A bridge bottom inspection operation device

Abstract

The present invention discloses a device for inspecting the bottom surface of a bridge, which includes load-bearing ropes respectively hung at both ends on the outer walls on both sides in the width direction of the bridge to be measured and distributed at the bottom of the bridge to be measured, a plurality of track brackets slidably hoisted on the load-bearing ropes and spliced to form an inspection track, and a plurality of inspection vehicles movably arranged on the inspection track and used for inspecting the bottom surface of the bridge to be measured. Each inspection vehicle is equipped with a detection module. In this way, through the splicing of a plurality of track brackets on the load-bearing ropes, an inspection track is formed at the bottom of the bridge to be measured, and the inspection vehicle equipped with the detection module moves along the inspection track to complete the inspection operation of the bottom surface of the bridge to be measured. Since the number of track brackets hoisted on the load-bearing ropes is uncertain, the actual hoisting number of the track brackets can be flexibly adjusted according to the specific width of the current bridge to be measured, thereby improving the adaptability to bridges of different widths and enabling the inspection operation of the bottom surface of the bridge to be safely and efficiently realized.

Description

Technical Field

[0001] The present invention relates to the technical field of civil engineering, and particularly relates to a detection operation device for the bottom surface of a bridge. Background Art

[0002] Bridge detection and maintenance are core issues related to the national economy, national and people's safety. Regularly implementing comprehensive bridge detection is of great significance for maintaining public traffic safety and normal operation.

[0003] During the long-term operation of a bridge, due to the influence of factors such as water conservancy disasters, collisions, overloads, and fatigue, a series of disease problems such as structural cracks, deformations, damages, erosions, and aging are likely to occur. Therefore, it is necessary to regularly perform detection operations on relevant items of the bridge. Due to the suspended structure characteristics of the bridge, it is relatively easy to perform detection operations on parts such as the bridge surface, both ends of the bridge, and both sides of the bridge. However, the detection operation of the bridge bottom surface 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 surface of the bridge, which shows the importance of the detection operation of the bridge bottom surface.

[0004] To solve the problem of the detection operation of the bridge bottom surface, currently widely used detection methods mainly rely on manual detection, such as simple detection platforms and bridge inspection vehicles. Among them, the traditional method of manually building a detection platform, such as building a climbing ladder, scaffolding, and beam bottom support to approach the bridge for visual inspection of the bridge bottom, has disadvantages such as poor mobility, low operation efficiency, limited scenarios, low quality of detection data, and high safety risks. The widely used bridge inspection vehicle detection operation method, although having advantages such as strong adaptability and convenient operation, has a small detection range and blind spots in the field of vision. Generally, it can only successfully complete the detection operation in the side areas on both sides of the bridge width, and it is difficult to deeply detect the central area of the bridge bottom surface. It is not applicable to wide-span bridges or extra-wide-span bridges with a large width, has a high limitation in the operation environment, and consumes a large number of personnel and high equipment costs, and the quality of detection data is relatively low.

[0005] Therefore, how to safely and efficiently perform the detection operation of the bridge bottom surface and improve the adaptability to bridges of different widths is a technical problem faced by those skilled in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a detection operation device for the bottom surface of a bridge, which can safely and efficiently perform the detection operation of the bridge bottom surface and improve the adaptability to bridges of different widths.

[0007] To solve the above technical problems, the present invention provides a bridge bottom detection operation device, which includes a load-bearing rope with two ends respectively hanging on the outer walls on both sides in the width direction of the bridge to be measured and distributed at the bottom of the bridge to be measured, several track brackets slidably hoisted on the load-bearing rope and spliced to form an inspection track, and several inspection vehicles movably arranged on the inspection track and used for detecting the bottom surface of the bridge to be measured. Each inspection vehicle is equipped with a detection module.

[0008] Preferably, rotating seats and rotating shafts are respectively arranged at both ends of the top surface of each track bracket, and adjacent two track brackets are rotationally connected through the mutually matching rotating seats and rotating shafts.

[0009] Preferably, driving components are arranged on the track brackets at both ends of the load-bearing rope, and driving ropes are connected to the output ends of each driving component. The end of the driving rope is connected to the bottom surface of the remaining track brackets, so as to pull each track bracket to rotate relatively to be arranged in a straight line when the driving component tightens the driving rope.

[0010] Preferably, the inspection track includes several slide rails respectively arranged on each track bracket and extending to both ends along its length direction.

[0011] Preferably, several top load-bearing frames for supporting the load-bearing rope are arranged on the top surface of each track bracket and distributed along the length direction.

[0012] Preferably, several bottom load-bearing frames for supporting the driving rope are arranged on the bottom surface of each track bracket and distributed along the length direction.

[0013] Preferably, the driving component includes a driving motor installed in the track bracket, a winch connected to the output shaft of the driving motor and used for winding the driving rope, and the head end of the driving rope is connected to the circumferential surface of the winch.

[0014] Preferably, a power-off brake for locking the output shaft of the driving motor when power is off and releasing it when power is on is arranged on the output shaft of the driving motor, and a speed reducer is connected between the output shaft of the driving motor and the rotating shaft of the winch.

[0015] Preferably, the driving component further includes a lead screw synchronously rotating with the rotating shaft of the winch, a transmission nut axially movably sleeved on the lead screw, and a roller pair rotatably arranged horizontally on the transmission nut. The driving rope is clamped between the roller pair, and the feeding speed of the transmission nut is consistent with the axial winding speed of the driving rope on the winch.

[0016] Preferably, the driving assembly further includes a guiding column disposed on the outer shell of the driving motor and parallel to the axial direction of the lead screw, and a guiding block slidably sleeved on the guiding column, and the transmission nut is connected to the guiding block.

[0017] Preferably, the inspection vehicle includes a vehicle frame, driving wheels disposed at the bottom of the vehicle frame and rolling in cooperation with the surface of the inspection track, and a motion motor disposed at the bottom of the vehicle frame and used to drive the driving wheels to roll, and the detection module is disposed on the surface of the vehicle frame.

[0018] Preferably, the inspection vehicle further includes swing rods connected to both sides of the vehicle frame and extending below the inspection track, and driven wheels disposed at the ends of the swing rods and rolling in cooperation with the bottom surface of the inspection track.

[0019] Preferably, the head end of the swing rod is rotatably connected to the vehicle frame, and a pre-tightening spring for pressing the driven wheel against the bottom surface of the inspection track by elastic force is connected between the rod body of the swing rod and the vehicle frame.

[0020] Preferably, the inspection vehicle further includes a wire management mechanism disposed on the vehicle frame and used for synchronously winding and unwinding the power supply cable for supplying power to the whole vehicle when the vehicle frame moves.

[0021] Preferably, the detection module includes a mounting rod disposed on the vehicle frame and extending along the length direction of the bridge to be measured, and a plurality of detection sensors slidably sleeved on the mounting rod and used for detecting the bottom surface of the bridge to be measured.

[0022] Preferably, the overlapping coverage rate of the detection areas of two adjacent detection sensors is 15% - 30%.

[0023] The bridge bottom detection operation device provided by the present invention mainly includes a load-bearing rope, a track support, an inspection track, an inspection vehicle, and a detection module. Among them, both ends of the load-bearing rope are respectively hung on the outer walls on both sides in the width direction of the bridge to be measured, and the main part of the load-bearing rope is distributed at the bottom of the bridge to be measured. Generally, through appropriate length design, it is kept in a straight state and maintains a preset distance from the bottom surface of the bridge to be measured. The track supports are hoisted on the load-bearing rope. Generally, multiple track supports are hoisted at the same time, and each track support can slide independently on the load-bearing rope, and two adjacent track supports can be spliced together to form a continuous inspection track. The inspection vehicle is arranged above each track support and is mainly used to cooperate with the spliced inspection track to slide, so as to reciprocate along the extension direction of the inspection track. At the same time, the inspection vehicle is equipped with a detection module, which can perform detection operations on the bottom surface of the bridge to be measured during the process of the inspection vehicle sliding along the inspection track, so as to gradually complete the detection operation of the entire width range of the bottom surface of the bridge to be measured. In this way, for the bridge bottom detection operation device provided by the present invention, the load-bearing rope is hung at the bottom of the bridge to be measured, and through the splicing of several modular track supports hoisted on the load-bearing rope, an inspection track is formed at the bottom of the bridge to be measured. Finally, the inspection vehicle equipped with a detection module moves along the inspection track to complete the detection operation of the bottom surface of the bridge to be measured. Compared with the prior art, since the number of track supports hoisted on the load-bearing rope is uncertain, the actual number of hoisted track supports can be flexibly adjusted according to the specific width of the current bridge to be measured, thereby improving the adaptability to bridges of different widths, and there is no need for manual intervention in the detection operation process, and the detection operation of the bridge bottom can be safely and efficiently realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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 required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0025] Figure 1 It is a schematic diagram of the overall structure of a specific embodiment provided by the present invention.

[0026] Figure 2 For Figure 1 partial structure schematic diagram.

[0027] Figure 3 It is a schematic diagram of the splicing structure of three track supports.

[0028] Figure 4 It is a schematic diagram of the specific structure of the bottom bearing frame.

[0029] Figure 5It is a specific structural schematic diagram of the driving component.

[0030] Figure 6 It is an assembly structural schematic diagram of the inspection vehicle and the detection module.

[0031] Figure 7 It is a specific structural schematic diagram of the inspection vehicle.

[0032] Figure 8 It is a specific structural schematic diagram of the wire management mechanism.

[0033] Figure 9 It is a specific structural schematic diagram of the detection module.

[0034] Among them, Figure 1 — Figure 9 In:

[0035] Load-bearing rope - 1, track support - 2, inspection track - 3, inspection vehicle - 4, detection module - 5, driving component - 6, driving rope - 7;

[0036] Rotating seat - 21, rotating shaft - 22, top bearing frame - 23, bottom bearing frame - 24;

[0037] Slide rail - 31;

[0038] Vehicle frame - 41, driving wheel - 42, motion motor - 43, swing rod - 44, driven wheel - 45, pre-tightening spring - 46, wire management mechanism - 47;

[0039] Mounting rod - 51, detection sensor - 52;

[0040] Driving motor - 61, winch - 62, power-off brake - 63, reducer - 64, lead screw - 65, transmission nut - 66, roller pair - 67, guide post - 68, guide block - 69;

[0041] Guide frame - 241, idler wheel frame - 242, driving frame - 243, wire winding motor - 471, wire winding roller shaft - 472, electric slip ring - 473, synchronous belt assembly - 474, wire winding lead screw - 475, wire winding transmission nut - 476, wire winding roller pair - 477. Specific implementation manners

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to Figure 1 、 Figure 2, Figure 1 is a schematic diagram of the overall structure of a specific embodiment provided by the present invention, Figure 2 and Figure 1 is a schematic diagram of the partial structure of

[0044] In a specific embodiment provided by the present invention, the bridge bottom surface 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.

[0045] Among them, both ends of the load-bearing rope 1 are respectively hung on the outer walls on both sides in the width direction of the bridge to be measured, and the main part of the load-bearing rope 1 is distributed at the bottom of the bridge to be measured. Generally, it is kept in a straightened state through appropriate length design and maintains a preset distance from the bottom surface of the bridge to be measured.

[0046] The track support 2 is hoisted on the load-bearing rope 1. Generally, multiple track supports 2 are hoisted at the same time, such as 3, 4 or more. Each track support 2 can independently slide on the load-bearing rope 1, and two adjacent track supports 2 can be spliced together to form a continuous inspection track 3.

[0047] The inspection vehicle 4 is arranged above each track support 2 and is mainly used to cooperate with the spliced inspection track 3 to slide, so as to reciprocally slide along the extending direction of the inspection track 3. At the same time, the inspection vehicle 4 is equipped with a detection module 5, which can perform detection operations on the bottom surface of the bridge to be measured during the process of the inspection vehicle 4 sliding along the inspection track 3, so as to gradually complete the detection operation of the full width range of the bottom surface of the bridge to be measured.

[0048] In this way, for the bridge bottom surface detection operation device provided in this embodiment, the load-bearing rope 1 is hung at the bottom of the bridge to be measured. Through the splicing of several modular track supports 2 hoisted on the load-bearing rope 1, an inspection track 3 is formed at the bottom of the bridge to be measured. Finally, the inspection vehicle 4 equipped with the detection module 5 moves along the inspection track 3 to complete the detection operation on the bottom surface of the bridge to be measured.

[0049] Compared with the prior art, since the number of track supports 2 hoisted on the load-bearing rope 1 is not fixed, the actual hoisting number of the track supports 2 can be flexibly adjusted according to the specific width of the current bridge to be measured, thereby improving the adaptability to bridges of different widths, and there is no need for manual intervention in the detection operation process, and the detection operation on the bottom surface of the bridge can be safely and efficiently realized.

[0050] In a preferred embodiment of the load-bearing rope 1, both 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 tested, so that by controlling the length scaling of the load-bearing rope 1, the whole load-bearing rope 1 can be tightened and straightened to form a concave shape. At the same time, through the simultaneous movement of both ends of the load-bearing rope 1 along the length direction of the bridge surface by the cranes on both sides of the bridge deck, the inspection vehicle 4 can be synchronously driven to gradually complete the inspection operation of the full length range of the bridge to be tested.

[0051] Generally, the distribution direction of the load-bearing rope 1 is perpendicular to the length direction of the bridge to be tested. Of course, if necessary, the distribution direction of the load-bearing rope 1 can also be appropriately inclined.

[0052] Furthermore, to improve the hoisting stability of the load-bearing rope 1, in this embodiment, two or more load-bearing ropes 1 are simultaneously hung on the crane, and each load-bearing rope 1 is arranged side by side, and each track bracket 2 is simultaneously hoisted on each load-bearing rope 1. Correspondingly, to facilitate the formation of a stable hoisting connection with the load-bearing rope 1, a plurality of top bearing frames 23 are arranged on the top surface of each track bracket 2 in this embodiment. Specifically, each top bearing frame is evenly distributed along the length direction on each track bracket 2. Generally, two top bearing frames 23 are simultaneously distributed on one track bracket 2. A pulley can be arranged at the top end of the bearing frame so that the load-bearing rope 1 passes through the bottom of the pulley, so that the pulley is pressed against the load-bearing rope 1 under the action of gravity, and then the pulley can slide relative to the load-bearing rope 1 to realize the sliding movement of each track bracket 2.

[0053] In a preferred embodiment of the inspection track 3, the inspection track 3 specifically includes a plurality of slide rails 31. Specifically, each slide rail 31 is respectively arranged on each track bracket 2, such as at positions such as the top surface or the front and rear side surfaces of the track bracket 2. At the same time, each slide rail 31 is along the length direction of the track bracket 2, and the lengths of each slide rail 31 are equivalent and are the same as the length of the track bracket 2. Thus, when each track bracket 2 is spliced, each slide rail 31 is also spliced into a complete inspection track 3 synchronously. Generally, the cross-sectional shape of the slide rail 31 can be circular or rectangular, etc., and a plurality of slide rails 31 can be simultaneously distributed on the top surface of the track bracket 2, such as 2, etc. In this way, two parallel inspection tracks 3 can be simultaneously formed on the track bracket 2 to facilitate the stable operation of the inspection vehicle 4.

[0054] As Figure 3 shown, Figure 3 It is a schematic diagram of the splicing structure of three track brackets 2.

[0055] In a preferred embodiment of the track support 2, each track support 2 is generally in the shape of a cuboid truss structure, mainly composed of long rods, short rods and diagonal rods. Among them, the long rods are distributed along the length direction of the load-bearing rope 1, and generally 4 long rods are distributed at the same time, forming the four long edges of the cuboid. The short rods are vertically connected between the ends of two adjacent long rods to form 8 short edges of the cuboid. Moreover, short rods are also arranged in the middle area of the long rods. Generally, short rods are arranged on the four side faces of the track support 2, and two groups are arranged along the length direction at the same time, so as to divide the track support 2 into three small cuboid structures. The diagonal rods are connected between the side face diagonals of each small cuboid structure to enhance 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.

[0056] In addition, the lengths of the long rods in each track support 2 can be different. With such a setting, 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.

[0057] Furthermore, to facilitate the splicing and folding of each track support 2, in this embodiment, adjacent track supports 2 are rotatably connected. Specifically, a rotating seat 21 is arranged at one end position in the length direction of the top surface of each track support 2, and a rotating shaft 22 is arranged at the other end position at the same time. The rotating seat 21 can be connected to the rotating shaft 22 on the adjacent track support 2 to form a rotating pair. With such a setting, each track support 2 is rotatably connected to each other, so that it can be deformed flexibly according to the operation needs to adjust the included angle between two adjacent track supports 2, and further realize the deformation of the splicing structure of the entire track support 2. Generally, the rotating seat 21 can specifically adopt a concave hinge frame, and the rotating shaft 22 can specifically adopt a convex hinge frame and other structures.

[0058] As described above, since the respective track brackets 2 are rotatably connected to each other, there may be a certain angle between two adjacent track brackets 2 under the action of environmental factors such as gravity, resulting in non-uniform horizontal distribution of the respective track brackets 2, and further causing the respective slide rails 31 to be unable to be spliced end to end to form a horizontal and continuous inspection track 3, which is not conducive to the stable operation of the inspection vehicle 4. In view of this, in this embodiment, drive assemblies 6 are provided on the track brackets 2 at both ends of the load-bearing rope 1, and drive ropes 7 are connected to the output ends of the respective drive assemblies 6. The drive ropes 7 are sequentially connected to the bottom surfaces of the respective track brackets 2, so as to connect the respective track brackets 2 into a whole simultaneously from both sides in the length direction. With such an arrangement, when the drive assembly 6 operates, the output torque is transmitted to the drive rope 7, thereby straightening and tensioning the drive rope 7, and further transmitting the torque to the respective track brackets 2 through the drive rope 7, so that except for the track brackets 2 at both ends of the load-bearing rope 1, the respective track brackets 2 in the middle region are all subjected to the pulling action from the drive rope 7 downward and on both sides in the length direction, causing the respective track brackets 2 to rotate accordingly, and finally pulling the respective track brackets 2 until they are all in a horizontal state and form a linear arrangement.

[0059] Generally, two drive ropes 7 distributed side by side are simultaneously connected to the output end of the drive assembly 6 to be connected to both sides of the bottom surface of the respective track brackets 2 at the same time.

[0060] As Figure 4 shown, Figure 4 is a schematic structural diagram of the bottom carrier 24.

[0061] To facilitate the connection between the driving rope 7 and the bottom surface of the track bracket 2, a bottom bearing frame 24 is provided on the bottom surface of each track bracket 2 in this embodiment. Specifically, the bottom bearing frame 24 mainly includes three parts, namely, a guiding frame 241, an idle wheel frame 242, and a driving frame 243. Among them, the guiding frame 241 is generally only provided on the track brackets 2 at both ends of the load-bearing rope 1. A pulley is provided on the guiding frame 241, which is mainly used to change the orientation of the driving rope 7 after it extends from the output end of the driving assembly 6, so that the driving rope 7 extends and distributes along the bottom surface of each track bracket 2. The idle wheel frame 242 is simultaneously provided in the central area of the bottom surface of each track bracket 2. A pulley is provided on the idle wheel frame 242, which generally corresponds to the installation position of each top bearing frame 23, and is mainly used to support the driving rope 7 to prevent the driving rope 7 from sagging and forming an arc due to its own weight. The driving frame 243 is provided at the end positions in the length direction of each track bracket 2. A plurality of pulleys are provided on the driving frame 243, which are mainly used to connect to the end of the driving rope 7, so that the end of the driving rope 7 can be wound multiple times, thereby conveniently and stably transmitting torque and pulling the track bracket 2 to rotate. With such a setting, through the multi-stage support of the driving rope 7 by the guiding frame 241, the idle wheel frame 242, and the driving frame 243, the ultra-long structure construction and splicing of multiple track brackets 2 can be conveniently and stably realized.

[0062] As Figure 5 shown, Figure 5 FIG. is a schematic structural diagram of the driving assembly 6.

[0063] In a preferred embodiment of the driving assembly 6, the driving assembly 6 mainly includes a driving motor 61 and a winch 62. Among them, the driving motor 61 is installed in the track brackets 2 at both ends of the load-bearing rope 1. Generally, an additional mounting frame can be added outside the two ends of the two track brackets 2 for installing the driving motor 61. The winch 62 is also arranged in the mounting frame, and the rotating shaft of the winch 62 is connected to the output shaft of the driving motor 61 and can rotate under the drive of the output shaft of the driving motor 61. The winch 62 is mainly used for winding the driving rope 7 to relax or lengthen the driving rope 7 or to tighten or shorten the available length of the driving rope 7, and the head end of the driving rope 7 is specifically connected to the circumferential surface of the winch 62 to wind circumferentially synchronously when the winch 62 rotates. With such a setting, by driving the winch 62 to rotate forward and backward by the driving motor 61, the pay-out or take-up movement of the driving rope 7 can be realized. Furthermore, when taking up the line, the driving rope 7 can be tightened and the torque can be transmitted to the corresponding track bracket 2, or when paying out the line, the driving rope 7 can be relaxed and each track bracket 2 can be adjusted slidably.

[0064] Considering that after each track bracket 2 slides into place relative to each other and forms a head-to-tail connection, when the drive rope 7 is already taut, the drive motor 61 no longer needs to output torque power. However, at this time, it is necessary to maintain the continuous taut state of the drive rope 7 to prevent accidental slack from causing work accidents. Therefore, a power-off brake 63 is added in this embodiment. Specifically, the power-off brake 63 is arranged on the output shaft of the drive motor 61 and is mainly used to lock the output shaft of the drive motor 61 when power is lost and to relax the output shaft of the drive motor 61 when power is restored. With this arrangement, when the drive rope 7 is taut, the drive motor 61 stops running and loses power. At this time, the output shaft of the drive motor 61 is locked by the power-off brake 63 to prevent the winch 62 from rotating, thereby keeping the drive rope 7 in the current taut state. When the drive motor 61 starts running, the power-off brake 63 relaxes the output shaft of the drive motor 61 to allow normal operation.

[0065] Furthermore, to improve the torque output and reduce the speed output of the drive motor 61, a speed reducer 64 is also connected between the output shaft of the drive motor 61 and the rotating shaft of the winch 62 in this embodiment. Specifically, the speed reducer 64 can be a harmonic speed reducer 64 or an RV speed reducer 64, etc.

[0066] Even further, considering that when the drive motor 61 is running, the winch 62 rotates rapidly, and the drive rope 7 winds or unwinds rapidly on the winch 62. To avoid situations such as overlap, friction, and interference of the drive rope 7 during winding on the winch 62 that impede movement, a rope arranging mechanism is added in this embodiment.

[0067] Specifically, the rope arranging mechanism mainly includes a lead screw 65, a nut, and a roller pair 67. Among them, the lead screw 65 is arranged in the mounting frame, and its distribution direction is parallel to the output shaft of the driving motor 61. Moreover, it is connected to the rotating shaft of the winch 62 through a belt transmission mechanism and rotates synchronously with the winch 62. The transmission nut 66 is sleeved on the lead screw 65, forming a screw drive with the lead screw 65, and can convert the rotational motion of the lead screw 65 into its own linear motion along the axial direction. The roller pair 67 is arranged on the surface of the transmission nut 66 and includes two rollers that can rotate synchronously in opposite directions. It is mainly used to clamp the driving rope 7 between the two rollers, so that the driving rope 7 can be led out or taken in from the middle of the roller pair 67 in the way of rolling friction transmission. And, the feeding speed of the transmission nut 66 on the lead screw 65 is consistent with the axial winding speed of the driving rope 7 on the winch 62. With such a setting, through the clamping of the driving rope 7 by the roller pair 67, when the winch 62 rotates, the driving rope 7 is equivalent to performing an axial feeding motion on the winch 62, and the feeding speed of this feeding motion is the same as the feeding speeds of the roller pair 67 and the transmission nut 66 on the lead screw 65. Therefore, the pay-off end or the take-up section of the driving rope 7 clamped in the roller pair 67 is always synchronized with the winding part of the driving rope 7 on the winch 62, thus ensuring that the driving rope 7 can be evenly wound and arranged one by one on the circumferential surface of the winch 62 and avoiding overlapping situations.

[0068] Moreover, to ensure the accuracy and stability of the linear motion of the transmission nut 66 and the roller pair 67, a guide post 68 and a guide block 69 are additionally provided in this embodiment. Among them, the guide post 68 is arranged on the outer shell of the driving motor 61 or installed in the mounting frame and is distributed parallel to the lead screw 65. Generally, the guide post 68 can specifically adopt components such as linear bearings. The guide block 69 is sleeved on the guide post 68 and can slide along its axial direction on the guide post 68. At the same time, the bottom surface of the transmission nut 66 is connected to the guide block 69 through components such as connecting rods, thus connecting the two as a whole. With such a setting, when the transmission nut 66 and the roller pair 67 perform axial movement on the lead screw 65, they can be guided simultaneously through the axial movement of the guide block 69 on the guide post 68.

[0069] In addition, to facilitate the precise control of the pay-off and take-up lengths of the driving rope 7, an encoder is also provided at the end of the lead screw 65 in this embodiment to detect and record the pay-off and take-up lengths of the driving rope 7 by detecting the rotation angle of the lead screw 65. At the same time, the encoder is also signal-connected to the controller of the driving motor 61 to send the detected data to the controller, so that the controller can adjust the working conditions such as the rotation speed and torque of the driving motor 61.

[0070] As Figure 6 shown, Figure 6 it is a schematic assembly structure diagram of the inspection vehicle 4 and the detection module 5.

[0071] In a preferred embodiment of the inspection vehicle 4, considering that the width of the bridge to be inspected is generally large, in order to improve the inspection operation efficiency, multiple inspection vehicles 4 are enabled simultaneously in this embodiment, such as two or more. Each inspection vehicle 4 shares an inspection track 3 and conducts inspection operations in different areas of the inspection track 3 at the same time.

[0072] The inspection vehicle 4 mainly includes a vehicle frame 41, driving wheels 42 and a motion motor 43. Among them, the vehicle frame 41 is the main structure of the inspection vehicle 4 and is mainly used for installing and carrying the remaining components. The driving wheels 42 are arranged at the bottom of the vehicle frame 41 and are mainly used for rolling in cooperation with the surface of the inspection track 3 to achieve movement on the inspection track 3 through rolling friction. The motion motor 43 is arranged in the bottom area of the vehicle frame 41, and its output shaft is connected to the rotating shaft of the driving wheel 42, and is mainly used for driving the driving wheel 42 to rotate, and then achieving rolling on the surface of the inspection track 3.

[0073] As Figure 7 shown, Figure 7 it is a schematic structural diagram of the inspection vehicle 4.

[0074] Furthermore, in order to improve the movement stability of the inspection vehicle 4 on the inspection track 3 and prevent the inspection vehicle 4 from derailing or falling off the inspection track 3 during the operation, a swing rod 44 and a driven wheel 45 are added in this embodiment. Among them, generally two swing rods 44 are provided, and one end of each of the two swing rods 44 is respectively connected to the left and right sides of the vehicle frame 41, and at the same time, both swing rods 44 extend obliquely downward to the bottom of the inspection track 3. The driven wheel 45 is arranged at the end of the two swing rods 44 and abuts against the bottom surface of the inspection track 3, and at the same time forms a rolling cooperation. With such a setting, through the upward abutment of the driven wheel 45 against the bottom surface of the inspection track 3 from bottom to top, and the downward abutment of the driving wheel 42 against the surface of the inspection track 3 from top to bottom, the entire vehicle frame 41 clamps the inspection track 3 vertically, thereby effectively preventing the vehicle frame 41 from derailing or falling.

[0075] Even further, in order to improve the pressing degree of the driven wheel 45 against the bottom surface of the inspection track 3, a pre-tightening spring 46 is added in this embodiment. Specifically, one end of the pre-tightening spring 46 is connected to the bottom of the vehicle frame 41, and the other end of the pre-tightening spring 46 is connected to the middle area of the rod body of the swing rod 44. Correspondingly, one end of the swing rod 44 is connected to the top area of the side of the vehicle frame 41 and forms a rotational connection. With such a setting, through the elastic force of the pre-tightening spring 46, an upwardly inclined elastic support can be formed for the swing rod 44, and further strengthen the pressing effect of the driven wheel 45 against the bottom surface of the inspection track 3.

[0076] As Figure 8 shown, Figure 8 it is a schematic structural diagram of the wire management mechanism 47.

[0077] Moreover, considering that the overall power consumption of the inspection vehicle 4 is generally connected and transmitted through a power cable using a power source such as a battery, in order to prevent the power cable from being entangled or bent when the inspection vehicle 4 runs on the inspection track 3, a cable management mechanism 47 is added to the inspection vehicle 4 in this embodiment.

[0078] Specifically, the cable management mechanism 47 mainly includes a winding motor 471, a winding roller shaft 472, an electric slip ring 473, a synchronous belt assembly 474, a winding lead screw 475, a winding transmission nut 476, and a winding roller pair 477. Among them, the winding motor 471 is mainly used to drive the rotation of the winding roller shaft 472, 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 is connected to the head end of the cable. The winding lead screw 475 is distributed in parallel with the winding roller shaft 472 and is connected by a synchronous belt assembly 474, so that the winding lead screw 475 and the winding roller shaft 472 rotate synchronously. The winding transmission nut 476 is arranged on the winding lead screw 475 and realizes axial movement through screw transmission. The winding roller pair 477 is arranged on the winding transmission nut 476 and is mainly used to clamp the cable, so that the cable is led out or wound up from the winding roller pair 477. The specific cable management principle of this cable management mechanism 47 is the same as the cable laying principle of the cable laying mechanism for the driving rope 7 in the aforementioned driving assembly 6 and has the same technical effect, so it will not be elaborated here.

[0079] As Figure 9 shown, Figure 9 It is a schematic structural diagram of the detection module 5.

[0080] In a preferred embodiment of the detection module 5, the detection module 5 mainly includes a mounting rod 51 and a detection sensor 52. Among them, 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 inspected. The detection sensor 52 is arranged on the mounting rod 51 and can adjust its specific mounting position along the length direction of the mounting rod 51, and is mainly used to perform corresponding item detection operations on the bottom surface of the bridge to be inspected. Generally, multiple detection sensors 52 are simultaneously arranged on the mounting rod 51, such as 4 to 8, etc. When the inspection vehicle 4 runs on the inspection track 3 along the width direction of the bridge to be inspected, each detection sensor 52 synchronously sweeps a rectangular area of a certain area on the bottom surface of the bridge to be inspected.

[0081] Furthermore, in order to improve the operation efficiency of multiple detection sensors 52 during simultaneous detection operations and avoid repeated detection of the same area, in this embodiment, the detection areas of two adjacent detection sensors 52 need to ensure a certain overlapping area to avoid missing undetected areas. However, at the same time, the coverage rate of this overlapping area is between 15% and 30% of the detection area of a single detection sensor 52.

[0082] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present 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 present invention. Thus, the present invention is not intended to 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

1. A bridge bottom inspection operation device, characterized in that, It includes a load-bearing rope (1) with both ends suspended on the outer walls on both sides in the width direction of the bridge to be measured and distributed at the bottom of the bridge to be measured, several track brackets (2) slidably hoisted on the load-bearing rope (1) and spliced to form an inspection track (3), and several inspection vehicles (4) movably arranged on the inspection track (3) for inspecting the bottom surface of the bridge to be measured. A detection module (5) is mounted on each of the inspection vehicles (4); At both ends of the top surface of each of the track brackets (2), a rotating seat (21) and a rotating shaft (22) are respectively provided, and two adjacent track brackets (2) are rotatably connected through the mutually matching rotating seat (21) and rotating shaft (22); Drive assemblies (6) are provided on the track brackets (2) at both ends of the load-bearing rope (1), and a drive rope (7) is connected to the output end of each of the drive assemblies (6). The end of the drive rope (7) is connected to the bottom surface of the remaining track brackets (2), so as to pull each of the track brackets (2) to rotate relatively to be arranged in a straight line when the drive assembly (6) tightens the drive rope (7); The inspection track (3) includes several slide rails (31) respectively arranged on each of the track brackets (2) and extending to both ends along its length direction; The drive assembly (6) includes a drive motor (61) installed in the track bracket (2), a winch (62) connected to the output shaft of the drive motor (61) and used 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); A power-off brake (63) for locking the output shaft of the drive motor (61) when power is off and releasing it when power is on is provided on the output shaft of the drive motor (61), and a speed reducer (64) is connected between the output shaft of the drive motor (61) and the rotating shaft of the winch (62); The drive assembly (6) further includes a lead screw (65) synchronously rotating with the rotating shaft of the winch (62), a transmission nut (66) axially movably sleeved on the lead screw (65), and a roller pair (67) rotatably provided horizontally on the transmission nut (66). The drive rope (7) is clamped in the roller pair (67), and the feeding speed of the transmission nut (66) is consistent with the axial winding speed of the drive rope (7) on the winch (62).

2. The bridge bottom detection operation device according to claim 1, wherein Several top load-bearing frames (23) distributed along the length direction are provided on the top surface of each of the track brackets (2) for supporting the load-bearing rope (1).

3. The bridge bottom detection operation device according to claim 1, characterized in that, Several bottom load-bearing frames (24) distributed along the length direction are provided on the bottom surface of each of the track brackets (2) for supporting the drive rope (7).

4. The bridge bottom detection operation device according to claim 1, characterized in that The drive assembly (6) further includes a guide post (68) provided on the outer shell of the drive motor (61) and parallel to the axial direction of the lead screw (65), and a guide block (69) slidably sleeved on the guide post (68). The transmission nut (66) is connected to the guide block (69).

5. The bridge bottom surface detection operation device according to any one of claims 1-4, characterized in that The inspection vehicle (4) includes a vehicle frame (41), driving wheels (42) arranged at the bottom of the vehicle frame (41) and rolling in cooperation with the surface of the inspection track (3), and a motion motor (43) arranged at the bottom of the vehicle frame (41) and used to drive the driving wheels (42) to roll. The detection module (5) is arranged on the surface of the vehicle frame (41).

6. The bridge bottom inspection operation device according to claim 5, characterized in that, The inspection vehicle (4) further includes swing rods (44) connected to both sides of the vehicle frame (41) and extending below the inspection track (3), and driven wheels (45) arranged at the ends of the swing rods (44) and rolling in cooperation with the bottom surface of the inspection track (3).

7. The bridge bottom surface detection operation device according to claim 6, wherein The head end of the swing rod (44) is rotatably connected to the vehicle frame (41), and a pre-tightening spring (46) is connected between the rod body of the swing rod (44) and the vehicle frame (41) for pressing the driven wheel (45) against the bottom surface of the inspection track (3) through elastic force.

8. The bridge bottom inspection operation device according to claim 7, characterized in that The inspection vehicle (4) further includes a wire management mechanism (47) arranged on the vehicle frame (41) and used for synchronously winding and unwinding the power supply tow cable for supplying power to the whole vehicle when the vehicle frame (41) moves.

9. The bridge bottom inspection operation device according to claim 5, characterized in that The detection module (5) includes a mounting rod (51) arranged on the vehicle frame (41) and extending along the length direction of the bridge to be measured, and a plurality of detection sensors (52) slidably sleeved on the mounting rod (51) and used for detecting the bottom surface of the bridge to be measured.

10. The bridge bottom inspection operation device according to claim 9, characterized in that, The overlapping coverage rate of the detection areas of two adjacent detection sensors (52) is 15% - 30%.

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