Inspection system suitable for steel box girder

Abstract

The invention discloses an inspection system suitable for a steel box girder, which belongs to the technical field of bridge engineering, and is characterized in that a walking track is arranged in the steel box girder, an inspection robot is arranged on the walking track, and a chassis walking mechanism, a space mechanical arm and a shooting module are combined to inspect the steel box girder. The shooting module can be driven by the chassis walking mechanism to penetrate through the partition plate in the box girder to walk when the space mechanical arm is in the initial stacking state, and is driven to the corresponding shooting position through folding / unfolding control of the space mechanical arm after moving in place, and therefore detection of the interior of the steel box girder is completed. The inspection system provided by the invention is simple in structure and convenient to use, can automatically complete the detection of the interior of the steel box girder, ensures the efficiency and accuracy of the detection of the interior of the steel box girder, avoids position omission during manual detection, improves the efficiency of the detection of the interior of the steel box girder, reduces the cost of the detection of the interior of the steel box girder, and improves the detection efficiency of the interior of the steel box girder. The internal detection quality of the steel box girder is ensured, and the practical value is good.

Description

Technical Field

[0001] The invention belongs to the technical field of bridge engineering, and in particular relates to an inspection system suitable for steel box girders. Background Art

[0002] In the field of bridge engineering, steel box girders are widely used and play an important role in the construction of many bridge projects. In the actual application of steel box girders, due to their large number of welded structures and long-term exposure to high temperature and high humidity, they are prone to common problems such as weld cracking, steel plate rust, coating peeling and bottom water accumulation after a period of operation, so they need to be inspected regularly.

[0003] However, due to the complex internal structure of steel box girders and the widespread and scattered distribution of corrosion-prone areas, the overall inspection and maintenance of steel box girders has become extremely difficult and costly. At the same time, the existing inspection of steel box girders is mostly carried out by manual inspection, in which operators observe and judge the status of steel box girders section by section with the naked eye. Although this method can meet the needs of steel box girder maintenance to a certain extent, it still has defects such as low detection efficiency, incomplete coverage, and high labor costs, and has great limitations. Summary of the invention

[0004] In response to one or more of the above defects or improvement needs in the prior art, the present invention provides an inspection system suitable for steel box girders, which can accurately and conveniently complete the inspection of the inside of the steel box girders, improve the efficiency and accuracy of the internal inspection of the steel box girders, accurately feedback the internal state of the steel box girders, provide accurate basis for the inspection and maintenance of the steel box girders, and extend the service life of the steel box girders.

[0005] To achieve the above-mentioned object, the present invention provides an inspection system suitable for steel box girders, comprising a running track and an inspection robot capable of reciprocating on the running track; The running track is arranged inside the steel box girder, and includes a running track plate that is continuously extended and passes through at least one inspection hole opened on the inner partition of the box girder; The inspection robot comprises a chassis running mechanism, a space mechanical arm and a shooting module; Wherein, the chassis running mechanism can be assembled and connected to the running track and reciprocate on the running track; The shooting module is connected to the chassis running mechanism through a space robot arm, and is used to be driven by the space robot arm to any side of the running track for shooting detection after the chassis running mechanism is in place; The space robot is a multi-axis form with multiple rotating arms connected end to end, and the adjacent rotating arms and the end rotating arms and the chassis running mechanism are rotatably connected by rotating shafts respectively; and the multiple rotating arms can be switched between a stacked initial state and an unfolded state extending along the longitudinal direction; then the chassis running mechanism can drive the shooting module through the inspection hole on the inner partition of the box beam through the space robot in the stacked initial state, and after the chassis running mechanism is in place, the space robot switched to the unfolded state drives the shooting module to the position to be detected and completes the photo detection.

[0006] As a further improvement of the present invention, the chassis running mechanism includes a top plate and two side plates connected to the bottom of both sides of the top plate, and a space for accommodating running wheels is formed between the two side plates; The running wheels include at least one top roller and at least one pair of bottom rollers; the two ends of the top roller are rotatably connected to the two side plates respectively, and the axis thereof is parallel to the axis of the bottom roller, and the two rollers in each pair of bottom rollers are spaced apart in the axial direction; the top roller can abut against the top surface of the running track plate with its running surface when the chassis running mechanism is assembled on the running track, and the two rollers in each pair of bottom rollers respectively abut against the bottom surfaces of the two lateral sides of the running track plate with their running surfaces; and A driving unit is provided corresponding to the top roller and / or the bottom roller. The driving unit is assembled with the corresponding roller through a transmission unit and is used to provide power and drive the corresponding roller to move on the running track.

[0007] As a further improvement of the present invention, the running wheels further include at least one pair of lateral wheels; The lateral wheels are rotatably connected to the side plates, with their axes being parallel to the plate surfaces of the side plates, and each pair of lateral wheels can abut against the lateral sides of the running track plate with the running surfaces when the chassis running mechanism is assembled on the running track.

[0008] As a further improvement of the present invention, the top rollers are two arranged at intervals in the longitudinal direction; a pair of bottom rollers is arranged corresponding to each top roller, and each pair of bottom rollers is arranged at intervals in the vertical direction with the corresponding top roller; and / or The lateral wheels are two pairs arranged at intervals in the longitudinal direction.

[0009] As a further improvement of the present invention, the driving unit is a driving motor arranged between the two side plates, and the transmission unit is a transmission belt connected between the output shaft of the driving motor and one end of the top roller.

[0010] As a further improvement of the present invention, the chassis running mechanism further comprises at least one equipment compartment arranged on the side plate, and the equipment compartment at least accommodates a power supply, a control module and a communication module; The power supply is electrically connected to the driving unit, the shooting module, and the space robot arm, respectively, for providing power for the operation of each component; the control module is electrically connected to the shooting module and the space robot arm, respectively, for controlling the space robot arm to perform an unfolding / folding process, and controlling the shooting module to perform a corresponding photo-taking detection process; the communication module is used for data communication between the control room or an external terminal and the inspection robot.

[0011] As a further improvement of the present invention, the inspection system also includes at least one relay communication module arranged inside the steel box girder, which is used to provide communication between the communication module and an external control room or an external terminal of the steel box girder.

[0012] As a further improvement of the present invention, the at least one relay communication module is a plurality of APs arranged at intervals; different channels are used between two adjacent APs, and the plurality of APs are powered and transmit signals through a switch.

[0013] As a further improvement of the present invention, the shooting module includes a camera and at least one light source corresponding to the camera, and a mounting plate is provided on the side of the shooting module away from the camera, and the mounting plate is connected to the end of the space robot arm through the shooting array servo, so that the camera can perform rotational shooting in space under the drive of the shooting array servo.

[0014] As a further improvement of the present invention, the cross-section of the running track is I-shaped, the top of which is a running track plate, and the bottom is a supporting track plate. The two tracks are connected by a web plate, and the running track is connected to the bottom of the inspection hole through the supporting track plate.

[0015] The above-mentioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0016] In general, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects: (1) The inspection system for steel box girders of the present invention is provided with a running track inside the steel box girder, and an inspection robot is provided on the running track. The combined arrangement of a chassis running mechanism, a space robot arm, and a shooting module is utilized so that the shooting module can travel through the inner partition of the box girder under the drive of the chassis running mechanism when the space robot arm is in the initial stacking state, and after moving into position, the shooting module is driven to the corresponding shooting position through the folding / unfolding control of the space robot arm, thereby completing the inspection of the inside of the steel box girder, improving the accuracy and comprehensiveness of the inspection of the inside of the steel box girder, reducing the labor cost consumed in manual inspection, simplifying the inspection process of the steel box girder, and improving the inspection efficiency of the steel box girder.

[0017] (2) The inspection system for steel box girders of the present invention optimizes the structure of the chassis running mechanism and utilizes the combination of top rollers, bottom rollers and lateral wheels to enable the chassis running mechanism to run reliably on the running rails and fully avoid lateral deviation and vertical falling off of the chassis running mechanism, thereby fully ensuring the reliability of the operation of the chassis running mechanism and improving the accuracy of the inspection robot control and inspection operations.

[0018] (3) The inspection system for steel box girders of the present invention is configured with an equipment compartment on the chassis running mechanism, and the power supply, control module, communication module and other equipment are packaged in the equipment compartment, so that the inspection robot can adapt to the harsh working environment and ensure the reliability and stability of the inspection robot during its operation. At the same time, by configuring multiple relay communication modules in the steel box girder, the inspection robot can complete data communication more accurately and reliably, and ensure the accuracy of robot control.

[0019] (4) The inspection system for steel box girders in the present invention has a simple structure and is easy to use. It can automatically complete the inspection of the inside of the steel box girder, ensure the efficiency and accuracy of the inspection of the inside of the steel box girder, avoid the omission of positions that exist during manual inspection, improve the inspection efficiency of the inside of the steel box girder, and reduce the cost of the inspection of the inside of the steel box girder, thereby ensuring the quality of the inspection of the inside of the steel box girder and having good practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the overall structure of the inspection system applicable to the steel box girder in the embodiment of the present invention; Figure 2 It is a structural enlarged diagram of a part A of the inspection system applicable to a steel box girder in an embodiment of the present invention; Figure 3 Schematic diagram of the three-dimensional structure of the chassis running mechanism of the inspection system in an embodiment of the present invention; Figure 4 1 is a structural front view of a chassis traveling mechanism of a patrol inspection system according to an embodiment of the present invention; Figure 5 BB is a cross-sectional view of the structure of the chassis running mechanism of the inspection system in an embodiment of the present invention; Figure 6 is a structural schematic diagram of a shooting module of an inspection system in an embodiment of the present invention; Figure 7is a schematic diagram of an inspection robot of an inspection system according to an embodiment of the present invention when a space manipulator arm is deployed to work; In all the drawings, the same reference numerals represent the same technical features, specifically: 100, inspection robot; 200, running track; 300, inner partition of box beam; 1. Chassis running mechanism; 2. Space manipulator; 3. Shooting module; 101. Equipment compartment; 102. Top plate; 103. Side plate; 104. Bottom plate; 105. Top roller; 106. Bottom roller; 107. Side wheel; 108. Drive unit; 109. Transmission unit; 201. Rotating arm; 202. Rotating shaft; 301. Camera; 302. Light source; 303. Fan; 304. Mounting plate; 305. Shooting array servo. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0023] In the description of the present invention, it should be understood that, unless otherwise expressly specified and limited, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0027] Example: See also Figure 1 to Figure 7 The inspection system suitable for steel box girders in the preferred embodiment of the present invention is intended to perform structural inspections in the internal space of the steel box girder body. It includes a running track 200 continuously arranged inside the steel box girder and an inspection robot 100 that can reciprocate on the running track 200. The inspection robot 100 can move in different parts of the steel box girder by moving on the running track 200.

[0028] Specifically, since a large number of box beam inner partitions 300 are arranged in the transverse and longitudinal directions inside the steel box beam, in the preferred embodiment, corresponding inspection holes are opened on the box beam inner partitions 300 corresponding to the arrangement of the running tracks 200, and each inspection hole is preferably in the form of Figure 1 The square structure shown has an opening size corresponding to the volume setting of the inspection robot 100, so as to ensure that the inspection robot 100 in a non-working state can accurately pass through each inspection hole.

[0029] Preferably, a fixing plate is welded at the bottom of each inspection hole to fix the bottom of the running track 200 .

[0030] For example, in Figure 1In the preferred embodiment shown, the fixing plate arranged in the inspection hole is extended in the circumferential direction to form a frame structure as shown in the figure. In the preferred embodiment, the bottom of the running track 200 can be fixed by clamping plates arranged on both sides of the inner partition plate 300 of the box beam and located below the fixing plate, that is, the bottom of the running track 200 is fixed by a plurality of connectors penetrating the clamping plates and the fixing plates.

[0031] It can be understood that, in actual setting, the running direction of the running track 200 inside the steel box girder can be set accordingly as needed.

[0032] For example, in a preferred embodiment, the running track 200 is set as a longitudinally extending wavy track, and the wavy track extends laterally to the lateral sides of the steel box girder. In this way, by the inspection robot 100 running inside the steel box girder, accurate lateral and longitudinal inspections of the interior of the beam can be completed.

[0033] In more detail, the running track 200 in the preferred embodiment includes a running track plate extending horizontally, which is used to cooperate with the chassis running mechanism 1 of the inspection robot 100 and complete the running of the inspection robot 100.

[0034] Exemplarily, the running rail 200 in the preferred embodiment is in the form of an "I-beam", which includes a running rail plate at the top and a supporting rail plate at the bottom. The running rail plate and the supporting rail plate are preferably arranged in parallel and connected by a web plate in the middle, thereby forming an I-shaped structure.

[0035] In actual configuration, the running track 200 is preferably formed by sequentially splicing a plurality of I-beam sections, and is connected to the bottom of the inspection hole via a supporting rail plate.

[0036] Furthermore, the inspection robot 100 in the preferred embodiment is as follows: Figure 1 As shown in the figure, it includes a chassis running mechanism 1 located at the bottom, a space robot 2 connected to the chassis running mechanism 1 and capable of folding / unfolding switching, and a shooting module 3 arranged at the end of the space robot 2.

[0037] Among them, the chassis running mechanism 1 is as follows Figure 3~Figure 5 As shown in the figure, it includes a frame structure surrounded by a top plate 102 and two side plates 103, and the cross-section of the frame structure is in the shape of a "gate", that is, the top plate 102 is horizontally arranged, and the two side plates 103 are respectively vertically arranged and connected to the lateral sides of the top plate 102 with the top, so as to form a space for setting running wheels between the two side plates 103.

[0038] In more detail, the running wheel in the preferred embodiment includes a top roller wheel 105 whose two ends are rotatably connected to the two side plates 103, and is used for running on the top surface of the running rail plate.

[0039] In actual settings, at least two top rollers 105 are preferably spaced apart, and the axes of the top rollers 105 are parallel to each other and in the same horizontal plane. In this way, when the chassis running mechanism 1 matches the running track 200, each top roller 105 can contact the top surface of the running track plate of the running track 200 at the same time.

[0040] At the same time, the running wheels also include at least one pair of bottom rollers 106 vertically spaced apart from the top rollers 105, and the two bottom rollers 106 in each pair of bottom rollers 106 are respectively connected to the inner wall surfaces of the two side plates 103, and the axis of each bottom roller 106 is parallel to the axis of the top roller 105. At the same time, the vertical spacing between the bottom rollers 106 and the top rollers 105 corresponds to the thickness of the running rail, so that when the top rollers 105 contact the top surface of the running rail, each bottom roller 106 can just abut the bottom surface of the two sides of the running rail, and then the running rail is clamped by the top rollers 105 and the bottom rollers 106, and the corresponding running process is completed accordingly.

[0041] It can be understood that, in actual configuration, the two bottom rollers 106 in each pair of bottom rollers 106 are spaced a certain distance apart in the lateral direction, such as Figure 4 As shown in , in this way, the two bottom rollers 106 and the web of the running track 200 can be avoided, that is, the two bottom rollers 106 are respectively arranged on both sides of the web of the running track 200.

[0042] More preferably, in order to facilitate the setting of the bottom roller 106, a bottom plate 104 is preferably horizontally arranged at the bottom of the two side plates 103, and the sides of the two bottom plates 104 facing away from each other are connected to the bottom of the two side plates 103 and are located in the same horizontal plane, and the lateral spacing between the two bottom plates 104 corresponds to the lateral spacing setting of the two bottom rollers 106, so as to fully realize the avoidance of the two bottom plates 104 and the web of the running track 200.

[0043] For example, in Figure 4 , Figure 5 In the preferred embodiment shown, two top rollers 105 are longitudinally spaced apart on the chassis running mechanism 1; at this time, a pair of bottom rollers 106 are provided corresponding to each top roller 105, and each pair of bottom rollers 106 is spaced apart and directly below the corresponding top roller 105, and vertically aligned with the top roller 105. At the same time, corresponding to the fixing of the bottom rollers 106, a bottom plate 104 is provided at the bottom of the side plate 103, and the two bottom rollers 106 spaced apart longitudinally are provided at the longitudinal ends of the bottom plate 104.

[0044] Obviously, in the above specific embodiment, the axes of the two top rollers 105 are in the same horizontal plane, the axes of the two pairs of bottom rollers 106 are in another horizontal plane, and the two horizontal planes are parallel to each other and spaced apart by a distance corresponding to the thickness of the running rail.

[0045] More specifically, corresponding to the running drive of the chassis running mechanism 1, a driving unit 108 is also provided corresponding to the top roller 105 and / or the bottom roller 106. The driving unit 108 is connected to the corresponding roller assembly through a transmission unit 109, so that the driving unit 108 can generate a corresponding driving force and drive the corresponding roller to rotate, thereby realizing the reciprocating motion of the chassis running mechanism 1 on the running track 200.

[0046] Exemplarily, the driving unit 108 in the preferred embodiment is arranged corresponding to at least one top roller 105, and is used to drive at least one top roller 105 to rotate.

[0047] by Figure 5 For example, one of the two top rollers 105 is a driving wheel, which is assembled with the driving unit 108 through the transmission unit 109. Correspondingly, the other top roller 105 is a driven wheel.

[0048] In more detail, Figure 5 The transmission unit 109 is a transmission belt, and the driving unit 108 is a driving motor. The driving motor is assembled and connected between the two side plates 103, and transmits power to the top roller 105 through the transmission belt.

[0049] Further preferably, at least one pair of lateral wheels 107 is provided on the two side plates 103, for example Figure 5 For each pair of lateral wheels 107, the axes of the two lateral wheels 107 are respectively parallel to the plate surface of the side plate 103, and when the top roller 105 and the bottom roller 106 are assembled on the running track, the opposite running surfaces of the two lateral wheels 107 respectively abut against the lateral sides of the running track, such as Figure 1 as shown in .

[0050] By setting up multiple pairs of lateral wheels 107, the chassis running mechanism 1 can reliably complete the lateral limitation when it is set on the running track 200, avoiding lateral displacement of the chassis running mechanism 1 on the running track 200 during the running process, and ensuring the running accuracy of the chassis running mechanism 1.

[0051] Further, an equipment compartment 101 is provided on the side surface of at least one side plate 103, for example, Figure 3 In the preferred embodiment shown, equipment compartments 101 are respectively provided on the two end surfaces of the two side plates 103 that are opposite to each other, for accommodating and encapsulating various components required for the normal operation of the inspection robot 100, such as power supply, control module, storage module, communication module, positioning module, etc.

[0052] In more detail, the power supply is electrically connected to the drive unit 108, the shooting module 3, and the rotating shaft 202 in the space robot 2, respectively, to provide electrical energy for the normal operation of each component. At the same time, the control module is electrically connected to the space robot 2 and the shooting module 3, respectively, to issue control instructions to the space robot 2 and the shooting module 3, to control the space robot 2 to perform the unfolding / folding process, and to control the shooting module 3 to perform the corresponding photo detection process. In addition, the storage module is electrically connected to the shooting module 3, to receive and store the internal detection images of the steel box girder taken by the shooting module 3; accordingly, the communication module is used to establish a connection with the control room or an external terminal, and transmit the collected detection images to the equipment outside the steel box girder, which is then used as the basis for archiving the detection results and determining the defects of the beam body. Further preferably, the inspection system also includes at least one relay communication module arranged inside the steel box girder, which can communicate with the communication module in the equipment warehouse 101, so that the operating personnel outside the steel box girder can accurately complete the communication process with the inspection robot 100 inside the steel box girder, ensuring that the communication range covers the movement range of the inspection robot 100.

[0053] For example, in a specific preferred embodiment, multiple APs (wireless access points) are arranged inside the steel box girder, and the multiple APs are powered and transmit signals through a switch. At the same time, different channels are used between adjacent APs to reduce interference, and the communication module in the equipment compartment 101 can complete signal communication with any AP and realize data transmission.

[0054] Furthermore, in the preferred embodiment, a spatial robot arm 2 is provided on the chassis running mechanism 1 corresponding to the shooting module 3, so as to realize the position change control of the shooting module 3 in the internal space of the steel box girder.

[0055] Specifically, in the preferred embodiment, the spatial robot 2 includes rotating arms 201 that are rotatably connected head to tail in sequence, one of the rotating arms 201 located at the end is rotatably connected to the top plate 102 by its end, and the other rotating arm 201 located at the end is connected to the shooting module 3 by its end.

[0056] During actual setting, the rotating arm 201 and the top plate 102, as well as the ends of two adjacent rotating arms 201 are connected by a rotating shaft 202. Each rotating shaft 202 can drive the rotating arm 201 to move around the axis at a corresponding angle under control, thereby realizing the switching of the space robot 2 from the stacked initial state to the unfolded state.

[0057] For example, in Figure 1In the preferred embodiment shown, the space robot 2 includes three rotating arms 201, one end of the first rotating arm 201 is connected to the top plate 102 via a rotating shaft 202, and the other end of the first rotating arm 201 is connected to one end of the second rotating arm 201 via the rotating shaft 202; accordingly, the other end of the second rotating arm 201 is connected to one end of the third rotating arm 201 via the rotating shaft 202, and the other end of the third rotating arm 201 is rotatably connected to the shooting module 3.

[0058] In actual configuration, each rotating arm 201 is hollow and has a space for wiring formed inside, so as to realize electrical connection between each rotating shaft 202 and the shooting module 3 and the corresponding module in the equipment compartment 101 .

[0059] In more detail, in actual setting, the width of each rotating arm 201 is preferably not greater than the width of the chassis running mechanism 1, and in the initial state of stacking, the axis of each rotating arm 201 is parallel to the longitudinal direction of the running track 200, that is, at this time, each rotating arm 201 is parallel to the longitudinal direction of the top plate 102, and extends forward or backward along the running direction of the chassis running mechanism 1. In the initial state of stacking, the lateral dimension of the inspection robot 100 is the smallest, which is convenient for the inspection robot 100 to pass through the inspection hole on the corresponding box beam inner partition 300.

[0060] Correspondingly, after the chassis running mechanism 1 of the inspection robot 100 passes through the corresponding inspection hole, the space robot arm 2 can start to unfold under the control of the control module, such as Figure 7 As shown in , the shooting module 3 is sent to the corresponding detection positions on both sides of the running track 200 to complete the photo inspection of each detection position.

[0061] More preferably, the shooting module 3 in the preferred embodiment includes a camera 301 and at least one light source 302 arranged corresponding to the camera 301 , and the light source 302 provides light for the camera 301 to shoot.

[0062] In a preferred embodiment, the light sources 302 corresponding to the camera 301 are two light sources disposed on both sides of the camera 301. Figure 6 as shown in .

[0063] At the same time, fans 303 are preferably provided for each light source 302 to dissipate heat for the light source 302 in the working state. In addition, a mounting plate 304 is provided on the side of the shooting module 3 away from the camera 301, and the mounting plate 304 is further connected to the end of the space robot 2 through the shooting array servo 305. Figure 2 as shown in .

[0064] By setting up the shooting array servo 305, the shooting module 3 can perform rotation adjustment in three-dimensional space (such as plane rotation, pitch adjustment, etc.) relative to the end of the space robot 2, thereby realizing separate detection of the top surface, bottom surface, and side surface of the steel box girder, thereby ensuring the comprehensiveness and accuracy of the detection.

[0065] In actual settings, the shooting array servo 305 is electrically connected to the control module inside the equipment compartment 101, and the position change of the camera 301 is correspondingly controlled by the control instructions of the control module.

[0066] Through the above settings, an inspection system suitable for steel box girders in a preferred embodiment can be obtained. The use process of the inspection system is as follows: First, the chassis running mechanism 1 is assembled on the running track 200 which is arranged inside the steel box girder and extends continuously, so that each top roller 105 abuts against the top surface of the running track plate, each bottom roller 106 abuts against the bottom surface of the two lateral sides of the running track plate, and each pair of side wheels 107 is arranged on the two lateral sides of the running track plate, and the running surfaces are respectively pressed against the two lateral sides of the running track plate.

[0067] At the same time, the control space robot arm 2 is in the initial stacking state, and each rotating arm 201 is longitudinally folded on the chassis running mechanism 1. After that, the top roller 105 is driven to rotate by the driving unit 108, and the other rollers are driven, so as to realize the movement of the inspection robot 100 on the running track 200.

[0068] When the inspection robot 100 arrives at the position to be inspected, the rotating shaft 202 at the joint of each rotating arm 201 starts to work, so that the spatial robot arm 2 switches to the unfolded state and sends the shooting module 3 to the position to be inspected. Then the internal area of ​​the steel box girder is inspected. During the inspection process, the camera 301 captures images and stores data or transmits data back.

[0069] After completing all inspections of the area, the control space robot 2 is reset and switched to a longitudinally stacked state; thereafter, the chassis running mechanism 1 can drive the shooting module 3 across the corresponding box beam inner partition 300 to the next inspection position, or return to the initial position after completing all position inspections.

[0070] The inspection system suitable for steel box girders in the present invention has a simple structure and is easy to use. It can automatically complete the inspection of the inside of the steel box girder, ensure the efficiency and accuracy of the inspection of the inside of the steel box girder, avoid position omissions during manual inspection, improve the inspection efficiency of the inside of the steel box girder, reduce the cost of the inspection of the inside of the steel box girder, ensure the quality of the inspection of the inside of the steel box girder, and has good practical value.

[0071] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A patrol inspection system suitable for steel box girders, characterized in that: It includes a running track and an inspection robot capable of reciprocating on the running track; The running track is arranged inside the steel box girder, and includes a running track plate that is continuously extended and passes through at least one inspection hole opened on the inner partition of the box girder; The inspection robot comprises a chassis running mechanism, a space mechanical arm and a shooting module; Wherein, the chassis running mechanism can be assembled and connected to the running track and reciprocate on the running track; The shooting module is connected to the chassis running mechanism through a space robot arm, and is used to be driven by the space robot arm to any side of the running track for shooting detection after the chassis running mechanism is in place; The space robot is a multi-axis form with multiple rotating arms connected end to end. The adjacent rotating arms and the end rotating arms and the chassis running mechanism are rotatably connected by rotating shafts, and the multiple rotating arms can be switched between a stacked initial state and an expanded state extending along the longitudinal direction; then the chassis running mechanism can drive the shooting module through the inspection hole on the inner partition of the box beam through the space robot in the stacked initial state, and after the chassis running mechanism is in place, the space robot switched to the expanded state drives the shooting module to the position to be detected and completes the photo detection.

2. The inspection system for steel box girders according to claim 1, characterized in that: The chassis running mechanism comprises a top plate and two side plates connected to the bottom of both sides of the top plate, and a space for accommodating running wheels is formed between the two side plates; The running wheels include at least one top roller and at least one pair of bottom rollers; the two ends of the top roller are rotatably connected to the two side plates respectively, and the axis thereof is parallel to the axis of the bottom roller, and the two rollers in each pair of bottom rollers are spaced apart in the axial direction; the top roller can abut against the top surface of the running track plate with its running surface when the chassis running mechanism is assembled on the running track, and the two rollers in each pair of bottom rollers respectively abut against the bottom surfaces of the two lateral sides of the running track plate with their running surfaces; and A driving unit is provided corresponding to the top roller and / or the bottom roller. The driving unit is assembled with the corresponding roller through a transmission unit and is used to provide power and drive the corresponding roller to move on the running track.

3. The inspection system for steel box girders according to claim 2 is characterized in that: The running wheels also include at least one pair of lateral wheels; The lateral wheels are rotatably connected to the side plates, with their axes being parallel to the plate surfaces of the side plates, and each pair of lateral wheels can abut against the lateral sides of the running track plate with the running surfaces when the chassis running mechanism is assembled on the running track.

4. The inspection system for steel box girders according to claim 3 is characterized in that: The top rollers are two arranged at intervals in the longitudinal direction; a pair of bottom rollers is arranged corresponding to each top roller, and each pair of bottom rollers is arranged at intervals in the vertical direction with the corresponding top roller; and / or The lateral wheels are two pairs arranged at intervals in the longitudinal direction.

5. The inspection system for steel box girders according to any one of claims 2 to 4, characterized in that: The driving unit is a driving motor arranged between the two side plates, and the transmission unit is a transmission belt connected between the output shaft of the driving motor and one end of the top roller.

6. The inspection system for steel box girders according to any one of claims 2 to 4, characterized in that: The chassis running mechanism also includes at least one equipment compartment arranged on the side plate, and the equipment compartment at least accommodates a power supply, a control module and a communication module; The power supply is electrically connected to the driving unit, the shooting module, and the space robot arm, respectively, for providing power for the operation of each component; the control module is electrically connected to the shooting module and the space robot arm, respectively, for controlling the space robot arm to perform an unfolding / folding process, and controlling the shooting module to perform a corresponding photo-taking detection process; the communication module is used for data communication between the control room or an external terminal and the inspection robot.

7. The inspection system for steel box girders according to claim 6, characterized in that: The inspection system also includes at least one relay communication module arranged inside the steel box girder, which is used to provide communication between the communication module and an external control room or an external terminal of the steel box girder.

8. The inspection system for steel box girders according to claim 7, characterized in that: The at least one relay communication module is a plurality of APs arranged at intervals; different channels are used between two adjacent APs, and the plurality of APs are powered and transmit signals through a switch.

9. The inspection system for steel box girders according to any one of claims 1 to 4, 7 and 8, characterized in that: The shooting module includes a camera and at least one light source corresponding to the camera, and a mounting plate is provided on the side of the shooting module facing away from the camera. The mounting plate is connected to the end of the space robot arm through a shooting array servo, so that the camera can perform rotational shooting in space under the drive of the shooting array servo.

10. The inspection system for steel box girders according to any one of claims 1 to 4, 7 and 8, characterized in that: The cross section of the running track is I-shaped, the top of which is a running track plate, and the bottom is a supporting track plate. The two tracks are connected by a web plate, and the running track is connected to the bottom of the inspection hole through the supporting track plate.

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