An intelligent orthotropic steel bridge deck fatigue crack detection robot

Abstract

The present invention discloses an intelligent orthotropic steel bridge deck fatigue crack detection robot, which relates to the technical field of orthotropic steel bridge deck fatigue crack detection, including a top plate walking detection device, a longitudinal rib walking device, an electric drive telescopic mechanism and an electric drive swing mechanism; the top plate walking detection device and the longitudinal rib walking device are both provided with a crawler vehicle, and a plurality of electromagnets are provided on the outer side of the crawler of the crawler vehicle to realize the adsorption of the top plate or the longitudinal rib. The top plate walking detection device is provided with an ultrasonic detector, which can move close to or away from its crawler vehicle; the top plate walking detection device is connected to the electric drive telescopic mechanism and the connection is rotatable, the electric drive swing mechanism is connected to the other end of the electric drive telescopic mechanism and can swing at the connection, and the longitudinal rib walking device is connected to the other end of the electric drive swing mechanism and can rotate. The machine can complete the automatic detection of orthotropic steel bridge decks, which changes the traditional manual detection method, can effectively save manpower, and has high detection efficiency and reliable detection data.

Description

Technical Field

[0001] The invention relates to the technical field of fatigue crack detection of orthotropic steel bridge decks, and in particular to an intelligent orthotropic steel bridge deck fatigue crack detection robot. Background Art

[0002] Orthotropic steel bridge deck has the advantages of light weight, high strength, good economy, high bearing capacity and wide application range. It has been widely used in various structural forms and different span bridges. Figure 1 As shown in the figure, several longitudinal ribs are welded in parallel at the bottom of the steel top plate, and web stiffeners are welded at the ends of the longitudinal ribs to increase its structural strength. However, due to its complex structure, orthotropic steel bridge decks will have serious fatigue cracking problems after several years of operation, which greatly threatens the operational safety of the bridge.

[0003] Fatigue cracking of orthotropic steel bridge decks often occurs at the connecting welds between the longitudinal ribs, web stiffening ribs, and top plates. Among them, fatigue cracking of the welded structure between the top plate and the longitudinal ribs is the most serious. This type of fatigue cracking will destroy the waterproof performance of the bridge deck structure, causing corrosive liquids to flow into the box girder, increasing the degree of oxidation of the box girder, and is often difficult to be discovered and repaired in time, resulting in a decrease in the durability of the structure, seriously endangering the structural safety.

[0004] Existing fatigue crack detection of steel bridges is usually carried out manually, and the main detection methods include: visual inspection, magnetic particle inspection, penetrant inspection, radiographic inspection, etc. Different detection methods have different scopes of application: visual inspection requires inspectors to have rich detection experience, and they need to use equipment such as magnifying glasses to work, and visual inspection can only detect surface cracks that have cracked to a certain extent; magnetic particle inspection can detect surface cracks or internal cracks close to the surface, and is generally suitable for components with a thickness of no more than 6.5mm; penetrant inspection can only be used to check surface cracks; radiographic inspection films must be placed on the other side of the radiation source, and are not suitable for crack detection of orthogonal anisotropic bridge decks. The existing technology for fatigue crack detection of steel bridges requires inspectors to have a high level of technical skills, and the manual inspection method is labor-intensive, time-consuming, and requires a lot of manpower. It is also easy to cause missed inspections and wrong inspections due to negligence of operators. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an intelligent orthotropic steel bridge deck fatigue crack detection robot, which can automatically detect fatigue cracks in steel bridges based on ultrasonic detection technology, thereby reducing the manpower input in steel bridge fatigue crack detection, improving detection efficiency and making detection results more accurate.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] An intelligent orthotropic steel bridge deck fatigue cracking detection robot, comprising a top plate walking detection device, a longitudinal rib walking device, an electric drive telescopic mechanism and an electric drive swing mechanism;

[0008] The top plate walking detection device and the longitudinal rib walking device both include a crawler vehicle, the crawler vehicle includes a body, both sides of the body are connected with walking crawlers, and a plurality of electromagnets are arranged at equal intervals on the outer side of the walking crawler;

[0009] The crawler vehicle of the top plate walking detection device is provided with a first rotating motor, a first turntable and a lateral movement detection device on its body, wherein the first turntable is rotatably arranged at the center of the top surface of the vehicle body, and the first rotating motor is used to drive the first turntable to rotate.

[0010] The lateral movement detection device comprises a screw a, a screw b, a dual-output motor, a guide rod a and two lateral movement detection mechanisms, wherein the screw a and the screw b are both rotatably arranged on the top surface of the vehicle body, the dual-output motor and the guide rod a are both fixedly arranged on the top surface of the vehicle body, the screw a and the screw b are coaxially arranged and have opposite thread rotation directions, the two output shafts of the dual-output motor are fixedly connected to one end of the screw a and one end of the screw b respectively, and the guide rod a is arranged parallel to the screw a.

[0011] The transverse movement detection mechanism includes a motor a, a threaded block, a slider, a guide rod b, a screw and a detection bracket, the guide rod b and the screw are arranged in parallel, the two ends of the screw are rotatably connected to the threaded block and the slider respectively, the two ends of the guide rod b are fixedly connected to the threaded block and the slider respectively, one end of the detection bracket is processed with a threaded hole and a guide hole, the detection bracket is connected to the screw by a thread, the guide rod b is slidably arranged in the guide hole, the other end of the detection bracket is rotatably connected to an ultrasonic detector, a direction motor is installed on the detection bracket, the direction motor is used to drive the ultrasonic detector to rotate, the motor a is fixedly arranged on the slider, and the output shaft of the motor a is fixedly connected to one end of the screw.

[0012] The two sliding blocks are slidably sleeved on the guide rod a, one of the threaded blocks is connected to the screw rod a through a thread, and the other of the threaded blocks is connected to the screw rod b through a thread;

[0013] The crawler vehicle of the longitudinal rib walking device is provided with a second rotating motor and a second rotating disk on its body, the second rotating disk is rotatably arranged at the center of the top surface of the vehicle body, and the second rotating motor is used to drive the second rotating disk to rotate;

[0014] The electric-driven telescopic mechanism includes a telescopic rod and a driving motor a, and the driving motor a can control the telescopic rod to extend and retract. The electric-driven swing mechanism includes a beam and a driving motor b. One end of the telescopic rod is fixedly connected to the center of the top surface of the first turntable, and the other end of the telescopic rod is rotatably sleeved on one end of the beam. The other end of the beam is fixedly installed on the second turntable, and the driving motor b can drive the telescopic rod to rotate around the end of the beam.

[0015] Furthermore, it also includes a balancing device, which includes a balancing motor, a balancing screw, a balancing guide rod, a connecting plate and a balancing shaft, wherein the balancing motor and the balancing guide rod are both fixedly mounted on the second rotating disk, the balancing screw rod is rotatably mounted on the second rotating disk, the output shaft of the balancing motor is fixedly connected to one end of the balancing screw rod, the balancing screw rod and the balancing guide rod are arranged in parallel, one end of the connecting plate is slidably sleeved on the balancing guide rod, and the other end of the connecting plate is connected to the balancing screw rod by a thread;

[0016] The cross beam is a hollow structure. The balancing shaft can slide through the cross beam. The balancing shaft is fixedly connected to the connecting plate. A plurality of counterweights are fixedly arranged at both ends of the balancing shaft.

[0017] Further, the telescopic rod includes a slide groove and a slide rail, one end of the slide rail is fixedly connected to the center of the top surface of the first turntable, the other end of the slide rail is slidably arranged in the slide groove, and the end of the slide groove away from the slide rail is rotatably sleeved on one end of the crossbeam;

[0018] A gear shaft is rotatably provided on the slide groove, a gear a and a turbine are fixedly sleeved on the gear shaft, a rack is fixedly provided on one side of the slide rail, and the rack is meshed with the gear a;

[0019] The driving motor a is fixedly mounted on the slide slot, and the output shaft of the driving motor a is fixedly connected to a worm, which is meshed with the turbine.

[0020] Furthermore, a gear b is fixedly connected to one end of the slide slot away from the slide rail, the drive motor b is fixedly connected to the crossbeam, a gear c is fixedly connected to the output shaft of the drive motor b, and the gear c is meshed with the gear b.

[0021] Furthermore, a graphics acquisition device is fixedly provided on both the second rotating disk and the first rotating disk, and the graphics acquisition device is used to determine the walking direction of the crawler vehicle.

[0022] The beneficial effects of the present invention are:

[0023] The present invention provides an intelligent orthotropic steel bridge deck fatigue cracking detection robot, which includes a top plate walking detection device, a longitudinal rib walking device, an electric drive telescopic mechanism and an electric drive swing mechanism. The top plate walking detection device is equipped with an ultrasonic detector to detect the welding seams between the longitudinal ribs, the web stiffening ribs and the top plate. The top plate walking detection device and the longitudinal rib walking device are both provided with tracked vehicles, and a plurality of electromagnets are provided on the outer side of the track of the tracked vehicle to realize the adsorption of the robot on the top plate or the longitudinal ribs. The ultrasonic detector on the top plate walking detection device can execute movement close to or away from its tracked vehicle under control. The top plate walking detection device is connected to the electric drive telescopic mechanism and the connection can execute rotation movement under control. The electric drive swing mechanism is connected to the other end of the electric drive telescopic mechanism and can execute swing movement at the connection under control. The longitudinal rib walking device is connected to the other end of the electric drive swing mechanism and can execute rotation movement under control. Through the combination of the above actions, the robot can cross under the orthogonal anisotropic steel bridge deck with complex structure and complete automatic detection with a zigzag trajectory, which changes the traditional manual detection method. It can effectively save manpower, has high detection efficiency, and the detection data is accurate and reliable.

[0024] A transverse detection device is set on the top plate walking detection device, which includes two transverse detection mechanisms. In addition to completing the detection of the weld between the longitudinal rib and the top plate, it can also complete the weld detection between the web stiffening rib and the top plate by rotating the direction of the ultrasonic detector and controlling the lateral movement of the controller, thus realizing a comprehensive automatic detection process. The electric drive telescopic mechanism uses a worm gear mechanism and a gear rack mechanism to realize the telescopic process. Its transmission is smooth and accurate, and it can make full use of the self-locking performance of the worm gear mechanism to keep the telescopic rod from moving after the telescopic is completed, thus maintaining the stable operation of the equipment.

[0025] A balancing device is provided to utilize the movement of the balancing shaft to change the lever arm of the counterweight blocks at both ends relative to the rotating shaft during rotation, thereby balancing the torque, maintaining the stability of the equipment during the above two rotational movements, and preventing the crawler vehicle from tipping over due to uneven force. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of an orthotropic steel bridge deck in the prior art;

[0027] Figure 2 This is a schematic structural diagram of an intelligent orthotropic steel bridge deck fatigue cracking detection robot according to the present invention;

[0028] Figure 3 It is a schematic diagram of the crawler structure of the roof walking detection device;

[0029] Figure 4 It is a structural schematic diagram of the top plate walking detection device;

[0030] Figure 5It is a schematic diagram of the crawler structure of the longitudinal rib walking device;

[0031] Figure 6 It is a structural schematic diagram of the electric drive telescopic mechanism;

[0032] Figure 7 It is a structural schematic diagram of the electric-driven swing mechanism and the balancing device. DETAILED DESCRIPTION

[0033] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0034] In the prior art, the main methods for fatigue crack detection of steel bridges are: visual inspection, magnetic particle inspection, penetrant inspection, radiographic inspection, etc. Various detection methods have their own scope of application and technical requirements. Especially for the complex structure of orthotropic steel bridge decks, it is difficult to complete bridge inspection through intelligent and automated means. At present, in order to ensure the safe operation of bridges, a large amount of manpower is usually required to complete the detection of fatigue cracks in steel bridges. After research, we found that ultrasonic non-destructive testing technology can detect surface cracks and internal cracks of components, and is very sensitive to incomplete penetration, delamination and cracks. It is very suitable for fatigue crack detection of orthotropic steel bridge decks, and ultrasonic non-destructive testing technology can be grafted onto robots to complete intelligent detection of fatigue cracks in steel bridges to solve the problem of fatigue crack detection.

[0035] like Figures 2 to 7 As shown, an intelligent orthotropic steel bridge deck fatigue cracking detection robot includes a top plate walking detection device 100, a longitudinal rib walking device 200, an electric drive telescopic mechanism 300 and an electric drive swing mechanism 400.

[0036] like Figure 3 , Figure 5 As shown, the top plate walking detection device 100 and the longitudinal rib walking device 200 both include a crawler vehicle, which includes a body 601, both sides of which are connected to walking crawlers 602, and a plurality of electromagnets 603 are evenly spaced on the outer surface of the walking crawler 602. When in use, the electromagnets 603 are energized, so that the crawler vehicle can be adsorbed on the steel top plate and longitudinal ribs for walking without worrying about it falling off, thereby ensuring the stability and safety of its walking process.

[0037] like Figure 3 As shown, the crawler vehicle body 601 of the top plate walking detection device 100 is provided with a first rotating motor 611, a first rotating disk 610 and a lateral movement detection device. The first rotating disk 610 is rotatably arranged at the top center of the vehicle body 601, and the first rotating motor 611 is used to drive the first rotating disk 610 to rotate. Figure 5As shown, a second rotating motor 621 and a second turntable 620 are provided on the body 601 of the crawler vehicle of the longitudinal rib walking device 200. The second turntable 620 is rotatably arranged at the top center of the body 601. The second rotating motor 621 is used to drive the second turntable 620 to rotate.

[0038] like Figure 4 As shown, the lateral movement detection device includes a screw a101, a screw b102, a dual-output motor 104, a guide rod a103 and two lateral movement detection mechanisms. The screw a101 and the screw b102 are both rotatably arranged on the top surface of the body 601, the dual-output motor 104 and the guide rod a103 are both fixedly arranged on the top surface of the body 601, the screw a101 and the screw b102 are coaxially arranged and have opposite thread rotation directions, the two output shafts of the dual-output motor 104 are fixedly connected to one end of the screw a101 and one end of the screw b102, respectively, and the guide rod a103 is arranged parallel to the screw a101. The transverse movement detection mechanism includes a motor a111, a threaded block 112, a slider 113, a guide rod b114, a screw 115 and a detection bracket 116. The guide rod b114 and the screw 115 are arranged in parallel. The two ends of the screw 115 are rotatably connected to the threaded block 112 and the slider 113 respectively. The two ends of the guide rod b114 are fixedly connected to the threaded block 112 and the slider 113 respectively. One end of the detection bracket 116 is processed with a threaded hole and a guide hole. The detection bracket 116 is connected to the screw 115 by threads. The guide rod b114 is slidably arranged in the guide hole. The other end of the detection bracket 116 is connected to an ultrasonic detector 117. The motor a111 is fixedly arranged on the slider 113, and the output shaft of the motor a111 is fixedly connected to one end of the screw 115. Both sliders 113 are slidably mounted on the guide rod a103, one threaded block 112 is threadedly connected to the screw a101, and the other threaded block 112 is threadedly connected to the screw b102. When the dual-output motor 104 is working, its two output shafts drive the screw a101 and the screw b102 to rotate. Since the threads of the two screws rotate in opposite directions, the two transverse movement detection mechanisms move toward or away from each other according to the principle of screw rotation. The main structures of the above two transverse movement detection mechanisms each include a set of screw transmission mechanisms. Under the action of the motor a111, the detection bracket 116 can move along the axial direction of the screw 115.

[0039] When inspecting the connection weld between two adjacent longitudinal ribs and the top plate, the crawler is adsorbed at the center of the two longitudinal ribs, and the two ultrasonic detectors 117 are respectively facing the connection between a longitudinal rib and the top plate. As the crawler moves, the two ultrasonic detectors 117 can complete the weld inspection between the two longitudinal ribs and the top plate. If it is necessary to complete the inspection of the connection between the web stiffening rib and the top plate, the inspection bracket 116 and the ultrasonic detector 117 are rotatably connected, and a direction motor 118 is set to adjust its direction. When the crawler moves to the web stiffening rib position near the end of the longitudinal rib, the motor a111 is first used to control the inspection bracket 116 to move to one end of the crawler near the web stiffening rib, and then the direction of the ultrasonic detector 117 is adjusted by the direction motor 118 so that it faces one side of the web stiffening rib, and then the dual output motor 104 is used to drive the two ultrasonic detectors 117 to move along the arrangement direction of the web stiffening rib to complete the inspection.

[0040] like Figure 2 , Figure 6 , Figure 7As shown, the electric drive telescopic mechanism 300 includes a telescopic rod and a driving motor a308, and the driving motor a308 can control the telescopic rod to extend and retract. The electric drive swing mechanism 400 includes a crossbeam 410 and a driving motor b420. One end of the telescopic rod is fixedly connected to the center of the top surface of the first turntable 610, and the other end of the telescopic rod is rotatably sleeved on one end of the crossbeam 410. The other end of the crossbeam 410 is fixedly mounted on the second turntable 620, and the driving motor b420 can drive the telescopic rod to rotate around the end of the crossbeam 410. After the detection of the connection welds between the above two adjacent longitudinal ribs and the top plate, the top plate walking detection device 100 needs to complete the crossing. The connection welds between the other two longitudinal ribs and the top plate are detected. At this time, the crawler of the longitudinal rib walking device 200 is adsorbed on the bottom of the longitudinal rib to keep its position unchanged, the crawler of the top plate walking detection device 100 is separated from the top plate, and the dual-output motor 104 is started to retract the two ultrasonic detectors 117 to the vicinity of the body 601 of the crawler of the top plate walking detection device 100, and then the drive motor a308 is operated to retract the telescopic rod, and at the same time the drive motor b420 is operated to swing the telescopic rod until the tracked vehicle body passes the plane where the bottom of the longitudinal rib is located; then the second rotating motor 621 is started to rotate the top plate walking detection device 100 180 degrees through the crossbeam 410, and then the drive motor b420, the drive motor a308 and the dual-output motor 104 are rotated in reverse in turn to make the two ultrasonic detectors 117 enter a new detection position and start detection. After completing the detection of this position, the entire device needs to continue to translate. At this time, the crawler of the top plate walking detection device 100 is first kept adsorbed on the bottom of the top plate to keep the position unchanged, the crawler of the longitudinal rib walking device 200 stops adsorbing the longitudinal rib, and the drive motor a308 is started to extend the telescopic rod, driving the crawler of the longitudinal rib walking device 200 to separate from the longitudinal rib, and then the first rotating motor 611 is started to make the telescopic rod drive the entire longitudinal rib walking device 200 to rotate 180 degrees to the bottom of another longitudinal rib adjacent to the longitudinal rib adsorbed before, and then the drive motor a308 is used to rotate in the opposite direction to drive the telescopic rod to retract, and after the crawler of the longitudinal rib walking device 200 contacts the new longitudinal rib, the electromagnet 603 on it is started to complete the adsorption of the longitudinal rib walking device 200. After that, repeat the above process to complete the lateral crossing action of the top plate walking detection device 100. By setting the parameters of each motor, under the control of the intelligent control system, the robot can automatically detect the entire orthogonal anisotropic steel bridge deck along a zigzag trajectory.

[0041] Preferably, a graphics acquisition device 700 is fixedly provided on both the second turntable 620 and the first turntable 610. The graphics acquisition device can be a device for acquiring images such as a camera. The graphics acquisition device 700 rotates with the second turntable 620 and the first turntable 610. During implementation, the walking direction of the crawler vehicle can be determined by whether the direction facing the graphics acquisition device 700 is the longitudinal rib direction. At the same time, the graphics acquisition device 700 can also acquire the external shape of the weld, especially the specific situation of the actual detection defect location, to provide evidence for the detection results, and also facilitate people to design and construct repair plans for the defective parts.

[0042] During the robot's lateral crossing action, there is a rotating axis on each of the top plate walking detection device 100 and the longitudinal rib walking device 200. When one device rotates around the other, there will be a large torque, which can easily cause the crawler vehicle adsorbed on the top plate or the longitudinal rib to overturn. Therefore, the intelligent orthotropic steel bridge deck fatigue cracking detection robot also includes a balancing device 500. Figure 7 As shown, the balancing device 500 includes a balancing motor 501, a balancing screw rod 502, a balancing guide rod 503, a connecting plate 504 and a balancing shaft 505. The balancing motor 501 and the balancing guide rod 503 are both fixedly mounted on the second rotating disk 620. The balancing screw rod 502 is rotatably mounted on the second rotating disk 620. The output shaft of the balancing motor 501 is fixedly connected to one end of the balancing screw rod 502. The balancing screw rod 502 and the balancing guide rod 503 are arranged in parallel. One end of the connecting plate 504 is slidably sleeved on the balancing guide rod 503, and the other end of the connecting plate 504 is connected to the balancing screw rod 502 by a thread. The crossbeam 410 is a hollow structure. The balancing shaft 505 can slide through the crossbeam 410. The balancing shaft 505 is fixedly connected to the connecting plate 504. A plurality of counterweights 506 are fixedly arranged at each end of the balancing shaft 505. When in use, the balancing motor 501 can drive the balancing screw 502 to rotate, and under the action of the ball screw pair, the axial movement of the balancing shaft 505 can be achieved, and the distance between the counterweights 506 at both ends of the balancing shaft 505 and the above two rotating shafts can be changed, that is, the size of the force arm can be changed to balance the torque existing in the above rotation process, so that the rotation action is more stable. A screw transmission mechanism is set to control the action of the balancing shaft 505, and the self-locking performance of the screw can be used to keep the balancing shaft 505 from moving when the robot crosses, thereby ensuring its balancing effect.

[0043] In specific implementation, the structure of the electric drive telescopic mechanism 300 is as follows: Figure 6As shown, the telescopic rod includes a slide 301 and a slide rail 302, one end of the slide rail 302 is fixedly connected to the center of the top surface of the first rotating disk 610, and the other end of the slide rail 302 is slidably arranged in the slide 301, and the end of the slide 301 away from the slide rail 302 is rotatably sleeved on one end of the crossbeam 410. A gear shaft 305 is rotatably arranged on the slide 301, and a gear a304 and a turbine 306 are fixedly sleeved on the gear shaft 305. A rack 303 is fixedly arranged on one side of the slide rail 302, and the rack 303 is meshed with the gear a304. A driving motor a308 is fixedly installed on the slide 301, and a worm 307 is fixedly connected to the output shaft of the driving motor a308, and the worm 307 is meshed with the turbine 306. The driving motor a308 drives the worm 307 to rotate, drives the gear a304 to rotate through the turbine 306, and further drives the slide rail 302 to slide in the slide groove 301 through the rack 303 to complete the telescopic action. The turbine worm mechanism is set here to achieve telescopic, and its self-locking performance can be effectively used to maintain the stability after telescopic, ensuring the stable operation of the device.

[0044] The structure of the electric drive swing mechanism 400 is as follows: Figure 7 As shown, the end of the slide groove 301 away from the slide rail 302 is fixedly connected with a gear b422, the driving motor b420 is fixedly connected to the crossbeam 410, and the output shaft of the driving motor b420 is fixedly connected with a gear c421, and the gear c421 and the gear b422 are meshed. When the driving motor b420 rotates, it can drive the gear c421 to rotate, and the gear b422 drives the telescopic rod to rotate to complete the above-mentioned swinging process. The gear transmission mechanism is set to complete the swinging, and its accurate and stable transmission characteristics can be used to conveniently control the position of each swing.

[0045] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. An intelligent orthotropic steel bridge deck fatigue cracking detection robot, characterized in that: It comprises a top plate travel detection device (100), a longitudinal rib travel device (200), an electric drive telescopic mechanism (300) and an electric drive swing mechanism (400); The top plate walking detection device (100) and the longitudinal rib walking device (200) both comprise a crawler vehicle, the crawler vehicle comprising a body (601), both sides of the body (601) being connected to walking crawlers (602), and a plurality of electromagnets (603) being arranged at equal intervals on the outer side surfaces of the walking crawlers (602); A first rotating motor (611), a first rotating disk (610) and a transverse movement detection device are arranged on the body (601) of the crawler vehicle of the top plate travel detection device (100); the first rotating disk (610) is rotatably arranged at the center of the top surface of the body (601); the first rotating motor (611) is used to drive the first rotating disk (610) to rotate; The lateral movement detection device comprises a screw a (101), a screw b (102), a dual-output motor (104), a guide rod a (103) and two lateral movement detection mechanisms. The screw a (101) and the screw b (102) are both rotatably arranged on the top surface of the vehicle body (601). The dual-output motor (104) and the guide rod a (103) are both fixedly arranged on the top surface of the vehicle body (601). The screw a (101) and the screw b (102) are coaxially arranged and have opposite thread rotation directions. The two output shafts of the dual-output motor (104) are respectively fixedly connected to one end of the screw a (101) and one end of the screw b (102). The guide rod a (103) is arranged parallel to the screw a (101). The transverse movement detection mechanism comprises a motor a (111), a threaded block (112), a slider (113), a guide rod b (114), a screw rod (115) and a detection bracket (116); the guide rod b (114) and the screw rod (115) are arranged in parallel; two ends of the screw rod (115) are rotatably connected to the threaded block (112) and the slider (113); two ends of the guide rod b (114) are fixedly connected to the threaded block (112) and the slider (113); one end of the detection bracket (116) is processed with a threaded hole and a guide hole; The detection bracket (116) is connected to the screw rod (115) by means of a threaded connection, the guide rod b (114) is slidably arranged in the guide hole, the other end of the detection bracket (116) is rotatably connected to an ultrasonic detector (117), a direction motor (118) is installed on the detection bracket (116), and the direction motor (118) is used to drive the ultrasonic detector (117) to rotate, the motor a (111) is fixedly arranged on the slider (113), and the output shaft of the motor a (111) is fixedly connected to one end of the screw rod (115), The two sliders (113) are slidably mounted on the guide rod a (103), one of the threaded blocks (112) is connected to the screw rod a (101) via a thread, and the other of the threaded blocks (112) is connected to the screw rod b (102) via a thread; A second rotating motor (621) and a second rotating disk (620) are provided on the body (601) of the crawler vehicle of the longitudinal rib walking device (200); the second rotating disk (620) is rotatably arranged at the center of the top surface of the body (601); the second rotating motor (621) is used to drive the second rotating disk (620) to rotate; The electric drive telescopic mechanism (300) comprises a telescopic rod and a drive motor a (308), the drive motor a (308) being capable of controlling the telescopic rod to telescope, the electric drive swing mechanism (400) comprising a crossbeam (410) and a drive motor b (420), one end of the telescopic rod being fixedly connected to the center of the top surface of the first rotating disk (610), the other end of the telescopic rod being rotatably sleeved on one end of the crossbeam (410), the other end of the crossbeam (410) being fixedly mounted on the second rotating disk (620), and the drive motor b (420) being capable of driving the telescopic rod to rotate around the end of the crossbeam (410); The device also comprises a balancing device (500), wherein the balancing device (500) comprises a balancing motor (501), a balancing screw rod (502), a balancing guide rod (503), a connecting plate (504) and a balancing shaft (505), wherein the balancing motor (501) and the balancing guide rod (503) are both fixedly mounted on the second rotating disk (620), the balancing screw rod (502) is rotatably mounted on the second rotating disk (620), an output shaft of the balancing motor (501) is fixedly connected to one end of the balancing screw rod (502), the balancing screw rod (502) and the balancing guide rod (503) are arranged in parallel, one end of the connecting plate (504) is slidably sleeved on the balancing guide rod (503), and the other end of the connecting plate (504) is connected to the balancing screw rod (502) by means of a thread; The crossbeam (410) is a hollow structure, the balancing shaft (505) can slide through the crossbeam (410), the balancing shaft (505) is fixedly connected to the connecting plate (504), and a plurality of counterweights (506) are fixedly arranged at both ends of the balancing shaft (505); The telescopic rod comprises a slide groove (301) and a slide rail (302), one end of the slide rail (302) is fixedly connected to the center of the top surface of the first rotating disk (610), the other end of the slide rail (302) is slidably arranged in the slide groove (301), and one end of the slide groove (301) away from the slide rail (302) is rotatably sleeved on one end of the crossbeam (410); A gear shaft (305) is rotatably provided on the slide groove (301), a gear a (304) and a turbine (306) are fixedly sleeved on the gear shaft (305), a rack (303) is fixedly provided on one side of the slide rail (302), and the rack (303) is meshed with the gear a (304); The drive motor a (308) is fixedly mounted on the slide groove (301), and the output shaft of the drive motor a (308) is fixedly connected to a worm (307), and the worm (307) is meshed with the turbine (306).

2. The intelligent orthotropic steel bridge deck fatigue cracking detection robot according to claim 1 is characterized in that: A gear b (422) is fixedly connected to one end of the slide groove (301) away from the slide rail (302), the drive motor b (420) is fixedly connected to the crossbeam (410), a gear c (421) is fixedly connected to the output shaft of the drive motor b (420), and the gear c (421) is meshed with the gear b (422).

3. The intelligent orthotropic steel bridge deck fatigue cracking detection robot according to claim 1 is characterized in that: A graphics acquisition device (700) is fixedly arranged on both the second rotating disk (620) and the first rotating disk (610), and the graphics acquisition device (700) is used to determine the walking direction of the crawler vehicle.

Images