Detection device and method for welding seam of steel box girder bridge deck slab

Abstract

The invention belongs to the technical field of steel box girder bridge deck slab detection, and discloses a detection device and method for a steel box girder bridge deck slab welding seam. A rectangular operation hole is formed in the center of the base platform, and the horizontally-opposed sliding table mechanisms are horizontally arranged on the upper surface of the base platform and symmetrically arranged on the side portions of the rectangular operation hole. The transverse sliding table mechanism is horizontally arranged above the horizontally-opposed sliding table mechanism, and the vertical sliding table mechanism is arranged on the side edge of the transverse sliding table mechanism. The drilling tool and the visual positioning probe are both installed on the side edge of the vertical sliding table mechanism, and the drilling direction of the drilling tool is vertically downward. The input end of the control module is connected with the output end of the visual positioning probe, and the output end of the control module is connected with the horizontally-opposed sliding table mechanism, the transverse sliding table mechanism and the vertical sliding table mechanism. Rapid centering positioning and drilling of the drilling tool are achieved in a visual positioning mode, the difficulty of centering positioning is greatly reduced, and the detection efficiency and the precision of a detection result are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of steel box girder bridge deck detection, relates to residual stress drilling technology, and particularly relates to a device and method for detecting welds of steel box girder bridge decks. Background Art

[0002] During the welding process of steel box girder bridge decks, the elastic modulus of the steel decreases significantly due to the rapid increase in temperature, and the steel is constrained to produce thermoplastic compression deformation; during the cooling process, the volume of the weld will shrink and be restricted by the surrounding steel structure, which will produce large residual stress; due to the adverse effects of external loads and residual stress, the fatigue strength of the steel bridge deck will be reduced and weld cracking will occur. Therefore, residual stress detection of steel box girder bridge deck welds is particularly important.

[0003] The blind hole method is a minimally destructive residual stress detection method that releases residual stress on the component surface by drilling blind holes, thereby causing strain on the steel surface. The residual stress is then calculated based on the strain release. Unlike total loss detection methods such as the strip cutting method, the ring core method, and the layer-by-layer milling method, the blind hole method does not significantly weaken the service performance of the component and can be used to measure stress on the surface of specimens with large stress gradients. Currently, the traditional drilling device for residual stress detection using the blind hole method has cumbersome centering steps and is heavy, making it only suitable for detecting a small number of measuring points within a test facility and difficult to perform batch detection. Summary of the Invention

[0004] In response to the technical problems existing in the prior art, the present invention provides a device and method for detecting welds of steel box girder bridge decks, so as to solve the technical problems that the drilling device for residual stress detection using the traditional blind hole method has complicated centering steps, is heavy, is only suitable for detecting a small number of measuring points in a test site, and is difficult to perform batch detection.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: The present invention provides a device for detecting welds of steel box girder bridge decks, comprising a base platform, a horizontally opposed slide mechanism, a transverse slide mechanism, a vertical slide mechanism, a drilling tool, a visual positioning probe, and a control module; A rectangular operating hole is opened in the center of the base platform, and the horizontally opposed slide mechanism is horizontally arranged on the upper surface of the base platform and symmetrically arranged on the side of the rectangular operating hole; the horizontal slide mechanism is horizontally arranged above the horizontally opposed slide mechanism, and the vertical slide mechanism is arranged on the side of the horizontal slide mechanism; The drilling tool and the visual positioning probe are both installed on the side of the vertical slide mechanism, and the drilling direction of the drilling tool is set vertically downward; the input end of the control module is connected to the output end of the visual positioning probe, and the output end of the control module is connected to the horizontally opposed slide mechanism, the horizontal slide mechanism and the vertical slide mechanism.

[0006] Furthermore, the horizontally opposed slide mechanism includes a first servo motor, a first bevel gear, a transmission shaft, a second bevel gear, a first longitudinal slide, a first slide, a first screw rod, a second longitudinal slide, a second slide and a second screw rod; The first slide is slidably arranged above the first longitudinal slide, the first screw rod is arranged in the first longitudinal slide, and the first slide and the first screw rod are connected by a thread; the second slide is slidably arranged above the second longitudinal slide, the second screw rod is arranged in the second longitudinal slide, and the second slide and the second screw rod are connected by a thread; The output end of the first servo motor is connected to the input end of the first bevel gear, and the first bevel gear and the second bevel gear are connected via the transmission shaft; the first longitudinal slideway and the second longitudinal slideway are parallel to each other and are respectively arranged on both sides of the longitudinal side of the rectangular operating hole; The first bevel gear is used to drive the first screw to rotate, and the second bevel gear is used to drive the second screw to rotate; one end of the transverse slide mechanism is connected to the first slide, and the other end of the transverse slide mechanism is connected to the second slide.

[0007] Furthermore, the transverse slide mechanism includes a second servo motor, a transverse slide, a third slide and a third screw rod; The transverse slide is horizontally arranged above the horizontally opposed slide mechanism, the third slide is slidably arranged above the transverse slide, the third screw rod is arranged in the transverse slide, and the third slide and the third screw rod are connected by threads; the second servo motor is installed at the end of the transverse slide for driving the third screw rod to rotate.

[0008] Furthermore, the vertical slide mechanism includes a third servo motor, a vertical slideway, a drilling tool fixing seat and a fourth screw rod; The vertical slide is vertically arranged on the side of the horizontal slide mechanism, the drill tool fixing seat is slidably arranged on the vertical slide, the fourth screw is arranged in the vertical slide, and the drill tool fixing seat and the fourth screw are connected by a thread; the third servo motor is installed at the top of the vertical slide, and is used to drive the fourth screw to rotate; The drilling tool is vertically fixed in the drilling tool fixing seat, and the visual positioning probe is installed on the outer wall of the drilling tool fixing seat.

[0009] Furthermore, it also includes an electromagnetic adsorption device; the electromagnetic adsorption device is arranged on the base platform, and is used to achieve adsorption or separation of the base platform and the steel box girder bridge deck by electromagnetic adsorption.

[0010] Furthermore, the base platform is provided with electromagnet passage holes, and the electromagnet passage holes are symmetrically arranged at the front and rear ends of the rectangular operating hole; The electromagnetic adsorption device includes an electromagnet fixing bracket, a connecting spring and an electromagnet; The electromagnet fixing bracket is fixed above the base platform and is arranged close to the electromagnet through hole; the electromagnet is vertically slidably arranged in the electromagnet through hole, and the top end of the electromagnet is connected to the electromagnet fixing bracket through the connecting spring.

[0011] Furthermore, it also includes a strain gauge and a residual stress detection device; the strain gauge is pasted on the weld to be detected position of the steel box girder bridge deck, and the output end of the strain gauge is connected to the input end of the residual stress monitoring device.

[0012] Furthermore, it also includes a walking mechanism and a movable push handle; the walking mechanism is arranged below the bottom surface of the base platform, and the movable push handle is installed on the side end of the base platform.

[0013] Furthermore, the output end of the control module is also connected to the control end of the drilling tool for controlling the feed rate and drilling speed of the drilling tool.

[0014] The present invention also provides a method for detecting welds of steel box girder bridge decks, utilizing the aforementioned device for detecting welds of steel box girder bridge decks; Detection methods, including: Move the base platform to above the weld seam of the steel box girder bridge deck to be inspected, and make the weld seam of the steel box girder bridge deck to be inspected in the center of the rectangular operation hole; Use visual positioning probes to identify the welds to be inspected on steel box girder bridge decks; According to the identification results of the weld seam to be inspected portion of the steel box girder bridge deck, the horizontally opposed slide mechanism, the transverse slide mechanism and the vertical slide mechanism are controlled so that the drill tool is directly above the weld seam to be inspected portion of the steel box girder bridge deck, and residual stress detection is started using the blind hole method.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The detection device for the weld of the steel box girder bridge deck provided by the present invention arranges a horizontally opposed slide mechanism, a transverse slide mechanism and a vertical slide mechanism on a base platform, and installs the drill tool on the side of the vertical slide mechanism, so as to realize the three-dimensional position adjustment of the drill tool in the horizontal longitudinal, horizontal transverse and vertical directions by using the horizontally opposed slide mechanism, the transverse slide mechanism and the vertical slide mechanism; secondly, a visual positioning probe is arranged on the side of the vertical slide mechanism, and the visual positioning probe is used to identify the weld to-be-detected portion of the steel box girder bridge deck, and the horizontally opposed slide mechanism, the transverse slide mechanism and the vertical slide mechanism are controlled according to the identification result, so as to realize the rapid centering and drilling of the drill tool by using visual positioning, which greatly reduces the difficulty of centering and positioning, and significantly improves the detection efficiency and the accuracy of the detection results.

[0016] Furthermore, the base platform is adsorbed or separated from the steel box girder bridge deck by an electromagnetic adsorption device, which can limit the displacement of the base platform during the drilling process and improve the stability and reliability of the device.

[0017] Furthermore, by providing a walking mechanism and a movable push handle, the on-site rapid movement can be achieved by pushing the trolley, which greatly reduces the manpower and time costs during the movement of the construction site and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an axonometric diagram of a device for detecting welds of steel box girder bridge decks provided by the present invention; Figure 2 A top view of the device for detecting welds of steel box girder bridge decks provided by the present invention; Figure 3 Schematic diagram of the structure of the horizontally opposed slide mechanism of the present invention; Figure 4 Schematic diagram of the structure of the transverse slide mechanism in the present invention; Figure 5 Schematic diagram of the detailed structure of the transverse slide mechanism in the present invention; Figure 6 Schematic diagram of the structure of the vertical slide mechanism in the present invention; Figure 7 Schematic diagram of the structure of the electromagnetic adsorption device in the present invention; Figure 8 Schematic diagram of the working principle of the electromagnet body in the present invention.

[0019] Among them, 1 base platform, 2 horizontally opposed slide mechanism, 3 horizontal slide mechanism, 4 vertical slide mechanism, 5 drilling tool, 6 visual positioning probe, 7 electromagnetic adsorption device, 8 universal steering gear, 9 wheel, 10 moving push handle; 201 first servo motor, 202 first bevel gear, 203 transmission shaft, 204 second bevel gear, 205 first longitudinal slide, 206 first slide, 207 first screw rod, 208 first limiter, 209 second longitudinal slide , 210 second slide, 211 second screw rod, 212 second limiter; 301 second servo motor, 302 horizontal slide, 303 third slide, 304 third screw rod, 305 third limiter, 306 fourth limiter; 401 third servo motor, 402 vertical slide, 403 drill tool fixing seat, 404 fourth screw rod, 405 fifth limiter, 406 sixth limiter; 701 electromagnet fixing bracket, 702 connecting spring, 703 electromagnet. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail in the following specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] As attached Figure 1-7 As shown, the present invention provides a detection device for steel box girder bridge deck welds, including a base platform 1, a horizontally opposed slide mechanism 2, a transverse slide mechanism 3, a vertical slide mechanism 4, a drilling tool 5, a visual positioning probe 6, an electromagnetic adsorption device 7, a walking mechanism, a mobile push handle 10, a control module, a strain gauge and a residual stress detection device.

[0022] The base platform 1 is a horizontally arranged plate-like structure, and a rectangular operating hole is opened in the center of the base platform 1; wherein, the rectangular operating hole is used as the operating space for the drilling tool 5 to drill blind holes and as the visual positioning boundary of the visual positioning probe 6; the horizontally opposed slide mechanism 2 is horizontally arranged on the upper surface of the base platform 1, and is symmetrically arranged on the side of the rectangular operating hole; wherein, the horizontally opposed slide mechanism 2 is used to drive the horizontal slide mechanism 3 to move horizontally along the longitudinal axis direction of the rectangular operating hole; the horizontal slide mechanism 3 is horizontally arranged above the horizontally opposed slide mechanism 2, and the horizontal slide mechanism 3 is used to drive the vertical slide mechanism 4 to move horizontally along the transverse axis direction of the rectangular operating hole; the vertical slide mechanism 4 is arranged on the side of the horizontal slide mechanism 3, and the vertical slide mechanism 4 is used to drive the drilling tool 5 and the visual positioning probe 6 to move vertically up and down.

[0023] The drilling tool 5 and the visual positioning probe 6 are both installed on the side of the vertical sliding mechanism 4, and the drilling direction of the drilling tool 5 is set vertically downward; the drilling tool 5 is used to drill blind holes in the welds of the steel box girder bridge deck to be inspected, and the visual positioning probe 6 is used to identify the welds of the steel box girder bridge deck to be inspected; the electromagnetic adsorption device 7 is arranged on the base platform 1, and is used to realize the adsorption or separation of the base platform 1 and the steel box girder bridge deck by electromagnetic adsorption; the walking mechanism is arranged below the bottom surface of the base platform 1, and the walking mechanism is used to drive the base platform 1 to move horizontally along the surface of the steel box girder bridge deck; the movable push handle 10 is installed on the side end of the base platform 1, and is used to apply a horizontal driving force to the base platform 1 to cause the base platform 1 to undergo horizontal displacement; the strain gauge is pasted on the weld of the steel box girder bridge deck to be inspected, and the output end of the strain gauge is connected to the input end of the residual stress monitoring equipment.

[0024] As attached Figure 1-3 As shown, the horizontally opposed slide mechanism 2 includes a first servo motor 201, a first bevel gear 202, a transmission shaft 203, a second bevel gear 204, a first longitudinal slide 205, a first slide 206, a first screw rod 207, a first limiter 208, a second longitudinal slide 209, a second slide 210, a second screw rod 211 and a second limiter 212.

[0025] The first longitudinal slide 205 and the second longitudinal slide 209 are parallel to each other and are respectively arranged on both sides of the longitudinal sides of the rectangular operating hole; the first slide 206 is slidably arranged above the first longitudinal slide 205, the first screw rod 207 is arranged in the first longitudinal slide 205, and the first slide 206 and the first screw rod 207 are connected by threads; the second slide 210 is slidably arranged above the second longitudinal slide 209, the second screw rod 211 is arranged in the second longitudinal slide 209, and the second slide 210 and the second screw rod 211 are connected by threads.

[0026] Specifically, the top surfaces of the first longitudinal slide 205 and the second longitudinal slide 209 are both provided with top surface opening slide grooves, and the opening ends of the top surface opening slide grooves are connected to the top surfaces of the first longitudinal slide 205 or the second longitudinal slide 209; wherein, the axis of the top surface opening slide groove is parallel to the axis of the first longitudinal slide 205 or the second longitudinal slide 209, that is, the axis of the top surface opening slide groove is parallel to the longitudinal edge of the rectangular operating hole.

[0027] The first screw rod 207 is rotatably set in the open slide groove on the top surface of the first longitudinal slide 205, and the axis of the first screw rod 207 is parallel to the axis of the open slide groove on the top surface of the first longitudinal slide 205; the bottom end slide of the first slide 206 is set in the open slide groove on the top surface of the first longitudinal slide 205, and is inserted into the outer side of the first screw rod 207; the bottom end of the first slide 206 and the first screw rod 207 are connected by a thread, so that the first slide 206 is driven to move linearly on the surface of the first longitudinal slide 205 through the rotation of the first screw rod 207.

[0028] The second screw rod 211 is rotatably set in the open slide groove on the top surface of the second longitudinal slide 209, and the axis of the second screw rod 211 is parallel to the axis of the open slide groove on the top surface of the second longitudinal slide 209; the bottom end slide of the second slide 210 is set in the open slide groove on the top surface of the second longitudinal slide 209 and is inserted into the outer side of the second screw rod 211; the bottom end of the second slide 210 and the second screw rod 211 are connected by a thread, so that the second slide 210 can be driven to move linearly on the surface of the second longitudinal slide 209 through the rotation of the second screw rod 211.

[0029] The first umbrella-shaped gear 202 is arranged at the first end of the first longitudinal slide 205, and the output end of the first umbrella-shaped gear 202 is connected to the end of the first screw rod 207; wherein, the first umbrella-shaped gear 202 is used to drive the first screw rod 207 to rotate; the second umbrella-shaped gear 204 is arranged at the first end of the second longitudinal slide 209, and the output end of the second umbrella-shaped gear 204 is connected to the end of the second screw rod 211; wherein, the second umbrella-shaped gear 204 is used to drive the second screw rod 211 to rotate.

[0030] The first servo motor 201 is arranged on the side of the first bevel gear 202, and the output end of the first servo motor 201 is connected to the input end of the first bevel gear 202; the transmission shaft 203 is arranged between the first bevel gear 202 and the second bevel gear 204, that is, the first bevel gear 202 and the second bevel gear 204 are connected through the transmission shaft 203; wherein, one end of the transmission shaft 203 is connected to the first bevel gear 202, and the other end of the transmission shaft 203 is connected to the second bevel gear 204, so as to realize the synchronous translation of the first slide 206 and the second slide 207.

[0031] The first limiter 208 is set at the second end of the first longitudinal slide 205 to limit the first slide 206 and prevent the first slide 206 from detaching from the second end of the first longitudinal slide 205; the second limiter 212 is set at the second end of the second longitudinal slide 205 to limit the second slide 210 and prevent the second slide 210 from detaching from the second end of the second longitudinal slide 209.

[0032] One end of the transverse slide mechanism 3 is connected to the first slide 206, and the other end of the transverse slide mechanism 3 is connected to the second slide 210, so that the first slide 206 and the second slide 210 can move synchronously to drive the transverse slide mechanism 3 to move along the longitudinal side of the rectangular operating hole; Figure 1-2 As shown in Figures 4-5, the transverse slide mechanism 3 includes a second servo motor 301, a transverse slide 302, a third slide 303, a third screw rod 304, a third limiter 305 and a fourth limiter 306; the transverse slide 302 is horizontally arranged above the horizontally opposed slide mechanism 2, the third slide 303 is slidingly arranged above the transverse slide 302, the third screw rod 304 is arranged in the transverse slide 302, and the third slide 303 and the third screw rod 304 are connected by threads; the second servo motor 301 is installed at the end of the transverse slide 302 for driving the third screw rod 304 to rotate.

[0033] Specifically, the transverse slide 302 is horizontally arranged above the rectangular operating hole and along the transverse edge of the rectangular operating hole; that is, the axis of the transverse slide 302 is parallel to the transverse edge of the rectangular operating hole; wherein, one end of the transverse slide 302 is connected to the first slide 206, and the other end of the transverse slide 302 is connected to the second slide 210; a transverse open groove is provided on the side of the transverse slide 302, and the open end of the transverse open groove is connected to the side of the transverse slide 302; wherein, the axis of the transverse open groove is parallel to the axis of the transverse slide 302, that is, the axis of the transverse open groove is parallel to the transverse edge of the rectangular operating hole.

[0034] The third screw rod 304 is rotatably set in the horizontal open slide groove of the horizontal slide 302, and the axis of the third screw rod 304 is parallel to the axis of the horizontal open slide groove of the horizontal slide 302; the end of the third slide 303 is slidably set in the horizontal open slide groove of the horizontal slide 302, and is inserted into the outer side of the third screw rod 304; the end of the third slide 303 is connected to the third screw rod 304 by a thread, so that the rotation of the third screw rod 304 drives the third slide 303 to move horizontally on the side of the horizontal slide 302; it should be noted that the translation direction of the third slide 303 and the translation direction of the first slide 206 or the second slide 210 are perpendicular to each other in the horizontal plane.

[0035] The third limiter 305 is fixed to the first end of the transverse slide 302, and the fourth limiter 306 is fixed to the second end of the transverse slide 302, so that the third limiter 305 and the fourth limiter 306 can be used to limit the third slide 303 to prevent the third slide 303 from detaching from the transverse slide 302.

[0036] The vertical slide mechanism 4 is arranged on the side of the third slide 303, so that the vertical slide mechanism 4 is driven to move along the horizontal side of the rectangular operating hole through the translation of the third slide 303; Figure 1-2 6, the vertical slide mechanism 4 includes a third servo motor 401, a vertical slide 402, a drill rig fixed seat 403, a fourth screw rod 404, a fifth limiter 405 and a sixth limiter 406; the vertical slide 402 is vertically arranged on the side of the horizontal slide mechanism 3, the drill tool fixed seat 402 is slidably arranged on the vertical slide 402, the fourth screw rod 404 is arranged in the vertical slide 402, and the drill tool fixed seat 402 and the fourth screw rod 404 are connected by threads; the third servo motor 401 is installed at the top of the vertical slide 402, and is used to drive the fourth screw rod 404 to rotate.

[0037] Specifically, the vertical slide 402 is vertically arranged above the rectangular operating hole, and the side wall of the vertical slide 402 is fixedly connected to the third slide 303; a vertical open slide groove is opened on the side of the vertical slide 402, and the open end of the vertical open slide groove is connected to the side of the vertical slide 402; wherein, the axis of the vertical open slide groove is perpendicular to the horizontal slide 302, the first longitudinal slide 205 and the second longitudinal slide 209; that is, the axis of the vertical open slide groove is perpendicular to the horizontal and longitudinal sides of the rectangular operating hole.

[0038] The fourth screw rod 404 is rotatably arranged in the vertical open slide groove of the vertical slide 402, and the axis of the fourth screw rod 404 is parallel to the axis of the vertical open slide groove of the vertical slide 402; the end slide of the drill tool fixing seat 402 is arranged in the vertical open slide groove of the vertical slide 402 and is inserted into the outer side of the fourth screw rod 404; the end of the drill tool fixing seat 402 and the fourth screw rod 404 are connected by a thread, so that the drill tool fixing seat 402 is driven to move in the vertical direction through the rotation of the fourth screw rod 404.

[0039] The fifth limiter 405 is fixed at the top end of the vertical slide 402, and the sixth limiter 406 is fixed at the bottom end of the vertical slide 402, so as to utilize the fifth limiter 405 and the sixth limiter 406 to form a limit for the drill tool fixing seat 402 to prevent the drill tool fixing seat 402 from detaching from the vertical slide 402; the drill tool 5 is vertically fixed in the drill tool fixing seat 403, and the visual positioning probe 6 is installed on the outer wall of the drill tool fixing seat 403.

[0040] The base platform 1 is provided with an electromagnet through hole, and the electromagnet through holes are symmetrically arranged at the front and rear ends of the rectangular operation hole; Figure 1-2 As shown in 7-8, the electromagnetic adsorption device 7 includes an electromagnet fixing bracket 701, a connecting spring 702 and an electromagnet 703; the electromagnet fixing bracket 701 is fixed above the base platform 1 and is arranged close to the electromagnet through hole; the electromagnet 703 is vertically slidably arranged in the electromagnet through hole, and the top of the electromagnet 703 is connected to the electromagnet fixing bracket 701 through the connecting spring 702.

[0041] The electromagnet 703 includes an electromagnet housing and an electromagnet body arranged in the electromagnet housing; the top of the electromagnet housing is connected to the bottom end of the connecting spring 702, and the top of the connecting spring 702 is connected to the electromagnet fixing bracket 701; a semicircular groove is provided on the side wall of the electromagnet housing, and a semicircular protrusion is provided on the inner wall of the electromagnet through hole; the semicircular groove is arranged in the vertical direction, one end of the semicircular protrusion is fitted in the semicircular groove, and the other end of the semicircular protrusion is fixed to the inner wall of the electromagnet through hole; it should be noted that the electromagnet body is an iron block wound with a coil, and the working principle of the electromagnet body is as shown in the attached figure. Figure 8 As shown; the connecting spring 702 can overcome the gravity and friction of the electromagnet to suspend the electromagnet on the electromagnet fixing bracket 701; wherein the elastic force of the connecting spring 702 is much smaller than the magnetic force of the electromagnet.

[0042] As attached Figure 1As shown, the walking mechanism includes a universal steering gear 8 and wheels 9. The universal steering gear 8 is fixed to the bottom corner of the base platform 1, and a wheel 9 is installed at the bottom end of each universal steering gear 8; wherein, the wheel 9 is connected to the universal steering gear 8 through a bearing, so that the wheel 9 can move forward, backward and rotate in the plane, and the wheel 9 has a preset height to cross the complex road conditions during on-site construction; the mobile push handle 10 is fixed to the base platform through an L-shaped connecting plate.

[0043] The input end of the control module is connected to the output end of the visual positioning probe 6, and the output end of the control module is connected to the horizontally opposed slide mechanism 2, the horizontal slide mechanism 3 and the vertical slide mechanism 4; specifically, the control module is installed on the base platform 1, the input end of the control module is connected to the output end of the visual positioning probe 6, and the output end of the control module is connected to the first servo motor 201, the second servo motor 301 and the third servo motor 401; the control module is used to control the first servo motor 201, the second servo motor 301 and the third servo motor 401 according to the identification result of the weld to be detected part of the steel box girder bridge deck; optionally, the output end of the control module is also connected to the control end of the drilling tool 5, for controlling the feed rate and drilling speed of the drilling tool 5.

[0044] Optionally, an operation button is provided on the mobile push handle 10, and the output end of the operation button is connected to the input end of the control module; wherein, the operation button includes a start button, a reset button and a pause button; the start button is used to send a motor start instruction to the control module, the reset button is used to send a motor reset instruction to the control module, and the pause button is used to send a motor pause button to the control module; the control module is also used to send the received motor start instruction, motor reset instruction and motor pause instruction to the first servo motor 201, the second servo motor 301 and the third servo motor 401, so that the first servo motor 201, the second servo motor 301 and the third servo motor 401 perform start, reset or pause actions.

[0045] Detection method and working principle: The present invention also provides a method for detecting welds of steel box girder bridge decks, comprising: Move the base platform 1 to above the weld to be inspected portion of the steel box girder bridge deck, and make the weld to be inspected portion of the steel box girder bridge deck be located at the center of the rectangular operating hole; use the visual positioning probe 6 to identify the weld to be inspected portion of the steel box girder bridge deck; according to the identification result of the weld to be inspected portion of the steel box girder bridge deck, control the horizontally opposed slide mechanism 2, the transverse slide mechanism 3 and the vertical slide mechanism 4 so that the drill tool 5 is located directly above the weld to be inspected portion of the steel box girder bridge deck, and start residual stress detection by the blind hole method.

[0046] Specifically, the detection process is as follows: First, the weld seam of the steel box girder bridge deck to be inspected is ground and polished; the strain gauge is pasted on the weld seam of the steel box girder bridge deck to be inspected, and roller pressed to ensure that the strain gauge is firmly adhered; after the strain gauge is firmly adhered, it is connected to the residual stress monitoring equipment using a wire.

[0047] Next, move the base platform 1 to the position above the weld to be inspected on the steel box girder bridge deck, and place the strain gauge at the center of the rectangular operating hole.

[0048] Afterwards, the residual stress monitoring device is cleared and the blind hole is prepared for drilling. It should be noted that before starting to drill the blind hole, a coordinate system is established; the coordinate system establishment process includes: taking the axis of the horizontal slide in the horizontal slide mechanism 3 as the X axis, the axis of the first longitudinal slide or the second longitudinal slide in the horizontally opposed slide mechanism 2 as the Y axis, and the axis of the vertical slide in the vertical slide mechanism 4 as the Z axis, to establish a three-dimensional rectangular coordinate system; wherein, the position of the first bevel gear or the second bevel gear in the horizontally opposed slide mechanism 2 is recorded as the zero point of the Y axis, that is, Y=0 at the position of the first bevel gear or the second bevel gear; the position of the third slide in the horizontal slide mechanism 3 at the center of the rectangular operating hole is recorded as the zero point of the X axis, that is, X=0 when the third slide is at the center of the rectangular operating hole, and the end close to the second servo motor is the negative direction of the X axis; the maximum value of the Z axis corresponds to the highest point position of the drill rig fixing seat in the vertical slide mechanism 4.

[0049] Then, the first servo motor, the second servo motor and the third servo motor are driven to operate, so that the first slide and the second slide are at the zero position of the Y axis, the third slide is at the zero position of the X axis and the drill rig fixed seat is at the maximum value of the Z axis. At this time, the field of view of the visual positioning probe 6 reaches the maximum; it should be noted that the state in which the first slide and the second slide are at the zero position of the Y axis, the third slide is at the zero position of the X axis and the drill rig fixed seat is at the maximum value of the Z axis is defined as a reset state; after the reset button sends the motor reset instruction to the control module, the control module will control the first servo motor, the second servo motor and the third servo motor to operate, so that the first slide and the second slide are at the zero position of the Y axis, the third slide is at the zero position of the X axis and the drill rig fixed seat is at the maximum value of the Z axis.

[0050] Afterwards, the visual positioning probe 6 is used to identify the weld portion to be detected of the steel box girder bridge deck, and the identification result of the weld portion to be detected of the steel box girder bridge deck is obtained; wherein, the identification result of the weld portion to be detected of the steel box girder bridge deck includes the coordinate data of the strain gauge.

[0051] Next, the control module is used to generate control instructions for the first servo motor, the second servo motor and the third servo motor based on the identification results of the weld to be inspected part of the steel box girder bridge deck, so as to drive the first servo motor, the second servo motor and the third servo motor to operate, so that the drill tool 5 is directly above the weld to be inspected part of the steel box girder bridge deck.

[0052] Finally, the blind hole is drilled using the drill tool 5 to perform residual stress detection using the blind hole method. When the blind hole is drilled using the drill tool 5, the position where the strain gauge reading increases significantly is determined as the drilling start position, and drilling is started from the drilling start position. The drilling process of the drill tool 5 is completed in four steps, with 1 / 4 of the hole depth drilled each time. Afterwards, the measured strain is recorded by the residual stress detection equipment, and the residual stress is finally calculated. When the blind hole is drilled using the drill tool 5, the position of the drill tool 5 is adjusted in real time using the first servo motor, the second servo motor, and the third servo motor.

[0053] The detection device for steel box girder bridge deck welds described in the present invention utilizes a visual positioning probe to identify the weld portions of the steel box girder bridge deck to be detected, and controls the horizontally opposed slide mechanism, the transverse slide mechanism, and the vertical slide mechanism according to the identification results of the weld portions of the steel box girder bridge deck to be detected, thereby realizing the centering operation of the drill tool and greatly simplifying the difficulty of the centering operation; secondly, during the drilling process, drilling is performed by controlling the servo motor, and the operation is streamlined, which greatly reduces the interference of external errors on the measurement results and is very convenient for subsequent error analysis; in addition, the design of the mobile trolley avoids the trouble of manually moving the device at different positions, and it can be pushed by moving the handle, which moves quickly and has flexible maneuverability on a larger range of steel bridge surfaces, thereby increasing measurement efficiency and liberating labor.

[0054] In the present invention, after placing the strain gauge at a preset position of the rectangular operating hole, the base platform and the steel box girder bridge deck are adsorbed and fixed by using an electromagnet, thereby ensuring the reliability and stability of the drilling process; the control module processes the identification results of the weld to-be-detected position of the steel box girder bridge deck transmitted from the visual positioning probe, obtains the relative coordinate position of the drill tool and the strain gauge and the height of the drill tool, and controls the first servo motor, the second servo motor and the third servo motor to complete the residual stress detection task of the blind hole method.

[0055] The above embodiment is only one of the implementation methods that can realize the technical solution of the present invention. The scope of protection claimed by the present invention is not limited only to this embodiment, but also includes changes, replacements and other implementation methods that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention.

Claims

1. A device for detecting welds of steel box girder bridge decks, characterized in that: It includes a base platform (1), a horizontally opposed slide mechanism (2), a transverse slide mechanism (3), a vertical slide mechanism (4), a drilling tool (5), a visual positioning probe (6), and a control module; A rectangular operating hole is provided at the center of the base platform (1); the horizontally opposed slide mechanism (2) is horizontally arranged on the upper surface of the base platform (1) and symmetrically arranged on the side of the rectangular operating hole; the horizontal slide mechanism (3) is horizontally arranged above the horizontally opposed slide mechanism (2); and the vertical slide mechanism (4) is arranged on the side of the horizontal slide mechanism (3); The drilling tool (5) and the visual positioning probe (6) are both installed on the side of the vertical slide mechanism (4), and the drilling direction of the drilling tool (5) is set vertically downward; the input end of the control module is connected to the output end of the visual positioning probe (6), and the output end of the control module is connected to the horizontally opposed slide mechanism (2), the horizontal slide mechanism (3) and the vertical slide mechanism (4).

2. The device for detecting welds of steel box girder bridge decks according to claim 1, characterized in that: The horizontally opposed slide mechanism (2) comprises a first servo motor (201), a first bevel gear (202), a transmission shaft (203), a second bevel gear (204), a first longitudinal slide (205), a first slide (206), a first screw rod (207), a second longitudinal slide (209), a second slide (210), and a second screw rod (211); The first slide (206) is slidably arranged above the first longitudinal slide (205), the first screw rod (207) is arranged in the first longitudinal slide (205), and the first slide (206) and the first screw rod (207) are connected by a thread; the second slide (210) is slidably arranged above the second longitudinal slide (209), the second screw rod (211) is arranged in the second longitudinal slide (209), and the second slide (210) and the second screw rod (211) are connected by a thread; The output end of the first servo motor (201) is connected to the input end of the first bevel gear (202), and the first bevel gear (202) and the second bevel gear (204) are connected via the transmission shaft (203); the first longitudinal slideway (205) and the second longitudinal slideway (209) are parallel to each other and are respectively arranged on both sides of the longitudinal side of the rectangular operating hole; The first umbrella-shaped gear (202) is used to drive the first screw (207) to rotate, and the second umbrella-shaped gear (204) is used to drive the second screw (211) to rotate; one end of the transverse slide mechanism (3) is connected to the first slide (206), and the other end of the transverse slide mechanism (3) is connected to the second slide (210).

3. The device for detecting welds of steel box girder bridge decks according to claim 1, characterized in that: The transverse slide mechanism (3) comprises a second servo motor (301), a transverse slideway (302), a third slide (303) and a third screw rod (304); The transverse slide (302) is horizontally arranged above the horizontally opposed slide mechanism (2), the third slide (303) is slidably arranged above the transverse slide (302), the third screw rod (304) is arranged in the transverse slide (302), and the third slide (303) and the third screw rod (304) are connected by a thread; the second servo motor (301) is installed at the end of the transverse slide (302) and is used to drive the third screw rod (304) to rotate.

4. The device for detecting welds of steel box girder bridge decks according to claim 1, characterized in that: The vertical slide mechanism (4) comprises a third servo motor (401), a vertical slideway (402), a drilling tool fixing seat (403) and a fourth screw rod (404); The vertical slideway (402) is vertically arranged on the side of the horizontal slide mechanism (3), the drilling tool fixing seat (402) is slidably arranged on the vertical slideway (402), the fourth screw rod (404) is arranged in the vertical slideway (402), and the drilling tool fixing seat (402) and the fourth screw rod (404) are connected by a thread; the third servo motor (401) is installed at the top of the vertical slideway (402) and is used to drive the fourth screw rod (404) to rotate; The drilling tool (5) is vertically fixed in the drilling tool fixing seat (403), and the visual positioning probe (6) is installed on the outer wall of the drilling tool fixing seat (403).

5. The device for detecting welds of steel box girder bridge decks according to claim 1, characterized in that: It also includes an electromagnetic adsorption device (7); the electromagnetic adsorption device (7) is arranged on the base platform (1) and is used to achieve adsorption or separation of the base platform (1) and the steel box girder bridge deck by electromagnetic adsorption.

6. The device for detecting welds of steel box girder bridge decks according to claim 5, characterized in that: The base platform (1) is provided with an electromagnet through hole, and the electromagnet through holes are symmetrically arranged at the front and rear ends of the rectangular operating hole; The electromagnetic adsorption device (7) comprises an electromagnet fixing bracket (701), a connecting spring (702) and an electromagnet (703); The electromagnet fixing bracket (701) is fixed above the base platform (1) and is arranged close to the electromagnet through hole; the electromagnet (703) is vertically slidably arranged in the electromagnet through hole, and the top end of the electromagnet (703) is connected to the electromagnet fixing bracket (701) via the connecting spring (702).

7. The device for detecting welds of steel box girder bridge decks according to claim 1, characterized in that: It also includes a strain gauge and a residual stress detection device; the strain gauge is pasted on the weld to be detected position of the steel box girder bridge deck, and the output end of the strain gauge is connected to the input end of the residual stress monitoring device.

8. The device for detecting welds of steel box girder bridge decks according to claim 1, characterized in that: It also includes a walking mechanism and a movable push handle (10); the walking mechanism is arranged below the bottom surface of the base platform (1), and the movable push handle (10) is installed on the side end of the base platform (1).

9. The device for detecting welds of steel box girder bridge decks according to claim 1, characterized in that: The output end of the control module is also connected to the control end of the drilling tool (5) for controlling the feed rate and drilling speed of the drilling tool (5).

10. A method for detecting welds of steel box girder bridge decks, characterized in that: Utilizing the detection device for steel box girder bridge deck welds according to any one of claims 1 to 9; Detection methods, including: The base platform (1) is moved to the upper portion of the weld seam of the steel box girder bridge deck to be inspected, and the weld seam of the steel box girder bridge deck to be inspected is located at the center of the rectangular operation hole; Using a visual positioning probe (6) to identify the weld to be inspected portion of the steel box girder bridge deck; According to the identification result of the weld seam to be detected portion of the steel box girder bridge deck, the horizontally opposed slide mechanism (2), the transverse slide mechanism (3) and the vertical slide mechanism (4) are controlled so that the drill tool (5) is located directly above the weld seam to be detected portion of the steel box girder bridge deck, and residual stress detection is started by the blind hole method.

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