Bridge crack detection device and detection method

Abstract

The application relates to the technical field of bridge detection, in particular to a bridge crack detection device and a detection method, which comprise a detection vehicle body, a mechanical arm arranged on the detection vehicle body, a supporting part arranged on the mechanical arm, a movable rod rotatably connected to the supporting part through a connecting shaft, an angle code frame arranged on the movable rod in a radial direction, two operation rods rotatably arranged on the angle code frame at a vertical angle respectively, and a detection head rotatably connected to the two operation rods. The movable rod serving as a supporting carrier of the detection head can replace and cover the position points of the detection head in the direction detection and identification, so that the detection work of the bridge bottom surface cracks is comprehensive. The driving part drives different operation rods in different directions, so that the detection head can swing along the unknown axial direction to adjust the angle, and the crack conditions of different bridge sides can be detected.

Description

TECHNICAL FIELD

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

[0002] Bridge crack detection work is of great significance for timely discovering bridge structure hidden dangers and ensuring bridge safety. The prior art has carried out detection work through a detection vehicle. The mechanical arm of the detection vehicle probes into the bridge bottom. The temperature distribution of the bridge surface is detected by an infrared thermal imager to identify cracks. However, the following problems exist.

[0003] When detecting side cracks at the connection of two bridges, the infrared thermal imager cannot quickly switch the detection angle according to the environment, which makes the crack detection work at the side of the bridge included angle not comprehensive. SUMMARY

[0004] The purpose of the present application is to provide a bridge crack detection device and method to solve the problem that the detection head cannot quickly switch the detection angle.

[0005] In order to achieve the above purpose, the present application provides a bridge crack detection device, which comprises a detection vehicle body, a mechanical arm arranged on the detection vehicle body, a support part arranged on the mechanical arm, an active rod rotatably connected to the support part through a connecting shaft, an angle code frame arranged radially on the active rod, two operation rods arranged at a perpendicular angle on the angle code frame respectively, a detection head rotatably connected to the two operation rods, and a driving part arranged at the bottom end of the angle code frame, wherein

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

[0007] Further, the driving part comprises a first motor arranged at the bottom end of the angle code frame, 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 communicating with the through hole, and a displacement adjusting part arranged on the disc, wherein

[0008] The first motor is driven, and the disc can drive the displacement adjusting part to rotate, so that the displacement adjusting part drives the operation rod to drive the detection head to swing.

[0009] Further, the displacement adjusting part comprises a driving rod movably arranged in the through hole, a rectangular frame movably arranged in the circular groove and connected to the driving rod through a pad, a second motor arranged at the bottom end of the disc, and a circular wheel eccentrically arranged on the output shaft of the second motor, wherein

[0010] Driving the second motor, the round wheel can drive the rectangular frame to swing, so that the rectangular frame drives the shifting rod to displace left and right along the through hole through the cushion block.

[0011] Further, the support part comprises a support rod arranged on the mechanical arm, a track arranged on the support rod, a sliding frame 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 penetrates the track and is connected to the sliding frame through a connecting frame;

[0013] The sliding frame is connected to the movable rod through a support shaft, wherein,

[0014] Driving the electric push rod, the sliding frame can drive the movable rod to displace, so that the detection head displaces to detect.

[0015] Further, the support part comprises a shaft hole arranged on the sliding frame for the support shaft to penetrate, and a third motor arranged at the bottom end of the sliding frame, the motor shaft of the third motor is connected to the support shaft, wherein,

[0016] Driving the third motor, the support shaft can drive the movable rod to rotate, so that the detection head rotates to detect.

[0017] Further, the bridge crack detection device further comprises an auxiliary part;

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

[0019] Driving the cylinder, the friction block can rub and clean the surface of the bridge.

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

[0021] The upper edge of the rectangular groove is a bevel, wherein,

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

[0023] Further, the auxiliary part further comprises a fan arranged on the movable rod, a pipeline arranged at the output end of the fan, a blowout cover arranged in communication on the pipeline, and a side port arranged on the side end of the blowout cover towards the detection head.

[0024] Further, the bridge crack detection device further comprises a torsion spring;

[0025] One end of the torsion spring is connected to the corner code frame.

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

[0027] The operating rod can compress the torsion spring when the operating rod rotates.

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

[0029] In the first step, the detection vehicle body is opened to a specified position, the manipulator is controlled, the supporting part drives the movable rod to explore into the bridge bottom, the angle code frame drives the detection head to the detection position through the operating rod;

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

[0031] In the third step, the electric push rod is driven, the slide carriage drives the movable rod to move back and forth along the track to change the position of the detected crack;

[0032] In the fourth step, when the bridge slope needs to be detected, the second motor is driven to rotate the circular wheel to push the rectangular frame, so that the driving rod is driven to pass through the corresponding direction of the through hole, the first motor is driven, the disc drives the driving rod to drive the corresponding operating rod to rotate, the detection head is rotated in the corresponding direction, and the bridge crack detection of the inclination angle is performed.

[0033] In the fifth step, when the detection head performs the detection work or before the detection work, the cylinder is driven to work, the friction block drives the rectangular groove to scrape the dirt or the attached matter about to fall off, finally, the fan is opened, the wind is discharged from the blowing cover and the side opening through the pipeline to perform the dust removal work in the above process.

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

[0035] The present application provides a replacement and coverage of the detection head for the detection head by the rotatable movable rod as a supporting carrier of the detection head, so that the detection work of the bridge bottom crack is comprehensive, and the present application drives different operating rods in different directions to push the operating rods, so that the detection head can swing along the unknown axial direction to adjust the angle, is suitable for detecting the crack condition of different bridge sides, has high flexibility, good use effect, and solves the generation of the dead angle of the bridge crack detection. BRIEF DESCRIPTION OF DRAWINGS

[0036] The present application will be further described below in combination with the drawings and examples.

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

[0038] Figure 2A perspective view of the preferred embodiment of the present application is shown.

[0039] Figure 3 A first angle perspective view of the detection head of the present application is shown.

[0040] Figure 4 A second angle perspective view of the detection head of the present application is shown.

[0041] Figure 5 A third angle perspective view of the detection head of the present application is shown.

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

[0043] 1, detection vehicle; 2, mechanical arm; 3, support part; 31, support rod; 32, track; 33, carriage; 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 adjusting part; 951, shifting rod; 952, rectangular frame; 953, second motor; 954, round wheel; 10, auxiliary part; 101, air cylinder; 102, friction block; 103, rectangular groove; 104, fan; 105, pipeline; 106, blowing cover; 107, side opening. DETAILED DESCRIPTION

[0044] The present application will now be described in further detail with reference to the drawings. These drawings are simplified schematic illustrations of the basic structure of the present application and therefore only show the components relevant to the present application.

[0045] Reference is made to Figure 1 , Figure 1 A perspective view of the present application is shown. Reference is made to Figure 2 , Figure 2 A perspective view of the preferred embodiment of the present application is shown. Reference is made to Figure 3 , Figure 3 A first angle perspective view of the detection head of the present application is shown. Reference is made to Figure 4 , Figure 4 A second angle perspective view of the detection head of the present application is shown. Reference is made to Figure 5 , Figure 5 A third angle perspective view of the detection head of the present application is shown. Reference is made to Figure 6 , Figure 6 A perspective view of the auxiliary part of the present application is shown, as Figures 1-6As shown, a bridge crack detection device and method, comprising: a detection vehicle body 1, a mechanical arm 2 provided 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, and a support part 3 provided on the mechanical arm 2, an active rod 4 rotatably connected to the support part 3 through a connecting shaft, an angle code frame 6 radially provided on the active rod 4, the active rod 4 can drive the angle code frame 6 to rotate, two operating rods 7 are vertically arranged on the angle code frame 6, a detection head 8 rotatably connected to the two operating rods 7, the operating rod 7 includes a first rod, a first shaft connected to the first rod and penetratingly rotatably connected to the angle code frame 6, a second rod connected to the first shaft, a second shaft connected to the second rod, and the second shaft is rotatably connected to the detection head 8, the detection head 8 includes an infrared detection head at the upper end and a spherical base at the lower end, the spherical base is beneficial to ensure the balance of the infrared detection head during rotation, and a driving part 9 provided at the bottom end of the angle code frame 6, wherein,

[0046] The driving part 9 drives the two operating rods 7 to rotate respectively, so that the detection head 8 swings laterally and longitudinally.

[0047] In the prior art, it is difficult for the detection head 8 to quickly swing and adjust the inclination angle in two directions during detection, which cannot detect the side cracks of multiple bridges around at one time. Compared with the prior art, the present application provides a rotatable active rod 4 as a support carrier for the detection head 8, which provides a replacement and coverage of the detection and identification position point in one direction for the detection head 8, so that the detection of the bridge bottom surface cracks is comprehensive. Moreover, the present application drives different operating rods 7 by the driving part 9 in different directions, so that the detection head 8 can swing along the unknown axis to adjust the angle, which is suitable for detecting the crack situation of the side of different bridges, has high flexibility, good use effect, solves the problem of dead angle in bridge crack detection, and when facing the cross combination or vertical splicing combination of two bridges, first, one of the operating rods 7 drives the detection head 8 to tilt towards one of the bridge directions for detection, and 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 drives the detection head 8 to tilt towards the other bridge direction for detection, so that the side detection of two different directions of the bridge is quickly realized, and the efficiency of the crack detection work is ensured.

[0048] Optionally, the driving part 9 includes a first motor 91 provided at the bottom end of the angle code frame 6, the first motor 91 is a servo motor, a disc 92 provided on the output shaft of the first motor 91, a through hole 93 provided at the side end of the disc 92, a circular groove 94 provided at the bottom end of the disc 92 and communicating with the through hole 93, and a displacement adjusting part 95 provided on the disc 92, wherein,

[0049] The first motor 91 drives the disc 92 to drive the displacement adjusting part 95 to rotate, so that the displacement adjusting part 95 drives the operating rod 7 to swing the detection head 8, specifically, the first motor 91 can drive the disc 92 to rotate forward or reversely, so that the displacement adjusting part 95 is subjected to corresponding acting force to selectively drive the two operating rods 7 to rotate, thereby meeting the driving requirement of the swinging action of the detection head 8.

[0050] The present application also has the following problems, the two operating rods 7 cannot be subjected to a pushing force in another direction, so that the detection head 8 cannot swing in two directions to an angle opposite to the previous one;

[0051] Optionally, the displacement adjusting part 95 comprises a driving rod 951 movably arranged in the through hole 93, the through hole 93 provides a limiting action for the radial movement of the driving rod 951, a rectangular frame 952 is movably arranged in the circular groove 94 and connected to the driving rod 951 through a pad, the circular groove 94 provides an effective space for the connection of the driving rod 951 and the rectangular frame 952, a second motor 953 is arranged at the bottom end of the disc 92, the circular groove 94 also provides a mounting space for the second motor 953, and a circular wheel 954 is eccentrically arranged on the output shaft of the second motor 953, wherein,

[0052] The second motor 953 is driven, the circular wheel 954 drives the rectangular frame 952 to swing, so that the rectangular frame 952 drives the driving rod 951 to move left and right along the through hole 93 through the pad, when the eccentric rotating track of the circular wheel 954 acts on the rectangular frame 952, the rectangular frame 952 drives the driving rod 951 to switch from front to back or from back to front under the limiting action of the through hole 93, and switches between the two included angles formed by the two operating rods 7, so as to provide a pushing force in another direction for the two operating rods 7, and supplement the driving angle of the detection head 8, so as to make it more perfect.

[0053] The present application also has the following problems, the detection track of the detection head 8 cannot move forward and backward;

[0054] Optionally, 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 sliding frame 33 movably arranged 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 penetrates the track 32 and is connected to the sliding frame 33 through a connecting frame, the track 32 provides an effective space for the telescopic working of the telescopic shaft, the sliding frame 33 is in the shape of a frame, which ensures the stability of the support rod 31 in the active state and is not easy to shake during driving;

[0056] The support shaft is connected with the movable rod 4 through the support of the slide 33, wherein,

[0057] The electric push rod 34 is driven, and the slide 33 can drive the movable rod 4 to displace, so that the detection head 8 is displaced for detection.

[0058] Optionally, the support part 3 comprises an axle hole provided on the slide 33 for the support shaft to pass through, and a third motor 35 provided at the bottom end of the slide 33.

[0059] The third motor 35 is driven, and the support shaft can drive the movable rod 4 to rotate, so that the detection head 8 is rotated for detection.

[0060] The present application also has the following problems;

[0061] The detection sensitivity of the crack detection work is low, and accurate data is difficult to obtain.

[0062] Optionally, the bridge crack detection device further comprises an auxiliary part 10.

[0063] The auxiliary part 10 comprises a cylinder 101 provided on the movable rod 4, and a friction block 102 provided on the telescopic shaft of the cylinder 101.

[0064] The cylinder 101 is driven, and the friction block 102 can be rubbed to clean the bridge surface.

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

[0066] The upper edge of the rectangular groove 103 is a slope, wherein,

[0067] The friction block 102 can drive the rectangular groove 103 to scrape dirt, in particular, the upper edge of the rectangular groove 103 can play the role of a shovel to timely shovel off the adherents at the bridge cracks, and the rectangular groove 103 is beneficial to the quick separation of the adherents and the friction block 102, thereby increasing the efficiency of the bridge crack cleaning work.

[0068] Optionally, the auxiliary part 10 further comprises a fan 104 arranged on the movable rod 4, a pipeline 105 arranged at the output end of the fan 104, a blowing cover 106 communicated with the pipeline 105, and a side opening 107 arranged at the side end of the blowing cover 106 and facing the detection head 8, in particular, the fan 104 can generate wind power, the wind is discharged from the side opening 107 through the pipeline 105 and the blowing cover 106, and the discharged wind is guided by the blowing cover 106 and acts on the space near the detection head 8, thereby avoiding the pollution of the detection head 8 by the separated adherents and the shielding objects, and increasing the diffusion separation efficiency of the separated adherents and the shielding objects in the cleaning work.

[0069] Optionally, the bridge crack detection device further comprises a torsion spring 5.

[0070] One end of the torsion spring 5 is connected to the corner code frame 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 operating rod 7 can compress the torsion spring 5 when rotating, in particular, the torsion spring 5 is retracted and stored energy along with the rotating process of the operating rod 7, and is reset by releasing the stored energy when the operating rod 7 is not forced, thereby being beneficial to the quick reset to the initial angle and position, thereby providing preparation for the multiple swing adjustment of the detection head 8, and being capable of being used repeatedly and continuously.

[0073] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and the present application can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A bridge crack detection device characterized by, The utility model relates to a kind of detection vehicle, including: detection vehicle (1), mechanical arm (2) being arranged on the detection vehicle (1), and support part (3) being arranged on the mechanical arm (2), movable rod (4) being rotatably connected on the support part (3) by connecting shaft, corner code frame (6) being arranged at the end of the movable rod (4), two operating rods (7) being rotatably arranged on the corner code frame (6) respectively in perpendicular angle, detection head (8) being rotatably connected on two operating rods (7), and drive part (9) being arranged at the bottom end of the corner code frame (6), wherein, drive the drive part (9), the drive part (9) can drive two operating rods (7) to rotate respectively, so that the detection head (8) swings transversely and longitudinally; The drive part (9) includes a first motor (91) arranged at the bottom end of the corner code frame (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 communicating with the through hole (93), and a displacement adjusting part (95) arranged on the disc (92), wherein, drive the first motor (91), the disc (92) can drive the displacement adjusting part (95) to rotate, so that the displacement adjusting part (95) drives the operating rod (7) to swing and drives the detection head (8) to swing; The displacement adjusting part (95) includes a driving rod (951) movably arranged in the through hole (93), a rectangular frame (952) movably arranged in the circular groove (94) and connected to the driving rod (951) by a pad, a second motor (953) arranged at the bottom end of the disc (92), and a circular wheel (954) eccentrically arranged on the output shaft of the second motor (953), wherein, drive the second motor (953), the circular wheel (954) can drive the rectangular frame (952) to swing, so that the rectangular frame (952) drives the driving rod (951) to displace left and right along the through hole (93) through the pad; The support part (3) includes a support rod (31) arranged on the mechanical arm (2), a track (32) arranged on the support rod (31), a sliding frame (33) movably arranged 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 sliding frame (33) through a connecting frame; The sliding frame (33) is connected to the movable rod (4) through a support shaft, wherein, drive the electric push rod (34), the sliding frame (33) can drive the movable rod (4) to displace, so that the detection head (8) displaces to detect; The support part (3) includes an axle hole for the support shaft to penetrate arranged on the sliding frame (33), and a third motor (35) arranged at the bottom end of the sliding frame (33), wherein the motor shaft of the third motor (35) is connected to the support shaft, ​ Drive the third motor (35), the support shaft can drive the movable rod (4) to rotate, so that the detection head (8) rotates to detect.

2. The bridge crack detection device of claim 1, wherein the bridge crack detection device further comprises 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). Drive the cylinder (101), and the friction block (102) can clean the bridge surface by friction.

3. The bridge crack detection device of claim 2, wherein 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 a bevel, and the friction block (102) can drive the rectangular groove (103) to scrape dirt.

4. The bridge crack detection device of claim 3, wherein the auxiliary part (10) further comprises a fan (104) arranged on the movable rod (4), a pipeline (105) arranged at the output end of the fan (104), a purge cover (106) arranged in communication with the pipeline (105), and a side port (107) arranged at the side end of the purge cover (106) and facing the detection head (8).

5. The bridge crack detection device of claim 1, wherein the bridge crack detection device further comprises a torsion spring (5). One end of the torsion spring (5) is connected to the corner bracket (6). 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), and when the operating rod (7) rotates, the torsion spring (5) can be compressed.

6. A bridge crack detection method using the bridge crack detection device of claim 4, comprising the following steps: Firstly, the detection vehicle body (1) is opened to the designated position, the mechanical arm (2) is controlled, the support part (3) drives the movable rod (4) to probe into the bottom of the bridge, the corner bracket (6) drives the detection head (8) to the detection position through the operating rod (7); Secondly, the third motor (35) is driven, the support shaft drives the movable rod (4) to rotate and keeps a right angle with the support rod (31), and the detection work of the detection head (8) starts; Thirdly, the electric push rod (34) is driven, the movable rod (4) is driven by the sliding frame (33) to move back and forth along the track (32), and the position of the detection crack is changed; Fourthly, when the bridge slope needs to be detected, the second motor (953) is driven, the circular wheel (954) is rotated to push the rectangular frame (952), so that the lever (951) penetrates through the corresponding direction of the through hole (93), the first motor (91) is driven, the disc (92) drives the lever (951) to rotate the corresponding operating rod (7), so that the detection head (8) rotates in the corresponding direction, and the bridge crack detection of the inclined angle is performed. ​ ​ ​ ​ ​ ​ The fifth step, when the detection head (8) is working or before the detection work, the driving cylinder (101) works, the friction block (102) drives the rectangular groove (103) to scrape the dirt or the attached object about to fall off, finally, the fan (104) is opened, the wind is discharged from the blowing cover (106) and the side opening (107) through the pipeline (105) to carry out the dust removal work in the previous step.

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