A bridge pier crack detection device

Abstract

The present invention discloses a bridge pier crack detection device, which belongs to the technical field of detection equipment. The device includes a wall-climbing robot, a telescopic arm, and a detection mechanism. The telescopic arm includes a first folding telescopic mechanism provided on a base plate and formed with two symmetrical telescopic ends, and a folding telescopic arm symmetrically provided 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 around the outside of the bridge pier after bending and telescoping movements to form an open or closed annular structure; the detection mechanism includes an image acquisition device, a rope conveying mechanism provided between the base plate and the folding telescopic arm and provided with a detachable connecting mechanism, and the image acquisition device is matched with the rope conveying mechanism. The device can adapt to changes in the diameter of the bridge pier and form a circular track for the image acquisition device to perform complete circumferential acquisition; the acquisition process is fast, efficient, and comprehensive.

Description

Technical Field

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

[0002] As a critical load-bearing structure, the health of bridge piers is directly related to the overall safety and service life of the bridge. However, over the course of long-term service, piers are often affected by various factors, including external loads, environmental erosion, and construction quality, making them susceptible to potential hazards such as cracks, spalling, and steel corrosion. If these defects are not discovered and repaired promptly, they will seriously threaten the structural safety of the bridge.

[0003] Existing inspection devices often use wall-climbing robots carrying inspection equipment to climb bridge piers and collect crack disease data. To fully collect cracks around the circumference of the pier, the robot must move back and forth, either up and down, or circumferentially followed by upward movement. This results in a long trajectory and acquisition time, increasing the risk of robot failure (e.g., falling). Other devices utilize a circular track around the pier, controlled by a lifting device. While these devices can comprehensively collect pier wall defects, they often suffer from design flaws. The circular track requires manual disassembly and installation, making it inconvenient to use and poorly adaptable to piers with varying diameters. Furthermore, these devices are difficult to store and transport. Existing technologies also offer a semi-circular inspection device that can clamp a pier and move up and down. While this device is highly adaptable to varying pier diameters, it lacks the ability to form a circular track, hindering efficient collection of pier wall crack disease. Summary of the Invention

[0004] The purpose of the present invention is to provide a bridge pier crack detection device to solve the technical problems that the existing wall-climbing robot has a long running track and cannot efficiently collect disease data when performing bridge pier inspection; the technical problems that the existing detection device that can form a circular track has insufficient adaptability to changes in bridge pier diameter and is inconvenient for installation, disassembly and transportation; and the technical problem that the existing detection device that can form a semi-circular structure to clamp the bridge pier cannot form a circular track, which is not conducive to efficient detection.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A bridge pier crack detection device, comprising:

[0007] A wall-climbing robot comprising a base plate corresponding to an outer wall of a bridge pier;

[0008] 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. After bending and telescoping, the folding and telescopic arm, the first folding and telescoping mechanism, and the base plate can be arranged around the outside of the bridge pier to form an open or closed annular structure.

[0009] 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.

[0010] Furthermore, the first folding and telescopic mechanism includes:

[0011] A synchronous transmission mechanism includes bidirectional threaded screws symmetrically connected to both sides of a base plate for rotation, a first motor fixed to the base plate through a motor base and connected to one of the bidirectional threaded screws, and a synchronous belt transmission mechanism provided between the two bidirectional threaded screws;

[0012] The folding frame is provided with two, which include two first nut seats that are threadedly matched with the bidirectional threaded screw and slidingly 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 the two thread segments of the bidirectional threaded screw with opposite rotation directions.

[0013] Furthermore, the folding telescopic arm includes 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 connected in sequence; the adjustment arms on the two folding telescopic arms are arranged in an upper and lower staggered manner.

[0014] Furthermore, the first flip adjustment mechanism, the second flip adjustment mechanism and the third flip adjustment mechanism each include:

[0015] The fixing seat is in a square shape as a whole;

[0016] A rotating shaft, which is longitudinally arranged and rotatably connected to the fixed base;

[0017] A second motor is mounted on a fixed base and is connected to the rotating shaft via a gear transmission mechanism;

[0018] Wherein, the fixing seat of the first flip adjustment mechanism is fixedly connected to the base.

[0019] Furthermore, the second folding and telescopic mechanism and the third folding and telescopic mechanism both include:

[0020] The frame is arranged longitudinally and has an overall strip shape;

[0021] The double-axle motor is located in the middle of the frame, with two output shafts arranged along the length of the frame;

[0022] The transmission screw has two ends hinged on the frame and is symmetrically arranged at both ends of the double-axle extension motor;

[0023] Two second nut seats are provided and are respectively threadedly engaged with the two driving screws and slidably engaged with the frame;

[0024] A second transmission rod is hinged to the second nut seat and arranged symmetrically on both sides;

[0025] 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 adjustment 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 adjustment 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 adjustment 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 adjustment mechanism; the two output ends of the dual-axis extension motor are respectively connected to the two transmission screws, and the thread rotation directions of the two transmission screws are opposite.

[0026] Furthermore, the adjustment arm includes a connecting seat arranged on the rotating shaft of the third flip adjustment mechanism, a first electric push rod and a telescopic rod arranged on one side of the connecting seat and spaced apart in parallel, and a connecting plate connected to the ends of the first electric push rod and the telescopic rod.

[0027] Furthermore, the rope conveying mechanism includes:

[0028] The hoist device includes a U-shaped frame fixed to a base plate, two wire drums arranged in parallel and rotatably connected to the U-shaped frame, and a drive device provided on the base plate and selectively cooperating with the two wire drums; two independent strands of steel wire rope are wound around each wire drum, and a rotating shaft is provided at both ends of the wire drum. A rotating damper is provided between the rotating shaft at one end of the wire drum and the side arm of the U-shaped frame, and the rotating shaft at the other end extends and passes through the outside of the side arm of the U-shaped frame;

[0029] There are four wire barrels fixed on the base plate, and the four strands of steel wire rope respectively pass through the four wire barrels and slide with the guide barrel;

[0030] The obstacle crossing assembly frame includes a plurality of support frames fixed on the folding telescopic arm and arranged along the extension direction, and a connecting frame matched with the support frames; the connecting frame is fixedly connected to the steel wire rope;

[0031] The detachable fitting cooperates with the steel wire rope to form a detachable connection mechanism, which includes an elastic rope, a threaded barrel 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 threadably matched with the threaded barrel.

[0032] Further,

[0033] The support frame is T-shaped as a whole and tilted laterally. The upper and lower ends of the longitudinal rod of the support frame are provided with tilted U-shaped wire grooves. The upper and lower sides of the transverse rod of the support frame are provided with arc-shaped track grooves. The cross-section of the arc-shaped track groove is tilted U-shaped. The U-shaped wire groove is in sliding cooperation with the wire rope.

[0034] The connecting frame is in the shape of an inverted U-shaped groove. The two free ends of the connecting frame are provided with rollers that cooperate with the arc-shaped track groove. The inner sides of the two side arms of the connecting frame are provided with two rods that are respectively fixedly connected to the two strands of steel ropes.

[0035] When the roller cooperates with the arc-shaped track groove, the wire rope is pulled out of the U-shaped wire groove by the rod body and overcomes the obstacle.

[0036] Furthermore, the driving device includes:

[0037] The sliding seat includes a motor mounting seat that slides with the base plate in a straight line, and a second electric push rod that is provided on the base plate and connected to the motor mounting seat; the sliding direction of the motor mounting seat is parallel to the axis direction of the wire drum;

[0038] a third motor, which is fixed on the motor mounting base;

[0039] A bevel gear transmission mechanism, comprising a first straight bevel gear provided on the output shaft of the third motor and second straight bevel gears provided on the rotating shafts of the two wire drums;

[0040] When the second electric push rod drives the motor mounting seat to slide a certain distance, the first straight bevel gear is engaged with the two second straight bevel gears at the same time.

[0041] The beneficial effects of the present invention are:

[0042] In terms of structural design, the telescopic arm of this device utilizes a scissor-like structure to achieve lateral extension and retraction, and is combined with a flip adjustment mechanism to achieve rotational joint adjustment. It is gripped like a hand and surrounds the outside of the bridge pier, making it suitable for testing bridge piers of different diameters. The flip adjustment mechanism can gather and store the telescopic arm toward the wall-climbing robot, reducing the overall space occupied and facilitating transportation. Based on the structural characteristics of the telescopic arm, the device is equipped with a rope conveying mechanism. The track formed by this rope conveying mechanism has the characteristics of a detachable connection, which can form a closed loop track on the outside of the bridge pier. It can also drive the detection equipment along the track in a manner similar to that of a cable car, realizing the detection of circumferential crack defects in the bridge pier. In actual application, the wall-climbing robot only needs to move up and down, and data on bridge pier crack defects can be quickly, efficiently and comprehensively collected. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the structure of the detection device after it is flattened;

[0044] Figure 2 for Figure 1 Schematic diagram of the rear view structure;

[0045] Figure 3 It is a structural diagram of the hoist device in the detection device;

[0046] Figure 4 This is a schematic structural diagram of the wire barrel in the detection device from another perspective;

[0047] Figure 5 This is a schematic diagram of the structure of the foldable telescopic arm of the detection device after it is unfolded;

[0048] Figure 6 A schematic diagram of the structure forming a circular track for the detection device;

[0049] Figure 7 This is a side view diagram of the frame and dual-axle extension motor in the detection device;

[0050] Figure 8 It is an enlarged schematic diagram of the folding telescopic arm structure in the detection device;

[0051] Figure 9 Schematic diagram of the support frame in the detection device from the front and top views;

[0052] Figure 10 Schematic diagram of the front and top views of the connecting frame in the detection device;

[0053] Figure 11 It is a structural schematic diagram of the detachable matching parts in the detection device;

[0054] Figure 12 It is a structural diagram of the supporting frame and the connecting frame in the coordinated state;

[0055] Figure 13 This is the system control block diagram of the detection device.

[0056] Among them, 1-wall climbing robot; 2-base plate; 3-first motor; 4-bidirectional threaded screw; 5-synchronous belt transmission mechanism; 6-first nut seat; 7-first transmission rod; 8-base; 9-fixed seat; 10-rotating shaft; 11-second motor; 12-frame; 13-double-axis extension 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 spool; 22-U-shaped frame; 23-wire reel; 24-rotary damper; 25-sliding seat; 26-third motor; 27-second electric push rod; 28-first spur bevel gear; 29-second spur bevel gear; 30-support frame; 31-connecting frame; 32-U-shaped wire trough; 33-arc-shaped track groove; 34-rod body; 35-roller; 36-elastic rope; 37-threaded barrel; 38-threaded short rod; 39-pan head; 40-high-definition camera. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present invention are described below with reference to the accompanying drawings.

[0058] like Figures 1 to 13 Figure 1 shows a bridge pier crack detection device comprising a wall-climbing robot 1, a telescopic arm, and a detection mechanism. The wall-climbing robot 1 is used to climb the pier wall, enabling the entire device to be raised and lowered. The telescopic arm provides support for the track structure in the detection mechanism, forming a circumferential embrace around the pier. The detection mechanism uses the telescopic arm to form a circular track based on a rope, which is then used to capture images of circumferential cracks in the pier.

[0059] The wall-climbing robot 1 has the basic function of moving along the axial direction of the bridge pier, and can also be used if it has the function of climbing in any direction. Existing wall-climbing robots that climb walls by vacuum adsorption can be used in the present invention. The wall-climbing robot 1 needs to provide a connection point that can be fixed relatively to its own body, and a base plate 2 is fixed by welding, bolt connection or detachable connection. The base plate 2 is a square plate as a whole; a frame structure with a plate-like appearance can also be used. A certain gap space must be reserved between the base plate 2 and the outer wall of the bridge pier to facilitate the formation of a rope conveying mechanism for the detection equipment. The base plate 2 can be placed on the abdomen, back or outer front and rear ends of the wall-climbing robot 1, and can be flexibly adjusted according to the structural characteristics of the wall-climbing robot 1 used. The built-in controller of the wall-climbing robot 1 is used to comprehensively control the action execution of the telescopic arm and the detection mechanism. The controller is connected to the external mobile control terminal using wireless transmission.

[0060] The telescopic arm is used in conjunction with the wall-climbing robot 1. The telescopic arm has a telescopic storage function in its structural design. The telescopic arm includes a first folding telescopic mechanism provided on the base plate 2 and two folding telescopic arms provided on the first folding telescopic mechanism. The first folding telescopic mechanism is formed with two symmetrical folding telescopic ends, and the two folding telescopic arms are respectively connected to the two folding telescopic ends and are also symmetrically arranged. The folding telescopic arm, the first folding telescopic mechanism and the base plate 2 can be arranged around the outside of the bridge pier to form an open or closed ring structure; with the help of the unique telescopic structure, it can adapt to a variety of bridge piers with different diameters. In terms of the specific telescopic method, the folding telescopic arm and the first folding telescopic mechanism can achieve no movement along the axial direction of the bridge pier during the telescopic process, and can also ensure that the rope conveying mechanism used in conjunction forms a stable ring.

[0061] The first folding and telescopic mechanism is used to synchronize the folding and telescopic arms on both sides. It structurally comprises a synchronous transmission mechanism and a folding frame. The synchronous transmission mechanism includes a first motor 3, two bidirectional screws 4, and a synchronous belt drive mechanism 5. The first motor 3 is a servo motor with a reducer or a stepper motor with a rotary encoder and is fixed to the base plate 2 via a motor mount. The synchronous belt drive mechanism 5 includes synchronous pulleys mounted on the two bidirectional screws 4 and a synchronous toothed belt connected between the pulleys. The two bidirectional screws 4 are symmetrically arranged and rotationally connected to the base plate 2 via bearing blocks. The bidirectional screws 4 are located on the left and right sides of the base plate 2. One end of each bidirectional screw 4 is connected to the first motor 3, enabling the two bidirectional screws 4 to rotate synchronously with the motor 3. The two thread segments of the bidirectional screws 4 with opposite rotation directions are of equal length. The folding frame comprises two first nut seats 6, which threadably engage with the bidirectional screws 4 and slide with the base plate 2; a first transmission rod 7, each hingedly connected at its end to the first nut seats 6; and a base 8, which is also hingedly connected to the free ends of the two first transmission rods 7. The two first nut seats 6 respectively cooperate with the two thread segments 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 thread segments of the bidirectional threaded screw 4.

[0062] 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-and-down staggered manner, which can reduce the surrounding space and further adapt to changes in the diameter of the bridge pier.

[0063] 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 square-shaped and fixedly connected to the base 8. The fixed seat 9 can also be a part of the base 8. The rotating shaft 10 is arranged longitudinally and is rotatably connected to the fixed seat 9. The specific connection method of the rotating shaft 10 is: two ear plates spaced vertically apart 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 fixed to the output shaft of the second motor 11 and the rotating shaft 10 respectively.

[0064] The second folding and telescopic mechanism and the third folding and telescopic mechanism both include a frame 12, a double-axis extension motor 13, a transmission screw 14, a second nut seat 15 and a second transmission rod 16. The frame 12 is a square frame structure, and the overall shape is strip-shaped, and the frame 12 is arranged longitudinally. The double-axis extension motor 13 is fixed at the middle position on the inner side of the frame 12, and its two output shafts are arranged along the length direction of the frame 12. There are two transmission screws 14 and they are symmetrically arranged on the upper and lower sides of the double-axis extension motor 13; the transmission screw 14 is connected to the frame 12 in rotation through a bearing seat fixed on the frame 12, and the two output ends of the double-axis extension motor 13 are respectively connected to the two transmission screws 14. There are two second nut seats 15 and they are threadedly engaged with the two transmission screws 14 respectively. The second nut seat 15 is slidably engaged with the frame 12, and the two transmission screws 14 have opposite thread rotation directions. The second transmission rod 16 is hinged on the second nut seat 15 and is arranged symmetrically on the left and right, and there are four of them; the two second transmission rods 16 on one side of the second folding and telescopic mechanism are respectively hinged to the two ends of the rotating shaft 10 of the first flip adjustment 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 flip adjustment mechanism; the two second transmission rods 16 on one side of the third folding and telescopic mechanism are respectively hinged to the two ends of the rotating shaft 10 of the second flip adjustment 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 flip adjustment mechanism.

[0065] The adjusting arm includes a connecting seat 17 provided on the rotating shaft 10 of the third flip adjustment mechanism, a first electric push rod 18 and a telescopic rod 19 provided on one side of the connecting seat 17 and arranged parallel to each other in an upper and lower manner, 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 tubes of different diameters that are nested and matched together, and after matching with the first electric push rod 18, the overall stability is improved.

[0066] The inspection mechanism includes an image acquisition device and a rope conveyor mechanism, located between the base plate 2 and the foldable telescopic arm and equipped with a detachable connection mechanism. The image acquisition device is used to capture crack images. The rope conveyor mechanism is used to form a circular track around the bridge pier. Depending on the degree of expansion and contraction, the circular track can be formed into a triangle, quadrilateral, hexagonal, or octagonal shape.

[0067] The rope conveying mechanism includes a hoist, a conductor drum 21, an obstacle-crossing assembly, and detachable components. The hoist utilizes its own steel wire rope to form a circular track; the conductor drum 21 provides auxiliary support and guides the steel wire rope; the obstacle-crossing assembly spans the steel wire rope support during its movement, ensuring relatively smooth movement of the image acquisition equipment; and the detachable components allow the steel wire rope to be disconnected and connected, making it easier to wrap around or remove it from a bridge pier.

[0068] The hoist assembly comprises a U-shaped frame 22, a wire drum 23, and a drive mechanism. The U-shaped frame 22 is fixed to the base plate 2 and has two plate-shaped side arms. The wire drums 23 are equipped with rotating shafts at both ends. A rotation damper 24 is located between the rotating shaft at one end of the wire drum 23 and the side arm of the U-shaped frame 22. The rotating shaft at the other end extends through the outside of the side arm of the U-shaped frame 22. Each wire drum 23 is wound with two independent steel wire ropes. Elastic ropes can also be used. If elastic ropes are used, ensure that the elastic ropes do not stretch under the influence of gravity on the connecting frame 31 and the image acquisition equipment on the obstacle crossing assembly frame. The drive mechanism is mounted on the base plate 2 and selectively engages with the two wire drums 23. Engagement drives the wire drums 23 to rotate. Disengagement allows the wire drums 23 to rotate freely, but is limited by the action of the rotation damper 24, allowing only slow rotation. Rapid pull on the ropes stops the wire drums 23. The drive 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 slides linearly with the base plate 2, and a second electric push rod 27 mounted on the base plate and connected to the motor mounting seat. The base plate 2 is provided with a strip groove with a T-shaped cross-section. The sliding seat 25 is equipped with a slider that fits and slides with the strip groove. The combination of the strip groove and the slider allows the sliding seat 25 to slide on the base plate without separating from the base plate 2. The third motor 26 is fixed to the motor mounting seat, and its sliding direction is parallel to the axis of the wire drum 23. The bevel gear transmission mechanism includes a first spur bevel gear 28 mounted on the output shaft of the third motor 26 and second spur bevel gears 29 mounted on the rotating shafts of the two wire drums 23. When the second electric push rod 27 drives the motor mounting seat to slide a certain distance, the first spur bevel gear 28 simultaneously meshes with the two second spur bevel gears 29.

[0069] The wire barrel 21 is inserted through and fixed to the base plate. The end of the wire barrel 21 is horn-shaped to reduce or prevent the wire rope from wearing at the end. The wire barrel 21 is arc-shaped. There are four wire barrels 21. The four strands of wire rope pass through the four wire barrels 21 and slide with them.

[0070] The obstacle-crossing assembly frame includes multiple support frames 30 fixed to the folding telescopic arms and arranged along the extension direction, and connecting frames 31 that cooperate with the support frames 30; the connecting frames 31 are fixedly connected to the wire rope. The support frames 30 are T-shaped and tilted laterally. The upper and lower ends of the longitudinal rods of the support frames 30 are provided with tilted U-shaped wire troughs 32; the upper and lower sides of the transverse rods of the support frames 30 are provided with arcuate track grooves 33; the arcuate track grooves 33 have a tilted U-shaped cross-section. The U-shaped wire troughs 32 slide in conjunction with the wire rope, and the wire rope can be completely disengaged from the U-shaped wire troughs 32 after being pulled a certain distance away from the U-shaped wire troughs 32. The support frames 30 can be mounted on multiple fixing seats 9, and the support frames 30 are also mounted on the connecting plate 20. The connecting frame 31 is shaped like an inverted U-shaped channel, similar to a frame structure. Rollers 35 are mounted on the two free ends of the connecting frame 31, which fit into the curved track groove 33. Two rods 34 are mounted on the inner sides of the two side arms of the connecting frame 31, each of which is fixedly connected to two strands of steel wire rope. When the connecting frame 31 is coupled to the support frame 30, it crosses over the support frame 30. During the crossing process: first, the roller 35 cooperates with the arc-shaped track groove 33, and the arc-shaped track groove 33 guides and limits the roller 35, thereby realizing the guidance and limitation of the entire connecting frame 31. The arc-shaped track groove 33 makes the walking trajectory of the connecting frame 31 arc-shaped, thereby causing a displacement between the rod body 34 and the U-shaped wire groove 32 along the horizontal rod direction of the support frame 30. This displacement is first gradually away from each other and then gradually reset, and moves a short distance with the help of the cooperation of the arc-shaped track groove 33; thereby, the steel wire rope at the connection of the rod body 34 first breaks away from the cooperation of the U-shaped wire groove 32 and then re-embeds the U-shaped wire groove 32; interference between the rod body 34 and the U-shaped wire groove 32 is also avoided, thereby achieving obstacle crossing.

[0071] The detachable mating element, which cooperates with the wire rope to form a detachable connection mechanism, includes an elastic rope 36, threaded barrels 37 at each end of the elastic rope 36, and a short threaded rod 38 at the end of the wire rope. The short threaded rod 38 is threadedly engaged with the barrel 37. Both the barrel 37 and the elastic rope 36 can slide within the U-shaped wire groove 32. Multiple detachable mating elements can be provided at equal intervals on the wire rope.

[0072] The image acquisition device specifically includes a pan-tilt platform 39 connected to the connecting frame 31 and a high-definition camera 40 provided on the pan-tilt platform 39; other devices that are conducive to image acquisition may also be used.

[0073] The wall-climbing robot 1 has its own battery or external power supply. The electrical devices in the entire 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 wireless remote control and performs data transmission.

[0074] The working process and principle of the present invention are:

[0075] Based on actual operating conditions, the device is transported to the bridge pier to be measured using a crane or ship combined with manual operation.

[0076] The wall-climbing robot 1 is activated and fixed to the bridge pier. Based on the previously known diameter of the bridge pier, the telescopic arm is controlled to expand to form a pier enclosure. The controller controls the operation of the first motor 3, the dual-axis extension motor 13, and the first electric push rod 18 to extend the first folding and telescopic mechanism and the folding and telescopic arm. When the first motor 3 is in operation, it drives the first nut seat 6 to move toward or against each other, thereby controlling the folding or unfolding of the first transmission rod 7. When the folding state is reached, the folding and telescopic arm expands outward, and when the folding state is reached, it contracts. When the dual-axis extension motor 13 is in operation, it controls the second nut seat 15 to move toward or against each other, thereby controlling the corresponding four second transmission rods 16 to fold or unfold. When the folding state is reached, the folding and telescopic arm further expands. The extension of the first electric push rod 18 increases the length of the folding and telescopic arm. During the folding and telescopic arm expansion process, the second motor 11 controls the rotating shaft 10 to rotate a fixed angle, thereby causing the folding and telescopic arm to form an embracing state, thereby enclosing the bridge pier.

[0077] After the first folding and telescopic mechanism and folding and telescopic arm are deployed, the threaded short rods 38 at the corresponding ends of the two wire ropes are connected to the threaded barrel 37. The wire ropes are now wrapped around the outside of the bridge pier, forming a track spaced vertically and parallel to each other. To perform this connection, the second electric push rod 27 should be moved a certain distance to move the third motor 26 away from the wire drum 23. This will cause the first spur gear 28 and the second spur gear 29 to separate. The operator can then pull the disconnected wire ropes and reconnect them. After the connection is completed, the wire drum 23 is rotated appropriately to tighten the wire ropes. The second electric push rod 27 is then reset to re-engage the first and second spur gears 28 and 29. The pan / tilt head 39 is then fixed to the connecting frame 31; this operation can also be completed in advance. At this point, the first folding and telescopic mechanism and folding and telescopic arm form the support for the wire ropes, which are wrapped around the outside of the bridge pier. The rotation of the third motor 26 causes the wire ropes to move, driving the high-definition camera 40 to capture a panoramic view of the outside of the bridge pier. After completing a circumferential capture, the wall-climbing robot is controlled to move upward a certain distance, finally completing the crack image acquisition process for the entire bridge pier. The movement of the high-definition camera 40 is similar to cable car transportation. Due to the turns involved, interference between the connecting frame 31 and the support frame 30 is inevitable. Therefore, the structures of the connecting frame 31 and the support frame 30 must be rationally designed to avoid interference and achieve obstacle traversal. The specific operating principle is as follows: When the connecting frame 31 moves laterally driven by the wire rope and encounters the support frame 30, the roller 35 of the connecting frame 31 preferentially engages with the curved track groove 33 and rolls within the track. The curved trajectory of the curved track groove 33 allows the rod 34 to drive the wire rope out of the U-shaped groove 32, preventing interference between the rod 34 and the U-shaped groove 32. Simultaneously, the curved track groove 33 and the roller 35 cooperate to ensure that the wire rope does not fluctuate longitudinally, achieving smooth transportation. After the connecting frame 31 and the support frame 30 disengage, the wire rope automatically reenters the U-shaped groove 32. Under the action of the elastic force of the elastic rope and / or the condition that there is excess amount of the steel wire rope, the steel wire rope can be released from the U-shaped wire groove 32 .

[0078] After the inspection is completed, the wall-climbing robot 1 controls the telescopic arm to be stored, reducing the occupied space. The entire inspection process is short in time and comprehensive without omissions.

Claims

1. A bridge 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 folding and telescopic arms symmetrically provided on the two telescopic ends of the first folding and telescopic mechanism. After bending and telescoping, the folding and telescopic arms, the first folding and telescopic mechanism, and the base plate can be arranged around the outside of the bridge pier to form an open or closed annular structure. The detection mechanism includes an image acquisition device and a rope conveying mechanism provided between the base plate and the folding telescopic arm and provided with a detachable connection mechanism, wherein the image acquisition device cooperates with the rope conveying mechanism; Wherein, the rope conveying mechanism includes: The hoist device includes a U-shaped frame fixed to a base plate, two wire drums arranged in parallel and rotatably connected to the U-shaped frame, and a drive device provided on the base plate and selectively cooperating with the two wire drums; two independent steel wire ropes are wound around each wire drum, and a rotating shaft is provided at both ends of the wire drum. A rotating damper is provided between the rotating shaft at one end of the wire drum and the side arm of the U-shaped frame, and the rotating shaft at the other end extends and passes through the outside of the side arm of the U-shaped frame; There are four wire barrels, which are fixed on the base plate, and the four strands of steel wire rope respectively pass through the four wire barrels and slide with the wire barrels; The obstacle crossing assembly frame includes a plurality of support frames fixed on the folding telescopic arm and arranged along the extension direction, and a connecting frame matched with the support frames; the connecting frame is fixedly connected to the steel wire rope; The detachable fitting cooperates with the steel wire rope to form a detachable connection mechanism, which includes an elastic rope, a threaded barrel 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 threadably matched with the threaded barrel.

2. The detection device according to claim 1, wherein The first folding and telescopic mechanism comprises: A synchronous transmission mechanism includes bidirectional threaded screws symmetrically connected to both sides of a base plate for rotation, a first motor fixed to the base plate through a motor base and connected to one of the bidirectional threaded screws, and a synchronous belt transmission mechanism provided between the two bidirectional threaded screws; The folding frame is provided with two, which include two first nut seats that are threadedly matched with the bidirectional threaded screw and slidingly 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 the two thread segments of the bidirectional threaded screw with opposite rotation directions.

3. The detection device according to claim 2, wherein: The folding telescopic arm includes 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 connected in sequence; the adjustment arms on the two folding telescopic arms are arranged in an upper and lower staggered manner.

4. The detection device according to claim 3, wherein 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 base; A second motor is mounted on a fixed base and is connected to the rotating shaft via 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, wherein: The second folding and telescopic mechanism and the third folding and telescopic mechanism both include: The frame is arranged longitudinally and has an overall strip shape; The double-axle motor is located in the middle of the frame, with two output shafts arranged along the length of the frame; The transmission screw has two ends hinged on the frame and is symmetrically arranged at both ends of the double-axle extension motor; Two second nut seats are provided and are respectively threadedly engaged with the two driving screws and slidably engaged with the frame; A second transmission rod is hinged to the second nut seat and arranged symmetrically on both sides; 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 adjustment 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 adjustment 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 adjustment 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 adjustment mechanism; the two output ends of the dual-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, wherein: The adjustment arm includes a connecting seat arranged on the rotating shaft of the third flip adjustment mechanism, a first electric push rod and a telescopic rod arranged on one side of the connecting seat and spaced apart in parallel, 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, wherein: The support frame is T-shaped as a whole and tilted laterally. The upper and lower ends of the longitudinal rod of the support frame are provided with tilted U-shaped wire grooves. The upper and lower sides of the transverse rod of the support frame are provided with arc-shaped track grooves. The cross-section of the arc-shaped track groove is tilted U-shaped. The U-shaped wire groove is in sliding cooperation with the wire rope. The connecting frame is in the shape of an inverted U-shaped groove. The two free ends of the connecting frame are provided with rollers that cooperate with the arc-shaped track groove. The inner sides of the two side arms of the connecting frame are provided with two rods that are respectively fixedly connected to the two strands of steel ropes. When the roller cooperates with the arc-shaped track groove, the wire rope is pulled out of the U-shaped wire groove by the rod body and overcomes the obstacle.

8. The detection device according to claim 1, wherein: The driving device comprises: The sliding seat includes a motor mounting seat that slides with the base plate in a straight line, and a second electric push rod that is provided on the base plate and connected to the motor mounting seat; the sliding direction of the motor mounting seat is parallel to the axis direction of the wire drum; a third motor, which is fixed on the motor mounting base; A bevel gear transmission mechanism, comprising a first straight bevel gear provided on the output shaft of the third motor and second straight bevel gears provided on the rotating shafts of the two wire drums; When the second electric push rod drives the motor mounting seat to slide a certain distance, the first straight bevel gear is engaged with the two second straight bevel gears at the same time.

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