechanism 2 includes a longitudinal movement component 21 and a longitudinal movement track 22. The longitudinal movement track 22 is provided on the longitudinal movement component 21. The longitudinal movement component 21 is used to drive the longitudinal movement track 22 to be fixed longitudinally. Track 5 moves longitudinally. The structure of the longitudinal movement component 21 is the same as that of the transverse movement component 11 and will not be further described here. The longitudinal moving track 22 includes two guide rails, and the detection mechanism 3 is arranged between the two guide rails and can move laterally along the two guide rails to further change the lateral position.

The detection mechanism 3 can further detect U-ribs in different directions through rotation and extension, with a large detection range and high detection accuracy.

Preferably, as shown in Figure 7, the detection mechanism 3 includes a walking component 31, an adjusting component 32 and a detecting component (not shown in the figure). The adjusting component 32 is arranged on the walking component 31, the detecting component is arranged on the adjusting component 32, and the adjusting component 32 is arranged on the adjusting component 32. The component 32 is used to adjust the position of the detection component, and the detection component is used to detect the U rib. The walking component 31 drives the entire detection mechanism 3 to move laterally along the longitudinal moving track 22 to adjust the lateral position of the detection mechanism 3; the adjustment component 32 further adjusts the specific position of the detection component. After adjusting the position, the detection component detects the U rib.

Preferably, as shown in Figures 7 and 9, the walking assembly 31 includes a walking frame 311, a walking driving member 312, a walking pulley 313 and a walking guide wheel 314. The walking driving member 312 and the walking pulley 313 are arranged on the walking frame 311. The driving member 312 is connected to the traveling pulley 313. The traveling driving member 312 is used to drive the traveling pulley 313 to slide. The traveling guide wheel 314 is arranged on the lower side of the traveling frame 311. The shape of the traveling pulley 313 is adapted to the longitudinal moving track 22. The traveling driving member 312 is connected to the traveling pulley 313. The traveling driving member 312 may be a motor. The traveling driving member 312 drives the traveling pulley 313 to slide along the longitudinal moving track 22. The walking guide wheel 314 resists the legs of the longitudinally moving guide rail and plays a guiding role.

The walking component 31 can only initially change the lateral position of the detection mechanism 3. When specifically detecting the U-ribs of the steel box girder, the specific height and orientation of the detection component need to be adjusted by the adjustment component 32, so that the detection component can perform specific detection on the steel box girder. Comprehensive detection, there is no detection blind area, which improves the detection range and detection accuracy of the detection components.

Preferably, as shown in Figure 7, the adjusting component 32 includes a fixing component 321, an extension component 322 and an adjustment component (not shown in the figure). The fixing component 321 is connected to a plurality of walking components 31, and the extension component 322 is provided on the fixing component 321. , the adjusting member is arranged on the extension member 322, the adjustment member is a mechanical arm, and the extension member 322 is used to drive the adjustment member to lift, lower, and rotate. The position of the adjustment member is adjusted by the lifting and rotation of the extension member 322. The adjustment member itself can also be rotated and extended, so that the detection component can adjust its position at will to cope with different complex environments and reduce detection blind spots.

The fixing part 321 mainly plays the role of carrying the extension part 322 and the adjusting part. The fixing part 321 is fixedly connected to the walking assembly 31, and the walking assembly 31 drives the fixing part 321 to move.

Preferably, as shown in Figures 7, 8 and 9, the fixing member 321 includes a fixing plate 3211 and a plurality of fixing legs 3212. One end of the plurality of fixing legs 3212 is connected to the fixing plate 3211, and the other end is connected to a plurality of fixing legs 3211. The walking frame 311 is connected. In this embodiment, one end of the four fixed legs 3212 is connected to the four walking frames 311, and the other end is connected to the fixed plate 3211. The fixed plate 3211 is quadrilateral, and the four fixed legs 3212 are connected to the four corners of the fixed plate 3211. The extension piece 322 is installed in the middle of the fixing plate 3211. The four walking assemblies 31 are connected to the four fixed legs 3212 to drive the entire detection mechanism 3 to move. The arrangement of the four fixed legs 3212 ensures the stability of the detection mechanism 3 during movement.

Preferably, as shown in Figure 8, the extension member 322 includes an extension drive motor 3221, a lifting rotating wheel 3222 and an extension arm 3223. The lifting rotating wheel 3222 is arranged on the fixed plate 3211, and the extension driving motor 3221 and the lifting rotating wheel 3222 Connected, the extension drive motor 3221 is used to drive the lifting and rotating wheel 3222 to lift and rotate, and the extension arm 3223 is provided on the lifting and rotating wheel 3222. The extension drive motor 3221 drives the lifting and rotating wheel 3222 to rise, fall and rotate. The extension arm 3223 is arranged on the lifting and rotating wheel 3222, thereby further driving the extension arm 3223 to rise, fall and rotate. The adjustment member is arranged at the end of the extension arm 3223. The adjustment member is The mechanical arm, the adjusting member can be further extended and rotated relative to the extension arm 3223, and the detection component is provided at the end of the adjusting member, and the detection component is used to detect the U rib.

In the present invention, the transverse moving track is arranged on the transverse moving component, the longitudinal moving mechanism is arranged on the transverse moving track, the detection mechanism is arranged on the longitudinal moving mechanism, and the transverse moving component drives the transverse moving track to move laterally along the transverse fixed track. When moving to the longitudinal fixed track, the transverse moving track is docked with the longitudinal fixed track, the longitudinal moving mechanism breaks away from the transverse moving track and enters the longitudinal fixed track and further moves longitudinally along the longitudinal moving track. The detection mechanism can further move laterally on the longitudinal moving mechanism. And perform extension and rotation to detect U-ribs. The detection device can complete the detection of the U-ribs in the entire steel box girder within a short detection cycle, and there are no detection blind spots, so the detection efficiency of the detection device is high.

Figures 10 to 15 show an embodiment of the steel box girder U-rib detection method of the present invention, which includes the steps:

The first step S1, in response to the docking signal, the transverse movement mechanism drives the longitudinal movement mechanism and the detection mechanism to move laterally along the transverse fixed track to the docking position, and sets the position where the transverse movement track is aligned with the longitudinal fixed track as the docking position;

Second step S2, in response to the longitudinal movement signal, the longitudinal movement mechanism moves along the longitudinal fixed track, driving the detection mechanism to move to the longitudinal detection point, and sets the area corresponding to the detection mechanism at the longitudinal detection point as the detection area;

In the third step S3, in response to the detection signal, the detection mechanism moves laterally along the longitudinal movement track, and the detection mechanism detects the U ribs in the detection area.

In this method, the longitudinal movement mechanism and the detection mechanism are driven by the transverse movement mechanism to move to the docking position along the transverse fixed track provided on the top of the steel box girder; after reaching the docking position, the longitudinal movement mechanism breaks away from the transverse movement track and enters the longitudinal fixed track. Medium; the longitudinal moving mechanism further moves along the longitudinal fixed track to the longitudinal detection point, and the detection mechanism moves laterally along the longitudinal movement track to complete the detection of the U-rib in the detection area corresponding to the longitudinal detection point. In this way, the detection of U-ribs in a detection area can be quickly realized, which is more efficient.

Preferably, as shown in Figures 11 and 12, multiple docking positions are set, and the multiple docking positions are respectively P1, P2,..., Pn. The docking positions correspond to an area to be inspected, and the multiple docking positions are to be inspected. The inspection areas are respectively A1, A2,..., An. For example, the first docking position P1 corresponds to the first area to be inspected A1; the nth docking position Pn corresponds to the nth area to be inspected An.

An area to be inspected includes multiple detection areas. For example, the first area to be inspected A1 includes a first detection area L1, a second detection area L2, ..., and an nth detection area Ln.

Set multiple longitudinal detection points of the detection mechanism. The multiple longitudinal detection points are respectively Y1, Y2,..., Yn. One longitudinal detection point corresponds to a detection area. For example, the first longitudinal detection point Y1 corresponds to the A detection area L1, the n-th longitudinal detection point Yn corresponds to the n-th detection area Ln.

The detection method also includes a fourth step: repeat the second step and the third step, and the detection mechanism detects the U-ribs in the next detection area until all U-ribs in the area to be inspected are completed.

As shown in Figures 11 and 12, taking the first area A1 to be inspected as an example, the longitudinal movement mechanism first moves to the first longitudinal detection point Y1, and then the detection mechanism moves laterally along the longitudinal movement track. The U-ribs in the area are detected to complete the detection of all U-ribs in the first detection area L1; then the longitudinal moving mechanism moves along the longitudinal fixed track to the n-th longitudinal detection point Yn to complete the detection of the n-th detection area Ln. Detection; the longitudinal moving mechanism continuously moves along the longitudinal fixed track until the detection of all U-ribs in the first area A1 to be inspected is completed. Through this method, all U-ribs in a specific area to be inspected can be quickly detected, which is more efficient.

The detection method also includes a fifth step: in response to the return signal, the longitudinal moving mechanism moves to the transverse moving track, and the first and fourth steps are repeated until the detection of all U-ribs in the steel box girder is completed.

As shown in Figures 11 and 12, when the longitudinal movement mechanism completes the detection of all U-ribs in the first area A1 to be inspected, the longitudinal movement mechanism returns to the first docking position P1; then the lateral movement mechanism moves to the next docking At position Pn, continue to complete the detection of all U-ribs in the next area An to be inspected; the lateral moving mechanism continues to move along the transverse fixed track until it completes the detection of all U-ribs in the steel box girder. Through this method, all U-ribs in the steel box girder can be quickly detected, which is more efficient.

Preferably, a detection area includes multiple detection intervals, multiple transverse detection points of the detection mechanism are set, and the interval detected by the detection mechanism corresponding to a transverse detection point is a detection interval.

As shown in Figure 12, the multiple horizontal detection points are X1, X2,..., Xn respectively. When the longitudinal movement mechanism is located at the first longitudinal detection point Y1, the detection mechanism moves laterally along the longitudinal movement track. When the detection mechanism moves to the first transverse detection point, the position of the detection mechanism at this time is recorded as (X1, Y1) , the corresponding detection interval of the detection mechanism at this position is L11. When the detection mechanism moves to the nth lateral detection point Xn, the position of the detection mechanism is (Xn, Y1), and the corresponding detection interval of the detection mechanism at this position is Ln1.

Preferably, as shown in Figure 13, in the third step S3, the detection mechanism moves along the longitudinal moving track. The detection mechanism of the U-rib in the detection area also includes the following steps:

In step S31, in response to the lateral movement signal, the detection mechanism moves laterally to the lateral detection point;

Then enter step S32, in response to the concentrated detection signal, the adjustment component changes the position of the detection component and the detection component detects the U rib in the detection interval;

In step S33, steps S31 and S32 are repeated, and in response to the lateral movement signal and the concentrated detection signal, the detection of the U-ribs in the next detection interval is completed; this step is repeated until the detection of all U-ribs in the detection area is completed.

As shown in FIGS. 11 and 12 , the detection of the first detection area L1 by the detection mechanism will be described below as an example. When the detection mechanism completes the detection of all U-ribs in the detection interval L11 at the (X1, Y1) position, in response to the lateral movement signal, the detection mechanism moves along the longitudinal movement track to the next position (Xn, Y1) to complete the detection interval To detect all U-ribs in Ln1, the transverse moving mechanism continuously moves along the longitudinal moving track until all U-ribs in the first detection area L1 are detected.

It should be noted that after the detection mechanism completes the detection of all U-ribs in the first detection area L1, the longitudinal moving mechanism moves to the second longitudinal detection point Y2. At this time, the position of the detection mechanism is (Xn, Y2), and the detection The corresponding detection interval of the institution is Ln2. The detection mechanism continues to move along the longitudinal moving track until the detection mechanism moves to the (X1, Y2) position to complete the detection of all U-ribs in the second detection area L2, and then the longitudinal moving mechanism continues to move along the longitudinal fixed track to the next The specific detection method for the longitudinal detection point Yn is the same as above, so the movement trajectory of the detection mechanism is S-shaped, and the detection of all U-ribs in the first to-be-inspected area A1 is completed through continuous movement.

Preferably, in step S32, in response to the concentrated detection signal, the adjustment component changes the position of the detection component and the detection component detects the U-ribs in the detection interval, which also includes the following steps:

In step S321, in response to the first adjustment signal, the adjustment component adjusts the detection component to a detection position; in response to the first detection signal, the detection component completes detection of the U rib corresponding to the detection position;

Then enter step S322, in response to the second adjustment signal, the adjustment component adjusts the detection component to another detection position; in response to the second detection signal, the detection component completes the detection of the U rib corresponding to the other detection position;

Finally, in step S323, step S322 is repeated in response to the second adjustment signal and the second detection signal until the detection of all U-ribs in the detection interval is completed.

In this method, by sending an adjustment signal to the adjustment component, the adjustment component further adjusts the detection position of the detection component. The detection component completes the detection of a part of the U-ribs in the detection interval at a detection position. By continuously adjusting the position of the detection component, the detection is completed. Centralized detection of U-ribs within the detection interval. After the detection mechanism moves to a transverse detection point, the detection component completes the detection of the U-rib in the corresponding detection area by adjusting the adjustment component. This can reduce the number of movements of the detection mechanism, speed up detection, and achieve higher detection efficiency.

As shown in FIG. 15 , the detection range of the detection mechanism at a transverse detection point will be described below, taking the detection interval L11 as an example. When the detection mechanism is at the (X1, Y1) position, the corresponding detection interval is L11. At this time, in response to the centralized detection signal, the adjustment component continuously adjusts the position of the detection component while the detection component detects the U rib. The adjustment component can be extended and rotated. The maximum length that the adjustment component can extend is R1. Extend the length of the adjustment component to length R1, and then the adjustment component can further rotate. Therefore, the maximum detection range S1 of the detection mechanism is a circle with a radius of R1. The area of S1 is much larger than the detection interval L11. Therefore, the detection mechanism can detect the U-rib in the corresponding detection interval at a transverse detection point and there is no detection blind zone.

It should be noted that by adjusting the spacing between each lateral detection point, the size of the area of the detection interval L11 can be changed, so that the area of S1 is larger than L11, and detection blind spots are avoided. Of course, the length of the adjustment component can also be adjusted to change the maximum detection range S1 of the detection mechanism.

The detection component will be described in detail below with reference to Figure 16. The detection component includes a detection frame 34 and a plurality of laser radars 33 arranged at intervals on the detection frame 34. The plurality of laser radars 33 are used to detect the U-ribs in the steel box girder. The detection points of a U-rib in a steel box girder include the welding joint of the U-rib, side plates and top plates. The detection component can detect one detection point of a U-rib, multiple detection points of a U-rib, the same detection point of multiple U-ribs, or multiple different detection points of multiple U-ribs at a detection position. These are determined according to the settings of the laser radar 33 on the set detection component.

As shown in Figure 16, the distance between each lidar 33 is 240mm, ensuring that the photographing range of two adjacent lidars 33 overlaps by 5%-10% in the lateral direction, ensuring comprehensive shooting and avoiding missed shots. The coverage range of the LiDAR 33 shooting angle is 32°. The angle range between the shooting center line of the lidar 33 and the axis of the detection frame 34 is 40°-90°. Specifically, there are 10 lidars 33, which are set sequentially from the first end of the detection frame 34 to the detection frame 34. At the second end of the detection frame 34 , these 10 laser radars 33 are named in order from the first end to the second end of the detection frame 34 as the first radar, the second radar, the third radar... the ninth radar, the tenth radar, where, located The angle range between the two radars at the two ends of the detection frame 34, that is, the shooting center line of the first radar and the tenth radar and the axis of the detection frame 34 is 42°-45°, specifically in this embodiment it is 42° °, the angle between the shooting center line of the second radar and the ninth radar and the axis of the detection frame 34 is 66°, the third radar, the fourth radar, and the fifth radar located between the second radar and the ninth radar , the angle between the shooting center line of the sixth radar, the seventh radar and the eighth radar and the axis of the detection frame 34 is 90°, that is, vertical. The above arrangement allows the lidar at the edge of the detection frame 34 to have a larger shooting range, making the shooting angle wider, and can capture a larger area of the inside of the steel box girder, thereby improving the detection efficiency of the steel box girder. By adjusting the adjustment components, the laser radar on the detection frame 34 completes the detection of each detection point of the U rib.

It can be seen that in the present invention, the transverse movement mechanism and the longitudinal movement mechanism drive the detection mechanism to move along the transverse fixed track and the longitudinal fixed track provided on the top of the steel box girder, and at the same time, the detection mechanism moves along the longitudinal movement track, thereby quickly adjusting The position of the detection mechanism can quickly complete the detection of U ribs in the steel box girder, with fast detection speed and high detection efficiency; and by setting the track on the top of the steel box girder, the movement of the detection device is facilitated and the detection efficiency is improved.

The above are only embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, include the same. Within the scope of patent protection of the present invention.

Claims (10)

1. A steel box girder U-rib detection method, which is characterized by including the steps: In the first step, in response to the docking signal, the transverse movement mechanism drives the longitudinal movement mechanism and the detection mechanism to move laterally along the transverse fixed track to the docking position, and the position where the transverse movement track and the longitudinal fixed track are aligned is set as the docking position; In the second step, in response to the longitudinal movement signal, the longitudinal movement mechanism moves along the longitudinal fixed track, driving the detection mechanism to move to a longitudinal detection point, and setting the detection mechanism to detect correspondingly at the longitudinal detection point. The area is the detection area; In the third step, in response to the detection signal, the detection mechanism moves laterally along the longitudinal moving track, and the detection mechanism detects the U ribs in the detection area. 2. The U-rib detection method of steel box girder according to claim 1, characterized in that multiple docking positions are set, one docking position corresponds to an area to be inspected, and one area to be inspected includes multiple In the detection area, multiple longitudinal detection points of the detection mechanism are set, and one longitudinal detection point corresponds to one detection area. 3. The steel box girder U-rib detection method according to claim 2, characterized in that the detection method further includes a fourth step: repeating the second step and the third step, and the detection mechanism performs the next detection The U-ribs in the area are inspected until all U-ribs in the area to be inspected are inspected. 4. The U-rib detection method of steel box girder according to claim 3, characterized in that the detection method further includes a fifth step: in response to a return signal, the longitudinal movement mechanism returns to the transverse movement track, Repeat the first step and the fourth step until all U-ribs in the steel box girder are detected. 5. The U-rib detection method of steel box girder according to claim 1, characterized in that one of the detection areas includes multiple detection intervals, and multiple transverse detection points of the detection mechanism are set, and the detection mechanism The interval corresponding to the detection at one of the transverse detection points is a detection interval; the detection mechanism includes a walking component, an adjustment component and a detection component, the adjustment component is arranged on the walking component, and the detection component is arranged on the On the adjustment component, the walking component is used to drive the detection mechanism to move, the adjustment component is used to adjust the position of the detection component, and the detection component is used to detect the U rib. 6. The steel box girder U-rib detection method according to claim 5, characterized in that the detection mechanism moves along the longitudinal moving track, and the detection mechanism detects the U-ribs in the detection area. Includes the following steps: In response to the lateral movement signal, the detection mechanism moves laterally to the lateral detection point; In response to the concentrated detection signal, the adjustment component changes the position of the detection component, and at the same time, the detection component detects the U-rib within the detection interval; Repeat the first two steps to complete the detection of the U-ribs in the next detection interval in response to the lateral movement signal and the concentrated detection signal; repeat this step until the detection of all U-ribs in the detection area is completed. 7. The U-rib detection method of steel box girder according to claim 6, characterized in that, in response to the centralized detection signal, the adjustment component changes the position of the detection component, and at the same time, the detection component changes the position of the detection component within the detection interval. Detection of U-ribs also includes the following steps: In response to the first adjustment signal, the adjustment component adjusts the detection component to a detection position; in response to the first detection signal, the detection component completes detection of the U rib corresponding to the detection position; In response to the second adjustment signal, the adjustment component adjusts the detection component to another detection position; in response to the second detection signal, the detection component completes detection of the U rib corresponding to the other detection position; Repeat the previous step, responding to the second adjustment signal and the second detection signal, until the detection of all U-ribs in the detection interval is completed. 8. The U-rib detection method of steel box girder according to claim 7, characterized in that the detection component includes a detection frame and a plurality of laser radars arranged at intervals on the detection frame, and the plurality of laser radars are To detect the U-ribs in the steel box girder. 9. The steel box girder U-rib detection method according to any one of claims 1 to 8, characterized in that the lateral movement mechanism includes a lateral movement component and the lateral movement track, and the lateral movement track is arranged at the On the said transverse moving component, the said transverse moving component is used to drive the said transverse moving track to move laterally along the said transverse fixed track, the said transverse moving track is used to dock the said longitudinal fixed track, the said longitudinal moving mechanism is arranged on the said transverse fixed track. On the transverse moving track, the longitudinal moving mechanism enters the longitudinal fixed track from the transverse moving track. 10. The steel box girder U-rib detection method according to any one of claims 5 to 8, characterized in that the walking assembly includes a walking frame, a walking driving part, a walking pulley and a walking guide wheel, and the walking driving part , the walking pulley is arranged on the walking frame, the walking driving part is connected with the walking pulley, the walking driving part is used to drive the walking pulley to slide, the walking guide wheel is set under the walking frame Side; the adjustment component includes a fixing part, an extension part and an adjustment part, the fixation part is connected to a plurality of the walking components, the extension part is provided on the fixation part, and the adjustment part is provided on the extension part. On the component, the extension component is used to drive the adjustment component to lift and rotate; the extension component includes an extension drive motor, a lifting rotating wheel and an extension arm, and the lifting rotating wheel is arranged on the fixed component, so The extension drive motor is connected to the lifting and rotating wheel. The extension driving motor is used to drive the lifting and rotating wheel to lift and rotate. The extension arm is provided on the lifting and rotating wheel.