Automatic orbital transfer device of steel box girder crack detection vehicle and using method

Abstract

The invention discloses an automatic orbital transfer device of a steel box girder crack detection vehicle and a using method. The automatic orbital transfer device comprises a power transmission device, a positioning device, a supporting device and a control device. The supporting device is fixed to a transverse partition plate of the steel box girder in a magnetic attraction mode. The power transmission device comprises a belt transmission device and a steel box chamber; the control device comprises a steel box chamber transmission control module and a detection trolley motion control module; the positioning device comprises a laser ranging device and an electronic positioner. Transverse bridge movement of the inspection trolley is achieved through the belt conveying device, and accurate track transfer of the inspection trolley is achieved through the positioning effect of the positioning device. The transverse-bridge-direction rail changing device of the steel box girder crack detection vehicle has the advantages of being easy to operate and install, greatly improving the working efficiency of a trolley and reducing the working cost.

Description

Technical Field

[0001] The invention relates to an automatic track changing device of a steel box girder crack detection vehicle and a use method thereof, belonging to the technical field of steel box girder crack detection. Background Art

[0002] Orthotropic steel bridge deck is an important component of steel box girder structure. Due to its numerous welds, fatigue problems are difficult to avoid. The fatigue problems of orthotropic steel bridge deck are universal, multiple, and reproducible, resulting in significant economic losses and adverse social impacts. The current crack detection methods mainly include resistance detection, ultrasonic detection, and eddy current detection, and all of them are manual inspections, which have problems such as high labor intensity, low line inspection efficiency, inadequate inspection, and difficulty in digital display of inspection results.

[0003] With the development of inspection vehicles, data processing and other technologies and their in-depth application in the inspection field, intelligent inspection technology has gradually begun to be applied in the field of steel box girder crack detection, which is of great significance to improving the accuracy and efficiency of steel box girder crack detection. However, the current intelligent inspection technology has major defects. First, this technology is easily affected by steel box girders, which makes the GPS positioning signal unstable and the navigation information erroneous. Second, the current inspection vehicle can only run on a single track and cannot achieve automatic track change. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic track changing device for a steel box girder crack detection vehicle and a use method thereof, wherein a conveying device and a positioning device are fixed to the steel box girder by a supporting device, the transverse movement of the inspection vehicle is achieved by the conveying device, and the precise track changing of the inspection vehicle is achieved by the positioning effect of the positioning device. The device has the advantages of simple operation and easy installation, which greatly improves the working efficiency of the vehicle and reduces the working cost.

[0005] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0006] An automatic track changing device for a steel box girder crack detection vehicle is used to realize the cross-bridge track changing of the detection vehicle when performing steel box girder detection, comprising: a power transmission device, a positioning device, a supporting device and a control device; wherein:

[0007] The supporting device is fixed on the diaphragm of the steel box girder by magnetic attraction;

[0008] The power transmission device comprises a belt transmission device and a steel box chamber; the belt transmission device is installed on the supporting device and arranged along the transverse bridge direction of the steel box girder, and the steel box chamber can be assembled on the belt transmission device by a detachable connection method, and is driven by the power of the belt transmission device to transmit back and forth along the transverse bridge direction of the steel box girder; the inspection trolley is loaded in the steel box chamber;

[0009] The control device includes a steel box room transmission control module and a detection trolley motion control module;

[0010] The positioning device includes a laser distance measuring device and an electronic locator; wherein:

[0011] The laser distance measuring device is used to detect the distance between the steel box chamber and the motor, and can transmit the detected distance to the steel box chamber transmission control module;

[0012] The electronic positioner is used to locate the position between the steel box chamber and the detection trolley, and can feed back the located position information to the detection trolley motion control module;

[0013] The steel box room transmission control module determines whether the position of the steel box room on the conveyor belt has reached the position of the preset arc-shaped notch according to the distance fed back by the laser distance measuring device. When the judgment result shows that the position of the steel box room on the belt conveyor has reached the position of the preset arc-shaped notch, the motor is stopped and the detection trolley motion control module is triggered to control the detection trolley to drive out of the steel box room.

[0014] The detection trolley motion control module controls the detection trolley to inspect the current U-rib cracks of the steel box girder according to the preset driving trajectory through the position information fed back by the electronic positioner, and controls the detection trolley to enter the steel box room after completing the inspection of the current U-rib cracks of the steel box girder.

[0015] Preferably, the belt conveyor comprises a motor, a conveyor belt, a main drive pulley and a slave drive pulley;

[0016] The motor is fixedly mounted on the supporting device; the main transmission pulley and the slave transmission pulley are respectively positioned and mounted on the supporting device; and the main transmission pulley is linked and connected to the power output end of the motor;

[0017] The conveyor belt is arranged along the transverse direction of the steel box girder, and the conveyor belt is wrapped around the outer periphery of the main transmission belt pulley and the secondary transmission belt pulley and is respectively meshed with the transmission belt pulley and the secondary transmission belt pulley.

[0018] Preferably, the supporting device includes a supporting frame and a magnet; the supporting frame is L-shaped as a whole, including a transverse support frame and a vertical support frame; the motor is installed at one end of the transverse support frame, and the conveyor belt is arranged along the length extension direction of the transverse support frame; the vertical support frame is connected to the cross-partition of the steel box beam through a magnetic strip, and oblique stiffening ribs are arranged between the transverse support frame and the vertical support frame.

[0019] Preferably, a card slot is provided on the conveyor belt, and a buckle is provided on the outside of the steel box chamber, and the steel box chamber is connected to the conveyor belt through the card slot and the buckle.

[0020] Preferably, the laser distance measuring device comprises a laser distance meter and a laser reflection plate; the laser distance meter comprises a laser transmitter, a laser receiver and a measuring circuit; the laser transmitter, the laser receiver and the measuring circuit are integrated into one;

[0021] The laser rangefinder is installed on the motor, the laser reflector is installed on the steel box, and the laser transmitter can emit visible red laser to the laser reflector and receive it by the laser receiver; the laser receiver can convert the received laser into an electrical signal and transmit it to the measurement circuit, and then transmit it to the transmission control module of the steel box.

[0022] Preferably, a laser rangefinder switch is provided on the outer surface of the laser rangefinder.

[0023] Preferably, the laser reflection plate is a 15×15 cm diffuse reflection standard white plate.

[0024] Preferably, a motor switch and a handle are provided on the motor.

[0025] Preferably, the electronic locator comprises an antenna unit and a receiving unit; the antenna unit is mounted on the detection vehicle, and the receiving unit is mounted on the steel box chamber.

[0026] Another technical object of the present invention is to provide a method for using the above-mentioned automatic track changing device of the steel box beam crack detection vehicle, comprising the following steps:

[0027] Step 1: Preparation of track change device:

[0028] Select a steel box room of appropriate size according to the size of the inspection trolley; determine the length of the conveyor belt and the size of the support device according to the working environment, and assemble the conveyor belt to the support device;

[0029] Step 2: Assembly of track changing device:

[0030] Install the support device to the corresponding position on the steel box girder diaphragm by magnetic fixation;

[0031] Install the motor onto the support device;

[0032] Assemble the steel box chamber onto the conveyor belt and drive the inspection trolley into the steel box chamber;

[0033] Assemble a laser reflective plate on the steel box;

[0034] Step 3: Track change inspection:

[0035] Start the motor to drive the steel box room to move along the conveyor belt, and ensure that the steel box room is conveyed to the location of the first arc-shaped notch through the distance fed back by the laser rangefinder, then stop the motor and start the inspection trolley to drive out of the steel box room, and control the inspection trolley to inspect the current U-rib cracks of the steel box beam according to the preset driving trajectory through the position information fed back by the electronic positioner, until the inspection of the current U-rib cracks of the steel box beam is completed, and then control the inspection trolley to drive into the steel box room;

[0036] Repeat step 3 until all U-rib cracks of the current steel box girder are inspected, and the motor is controlled to rotate in the opposite direction to control the steel box chamber to move toward the motor until the steel box chamber returns to the initial position.

[0037] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0038] 1. The automatic track changing device of the steel box girder crack detection vehicle of the present invention is configured with a steel box chamber for loading the detection trolley, and a motor is used to realize the step-by-step transmission of the steel box chamber through a conveyor belt. The transmission step distance is the distance between the centers of two adjacent arc-shaped notches, thereby realizing the track changing operation of the steel box girder U-rib crack inspection work.

[0039] 2. The automatic track changing device for the steel box girder crack detection vehicle of the present invention can realize the installation of steel box chambers of different sizes by setting slots and buckles, which increases the use range of the device and also enhances the flexibility of the installation of the device.

[0040] 3. The automatic track-changing device for the steel box girder crack detection vehicle of the present invention, on the one hand, realizes real-time automatic monitoring of the position of the vehicle by setting up a laser rangefinder and adopting the principle of laser triangulation measurement to collect data in real time; secondly, by setting up a circuit, it is convenient to use the laser rangefinder and improves the continuity of the work.

[0041] 4. The automatic track-changing device for the steel box girder crack detection vehicle of the present invention, on the one hand, meets the needs of different working environments by providing a detachable support frame; secondly, by providing a magnetic strip on the support frame, the device can be fixed without damaging the transverse partition. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of the automatic track changing device of the steel box girder crack detection vehicle according to the present invention;

[0043] Figure 2 It is a structural schematic diagram of the automatic track changing device of the steel box girder crack detection vehicle of the present invention being assembled into the steel box girder;

[0044] Figure 3 It is a structural schematic diagram of the steel box chamber of the present invention;

[0045] Figure 4 It is a schematic diagram of the structure of the laser rangefinder of the present invention;

[0046] Figure 5 It is a schematic diagram of the structure of the supporting device of the present invention;

[0047] In the figure: supporting device 3; motor 4; conveyor belt 5; steel box chamber 6; motor switch 7; handle 8; slot 9; buckle 10; laser rangefinder 11; electronic locator 12; laser rangefinder switch 13; laser transmitter 14; laser receiver 15; laser reflector 16; measuring circuit 17; antenna unit 18; receiving unit 19; supporting frame 20; magnetic strip 21; oblique stiffening rib 22; bolt 23; detection trolley 24. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means any limitation to the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement, expressions and numerical values ​​of the components and steps described in these embodiments do not limit the scope of the present invention. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but in appropriate cases, the techniques, methods and equipment should be regarded as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0049] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0050] like Figure 1-5The automatic track changing device of the steel box girder crack detection vehicle of the present invention is used to realize the cross-bridge track changing of the detection vehicle when performing steel box girder detection, and includes: a power transmission device, a positioning device, a supporting device and a control device; wherein:

[0051] The support device is fixed on the transverse diaphragm of the steel box beam by magnetic attraction; its structure can be referred to in the attached Figure 5 The support device includes a support frame and a magnet; the support frame is L-shaped as a whole, including a transverse support frame and a vertical support frame; the vertical support frame is connected to the transverse diaphragm of the steel box beam through a magnetic strip, and an oblique stiffening rib is arranged between the transverse support frame and the vertical support frame. In the attached figure, there are two groups of oblique stiffening ribs, and the two groups of oblique stiffening ribs are arranged parallel to each other. By setting up the magnetic strip, the device can be fixed on the transverse diaphragm without damaging the transverse diaphragm of the steel box beam. By setting up a fixed connection between the vertical support frame and the magnetic strip, the damage to the device during the disassembly process can be reduced, thereby extending the service life of the device.

[0052] The power transmission device includes a belt transmission device and a steel box chamber; the belt transmission device is installed on the support device and arranged along the transverse bridge direction of the steel box beam, and the steel box chamber can be assembled on the belt transmission device by a detachable connection method, and driven by the power of the belt transmission device, it is transmitted back and forth along the transverse bridge direction of the steel box beam; the detection trolley is loaded in the steel box chamber. In the present invention, the belt transmission device includes a motor, a conveyor belt, a main drive pulley and a slave drive pulley; the motor is fixedly installed on the support device; the main drive pulley and the slave drive pulley are respectively positioned and installed on the support device; and the main drive pulley is linked to the power output end of the motor; the conveyor belt is arranged along the transverse bridge direction of the steel box beam, and the conveyor belt is covered on the periphery of the main drive pulley and the slave drive pulley and meshed with the drive pulley and the slave drive pulley respectively. In the attached figure, the motor is fixedly installed at one end of the transverse support frame by bolts, and the conveyor belt is arranged along the length extension direction of the transverse support frame. The conveyor belt is a PVC conveyor belt, which is provided with a card slot, and a buckle is provided on the outside of the steel box chamber, and the steel box chamber is connected to the conveyor belt through the card slot and the buckle. The motor is provided with a motor switch and a handle. The motor switch is provided at the front side of the motor, and the handle is provided at the top of the motor. By providing a bolt connection method, the flexibility of the device installation is enhanced, the application range of the device is improved, and it is convenient for the staff to disassemble the device.

[0053] The control device includes a steel box room transmission control module and a detection trolley motion control module;

[0054] The positioning device includes a laser distance measuring device and an electronic locator; wherein:

[0055] The laser distance measuring device is used to detect the distance between the steel box chamber and the motor, and can transmit the detected distance to the steel box chamber transmission control module. In the present invention, the laser distance measuring device includes a laser distance meter and a laser reflector; the laser distance meter includes a laser transmitter, a laser receiver and a measurement circuit; the laser transmitter, the laser receiver and the measurement circuit are integrated; the laser distance meter is installed on the motor, the laser reflector is installed on the steel box chamber, and the laser transmitter can emit a visible red laser to the laser reflector and receive it by the laser receiver. The laser distance meter is connected separately, which is convenient for disassembly and maintenance. When the device fails, only the damaged instrument or component can be replaced and the normal working part can be retained, thereby reducing the cost of using the device and increasing the service life of the device. The laser receiver can convert the received laser into an electrical signal and transmit it to the measurement circuit, and then transmit it to the steel box chamber transmission control module. A laser distance meter switch is provided on the outer surface of the laser distance meter. The laser reflector is a 15×15cm diffuse reflection standard white board, and is fastened by bolts to ensure that the position of the laser reflector is fixed to avoid affecting the accuracy of data collection due to its offset.

[0056] The electronic positioner is used to locate the position between the steel box chamber and the detection trolley, and can feed back the located position information to the detection trolley motion control module. In the accompanying drawings, the electronic positioner includes an antenna unit and a receiving unit; the antenna unit is installed on the detection trolley, and the receiving unit is installed on the steel box chamber.

[0057] The steel box room transmission control module determines whether the position of the steel box room on the conveyor belt has reached the position of the preset arc-shaped notch according to the distance fed back by the laser distance measuring device. When the judgment result shows that the position of the steel box room on the conveyor belt has reached the position of the preset arc-shaped notch, the motor is stopped and the detection trolley motion control module is triggered to control the detection trolley to drive out of the steel box room.

[0058] The detection trolley motion control module controls the detection trolley to inspect the current U-rib cracks of the steel box girder according to the preset driving trajectory through the position information fed back by the electronic positioner, and controls the detection trolley to enter the steel box room after completing the inspection of the current U-rib cracks of the steel box girder.

[0059] Another technical object of the present invention is to provide a method for using the above-mentioned automatic track changing device of the steel box beam crack detection vehicle, comprising the following steps:

[0060] Step 1: Preparation of track change device:

[0061] Select a steel box room of appropriate size according to the size of the inspection trolley; determine the length of the conveyor belt and the size of the support device according to the working environment, and assemble the conveyor belt to the support device;

[0062] Step 2: Assembly of track changing device:

[0063] Install the support device to the corresponding position on the steel box girder diaphragm by magnetic fixation;

[0064] Install the motor onto the support device;

[0065] Assemble the steel box chamber onto the conveyor belt and drive the inspection trolley into the steel box chamber;

[0066] Assemble a laser reflective plate on the steel box;

[0067] Step 3: Track change inspection:

[0068] The actual position of the steel box chamber is measured in real time through the principle of laser triangulation (laser ranging device), and the electronic positioner detects the relative position of the trolley and the steel box chamber in real time and uploads it to the control device. After processing, the control device issues instructions to control the motor, driving the conveyor belt and the steel box chamber on the conveyor belt to operate, thereby realizing the lateral track change of the trolley.

[0069] Specifically, the motor is started to drive the steel box room to move along the conveyor belt, and the distance fed back by the laser rangefinder is used to ensure that when the steel box room is conveyed to the location of the first arc-shaped notch, the motor is stopped, and the inspection trolley is started to drive out of the steel box room, and the position information fed back by the electronic positioner is used to control the inspection trolley to inspect the current U-rib cracks of the steel box beam according to the preset driving trajectory, until the inspection of the current U-rib cracks of the steel box beam is completed, and then the inspection trolley is controlled to drive into the steel box room;

[0070] Repeat step 3 until all U-rib cracks of the current steel box girder are inspected, and the motor is controlled to rotate in the opposite direction to control the steel box chamber to move toward the motor until the steel box chamber returns to the initial position.

[0071] The electrical components mentioned in this article are all connected to an external main controller and 220V mains electricity, and the main controller can be a conventional known device for controlling a computer or the like.

[0072] In summary, the automatic track changing device and use method for the steel box girder crack detection vehicle, when in use, firstly, by setting connections between the conveyor belt and the support frame, and between the motor and the conveyor belt; the flexibility of the device installation is enhanced, the application range of the device is improved, and it is convenient for the staff to disassemble the device.

[0073] Second, the laser rangefinder, motor, and steel box chamber are connected separately, which is convenient for disassembly and maintenance. When the device fails, only the damaged instrument or components can be replaced while the normal working parts can be retained, thereby reducing the cost of using the device and increasing the service life of the device.

[0074] Third, the laser ranging device measures the actual position of the steel box chamber in real time through the principle of laser triangulation. At the same time, the electronic positioner detects the relative position of the trolley and the steel box chamber in real time and uploads it to the data analysis system. After processing, the data analysis system issues instructions to control the motor, driving the conveyor belt and the steel box chamber on the conveyor belt to run, thereby realizing the lateral track change of the trolley.

[0075] Fourth, by setting up magnetic strips, the device can be fixed on the diaphragm without damaging the diaphragm of the steel box girder. By setting up a fixed connection between the vertical support frame and the magnetic strips, the damage to the device during the disassembly process can be reduced, thereby extending the service life of the device.

[0076] Fifth, the laser reflector is fastened to the steel box with bolts to ensure that the position of the laser reflector is fixed to avoid affecting the accuracy of data collection due to its offset.

[0077] The above is only a preferred specific implementation method of the patent of the present invention, but the protection scope of the patent of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme of the patent and the invention concept of the patent within the technical scope disclosed by the patent of the present invention, which should be covered by the protection scope of the patent of the present invention.

Claims

1. An automatic track changing device for a steel box girder crack detection vehicle, used to realize the transverse track changing of the detection vehicle when performing steel box girder detection, characterized in that: include: Power transmission device, positioning device, supporting device and control device; wherein: The supporting device is fixed to the diaphragm of the steel box girder by magnetic attraction; The power transmission device comprises a belt transmission device and a steel box chamber; the belt transmission device is installed on the supporting device and arranged along the transverse bridge direction of the steel box girder, and the steel box chamber can be assembled on the belt transmission device by a detachable connection method, and is driven by the power of the belt transmission device to transmit back and forth along the transverse bridge direction of the steel box girder; the inspection trolley is loaded in the steel box chamber; The control device includes a steel box room transmission control module and a detection trolley motion control module; The positioning device includes a laser distance measuring device and an electronic locator; wherein: The laser distance measuring device is used to detect the distance between the steel box chamber and the motor, and can transmit the detected distance to the steel box chamber transmission control module; The electronic positioner is used to locate the position between the steel box chamber and the detection trolley, and can feed back the located position information to the detection trolley motion control module; The steel box room transmission control module determines whether the position of the steel box room on the conveyor belt has reached the position of the preset arc-shaped notch according to the distance fed back by the laser distance measuring device. When the judgment result shows that the position of the steel box room on the belt conveyor has reached the position of the preset arc-shaped notch, the motor is stopped and the detection trolley motion control module is triggered to control the detection trolley to drive out of the steel box room. The detection trolley motion control module controls the detection trolley to inspect the current U-rib cracks of the steel box girder according to the preset driving trajectory through the position information fed back by the electronic positioner, and controls the detection trolley to enter the steel box room after completing the inspection of the current U-rib cracks of the steel box girder.

2. The automatic track changing device for steel box beam crack detection vehicle according to claim 1 is characterized in that: The belt conveyor device comprises a motor, a conveyor belt, a main transmission pulley and a slave transmission pulley; The motor is fixedly mounted on the supporting device; the main transmission pulley and the slave transmission pulley are respectively positioned and mounted on the supporting device; The main drive pulley is linked to the power output end of the motor; The conveyor belt is arranged along the transverse direction of the steel box girder, and the conveyor belt is wrapped around the outer periphery of the main transmission belt pulley and the secondary transmission belt pulley and is respectively meshed with the transmission belt pulley and the secondary transmission belt pulley.

3. The automatic track changing device for steel box beam crack detection vehicle according to claim 2 is characterized in that: The supporting device includes a supporting frame and a magnet; the supporting frame is L-shaped as a whole, including a transverse support frame and a vertical support frame; the motor is installed at one end of the transverse support frame, and the conveyor belt is arranged along the length extension direction of the transverse support frame; the vertical support frame is connected to the cross-partition of the steel box beam through a magnetic strip, and oblique stiffening ribs are arranged between the transverse support frame and the vertical support frame.

4. The automatic track changing device for steel box beam crack detection vehicle according to claim 3 is characterized in that: A card slot is arranged on the conveyor belt, and a card buckle is arranged outside the steel box chamber, and the steel box chamber is connected with the conveyor belt through the card slot and the card buckle.

5. The automatic track changing device for steel box beam crack detection vehicle according to claim 4 is characterized in that: The laser distance measuring device comprises a laser distance meter and a laser reflection plate; the laser distance meter comprises a laser transmitter, a laser receiver and a measuring circuit; the laser transmitter, the laser receiver and the measuring circuit are integrated into one; The laser rangefinder is installed on the motor, the laser reflector is installed on the steel box, and the laser transmitter can emit visible red laser to the laser reflector and receive it by the laser receiver; the laser receiver can convert the received laser into an electrical signal and transmit it to the measurement circuit, and then transmit it to the transmission control module of the steel box.

6. The automatic track changing device for steel box beam crack detection vehicle according to claim 5, characterized in that: A laser rangefinder switch is arranged on the outer surface of the laser rangefinder.

7. The automatic track changing device for steel box beam crack detection vehicle according to claim 5, characterized in that: The laser reflector is a 15×15 cm diffuse reflection standard white plate.

8. The automatic track changing device for steel box beam crack detection vehicle according to claim 7, characterized in that: The motor is provided with a motor switch and a handle.

9. The automatic track changing device for steel box beam crack detection vehicle according to claim 1, characterized in that: The electronic locator comprises an antenna unit and a receiving unit; the antenna unit is installed on the detection vehicle, and the receiving unit is installed on the steel box chamber.

10. A method for using the automatic track changing device of a steel box beam crack detection vehicle according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: Preparation of track change device: Select a steel box room of appropriate size according to the size of the inspection trolley; determine the length of the conveyor belt and the size of the support device according to the working environment, and assemble the conveyor belt to the support device; Step 2: Assembly of track changing device: Install the support device to the corresponding position on the steel box girder diaphragm by magnetic fixation; Install the motor onto the support device; Assemble the steel box chamber onto the conveyor belt and drive the inspection trolley into the steel box chamber; Assemble a laser reflective plate on the steel box; Step 3: Track change inspection: Start the motor to drive the steel box room to move along the conveyor belt, and ensure that the steel box room is conveyed to the location of the first arc-shaped notch through the distance fed back by the laser rangefinder, then stop the motor and start the inspection trolley to drive out of the steel box room, and control the inspection trolley to inspect the current U-rib cracks of the steel box beam according to the preset driving trajectory through the position information fed back by the electronic positioner, until the inspection of the current U-rib cracks of the steel box beam is completed, and then control the inspection trolley to drive into the steel box room; Repeat step 3 until all U-rib cracks of the current steel box girder are inspected, and the motor is controlled to rotate in the opposite direction to control the steel box chamber to move toward the motor until the steel box chamber returns to the initial position.

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