Traveling conveying mechanism of steel bridge crack visual inspection trolley and conveying method thereof

Abstract

The invention relates to the technical field of conveying mechanisms, in particular to a traveling conveying mechanism of a steel bridge crack visual inspection trolley and a conveying method.The traveling conveying mechanism comprises the inspection trolley, a conveying track frame and a second-stage sliding rail, and the second-stage sliding rail is fixedly installed on the conveying track frame; the detection trolley can slide in the length direction of the conveying track frame through the second-stage sliding rail. Moving rollers are arranged on the conveying track frame, and the conveying track frame moves along the surface of the steel bridge through the moving rollers; according to the invention, the detection trolley can run smoothly and stably along the secondary slide rail in the detection process, segmented visual detection is realized, the shake of a binocular lens is greatly reduced, and the visual detection effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of conveying mechanisms, and specifically to a traveling conveying mechanism and a conveying method for a visual crack detection trolley of a steel bridge. Background Technique

[0002] The fatigue cracks in the steel structure of steel bridges have always been an important issue in bridge safety assessment and maintenance. In recent years, surface defect detection technology based on machine vision has been widely used, especially in the aerospace and construction machinery fields. Machine vision extracts image features of surface cracks, effectively avoiding the subjectivity and errors brought by manual detection, and has higher potential for automation and intelligence. With the development of technologies such as deep learning and image processing, crack detection technology based on machine vision has been brought to a new development level. Binocular stereo vision (BSV), as an advanced machine vision technology, can obtain three-dimensional spatial information from images taken from different angles by simulating the stereo vision mechanism of the human eye. Compared with traditional monocular vision systems, BSV technology can provide richer depth information and higher spatial resolution, and is suitable for crack detection of complex structures such as steel bridge welds.

[0003] Under the current technology, a binocular lens is mounted on a mobile trolley to travel on the surface of the steel structure for detection. Due to working scenarios such as hanging and side hanging of the trolley, the most common method is to set an electromagnetic system on the trolley to make the trolley adhere to the steel bridge through magnetic force, and then the trolley travels along the steel bridge through the rollers on the trolley. This method has certain limitations. Due to the mechanical shaking of the trolley itself during the driving process, combined with problems such as uneven texture, adhesives, and screws on the surface of the steel bridge, the trolley shakes during the visual detection process with the binocular lens, which will affect the detection effect, cause the picture to become blurred, and it is difficult to detect some fine cracks. The method of directly adding a pan-tilt to stabilize the binocular lens is not ideal enough due to strong winds under the bridge that are extremely likely to exist due to the special geographical location and terrain of the steel bridge. Summary of the Invention

[0004] The purpose of the present invention is to provide a traveling conveying mechanism and a conveying method for a visual crack detection trolley of a steel bridge, so as to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A traveling conveying mechanism for a visual crack detection trolley of a steel bridge, including a detection trolley, a conveying track frame, and a secondary slide rail. The secondary slide rail is fixedly installed on the conveying track frame, and the detection trolley can slide along the length direction of the conveying track frame through the secondary slide rail; Moving rollers are provided on the conveying track frame, and the conveying track frame moves along the surface of the steel bridge through the moving rollers; A moving control mechanism is provided in the conveying track frame. An electromagnet module is provided in the moving control mechanism, and the electromagnet module is driven by the moving control mechanism to contact or separate from the steel bridge; after the electromagnet module is energized, the conveying track frame is adsorbed on the steel bridge by the generated magnetic force.

[0006] The moving control mechanism includes a limit outer cover, a lifting inner cover, a screw sleeve fixing seat and a lead screw shaft. The limit outer cover is fixedly installed with the conveying track frame. A lifting inner cover is arranged in the limit outer cover. The electromagnet module is fixedly installed inside the lifting inner cover. The screw sleeve fixing seat is fixedly installed with the lifting inner cover. A lead screw shaft is helically engaged in the screw sleeve fixing seat, and the lead screw shaft is axially limited and engaged with the limit outer cover; When the lead screw shaft rotates, through the helical engagement between the lead screw shaft and the screw sleeve fixing seat, the lifting inner cover moves telescopically relative to the limit outer cover, thereby driving the electromagnet module to contact or separate from the steel bridge.

[0007] A variable resistance control cavity is opened inside the screw sleeve fixing seat. A variable resistance coil is arranged on the inner wall surface of the variable resistance control cavity. One end of the variable resistance coil is conductively connected with a power supply pin.

[0008] A limit rotating shaft is fixedly arranged at the end of the lead screw shaft. A lifting rotating sleeve is sleeved outside the limit rotating shaft in a limited manner. A positioning through hole is penetrated through the lifting rotating sleeve, and a positioning optical shaft is inserted in the positioning through hole in a limited manner; When the lead screw shaft and the screw sleeve fixing seat move axially relative to each other, the lifting rotating sleeve can be driven to move axially relative to the screw sleeve fixing seat, and the lifting rotating sleeve will not rotate relative to the screw sleeve fixing seat due to the limitation of the positioning optical shaft.

[0009] A friction contact block is conductively contacted and arranged on the inner wall surface of the variable resistance coil. A support elastic sheet is conductively connected between the friction contact block and the lifting rotating sleeve; a conductive braid is arranged on the surface of the lifting rotating sleeve, and the conductive braid is conductively connected with the friction contact block through the lifting rotating sleeve and the support elastic sheet; A T-shaped conductive sheet is embedded and installed in the lifting inner cover. The T-shaped conductive sheet is conductively connected with the conductive braid, and the T-shaped conductive sheet is conductively connected with one pole of the power supply line of the electromagnet module.

[0010] An annular induction cavity is opened inside the screw sleeve fixing seat. The annular induction cavity surrounds and wraps the variable resistance coil. An inert gas that can expand when heated is filled in the annular induction cavity. When the variable resistance coil generates heat, the heat can be conducted into the annular induction cavity to increase the expansion pressure of the inert gas.

[0011] An upper convex seat is fixedly arranged on the lifting inner cover. A cylindrical cavity and an air flow cavity are formed in the upper convex seat. The cylindrical cavity is communicated with the annular induction cavity through the air flow cavity. A piston part is hermetically and contactingly arranged in the cylindrical cavity. A switching ejector rod is fixedly arranged on one side of the piston part.

[0012] A direct-through contact seat is fixedly arranged on the T-shaped conductive sheet. A pushing contact block is arranged on one side of the direct-through contact seat. When the switching ejector rod extends out, the end of the switching ejector rod abuts against the pushing contact block, and can push the pushing contact block to conduct contact with the direct-through contact seat. An arc-shaped elastic guide plate is conductively connected between the pushing contact block and the power supply pin. The arc-shaped elastic guide plate is in an elastically bent state, and an elastic pressure for moving the pushing contact block away from the direction where the direct-through contact seat is located is applied to the pushing contact block through the arc-shaped elastic guide plate.

[0013] A locking groove is formed in the pushing contact block. A locking elastic sheet is fixedly arranged on the upper convex seat. When the pushing contact block conducts contact with the direct-through contact seat, the locking elastic sheet will snap into the locking groove to lock the position of the pushing contact block.

[0014] A conveying method for a traveling conveying mechanism of a visual inspection trolley for steel bridge cracks, the method comprising the following steps: Step 1, energize the electromagnet module so that the conveying track frame is adsorbed on the steel bridge. Step 2, drive the conveying track frame to travel along the surface of the steel bridge through the moving rollers, and at the same time, the inspection trolley slides reversely at the same speed through the secondary slide rail, so that the position of the inspection trolley relative to the steel bridge does not change. Step 3, when the inspection trolley moves to one end limit position of the secondary slide rail, the moving rollers and the inspection trolley stop running at the same time, and then the inspection trolley slides along the secondary slide rail to the other end for visual inspection.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The traveling conveying mechanism of the visual inspection trolley of the present invention, through the cooperation of structures such as the conveying track frame, the secondary slide rail and the electromagnet module, can enable the inspection trolley to run extremely smoothly and stably along the secondary slide rail during the inspection process, realize segmented visual inspection, greatly reduce the jitter of the binocular lens, and improve the visual inspection effect. Compared with the traditional method of directly moving the trolley by magnetic attraction and cooperation with rollers, the present application realizes slide rail conveying, which is smoother and more stable. Compared with the traditional method of presetting slide rails, it is possible to avoid presetting slide rails on the steel structure to be inspected, improve the operation efficiency and reduce the cost. Compared with the traditional method of adding a pan-tilt to the binocular lens to improve stability, it can effectively avoid the interference of strong winds under the bridge on the pan-tilt and ensure the stability of the inspection effect.

[0016] Through the provided mobile control mechanism, the present invention can cooperate with the movement of the conveying track frame to control the lifting of the electromagnet module. When the conveying track frame stops moving relative to the steel bridge, the electromagnet module descends to directly contact the steel structure to be detected, which can improve the stability between the conveying track frame and the steel structure to be detected, making the conveying track frame more stable relative to the steel bridge when the inspection trolley slides along the secondary slide rail and avoiding shaking.

[0017] Through the cooperation of structures such as the provided variable resistance coil, lifting rotating sleeve, and friction contact block, it can cooperate with the lifting movement of the above-mentioned electromagnet module to control the magnetic force of the electromagnet module. When the electromagnet module approaches the steel structure to be detected, by increasing the access resistance, the current in the electromagnet module is reduced, thereby weakening the magnetic force of the electromagnet module. Conversely, when the electromagnet module moves away from the steel structure to be detected, the magnetic force is automatically increased. While ensuring that the magnetic adsorption force of the conveying track frame is sufficient, automatic adaptation is achieved, avoiding the continuous passage of high current through the electromagnet module, which accelerates heat accumulation and aging.

[0018] Through the cooperation of structures such as the provided annular induction cavity, upper convex seat, and push contact block, it can monitor and protect the contact situation between the variable resistance coil and the friction contact block. When the contact between the variable resistance coil and the friction contact block is poor, it will cause unstable local current and generate abnormal high temperatures such as electric sparks. The heat is absorbed by the annular induction cavity and converted into driving force, enabling the structure to automatically bypass the variable resistance coil and directly connect, automatically closing the magnetic force automatic adaptation adjustment function, making the magnetic force generated by the electromagnet module directly in the maximum state, reducing the risk of open circuit caused by the deterioration of the contact between the variable resistance coil and the friction contact block, and further the disappearance of magnetic force and the falling of the conveying track frame. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 It is the front view of the overall structure of the present invention.

[0021] Figure 3 It is a schematic diagram of the overall structure of the present invention from another angle.

[0022] Figure 4 It is a schematic diagram of the structure at the limit outer cover of the present invention.

[0023] Figure 5 It is a three-dimensional semi-sectional view of the structure at the limit outer cover of the present invention.

[0024] Figure 6 It is Figure 5 The enlarged schematic diagram of area A in

[0025] Figure 7 It is a schematic diagram of the structure at the lifting inner cover of the present invention.

[0026] In the figure: 1, detection trolley; 2, conveying track frame; 3, secondary slide rail; 4, moving roller; 5, electromagnet module; 6, limiting outer cover; 7, lifting inner cover; 8, nut sleeve fixing seat; 9, lead screw shaft; 901, large gear disc; 902, control motor; 903, driving gear; 801, variable resistance control cavity; 802, variable resistance coil; 803, power supply pin; 804, limiting rotating shaft; 805, lifting rotating sleeve; 806, positioning through hole; 807, positioning optical axis; 808, friction contact block; 809, supporting elastic sheet; 810, conductive braid; 811, T-shaped conductive sheet; 812, annular induction cavity; 813, upper convex seat; 814, cylindrical cavity; 815, air flow cavity; 816, piston part; 817, switching ejector rod; 818, straight-through contact seat; 819, pushing contact block; 820, arc-shaped elastic guide plate; 821, locking groove; 822, locking elastic sheet; 10, steel structure to be detected; 101, angle adjusting arm; 102, binocular lens; 401, roller drive bin. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] Please refer to Figures 1 to 7 , the present invention provides a technical solution: a traveling and conveying mechanism of a visual inspection trolley for steel bridge cracks, as shown in Figure 1 , which includes a detection trolley 1, a conveying track frame 2 and a secondary slide rail 3. The secondary slide rail 3 is fixedly installed on the conveying track frame 2, and the detection trolley 1 can slide along the length direction of the conveying track frame 2 through the secondary slide rail 3; a driving mechanism is arranged between the detection trolley 1 and the secondary slide rail 3, and the driving mechanism can be a gear-rack matching driving mechanism or a linear motor driving mechanism. Through the above driving mechanism, the detection trolley 1 is driven to move quantitatively and precisely along the secondary slide rail 3.

[0029] Moving rollers 4 are arranged on the conveying track frame 2, and the moving rollers 4 are replaceable, so that users can select different wheel configurations according to the actual scenario. For example, anti-slip tires are selected on the wet steel bridge surface.

[0030] The conveying track frame 2 moves along the steel bridge surface through the moving rollers 4; a moving control mechanism is arranged in the conveying track frame 2, and an electromagnet module 5 is arranged in the moving control mechanism. The electromagnet module 5 is driven by the moving control mechanism to contact or separate from the steel bridge; after the electromagnet module 5 is energized, the conveying track frame 2 is adsorbed on the steel bridge by the generated magnetic force.

[0031] As shown Figure 5 and Figure 6 in the figure, the movement control mechanism includes a limit outer cover 6, a lifting inner cover 7, a screw sleeve fixing seat 8 and a lead screw shaft 9. The limit outer cover 6 is fixedly installed with the conveying track frame 2. A lifting inner cover 7 is arranged in the limit outer cover 6. An electromagnet module 5 is fixedly installed inside the lifting inner cover 7. The screw sleeve fixing seat 8 is fixedly installed with the lifting inner cover 7. A lead screw shaft 9 is helically engaged in the screw sleeve fixing seat 8. Axial limit fit is carried out between the lead screw shaft 9 and the limit outer cover 6. When the lead screw shaft 9 rotates, through the helical fit between the lead screw shaft 9 and the screw sleeve fixing seat 8, the lifting inner cover 7 moves telescopically relative to the limit outer cover 6, thereby driving the electromagnet module 5 to contact or separate from the steel bridge.

[0032] As shown Figure 6 in the figure, a variable resistance control cavity 801 is opened inside the screw sleeve fixing seat 8. A variable resistance coil 802 is arranged on the inner wall surface of the variable resistance control cavity 801. One end of the variable resistance coil 802 is conductively connected with a power supply pin 803. A limit rotating shaft 804 is fixedly arranged at the end of the lead screw shaft 9. A lifting rotating sleeve 805 is sleeved outside the limit rotating shaft 804 in a limited way. A positioning through hole 806 is penetrated and opened in the lifting rotating sleeve 805. A positioning optical shaft 807 is inserted and limited in the positioning through hole 806. When the lead screw shaft 9 and the screw sleeve fixing seat 8 move axially relative to each other, the lifting rotating sleeve 805 can be driven to move axially relative to the screw sleeve fixing seat 8, and the lifting rotating sleeve 805 will not rotate relative to the screw sleeve fixing seat 8 due to the limitation of the positioning optical shaft 807.

[0033] A friction contact block 808 is conductively contacted with the inner wall surface of the variable resistance coil 802. A support elastic sheet 809 is conductively connected between the friction contact block 808 and the lifting rotating sleeve 805. A conductive braid 810 is arranged on the surface of the lifting rotating sleeve 805. The conductive braid 810 is conductively connected with the friction contact block 808 through the lifting rotating sleeve 805 and the support elastic sheet 809. A T-shaped conductive sheet 811 is embedded and installed in the lifting inner cover 7. The T-shaped conductive sheet 811 is conductively connected with the conductive braid 810. The T-shaped conductive sheet 811 is conductively connected with one pole of the power supply line of the electromagnet module 5.

[0034] An annular induction cavity 812 is opened inside the screw sleeve fixing seat 8. The annular induction cavity 812 surrounds and wraps the variable resistance coil 802. An inert gas that can expand when heated is filled in the annular induction cavity 812. When the variable resistance coil 802 generates heat, the heat can be conducted into the annular induction cavity 812 to make the pressure of the inert gas increase due to expansion.

[0035] A upper convex seat 813 is fixedly arranged on the lifting inner cover 7. A cylindrical cavity 814 and an air flow cavity 815 are formed in the upper convex seat 813. The cylindrical cavity 814 is communicated with the annular induction cavity 812 through the air flow cavity 815. A piston part 816 is hermetically contacted and arranged in the cylindrical cavity 814, and a switching ejector rod 817 is fixedly arranged on one side of the piston part 816.

[0036] A direct-through contact seat 818 is fixedly arranged on the T-shaped conductive sheet 811. A push contact block 819 is arranged on one side of the direct-through contact seat 818. When the switching ejector rod 817 extends out, the end of the switching ejector rod 817 abuts against the push contact block 819, and can push the push contact block 819 into conductive contact with the direct-through contact seat 818. An arc-shaped elastic guide plate 820 is conductively connected between the push contact block 819 and the power supply pin 803. As Figure 7 shown in the figure, the arc-shaped elastic guide plate 820 is in an elastically bent state, and an elastic pressure is applied to the push contact block 819 to move it in a direction away from the direct-through contact seat 818 through the arc-shaped elastic guide plate 820.

[0037] A locking groove 821 is formed in the push contact block 819. A locking elastic piece 822 is fixedly arranged on the upper convex seat 813. When the push contact block 819 is in conductive contact with the direct-through contact seat 818, the locking elastic piece 822 will snap into the locking groove 821 to lock the position of the push contact block 819.

[0038] A conveying method of a traveling conveying mechanism of a visual inspection trolley for steel bridge cracks, the method comprising the following steps: Step 1, energize the electromagnet module 5 so that the conveying track frame 2 is adsorbed on the steel bridge; Step 2, drive the conveying track frame 2 to travel along the surface of the steel bridge through the moving roller 4. At the same time, the inspection trolley 1 slides reversely at the same speed through the secondary slide rail 3, so that the position of the inspection trolley 1 relative to the steel bridge does not change; Step 3, when the inspection trolley 1 moves to one end limit position of the secondary slide rail 3, the moving roller 4 and the inspection trolley 1 stop running at the same time. Subsequently, the inspection trolley 1 slides along the secondary slide rail 3 to the other end for visual inspection.

[0039] As Figure 1 shown in the figure, when the traveling conveying mechanism of the visual inspection trolley of the present invention is in use, it is adsorbed on the steel structure 10 to be inspected through the electromagnet module 5. An angle adjustment arm 101 is arranged on the inspection trolley 1, and a binocular lens 102 is mounted on the angle adjustment arm 101. The angle of the binocular lens 102 is adjusted through the angle adjustment arm 101, so that the binocular lens 102 performs visual inspection on the weld position of the steel structure 10 to be inspected. After the angle of the binocular lens 102 is adjusted, the angle adjustment arm 101 is completely locked and immovable.

[0040] The binocular lens 102 has a built-in intelligent light compensation function to automatically adjust the exposure and gain of the camera. Even in strong light, shadow, or low-light environments, it can ensure clear and stable image quality.

[0041] The binocular lens 102 is composed of two high-resolution stereo cameras, which can capture images of the steel bridge surface from different angles and provide depth information. An image processing unit is set in the detection trolley 1 to perform real-time processing on the collected image data. Through deep learning algorithms and image processing techniques, the system can automatically detect cracks and evaluate their characteristics such as size, shape, and location. The system supports wireless transmission (such as Wi-Fi, 5G) functions and can upload data to the remote control platform in real time, facilitating remote monitoring and adjustment of detection parameters by operators. At the same time, the system can also store the detection images or video data in a USB flash drive for offline analysis later.

[0042] Inside the conveying track frame 2, a roller drive bin 401 is fixedly installed. By controlling the rotation of the moving roller 4 through the roller drive bin 401, the conveying track frame 2 can move along the surface of the steel structure 10 to be detected.

[0043] To reduce the weight of the device, the battery system is omitted. The present invention preferably uses an external wire for power supply. Power is supplied to the electromagnet module 5, and through the electromagnet module 5, magnetic force is generated to adsorb on the steel structure 10 to be detected.

[0044] When the conveying track frame 2 needs to move along the steel structure 10 to be detected, first control the electromagnet module 5 to rise, so that the electromagnet module 5 moves away from the steel structure 10 to be detected. At this time, the electromagnet module 5 does not contact the steel structure 10 to be detected, and the conveying track frame 2 is driven to move uniformly by the rotation of the moving roller 4. At the same time, the detection trolley 1 slides in the opposite direction along the secondary slide rail 3 at the same speed, so that the position of the detection trolley 1 relative to the steel structure 10 to be detected does not change.

[0045] Until the detection trolley 1 reaches the end limit position of the secondary slide rail 3, they stop together. At this time, the electromagnet module 5 descends, so that the electromagnet module 5 is in direct contact with the steel structure 10 to be detected. Through the direct contact adsorption between the electromagnet module 5 and the steel structure 10 to be detected, the conveying track frame 2 is made more stable. Subsequently, the detection trolley 1 slides smoothly along the secondary slide rail 3 to the other end, driving the binocular lens 102 for visual inspection. Since the detection trolley 1 moves by sliding on the track, it can be more stable and will not be affected by strong winds.

[0046] When the detection trolley 1 slides to the other end extreme position of the secondary slide rail 3, repeat the above process again to achieve segmented moving detection.

[0047] Such as Figure 5 And Figure 6As shown in the figure, during the lifting of the electromagnet module 5 in the above process, it is controlled by controlling the motor 902. The control motor 902 drives the large gear disk 901 to rotate through the driving gear 903, causing the lead screw shaft 9 to rotate. Since the nut fixed seat 8 is in screw fit with the lead screw shaft 9, through the rotation of the lead screw shaft 9, the nut fixed seat 8 can be made to move along the axis direction of the lead screw shaft 9, thereby driving the lifting inner cover 7 to lift and move relative to the limit outer cover 6.

[0048] As Figure 5 and Figure 6 shown in the figure, when the electromagnet module 5 is powered and connected, one pole of the power supply is directly connected to one pole of the electromagnet module 5, the other pole of the power supply is connected to the power supply pin 803, and the other pole of the electromagnet module 5 is connected to the T-shaped conductive sheet 811. At this time, it will make the other pole of the power supply sequentially pass through the power supply pin 803, the variable resistance coil 802, the friction contact block 808, the support spring piece 809, the conductive braid 810 and the T-shaped conductive sheet 811 to achieve a closed circuit with the other pole of the electromagnet module 5.

[0049] When the electromagnet module 5 moves downward and contacts the steel structure 10 to be detected, the nut fixed seat 8 moves downward relative to the lead screw shaft 9. At this time, driven by the lead screw shaft 9, the friction contact block 808 moves upward relative to the variable resistance coil 802. Since the power supply pin 803 is connected to the lower end of the variable resistance coil 802, at this time, the resistance of the variable resistance coil 802 connected in the circuit will increase, thereby reducing the current in the circuit and reducing the magnetic force of the electromagnet module 5. When the electromagnet module 5 moves downward and contacts the steel structure 10 to be detected, since the distance between the electromagnet module 5 and the steel structure 10 to be detected gradually decreases, the magnetic force attenuation gradually decreases, and the magnetic force requirement for the electromagnet module 5 decreases. Through the above automatic adjustment, not only can the power consumption of the electromagnet module 5 be reduced, but also the problems of heating and aging caused by continuous high current input to the electromagnet module 5 can be slowed down. The above adjustment is vice versa and will not be elaborated here.

[0050] Due to reasons such as wear and aging, the contact stability between the variable resistance coil 802 and the friction contact block 808 gradually decreases, resulting in poor contact between the two, generating electric sparks and further causing heating and aging, forming a vicious cycle. If the potential fault hazards are not handled, when the variable resistance coil 802 and the friction contact block 808 are completely open-circuited, the electromagnet module 5 will suddenly lose power supply, resulting in the device falling and causing relatively large losses.

[0051] In the present invention, as Figure 6As shown in the figure, by setting the annular induction cavity 812, the abnormal heating condition of the variable resistance coil 802 is monitored. When there is poor contact between the variable resistance coil 802 and the friction contact block 808, and abnormal temperature rise due to electric spark occurs, after the temperature reaches the set range, the inert gas in the annular induction cavity 812 expands, drives the piston part 816 and the switching ejector rod 817 to move through the air flow channel 815, so that the switching ejector rod 817 extends out, and the switching ejector rod 817 abuts against the pushing contact block 819, making the pushing contact block 819 and the direct contact seat 818 in direct contact. At this time, the power supply pin 803 is directly conducted with the T-shaped conductive sheet 811 through the arc-shaped elastic guide plate 820 and the pushing contact block 819, skipping structures such as the variable resistance coil 802. The magnetic force automatic adaptation adjustment function is automatically turned off, so that the magnetic force generated by the electromagnet module 5 is directly in the maximum state, reducing the risk of open circuit caused by the deterioration of the fault between the variable resistance coil 802 and the friction contact block 808, and further the risk of the conveying track frame 2 falling due to the disappearance of the magnetic force. When the pushing contact block 819 and the direct contact seat 818 are in direct contact, the locking spring piece 822 will insert into the locking groove 821 to lock the position of the pushing contact block 819, preventing the pushing contact block 819 and the direct contact seat 818 from separating again after the annular induction cavity 812 cools down and the switching ejector rod 817 retracts.

[0052] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A driving and conveying mechanism of a visual inspection trolley for steel bridge cracks, comprising an inspection trolley, a conveying track frame and a secondary slide rail, characterized in that: The secondary slide rail is fixedly installed on the conveying track frame, and the inspection trolley can slide along the length direction of the conveying track frame through the secondary slide rail; Moving rollers are arranged on the conveying track frame, and the conveying track frame moves along the surface of the steel bridge through the moving rollers; A moving control mechanism is arranged in the conveying track frame, and an electromagnet module is arranged in the moving control mechanism. The electromagnet module is driven by the moving control mechanism to contact or separate from the steel bridge; after the electromagnet module is powered on, the conveying track frame is adsorbed on the steel bridge by the generated magnetic force. The moving control mechanism includes a limit outer cover, a lifting inner cover, a screw sleeve fixing seat and a lead screw shaft. The limit outer cover is fixedly installed with the conveying track frame. A lifting inner cover is arranged in the limit outer cover. The electromagnet module is fixedly installed inside the lifting inner cover. The screw sleeve fixing seat is fixedly installed with the lifting inner cover. A lead screw shaft is helically matched in the screw sleeve fixing seat, and the lead screw shaft is axially limited and matched with the limit outer cover; When the lead screw shaft rotates, due to the helical fit between the lead screw shaft and the screw sleeve fixing seat, the lifting inner cover moves telescopically relative to the limit outer cover, thereby driving the electromagnet module to contact or separate from the steel bridge.

2. The traveling and conveying mechanism of a visual inspection trolley for steel bridge cracks according to claim 1, wherein: A variable resistance control cavity is formed inside the screw sleeve fixing seat, a variable resistance coil is arranged on the inner wall surface of the variable resistance control cavity, and a power supply pin is conductively connected to one end of the variable resistance coil.

3. The traveling and conveying mechanism of a visual inspection trolley for steel bridge cracks according to claim 2, characterized in that: A limit rotating shaft is fixedly arranged at the end of the lead screw shaft, a lifting rotating sleeve is sleeved outside the limit rotating shaft in a limited manner, a positioning through hole is formed through the lifting rotating sleeve, and a positioning optical shaft is inserted in the positioning through hole in a limited manner; When the lead screw shaft and the screw sleeve fixing seat move axially relative to each other, the lifting rotating sleeve can be driven to move axially relative to the screw sleeve fixing seat, and due to the limitation of the positioning optical shaft, the lifting rotating sleeve will not rotate relative to the screw sleeve fixing seat.

4. The traveling and conveying mechanism of a visual inspection trolley for steel bridge cracks according to claim 3, wherein: A friction contact block is conductively contacted with the inner wall surface of the variable resistance coil, and a support elastic sheet is conductively connected between the friction contact block and the lifting rotating sleeve; a conductive braid is arranged on the surface of the lifting rotating sleeve, and the conductive braid is conductively connected to the friction contact block through the lifting rotating sleeve and the support elastic sheet; A T-shaped conductive sheet is embedded and installed in the lifting inner cover, the T-shaped conductive sheet is conductively connected to the conductive braid, and the T-shaped conductive sheet is conductively connected to one pole of the power supply circuit of the electromagnet module.

5. The traveling and conveying mechanism of a visual inspection trolley for steel bridge cracks according to claim 4, characterized in that: An annular induction cavity is formed inside the screw sleeve fixing seat, the annular induction cavity surrounds and wraps the variable resistance coil, and an inert gas that can expand when heated is filled in the annular induction cavity. When the variable resistance coil generates heat, the heat can be conducted into the annular induction cavity to increase the expansion pressure of the inert gas.

6. The traveling and conveying mechanism of a visual inspection trolley for steel bridge cracks according to claim 5, characterized in that: An upper convex seat is fixedly arranged on the lifting inner cover, a cylindrical cavity and an air flow cavity are formed in the upper convex seat, and the cylindrical cavity is communicated with the annular induction cavity through the air flow cavity; A piston part is hermetically contacted in the cylindrical cavity, and a switching push rod is fixedly arranged on one side of the piston part.

7. The traveling and conveying mechanism of a visual inspection trolley for steel bridge cracks according to claim 6, characterized in that: A straight-through contact seat is fixedly arranged on the T-shaped conductive sheet. A push contact block is arranged on one side of the straight-through contact seat. When the switching ejector rod extends out, the end of the switching ejector rod abuts against the push contact block, and can push the push contact block into conductive contact with the straight-through contact seat; An arc-shaped elastic guide plate is conductively connected between the push contact block and the power supply pin. The arc-shaped elastic guide plate is in an elastically bent state, and an elastic pressure is applied to the push contact block to move it in a direction away from the straight-through contact seat through the arc-shaped elastic guide plate.

8. The traveling and conveying mechanism of a visual inspection trolley for steel bridge cracks according to claim 7, characterized in that: A locking groove is formed on the push contact block, and a locking elastic piece is fixedly arranged on the upper convex seat. When the push contact block is in conductive contact with the straight-through contact seat, the locking elastic piece will snap into the locking groove to lock the position of the push contact block.

9. A conveying method, which adopts the traveling conveying mechanism of a visual inspection trolley for steel bridge cracks described in any one of claims 1-8, characterized in that, The method includes the following steps: Step 1: Energize the electromagnet module so that the conveying track frame is adsorbed on the steel bridge; Step 2: Drive the conveying track frame to travel along the surface of the steel bridge through the moving rollers, and at the same time, the detection trolley slides reversely at the same speed through the secondary slide rail, so that the position of the detection trolley relative to the steel bridge does not change; Step 3: When the detection trolley moves to one end limit position of the secondary slide rail, the moving rollers and the detection trolley stop running at the same time, and then the detection trolley slides along the secondary slide rail to the other end for visual detection.

Images