A track and equipment for bridge beam detection

Abstract

The present application discloses an orbit and a device for bridge beam detection. The orbit includes: an orbit unit and a joint rotation restraint mechanism, and the orbit can support a detection machine to move along the orbit; the orbit unit includes an upper edge and a lower edge, and the length of the upper edge is greater than the length of the lower edge; the orbit units are arranged side by side, and the upper edges of adjacent orbit units are hinged to each other; a set of joint rotation restraint mechanisms are arranged between adjacent orbit units; when the orbit is in a curled state, the joint rotation restraint mechanism is in a retracted state; when the orbit is in a straight state, the joint rotation restraint mechanism is in an extended state to restrain the limit position where the lower edges of adjacent orbit units move away from each other. The device includes: a first suspension rope, a second suspension rope, a rope winding and unwinding part and an orbit. Another device includes: a first moving operation member, a second moving operation member, a first hoisting member, a second hoisting member, a traction rope and an orbit. The embodiments of the present application have relatively low labor costs and high detection efficiency.

Description

Technical Field

[0001] This application relates to the field of bridge inspection, and particularly to a track and equipment for bridge girder inspection. Background Art

[0002] To avoid safety accidents, it is necessary to regularly inspect the bottom surface of bridges that are long-term exposed to harsh natural environments.

[0003] Currently, the inspection of the bridge bottom surface is divided into manual inspection and machine inspection. Manual inspection has low efficiency, high costs, and high risks of personnel casualties. Machine inspection can improve efficiency, reduce costs, and reduce the risks of personnel casualties.

[0004] Machine inspection can be divided into two types. The first is that an unmanned aerial vehicle (UAV) is equipped with a computer vision system to take photos of the bridge bottom surface. The second is to first build a track on the bridge bottom surface for a trolley to travel, and then the trolley is equipped with a computer vision system to take photos of the bridge bottom surface. The disadvantage of the first method is that when the UAV flies under the bridge, the bridge body will block the GPS signal, making it difficult for the UAV to be positioned. While the second method does not require a GPS signal and has great advantages in terms of inspection efficiency, inspection cost, safety, etc., thus becoming a promising direction.

[0005] The track built under the bridge can be a cantilever track and a two-point suspension track. The cantilever track has limited load-bearing capacity and it is difficult to reach the middle position of a bridge with a large width. The two-point suspension track can cover all positions of a bridge with a large width, and under the same width condition, the two-point suspension track has a stronger load-bearing capacity than the cantilever track.

[0006] Regarding the problem of how to build a two-point suspension track under the bridge, the existing technical solution is: build a rigid hanging basket on the ground under the bridge, and pull the hanging basket by ropes vertically placed on both sides in the bridge width direction until it is at an appropriate distance from the bridge bottom surface, and then the inspection personnel or inspection equipment perform inspections on the bridge bottom surface based on the hanging basket. This solution has a complex operation process and high labor costs. Especially in complex terrain and landform conditions, the inspection efficiency is low. In addition, for the situation where there is water under the bridge, it is even more difficult to build a hanging basket. Summary of the Invention

[0007] In order to overcome the defect of the complex operation process of building a rigid hanging basket in the prior art, the embodiments of this application provide a retractable track and equipment for bridge girder inspection.

[0008] The track for bridge girder inspection provided by the embodiments of this application includes: N track units and M sets of joint rotation constraint mechanisms, where N is greater than or equal to 2 and M is equal to N minus 1; the track can support the inspection machine to move along the track.

[0009] The track unit includes an upper edge and a lower edge, wherein the length of the upper edge is greater than that of the lower edge in the extending direction of the track; the track units are arranged side by side, and the upper edges of adjacent track units are hinged to each other; a set of the joint rotation constraint mechanisms are arranged between adjacent track units; when the track is in a curled state, the joint rotation constraint mechanisms are in a retracted state; when the track is in a straightened state, the joint rotation constraint mechanisms are in an extended state to constrain the limit position where the lower edges of adjacent track units move away from each other.

[0010] The track is composed of a plurality of track units arranged side by side. The length of the upper edge is greater than that of the lower edge, so that the track can be wound up, which is convenient for transportation, eliminates the need to build a rigid hanging basket on site, simplifies the operation process, has a lower labor cost, and a higher detection efficiency; the joint rotation constraint mechanisms constrain the limit position where the lower edges of adjacent track units move away from each other, and at the same time constrain the rotation angle of the upper edge, so that the angle formed by the upper edges of adjacent track units does not exceed 180 degrees, and the angle formed by the upper edges of adjacent track units remains 180 degrees when the track is in a straightened state; the inspection machine moves on the straightened track to realize the automatic inspection of the bridge girder and the intelligent inspection of the bridge.

[0011] In a specific implementation manner, the track unit includes a truss structure, a casting structure or a forging structure. When the track unit adopts a truss structure, the structure is firm and light, and it can be built on the inspection site; when adopting a casting structure, the structure is stable, the processing is simple, and the cost is low; when using a forging structure, the rigidity is high and the product is stable.

[0012] In a specific implementation manner, a track body is arranged on the upper edge. When the track is in a straightened state, each of the track bodies is connected into a continuous track. The continuous track can more conveniently enable the inspection machine to move on the track, improving the efficiency and stability of the inspection.

[0013] In a specific implementation manner, along the extending direction of the track, the lengths of the upper edges of the track units arranged in sequence are the same or increase in sequence. When the length of the upper edge increases, the track can be wound up into a spiral shape; when the lengths of the upper edges are the same, the track can be wound up into a regular polygon.

[0014] In a specific implementation manner, the joint rotation constraint mechanism includes a flexible member with a preset length. The two ends of the flexible member are respectively connected to adjacent track units; the flexible member is tensile in the extending direction of the track, and the preset length satisfies that the flexible member is in a stretched state when the track is in a straightened state. The flexible member has high flexibility and is convenient to install.

[0015] In a specific implementation manner, the flexible member includes a rope, a chain or a belt. The above materials are cheap and easy to obtain.

[0016] In a specific implementation manner, the joint rotation constraint mechanism further includes a winch for winding up the flexible member in the retracted state. The use of a winch can wind up flexible members such as ropes, chains, or belts, preventing the flexible member from getting entangled due to natural relaxation when the track is in a curled state.

[0017] In a specific implementation manner, the joint rotation constraint mechanism includes a rigid component that can be bent in a direction at a certain angle to the extension direction of the track. When the track is wound up, the rigid component bends; when the track is straightened, the rigid component straightens or enters a locked state, so that the distance of the lower edge of the track remains unchanged.

[0018] In a specific implementation manner, the joint rotation constraint mechanism includes a two-link mechanism; the two-link mechanism includes two links connected by hinges, and the ends of the two links away from each other are respectively hinged to adjacent track units through hinges. The structure of the two-link mechanism is simple and has good stability.

[0019] In a specific implementation manner, a directional constraint device is installed on the hinge, the link, or the track unit, so that the rotation direction of the link is consistent with the winding direction of the track, and the angle between the two links is less than or equal to 180 degrees. The bending direction of the link is the same as the upper edge, saving space and avoiding interference between the link and other track units.

[0020] In a specific implementation manner, the joint rotation constraint mechanism includes a rigid component that can be telescoped in the extension direction of the track. When the track is wound up, the rigid component contracts; when the track is straightened, the rigid component extends and locks, so that the distance between the lower edges remains unchanged.

[0021] In a specific implementation manner, the joint rotation constraint mechanism includes a telescopic sleeve rod mechanism, and the two ends of the telescopic sleeve rod mechanism are respectively hinged to adjacent track units. Using a single telescopic sleeve rod mechanism, the structure is simple and the cost is low.

[0022] A device for detecting a bridge beam body includes: a first suspension rope, a second suspension rope, a rope winding and unwinding part, and the track for detecting the bridge beam body; the rope winding and unwinding part is arranged on the bridge, and the rope winding and unwinding part is respectively connected to both ends of the track through the first suspension rope and the second suspension rope.

[0023] In addition to the advantages of the above-mentioned track, this application also has the following advantages: it can quickly suspend the track to the position required for detection, with high installation efficiency; it can be built over water; it can adjust the distance between the track and the bridge beam body, and thus realize the detection of the bridge beam body at different distances by the detection machine. This solution has simple equipment and low cost.

[0024] A device for detecting bridge girders, comprising: a first moving operation member, a second moving operation member, a first hoisting member, a second hoisting member, a traction rope, and the track for detecting bridge girders; the first moving operation member and the second moving operation member are arranged on the bridge; the first hoisting member is installed at one end of the first moving operation member away from the bridge, and the second hoisting member is installed at one end of the second moving operation member away from the bridge;

[0025] One end of the track is hinged or fixedly connected to the first hoisting member, the other end of the track is connected to one end of the traction rope, and the other end of the traction rope is connected to the second hoisting member; the moving operation member is used to adjust the position of the hoisting member and move along the length direction of the bridge.

[0026] In addition to the advantages of the above track, this application also has the following advantages: the moving operation member can flexibly adjust the positions of the hoisting member and the track, adapting to different installation positions and orientations; the first hoisting member is used to wind up the track, and the second hoisting member is used to wind up the traction rope. One end of the track is installed on the first hoisting member, and the other end is pulled by the traction rope, and the installation process is stable and controllable. The moving operation member drives the track to move along the bridge to achieve large-scale detection.

[0027] It can be seen from the above technical solutions that the embodiments of this application have the following advantages:

[0028] The track is composed of a plurality of track units arranged side by side, the length of the upper edge is greater than that of the lower edge, so that the track can be wound up, which is convenient for transportation, eliminates the need to build a rigid hanging basket on site, has a simple operation process, low labor cost, and high detection efficiency; the joint rotation constraint mechanism restricts the limit position where the lower edges of adjacent track units move away from each other, and at the same time restricts the rotation angle of the upper edge, so that the angle formed by the upper edges of adjacent track units does not exceed 180 degrees, and the angle formed by the upper edges of adjacent track units remains 180 degrees when the track is in the straight state; the detection machine moves on the track in the straight state to realize the automatic detection of the bridge girder and the intelligent detection of the bridge. Description of the Drawings

[0029] Figure 1 Schematic diagram of the straight state of the track for detecting bridge girders in the embodiment of this application;

[0030] Figure 2 Schematic diagram of the curled state of the track for detecting bridge girders in the embodiment of this application;

[0031] Figure 3 Schematic diagram of the structure of the track unit of the track for detecting bridge girders in the embodiment of this application;

[0032] Figures 4 to 9 Schematic diagram of various connection methods of adjacent track units of the track for detecting bridge girders in the embodiment of this application;

[0033] Figure 10 Schematic diagram of the telescopic sleeve rod structure of the track for bridge girder detection in the embodiment of the present application;

[0034] Figure 11 Cross-sectional view of the telescopic sleeve rod structure of the track for bridge girder detection in the embodiment of the present application;

[0035] Figures 12 to 17 Schematic diagram of various erection and recovery methods of the track for bridge girder detection in the embodiment of the present application.

[0036] 1. Track; 11. Track unit; 1101. Upper edge; 1102. Lower edge; 1103. Track body; 12. Joint rotation constraint mechanism; 1201. Fixed-length rope; 1202. Reel; 1203. First connecting rod; 1204. Second connecting rod; 1205. Directional torque mechanism; 1206. Telescopic sleeve rod mechanism; 1207. Inner connecting rod; 1208. Outer sleeve; 1209. First boss; 1210. Second boss; 21. First suspension rope; 22. Second suspension rope; 23. First moving operating member; 24. First winch; 25. Second moving operating member; 26. Second winch; 27. Traction rope; 3. Girder. Detailed implementation manners

[0037] The terms "first", "second", "third", "fourth", etc. in the specification, claims and above-mentioned drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order different from that shown or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0038] As Figures 1 to 11 shown, the embodiment of the present application provides a track for bridge girder detection, including: N track units 11 and M sets of joint rotation constraint mechanisms 12, where N is greater than or equal to 2 and M is equal to N - 1; the track 1 can support the detection machine to move along the track 1; in a specific implementation manner, N = 10 and M = 9.

[0039] The track unit 11 includes an upper edge 1101 and a lower edge 1102, wherein the length of the upper edge 1101 is greater than that of the lower edge 1102 in the extending direction of the track 1; the track units 11 are arranged side by side, and the upper edges 1101 of adjacent track units 11 are hinged to each other; a set of the joint rotation constraint mechanisms 12 is arranged between adjacent track units 11; when the track 1 is in a curled state, the joint rotation constraint mechanism 12 is in a retracted state; when the track 1 is in a straightened state, the joint rotation constraint mechanism 12 is in an extended state to constrain the limit position where the lower edges 1102 of adjacent track units 11 move away from each other.

[0040] It should be noted that the upper edges 1101 of adjacent track units 11 are connected through a hinge structure, and the lower edges 1102 of adjacent track units 11 can approach and move away from each other to a certain extent under the action of the self-gravity of the track unit 11 and the joint rotation constraint mechanism 12; when the lower edges 1102 of all adjacent track units 11 approach each other to the limit position, several track units 11 arranged side by side are integrally presented in a retracted state; when the lower edges 1102 of all adjacent track units 11 move away from each other to the limit position, several track units 11 arranged side by side are integrally presented in an extended state; the limit positions where the lower edges 1102 of adjacent track units 11 approach each other and move away from each other are determined by the self-structure of the track unit 11 and / or the joint rotation constraint mechanism 12 acting on the track unit 11;

[0041] In a specific implementation manner, the upper edge 1101 and the lower edge 1102 are parallel to each other; a set of the joint rotation constraint mechanisms 12 includes 2 joint rotation constraint mechanisms 12; the upper edges 1101 of adjacent track units 11 are connected through hinge joints, and the lower edges 1102 are connected through the joint rotation constraint mechanisms 12. The joint rotation constraint mechanism 12 is arranged at the connection of adjacent track units 11, one end is connected to the lower edge 1102 of one track unit 11, and the other end is connected to the lower edge 1102 of another track unit 11, and is used to limit the limit position where the lower edges 1102 of adjacent track units 11 move away from each other;

[0042] It should be noted that the outline of the main view of the track unit 11 may not be limited to Figure 2 the isosceles trapezoid shown, and may also be other polygons such as quadrilaterals and triangles set according to actual application requirements. The number of N is not limited to 10, and the number of M is not limited to 9. Several track units 11 arranged side by side are composed of N track units 11, and N can be any integer greater than or equal to 2. A set of the joint rotation constraint mechanisms 12 may include one or more joint rotation constraint mechanisms 12.

[0043] In a specific implementation, the track unit 11 includes a rigid structure such as a truss structure, a casting structure, or a forging structure. It should be noted that the track can be made of metal or polymer materials.

[0044] As Figure 3 and Figure 4 shown, in a specific implementation, a track body 1103 is provided on the upper edge 1101. When the track 1 is in a straight state, each of the track bodies 1103 is connected into a continuous track 1. As Figure 3 shown, the track unit 11 is provided with track bodies 1103 on both sides of the upper edge 1101. The track body 1103 is a cylinder, and in addition, it can also be a long strip-shaped geometric body such as a cuboid or a triangular prism. As Figure 4 shown, when the track 1 is in a straight state, each of the track bodies 1103 is connected into a continuous track 1, and the continuous track 1 can enable the detection machine to move more stably on the track 1. A number of track bodies 1103 are provided on each track unit 11. When the lower edges 1102 of all adjacent track units 11 are far apart to the extreme position, a number of track bodies 1103 provided on the track unit 11 can be spliced into a continuous guide rail for the mobile device to pass through; it should be noted that the track body 1103 can be provided on both sides of the upper edge 1101 or in the middle of the upper edge 1101; the number of track bodies 1103 on one track unit 11 can be two, or one, or more than two; the track body 1103 can also be a groove on the track unit 11.

[0045] In a specific implementation, when the lower edges 1102 of all adjacent track units 11 are close to the extreme position, the track 1 is in a curled state as a whole. When the lower edges 1102 of all adjacent track units 11 are far apart to the extreme position, the track 1 is in a straight state as a whole, and a number of track bodies 1103 provided on the adjacent track units 11 are spliced into a continuous guide rail for the mobile device to pass through.

[0046] In a specific implementation, along the extension direction of the track 1, the lengths of the upper edges 1101 of the track units 11 arranged in sequence are the same or increase in sequence. It should be noted that the length of the track unit 11 is arbitrary.

[0047] The joint rotation constraint mechanism 12 can be implemented in the following several ways:

[0048] One implementation is as Figure 4 and Figure 5As shown, the joint rotation constraint mechanism 12 includes a fixed-length rope 1201. The two ends of the fixed-length rope 1201 are respectively connected to the lower edge 1102 of the connection between adjacent track units 11 through a reel 1202. The reel 1202 winds up the fixed-length rope 1201. When the lower edges 1102 of the connection between adjacent track units 11 move away from each other, the fixed-length rope 1201 will be stretched until the maximum length. When the fixed-length rope 1201 is stretched to the maximum length, the lower edges 1102 of the connection between adjacent track units 11 move away from each other to the limit position. At this time, the track bodies 1103 provided on the adjacent track units 11 are spliced into a continuous guide rail for the mobile device to pass through. When the lower edges 1102 of the connection between adjacent track units 11 move closer to each other until the limit position, the fixed-length rope 1201 will be wound up until the minimum length.

[0049] It should be noted that the reel 1202 can be one or more; it is also possible not to use the reel 1202 for winding. The reel 1202 can be provided on the track unit 11 or on the fixed-length rope 1201.

[0050] It should be noted that the fixed-length rope 1201 can be replaced by a flexible member such as a chain or a belt. In a specific implementation, the joint rotation constraint mechanism 12 includes a flexible member with a preset length. The two ends of the flexible member are respectively connected to adjacent track units 11. The flexible member is tensile in the extending direction of the track 1, and the preset length satisfies that the flexible member is in a stretched state when the track 1 is in a straight state.

[0051] Another implementation is as Figure 6 and Figure 7As shown, the joint rotation constraint mechanism 12 includes a two-link mechanism, which comprises a first link 1203 and a second link 1204. One end of the first link 1203 is connected to one end of the second link 1204 through a hinge structure. The other end of the first link 1203 is connected to the lower edge 1102 of a track unit 11 in an adjacent track unit 11 through a hinge structure. The other end of the second link 1204 is connected to the lower edge 1102 of another track unit 11 in the adjacent track unit 11 through a hinge structure. When the lower edges 1102 at the connection of the adjacent track units 11 move away from each other, the two-link mechanism unfolds until the limit position; when the two-link mechanism unfolds to the limit position, the lower edges 1102 at the connection of the adjacent track units 11 move away from each other to the limit position. At this time, the track bodies 1103 provided in the adjacent track units 11 are spliced into a continuous guide rail for the mobile device to pass through; when the lower edges 1102 at the connection of the adjacent track units 11 approach each other until the limit position, the two-link mechanism folds until another limit position. In a specific implementation manner, a directional constraint device - a directional torsion mechanism 1205 is provided at the hinge joint of the first link 1203 and the second link 1204, so that the two-link mechanism can change from the unfolded state to the folded state in a specified direction; the rotation direction of the link is consistent with the winding direction of the track 1, and the angle between the two links is less than or equal to 180 degrees. The two-link mechanism is a bendable rigid component, and the illustrated bending direction is upward and perpendicular to the extension direction of the track 1.

[0052] It should be noted that the two-link mechanism unfolds until it is collinear, that is, it reaches the limit position of unfolding; the two-link mechanism can be replaced by any rigid component that can be bent in a direction at a certain angle to the extension direction of the track 1, such as a three-link mechanism, etc. The directional constraint device can be installed on the hinge, or on the link or the track unit 11. The directional constraint device can be a directional torsion mechanism 1205, or a retaining piece, a retaining block or a spring, etc.

[0053] Another implementation manner is as Figures 8 to 11As shown in the figure, the joint rotation constraint mechanism 12 includes a telescopic sleeve rod mechanism 1206. The telescopic sleeve rod mechanism 1206 includes an inner connecting rod 1207 and an outer sleeve 1208. One end of the inner connecting rod 1207 is nested and connected to one end of the outer sleeve 1208, that is, the inner connecting rod 1207 can slide linearly within the outer sleeve 1208. The end of the inner connecting rod 1207 far from the outer sleeve 1208 is connected to the lower edge 1102 of a track unit 11 in the adjacent track unit 11 through a hinge structure. The end of the outer sleeve 1208 far from the inner connecting rod 1207 is connected to the lower edge 1102 of another track unit 11 in the adjacent track unit 11 through a hinge structure. When the lower edges 1102 at the connection of the adjacent track units 11 move away from each other, the overall telescopic sleeve rod mechanism 1206 elongates until the limit position. When the telescopic sleeve rod mechanism 1206 elongates to the limit position, the lower edges 1102 at the connection of the adjacent track units 11 move away from each other to the limit position. At this time, the track bodies 1103 provided on the adjacent track units 11 are spliced into a continuous guide rail for the mobile device to pass through. When the lower edges 1102 at the connection of the adjacent track units 11 approach each other until the limit position, the telescopic sleeve rod mechanism 1206 shortens until another limit position.

[0054] In a specific implementation manner, a first boss 1209 is provided at one end of the inner connecting rod 1207 close to the outer sleeve 1208, and a second boss 1210 is provided at one end of the outer sleeve 1208 close to the inner connecting rod 1207. The inner connecting rod 1207 is nested and connected to the outer sleeve 1208, that is, the inner connecting rod 1207 can slide linearly in the outer sleeve 1208. During the linear sliding process of the inner connecting rod 1207 in the outer sleeve 1208, when the first boss 1209 and the second boss 1210 approach each other until they come into contact, the telescopic sleeve rod mechanism 1206 elongates until the longest state, and at this time, the track 1 is in a straight state. When the first boss 1209 and the second boss 1210 move away from each other, the telescopic sleeve rod mechanism 1206 shortens until the shortest state, and at this time, the track 1 is in a curled state.

[0055] The telescopic sleeve rod mechanism 1206 is a telescopic rigid component. The illustrated telescopic direction is left - right telescoping, which is consistent with the extending direction of the track 1. The telescopic sleeve rod mechanism 1206 can be replaced by any rigid component that can be telescoped in the extending direction of the track 1, such as a link chute mechanism, a linear motion actuator, etc.

[0056] Such as Figure 12 and Figure 13As shown in the figure, an embodiment of the present application provides a device for detecting a bridge beam body, including: a first suspension rope 21, a second suspension rope 22, a rope winding and unwinding part, and the track for detecting the bridge beam body; the rope winding and unwinding part is arranged on the bridge, and the rope winding and unwinding part is respectively connected to both ends of the track 1 through the first suspension rope 21 and the second suspension rope 22. It should be noted that the rope winding and unwinding part can be two machines respectively winding and unwinding the suspension ropes on both sides, or one machine winding and unwinding the suspension ropes on both sides; the rope winding and unwinding part can move along the length direction of the bridge.

[0057] As Figures 14 to 17 shown in the figure, an embodiment of the present application provides another device for detecting a bridge beam body, including: a first moving operation member 23, a second moving operation member 25, a first winch 24, a second winch 26, a towing rope 27, and the track for detecting the bridge beam body; the first moving operation member 23 and the second moving operation member 25 are arranged on the bridge; the first winch 24 is installed at one end of the first moving operation member 23 away from the bridge, and the second winch 26 is installed at one end of the second moving operation member 25 away from the bridge;

[0058] One end of the track 1 is hinged or fixedly connected to the first winch 24, the other end of the track 1 is connected to one end of the towing rope 27, and the other end of the towing rope 27 is connected to the second winch 26; the moving operation member is used to adjust the position of the winch and move along the length direction of the bridge.

[0059] It should be noted that the first moving operation member 23 and the second moving operation member 25 are provided with robotic arms or joint units respectively for controlling the positions of the first winch 24 and the second winch 26; the track unit 11 hinged or fixedly connected to the first winch 24 is the shortest track unit 11; the towing rope 27 is detachably connected to the track 1 and the second winch 26.

[0060] The operation process of installing the track 1 under the bridge beam body may include the following steps.

[0061] The first operation process, as Figure 12 shown in the figure.

[0062] First, place the coiled track 1 on the ground under the beam body 3 and adjust it to a straight state;

[0063] Next, respectively hang the first suspension rope 21 and the second suspension rope 22 from both sides in the width direction above the beam body 3, connect the first suspension rope 21 to one end of the track 1, and connect the second suspension rope 22 to the other end of the track 1;

[0064] Next, simultaneously pull the first suspension rope 21 and the second suspension rope 22, and the linear track 1 rises from the ground below the beam body 3 into the air until the distance from the lower bottom surface of the beam body 3 is of an appropriate size. During this process, keep the joint rotation restraint mechanism 12 below the hinge joint;

[0065] Next, the detection device detects the lower bottom surface of the beam body 3 based on the track 1;

[0066] Next, after the detection of a single-section area is completed, move the first suspension rope 21 and the second suspension rope 22 in the length direction of the beam body 3 - the direction perpendicular to the paper surface - by a certain distance to perform the detection of the next section area until the detection of the entire section area is completed;

[0067] Next, simultaneously release the first suspension rope 21 and the second suspension rope 22, and the linear track 1 descends until it returns to the ground below the beam body 3;

[0068] Finally, release the first suspension rope 21 and the second suspension rope 22, and adjust the track 1 to a curled state.

[0069] Another operation process is as Figure 13 shown.

[0070] First, place the curled track 1 at one end in the width direction above the beam body 3. One end of the track 1 is connected to the first suspension rope 21, and the other end is connected to the second suspension rope 22. The other end of the second suspension rope 22 is connected to a drone. Operate the drone to fly from one end where the track 1 is placed above the beam body 3 in the width direction, pass below the beam body 3, and fly to the other end in the width direction above the beam body 3. Then, release the second suspension rope 22 connected to the drone;

[0071] Next, drop the track 1 to the lower side of one side in the width direction of the beam body 3 through the first suspension rope 21. At the same time, the curled track 1 turns into a vertically straight state under its own gravity;

[0072] Next, pull the second suspension rope 22 to turn the vertically straight track 1 into a horizontally straight state. At this time, keep the joint rotation restraint mechanism 12 below the hinge joint;

[0073] Next, simultaneously pull the first suspension rope 21 and the second suspension rope 22 to adjust the distance between the track unit 11 and the lower bottom surface of the beam body 3 to an appropriate size;

[0074] Next, the detection device detects the lower bottom surface of the beam body 3 based on the track 1;

[0075] Next, after the single-segment area detection is completed, move the first suspension rope 21 and the second suspension rope 22 in the length direction of the beam body 3 - the direction perpendicular to the paper surface - by a certain distance to perform the detection of the next segment area until the detection of the entire segment area is completed;

[0076] Next, release the second suspension rope 22 and transform the horizontally straightened track 1 into a vertically straightened state;

[0077] Finally, use the first suspension rope 21 to retract the track 1 above the beam body 3 and adjust it from the straightened state to the curled state.

[0078] Another operation process is as Figure 14 、 Figure 15 、 Figure 16 and Figure 17 shown.

[0079] First, set a first moving operation member 23 on one side in the width direction above the beam body 3, set a second moving operation member 25 on the other side in the width direction above the beam body 3. A first winch member 24 is configured at the end of the first moving operation member 23, a second winch member 26 is configured at the end of the second moving operation member 25. The track 1 is wound on the first winch member 24. One end of the track 1 is connected to the reel of the first winch member 24, and the other end is connected to a traction rope 27;

[0080] Next, connect the other end of the traction rope 27 - the end not connected to the track 1 - to the unmanned aerial vehicle. Operate the unmanned aerial vehicle to fly from one end in the width direction above the beam body 3 where the first moving operation member 23 is placed, fly under the beam body 3, and then fly to the other end in the width direction above the beam body 3 where the second moving operation member 25 is placed. Then, disconnect the end of the traction rope 27 connected to the unmanned aerial vehicle and fixedly connect it to the reel of the second winch member 26;

[0081] Next, use the first moving operation member 23 to drop the first winch member 24 together with the track 1 to the lower side of one end of the beam body 3, and use the second moving operation member 25 to drop the second winch member 26 to the lower side of the other end of the beam body 3;

[0082] Next, while the second winch member 26 winds up the traction rope 27, the first winch member 24 winds and unwinds the track 1, and the track 1 changes from the curled state to the straightened state until it covers the entire width of the bottom surface of the beam body 3 to be detected. During this process, keep the joint rotation constraint mechanism 12 below the hinge joint;

[0083] Next, adjust the distance between the track 1 and the bottom surface of the beam body 3 to an appropriate size through the first moving operation member 23 and the second moving operation member 25;

[0084] Next, the detection device detects the bottom surface of the beam body 3 based on the track 1;

[0085] Next, after the detection of a single-section area is completed, the first moving operating member 23 and the second moving operating member 25 are moved a certain distance in the length direction of the beam body 3, that is, the direction perpendicular to the paper surface, to perform the detection of the next section of the area until the detection of the entire section of the area is completed;

[0086] Next, while the first hoisting member 24 winds up the track 1, the second hoisting member 26 pays out the towing rope 27, and the track 1 changes from a straight state to a curled state until the first hoisting member 24 completes the winding up of all the track 1;

[0087] Next, the first hoisting member 24 together with the track 1 is retracted above the beam body 3 through the first moving operating member 23, and the second hoisting member 26 is retracted above the beam body 3 through the second moving operating member 25;

[0088] Finally, the towing rope 27 connected between the track 1 and the second hoisting member 26 is disconnected.

[0089] The technical effect brought by the solution provided in the embodiment of the present application is as follows: A solution for efficiently building a two-point suspended track 1 is given. The track 1 includes a plurality of track units 11 arranged side by side. The upper edges 1101 of adjacent track units 11 are connected by hinge joints, and the lower edges 1102 are connected by a joint rotation restraint mechanism 12; the joint rotation restraint mechanism 12 is used to define the limit position where the lower edges 1102 of adjacent track units 11 move away from each other; when the lower edges 1102 of all adjacent track units 11 approach each other to the limit position, the plurality of track units 11 arranged side by side as a whole present a curled shape, and when the lower edges 1102 of all adjacent track units 11 move away from each other to the limit position, the plurality of track units 11 arranged side by side as a whole present a straight shape. The track 1 can be built under the lower bottom surface of the bridge in various ways, and the detection device can detect the lower bottom surface of the beam body 3 based on the straightened track 1.

[0090] The advantages of the embodiment of the present application are as follows: 1. It can be wound up, which is convenient for transportation and construction; 2. The operation process is simple, which can improve the detection efficiency; 3. It can adopt various construction methods to adapt to different topographical and geological environments and beam bodies 3 of different sizes.

[0091] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A track for bridge beam detection, characterized in that, it includes: N track units and M sets of joint rotation constraint mechanisms, where N is greater than or equal to 2 and M is equal to N minus 1; the track can support the inspection machine to move along the track; the front view profile of the track unit is an isosceles trapezoid, the track unit includes an upper edge and a lower edge, where in the extending direction of the track, the length of the upper edge is greater than the length of the lower edge, and along the extending direction of the track, the lengths of the respective upper edges of the sequentially arranged track units increase in sequence; the track units are arranged side by side, and the upper edges of adjacent track units are hinged to each other; a set of the joint rotation constraint mechanisms is arranged between adjacent track units, and the joint rotation constraint mechanism includes a rigid component that can be bent in a direction at a certain angle to the extending direction of the track, or the joint rotation constraint mechanism includes a rigid component that can be telescoped in the extending direction of the track; when the track is in a curled state, the joint rotation constraint mechanism is in a retracted state; when the track is in a straightened state, the joint rotation constraint mechanism is in an extended state to constrain the limit position where the lower edges of adjacent track units move away from each other.

2. The track for bridge beam detection according to claim 1, characterized in that, the track unit includes a truss structure, a casting structure or a forging structure.

3. The track for bridge beam detection according to claim 1, characterized in that, a track body is arranged on the upper edge, and when the track is in a straightened state, the respective track bodies are connected into a continuous track.

4. The track for bridge beam detection according to claim 1, characterized in that, the joint rotation constraint mechanism includes a flexible member with a preset length, and the two ends of the flexible member are respectively connected to adjacent track units; the flexible member is tensile in the extending direction of the track, and the preset length satisfies that the flexible member is in a stretched state when the track is in a straightened state.

5. The track for bridge beam detection according to claim 4, characterized in that, the flexible member includes a rope, a chain or a belt.

6. The track for bridge beam detection according to claim 4, characterized in that, the joint rotation constraint mechanism further includes a retractor for retracting the flexible member in the retracted state.

7. The track for bridge beam detection according to claim 1, characterized in that, the joint rotation constraint mechanism includes a two-link mechanism; the two-link mechanism includes two links connected by hinges, and the mutually remote ends of the two links are respectively hinged to adjacent track units through hinges.

8. The track for bridge beam detection according to claim 7, characterized in that, a directional constraint device is installed on the hinge, the link or the track unit, so that the rotation direction of the link is consistent with the winding direction of the track, and the angle of the included angle between the two links is less than or equal to 180 degrees.

9. The track for bridge beam detection according to claim 1, characterized in that, the joint rotation constraint mechanism includes a telescopic sleeve rod mechanism, and the two ends of the telescopic sleeve rod mechanism are respectively hinged to adjacent track units.

10. An equipment for detecting bridge girders, characterized in that, it includes: a first suspension rope, a second suspension rope, a rope winding and unwinding part, and the track for detecting bridge girders according to any one of claims 1 to 9; the rope winding and unwinding part is arranged on the bridge, and the rope winding and unwinding part is respectively connected to both ends of the track through the first suspension rope and the second suspension rope.

11. An equipment for detecting bridge girders, characterized in that, it includes: a first moving operating member, a second moving operating member, a first winch, a second winch, a towing rope, and the track for detecting bridge girders according to any one of claims 1 to 9; the first moving operating member and the second moving operating member are arranged on the bridge; the first winch is installed at one end of the first moving operating member away from the bridge, and the second winch is installed at one end of the second moving operating member away from the bridge; one end of the track is hinged or fixedly connected to the first winch, the other end of the track is connected to one end of the towing rope, and the other end of the towing rope is connected to the second winch; the moving operating member is used to adjust the position of the winch and move along the length direction of the bridge.

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