Bridge crack detection device and detection method

Abstract

The invention relates to the technical field of bridge detection, in particular to a bridge crack detection device and detection method.The bridge crack detection device comprises a detection vehicle body, a mechanical arm arranged on the detection vehicle body, a supporting part arranged on the mechanical arm and a movable rod rotationally connected to the supporting part through a connecting shaft; the detection device comprises a movable rod, a corner brace frame arranged on the movable rod in the radial direction, two operating rods rotationally arranged on the corner brace frame in a vertical angle, and a detection head rotationally connected to the two operating rods. According to the bridge bottom crack detection device, replacement and coverage of a direction detection recognition position point are provided for the detection head, the detection work of the bridge bottom crack is comprehensive, different operation rods are pushed through driving work of the driving part in different directions, the detection head can swing in the ununderstood axial direction to adjust the angle, and the detection accuracy is improved. The method is suitable for detecting crack conditions of different bridge sides.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge crack detection, and in particular to a bridge crack detection device and a detection method. Background Art

[0002] Bridge crack detection is of great significance for timely discovering hidden dangers of bridge structures and ensuring bridge safety. The existing technology has been carried out through detection vehicles. The mechanical arm of the detection vehicle probes into the bottom of the bridge and detects the temperature distribution on the bridge surface through infrared thermal imagers to identify cracks. However, there are the following problems:

[0003] When inspecting the side cracks at the connection between two bridges, it is difficult for the infrared thermal imager to quickly switch the detection angle according to its environment, making the crack detection work on the side of the bridge at the angle incomplete. Summary of the invention

[0004] The object of the present invention is to provide a bridge crack detection device and a detection method to solve the problem that the above-mentioned detection head cannot quickly switch the detection oblique angle.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a bridge crack detection device, comprising: a detection vehicle body, a mechanical arm arranged on the detection vehicle body, and a support part arranged on the mechanical arm, a movable rod connected to the support part by rotating a connecting shaft, an angle bracket radially arranged on the movable rod, two operating rods arranged on the angle bracket respectively rotating at a vertical angle, a detection head connected to the two operating rods, and a driving part arranged at the bottom end of the angle bracket, wherein:

[0006] The driving part is driven, and the driving part can respectively drive the two operating rods to rotate, so as to make the detection head swing horizontally and vertically.

[0007] Further, the driving part includes a first motor arranged at the bottom end of the angle bracket, a disc arranged on the output shaft of the first motor, a through hole arranged at the side end of the disc, a circular groove arranged at the bottom end of the disc and connected to the through hole, and a displacement adjustment part arranged on the disc, wherein:

[0008] By driving the first motor, the disk can drive the displacement adjustment part to rotate, so that the displacement adjustment part drives the operating rod to drive the detection head to swing.

[0009] Furthermore, the displacement adjustment part includes a toggle rod inserted and movably arranged in the through hole, a rectangular frame inserted in the circular groove and connected to the toggle rod through a pad, a second motor arranged at the bottom end of the disc, and a round wheel eccentrically arranged on the output shaft of the second motor, wherein:

[0010] By driving the second motor, the circular wheel can drive the rectangular frame to swing, so that the rectangular frame drives the toggle rod to move left and right along the through hole through the cushion block.

[0011] Further, the support part includes a support rod arranged on the robot arm, a track arranged on the support rod, a slide movably sleeved outside the track, and an electric push rod connected to the end of the support rod;

[0012] The telescopic shaft of the electric push rod is inserted into the track and connected to the slide frame through the connecting frame;

[0013] The slide is connected to the movable rod via a support shaft, wherein:

[0014] By driving the electric push rod, the slide can drive the movable rod to move, so as to enable the detection head to move and detect.

[0015] Further, the support portion includes an axial hole arranged on the slide for the support shaft to penetrate, and a third motor arranged at the bottom end of the slide, and the motor shaft of the third motor is connected to the support shaft, wherein,

[0016] By driving the third motor, the support shaft can drive the movable rod to rotate, so that the detection head can be rotated for detection.

[0017] Furthermore, the bridge crack detection device further includes an auxiliary part;

[0018] The auxiliary part includes a cylinder arranged on the movable rod, and a friction block arranged on the telescopic shaft of the cylinder;

[0019] By driving the cylinder, the friction block can rub and clean the bridge surface.

[0020] Further, the auxiliary part also includes a rectangular groove arranged on the friction block;

[0021] The upper edge of the rectangular groove is an inclined surface, wherein:

[0022] The friction block can drive the rectangular groove to scrape dirt.

[0023] Furthermore, the auxiliary part also includes a fan arranged on the movable rod, a pipe arranged at the output end of the fan, connected to a purge hood arranged on the pipe, and a side port arranged at the side end of the purge hood facing the side inspection head.

[0024] Furthermore, the bridge crack detection device also includes a torsion spring;

[0025] One end of the torsion spring is connected to the angle bracket;

[0026] The other end of the torsion spring is sleeved on a part of the operating rod and connected to the operating rod, wherein:

[0027] The operating lever can compress the torsion spring when it is rotated.

[0028] Further, a bridge crack detection method is as follows:

[0029] The first step is to drive the inspection vehicle to the designated position, control the mechanical arm, make the support part drive the movable rod to the bottom of the bridge, and the corner bracket drives the inspection head to the inspection position through the operating rod;

[0030] The second step is to drive the third motor, and the support shaft drives the movable rod to rotate to keep a right angle with the support rod to start the detection work of the detection head;

[0031] The third step is to drive the electric push rod, and the slide frame drives the movable rod to move forward and backward along the track to change the position of the crack detection;

[0032] The fourth step is to drive the second motor when it is necessary to detect the inclined surface of the bridge, so that the round wheel rotates to push the rectangular frame, so that the toggle rod passes through the corresponding direction of the through hole, and drive the first motor. The disc drives the toggle rod to rotate the corresponding operating lever, so that the detection head rotates in the corresponding direction, thereby detecting cracks in the bridge at an inclined angle.

[0033] The fifth step is to drive the cylinder to work when or before the detection head performs the detection work, so that the friction block drives the rectangular groove to scrape the dirt or the attachment that is about to fall off. Finally, turn on the fan, and the wind is discharged from the purge hood and the side port through the pipe to sweep the dust in the above process.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention uses a rotatable movable rod as a supporting carrier of the detection head, which provides the detection head with a direction detection and identification position point replacement and coverage, so that the detection of cracks on the bottom surface of the bridge can be comprehensive. The present invention drives different operating rods in different directions by the driving work of the driving part, so that the detection head can swing along an unknown axis to adjust the angle, which is suitable for detecting cracks on different sides of the bridge. It has high flexibility and good use effect, and solves the problem of blind spots in bridge crack detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0037] Figure 1 A perspective view of the present invention is shown;

[0038] Figure 2A perspective view of the best embodiment of the present invention is shown;

[0039] Figure 3 A first angle stereogram of the detection head of the present invention is shown;

[0040] Figure 4 A second angle stereogram of the detection head of the present invention is shown;

[0041] Figure 5 A third angle stereogram of the detection head of the present invention is shown;

[0042] Figure 6 A perspective view of the auxiliary part of the present invention is shown.

[0043] 1. Detection vehicle body; 2. Mechanical arm; 3. Support part; 31. Support rod; 32. Track; 33. Slide; 34. Electric push rod; 35. Third motor; 4. Movable rod; 5. Torsion spring; 6. Angle bracket; 7. Operating rod; 8. Detection head; 9. Driving part; 91. First motor; 92. Disc; 93. Through hole; 94. Circular groove; 95. Displacement adjustment part; 951. Toggle rod; 952. Rectangular frame; 953. Second motor; 954. Round wheel; 10. Auxiliary part; 101. Cylinder; 102. Friction block; 103. Rectangular groove; 104. Fan; 105. Pipeline; 106. Purge hood; 107. Side port. DETAILED DESCRIPTION

[0044] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0045] See also Figure 1 , Figure 1 A perspective view of the present invention is shown; see Figure 2 , Figure 2 Shows a perspective view of the best embodiment of the present invention; see Figure 3 , Figure 3 A first angle stereogram of the detection head of the present invention is shown; see Figure 4 , Figure 4 A second perspective view of the detection head of the present invention is shown; see Figure 5 , Figure 5 A third angle stereogram of the detection head of the present invention is shown; see Figure 6 , Figure 6 A perspective view of the auxiliary part of the present invention is shown, as Figure 1-6As shown, a bridge crack detection device and detection method include: a detection vehicle body 1, a mechanical arm 2 arranged on the detection vehicle body 1, the detection vehicle body 1 and the mechanical arm 2 are devices in the prior art and will not be described in detail here, as well as a support part 3 arranged on the mechanical arm 2, a movable rod 4 rotatably connected to the support part 3 through a connecting shaft, an angle bracket 6 radially arranged on the movable rod 4, the movable rod 4 can drive the angle bracket 6 to rotate, and two operating rods 7 arranged on the angle bracket 6 are respectively rotated at a vertical angle, and a detection head 8 rotatably connected to the two operating rods 7, the operating rod 7 includes a first rod member, a first shaft member connected to the first rod member and interlaced and rotatably connected to the angle bracket 6, a second rod member connected to the first shaft member, a second shaft member connected to the second rod member, the second shaft member is rotatably connected to the detection head 8, the detection head 8 includes an infrared detection head at an upper end and a spherical base at a lower end, the spherical base is conducive to ensuring the balance of the infrared detection head during rotation, and a driving part 9 arranged at the bottom end of the angle bracket 6, wherein,

[0046] The driving part 9 is driven, and the driving part 9 can respectively drive the two operating rods 7 to rotate, so that the detection head 8 can swing horizontally and vertically.

[0047] In the prior art, it is difficult for the detection head 8 to quickly swing and adjust to the tilt angle in two directions during the detection process, resulting in the inability to perform side crack detection on multiple bridges surrounded together in a period of time. Compared with the prior art, the present invention uses a rotatable movable rod 4 as a supporting carrier of the detection head 8 to provide the detection head 8 with a replacement and coverage of a direction detection identification position point, so that the detection of cracks on the bottom surface of the bridge is comprehensive. In addition, the present invention drives different operating rods 7 in different directions by driving the driving part 9, so that the detection head 8 can swing along different axes to adjust the angle, which is suitable for detecting cracks on the sides of different bridges. It has high flexibility and good use effect, and solves the problem of blind spots in bridge crack detection. When facing a cross-staggered combination or a vertical splicing combination state of two bridges, first, one of the operating rods 7 is driven to drive the detection head 8 to tilt toward one of the bridges for detection. The detection process of the detection head 8 does not affect the state of the other operating rod 7. Then, the other operating rod 7 is driven to drive the detection head 8 to tilt toward the other bridge, and the side detection of bridges in two different directions is quickly performed to ensure the efficiency of crack detection.

[0048] Optionally, the driving unit 9 includes a first motor 91 disposed at the bottom end of the angle bracket 6, the first motor 91 is a servo motor, a disc 92 disposed on the output shaft of the first motor 91, a through hole 93 disposed at the side end of the disc 92, a circular groove 94 disposed at the bottom end of the disc 92 and connected to the through hole 93, and a displacement adjustment unit 95 disposed on the disc 92, wherein:

[0049] By driving the first motor 91, the disk 92 can drive the displacement adjustment part 95 to rotate, so that the displacement adjustment part 95 drives the operating rod 7 to drive the detection head 8 to swing. Specifically, the first motor 91 can drive the disk 92 to rotate forward or reverse, so that the displacement adjustment part 95 is subjected to corresponding force and specifically drives the two operating rods 7 to rotate, thereby meeting the driving requirements for the swinging action of the detection head 8.

[0050] The present invention also has the following problem: the two operating rods 7 cannot be pushed in another direction, so that the detection head 8 cannot swing in two directions to an angle opposite to the previous angle;

[0051] Optionally, the displacement adjustment portion 95 includes a toggle rod 951 inserted and movably arranged in the through hole 93, the through hole 93 provides a limiting effect for the radial movement of the toggle rod 951, a rectangular frame 952 inserted in the circular groove 94 and connected to the toggle rod 951 through a pad, the circular groove 94 provides an effective space for the connection between the toggle rod 951 and the rectangular frame 952, a second motor 953 arranged at the bottom end of the disc 92, the circular groove 94 also provides a placement space for the second motor 953, and a round wheel 954 eccentrically arranged on the output shaft of the second motor 953, wherein,

[0052] By driving the second motor 953, the circular wheel 954 can drive the rectangular frame 952 to swing, so that the rectangular frame 952 drives the toggle rod 951 to move left and right along the through hole 93 through the cushion block. When the eccentric rotation trajectory of the circular wheel 954 acts on the rectangular frame 952, the rectangular frame 952 can drive the toggle rod 951 to switch and pass through the through hole 93 from the front and back under the limiting action of the through hole 93, and switch between the two angles formed by the two operating rods 7, which can provide the two operating rods 7 with a pushing force in another direction, supplement the driving angle of the detection head 8, and make it more perfect.

[0053] The present invention also has the following problem: the detection track of the detection head 8 cannot move forward and backward;

[0054] Optionally, the support part 3 includes a support rod 31 arranged on the robot arm 2, a track 32 arranged on the support rod 31, a slide 33 movably sleeved outside the track 32, and an electric push rod 34 connected to the end of the support rod 31;

[0055] The telescopic shaft of the electric push rod 34 is inserted through the track 32 and connected to the slide 33 through the connecting frame. The track 32 provides an effective space for the telescopic shaft to work. The slide 33 is in the shape of a frame to ensure the stability of the support rod 31 in the active state and is not easy to shake during the driving process.

[0056] The slide 33 is connected to the movable rod 4 via a support shaft, wherein:

[0057] By driving the electric push rod 34, the slide 33 can drive the movable rod 4 to move, so that the detection head 8 can be displaced for detection. Specifically, the electric push rod 34 can drive the movable rod 4 to adjust the front and rear position and keep it in position by driving the slide 33. Correspondingly, the detection head 8 on the movable rod 4 can also adjust the detection position, so that the cracks at the bottom of the bridge can be scanned and detected with a fixed trajectory, thereby expanding the detection surface and ensuring the detection range.

[0058] Optionally, the support portion 3 includes an axial hole provided on the slide 33 for the support shaft to penetrate, and a third motor 35 provided at the bottom end of the slide 33, the third motor 35 is a servo motor, and the motor shaft of the third motor 35 is connected to the support shaft, wherein,

[0059] By driving the third motor 35, the support shaft can drive the movable rod 4 to rotate, so that the detection head 8 can be rotated for detection. Specifically, the support shaft supports the movable rod 4 slidingly on the slide 33. Through the driving work of the third motor 35, the support shaft transmits the force to the detection head 8 through the movable rod 4, thereby meeting the angle switching requirements of the detection head 8 and the use and storage requirements relative to the support rod 31.

[0060] The present invention also has the following problems:

[0061] During the inspection, the detection sensitivity of shallow, narrow cracks blocked by dirt is low, making it difficult to obtain accurate data;

[0062] Optionally, the bridge crack detection device further includes an auxiliary part 10;

[0063] The auxiliary part 10 includes a cylinder 101 disposed on the movable rod 4, and a friction block 102 disposed on the telescopic shaft of the cylinder 101;

[0064] By driving the cylinder 101, the friction block 102 can rub and clean the bridge surface. Specifically, through the reciprocating driving of the friction block 102 by the cylinder 101, the top surface of the friction block 102 is rubbed and cleaned against the cracks of the bridge, so that obstructions or dirt in the cracks of the bridge can be removed in time, which provides a good auxiliary effect for the detection work of the detection head 8 and is conducive to the accuracy of the detection work.

[0065] Optionally, the auxiliary part 10 further includes a rectangular groove 103 provided on the friction block 102;

[0066] The upper edge of the rectangular groove 103 is an inclined surface, wherein:

[0067] The friction block 102 can drive the rectangular groove 103 to scrape dirt. Specifically, the upper edge of the rectangular groove 103 can act as a scraper to promptly remove the attachments at the cracks of the bridge, and the rectangular groove 103 is conducive to the rapid separation of the attachments and the friction separation objects of the friction block 102, thereby increasing the efficiency of the cleaning work of the bridge cracks.

[0068] Optionally, the auxiliary part 10 also includes a fan 104 arranged on the movable rod 4, a pipe 105 arranged at the output end of the fan 104, a purge hood 106 connected to the pipe 105, and a side port 107 arranged at the side end of the purge hood 106 facing the detection head 8. Specifically, the fan 104 can generate wind force when it is working, and the wind is discharged from the side port 107 through the pipe 105 and the purge hood 106. The discharged wind is guided by the purge hood 106 and acts on the space near the detection head 8, so as to prevent the detection head 8 from being contaminated by detached objects and obstructions, and at the same time, the diffusion and separation efficiency of the detached objects and obstructions in the above-mentioned cleaning work is increased.

[0069] Optionally, the bridge crack detection device further includes a torsion spring 5;

[0070] One end of the torsion spring 5 is connected to the angle bracket 6;

[0071] The other end of the torsion spring 5 is sleeved on a part of the operating rod 7 and connected to the operating rod 7, wherein:

[0072] The torsion spring 5 can be compressed when the operating rod 7 rotates. Specifically, the torsion spring 5 contracts and stores energy as the operating rod 7 rotates, and releases the stored energy and resets when the operating rod 7 is not under force, which is conducive to quickly resetting to the initial angle and position, thereby providing preparation for multiple swing adjustment operations of the detection head 8 and can be used repeatedly and continuously.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bridge crack detection device, characterized in that: include: A detection vehicle body (1), a mechanical arm (2) arranged on the detection vehicle body (1), and a support part (3) arranged on the mechanical arm (2); a movable rod (4) rotatably connected to the support part (3) via a connecting shaft; an angle bracket (6) radially arranged on the movable rod (4); two operating rods (7) arranged on the angle bracket (6) respectively rotating at a vertical angle; a detection head (8) rotatably connected to the two operating rods (7); and a driving part (9) arranged at the bottom end of the angle bracket (6), wherein: The driving part (9) is driven, and the driving part (9) can respectively drive the two operating rods (7) to rotate, so as to make the detection head (8) swing horizontally and vertically.

2. The bridge crack detection device according to claim 1, characterized in that: The driving part (9) comprises a first motor (91) arranged at the bottom end of the angle bracket (6), a disc (92) arranged on the output shaft of the first motor (91), a through hole (93) arranged at the side end of the disc (92), a circular groove (94) arranged at the bottom end of the disc (92) and connected to the through hole (93), and a displacement adjustment part (95) arranged on the disc (92), wherein: By driving the first motor (91), the disk (92) can drive the displacement adjustment part (95) to rotate, so that the displacement adjustment part (95) drives the operating rod (7) to drive the detection head (8) to swing.

3. The bridge crack detection device according to claim 2, characterized in that: The displacement adjustment part (95) comprises a toggle rod (951) inserted and movably arranged in the through hole (93), a rectangular frame (952) inserted in the circular groove (94) and connected to the toggle rod (951) via a pad, a second motor (953) arranged at the bottom end of the disc (92), and a round wheel (954) eccentrically arranged on the output shaft of the second motor (953), wherein: By driving the second motor (953), the circular wheel (954) can drive the rectangular frame (952) to swing, so that the rectangular frame (952) drives the toggle rod (951) to move left and right along the through hole (93) through the cushion block.

4. The bridge crack detection device according to claim 3, characterized in that: The support part (3) comprises a support rod (31) arranged on the mechanical arm (2), a track (32) arranged on the support rod (31), a slide (33) movably sleeved outside the track (32), and an electric push rod (34) connected to the end of the support rod (31); The telescopic shaft of the electric push rod (34) penetrates the track (32) and is connected to the slide frame (33) via a connecting frame; The slide (33) is connected to the movable rod (4) via a support shaft, wherein: By driving the electric push rod (34), the slide bracket (33) can drive the movable rod (4) to move, so as to enable the detection head (8) to move and detect.

5. The bridge crack detection device according to claim 4, characterized in that: The support portion (3) comprises an axial hole arranged on the slide (33) for the support shaft to penetrate, and a third motor (35) arranged at the bottom end of the slide (33), the motor shaft of the third motor (35) being connected to the support shaft, wherein: By driving the third motor (35), the support shaft can drive the movable rod (4) to rotate, so that the detection head (8) can rotate for detection.

6. The bridge crack detection device according to claim 5, characterized in that: The bridge crack detection device further includes an auxiliary part (10); The auxiliary part (10) comprises a cylinder (101) arranged on the movable rod (4), and a friction block (102) arranged on the telescopic shaft of the cylinder (101); By driving the cylinder (101), the friction block (102) can rub and clean the bridge surface.

7. The bridge crack detection device according to claim 6, characterized in that: The auxiliary part (10) further comprises a rectangular groove (103) arranged on the friction block (102); The upper edge of the rectangular groove (103) is an inclined surface, wherein: The friction block (102) can drive the rectangular groove (103) to scrape dirt.

8. The bridge crack detection device according to claim 7, characterized in that: The auxiliary part (10) further comprises a fan (104) arranged on the movable rod (4), a pipe (105) arranged at the output end of the fan (104), connected to a purge hood (106) arranged on the pipe (105), and a side port (107) arranged at the side end of the purge hood (106) and facing the detection head (8).

9. The bridge crack detection device according to claim 1, characterized in that: The bridge crack detection device also includes a torsion spring (5); One end of the torsion spring (5) is connected to the angle bracket (6); The other end of the torsion spring (5) is partially sleeved on the operating rod (7) and connected to the operating rod (7), wherein: The operating rod (7) can compress the torsion spring (5) when it rotates.

10. A bridge crack detection method according to any one of claims 1 to 9, characterized in that: The first step is to drive the detection vehicle (1) to the designated position, and operate the mechanical arm (2) so that the support part (3) drives the movable rod (4) to penetrate into the bottom of the bridge, and the angle bracket (6) drives the detection head (8) to the detection position through the operating rod (7); The second step is to drive the third motor (35), and the support shaft drives the movable rod (4) to rotate to maintain a right angle with the support rod (31) to start the detection work of the detection head (8); The third step is to drive the electric push rod (34), and the slide (33) drives the movable rod (4) to move forward and backward along the track (32) to change the position of the crack detection; The fourth step is to drive the second motor (953) when it is necessary to detect the inclined surface of the bridge, so that the round wheel (954) rotates and pushes the rectangular frame (952), so that the toggle rod (951) passes through the corresponding direction of the through hole (93), and the first motor (91) is driven, and the disc (92) drives the toggle rod (951) to toggle the corresponding operating rod (7) to rotate, so that the detection head (8) rotates in the corresponding direction, thereby performing bridge crack detection at an inclined angle; In the fifth step, when the detection head (8) is performing the detection work or before the detection work, the cylinder (101) is driven to work, so that the friction block (102) drives the rectangular groove (103) to scrape the dirt or the attachment that is about to fall off. Finally, the fan (104) is turned on, and the wind is discharged from the purge cover (106) and the side port (107) through the pipeline (105) to perform the dust sweeping work in the previous step.

Images