Bridge pier crack detection device

Abstract

The invention discloses a bridge pier crack detection device, and belongs to the technical field of detection equipment. The device comprises a wall-climbing robot, a telescopic holding arm and a detection mechanism. The telescopic holding arm comprises a first folding telescopic mechanism which is arranged on the base plate and is provided with two symmetrical telescopic ends, and folding telescopic arms which are symmetrically arranged on the two folding telescopic ends of the first folding telescopic mechanism; the folding telescopic arm, the first folding telescopic mechanism and the base plate can be arranged on the outer side of the bridge pier in a surrounding mode after being bent and stretched out and drawn back, and an open or closed annular structure is formed. The detection mechanism comprises an image acquisition device and a rope body conveying mechanism which is arranged between the base plate and the folding telescopic arm and is provided with a detachable connecting mechanism, and the image acquisition device is matched with the rope body conveying mechanism. The device can adapt to the diameter change of the pier and form an annular track for image acquisition equipment to carry out complete circumferential acquisition; the collection process is fast, efficient and comprehensive.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge detection equipment, and particularly relates to a pier crack detection device. Background Art

[0002] As an important load-bearing structure of a bridge, the health status of a pier is directly related to the overall safety and service life of the bridge. However, during long-term service, piers are often affected by various factors such as external loads, environmental erosion, and construction quality, and are prone to hidden dangers such as cracks, spalling, and steel bar corrosion. If these defects are not discovered and repaired in time, they will seriously threaten the structural safety of the bridge.

[0003] Existing detection devices mostly use wall-climbing robots to carry detection equipment to climb on the pier and collect crack disease data; in order to achieve complete circumferential wall crack collection of the pier, the wall-climbing robot needs to move up and down reciprocally or move circumferentially and then move up. The running track of the wall-climbing robot is long, the collection time is long, and the failure risk (falling) of the wall-climbing robot increases. There are also devices that form an annular track around the pier and use lifting equipment for lifting control. Although the detection equipment can comprehensively collect pier wall diseases, most of these devices have design defects. The annular track needs to be manually disassembled and installed, which is not convenient to use, and has poor adaptability to piers with changing diameters; at the same time, it is not convenient for storage and transportation. There is also a semi-circular detection device in the prior art that can clamp the pier and move up and down. Although it has strong adaptability to the change of pier diameter, it cannot form an annular track, which is not conducive to the efficient collection of pier wall crack diseases by the detection equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a pier crack detection device to solve the technical problems that the running track of the existing wall-climbing robot is long and it cannot efficiently collect disease data when detecting piers, the existing detection device that can form an annular track has insufficient adaptability to the change of pier diameter and is not convenient for installation, disassembly and transportation, and the existing detection device that can form a semi-circular structure to clamp the pier has the problem that it cannot form an annular track and is not conducive to efficient detection.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: A pier crack detection device, comprising: A wall-climbing robot, which includes a substrate corresponding to the outer wall of the pier; A telescopic holding arm, which includes a first folding and telescopic mechanism provided on the substrate and having two symmetric telescopic ends, and folding and telescopic arms symmetrically provided on the two folding and telescopic ends of the first folding and telescopic mechanism; the folding and telescopic arms, the first folding and telescopic mechanism, and the substrate can form an open or closed annular structure around the outside of the pier after bending and telescopic actions; The detection mechanism comprises an image acquisition device and a rope conveying mechanism which is arranged between a base plate and a folding telescopic arm and is provided with a detachable connection mechanism, wherein the image acquisition device cooperates with the rope conveying mechanism.

[0006] Furthermore, the first folding and telescopic mechanism comprises: A synchronous transmission mechanism, comprising bidirectional threaded screws symmetrically rotatably connected to both sides of a base plate, a first motor fixed to the base plate through a motor seat and connected to one bidirectional threaded screw, and a synchronous belt transmission mechanism disposed between the two bidirectional threaded screws; The folding frame is provided with two of them, which include two first nut seats that are threadedly matched with the bidirectional threaded screw and slidably matched with the base plate, a first transmission rod whose ends are respectively hinged to the two first nut seats, and a base that is simultaneously hinged to the free ends of the two first transmission rods; the two first nut seats are respectively matched with two thread sections of the bidirectional threaded screw with opposite rotation directions.

[0007] Furthermore, the folding telescopic arm comprises a first flip adjustment mechanism, a second folding telescopic mechanism, a second flip adjustment mechanism, a third folding telescopic mechanism, a third flip adjustment mechanism and an adjustment arm which are connected in sequence; the adjustment arms on the two folding telescopic arms are arranged in an up-and-down staggered manner.

[0008] Furthermore, the first flip adjustment mechanism, the second flip adjustment mechanism and the third flip adjustment mechanism all include: The fixing seat is in a square shape as a whole; A rotating shaft, which is longitudinally arranged and rotatably connected to the fixed seat; A second motor is arranged on a fixed seat and is connected to the rotating shaft through a gear transmission mechanism; Wherein, the fixing seat of the first flip adjustment mechanism is fixedly connected to the base.

[0009] Furthermore, the second folding and telescopic mechanism and the third folding and telescopic mechanism both include: The frame is arranged longitudinally and is in the shape of strips as a whole; A double-axle extension motor is arranged in the middle of the frame, and the two output shafts are arranged along the length direction of the frame; A transmission screw, both ends of which are hinged on the frame and symmetrically arranged at both ends of the double-axle extension motor; The second nut seat is provided with two and is threadedly matched with the two driving screws respectively and is slidably matched with the frame; A second transmission rod, which is hinged on the second nut seat and arranged symmetrically on the left and right; Wherein, two second transmission rods on one side of the second folding and telescoping mechanism are respectively hinged to both ends of the rotating shaft of the first flipping and adjusting mechanism, and two second transmission rods on the other side are respectively hinged to the upper and lower ends of the fixed seat of the second flipping and adjusting mechanism; two second transmission rods on one side of the third folding and telescoping mechanism are respectively hinged to both ends of the rotating shaft of the second flipping and adjusting mechanism, and two second transmission rods on the other side are respectively hinged to the upper and lower ends of the fixed seat of the third flipping and adjusting mechanism; two output ends of the double-shaft extension motor are respectively connected to two transmission screws, and the thread rotation directions of the two transmission screws are opposite.

[0010] Further, the adjusting arm includes a connecting seat provided on the rotating shaft of the third flipping and adjusting mechanism, a first electric push rod and a telescopic rod arranged in parallel at an interval up and down on one side of the connecting seat, and a connecting plate connected to the ends of the first electric push rod and the telescopic rod.

[0011] Further, the rope conveying mechanism includes: A winch device, which includes a U-shaped frame fixed on the substrate, two wire reels arranged in parallel and rotatably connected to the U-shaped frame, and a driving device provided on the substrate and selectively cooperating with the two wire reels; two independent strands of steel wire ropes are wound on each wire reel, rotating shafts are provided at both ends of the wire reel, a rotary damper is provided between the rotating shaft at one end of the wire reel and the side arm of the U-shaped frame, and the rotating shaft at the other end extends and penetrates to the outside of the side arm of the U-shaped frame; Four wire guiding cylinders, which are fixed on the substrate, and the four strands of steel wire ropes respectively penetrate through the four wire guiding cylinders and are slidably matched with the guiding cylinder; An obstacle-crossing combination frame, which includes a plurality of support frames fixed on the folding and telescoping arm and arranged along the extending direction, and a connecting frame cooperating with the support frames; the connecting frame is fixedly connected to the steel wire rope; A detachable fitting, which cooperates with the steel wire rope to form a detachable connection mechanism, and includes an elastic rope, threaded cylinders provided at both ends of the elastic rope, and a threaded short rod provided at the end of the steel wire rope; the threaded short rod is threadedly matched with the threaded cylinder.

[0012] Further, The support frame is integrally T-shaped and is in a horizontally inclined state. The upper and lower ends of the longitudinal rod body of the support frame are provided with inclined U-shaped wire grooves, and the upper and lower sides of the transverse rod body of the support frame are provided with arc-shaped track grooves, and the cross-section of the arc-shaped track groove is in an inclined U-shaped; the U-shaped wire groove is slidably matched with the steel wire rope; The connecting frame is integrally in the shape of an inclined U-shaped groove. The two free ends of the connecting frame are provided with rollers cooperating with the arc-shaped track grooves, and two rod bodies respectively fixedly connected to the two strands of steel wire ropes are provided on the inner sides of the two side arms of the connecting frame; When the roller cooperates with the arc-shaped track groove, the steel wire rope is separated from the cooperation of the U-shaped wire groove under the pulling action of the rod body and realizes obstacle crossing.

[0013] Further, the driving device includes: A sliding seat, which includes a motor mounting seat that slidably cooperates with the substrate in a straight line, and a second electric push rod provided on the substrate and connected to the motor mounting seat; the sliding direction of the motor mounting seat is parallel to the axial direction of the wire reel; A third motor, which is fixed on the motor mounting seat; A bevel gear transmission mechanism, which includes a first straight bevel gear provided on the output shaft of the third motor, and second straight bevel gears respectively provided on the rotating shafts of the two wire reels; When the second electric push rod drives the motor mounting seat to slide a certain distance, the first straight bevel gear meshes with the two second straight bevel gears simultaneously.

[0014] The beneficial effects of the present invention are: In terms of the structural design of the device, the telescopic holding arm realizes horizontal telescoping by using a scissor-like structure, and then cooperates with the flipping adjustment mechanism to realize the adjustment of the rotating joint. It can surround the outside of the bridge pier in a manner similar to the hand-holding method, and can be used for the detection of bridge piers with different diameters. The flipping adjustment mechanism can gather the telescopic holding arm towards the side of the wall-climbing robot for storage, reducing the overall occupied space and facilitating transportation. Based on the structural characteristics of the telescopic holding arm, a rope conveying mechanism is provided. The track formed by the rope conveying mechanism has the characteristic of detachable connection, and can form a closed circular track outside the bridge pier, and drive the detection equipment to move along the track in a manner similar to the operation of a cable car, so as to realize the detection of circumferential crack diseases of the bridge pier. In actual application, the wall-climbing robot only needs to move up and down, and can quickly, efficiently and comprehensively collect data on the crack diseases of the bridge pier. Description of the Drawings

[0015] Figure 1 It is a schematic structural diagram of the detection device after being flattened; Figure 2 For Figure 1 The rear view structural diagram of; Figure 3 It is a schematic structural diagram of the winch device in the detection device; Figure 4 It is another perspective structural diagram of the wire drum in the detection device; Figure 5 It is a schematic structural diagram of the folded telescopic arm after being unfolded in the detection device; Figure 6 It is a schematic structural diagram of the detection device forming a circular track; Figure 7 It is a side view schematic diagram of the frame and the double-shaft extension motor in the detection device; Figure 8 It is a schematic enlarged diagram of the folded telescopic arm structure in the detection device; Figure 9 It is a front view and top view structural diagram of the support frame in the detection device; Figure 10 Schematic front view and top view structures of the connecting frame in the detection device; Figure 11 Schematic structure of the detachable fitting in the detection device; Figure 12 Schematic structure of the support frame and the connecting frame in a mating state; Figure 13 System control block diagram of the detection device.

[0016] Wherein, 1 - wall-climbing robot; 2 - substrate; 3 - first motor; 4 - bidirectional threaded screw; 5 - synchronous belt drive mechanism; 6 - first nut seat; 7 - first transmission rod; 8 - base; 9 - fixed seat; 10 - rotating shaft; 11 - second motor; 12 - frame; 13 - double-shaft extended motor; 14 - transmission screw; 15 - second nut seat; 16 - second transmission rod; 17 - connecting seat; 18 - first electric push rod; 19 - telescopic rod; 20 - connecting plate; 21 - wire drum; 22 - U-shaped frame; 23 - wire reel; 24 - rotary damper; 25 - sliding seat; 26 - third motor; 27 - second electric push rod; 28 - first straight bevel gear; 29 - second straight bevel gear; 30 - support frame; 31 - connecting frame; 32 - U-shaped wire groove; 33 - arc-shaped track groove; 34 - rod body; 35 - roller; 36 - elastic cord; 37 - threaded cylinder; 38 - threaded short rod; 39 - cloud platform; 40 - high-definition camera. Detailed implementation manners

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

[0018] As Figures 1 to 13 shown, a pier crack detection device includes a wall-climbing robot 1, a telescopic arm, and a detection mechanism. The wall-climbing robot 1 is used to climb on the pier wall surface to realize the lifting function of the entire device. The telescopic arm provides support for the track structure in the detection mechanism, and the telescopic arm forms a surrounding shape around the pier. The detection mechanism forms an annular track based on a rope body by means of the telescopic arm and realizes the acquisition of circumferential crack images of the pier based on the annular track.

[0019] The wall-climbing robot 1 has the basic function of moving along the axial direction of the bridge pier, and the function of climbing in any direction can also be applied. Any existing wall-climbing robot that climbs the wall by vacuum adsorption can be applied in the present invention. The wall-climbing robot 1 needs to provide a connection point that can be relatively fixed to its own body, and a substrate 2 is fixed by welding, bolt connection or detachable connection. The substrate 2 is integrally in the shape of a square plate; a frame structure with a plate-like shape can also be used. A certain gap space should be reserved between the substrate 2 and the outer wall of the bridge pier to facilitate the formation of a rope conveying mechanism by the detection device. The substrate 2 can be placed on the abdomen, back or the front and rear ends of the outside of the wall-climbing robot 1, and can be flexibly adjusted according to the structural characteristics of the wall-climbing robot 1 used. The controller built in the wall-climbing robot 1 is used to comprehensively control the actions of the telescopic holding arm and the detection mechanism. The controller is connected to the external mobile control terminal by wireless transmission.

[0020] The telescopic holding arm is used in cooperation with the wall-climbing robot 1. The telescopic holding arm has the function of telescopic storage in its structural design. The telescopic holding arm includes a first folding and telescopic mechanism provided on the substrate 2 and two folding and telescopic arms provided on the first folding and telescopic mechanism. The first folding and telescopic mechanism is formed with two symmetrical folding and telescopic ends, and the two folding and telescopic arms are respectively connected to the two folding and telescopic ends and are also arranged symmetrically. The folding and telescopic arms, the first folding and telescopic mechanism and the substrate 2 can surround the outside of the bridge pier and form an open or closed ring structure; it can adapt to bridge piers with different diameters by means of a unique telescopic structure. The folding and telescopic arms and the first folding and telescopic mechanism can ensure that there is no axial movement along the bridge pier during the telescopic process, and can also ensure that the rope conveying mechanism formed in cooperation is a stable ring.

[0021] The first folding and telescopic mechanism is used to make the folding and telescopic arms on both sides move synchronously. The structure includes a synchronous transmission mechanism and a folding frame. The synchronous transmission mechanism includes a first motor 3, two bidirectional threaded screws 4, and a synchronous belt transmission mechanism 5; the first motor 3 adopts a servo motor equipped with a reducer or a stepping motor equipped with a rotary encoder, and is fixed on the base plate 2 through a motor seat; the synchronous belt transmission mechanism 5 includes a synchronous pulley arranged on the two bidirectional threaded screws 4 and a synchronous toothed belt connected between the synchronous pulleys; the two bidirectional threaded screws 4 are symmetrically arranged and are rotatably connected to the base plate 2 through a bearing seat, and the bidirectional threaded screws 4 are arranged on the left and right sides of the base plate 2; one end of a bidirectional threaded screw 4 is connected to the first motor 3, and the two bidirectional threaded screws 4 are synchronously rotated by means of the first motor 3. The lengths of the two thread segments of the bidirectional threaded screw 4 with opposite rotation directions are equal. The folding frame is provided with two, including two first nut seats 6 that are threadedly matched with the bidirectional threaded screw 4 and slidably matched with the base plate 2, a first transmission rod 7 whose ends are respectively hinged to the two first nut seats 6, and a base 8 that is also hinged to the free ends of the two first transmission rods 7 at the same time. The two first nut seats 6 respectively cooperate with the two threaded sections of the bidirectional threaded screw 4 with opposite rotation directions; the first nut seat 6 is square-shaped; the base 8 is square-shaped; the sum of the total lengths of the two first transmission rods 7 is slightly greater than the total length of the threaded sections of the bidirectional threaded screw 4.

[0022] The folding telescopic arm includes a first flip adjustment mechanism, a second flip adjustment mechanism, a third flip adjustment mechanism, a second folding telescopic mechanism, a third folding telescopic mechanism and an adjustment arm. The adjustment arms on the two folding telescopic arms are arranged in an up-down staggered manner, which can reduce the surrounding space and further adapt to the change of the pier diameter.

[0023] The first flip adjustment mechanism, the second flip adjustment mechanism and the third flip adjustment mechanism all structurally include: a fixed seat 9, a rotating shaft 10 and a second motor 11. The fixed seat 9 is in a square shape and is fixedly connected to the base 8. The fixed seat 9 can also be a part of the base 8. The rotating shaft 10 is longitudinally arranged and rotatably connected to the fixed seat 9. The specific connection method of the rotating shaft 10 is: two ear plates spaced up and down are provided on the fixed seat 9, and the two ends of the rotating shaft 10 pass through the ear plates and are rotatably connected to the two ear plates. The second motor 11 is connected to the fixed seat 9 through the motor seat and is connected to the rotating shaft 10 through a gear transmission mechanism. The gear transmission mechanism is a combination of two meshing gears respectively fixed on the output shaft of the second motor 11 and the rotating shaft 10.

[0024] The second folding and telescoping mechanism and the third folding and telescoping mechanism both include a frame 12, a double-extended motor 13, a transmission screw 14, a second nut seat 15, and a second transmission rod 16. The frame 12 is a square-shaped structure, integrally strip-shaped, and longitudinally arranged. The double-extended motor 13 is fixed at the middle position inside the frame 12, and its two output shafts are arranged along the length direction of the frame 12. There are two transmission screws 14, symmetrically arranged on the upper and lower sides of the double-extended motor 13; the transmission screw 14 is rotationally connected to the frame 12 through a bearing seat fixed on the frame 12, and the two output ends of the double-extended motor 13 are respectively connected to the two transmission screws 14. There are two second nut seats 15, which are respectively in threaded cooperation with the two transmission screws 14, and the second nut seat 15 is slidably matched with the frame 12, and the two transmission screws 14 have opposite thread directions. The second transmission rods 16 are hinged on the second nut seat 15 and symmetrically arranged left and right, with a quantity of four; the two second transmission rods 16 on one side of the second folding and telescoping mechanism are respectively hinged to the two ends of the rotating shaft 10 of the first flipping and adjusting mechanism, and the two second transmission rods 16 on the other side are respectively hinged to the upper and lower ends of the fixed seat 9 of the second flipping and adjusting mechanism; the two second transmission rods 16 on one side of the third folding and telescoping mechanism are respectively hinged to the two ends of the rotating shaft 10 of the second flipping and adjusting mechanism, and the two second transmission rods 16 on the other side are respectively hinged to the upper and lower ends of the fixed seat 9 of the third flipping and adjusting mechanism.

[0025] The adjusting arm includes a connecting seat 17 provided on the rotating shaft 10 of the third flipping and adjusting mechanism, a first electric push rod 18 and a telescopic rod 19 arranged in parallel and spaced apart up and down on one side of the connecting seat 17, and a connecting plate 20 connected to the ends of the first electric push rod 18 and the telescopic rod 19; the telescopic rod 19 can be composed of two nested pipe bodies with different diameters, which improves the overall stability after cooperating with the first electric push rod 18.

[0026] The detection mechanism includes an image acquisition device and a rope conveying mechanism provided between the base plate 2 and the folding and telescoping arm and provided with a detachable connection mechanism. The image acquisition device is used for crack image acquisition. The rope conveying mechanism is used to form an annular track around the bridge pier, and can form triangular, quadrilateral, hexagonal, and octagonal annular tracks according to the telescopic deformation situation.

[0027] The rope conveying mechanism includes a winch device, a wire drum 21, an obstacle-crossing combination frame, and a detachable fitting. The winch device uses the steel wire rope it has to form an annular track; the wire drum 21 assists in supporting the steel wire rope and plays a guiding and positioning role for the steel wire rope; the obstacle-crossing combination frame is used for the support members that the steel wire rope crosses during the movement of the steel wire rope to ensure the relatively stable movement of the image acquisition device; the detachable fitting enables the steel wire rope to have the characteristics of being disconnectable and connectable, thereby facilitating the formation of a surrounding shape around the bridge pier or the removal from the bridge pier.

[0028] The winch device includes a U-shaped frame 22, a wire reel 23, and a driving device. The U-shaped frame 22 is fixed on the substrate 2, and the U-shaped frame 22 is formed with two plate-shaped side arms. The two ends of the wire reel 23 are provided with rotating shafts. A rotary damper 24 is provided between the rotating shaft at one end of the wire reel 23 and the side arm of the U-shaped frame 22, and the rotating shaft at the other end extends and penetrates to the outside of the side arm of the U-shaped frame 22. Two mutually independent steel wire ropes are wound on each wire reel 23. The steel wire rope can also be an elastic elastic rope. If an elastic rope is selected, it should be ensured that the connecting frame 31 on the obstacle-crossing combination frame and the gravity of the image acquisition device do not cause the elastic elongation of the elastic rope. The driving device is arranged on the substrate 2 and selectively cooperates with the two wire reels 23. After cooperation, it can drive the wire reel 23 to rotate. When the cooperation is released, the wire reel 23 can rotate freely, but restricted by the action of the rotary damper 24, the wire reel 23 can only rotate slowly, and the wire reel 23 stops when the rope body is subjected to a rapid pulling action. The driving device includes a sliding seat 25, a third motor 26, and a bevel gear transmission mechanism. The sliding seat 25 includes a motor mounting seat that slidably cooperates with the substrate 2 in a straight line, and a second electric push rod 27 arranged on the substrate and connected to the motor mounting seat. A strip-shaped groove is provided on the substrate 2, and the cross-section of the strip-shaped groove is T-shaped. A slider adapted to and slidably cooperating with the strip-shaped groove is provided on the sliding seat 25. The cooperation of the strip-shaped groove and the slider enables the sliding seat 25 to slide on the substrate and not detach from the substrate 2. The third motor 26 is fixed on the motor mounting seat, and the sliding direction of the motor mounting seat is parallel to the axis direction of the wire reel 23. The bevel gear transmission mechanism includes a first straight bevel gear 28 arranged on the output shaft of the third motor 26, and second straight bevel gears 29 respectively arranged on the rotating shafts of the two wire reels 23. When the second electric push rod 27 drives the motor mounting seat to slide a certain distance, the first straight bevel gear 28 meshes with the two second straight bevel gears 29 at the same time.

[0029] The wire guide cylinder 21 penetrates and is fixed on the substrate; the port of the wire guide cylinder 21 is in a horn shape to reduce or avoid the wear of the steel wire rope at the port; the wire guide cylinder 21 is in an arc shape. Four wire guide cylinders 21 are provided, and four steel wire ropes respectively penetrate the four wire guide cylinders 21 and slidably cooperate with the wire guide cylinders 21.

[0030] The obstacle-crossing combined frame includes a plurality of support frames 30 fixed on the folding telescopic arm and arranged along the extension direction, and a connecting frame 31 cooperating with the support frame 30; the connecting frame 31 is fixedly connected to the steel wire rope. The support frame 30 is integrally T-shaped and is in a horizontally inclined state. The upper and lower ends of the longitudinal rod body of the support frame 30 are provided with an inclined U-shaped wire groove 32; the upper and lower sides of the transverse rod body of the support frame 30 are provided with arc-shaped track grooves 33; the cross-section of the arc-shaped track groove 33 is in the shape of an inclined U; the U-shaped wire groove 32 is in sliding fit with the steel wire rope, and the steel wire rope can be completely separated from the U-shaped wire groove 32 after being pulled a certain distance away from the U-shaped wire groove 32. The support frame 30 can be arranged on a plurality of fixed seats 9, and the support frame 30 is also arranged on the connecting plate 20. The connecting frame 31 is integrally in the shape of an inclined U-shaped groove, similar to a frame structure; the two free ends of the connecting frame 31 are provided with rollers 35 adapted to the arc-shaped track grooves 33; two rod bodies 34 respectively fixedly connected to two strands of the steel wire rope are arranged on the inner sides of the two side arms of the connecting frame 31. When the connecting frame 31 cooperates with the support frame 30, it crosses over the support frame 30 in a spanning manner. During the crossing process: First, the roller 35 cooperates with the arc-shaped track groove 33, and the arc-shaped track groove 33 plays a guiding and limiting role on the roller 35, thereby realizing the guiding and limiting of the overall connecting frame 31. The arc-shaped track groove 33 makes the walking track of the connecting frame 31 arc-shaped, thereby generating a displacement in the direction of the transverse rod body of the support frame 30 between the rod body 34 and the U-shaped wire groove 32. This displacement is that they first gradually move away from each other and then gradually reset, and move a short distance by means of the cooperation of the arc-shaped track groove 33; thus, the steel wire rope at the connection of the rod body 34 first disengages from the cooperation of the U-shaped wire groove 32 and then re-embeds into the U-shaped wire groove 32; interference between the rod body 34 and the U-shaped wire groove 32 is also avoided, realizing obstacle crossing.

[0031] The detachable fitting cooperates with the steel wire rope to form a detachable connection mechanism. The detachable fitting includes an elastic cord 36, threaded cylinders 37 provided at both ends of the elastic cord 36, and a threaded short rod 38 provided at the end of the steel wire rope; the threaded short rod 38 is in threaded fit with the threaded cylinder 37. The threaded cylinder 37 and the elastic cord 36 can both slide in the U-shaped wire groove 32. A plurality of detachable fittings can be arranged at equal intervals on the steel wire rope.

[0032] The image acquisition device specifically includes a pan-tilt 39 connected to the connecting frame 31 and a high-definition camera 40 provided on the pan-tilt 39; Other devices that are conducive to image acquisition can also be used.

[0033] The wall-climbing robot 1 is self-equipped with a battery or an external power supply. The electrical devices in the whole device are connected to the wall-climbing robot 1 and receive control commands from the internal controller of the wall-climbing robot 1. The wall-climbing robot 1 establishes a connection with the mobile control terminal through a wireless remote control method and conducts data transmission.

[0034] The working process and principle of the present invention are as follows: Based on the actual operating conditions, use a crane or a ship for transportation and combine with manual operation to transport the device to the pier to be measured.

[0035] Start the wall-climbing robot 1 to adsorb and fix it on the pier. According to the pre-known pier diameter, control the telescopic clamping arm to expand to form a surrounding device for the pier. The controller controls the operation of the first motor 3, the double-shaft extension motor 13 and the first electric push rod 18 to realize the extension of the first folding and telescopic mechanism and the folding and telescopic arm. When the first motor 3 operates, it drives the first nut seat 6 to move towards or away from each other, and then controls the folding or unfolding of the first transmission rod 7. When tending to fold, the folding and telescopic arm expands outwards, and vice versa for contraction. When the double-shaft extension motor 13 operates, it controls the second nut seat 15 to move towards or away from each other, and then controls the corresponding four second transmission rods 16 to be in a folded or unfolded state. When tending to fold, the folding and telescopic arm further unfolds. The elongation of the first electric push rod 18 can extend the length of the folding and telescopic arm. During the unfolding process of the folding and telescopic arm, the second motor 11 controls the rotation of the rotating shaft 10 by a fixed angle, and then makes the folding and telescopic arm form a clamping state, so as to realize the surrounding of the pier.

[0036] After the first folding and telescoping mechanism and the folding and telescoping arm are unfolded, the threaded short rods 38 at the ends of the two corresponding steel wire ropes are connected to the threaded cylinders 37. At this time, the steel wire ropes are wound around the outside of the bridge pier and form tracks that are spaced up and down and tend to be parallel. When performing this connection operation, the second electric push rod 27 should also be controlled to move a certain distance first, so that the third motor 26 is far away from the wire reel 23. At this time, the first straight bevel gear 28 is separated from the second straight bevel gear 29; the staff can pull the disconnected steel wire rope and perform the connection operation. After connection, the wire reel 23 is rotated appropriately to tension the steel wire rope, and then the second electric push rod 27 is controlled to reset, so that the first straight bevel gear 28 and the second straight bevel gear 29 are engaged again. The pan-tilt 39 is connected and fixed to the connecting frame 31, and this operation can also be completed in advance. At this time, the first folding and telescoping mechanism and the folding and telescoping arm form a support for the steel wire rope, and the steel wire rope is wound around the outside of the bridge pier. When the third motor 26 rotates, it causes the steel wire rope to move, and then drives the high-definition camera 40 to perform a circumferential shooting around the outside of the bridge pier. After a period of circumferential shooting is completed, the wall-climbing robot is controlled to move up a certain distance, and finally the crack image acquisition work of the entire bridge pier is completed. The movement process of the high-definition camera 40 is similar to the cable car transportation method. Due to the existence of the turning process, interference is bound to occur between the connecting frame 31 and the support frame 30. Therefore, the structures of the connecting frame 31 and the support frame 30 need to be reasonably designed to avoid interference and achieve obstacle crossing; the specific working principle is: when the connecting frame 31 moves horizontally driven by the steel wire rope and encounters the support frame 30, the rollers 35 of the connecting frame 31 are preferentially engaged with the arc-shaped track groove 33 and roll in the track. With the arc-shaped track of the arc-shaped track groove 33, the rod body 34 drives the steel wire rope to break away from the U-shaped wire groove 32, avoiding interference between the rod body 34 and the U-shaped wire groove 32. At the same time, the cooperation between the arc-shaped track groove 33 and the rollers 35 ensures that the steel wire rope has no longitudinal fluctuation and realizes stable transportation. After the connecting frame 31 is disengaged from the support frame 30, the steel wire rope automatically fits into the U-shaped wire groove 32. Under the action of the elastic rope elastic force and / or under the condition of the surplus of the steel wire rope, the steel wire rope can break away from the U-shaped wire groove 32.

[0037] After the detection is completed, the wall-climbing robot 1 controls the telescopic holding arm to be retracted to reduce the occupied space. The entire detection process takes a short time and is comprehensive without omission.

Claims

1. A pier crack detection device, characterized in that, include: A wall-climbing robot comprising a base plate corresponding to an outer wall of a bridge pier; The telescopic arm comprises a first folding and telescopic mechanism provided on a base plate and having two symmetrical telescopic ends, and a folding and telescopic arm symmetrically provided on the two folding and telescopic ends of the first folding and telescopic mechanism; the folding and telescopic arm, the first folding and telescopic mechanism and the base plate can be arranged outside the bridge pier and form an open or closed annular structure after bending and telescoping. The detection mechanism comprises an image acquisition device and a rope conveying mechanism which is arranged between a base plate and a folding telescopic arm and is provided with a detachable connection mechanism, wherein the image acquisition device cooperates with the rope conveying mechanism.

2. The detection device according to claim 1, characterized in that, The first folding and telescopic mechanism comprises: A synchronous transmission mechanism, comprising bidirectional threaded screws symmetrically rotatably connected to both sides of a base plate, a first motor fixed to the base plate through a motor seat and connected to one bidirectional threaded screw, and a synchronous belt transmission mechanism disposed between the two bidirectional threaded screws; The folding frame is provided with two of them, which include two first nut seats that are threadedly matched with the bidirectional threaded screw and slidably matched with the base plate, a first transmission rod whose ends are respectively hinged to the two first nut seats, and a base that is simultaneously hinged to the free ends of the two first transmission rods; the two first nut seats are respectively matched with two thread sections of the bidirectional threaded screw with opposite rotation directions.

3. The detection device according to claim 2, wherein, The folding telescopic arm comprises a first flip adjustment mechanism, a second folding telescopic mechanism, a second flip adjustment mechanism, a third folding telescopic mechanism, a third flip adjustment mechanism and an adjustment arm which are connected in sequence; the adjustment arms on the two folding telescopic arms are arranged in an up-and-down staggered manner.

4. The detection device according to claim 3, characterized in that, The first flip adjustment mechanism, the second flip adjustment mechanism and the third flip adjustment mechanism all include: The fixing seat is in a square shape as a whole; A rotating shaft, which is longitudinally arranged and rotatably connected to the fixed seat; A second motor is arranged on a fixed seat and is connected to the rotating shaft through a gear transmission mechanism; Wherein, the fixing seat of the first flip adjustment mechanism is fixedly connected to the base.

5. The detection device according to claim 3, characterized in that, The second folding and telescopic mechanism and the third folding and telescopic mechanism both include: The frame is arranged longitudinally and is in the shape of strips as a whole; A double-axle extension motor is arranged in the middle of the frame, and the two output shafts are arranged along the length direction of the frame; A transmission screw, both ends of which are hinged on the frame and symmetrically arranged at both ends of the double-axle extension motor; The second nut seat is provided with two and is threadedly matched with the two driving screws respectively and is slidably matched with the frame; A second transmission rod, which is hinged on the second nut seat and arranged symmetrically on the left and right; Among them, the two second transmission rods on one side of the second folding and telescopic mechanism are respectively hinged to the two ends of the rotating shaft of the first flip adjusting mechanism, and the two second transmission rods on the other side are respectively hinged to the upper and lower ends of the fixing seat of the second flip adjusting mechanism; the two second transmission rods on one side of the third folding and telescopic mechanism are respectively hinged to the two ends of the rotating shaft of the second flip adjusting mechanism, and the two second transmission rods on the other side are respectively hinged to the upper and lower ends of the fixing seat of the third flip adjusting mechanism; the two output ends of the double-axis extension motor are respectively connected to the two transmission screws, and the thread rotation directions of the two transmission screws are opposite.

6. The detection device according to claim 3, characterized in that The adjusting arm includes a connecting seat provided on the rotating shaft of the third flipping and adjusting mechanism, a first electric push rod and a telescopic rod arranged in parallel at an upper and lower interval on one side of the connecting seat, and a connecting plate connected to the ends of the first electric push rod and the telescopic rod.

7. The detection device according to claim 1, characterized in that, The rope conveying mechanism includes: A winch device, which includes a U-shaped frame fixed on the substrate, two wire reels arranged in parallel and rotatably connected to the U-shaped frame, and a driving device provided on the substrate and selectively cooperating with the two wire reels; two independent strands of steel wire ropes are wound on each wire reel, and rotating shafts are provided at both ends of the wire reel, and a rotary damper is provided between the rotating shaft at one end of the wire reel and the side arm of the U-shaped frame, and the rotating shaft at the other end extends and penetrates to the outside of the side arm of the U-shaped frame; Four wire guide cylinders are provided and fixed on the substrate, and the four strands of steel wire ropes respectively penetrate through the four wire guide cylinders and are slidably matched with the guide cylinders; An obstacle-crossing combined frame, which includes a plurality of support frames fixed on the folding telescopic arm and arranged along the extension direction, and a connecting frame cooperating with the support frames; the connecting frame is fixedly connected to the steel wire rope; A detachable fitting, which cooperates with the steel wire rope to form a detachable connection mechanism, and includes an elastic rope, threaded cylinders provided at both ends of the elastic rope, and a threaded short rod provided at the end of the steel wire rope; the threaded short rod is in threaded cooperation with the threaded cylinder.

8. The detection device according to claim 7, wherein The support frame is integrally T-shaped and is in a horizontally inclined state. Inclined U-shaped wire grooves are provided at the upper and lower ends of the longitudinal rod body of the support frame, and arc-shaped track grooves are provided on the upper and lower sides of the transverse rod body of the support frame. The cross section of the arc-shaped track groove is an inclined U-shaped; the U-shaped wire groove is slidably matched with the steel wire rope; The connecting frame is integrally in the shape of an inclined U-shaped groove. Rollers cooperating with the arc-shaped track grooves are provided at the two free ends of the connecting frame, and rod bodies respectively fixedly connected to the two strands of steel wire ropes are provided on the inner sides of the two side arms of the connecting frame; When the rollers cooperate with the arc-shaped track grooves, the steel wire rope is separated from the cooperation of the U-shaped wire groove under the pulling action of the rod body and realizes obstacle crossing.

9. The detection device according to claim 7, wherein The driving device includes: A sliding seat, which includes a motor mounting seat slidably matched with the substrate along a straight line and a second electric push rod provided on the substrate and connected to the motor mounting seat; the sliding direction of the motor mounting seat is parallel to the axis direction of the wire reel; A third motor, which is fixed on the motor mounting seat; A bevel gear transmission mechanism, which includes a first straight bevel gear provided on the output shaft of the third motor and second straight bevel gears respectively provided on the rotating shafts of the two wire reels; When the second electric push rod drives the motor mounting seat to slide a certain distance, the first straight bevel gear is simultaneously engaged with the two second straight bevel gears.

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