Pier detection robot

Abstract

The invention relates to a bridge pier detection robot, and belongs to the field of detection devices.The bridge pier detection robot comprises a plurality of frame bodies, the frame bodies are connected through bandages, the side, close to a bridge pier, of each frame body is connected with a lifting assembly, and the lifting assemblies are used for driving the connected frame bodies to move on the bridge pier; the upper sides of the plurality of frame bodies are connected with the same circular track, the circular track is connected with a plurality of detection vehicles capable of moving around the circular track, one detection vehicle is provided with a rebound apparatus, and the other detection vehicle is provided with a steel bar detector. The bridge pier detection equipment provided by the invention has the effect of being suitable for bridge piers with different sizes.

Description

Technical Field

[0001] The present application relates to the field of detection devices, and in particular to a bridge pier detection robot. Background Art

[0002] After the piers are newly built and exposed to the complex and harsh external environment and long-term loads, structural defects will inevitably occur, which will have a serious impact on the integrity and safety of the entire bridge. If the structural defects are not discovered and intervened in time, it is very likely to cause the collapse of the bridge. By testing the structural strength of the piers, the defects and damage of the piers can be discovered in time, and repair or reinforcement measures can be taken to extend the service life of the bridge, reduce maintenance costs, and improve the economic and social benefits of the bridge. At the same time, the structural safety of the piers can be evaluated, providing a scientific basis for the maintenance and management of the piers.

[0003] At present, the main methods for testing the structural strength of bridge piers include manual inspection and drone inspection. The manual inspection method is to send the inspection personnel and equipment to the vicinity of the bridge piers for observation through the hanging basket or truss device of the inspection vehicle. This method consumes a lot of manpower and material resources, has high requirements for the surrounding environment of the bridge piers, and has disadvantages such as low detection accuracy and low efficiency. The drone inspection method can only detect surface defects of bridge piers, cannot hover and apply force, and cannot perform structural strength testing. In the intelligent non-destructive testing of the structural strength of high-rise parts of bridge piers, there is currently no stable and efficient detection system, which seriously restricts the progress of structural strength testing technology. Therefore, it is urgent to develop a new type of bridge pier structure strength detection system to improve and solve the current shortcomings of bridge pier structure strength detection. Summary of the invention

[0004] In order to provide a pier detection device suitable for piers of different sizes, the present application provides a pier detection robot.

[0005] The present application provides a bridge pier inspection robot that adopts the following technical solution: A bridge pier inspection robot comprises a plurality of frames, wherein the plurality of frames are connected by bandages, a lifting assembly is connected to a side of each frame close to the bridge pier, the lifting assembly is used to drive the connected frames to move on the bridge pier, the upper sides of the plurality of frames are connected to the same circular rail, a plurality of inspection vehicles that can move around the circular rail are connected to the circular rail, one of the inspection vehicles is equipped with a rebound tester, and another inspection vehicle is equipped with a steel bar detector.

[0006] By adopting the above technical solution, when it is necessary to inspect the bridge pier, multiple frames are arranged around the bridge pier, and the frames are connected to each other by bandages, and then the lifting assembly is started to drive the multiple frames to move. After the multiple frames are moved to appropriate positions, the connected rebound testers and steel bar detectors are driven by the inspection vehicle to move around the ring track and inspect the outer wall of the bridge pier, thereby realizing the process of inspecting bridge piers of different sizes.

[0007] Optionally, a telescopic rod is connected between two adjacent frames.

[0008] By adopting the above technical solution and arranging the telescopic rod, the phenomenon of the ring track tilting caused by the instability of connecting two adjacent frames through the bandage is reduced.

[0009] Optionally, the lifting assembly includes two relatively arranged mounting blocks connected to the side of the frame close to the pier, each of the mounting blocks is connected to a plurality of lifting wheels, and each of the mounting blocks is connected to a lifting motor for driving the lifting wheels to rotate.

[0010] By adopting the above technical solution, when the frame needs to be moved up and down, the lifting motor is started, and the lifting motor drives the connected lifting wheel to rotate, and the lifting wheel drives the connected frame to move during the rotation process.

[0011] Optionally, the inspection vehicle includes multiple moving wheels located at the bottom of the inspection vehicle, and the multiple moving wheels connected to each of the inspection vehicles are distributed on both sides of the circular track and arranged opposite to each other. Each of the inspection vehicles is connected to a moving motor, and the moving motor is connected to the multiple moving wheels connected to the same inspection vehicle and is used to drive the connected multiple moving wheels to rotate.

[0012] By adopting the above technical solution, when the inspection vehicle needs to be moved, the moving motor is started, and the moving motor drives the multiple connected moving wheels to rotate, and the moving wheels abut against the ring rails, thereby realizing the process of driving the inspection vehicle to move through the moving wheels.

[0013] Optionally, each of the inspection vehicles is connected to a driving assembly, and the driving assembly is connected to the mobile motor on the same inspection vehicle. The driving assembly is also connected to the rebound tester or the steel bar detector on the same inspection vehicle and can drive the connected rebound tester or the steel bar detector to move towards or away from the bridge pier under the drive of the mobile motor.

[0014] By adopting the above technical solution, a driving component is provided to drive the connected rebound tester or steel bar detector to move, thereby reducing the phenomenon that the frame or the inspection vehicle drives the rebound tester or steel bar detector to slide and abut against the side wall of the pier during movement, thereby causing damage to the rebound tester or steel bar detector.

[0015] Optionally, the driving assembly includes a driving bevel gear connected to the mobile motor on the same inspection vehicle, the driving bevel gear is meshed with a driven bevel gear, a reciprocating screw is fixedly connected to one side of the driven bevel gear, a driving plate is threadedly sleeved on the reciprocating screw, and the driving plate is connected to the rebound tester or the steel bar detector connected to the same inspection vehicle.

[0016] By adopting the above technical solution, when the mobile motor drives the inspection vehicle to move, the mobile motor drives the driving bevel gear to rotate, and the driving bevel gear drives the driven bevel gear to rotate during the rotation, and the driven bevel gear drives the reciprocating screw to rotate during the rotation, and the reciprocating screw drives the driving plate to move back and forth during the rotation, so that the driving plate can drive the rebound tester or the steel bar detector to repeatedly contact the bridge pier, thereby realizing the process of inspecting the bridge pier through the rebound tester or the steel bar detector.

[0017] Optionally, the ring rail includes a lower side rail fixedly connected to the frame, a movable rail is provided on the upper side of the lower side rail, an upper side rail is provided on the upper side of the movable rail, the upper side wall of the upper side rail is in sliding contact with the multiple inspection vehicles, and the movable rail can contact or separate from the movable wheels of the multiple inspection vehicles by moving.

[0018] By adopting the above technical solution, during the movement of the frame, the linkage assembly drives the moving rail to move upward and separate from the moving wheel, so that it is difficult for the moving wheel to abut against the moving rail and drive the inspection vehicle to move. At this time, the position of the drive plate and the connected rebound tester or steel bar detector is adjusted by the mobile motor, thereby realizing the adjustment of the vertical detection points in different horizontal planes, reducing the occurrence of inaccurate detection of bridge piers.

[0019] Optionally, the linkage assembly includes a linkage shaft connected to the adjacent lifting motor, and the linkage shaft can rotate under the drive of the connected lifting motor, and the end of the linkage shaft away from the lifting motor is fixedly connected to a linkage bevel gear, and a rotating bevel gear is meshed on one side of the linkage bevel gear, and a linkage ratchet is provided on the inner side of the rotating bevel gear, and a plurality of rotating ratchets are fixedly connected to the side of the rotating bevel gear close to the linkage ratchet, and the plurality of rotating ratchets can abut against the linkage ratchet, and the linkage ratchet is fixedly connected to a linkage lead screw, and the linkage lead screw rotatably passes through the lower side rail and threadedly passes through the movable rail and is rotatably connected to the upper side rail, and a tension spring is connected between the movable rail and the lower side rail.

[0020] By adopting the above technical solution, during the rotation of the lifting wheel, the lifting motor drives the connected linkage shaft to rotate, and the linkage shaft drives the connected linkage bevel gear to rotate during the rotation, and the linkage bevel gear drives the connected rotating bevel gear to rotate during the rotation, and the rotating bevel gear drives the linkage ratchet to rotate through the engagement of multiple rotating ratchets with the linkage ratchet during the rotation, and the linkage ratchet drives the linkage lead screw to rotate during the rotation, and the linkage lead screw drives the moving rail to move upward and separate from the moving wheel during the rotation; when the lifting wheel does not rotate, the moving rail moves downward under the action of the tension spring to abut against the multiple moving wheels, and drives the linkage lead screw to rotate in the opposite direction, and at this time the rotating ratchet is not engaged with the linkage ratchet, so that the linkage lead screw can rotate.

[0021] Optionally, the frame body includes a support rod, the support rod is rotatably connected to the lifting block via an adjusting rod, and the adjusting rod is connected to the lifting block and the support rod via bolts.

[0022] By adopting the above technical solution and setting an adjusting rod, the position of the lifting block and the lifting wheel connected to the lifting block can be adjusted, so that multiple frames and the connected lifting wheels can adapt to bridge piers of different sizes.

[0023] Optionally, a camera is connected to the detection vehicle.

[0024] By adopting the above technical solution and setting a camera, the camera can collect images on the outer wall of the pier, thereby reducing the occurrence of the phenomenon that the outer wall of the pier is damaged and difficult to find.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. By setting a bandage to connect multiple frames, and setting a lifting assembly to drive the frames to move up and down, as well as a ring track and a detection vehicle moving around the ring track, and the detection vehicle is connected with a rebound tester and a steel bar detector, so that the detection of bridge piers of different sizes can be realized; 2. By setting the driving component, it is possible to drive the rebound tester and the steel bar detector to move back and forth and detect the bridge pier; 3. By setting up linkage components and setting the ring rails as lower side rails, movable rails and upper side rails, the positions of the rebound tester and the steel bar detector can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0027] Figure 2 It is a schematic diagram showing the connection relationship between the lifting assembly and the frame according to an embodiment of the present application.

[0028] Figure 3 It is a schematic diagram of the structure of the display detection vehicle according to an embodiment of the present application.

[0029] Figure 4 It is a schematic diagram of the internal structure of the inspection vehicle according to an embodiment of the present application.

[0030] Figure 5 It is a cross-sectional view showing the connection relationship between the lifting assembly and the ring rail according to an embodiment of the present application.

[0031] Explanation of reference numerals: 1, frame; 11, support rod; 12, bandage; 13, telescopic rod; 14, frame rod; 141, track block; 15, adjustment rod; 2, lifting assembly; 21, mounting block; 22, lifting wheel; 23, lifting motor; 24, lifting reducer; 3, ring rail; 31, lower side rail; 32, moving rail; 33, upper side rail; 4, inspection vehicle; 41, moving wheel; 411, rotating shaft; 42, driven pulley; 421, connecting belt; 43, connecting gear Wheel; 44, driving pulley; 45, mobile motor; 46, connecting reducer; 5, rebound tester; 6, steel bar detector; 7, driving assembly; 71, driving bevel gear; 72, driven bevel gear; 73, reciprocating screw; 74, driving plate; 75, connecting frame; 8, linkage assembly; 81, linkage shaft; 82, linkage bevel gear; 83, rotating bevel gear; 831, rotating ratchet; 84, linkage ratchet; 85, linkage screw; 86, tension spring; 9, camera. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1 -Attached Figure 5 This application is described in further detail.

[0033] The present application embodiment discloses a bridge pier inspection robot, referring to Figure 1 and Figure 2 , including a plurality of frames 1, each frame 1 including a support rod 11, and a bandage 12 and a telescopic rod 13 are connected between two adjacent ones. A lifting assembly 2 is connected to one side of each support rod 11 close to the side wall of the pier, and the lifting assembly 2 is used to drive the connected frame 1 to move up and down along the pier.

[0034] Each support rod 11 is fixedly connected to a rack rod 14 on one side away from the connected lifting assembly 2, and the upper end of each rack rod 14 is connected to a track block 141, and the upper surfaces of the plurality of track blocks 141 are located in the same plane. The upper sides of the plurality of track blocks 141 are connected to a ring track 3, and the ring track 3 is connected to a plurality of inspection vehicles 4, and each inspection vehicle 4 can move around the ring track 3. In this embodiment, two inspection vehicles 4 are provided, one of which is connected to a rebound tester 5, and the other is connected to a steel bar detector 6.

[0035] When the bridge pier needs to be inspected, multiple frames 1 are placed around the bridge pier, and by setting the binding straps and telescopic rods 13, multiple support rods 11 can adapt to bridge piers of different sizes. Then, the multiple support rods 11 are driven to move by the lifting assembly 2. After the multiple support rods 11 move to the position required for inspection, the inspection vehicle 4 is controlled to move around the ring track 3. When the inspection vehicle 4 moves to the position required for inspection, the rebound tester 5 and the steel bar detector 6 connected to the inspection vehicle 4 are used to inspect the adjacent bridge piers, thereby realizing the inspection process of the bridge piers.

[0036] The lifting assembly 2 is provided to drive the rebound hammer 5 and the steel bar detector 6 to move up and down, and the inspection vehicle 4 drives the rebound hammer 5 and the steel bar detector 6 to rotate around the bridge pier, so that the rebound hammer 5 and the steel bar detector 6 can fully inspect the bridge pier.

[0037] The lifting assembly 2 includes two mounting blocks 21 located on the side of the support rod 11 away from the connected frame rod 14, and the two mounting blocks 21 are arranged opposite to each other up and down. Each mounting block 21 is rotatably connected to one side of the support rod 11 and is arranged parallel to each other, and the connection between each adjusting rod 15 and the connected mounting block 21 is fixed by bolts. The side of each adjusting rod 15 away from the connected mounting block 21 is connected to the adjacent support rod 11, and the connection between each adjusting rod 15 and the support rod 11 is fixed by bolts.

[0038] Each mounting block 21 is provided with lifting wheels 22 on opposite sides, and each mounting block 21 is connected to a lifting motor 23, each lifting motor 23 is connected to a lifting reducer 24, and each lifting reducer 24 is connected to the two lifting wheels 22 of the same mounting block 21 and is used to drive the two connected lifting wheels 22 to rotate.

[0039] When a lifting operation is required, the lifting motor 23 is started, and the lifting motor 23 drives the connected lifting wheel 22 to rotate through the reducer. During the rotation process, the lifting wheel 22 drives the connected bracket to move along the length direction of the pier.

[0040] Reference Figure 3 and Figure 4 Each inspection vehicle 4 includes a plurality of moving wheels 41. In this embodiment, each inspection vehicle 4 is connected to four moving wheels 41, and the four moving wheels 41 are evenly distributed on both sides of the ring track 3. Each moving wheel 41 is horizontally arranged and fixedly connected with a rotating shaft 411 in the middle. One end of each rotating shaft 411 away from the moving wheel 41 is rotatably plugged into the interior of the inspection vehicle 4 and fixedly connected with a driven pulley 42. The two driven pulleys 42 on the same side of the ring track 3 are sleeved with the same connecting belt 421.

[0041] Two adjacent rotating shafts 411 located on both sides of the ring rail 3 are fixedly connected with connecting gears 43 , and the two connecting gears 43 are meshed with each other.

[0042] Each inspection vehicle 4 is connected to a mobile motor 45 , and the output shaft of each mobile motor 45 is connected to a connecting reducer 46 . Each connecting reducer 46 is driven and connected to a driving pulley 44 . The driving pulley 44 is located inside one of the connecting belts 421 inside the connected inspection vehicle 4 and abuts against the connecting belt 421 .

[0043] When the inspection vehicle 4 needs to move, the moving motor 45 is started. The moving motor 45 drives the connected driving pulley 44 to rotate through the connected reducer 46. The driving pulley 44 drives one of the connecting belts 421 to rotate during the rotation. The connecting belt 421 drives the two connected driven pulleys 42 to rotate during the rotation. Through the existence of the two connecting gears 43, the four rotating shafts 411 can drive the four moving wheels 41 to rotate at the same time, and the moving wheels 41 located on both sides of the circular track 3 rotate relative to each other, thereby realizing the process of the inspection vehicle 4 moving around the circular track 3.

[0044] Each inspection vehicle 4 is connected to a driving assembly 7 , and each driving assembly 7 is connected to a rebound tester 5 or a steel bar detector 6 connected to the same inspection vehicle 4 , and is used to drive the rebound tester 5 or the steel bar detector 6 to move.

[0045] By setting up the driving component 7, when the frame 1 moves to an appropriate height, the driving component 7 can drive the rebound tester 5 or the steel bar detector 6 to move and measure the bridge pier, thereby facilitating the process of the staff moving the rebound tester 5 or the steel bar detector 6.

[0046] The driving assembly 7 includes a driving bevel gear 71 connected to the connecting reducer 46 on the same detection vehicle 4, and the driving bevel gear 71 can rotate under the drive of the connected mobile motor 45. A driven bevel gear 72 is meshed on one side of the driving bevel gear 71, and a reciprocating screw 73 is fixedly connected to one side of the driven bevel gear 72. A driving plate 74 is sleeved on the outer thread of the reciprocating screw 73, and a connecting frame 75 is fixedly connected to the upper side of the driving plate 74. The side of the connecting frame 75 away from the driving plate 74 is fixedly connected to the adjacent rebound tester 5 or steel bar detector 6.

[0047] In the process of the mobile motor 45 driving the inspection vehicle 4 to move, the mobile motor 45 drives the connected driving bevel gear 71 to rotate through the connected reducer 46, and the driving bevel gear 71 drives the connected driven bevel gear 72 to rotate during the rotation process, and the driven bevel gear 72 drives the connected reciprocating screw 73 to rotate during the rotation process, and the reciprocating screw 73 drives the connected driving plate 74 to reciprocate during the rotation process, and the driving plate 74 drives the connected connecting frame 75 to move during the movement, and the connecting frame 75 drives the connected rebound tester 5 or steel bar detector 6 to move during the movement, so that the rebound tester 5 and the steel bar detector 6 can detect adjacent bridge piers during the movement.

[0048] Reference Figure 1 and Figure 5 The ring rail 3 is divided into a lower rail 31 connected to a plurality of rail blocks 141, a movable rail 32 which is arranged parallel to the lower rail 31 and has the same shape as the lower rail 31 is provided on the upper side of the lower rail 31, and an upper rail 33 which is arranged parallel to the movable rail 32 and has the same shape as the movable rail 32 is provided on the upper side of the movable rail 32. The movable rail 32 can move up and down, and when the movable rail 32 is located at the lower side, it is located between the plurality of movable wheels 41 and can abut against the adjacent movable wheels 41, and when the movable rail 32 is located at the upper side, it is located at the upper side of the plurality of movable wheels 41 so that there is a gap between the plurality of movable wheels 41.

[0049] The movable rail 32 is connected with a linkage assembly 8 , and the linkage assembly 8 is connected with the adjacent lifting wheel 22 and can drive the movable rail 32 to move up and down under the drive of the lifting wheel 22 .

[0050] In the process of the lifting wheel 22 driving the frame 1 to move up and down, the linkage assembly 8 drives the moving rail 32 to move upward relative to the lower rail 31, so that the moving rail 32 is located on the upper side of the multiple moving wheels 41, and then the moving wheels 41 are difficult to drive the detection vehicle 4 to move around the ring rail 3 during the rotation. When the lifting wheel 22 stops rotating, the linkage assembly 8 drives the moving rail 32 to move downward, so that the moving rail 32 is located in the middle position of the multiple moving wheels 41, and then the moving wheels 41 can drive the detection vehicle 4 to move by contacting with the moving rail 32. Therefore, in the process of the lifting wheel 22 driving the frame 1 to move, the detection vehicle 4 can remain relatively stable, so that the mobile motor 45 can only drive the connected rebound tester 5 or steel bar detector 6 to move during the movement of the frame 1, thereby realizing the adjustment of the detection points in the same horizontal plane.

[0051] The linkage assembly 8 includes a linkage shaft 81 connected to the middle position of multiple lifting wheels 22 located on the upper side, and each linkage shaft 81 can rotate under the drive of the moving wheel 41. One end of each linkage shaft 81 away from the connected lifting wheel 22 is fixedly connected to a linkage bevel gear 82, and each linkage bevel gear 82 is meshed with a rotating bevel gear 83.

[0052] A linkage ratchet 84 is sleeved at the inner middle position of each rotating bevel gear 83 , and a plurality of linkage ratchet teeth are fixedly connected to one side of each linkage bevel gear 82 close to the inner linkage ratchet 84 , and each linkage ratchet tooth can mesh with an adjacent linkage ratchet wheel 84 .

[0053] One end of each linkage ratchet 84 near the moving rail 32 is fixedly connected to a linkage lead screw 85, and the upper end of each linkage lead screw 85 penetrates the adjacent lower side rail 31 and is rotatably connected to the lower side rail 31. One end of each linkage lead screw 85 that penetrates the lower side rail 31 penetrates the moving rail 32, and each linkage lead screw is threadedly connected to the moving rail 32. The upper side of each linkage lead screw 85 is set as a polished rod, and the upper end of each linkage lead screw 85 is inserted into the upper side rail 33 and is rotatably connected to the upper side rail 33.

[0054] A tension spring 86 is sleeved on the outer side of each linkage screw 85 located between the movable rail 32 and the lower side rail 31, and the upper end of each tension spring 86 is fixedly connected to the adjacent lower side wall of the movable rail 32, and the lower end of each tension spring 86 is fixedly connected to the adjacent upper side wall of the lower side rail 31.

[0055] In actual use, when the lifting wheel 22 rotates, the lifting wheel 22 drives the connected linkage shaft 81 to rotate, and the linkage shaft 81 drives the connected linkage bevel gear 82 to rotate during the rotation process, and the linkage bevel gear 82 drives the connected rotating bevel gear 83 to rotate during the rotation process. During the rotation process, the rotating bevel gear 83 engages with the linkage ratchet 84 through a plurality of rotating ratchet teeth 831, thereby driving the linkage ratchet 84 to rotate.

[0056] The linkage ratchet 84 drives the connected linkage screw 85 to rotate during the rotation process, and the linkage screw 85 drives the connected movable rail 32 to move upward during the rotation process. Since the upper side of the linkage screw 85 is set as a light rod, the movable rail 32 can maintain abutment with the upper side rail 33 during the rotation of the linkage screw 85.

[0057] When the lifting wheel 22 stops rotating, under the action of the tension spring 86, the movable rail 32 moves downward to abut against the plurality of movable wheels 41, so that the movable wheels 41 can drive the inspection vehicle 4 to move around the movable rail 32 by abutting against the movable rail 32 during the rotation process.

[0058] A camera 9 is installed on one side of each inspection vehicle 4 close to the bridge pier.

[0059] During the movement of the inspection vehicle 4, the camera 9 can collect images of the outer wall of the pier, so as to determine the condition of the outer wall of the pier, thereby increasing the ways for inspection personnel to inspect the pier.

[0060] The implementation principle of the bridge pier inspection robot in the embodiment of the present application is as follows: multiple frames 1 are placed around the bridge pier and connected via bandages 12 and telescopic rods 13. Then, the lifting motor 23 is started to drive the multiple lifting wheels 22 to rotate, thereby driving the multiple frames 1 to move.

[0061] When the multiple frames 1 drive the connected inspection vehicles 4 to the appropriate position during the movement, the tension spring 86 drives the moving rail 32 to abut against the multiple moving wheels 41, and then the moving motor 45 connected to each inspection vehicle 4 drives the inspection vehicle 4 to move, and in the process of the movement of the inspection vehicle 4, the connected rebound tester 5 or steel bar detector 6 is driven to move in the direction close to the bridge pier to realize the inspection of the bridge pier.

[0062] And when the inspection vehicle 4 moves, the camera 9 installed on the inspection vehicle 4 collects external images of the bridge pier.

[0063] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A bridge pier inspection robot, characterized in that: The invention comprises a plurality of frames (1), wherein the plurality of frames (1) are connected by bandages (12), and each frame (1) is connected to a lifting assembly (2) on a side close to a bridge pier, and the lifting assembly (2) is used to drive the connected frame (1) to move on the bridge pier, and the upper sides of the plurality of frames (1) are connected to the same circular rail (3), and the circular rail (3) is connected to a plurality of inspection vehicles (4) capable of moving around the circular rail (3), wherein a rebound tester (5) is installed on one of the inspection vehicles (4), and a steel bar detector (6) is installed on another of the inspection vehicles (4).

2. A bridge pier inspection robot according to claim 1, characterized in that: A telescopic rod (13) is connected between two adjacent frames (1).

3. A bridge pier inspection robot according to claim 1, characterized in that: The lifting assembly (2) comprises two mounting blocks (21) arranged opposite to each other and connected to a side of the frame (1) close to the bridge pier, each mounting block (21) is connected to a plurality of lifting wheels (22), and each mounting block (21) is connected to a lifting motor (23) for driving the lifting wheels (22) to rotate.

4. A bridge pier inspection robot according to claim 3, characterized in that: The inspection vehicle (4) comprises a plurality of movable wheels (41) located at the bottom of the inspection vehicle (4), and the plurality of movable wheels (41) connected to each of the inspection vehicles (4) are distributed on both sides of the circular track (3) and arranged opposite to each other. Each of the inspection vehicles (4) is connected to a movable motor (45), and the movable motor (45) is connected to the plurality of movable wheels (41) connected to the same inspection vehicle (4) and is used to drive the connected plurality of movable wheels (41) to rotate.

5. A bridge pier inspection robot according to claim 4, characterized in that: Each of the inspection vehicles (4) is connected to a driving assembly (7), and the driving assembly (7) is connected to the mobile motor (45) on the same inspection vehicle (4). The driving assembly (7) is also connected to the rebound tester (5) or the steel bar detector (6) on the same inspection vehicle (4) and can drive the connected rebound tester (5) or the steel bar detector (6) to move towards or away from the bridge pier under the drive of the mobile motor (45).

6. A bridge pier inspection robot according to claim 5, characterized in that: The driving assembly (7) comprises a driving bevel gear (71) connected to the moving motor (45) on the same detection vehicle (4), the driving bevel gear (71) meshing with a driven bevel gear (72), a reciprocating screw (73) fixedly connected to one side of the driven bevel gear (72), a driving plate (74) threadedly sleeved on the reciprocating screw (73), and the driving plate (74) connected to the rebound tester (5) or the steel bar detector (6) connected to the same detection vehicle (4).

7. A bridge pier inspection robot according to claim 6, characterized in that: The ring rail (3) comprises a lower rail (31) fixedly connected to the frame (1); a movable rail (32) is provided on the upper side of the lower rail (31); an upper rail (33) is provided on the upper side of the movable rail (32); an upper side wall of the upper rail (33) is in sliding contact with a plurality of the inspection vehicles (4); and the movable rail (32) can contact or separate from the movable wheels (41) of the plurality of the inspection vehicles (4) by moving.

8. The bridge pier inspection robot according to claim 7, characterized in that: The linkage assembly (8) comprises a linkage shaft (81) connected to the adjacent lifting motor (23), and the linkage shaft (81) can rotate under the drive of the connected lifting motor (23), and one end of the linkage shaft (81) away from the lifting motor (23) is fixedly connected to a linkage bevel gear (82), one side of the linkage bevel gear (82) is meshed with a rotating bevel gear (83), and a linkage ratchet (84) is provided on the inner side of the rotating bevel gear (83), and the rotating bevel gear (83) is close to the linkage shaft (81). A plurality of rotating ratchet teeth (831) are fixedly connected to one side of the linkage ratchet (84), and the plurality of rotating ratchet teeth (831) can abut against the linkage ratchet (84). The linkage ratchet (84) is fixedly connected to a linkage lead screw (85), and the linkage lead screw (85) rotates through the lower side rail (31) and is threadedly passed through the movable rail (32) and is rotationally connected to the upper side rail (33). A tension spring (86) is connected between the movable rail (32) and the lower side rail (31).

9. The bridge pier inspection robot according to claim 3, characterized in that: The frame body (1) comprises a support rod (11), the support rod (11) is rotatably connected to the lifting block via an adjustment rod (15), and the adjustment rod (15) is connected to the lifting block and the support rod (11) via bolts.

10. The bridge pier inspection robot according to claim 1, characterized in that: The detection vehicle (4) is connected to a camera (9).

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