Vibration sensing bridge detection robot and dynamic characteristic detection method

Abstract

The invention discloses a vibration sensing bridge detection robot and a dynamic characteristic detection method. The robot comprises a walking and fixing system, a signal acquisition system and an electromechanical control system. The bridge dynamic characteristic detection method detects the bridge and identifies the vibration frequency and modal shape of the bridge. According to the invention, the detection robot strides on the anti-collision guardrail of the bridge to carry out detection operation, traffic control is not needed, and identification of the dynamic characteristics of the bridge can be realized without installing a structure health detection system on the bridge; the bridge detection robot does not need to be fixed by manually distinguishing the widths of the guardrails during debugging before detection operation, self-adjustment and fixation of the robot can be achieved only through remote control of wireless signals, the safety risk possibly caused by high-speed passing vehicles to detection personnel in the detection process is reduced, and the detection efficiency is improved. And the detection cost and the labor cost are saved.

Description

Technical Field

[0001] The present invention relates to the field of bridge detection, and in particular to a vibration sensing bridge detection robot and a dynamic characteristic detection method. Background Art

[0002] The application field of bridge inspection technology is very wide, including new bridge acceptance, old bridge inspection, structural assessment, maintenance and reinforcement, etc. Through bridge inspection technology, the structural condition of the bridge can be determined, the bearing capacity and service life can be evaluated, and a scientific basis can be provided for the maintenance and management of the bridge.

[0003] Bridge inspection technology is constantly developing. Initially, bridge inspection mainly relied on manual observation and simple tools, with low inspection accuracy and efficiency. With the development of non-destructive testing technology, bridge inspection technology is developing towards intelligence, high precision and high efficiency. Today, bridge inspection technology has formed a variety of methods and technical means, including radar, sound waves, magnetic powder, infrared, etc. Sensors can also be installed on bridges to sense the vibration characteristics of bridges, etc. However, when installing and inspecting sensors and inspecting bridges in this way, it is necessary to consider temporary traffic control of bridges, which brings certain traffic safety hazards and affects the transportation economy.

[0004] Therefore, reducing the cost of bridge dynamic characteristics testing and avoiding the impact on the operating traffic of the target bridge during the testing process are the key and difficulty of conducting rapid bridge dynamic characteristics testing. The present invention introduces robots into bridge testing, which not only improves safety and efficiency, but also provides a forward-looking method for bridge testing. Summary of the invention

[0005] The purpose of the present invention is to propose a vibration-sensing bridge inspection robot and a dynamic characteristic detection method in response to the above-mentioned technical problems, which integrates advanced automation control technology, precise signal acquisition and processing capabilities, and flexible fixing and moving mechanisms, aiming to improve the efficiency, accuracy and safety of bridge inspection, and is suitable for automated inspection and evaluation of road network bridge groups that do not affect traffic.

[0006] A vibration sensing bridge inspection robot, including a traveling and fixing system, a signal acquisition system and an electromechanical control system;

[0007] The traveling and fixing system includes a fixing device and a moving device;

[0008] The fixing device enables the robot to clamp onto crash barriers of different widths and maintain a tight fit;

[0009] The moving device enables the robot to move forward and backward along the anti-collision railing and allows small-angle diagonal walking;

[0010] The signal acquisition system includes a sensing device and an integration device;

[0011] The sensing device senses and transmits the acceleration vibration signal of the bridge;

[0012] The integrated device stores, transmits and feeds back vibration signals;

[0013] The sensor device and storage device are both installed on the running and fixing system;

[0014] The signal acquisition system is installed on the running and fixing system, and the electromechanical control system controls the running and fixing system to operate on the bridge guardrail and collect bridge vibration signals;

[0015] The electromechanical control system is interactively transmitted and connected with the running and fixing system, and the electromechanical control system receives the feedback signal of the first DC reduction motor of the running and fixing system, and sends a start or stop control instruction to the first DC reduction motor;

[0016] The electromechanical control system is connected to the signal acquisition system for interactive transmission. The electromechanical control system receives and displays the acceleration data of the integrated device in the signal acquisition system in real time, and sends a start or stop control instruction to the integrated device.

[0017] The bridge inspection robot also includes a robot shell and a robot shell fixing plate;

[0018] The robot housing fixing plate fixes the robot housing.

[0019] Further, a vibration sensing bridge inspection robot, the moving device of the traveling and fixing system includes a side wheel guard plate, a balance wheel and a universal wheel;

[0020] The balancing wheel comprises a side wheel adjuster, a side wheel, a driving wheel shaft rotating support, a driving wheel shaft, and a driving wheel;

[0021] The side wheels are connected to the side wheel adjusters;

[0022] The driving wheel shaft rotating support is connected under the robot chassis by bolts;

[0023] The side wheels are mounted on the inner side of the side wheel protection plate, and the side wheels are in contact with the side of the bridge anti-collision guardrail;

[0024] The universal wheel is fixedly installed under the robot chassis by bolts;

[0025] The driving wheel shaft is inserted into the circular groove of the balance wheel.

[0026] Further, in a vibration sensing bridge inspection robot, the driving wheel comprises a DC reduction motor, a gear belt, a motor gear, a driving shaft gear and a driving shaft;

[0027] The DC reduction motor is installed on the robot chassis;

[0028] The motor gear is sleeved on the rotor of the DC reduction motor;

[0029] The gear belt is sleeved on the motor gear and the drive shaft gear;

[0030] The driving shaft gear is sleeved on the driving shaft.

[0031] Further, a vibration sensing bridge inspection robot, the fixing device includes a compression rotating wheel, a sliding plate and a telescopic mechanism;

[0032] The compression rotary wheel is installed on the inner side of the side wheel guard plate;

[0033] The sliding plate is installed below the robot chassis;

[0034] The telescopic mechanism is installed on the side of the sliding plate;

[0035] The compression rotating wheel comprises a pulley, a pulley plate, a pressing rotating mechanism, and a side wheel covering plate;

[0036] The side wheel covering outer plate and the side wheel covering inner plate constitute a side wheel covering plate;

[0037] The pulley is embedded in the circular hole of the pressing and rotating mechanism;

[0038] One end of the pulley is in contact with the pressing and rotating mechanism, and the other end is in contact with the side of the bridge anti-collision guardrail;

[0039] One end of the pressing and rotating mechanism and the pulley is inserted into the limiting hole of the circular limiter provided in the outer side panel of the vehicle, and the other end is connected to the inner panel covering the side wheel;

[0040] The vehicle outer side panel and the side wheel cover inner panel are connected via limiting holes and screws;

[0041] The side wheel covering outer plate is connected to the sliding plate by welding;

[0042] The pressing and rotating mechanism includes a compression spring, a slide groove, a pressing button, and a pin;

[0043] The compression spring comprises a strong spring, a weak spring and a cover plate;

[0044] The cover plate is connected to a strong spring and a weak spring;

[0045] The compression spring and the slide groove are placed in the groove of the push button, and the slide groove is connected to the compression spring;

[0046] The pin is inserted into the slide groove.

[0047] Further, a vibration sensing bridge inspection robot, the telescopic mechanism includes a gear belt, an engine, a drive shaft helical gear, a drive shaft, an equal-tooth synchronous wheel, a spur gear, a telescopic rod, an adjuster loading plate and a holder;

[0048] The lower wheel of the equal-tooth synchronous wheel is locked with the spur gear and inserted into the tooth hole of the gear belt, and the upper wheel of the equal-tooth synchronous wheel is locked with the helical gear of the driving shaft;

[0049] The regulator loading plate is connected to the robot chassis by welding;

[0050] The telescopic rod is installed on the gear belt;

[0051] The drive shaft is mounted on the engine;

[0052] The driving shaft helical gear is mounted on the driving shaft;

[0053] The holder is mounted on the regulator loading plate.

[0054] Further, a vibration sensing bridge inspection robot, the bridge inspection robot also includes a main control system;

[0055] The main control system is connected to the DC reduction motor for signal transmission. The DC reduction motor feeds back movement information of the walking and fixing systems to the main control system, and receives a start or stop control instruction sent by the main control system.

[0056] A method for fixing a vibration sensing bridge inspection robot comprises the following sub-steps:

[0057] A: Place the bridge inspection robot on the bridge guardrail, and preliminarily set the side wheels according to the width of the bridge anti-collision guardrail to ensure that the side wheels are initially arranged perpendicular to the ground;

[0058] B: The push-to-rotate mechanism is operated by pressing the button diagonally downward along the slide slot to activate the built-in pin shaft to rotate 90 degrees, so that the side wheels are parallel to the ground, and the strong spring automatically resets to ensure a stable locking state;

[0059] C: Start the telescopic mechanism, the engine drive shaft, bevel gear, equal-tooth synchronous wheel and lower gear work together, the sliding plate retracts until it reaches the preset critical point, and the drive shaft is automatically locked through the change of engine current to complete the fixation.

[0060] A vibration sensing bridge dynamic characteristics detection method comprises the following steps:

[0061] S1: Divide the inspection bridge into sections, determine the points where the bridge inspection robot needs to stop for testing, and input the information into the remote control terminal of the main control system to complete the pre-setting;

[0062] S2: The bridge inspection robot is fixed on the bridge guardrail, and the remote control terminal generates a start command according to the preset setting, and the mobile device and the integrated device are turned on for operation;

[0063] S3: The mobile device realizes intermittent stop-go operation according to the command of the remote control terminal, and feeds back the movement information to the main control system. The integrated device collects and stores the signal when the mobile device stops, and feeds back the signal to the remote control terminal;

[0064] S4: Repeat step S3 until the preset collection process is completed, and all data are stored and transmitted to the remote control terminal;

[0065] S5: Construct the transmissibility matrix of the detection robot based on vibration sensing, process the data from the remote control end, and identify the frequency and mode shape of the bridge.

[0066] Furthermore, in a vibration sensing bridge dynamic characteristic detection method, the S5 comprises the following sub-steps:

[0067] S51: Use Fourier transform to convert the collected acceleration data into the frequency domain and construct the transferability function:

[0068]

[0069] in, represents the transmissibility function, N represents the modal order, represents the modal coefficient at position d2, represents the modal coefficient at position d1*, H represents the ratio of the Laplace transform of the input and output responses of the system, d2(ω) represents the Laplace transform expression of the output response at d2, d1(ω) represents the Laplace transform expression of the output response at d1, P represents the load excitation, ω f represents the external load frequency, represents the complex conjugate of the ratio of the Laplace transforms of the input and output responses of the system at location d1;

[0070] S52: Construct the transmissibility matrix using the transmissibility function:

[0071]

[0072] in, represents the transmissibility function, represents the position i*, Represents position i, d j represents position j, i and j represent position numbers, and n and m represent numerical increment parameters;

[0073] S53: The transmissibility matrix is ​​processed by singular value decomposition to obtain singular values ​​and singular vectors, the vibration frequency of the bridge is obtained by the second singular value, and the modal vibration shape of the bridge is obtained by the first singular vector.

[0074] The beneficial effects of the present invention are as follows: the bridge inspection robot can ride on the bridge anti-collision guardrail to carry out inspection operations, and there is no need to control traffic or install a structural health inspection system on the bridge to realize the identification of the dynamic characteristics of the bridge; the bridge inspection robot is debugged before the inspection operation, and there is no need for manual fixation according to the width of the guardrail. The robot can be self-adjusted and fixed only through remote control of wireless signals, which reduces the safety risks that may be caused to the inspection personnel by high-speed passing vehicles during the inspection process, and saves inspection costs and labor costs; the supporting bridge dynamic characteristics detection method can accurately identify the vibration frequency and modal vibration type of the bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 It is a structural schematic diagram of the present invention;

[0076] Figure 2 It is a schematic diagram of the robot chassis of the present invention;

[0077] Figure 3 It is a schematic diagram of the compression rotating wheel of the present invention;

[0078] Figure 4 It is a schematic diagram of the driving wheel device of the present invention;

[0079] Figure 5 It is a schematic diagram of the side wheel outer plate of the present invention;

[0080] Figure 6 It is a schematic elevation view of the present invention driving on the anti-collision guardrail;

[0081] Figure 7 It is a schematic diagram of the driving device of the present invention;

[0082] Figure 8 It is a flow chart of the bridge dynamic characteristics detection method of the present invention;

[0083] Fig. 9 It is a time domain data diagram of acceleration at each test point of the bridge of the implementation case of the present invention;

[0084] Fig.10 A frequency diagram of bridges identified according to an embodiment of the present invention.

[0085] In the figure, 1-side wheel regulator, 2-robot shell, 3-robot chassis, 4-sliding plate, 5-compression rotating wheel mechanism, 6-side wheel, 7-side wheel covering plate, 8-regulator loading plate, 9-robot shell fixing plate, 10-pin, 11-strong spring, 12-cover plate, 13-slide groove, 14-weak spring, 15-press button, 16-limiter, 17-driving wheel shaft rotating support, 18-driving wheel shaft, 19-driving wheel, 20-side wheel covering outer plate, 21-side wheel covering inner plate. DETAILED DESCRIPTION

[0086] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0087] As attached Figure 1 As shown, a vibration sensing bridge inspection robot includes a traveling and fixing system, a signal acquisition system and an electromechanical control system;

[0088] The traveling and fixing system includes a fixing device and a moving device;

[0089] The fixing device enables the robot to clamp onto crash barriers of different widths and maintain a tight fit;

[0090] The moving device enables the robot to move forward and backward along the anti-collision railing and allows small-angle diagonal walking;

[0091] The signal acquisition system includes a sensing device and an integration device;

[0092] The sensing device senses and transmits the acceleration vibration signal of the bridge;

[0093] The integrated device stores, transmits and feeds back vibration signals;

[0094] The sensor device and storage device are both installed on the running and fixing system;

[0095] The signal acquisition system is installed on the running and fixing system, and the electromechanical control system controls the running and fixing system to operate on the bridge guardrail and collect bridge vibration signals;

[0096] The electromechanical control system is interactively transmitted and connected with the running and fixing system, and the electromechanical control system receives the feedback signal of the first DC reduction motor of the running and fixing system, and sends a start or stop control instruction to the first DC reduction motor;

[0097] The electromechanical control system is connected to the signal acquisition system for interactive transmission. The electromechanical control system receives and displays the acceleration data of the integrated device in the signal acquisition system in real time, and sends a start or stop control instruction to the integrated device.

[0098] The bridge inspection robot also includes a robot housing 2 and a robot housing fixing plate 9;

[0099] The robot housing fixing plate 9 fixes the robot housing 2 .

[0100] As attached Figure 4 As shown, a vibration sensing bridge inspection robot, the moving device of the traveling and fixing system includes a side wheel protection plate, a balance wheel and a universal wheel;

[0101] The balancing wheel comprises a side wheel adjuster 1, a side wheel 6, a driving wheel shaft rotating support 17, a driving wheel shaft 18, and a driving wheel 19;

[0102] The side wheel 6 is connected to the side wheel adjuster 1;

[0103] The driving wheel shaft rotating support 17 is connected to the robot chassis 3 by bolts;

[0104] The side wheel 6 is installed on the inner side of the side wheel protection plate, and the side wheel 6 is in contact with the side of the bridge anti-collision guardrail;

[0105] The universal wheel is fixedly mounted below the robot chassis 3 by bolts;

[0106] The driving wheel shaft 18 is inserted into the circular groove of the balance wheel.

[0107] Further, in a vibration sensing bridge inspection robot, the driving wheel 19 comprises a DC reduction motor, a gear belt, a motor gear, a driving shaft gear and a driving shaft;

[0108] The DC reduction motor is installed on the robot chassis 3;

[0109] The motor gear is sleeved on the rotor of the DC reduction motor;

[0110] The gear belt is sleeved on the motor gear and the drive shaft gear;

[0111] The driving shaft gear is sleeved on the driving shaft.

[0112] As attached Figures 2 to 5 As shown, a vibration sensing bridge inspection robot, the fixing device includes a compression rotating wheel 5, a sliding plate 4 and a telescopic mechanism;

[0113] The compression rotary wheel 5 is installed on the inner side of the side wheel guard plate;

[0114] The sliding plate 4 is installed below the robot chassis 3;

[0115] The telescopic mechanism is installed on the side of the sliding plate;

[0116] The compression rotating wheel comprises a pulley, a pulley plate, a pressing rotating mechanism, and a side wheel covering plate 7;

[0117] The side wheel covering outer plate 20 and the side wheel covering inner plate 21 constitute a side wheel covering plate 7;

[0118] The pulley is embedded in the circular hole of the pressing and rotating mechanism;

[0119] One end of the pulley is in contact with the pressing and rotating mechanism, and the other end is in contact with the side of the bridge anti-collision guardrail;

[0120] One end of the pressing and rotating mechanism and the pulley is inserted into the limiting hole of the circular limiter 16 provided in the outer side panel of the vehicle, and the other end is connected to the side wheel covering inner panel 21;

[0121] The vehicle outer side panel and the side wheel cover inner panel 21 are connected by limiting holes and screws;

[0122] The side wheel covering outer plate 20 is connected to the sliding plate 4 by welding;

[0123] The pressing and rotating mechanism includes a compression spring, a slide slot 13, a pressing button 15, and a pin 10;

[0124] The compression spring comprises a strong spring 11, a weak spring 14 and a cover plate 12;

[0125] The cover plate 12 is connected to the strong spring 11 and the weak spring 14;

[0126] The compression spring and the slide groove 13 are placed in the groove of the push button 15, and the slide groove 13 is connected to the compression spring;

[0127] The pin 10 is inserted into the slide groove 13 .

[0128] As attached Figures 6-7 As shown, a vibration sensing bridge inspection robot, the telescopic mechanism includes a gear belt, an engine, a drive shaft helical gear, a drive shaft, an equal-tooth synchronous wheel, a spur gear, a telescopic rod, an adjuster loading plate 8 and a fixer;

[0129] The lower wheel of the equal-tooth synchronous wheel is locked with the spur gear and inserted into the tooth hole of the gear belt, and the upper wheel of the equal-tooth synchronous wheel is locked with the helical gear of the driving shaft;

[0130] The regulator loading plate 8 is connected to the robot chassis 3 by welding;

[0131] The telescopic rod is installed on the gear belt;

[0132] The drive shaft is mounted on the engine;

[0133] The driving shaft helical gear is mounted on the driving shaft;

[0134] The holder is mounted on the regulator loading plate 8 .

[0135] Further, a vibration sensing bridge inspection robot, the bridge inspection robot also includes a main control system;

[0136] The main control system is connected to the DC reduction motor for signal transmission. The DC reduction motor feeds back movement information of the walking and fixing systems to the main control system, and receives a start or stop control instruction sent by the main control system.

[0137] A method for fixing a vibration sensing bridge inspection robot comprises the following sub-steps:

[0138] A: Place the bridge inspection robot on the bridge guardrail, and preliminarily set the side wheels 6 according to the width of the bridge anti-collision guardrail to ensure that the side wheels 6 are initially arranged perpendicular to the ground;

[0139] B: The push-to-rotate mechanism is operated by pressing the button 15 downward along the slide slot, activating the built-in pin shaft to rotate 90 degrees, so that the side wheel 6 is parallel to the ground, and the strong spring 11 automatically resets to ensure a stable locking state;

[0140] C: Start the telescopic mechanism, the engine drive shaft, the bevel gear, the equal-tooth synchronous wheel and the lower gear work together, the sliding plate 4 retracts until it reaches the preset critical point, and the drive shaft is automatically locked through the change of the engine current to complete the fixation.

[0141] As attached Figure 8 As shown, a vibration sensing bridge dynamic characteristics detection method includes the following steps:

[0142] S1: Divide the inspection bridge into sections, determine the points where the bridge inspection robot needs to stop for testing, and input the information into the remote control terminal of the main control system to complete the pre-setting;

[0143] S2: The bridge inspection robot is fixed on the bridge guardrail, and the remote control terminal generates a start command according to the preset setting, and the mobile device and the integrated device are turned on for operation;

[0144] S3: The mobile device realizes intermittent stop-go operation according to the command of the remote control terminal, and feeds back the movement information to the main control system. The integrated device collects and stores the signal when the mobile device stops, and feeds back the signal to the remote control terminal;

[0145] S4: Repeat step S3 until the preset collection process is completed, and all data are stored and transmitted to the remote control terminal;

[0146] S5: Construct the transmissibility matrix of the detection robot based on vibration sensing, process the data from the remote control end, and identify the frequency and mode shape of the bridge.

[0147] Furthermore, in a vibration sensing bridge dynamic characteristic detection method, the S5 comprises the following sub-steps:

[0148] S51: Use Fourier transform to convert the collected acceleration data into the frequency domain and construct the transferability function:

[0149]

[0150] in, represents the transmissibility function, N represents the modal order, represents the modal coefficient at position d2, represents the modal coefficient at position d1*, H represents the ratio of the Laplace transform of the input and output responses of the system, d2(ω) represents the Laplace transform expression of the output response at d2, d1(ω) represents the Laplace transform expression of the output response at d1, P represents the load excitation, ω f represents the external load frequency, represents the complex conjugate of the ratio of the Laplace transforms of the input and output responses of the system at location d1;

[0151] S52: Construct the transmissibility matrix using the transmissibility function:

[0152]

[0153] in, represents the transmissibility function, Represents position i*, d i Represents position i, d j represents position j, i and j represent position numbers, and n and m represent numerical increment parameters;

[0154] S53: The transmissibility matrix is ​​processed by singular value decomposition to obtain singular values ​​and singular vectors, the vibration frequency of the bridge is obtained by the second singular value, and the modal vibration shape of the bridge is obtained by the first singular vector.

[0155] Specific embodiment 1 Bridge dynamic characteristics detection method

[0156] Step 1: Preliminary analysis of the bridge to be tested is performed, and the bridge is divided into 7 sections, with 6 test points on each side, named A1~A6 and B1~B6 respectively;

[0157] The bridge is a scaled model of 3m×0.55m×0.1m.

[0158] Step 2: Install the two robots on the left and right guardrails of the bridge respectively, and arrange a reference test point at any position on the bridge;

[0159] The detection robot is a scaled model;

[0160] Step 3: Input the pre-analysis information into the main control system to complete the pre-setting and issue instructions. The two detection robots start working synchronously to collect the vibration acceleration signals of each test point of the bridge. The acceleration signals of each test point are as shown in the attached figure. Fig. 9 As shown;

[0161] Step 4: After the detection robot completes the acquisition, it transmits the acceleration time domain data to the terminal and converts it into frequency domain information;

[0162] Step 5: Establish the transmissibility function and construct the transmissibility matrix based on the multi-point transmissibility, and identify the bridge frequency. The bridge frequency identification is shown in the attached figure. Fig.10 As shown;

[0163] The transmissibility function is expressed as:

[0164]

[0165] in, represents the transmissibility function, N represents the modal order, represents the modal coefficient at position d2, represents the modal coefficient at position d1*, H represents the ratio of the Laplace transform of the input and output responses of the system, d2(ω) represents the Laplace transform expression of the output response at d2, d1(ω) represents the Laplace transform expression of the output response at d1, P represents the load excitation, ω f represents the external load frequency, represents the complex conjugate of the ratio of the Laplace transforms of the input and output responses of the system at location d1;

[0166] The transmissibility matrix is ​​expressed as:

[0167]

[0168] in, represents the transmissibility function, Represents position i*, d i Represents position i, d j represents position j, i and j represent position numbers, and n and m represent numerical increment parameters;

[0169] Step 6: Perform singular value decomposition on the constructed transmissibility matrix, obtain the bridge frequency from the singular values, and reconstruct the bridge modal vibration shape from the singular vectors.

[0170] Among them, the singular value decomposition is expressed as:

[0171]

[0172] Among them, U(ω) represents the left singular vector after singular value decomposition, S(ω) represents the location bridge frequency identification, and V(ω) represents the right singular vector after singular value decomposition;

[0173] Among them, the bridge frequency identification is expressed as:

[0174]

[0175] in, represents the bridge mode shape;

[0176] The bridge mode shape is expressed as:

[0177]

[0178] Among them, Ui ( ω) represents the first left singular vector, Represents the bridge mode shape.

[0179] This scheme uses a vibration sensing bridge inspection robot and a dynamic characteristic detection method. The bridge inspection robot can ride on the bridge anti-collision guardrail to perform inspection operations. There is no need to control traffic or install a structural health detection system on the bridge to realize the identification of the dynamic characteristics of the bridge; the bridge inspection robot is debugged before the inspection operation, and there is no need to manually fix the guardrail according to the width difference. The robot can be self-adjusted and fixed only by remote control of wireless signals, which reduces the safety risks that high-speed vehicles may cause to the inspection personnel during the inspection process, and saves the inspection cost and labor cost; the supporting bridge dynamic characteristic detection method can accurately identify the vibration frequency and modal vibration type of the bridge. The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. The technicians in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the invention to be protected. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A vibration sensing bridge inspection robot, characterized in that: Including running and fixing system, signal acquisition system and electromechanical control system; The traveling and fixing system includes a fixing device and a moving device; The fixing device enables the robot to clamp onto crash barriers of different widths and maintain a tight fit; The moving device enables the robot to move forward and backward along the anti-collision railing and allows small-angle diagonal walking; The signal acquisition system includes a sensing device and an integration device; The sensing device senses and transmits the acceleration vibration signal of the bridge; The integrated device stores, transmits and feeds back vibration signals; The sensor device and storage device are both installed on the running and fixing system; The signal acquisition system is installed on the running and fixing system, and the electromechanical control system controls the running and fixing system to operate on the bridge guardrail and collect bridge vibration signals; The electromechanical control system is interactively transmitted and connected with the running and fixing system, and the electromechanical control system receives the feedback signal of the first DC reduction motor of the running and fixing system, and sends a start or stop control instruction to the first DC reduction motor; The electromechanical control system is interactively transmitted and connected with the signal acquisition system, the electromechanical control system receives and displays the acceleration data of the integrated device in the signal acquisition system in real time, and sends a start or stop control instruction to the integrated device; The bridge inspection robot also includes a robot shell (2) and a robot shell fixing plate (9); The robot housing fixing plate (9) fixes the robot housing (2).

2. A vibration sensing bridge inspection robot as claimed in claim 1, characterized in that: The moving device of the running and fixing system includes side wheel protection plates, balance wheels and universal wheels; The balancing wheel comprises a side wheel adjuster (1), a side wheel (6), a driving wheel shaft rotating support (17), a driving wheel shaft (18), and a driving wheel (19); The side wheel (6) is connected to the side wheel adjuster (1); The driving wheel shaft rotating support (17) is connected to the robot chassis (3) by bolts; The side wheel (6) is installed on the inner side of the side wheel protection plate, and the side wheel (6) is in contact with the side of the bridge anti-collision guardrail; The universal wheel is fixedly mounted below the robot chassis (3) by means of bolts; The driving wheel shaft (18) is inserted into the circular groove of the balance wheel.

3. A vibration sensing bridge inspection robot as claimed in claim 2, characterized in that: The driving wheel (19) comprises a DC reduction motor, a gear belt, a motor gear, a driving shaft gear and a driving shaft; The DC reduction motor is mounted on the robot chassis (3); The motor gear is sleeved on the rotor of the DC reduction motor; The gear belt is sleeved on the motor gear and the drive shaft gear; The driving shaft gear is sleeved on the driving shaft.

4. A vibration sensing bridge inspection robot as claimed in claim 1, characterized in that: The fixing device comprises a compression rotating wheel (5), a sliding plate (4) and a telescopic mechanism; The compression rotating wheel (5) is installed on the inner side of the side wheel protection plate; The sliding plate (4) is installed below the robot chassis (3); The telescopic mechanism is installed on the side of the sliding plate; The compression rotating wheel comprises a pulley, a pulley plate, a pressing rotating mechanism, and a side wheel covering plate (7); The side wheel covering outer plate (20) and the side wheel covering inner plate (21) constitute a side wheel covering plate (7); The pulley is embedded in the circular hole of the pressing and rotating mechanism; One end of the pulley is in contact with the pressing and rotating mechanism, and the other end is in contact with the side of the bridge anti-collision guardrail; One end of the pressing and rotating mechanism and the pulley is inserted into a limiting hole of a circular limiter (16) provided in the outer side panel of the vehicle, and the other end is connected to the side wheel covering inner panel (21); The vehicle outer side plate and the side wheel covering inner plate (21) are connected via limiting holes and screws; The side wheel covering outer plate (20) is connected to the sliding plate (4) by welding; The pressing and rotating mechanism comprises a compression spring, a slide groove (13), a pressing button (15), and a pin (10); The compression spring comprises a strong spring (11), a weak spring (14) and a cover plate (12); The cover plate (12) is connected to a strong spring (11) and a weak spring (14); The compression spring and the slide groove (13) are placed in the groove of the push button (15), and the slide groove (13) is connected to the compression spring; The pin (10) is inserted into the slide groove (13).

5. A vibration sensing bridge inspection robot as claimed in claim 4, characterized in that: The telescopic mechanism comprises a gear belt, an engine, a drive shaft helical gear, a drive shaft, an equal-tooth synchronous wheel, a spur gear, a telescopic rod, a regulator loading plate (8) and a fixer; The lower wheel of the equal-tooth synchronous wheel is locked with the spur gear and inserted into the tooth hole of the gear belt, and the upper wheel of the equal-tooth synchronous wheel is locked with the helical gear of the driving shaft; The regulator loading plate (8) is connected to the robot chassis (3) by welding; The telescopic rod is installed on the gear belt; The drive shaft is mounted on the engine; The driving shaft helical gear is mounted on the driving shaft; The holder is mounted on the regulator loading plate (8).

6. A vibration sensing bridge inspection robot as claimed in claim 3, characterized in that: The bridge inspection robot also includes a main control system; The main control system is connected to the DC reduction motor for signal transmission. The DC reduction motor feeds back movement information of the walking and fixing systems to the main control system, and receives a start or stop control instruction sent by the main control system.

7. A method for fixing a vibration sensing bridge inspection robot, implemented based on a vibration sensing bridge inspection robot according to any one of claims 1 to 6, characterized in that: It includes the following sub-steps: A: Place the bridge inspection robot on the bridge guardrail, and preliminarily set the side wheels (6) according to the width of the bridge anti-collision guardrail to ensure that the side wheels (6) are initially arranged perpendicular to the ground; B: The push-to-rotate mechanism is operated by pressing a button (15) diagonally downward along the slide slot to activate the built-in pin shaft to rotate 90 degrees, so that the side wheel (6) is parallel to the ground, and the strong spring (11) automatically resets to ensure a stable locking state; C: Start the telescopic mechanism, the engine drive shaft, the bevel gear, the equal-tooth synchronous wheel and the lower gear work together, the sliding plate (4) retracts until it reaches the preset critical point, and the drive shaft is automatically locked through the change of the engine current to complete the fixation.

8. A vibration sensing bridge dynamic characteristics detection method, characterized in that: The following steps are involved: S1: Divide the inspection bridge into sections, determine the points where the bridge inspection robot needs to stop for testing, and input the information into the remote control terminal of the main control system to complete the pre-setting; S2: The bridge inspection robot is fixed on the bridge guardrail, and the remote control terminal generates a start command according to the preset setting, and the mobile device and the integrated device are turned on for operation; S3: The mobile device realizes intermittent stop-go operation according to the command of the remote control terminal, and feeds back the movement information to the main control system. The integrated device collects and stores the signal when the mobile device stops, and feeds back the signal to the remote control terminal; S4: Repeat step S3 until the preset collection process is completed, and all data are stored and transmitted to the remote control terminal; S5: Construct the transmissibility matrix of the detection robot based on vibration sensing, process the data from the remote control end, and identify the frequency and mode shape of the bridge.

9. A vibration sensing bridge dynamic characteristics detection method as claimed in claim 8, characterized in that: The S5 comprises the following sub-steps: S51: Use Fourier transform to convert the collected acceleration data into the frequency domain and construct the transferability function: in, represents the transmissibility function, N represents the modal order, represents the modal coefficient at position d2, represents the modal coefficient at position d1*, H represents the ratio of the Laplace transform of the input and output responses of the system, d2(ω) represents the Laplace transform expression of the output response at d2, d1(ω) represents the Laplace transform expression of the output response at d1, P represents the load excitation, ω f represents the external load frequency, represents the complex conjugate of the ratio of the Laplace transforms of the input and output responses of the system at location d1; S52: Construct the transmissibility matrix using the transmissibility function: in, represents the transmissibility function, represents the position i*, Represents position i, d j represents position j, i and j represent position numbers, and n and m represent numerical increment parameters; S53: The transmissibility matrix is ​​processed by singular value decomposition to obtain singular values ​​and singular vectors, the vibration frequency of the bridge is obtained by the second singular value, and the modal vibration shape of the bridge is obtained by the first singular vector.

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