WO2023019991A1

WO2023019991A1 - Operation device for detecting bridge bottom surface

Info

Publication number: WO2023019991A1
Application number: PCT/CN2022/087625
Authority: WO
Inventors: 丁宁; 郝万鈞; 李德程; 张爱东
Original assignee: 香港中文大学（深圳）; 深圳市人工智能与机器人研究院
Priority date: 2021-08-17
Filing date: 2022-04-19
Publication date: 2023-02-23
Also published as: CN113529568A

Abstract

An operation device for detecting a bridge bottom surface, comprising a bearing rope (1) with two ends hung on the outer walls of two sides of the bridge to be detected in a width direction and which is distributed at the bottom of the bridge to be detected, a plurality of track supports (2) which are slidably hoisted on the bearing rope (1) and are combined to form an inspection track (3), and a plurality of inspection vehicles (4) which are movably arranged on the inspection track (3) and perform a detection operation on the bottom of the bridge to be detected. Each inspection vehicle (4) is provided with a detection module (5). The plurality of track supports (2) on the bearing rope (1) are combined to form the inspection track (3) on the bottom of the bridge to be detected, and the inspection vehicle (4) is provided with the detection module (5) and moves along the inspection track (3) to complete the detection operation with respect to the bridge to be detected. The actual number of the track supports (2) hoisted can be flexible adjusted according to the specific width of the bridge to be detected, thereby improving the adaptability to bridges of different widths, and realizing the safe and efficient detection operation with respect to the bottom surface of the bridge.

Description

A bridge bottom detection operation device

This application claims the priority of the Chinese patent application with the application number 202110942637.2 and the title of the invention "a bridge bottom detection operation device" submitted to the China Patent Office on August 17, 2021, the entire content of which is incorporated in this application by reference .

technical field

The invention relates to the technical field of civil engineering, in particular to a bridge bottom detection operation device.

Background technique

Bridge inspection and maintenance is a core issue related to the national economy, the country and the people's security. Regular comprehensive bridge inspections are of great significance for maintaining the safety and normal operation of public transportation.

During the long-term operation of the bridge, due to the influence of water conservancy disasters, collisions, overloads, fatigue and other factors, a series of problems such as structural cracks, deformation, damage, erosion and aging are prone to occur, so it is necessary to regularly inspect the bridge for related items Operation. Due to the suspended structural characteristics of the bridge, the surface of the bridge, the two ends of the bridge, and both sides of the bridge can be easily inspected, but the inspection of the bottom of the bridge has always been a difficult problem in the industry. According to statistics, 90% of the quality problems of concrete bridges are concentrated on the bottom of the bridge, which shows the importance of the inspection of the bottom of the bridge.

In order to solve the problem of bridge bottom inspection, manual inspection methods such as simple inspection platform and bridge inspection vehicle are widely used at present. Among them, the traditional means of manually building a detection platform, such as building climbing ladders, scaffolding, beam bottom brackets, etc. to approach the bridge to visually detect the bottom of the bridge, has poor mobility, low operating efficiency, limited scenarios, low quality of detection data, and high safety risks. shortcoming. The widely used bridge inspection vehicle detection operation method has the advantages of strong adaptability and convenient operation, but the detection range is small, and there are blind spots in the field of vision. Generally, it can only successfully complete the detection operations in the areas on both sides of the bridge width, and it is difficult to go deep. The detection operation in the central area of the bridge bottom cannot be applied to wide bridges or ultra-wide bridges with large widths. The limitations of the working environment are relatively high, and the labor cost is high, the equipment cost is high, and the quality of detection data is low.

Therefore, it is a technical problem faced by those skilled in the art how to safely and efficiently realize the detection operation on the bottom surface of the bridge and improve the adaptability to bridges with different widths.

Contents of the invention

The purpose of the present invention is to provide a bridge bottom detection operation device, which can safely and efficiently realize the detection operation of the bridge bottom, and improve the adaptability to bridges with different widths.

In order to solve the above-mentioned technical problems, the present invention provides a bridge bottom detection operation device, which includes two ends respectively suspended on the outer walls of both sides in the width direction of the bridge to be tested and distributed on the bottom of the bridge to be tested, and slidably hoisted on Several track supports spliced on the carrying rope to form the inspection track, and several inspection vehicles movably arranged on the inspection track for detecting the bottom surface of the bridge to be tested, Each inspection vehicle is equipped with a detection module.

Preferably, two ends of the top surface of each track bracket are respectively provided with a rotating seat and a rotating shaft, and two adjacent track supports are rotatably connected to the rotating shaft through the rotating seats that cooperate with each other.

Preferably, drive assemblies are arranged on the track brackets at both ends of the load rope, and drive ropes are connected to the output ends of each drive assembly, and the ends of the drive ropes are connected to the rest of the track brackets. connected to the bottom surface of each track bracket so that when the driving assembly tightens the driving rope, the track brackets are pulled to rotate relative to each other to be arranged in a straight line.

Preferably, the inspection track includes several slide rails respectively arranged on each track support and extending to both ends along its length direction.

Preferably, the top surface of each track support is provided with several top bearing frames distributed along the length direction for supporting the carrying ropes.

Preferably, the bottom surface of each track support is provided with several bottom bearing frames distributed along the length direction for supporting the driving rope.

Preferably, the drive assembly includes a drive motor installed in the track bracket, a winch connected to the output shaft of the drive motor and used to wind the drive rope, and the head end of the drive rope is connected to the The circumferential surface of the winch.

Preferably, the output shaft of the drive motor is provided with a power-off brake for locking it when power is off and releasing it when power is on, and the output shaft of the drive motor is connected to the shaft of the winch There are reducers.

Preferably, the drive assembly further includes a lead screw that rotates synchronously with the shaft of the winch, a drive nut that is axially movable and sleeved on the lead screw, and a drive nut that is horizontally rotatable. The pair of rollers, the driving rope is clamped in the pair of rollers, and the feeding speed of the drive nut is consistent with the axial winding speed of the driving rope on the winch.

Preferably, the drive assembly further includes a guide column arranged on the casing of the drive motor and parallel to the axial direction of the lead screw, a guide block slidably sleeved on the guide column, and the drive The nut is connected with the guide block.

Preferably, the inspection vehicle includes a vehicle frame, a driving wheel arranged at the bottom of the vehicle frame and cooperating with the surface of the inspection track to roll, a vehicle arranged at the bottom of the vehicle frame and used to drive the driving wheel to roll A motion motor, the detection module is arranged on the surface of the vehicle frame.

Preferably, the inspection vehicle further includes a swing rod connected to both sides of the vehicle frame and extending below the inspection track, and is arranged at the end of the swing rod and cooperates with the bottom surface of the inspection track to roll. driven wheel.

Preferably, the head end of the swing rod is rotatably connected to the vehicle frame, and there is a connection between the rod body of the swing rod and the vehicle frame for pressing the driven wheel against the patrol wheel through elastic force. Check the preload spring on the underside of the track.

Preferably, the inspection vehicle further includes a cable management mechanism arranged on the vehicle frame for synchronously retracting and releasing the power supply cable that supplies the vehicle's power supply when the vehicle frame moves.

Preferably, the detection module includes a mounting rod arranged on the vehicle frame and extending along the length direction of the bridge to be tested, slidably sleeved on the mounting rod and used for measuring the bridge to be tested A number of detection sensors for detection operations on the bottom surface.

Preferably, the overlapping coverage of detection areas of two adjacent detection sensors is 15% to 30%.

The bridge bottom detection operation device provided by the present invention mainly includes a load-bearing rope, a track support, a patrol track, a patrol vehicle and a detection module. Among them, the two ends of the load-bearing rope are respectively hung on the outer walls of both sides in the width direction of the bridge to be tested, and the main part of the load-bearing rope is distributed at the bottom of the bridge to be tested, and generally maintained in a straight state by appropriate length design, and the same as the bridge to be tested. The underside of the measured bridge maintains a preset spacing. The track bracket is hoisted on the load-bearing rope, and generally there are multiple hoisted at the same time, and each track bracket can slide independently on the load-bearing rope, and two adjacent track brackets can be spliced together to form a continuous inspection track . The inspection vehicle is arranged above each track support, and is mainly used for sliding with the spliced and formed inspection track, so as to reciprocate and slide along the extension direction of the inspection track. At the same time, the inspection vehicle is equipped with a detection module, which can detect the bottom surface of the bridge to be tested while the inspection vehicle slides along the inspection track, so as to gradually complete the detection of the full width of the bottom surface of the bridge to be tested. In this way, the bridge bottom detection operation device provided by the present invention hangs the load-bearing rope at the bottom of the bridge to be tested, and forms a patrol track at the bottom of the bridge to be tested by splicing several modular track brackets hoisted on the load-bearing rope , and finally use the inspection vehicle equipped with the inspection module to move along the inspection track to complete the inspection of the bottom surface of the bridge to be tested. Compared with the existing technology, since the hoisting quantity of the rail bracket on the load-bearing rope is uncertain, the actual hoisting quantity of the rail bracket can be flexibly adjusted according to the specific width of the current bridge to be tested, thereby improving the adaptability to bridges of different widths, and without Manual intervention in the detection process can safely and efficiently realize the detection of the bottom surface of the bridge.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is a schematic diagram of the overall structure of a specific embodiment provided by the present invention.

FIG. 2 is a partial structural schematic diagram of FIG. 1 .

Fig. 3 is a schematic diagram of the splicing structure of three track supports.

Fig. 4 is a schematic diagram of the specific structure of the bottom carrier.

Fig. 5 is a schematic diagram of the specific structure of the driving assembly.

Figure 6 is a schematic diagram of the assembly structure of the inspection vehicle and the detection module.

Figure 7 is a schematic diagram of the specific structure of the inspection vehicle.

Fig. 8 is a schematic diagram of the specific structure of the cable management mechanism.

FIG. 9 is a schematic diagram of the specific structure of the detection module.

Wherein, among Fig. 1-Fig. 9:

Bearing rope—1, track support—2, inspection track—3, inspection vehicle—4, detection module—5, driving component—6, driving rope—7;

Rotating seat-21, rotating shaft-22, top carrier-23, bottom carrier-24;

slide rail — 31;

Frame—41, driving wheel—42, motion motor—43, swing rod—44, driven wheel—45, preload spring—46, cable management mechanism—47;

Mounting rod—51, detection sensor—52;

Drive motor—61, winch—62, power-off brake—63, reducer—64, lead screw—65, drive nut—66, roller pair—67, guide column—68, guide block—69;

Guide frame—241, idler frame—242, drive frame—243, winding motor—471, winding roller shaft—472, electric slip ring—473, synchronous belt assembly—474, winding screw—475, winding Drive nut—476, winding roller pair—477.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to FIG. 1 and FIG. 2 . FIG. 1 is a schematic diagram of an overall structure of a specific embodiment provided by the present invention, and FIG. 2 is a schematic diagram of a partial structure of FIG. 1 .

In a specific embodiment provided by the present invention, the bridge bottom detection operation device mainly includes a load-bearing rope 1 , a track support 2 , an inspection track 3 , an inspection vehicle 4 and a detection module 5 .

Wherein, the two ends of the load-bearing rope 1 are hung on the outer walls of both sides in the width direction of the bridge to be tested respectively, and the main part of the load-bearing rope 1 is distributed on the bottom of the bridge to be tested, generally maintained in a straight state by proper length design, Maintain a preset distance from the underside of the bridge to be tested.

The track support 2 is hoisted on the load-bearing rope 1, generally there are multiple hoisted at the same time, such as 3, 4 or more, etc., each track support 2 can slide on the load-bearing rope 1 independently, and two adjacent The two track supports 2 can be spliced together to form a continuous inspection track 3 .

The inspection vehicle 4 is arranged above each rail support 2, and is mainly used to cooperate and slide with the spliced and formed inspection rail 3, so as to reciprocate and slide along the extension direction of the inspection rail 3. At the same time, the inspection vehicle 4 is equipped with a detection module 5, which can detect the bottom surface of the bridge to be tested when the inspection vehicle 4 slides along the inspection track 3, thereby gradually completing the full width of the bottom surface of the bridge to be tested. detection work.

In this way, the bridge bottom surface detection operating device provided in this embodiment hangs the load-bearing rope 1 at the bottom of the bridge to be tested, and through the splicing of several modular track brackets 2 hoisted on the load-bearing rope 1, the bridge bottom to be tested The inspection track 3 is formed, and finally the inspection vehicle 4 equipped with the detection module 5 is used to move along the inspection track 3 to complete the detection operation on the bottom surface of the bridge to be tested.

Compared with the prior art, since the hoisting quantity of the track support 2 on the load-bearing rope 1 is uncertain, the actual hoisting quantity of the track support 2 can be flexibly adjusted according to the specific width of the current bridge to be tested, thereby improving the adaptability to bridges of different widths , and without manual intervention in the detection process, it can safely and efficiently realize the detection of the bottom surface of the bridge.

In a preferred embodiment of the load-bearing rope 1, the two ends of the load-bearing rope 1 can be respectively connected to vehicles such as cranes parked on both sides of the surface of the bridge to be measured, so that by controlling the length of the load-bearing rope 1, the The carrying rope 1 is tightened and straightened as a whole to form a concave shape. At the same time, the cranes on both sides of the bridge deck move the two ends of the load-bearing rope 1 along the length direction of the bridge deck simultaneously, and the inspection vehicle 4 can be synchronously driven to gradually complete the detection operation of the entire length of the bridge to be tested.

Generally, the distribution direction of the load-bearing ropes 1 is perpendicular to the length direction of the bridge to be tested. Of course, if necessary, the distribution direction of the load-bearing ropes 1 can also be properly skewed.

Further, in order to improve the hoisting stability of the load-bearing rope 1, in this embodiment, two or more load-bearing ropes 1 are hung on the crane at the same time, and each load-bearing rope 1 is distributed side by side, and each track bracket 2 is hoisted at the same time. On each load-carrying rope 1. Correspondingly, in order to form a stable hoisting connection with the carrying rope 1 , several top carrying frames 23 are provided on the top surface of each track support 2 in this embodiment. Specifically, each nail carrier is evenly distributed along the length direction on each track support 2 , and generally two top support frames 23 are distributed on one track support 2 at the same time. The top of the bearing frame can be provided with a pulley to pass the load rope 1 through the bottom of the pulley, so that the pulley is pressed against the load rope 1 under the action of gravity, so that the pulley can slide relatively on the load rope 1 to realize various Sliding movement of rail bracket 2.

In a preferred embodiment of the inspection track 3 , the inspection track 3 specifically includes several sliding rails 31 . Specifically, each slide rail 31 is respectively arranged on each track support 2 , such as the top surface or the front and rear sides of the track support 2 . Simultaneously, each root slide rail 31 is all along the length direction of track support 2, and the length of each root slide rail 31 is suitable, and is all identical with the length of track support 2, thereby when each track support 2 is spliced mutually, each root slide rail 31 It is also spliced into a whole inspection track 3 synchronously. Generally, the cross-sectional shape of the slide rail 31 can be circular or rectangular, etc., and the slide rail 31 can be distributed on the top surface of the track support 2 at the same time. Two parallel inspection tracks 3 facilitate the stable operation of the inspection vehicle 4 .

As shown in FIG. 3 , FIG. 3 is a schematic diagram of the splicing structure of three track supports 2 .

In a preferred embodiment of the track supports 2 , each track support 2 has a rectangular parallelepiped truss structure as a whole, mainly composed of long rods, short rods and inclined rods. Among them, the long rods are distributed along the length direction of the load-bearing rope 1, and generally there are four distributed at the same time, forming four long edges of a cuboid. The short rods are vertically connected between the ends of two adjacent long rods to form eight short edges of a cuboid. In addition, short rods are also arranged in the middle area of the long rods. Generally, short rods are arranged on the four sides of the track support 2, and two groups are arranged along the length direction to divide the track support 2 into three sections of small cuboid structures. . Slanting rods are connected between the side diagonals of each small cuboid structure to strengthen the structural strength of the track support 2 . Generally, the long rods, short rods and diagonal rods are all carbon fiber rods, and the rods can be interconnected through aluminum alloy connectors.

In addition, the lengths of the long rods in each track support 2 can be different. In this way, the lengths of each track support 2 are also different, so that the specifications of the track support 2 can be selected or configured more flexibly according to the width of the bridge to be measured. .

Further, in order to facilitate the splicing and folding of each track bracket 2 , in this embodiment, two adjacent track brackets 2 are rotatably connected. Specifically, a rotating seat 21 is provided at one end position in the length direction of the top surface of each track support 2, and a rotating shaft 22 is provided at the other end position at the same time. 22 are connected to form a revolving pair. In this way, each track bracket 2 forms a rotational connection with each other, so that it can be flexibly deformed according to the needs of the operation, so as to adjust the angle between two adjacent track brackets 2, and then realize the splicing structure deformation of the entire track bracket 2 . Generally, the rotating base 21 can specifically adopt a concave hinge frame, and the rotating shaft 22 can specifically adopt a structure such as a convex hinge frame.

Continuing from the above, since each track bracket 2 forms a rotational connection with each other, under the action of environmental factors such as gravity, there may be a certain angle between two adjacent track brackets 2, resulting in uneven horizontal distribution of each track bracket 2 , and then cause each slide rail 31 to be spliced end to end to form a horizontal, continuous inspection track 3, which is not conducive to the stable operation of the inspection vehicle 4. In view of this, the present embodiment is all provided with driving assembly 6 on the track support 2 that is positioned at the two ends of bearing rope 1, and all is connected with driving rope 7 on the output end of each driving assembly 6, and this driving rope 7 is connected in sequence The bottom surface of each track bracket 2 connects each track bracket 2 into one body simultaneously from both sides in the length direction. So set, when the driving assembly 6 is running, the output torque is transmitted to the driving rope 7, so that the driving rope 7 is straightened and tightened, and then the driving rope 7 is used to transmit the torque to each track support 2, so that except for the load-bearing Except for the track brackets 2 at both ends of the rope 1, each track bracket 2 in the middle area is pulled from the driving rope 7 toward the bottom and on both sides of the length direction, so that each track bracket 2 rotates accordingly, and finally each track bracket 2 is pulled. Pull until they are all level and form a straight line.

Generally, two driving ropes 7 distributed side by side are connected to the output end of the driving assembly 6 so as to be connected to both sides of the bottom surface of each track support 2 at the same time.

As shown in FIG. 4 , FIG. 4 is a schematic structural view of the bottom carrier 24 .

In order to facilitate the connection between the driving rope 7 and the bottom surface of the rail bracket 2 , in this embodiment, a bottom bearing frame 24 is provided on the bottom surface of each rail bracket 2 . Specifically, the bottom bearing frame 24 mainly includes three parts, namely a guide frame 241 , an idler frame 242 and a driving frame 243 . Wherein, the guide frame 241 is generally only arranged on the rail support 2 positioned at the two ends of the load rope 1, and a pulley is arranged on the guide frame 241, which is mainly used to change the orientation of the drive rope 7 after stretching out from the output end of the drive assembly 6, so that The driving rope 7 extends and distributes along the bottom surface of each track support 2 . The idler frame 242 is arranged on the bottom center area of each track support 2 at the same time, and a pulley is arranged on the idler frame 242, which generally corresponds to the setting position of each top carrier frame 23, and is mainly used to support the driving rope 7 to prevent driving Rope 7 falls down and forms arc because of deadweight. Drive frame 243 is arranged on the length direction end position of each rail support 2, is provided with a plurality of pulleys on drive frame 243, is mainly used in being connected with the end of drive rope 7, so that the end of drive rope 7 carries out multi-turn winding, Therefore, the torque is transmitted conveniently and stably, and the track support 2 is pulled to rotate. In this way, through the multi-level support of the guide frame 241, the idler frame 242 and the drive frame 243 to the drive rope 7, the construction and splicing of a plurality of track supports 2 can be conveniently and stably realized.

As shown in FIG. 5 , FIG. 5 is a schematic structural diagram of the driving assembly 6 .

In a preferred embodiment of the drive assembly 6, the drive assembly 6 mainly includes a drive motor 61 and a winch 62. Wherein, the driving motor 61 is installed in the track brackets 2 located at both ends of the carrying rope 1 , and generally an additional installation frame can be added outside the two ends of the two track brackets 2 to install the driving motor 61 . The winch 62 is also arranged in the installation frame, and the rotating shaft of the winch 62 is connected with the output shaft of the drive motor 61 , and can rotate under the drive of the output shaft of the drive motor 61 . This capstan 62 is mainly used for winding the driving rope 7, so that loosen, stretch the driving rope 7 or tighten, shorten the usable length of the driving rope 7, and the head end of the driving rope 7 is specifically connected on the circumferential surface of the winch 62, so as to Winch 62 winds synchronously along the circumferential direction when rotating. In such a setting, the driving motor 61 drives the winch 62 forward and reversely to realize the pay-off or take-up movement of the drive rope 7, and then the drive rope 7 is tightened during take-up, and the torque is transmitted to the corresponding track support 2, or make the driving rope 7 slack when unwinding, each track support 2 can be adjusted by sliding.

Considering that after each rail support 2 slides into place and forms end-to-end splicing, when the driving rope 7 is already tightened, the driving motor 61 no longer needs to output torque power, but at this time it is necessary to keep the driving rope 7 in a continuously tightened state, In order to avoid accidental slack and cause operation accidents, for this reason, a power-off brake 63 is added in the present embodiment. Specifically, the power-off brake 63 is arranged on the output shaft of the drive motor 61, and is mainly used for locking the output shaft of the drive motor 61 when the power is off, and releasing the output shaft of the drive motor 61 when the power is on. So set, when the driving rope 7 is tightened, the driving motor 61 stops running and loses power, at this time, the output shaft of the driving motor 61 is locked by the power-off brake 63, preventing the winch 62 from rotating, and then the driving rope 7 is kept at the current position. Tensioned state. And when the drive motor 61 starts running, the output shaft of the drive motor 61 is loosened by the power-off brake 63 so as to run normally.

Further, in order to increase the torque output of the driving motor 61 and reduce the rotational speed output, in this embodiment, a speed reducer 64 is connected between the output shaft of the driving motor 61 and the rotating shaft of the winch 62 . Specifically, the speed reducer 64 may be a harmonic speed reducer 64 or an RV speed reducer 64 .

Furthermore, considering that the drive motor 61 is running, the winch 62 rotates rapidly, and the drive rope 7 is quickly taken up or released on the winch 62. In order to avoid overlapping, friction and interference of the drive rope 7 when rolling on the winch 62 Etc. hinders the situation of motion, has set up a row rope mechanism in the present embodiment.

Specifically, the rope arranging mechanism mainly includes a lead screw 65 , a nut and a pair of rollers 67 . Wherein, the leading screw 65 is arranged in the mounting frame, and its distribution direction is parallel to the output shaft of the driving motor 61, and is connected to the rotating shaft equal to the capstan 62 through a belt transmission mechanism, and rotates synchronously with the capstan 62. The transmission nut 66 is sleeved on the leading screw 65, and forms a thread transmission with the leading screw 65, which can convert the rotary motion of the leading screw 65 into its own linear motion along the axial direction. The pair of rollers 67 is arranged on the surface of the drive nut 66, including two rollers that can rotate in opposite directions synchronously, and is mainly used to clamp the driving rope 7 between the two rollers, so that the driving rope 7 can be driven by rolling friction transmission. Go out or take up the line from the middle of the roller pair 67. Moreover, the feed speed of the drive nut 66 on the lead screw 65 is consistent with the axial winding speed of the driving rope 7 on the capstan 62 . So set, through the clamping of the driving rope 7 by the pair of rollers 67, when the winch 62 rotates, the driving rope 7 is equivalent to carrying out an axial feed motion on the winch 62, and the speed of this feed movement is the same as that of the pair of rollers 67 and the drive nut. 66 has the same feed speed on the lead screw 65, therefore, the pay-off end or the take-up section of the drive rope 7 clamped in the roller pair 67 is always synchronized with the winding part of the drive rope 7 on the winch 62, thereby Make sure that the driving rope 7 can be evenly wound round by round and arranged on the circumferential surface of the winch 62 to avoid overlapping.

Not only that, in order to ensure the accuracy and stability of the linear motion of the drive nut 66 and the pair of rollers 67, a guide column 68 and a guide block 69 are added in this embodiment. Wherein, the guide column 68 is arranged on the casing of the driving motor 61 or installed in the installation frame, and is distributed parallel to the lead screw 65. Generally, the guide column 68 can specifically adopt components such as linear bearings. The guide block 69 is sleeved on the guide post 68 and can slide on the guide post 68 along its axial direction. Simultaneously, the bottom surface of the drive nut 66 is connected with the guide block 69 through components such as a connecting rod, thereby connecting the two as a whole. In this way, when the drive nut 66 and the pair of rollers 67 move axially on the lead screw 65 , they can be guided by the axial movement of the guide block 69 on the guide post 68 at the same time.

In addition, in order to accurately control the length of the take-up and take-up line of the drive rope 7, an encoder is also provided on the end of the lead screw 65 in this embodiment, so as to detect and record the take-up and take-off line of the drive rope 7 by detecting the rotation angle of the lead screw 65. length. At the same time, the encoder is also signal-connected with the controller of the drive motor 61 to send detection data to the controller, so that the controller can adjust the operating conditions such as the speed and torque of the drive motor 61 .

As shown in FIG. 6 , FIG. 6 is a schematic diagram of the assembly structure of the inspection vehicle 4 and the detection module 5 .

In a preferred embodiment about the inspection vehicle 4, considering that the width of the bridge to be tested is generally larger, in order to improve the detection efficiency, multiple inspection vehicles 4 are enabled simultaneously in this embodiment, such as 2 or more . Each inspection vehicle 4 shares one inspection track 3 and performs detection operations in different areas of the inspection track 3 at the same time.

The inspection car 4 mainly includes a vehicle frame 41 , a drive wheel 42 and a motion motor 43 . Wherein, the vehicle frame 41 is the main structure of the inspection vehicle 4, and is mainly used for installing and carrying other components. The driving wheel 42 is arranged at the bottom of the vehicle frame 41 and is mainly used for cooperating with the surface of the inspection track 3 to roll, and realizes movement on the inspection track 3 through rolling friction. The motion motor 43 is arranged on the bottom area of the vehicle frame 41, and its output shaft is connected with the rotating shaft of the driving wheel 42, and is mainly used to drive the driving wheel 42 to rotate, and then realize rolling on the inspection track 3 surface.

As shown in FIG. 7 , FIG. 7 is a schematic structural diagram of the inspection vehicle 4 .

Further, in order to improve the motion stability of the inspection vehicle 4 on the inspection track 3 and prevent the inspection vehicle 4 from derailing or falling from the inspection track 3 during operation, a swing bar 44 and a swing rod 44 are added in this embodiment. 45 driven wheels. Wherein, two swing rods 44 are generally provided with two at the same time, and one ends of the two swing rods 44 are respectively connected to the left and right sides of the vehicle frame 41, and the two swing rods 44 are inclined downwards and extend to the bottom of the inspection track 3 at the same time. . The driven wheel 45 is arranged at the end positions of the two swing rods 44, and abuts against the bottom surface of the inspection track 3, and simultaneously forms a cooperative rolling. Such arrangement, through the abutment of the driven wheel 45 to the bottom surface of the inspection track 3 from bottom to top, and the abutment of the drive wheel 42 to the surface of the inspection track 3 from top to bottom, the vehicle frame 41 will make the inspection track 3 as a whole. Clamping in the vertical direction effectively prevents the vehicle frame 41 from derailing or falling.

Furthermore, in order to increase the pressing degree of the driven wheel 45 to the bottom surface of the inspection track 3, a pre-tension spring 46 is added in this embodiment. Specifically, one end of the pre-tension spring 46 is connected to the bottom of the frame 41 , and the other end of the pre-tension spring 46 is connected to the middle area of the swing rod 44 . Correspondingly, one end of the swing rod 44 is connected to the side top area of the vehicle frame 41 to form a rotational connection. In this way, through the elastic force of the pre-tension spring 46 , an inclined upward elastic support can be formed for the swing rod 44 , thereby strengthening the pressing effect of the driven wheel 45 on the bottom surface of the inspection track 3 .

As shown in FIG. 8 , FIG. 8 is a schematic structural diagram of the cable management mechanism 47 .

Not only that, considering that the power consumption of the entire vehicle of the inspection vehicle 4 is generally connected and transported by the tow cable through a power source such as a battery, in order to prevent the tow cable from being entangled or broken when the inspection vehicle 4 is running on the inspection track 3 Bending and other phenomena, the present embodiment has added a line management mechanism 47 on the inspection vehicle 4.

Specifically, the wire management mechanism 47 mainly includes a wire winding motor 471 , a wire winding roller shaft 472 , an electric slip ring 473 , a synchronous belt assembly 474 , a wire winding screw 475 , a wire winding drive nut 476 and a wire winding roller pair 477 . Wherein, the winding motor 471 is mainly used to drive the winding roller shaft 472 to rotate, so as to realize the winding and unwinding of the cable. The electric slip ring 473 is arranged at the end of the winding roller shaft 472 and connected with the head end of the cable. The thread winding screw 475 is distributed parallel to the thread winding roller shaft 472 and is connected with the synchronous belt assembly 474 so that the thread winding screw 475 and the thread winding roller shaft 472 rotate synchronously. The reel drive nut 476 is arranged on the reel lead screw 475, and realizes axial movement through thread transmission. The wire winding roller pair 477 is arranged on the wire winding driving nut 476 and is mainly used for clamping the cable so that the cable is drawn out or taken up from the wire winding roller pair 477 . The specific cable arrangement principle of the cable arrangement mechanism 47 is the same as that of the aforementioned cable arrangement mechanism for the drive rope 7 in the driving assembly 6, and has the same technical effect, and will not be repeated here.

As shown in FIG. 9 , FIG. 9 is a schematic structural diagram of the detection module 5 .

In a preferred embodiment of the detection module 5 , the detection module 5 mainly includes a mounting rod 51 and a detection sensor 52 . Wherein, the mounting rod 51 is arranged on the vehicle frame 41 of the inspection vehicle 4 and generally extends along the length direction of the bridge to be tested. The detection sensor 52 is arranged on the installation rod 51, and the specific installation position can be adjusted along the length direction of the installation rod 51, and is mainly used for the detection operation of the corresponding item on the bottom surface of the bridge to be tested. Generally, a plurality of detection sensors 52 are provided on the installation rod 51 at the same time, such as 4-8. When the inspection vehicle 4 runs along the width direction of the bridge to be tested on the inspection track 3 , each detection sensor 52 sweeps across a certain rectangular area of the bottom surface of the bridge to be tested synchronously.

Further, in order to improve the working efficiency of simultaneous detection by multiple detection sensors 52 and avoid repeated detection in the same area, in this embodiment, the detection areas of two adjacent detection sensors 52 need to ensure that there is a certain overlapping area to avoid Undetected areas are missed, but at the same time, the coverage of the overlapping area is between 15% and 30% of the detection area of a single detection sensor 52 .

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

A device for detecting the bottom surface of a bridge, characterized in that it includes a load-bearing rope (1) whose two ends are respectively hung on the outer walls of the bridge to be tested on both sides in the width direction and distributed on the bottom of the bridge to be tested, and is slidably hoisted on the bridge to be tested. Several track supports (2) that are spliced on the carrying rope (1) to form the inspection track (3), and are movably arranged on the inspection track (3) for the bottom surface of the bridge to be measured A plurality of inspection vehicles (4) for performing detection operations, each of which is equipped with a detection module (5).
The bridge bottom surface detection operation device according to claim 1, characterized in that, the two ends of the top surface of each track support (2) are respectively provided with a rotating seat (21) and a rotating shaft (22), and two adjacent The track support (2) is rotatably connected to the rotating shaft (22) through the rotating seat (21) that cooperates with each other.
The device for detecting the bottom surface of a bridge according to claim 2, characterized in that, drive assemblies (6) are provided on the rail brackets (2) at both ends of the carrying rope (1), and each of the drive assemblies The output ends of (6) are all connected with drive ropes (7), and the ends of the drive ropes (7) are connected to the bottom surfaces of the remaining track supports (2) so as to be tightened in the drive assembly (6). When the driving rope (7) is pulled, each of the track brackets (2) is relatively rotated to be arranged in a straight line.
The detection operation device for the bottom surface of the bridge according to claim 1, characterized in that, the inspection track (3) includes a plurality of track supports (2) which are respectively arranged on each track support (2) and extend to both ends along its length direction. slide rail(31).
According to the bridge bottom detection operation device according to claim 1, it is characterized in that, the top surface of each track support (2) is provided with several tops distributed along the length direction and used to support the load rope (1). Carrier (23).
According to the bridge bottom surface detection operation device according to claim 3, it is characterized in that, the bottom surface of each said track support (2) is provided with several bottom bearings distributed along the length direction and used to support the said driving rope (7). rack (24).
The bridge bottom surface detection operation device according to claim 3, characterized in that, the drive assembly (6) includes a drive motor (61) installed in the track support (2), and a drive motor (61) The output shaft is connected to the winch (62) for winding the drive rope (7), and the head end of the drive rope (7) is connected to the circumferential surface of the winch (62).
The bridge bottom surface detection operation device according to claim 7, characterized in that, the output shaft of the drive motor (61) is provided with a power-off brake (power-off brake) for locking it when power is lost and loosening it when power is gained ( 63), and a speed reducer (64) is connected between the output shaft of the driving motor (61) and the rotating shaft of the winch (62).
According to the bridge bottom detection operation device according to claim 8, it is characterized in that, the drive assembly (6) also includes a lead screw (65) that rotates synchronously with the rotating shaft of the winch (62), and is axially movable. The drive nut (66) sleeved on the lead screw (65), the pair of rollers (67) horizontally rotatable on the drive nut (66), the drive rope (7) clamped on the The pair of rollers (67), and the feed speed of the drive nut (66) is consistent with the axial winding speed of the driving rope (7) on the capstan (62).
The detection operation device for the bridge bottom surface according to claim 9, characterized in that, the drive assembly (6) also includes a motor that is arranged on the casing of the drive motor (61) and is connected to the axial direction of the screw (65). Parallel guide posts (68), guide blocks (69) slidably sleeved on the guide posts (68), and the drive nuts (66) are connected with the guide blocks (69).
According to the bridge bottom detection operation device according to any one of claims 1-10, it is characterized in that the inspection vehicle (4) includes a vehicle frame (41), which is arranged at the bottom of the vehicle frame (41) and is connected to the vehicle frame (41). The surface of the inspection track (3) cooperates with the rolling driving wheel (42), the motion motor (43) that is arranged on the bottom of the vehicle frame (41) and is used to drive the rolling of the driving wheel (42), and the detection module The group (5) is arranged on the surface of the vehicle frame (41).
The bridge bottom detection operation device according to claim 11, characterized in that, the inspection vehicle (4) also includes an inspection vehicle connected to both sides of the vehicle frame (41) and extending below the inspection track (3). The swing rod (44), the driven wheel (45) that is arranged at the end of the swing rod (44) and cooperates with the bottom surface of the inspection track (3) to roll.
According to claim 12, the detection operation device of bridge bottom surface is characterized in that, the head end of the swing rod (44) is rotatably connected to the vehicle frame (41), and the swing rod (44) A pre-tension spring (46) for pressing the driven wheel (45) against the bottom surface of the inspection track (3) by elastic force is connected between the rod body and the vehicle frame (41).
According to the bridge bottom detection operation device according to claim 13, it is characterized in that, the inspection vehicle (4) also includes a set on the vehicle frame (41), which is used for when the vehicle frame (41) moves A cable management mechanism (47) for synchronously retracting and releasing the power supply cable for supplying the vehicle power supply.
The bridge bottom detection operation device according to claim 11, characterized in that, the detection module (5) includes a mounting rod arranged on the vehicle frame (41) and extending along the length direction of the bridge to be measured (51). A plurality of detection sensors (52) that are slidably sleeved on the installation rod (51) and are used to detect the bottom surface of the bridge to be tested.
The detection operation device for the bottom surface of a bridge according to claim 15, characterized in that the overlapping coverage of detection areas of two adjacent detection sensors (52) is 15% to 30%.