Crack detection conveying trolley capable of flexibly adjusting motion trail and adjusting method of crack detection conveying trolley

Abstract

The invention relates to the technical field of conveying trolleys, in particular to a conveying trolley for crack detection and capable of flexibly adjusting a motion trail and an adjusting method thereof.The conveying trolley comprises a rail part, a conveying part and a control part, the rail part comprises a first rail and a second rail which are arranged in parallel, and the first rail and the second rail are connected and fixed through assembling supports at the two ends; a steel bridge fixing piece for fixing the whole track part on the surface of a steel bridge is arranged on the assembly bracket; the trolley part comprises a trolley main body, and a magnetic sliding seat and a driving wheel which are in sliding fit with the first track and the second track are arranged at the bottom of the trolley main body; a moving seat capable of moving in the direction perpendicular to the length direction of the track is arranged at the top of the trolley body, and a holder mounting frame is arranged on the moving seat; the second rail is provided with at least one additional seat which can slide along the length direction of the second rail and is fixed, and the additional seat is provided with a flexible adjusting rail structure; the flexible adjusting rail structure comprises an assembling pipe and unit seats arranged in the assembling pipe. The purposes of adjusting the motion trail and flexibly conveying the detector are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of conveying trolleys, in particular to a conveying trolley for crack detection with flexible adjustment of motion trajectory and an adjustment method thereof. Background Art

[0002] Over the long term, steel bridge decks are susceptible to fatigue cracking in stress-concentrated weld areas due to factors such as cyclic loading, environmental corrosion, and material fatigue. If these microscopic or macroscopic cracks are not promptly detected and addressed, they will gradually expand, ultimately jeopardizing the overall structural safety of the bridge. Therefore, regular and efficient crack detection of steel bridge deck welds is crucial for ensuring safe bridge operation.

[0003] Manual visual inspection is significantly affected by the subjective experience of the inspector, the on-site environment, and fatigue, resulting in low detection efficiency and a high risk of missed detections. In recent years, with the development of machine vision technology, image-based surface defect detection methods have gained widespread application in industrial inspection due to their non-contact, high efficiency, and high automation. Binocular stereo vision technology, in particular, mimics the parallax of the human eye to recover the three-dimensional topography of an object from a two-dimensional image, providing a new approach for quantitative crack measurement (such as width, depth, and orientation). However, the application of binocular vision systems in large, complex environments such as steel bridges still faces numerous challenges. First, the inspection device must stably move and precisely position itself on the complex, high-altitude, narrow surfaces of steel bridges, making it prone to slippage, drift, and insufficient stability. Furthermore, cracks in steel bridge welds are diverse in morphology, randomly distributed, and often exhibit non-linear characteristics. This requires the inspection device to be able to flexibly adjust the scanning trajectory. However, existing equipment often uses fixed paths or pre-programmed trajectories, making it difficult to adaptively track complex crack orientations. Furthermore, real-time crack tracking places high demands on the overall inspection equipment, increasing inspection costs. Summary of the Invention

[0004] The purpose of the present invention is to provide a conveyor trolley for crack detection with flexible adjustment of motion trajectory and an adjustment method thereof, so as to achieve the purpose of adjusting the motion trajectory and flexibly conveying the detector, so as to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a conveyor trolley for crack detection with flexible adjustment of motion trajectory, comprising: The track portion includes a first track and a second track arranged in parallel, the first track and the second track being connected and fixed by assembly brackets at both ends, and the assembly brackets are provided with steel bridge fixings for fixing the entire track portion to the surface of the steel bridge; The trolley part includes a trolley body, the bottom of which is provided with a magnetic slide and a driving wheel that slide with the first track and the second track; the top of the trolley body is provided with a movable seat that can move perpendicular to the length direction of the track, and the movable seat is provided with a pan / tilt mounting frame; The second track is provided with at least one additional seat which can slide and be fixed along the length direction thereof, and a flexible adjustment rail structure is installed on the additional seat; The flexible adjustment rail structure includes an assembly tube and unit seats arranged therein, wherein a unit rod is slidably installed in each unit seat, and the ends of the plurality of unit rods jointly form an adjustable continuous guide track; A side bracket is provided on one side of the moving seat that can be locked or separated from it, and a guide member is provided at the bottom of the side bracket that cooperates with the end of the unit rod; a shaping guide rail is provided inside the moving seat for driving the side bracket to move horizontally, and an electric control latch and cross pin locking structure are provided for controlling the locking state of the side bracket and the moving seat.

[0006] The driving wheel is connected to a reduction motor with a shift mechanism, and the driving wheel contacts the inner walls of the first track and the second track and is driven by the reduction motor.

[0007] Wherein, a screw-type fastener is provided on the additional seat, and the fastener is screwed to press it against the side surface of the second track, thereby realizing rapid fixation and release of the additional seat on the second track.

[0008] The additional seat is fixedly mounted with an end seat, and a slot is provided on the end seat; The end of the assembly tube is matched with the clamping groove to realize the rapid clamping installation of the assembly tube on the additional seat.

[0009] Among them, the two ends of the unit rod are equipped with ball heads, and the ball heads on multiple unit rods are closely arranged to form a continuous guide track; A positioning rod is vertically slidably installed in the unit seat. The upper end of the positioning rod is provided with a clamping piece that can contact the unit rod, and the lower end is provided with a lifting piece. By pushing the lifting piece, the clamping piece can be moved up and frictionally contacted with the unit rod, thereby realizing the individual locking and positioning of a single unit rod.

[0010] Among them, a jacking rod is inserted in the unit seat, and the jacking rod can be inserted into the cavity of all unit seats and act on all jacking parts at the same time to achieve unified and synchronous locking of all unit rods.

[0011] The guide member is rotatably mounted on the bottom bracket at the bottom of the side bracket. The guide member is provided with a vertical sliding plate. The width of the sliding plate is 2 to 2.5 times the diameter of the ball head at the end of the unit rod.

[0012] Among them, the shaping guide rail is a screw guide rail, which is connected to the control seat through a sliding frame, and the electric control pin is arranged in the control seat.

[0013] Among them, the cross pin locking structure includes a central seat fixed to the side wall of the moving seat and a lower clamping seat fixed to the main body of the trolley; The cross pin is vertically slidably installed in the center seat and supported by a spring; when the upper end of the cross pin is inserted into the limit slot of the side bracket, the side bracket and the moving seat are locked as one; when the lower end of the cross pin is inserted into the lower clamping seat, the moving seat and the trolley body are locked as one.

[0014] A method for adjusting a conveyor carriage for crack detection with flexible adjustment of motion trajectory comprises the following steps: Track installation: fixing the double track structure including the first track and the second track to the surface of the steel bridge deck through the assembly bracket and the steel bridge fixing parts; The flexible adjustment rail is arranged such that, according to the estimated crack path, at least one additional seat is slidably installed in the installation groove of the second rail and locked by fasteners, and an assembly tube and a flexible adjustment rail structure composed of a plurality of unit seats and unit rods are installed on the additional seat; Forward movement and trajectory shaping: The trolley body is started to move forward along the double tracks. When it moves to the flexible adjustment rail structure, the electric control latch is controlled to disengage the side bracket from the moving seat, and the side bracket is driven to move by the shaping guide rail. The guide member at the bottom pushes the end of each unit rod, so that the ends of multiple unit rods form a continuous guide track that matches the actual direction of the crack. Locking: After the guide track is shaped, the lifting parts in all unit seats are lifted uniformly by the lifting rod, so that the positioning rod moves up and all unit rods are locked by friction of the clamp; The connection status is switched and reverse detection is performed, and the electric control pin is controlled to be retracted, so that the cross pin moves upward under the action of the spring, and the side bracket and the moving seat are locked as one; the trolley body is driven to move in the opposite direction along the double track. At this time, the guide at the bottom of the side bracket moves along the locked guide track, thereby driving the moving seat and the visual inspection instrument to move along the preset non-linear track to complete the tracking detection.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention uses a dual-track, magnetic slide-based structure to provide the transport trolley with extremely high operational stability and load capacity, enabling it to tightly adhere to and smoothly operate on complex ferromagnetic surfaces such as steel bridge decks. This effectively overcomes slippage, deflection, and vibration interference, ensuring that the visual inspection instrument transported on it can perform inspections stably. 2. The flexible adjustable track structure, which combines additional seats and unit rods that can be arbitrarily arranged on the sides of the dual tracks, achieves precise physical reproduction and mechanical guidance of non-linear and irregular crack trajectories, solving the problem of a fixed path being unable to adaptively track complex cracks. 3. Through the rapid switching and locking mechanism of the side bracket linkage mechanism and the electronically controlled latch and cross pin, the trajectory learning and shaping phase is separated from the precise detection execution phase. During forward movement, a wide-angle lens is used for panoramic scanning and drives the flexible rail to form. During reverse movement, the trajectory is locked and a telecentric lens is used for high-precision 3D measurement. This not only ensures a high degree of consistency between the detection path and the actual crack morphology, but also significantly reduces the system's reliance on complex real-time algorithms and computing power. The overall mechanical guidance and adjustment solution greatly improves the reliability and adaptability of the detection system, making it suitable for outdoor conditions with variable lighting and harsh working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 Schematic diagram of the dual-track structure of the present invention.

[0018] Figure 3 This is a schematic diagram of the installation of the flexible adjustment rail of the present invention.

[0019] Figure 4 Schematic diagram of the additional seat structure of the present invention.

[0020] Figure 5 Schematic diagram of the flexible adjustment rail structure of the present invention.

[0021] Figure 6 Schematic diagram of the assembly tube structure of the present invention.

[0022] Figure 7 Schematic diagram of the unit seat structure of the present invention.

[0023] Figure 8 Schematic diagram of the positioning rod structure of the present invention.

[0024] Figure 9 It is a three-dimensional schematic diagram of the main structure of the trolley of the present invention.

[0025] Figure 10 It is a side view of the main structure of the trolley of the present invention.

[0026] Figure 11 Schematic diagram of the side bracket structure of the present invention.

[0027] Figure 12 It is a schematic diagram of the base support and guide member structure of the present invention.

[0028] Figure 13 Schematic diagram of the shaping guide rail structure of the present invention.

[0029] Figure 14 Schematic diagram of the cross pin installation structure of the present invention.

[0030] In the figure: 1. Trolley body; 2. Moving seat; 3. Pan / tilt mounting frame; 4. First track; 5. Second track; 6. Assembly bracket; 7. Steel bridge fixing piece; 8. Magnetic slide; 9. Driving wheel; 10. Mounting slot; 11. Additional seat; 12. Fastener; 13. End seat; 14. Card slot; 15. Assembly tube; 16. Through slot; 17. Unit seat; 18. Unit rod; 19. Ball head; 20. Positioning rod; 21. Card piece; 22. Lifting piece; 23. Lifting rod; 24. Limit seat; 25. Shaping guide rail; 26. Sliding frame; 27. Control seat; 28. Electric control pin; 29. ​​Side bracket; 30. Limit slot; 31. Bottom support; 32. Guide piece; 33. Center seat; 34. Cross pin; 35. Spring; 36. Lower card seat. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] See also Figures 1 to 14 The present invention provides a technical solution: a conveyor trolley for crack detection with a flexible adjustable motion trajectory. The conveyor trolley is composed of a trolley part and a track part. It can realize the track transportation of visual inspection instruments and complete the effective detection of fatigue cracks in steel bridge deck welds.

[0033] like Figure 1 As shown, the trolley part mainly includes a trolley body 1. A moving seat 2 is movably installed on the top of the trolley body 1 by means of a linear guide rail. A pan-tilt mounting frame 3 is assembled on the moving seat 2 by means of a bolt assembly. The pan-tilt mounting frame 3 is used to install the pan-tilt and binocular vision detector. When necessary, the moving seat 2 can perform real-time linear movement to adjust the left and right position of the binocular vision detector during the forward and backward movement of the trolley body 1, thereby realizing the trajectory transportation of the detector.

[0034] like Figure 2 As shown, the track part mainly adopts a double-track structure, which is composed of a straight first track 4 and a second track 5. The first track 4 and the second track 5 are arranged in parallel, and the two can be assembled together using assembly brackets 6 at both ends; two sleeve grooves are provided on the assembly bracket 6, which are movably connected to the double-track structure using the sleeve grooves. The use length of the first track 4 and the second track 5 can be controlled by moving the assembly bracket 6. A bolt assembly is also provided on the assembly bracket 6 to be fixedly connected to the first track 4 and the second track 5.

[0035] like Figure 2 As shown, further, a steel bridge fixing part 7 is welded and installed on the assembly bracket 6, and the steel bridge fixing part 7 can be fixed on the steel bridge by means of bolt positioning, so that the first track 4 and the second track 5 can be stably attached to the surface of the steel bridge deck for use.

[0036] like Figure 9 、 Figure 10 As shown, a magnetic slide 8 is installed at the bottom of the trolley body 1 by screws. The magnetic slide 8 consists of a smooth shell and an embedded magnet. When the first track 4 and the second track 5 are made of ferromagnetic material, the magnetic slide 8 can slide along the first track 4 and the second track 5 while ensuring fit, thereby ensuring the stability of the trolley body 1. At the same time, driving wheels 9 are symmetrically installed on both sides of the bottom of the trolley body 1. The driving wheels 9 are connected to the inner wall of the double-track structure. The driving wheels 9 are driven by a reduction motor with a shifting mechanism in the trolley body 1, so that the trolley body 1 can move forward and backward along the direction of the first track 4 and the second track 5 while being supported by the magnetic slide 8.

[0037] like Figure 2-Figure 4 As shown, considering that the cracks on the steel bridge deck do not develop along a straight line, when the detector is moved in a straight line by the trolley body 1, inaccurate visual detection may occur. As an embodiment of the present invention, a mounting groove 10 is opened in the middle of the second rail 5, and the mounting groove 10 is set through one side of the second rail 5. The additional seat 11 can be slid into the second rail 5 from this side. The additional seat 11 adopts a horizontal structure, and a flexible adjustment rail structure can be further installed thereon, so that when the trolley body 1 moves to this position, the trajectory is guided by the flexible adjustment rail structure, so that the movable seat 2 thereon can be adjusted left and right to drive the detector to perform visual detection on the crack.

[0038] like Figure 4-Figure 6 As shown, the additional seat 11 is provided with a screw-type fastener 12. The fastener 12 is connected to the side of the second rail 5 to generate resistance for quickly fixing the additional seat 11. Therefore, multiple additional seats 11 can be installed as needed, and the position of the additional seat 11 can be adjusted arbitrarily. The additional seat 11 is mounted on the end seat 13 by welding. The end seat 13 has a linear structure and is provided with a slot 14. The slot 14 enables the rapid assembly and connection of the assembly tube 15. The top of the assembly tube 15 is provided with a straight slot 16, which is connected to the tube cavity of the assembly tube 15.

[0039] like Figure 6-Figure 8As shown, the assembly tube 15 is used as the installation base of the flexible adjustment rail, and the flexible adjustment rail is composed of multiple unit seats 17 arranged side by side. According to the direction and length of the non-linear crack, assembly tubes 15 of different lengths can be selected, so that different numbers of unit seats 17 can be installed therein.

[0040] like Figure 7 As shown, the unit seat 17 is an integrally formed ring and straight rod combination structure, and a horizontal slide groove is provided on the top of the unit seat 17, through which a unit rod 18 is movably installed, and ball heads 19 are mounted at both ends of the unit rod 18. When a plurality of unit rods 18 are closely arranged and combined for use, the ball heads 19 at both ends can form a guide track, and since the unit rod 18 can slide left and right, each unit rod 18 can be pushed as needed to form a flexible adjustment rail structure with controllable track, thereby guiding the movable seat 2 to further move left and right as the trolley body 1 moves back and forth.

[0041] like Figure 5-Figure 8 As shown, a positioning rod 20 is vertically inserted into the unit seat 17, the upper end of the top rod enters the slide groove, and the bottom end enters the circular ring of the unit seat 17, and the upper end is bonded with a clamping member 21, and the bottom end is bonded with a lifting member 22. The lifting member 22 usually adopts a spherical structure. The lifting member 22 can drive the positioning rod 20 and the clamping member 21 to move upward, so that the clamping member 21 is in close contact with the unit rod 18 in the slide groove, and the positioning of the adjusted unit rod 18 is performed by the generated friction force.

[0042] like Figure 5 、 Figure 6 As shown, after all the unit rods 18 are adjusted to their corresponding positions to form a complete flexible track, the lifting rods 23 are inserted into the circular structures of all the unit seats 17. The lifting rods 23 usually adopt cylindrical rods, which are in contact with the spherical lifting parts 22 and can push all the lifting parts 22 upward, thereby completing the fixation of all the unit rods 18 at the same time, ensuring that the flexible track has a stable guiding effect. Furthermore, the end of the lifting rod 23 is welded and fixed with a limiting seat 24, and a pin is provided on the limiting seat 24. The pin is connected to the end of the assembly tube 15, so that the lifting rod 23 can be fixed to ensure its stable lifting effect.

[0043] like Figure 9 As shown, in order to adjust the trajectory of the flexible adjustment rail structure and subsequently make the movable seat 2 move left and right along the trajectory, a pushing mechanism integrating pre-adjustment and guiding functions is provided on the trolley body 1.

[0044] like Figures 9-12As shown, as an embodiment of the present invention, the pushing structure includes a side bracket 29 slidably mounted on the side of the moving seat 2 close to the second rail 5. The side bracket 29 adopts an L-shaped structure, including a horizontal rod and a vertical rod. The horizontal rod is limitedly connected to the guide groove on the side of the moving seat 2, and a limiting groove 30 is provided on the horizontal rod, and a bottom bracket 31 is welded and fixed to the bottom end of the vertical rod. Two guide members 32 are rotatably installed below the base. The guide members 32 are installed in the axial groove of the bottom bracket 31 through a rotating shaft. The two guide members 32 are symmetrically arranged, and a vertical flat-plate sliding plate is provided on the guide member 32. The sliding plate can be slidably connected to the ball head 19 of the unit rod 18. The two guide members 32 are respectively located at the two ends of the unit rod 18 and move. Therefore, when the side bracket 29 is in a state controlled by the moving seat 2 and the unit rod 18 is in a movable state, the bottom bracket 31 can control the trajectory of the flexible adjustment rail. When the side bracket 29 is in a state fixed to the moving seat 2 and the unit rod 18 is in a fixed state, the bottom bracket 31 can move along the formed trajectory of the flexible adjustment rail.

[0045] The width of the sliding plate of the guide member 32 is usually set to twice the diameter of the ball head 19 to prevent the sliding plate from being stuck between the two ball heads 19.

[0046] like Figure 13 、 Figure 14 As shown, further, a linear drive structure of a side bracket 29 is installed in the moving seat 2, and a locking structure of the side bracket 29 is installed on the side wall of the moving seat 2. The linear drive structure includes a shaping guide rail 25 horizontally installed in the cavity of the moving seat 2. The shaping guide rail 25 can adopt a screw guide rail. A sliding frame 26 is driven and installed on the shaping guide rail 25. The end of the sliding frame 26 is installed with a control seat 27 by a screw. An electric control pin 28 is provided in the control seat 27, which can adopt an electromagnetically driven pop-up pin structure. When the trajectory of the flexible adjustment rail needs to be shaped, the electric control pin 28 is popped out and inserted into the limit slot 30 of the side bracket 29, and then the side bracket 29 is connected to the sliding frame 26. The side bracket 29 can be driven to move left and right through the shaping guide rail 25. When the trolley body 1 moves forward and backward along the double-track structure to the flexible adjustment rail structure, the bottom support 31 moves forward and backward and left and right at the same time to guide the flexible adjustment rail structure to form the required trajectory shape. Finally, the unit rod 18 is fixed to form a stable guide trajectory.

[0047] like Figure 13 、 Figure 14As shown, the locking structure includes a center seat 33 installed on the side wall of the mobile seat 2 by screws. The center seat 33 is below the horizontal rod of the side bracket 29, and when the side bracket 29 is in the initial position, the limit slot 30 is directly above the center seat 33. A cross pin 34 is installed in the center seat 33 for vertical sliding. The cross pin 34 provides elastic force through springs 35 connected on both sides, which can be maintained in the middle of the center seat 33, and the upper and lower ends of the cross pin 34 can pass through the center seat 33. At the same time, a lower card seat 36 is installed on the side wall of the trolley body 1 by screw fixing. The lower card seat 36 is fixed with screws. 6 is located just below the center seat 33. When the cross pin 34 is in the middle position of the center seat 33, the lower end of the cross pin 34 does not enter the lower seat 36, and the upper end of the cross pin 34 enters the limit slot 30. In this state, the side bracket 29 and the movable seat 2 remain integrated, so the movable seat 2 is controlled to move left and right by the side bracket 29. When the two guide members 32 of the base 31 move along the track of the flexible adjustment rail structure, the movable seat 2 can be moved according to the set track, and then the visual inspection instrument thereon can be used to shoot according to the set track to avoid missing non-linear cracks.

[0048] like Figures 9-14 As shown, if it is necessary to control the side bracket 29 through the shaping guide rail 25, and then control the shaping of the flexible adjustment rail structure, the electric control pin 28 extends from the control seat 27 and is inserted into the limit groove 30 of the side bracket 29, which can squeeze out the cross pin 34 therein, so that the side bracket 29 and the moving seat 2 are in a non-integrated state. On the contrary, the cross pin 34 moves downward, and its lower end can be inserted into the lower card seat 36, so that the moving seat 2 and the trolley body 1 are kept in an integrated state, so that the moving seat 2 will not deviate left and right, and the shaping guide rail 25 therein can push the side bracket 29 to move left and right, and shape the trajectory of the flexible adjustment rail. Finally, after the trajectory is determined by the lifting rod 23, the trolley body 1 can move in the opposite direction. In this process, the moving seat 2 moves according to the set trajectory and is detected accordingly by the detector.

[0049] It should be noted that the detection process is divided into two processes: forward movement and reverse movement. The forward movement is mainly for shaping the flexible adjustment rail structure, while the reverse movement is the final shooting and detection process.

[0050] The binocular vision inspection instrument used in conjunction with the conveying trolley of the present invention has a monocular lens with a wide-angle lens and a telecentric lens, which can respectively perform panoramic capture and fine measurement. In addition, the binocular structure can use the binocular parallax principle to obtain the complete coordinate information of the target object, thereby realizing the three-dimensional model reconstruction of the target object.

[0051] like Figures 1-14As shown, the shaping guide rail 25 of the present invention is controlled based on the detector. First, a preliminary manual observation is carried out. In places where the crack deviation is more serious, the additional seat 11 and the flexible adjustment rail are installed. When the trolley body 1 drives the detector to move forward, it uses a wide-angle lens for covering capture, and according to the distance of the captured crack position, the shaping guide rail 25 drives the side bracket 29 to move, and the bottom bracket 31 is used to shape the trajectory of the flexible adjustment rail in the non-linear crack section. Then the trolley body 1 is moved in the opposite direction. At this time, the flexible adjustment rail is fixed, and the side bracket 29 is integrated with the moving seat 2, which can drive the moving seat 2 to move according to the set trajectory, and use the telecentric lens for targeted shooting.

[0052] By setting up a flexible adjustment rail, the work of the visual inspection instrument carried on the conveyor trolley is divided into two steps. The trajectory adjustment calculation and the visual inspection calculation are performed separately, so as to achieve the effect of utilizing the mechanical structure of the conveyor trolley to reduce the computing power requirements of the detector and ensure the accuracy of visual inspection.

[0053] like Figures 1-14As shown, when the present invention is in use: first, the double-track structure equipped with the first track 4 and the second track 5 is installed and fixed on the surface of the steel bridge deck to be inspected through the assembly bracket 6 and the steel bridge fixing member 7 to ensure that the track is stably fitted; according to preliminary observations or historical data, in the non-linear area where cracks may appear, the additional seat 11 is slid into the installation groove 10 of the second track 5 and locked by the fastener 12, and at the same time, the assembly tube 15 and the flexible adjustment rail structure composed of multiple unit seats 17 and unit rods 18 are installed on the additional seat 11; the trolley body 1 is started, and the driving wheel 9 at the bottom thereof moves forward along the double track under the drive of the reduction motor, while the magnetic slide 8 provides adsorption stability, and the pan-tilt mounting frame 3 on the moving seat 2 is equipped with a binocular vision detector, and its wide-angle lens captures panoramic images to preliminarily locate the crack area; when the trolley reaches the flexible adjustment rail, the electric control pin 28 on the side of the moving seat 2 pops out and inserts into the limit slot 30 of the side bracket 29, so that the side bracket 29 is disengaged from the moving seat 2 and drives the side bracket 29 through the shaping guide rail 25 The bracket 29 drives the bottom support 31 and the guide member 32 to move, and the guide member 32 pushes the ball head 19 of the unit rod 18 to shape the flexible trajectory point by point according to the actual direction of the crack; after the trajectory shaping is completed, the lifting rod 23 is inserted into the ring of all unit seats 17, and the lifting member 22 and the positioning rod 20 are lifted uniformly, and all unit rods 18 are locked by friction through the clamping member 21 to form a stable guide trajectory; then the electric control pin 28 is retracted, and the cross pin 34 moves upward under the action of the spring 35 to insert into the limit slot 30 of the side bracket 29 and make the lower end Disengage from the lower holder 36, so that the side bracket 29 and the movable seat 2 are restored to be connected as one, and at the same time, the lower end of the cross pin 34 is separated from the lower holder 36 to ensure that the movable seat 2 can move freely left and right; then the trolley body 1 moves in the opposite direction, and at this time the guide member 32 moves along the solidified flexible track, driving the side bracket 29 and the movable seat 2 to move left and right according to the preset non-linear track, so that the telecentric lens on the binocular vision detector can accurately track the direction of the crack for high-definition shooting and three-dimensional measurement, and finally complete the accurate visual detection of cracks in the steel bridge deck.

[0054] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A conveyor trolley for crack detection with flexible motion trajectory adjustment, characterized by: include: The track portion includes a first track and a second track arranged in parallel, the first track and the second track being connected and fixed by assembly brackets at both ends, and the assembly brackets are provided with steel bridge fixings for fixing the entire track portion to the surface of the steel bridge; The trolley part includes a trolley body, the bottom of which is provided with a magnetic slide and a driving wheel that slide with the first track and the second track; the top of the trolley body is provided with a movable seat that can move perpendicular to the length direction of the track, and the movable seat is provided with a pan / tilt mounting frame; The second track is provided with at least one additional seat which can slide and be fixed along the length direction thereof, and a flexible adjustment rail structure is installed on the additional seat; The flexible adjustment rail structure includes an assembly tube and unit seats arranged therein, wherein a unit rod is slidably installed in each unit seat, and the ends of the plurality of unit rods jointly form an adjustable continuous guide track; A side bracket is provided on one side of the moving seat that can be locked or separated from it, and a guide member is provided at the bottom of the side bracket that cooperates with the end of the unit rod; a shaping guide rail is provided inside the moving seat for driving the side bracket to move horizontally, and an electric control latch and cross pin locking structure are provided for controlling the locking state of the side bracket and the moving seat.

2. The crack detection conveyor with flexible motion trajectory adjustment according to claim 1, characterized in that: The driving wheel is connected to a reduction motor with a shift mechanism. The driving wheel contacts the inner walls of the first track and the second track and is driven by the reduction motor.

3. The crack detection conveyor with flexible motion trajectory adjustment according to claim 1, characterized in that: The additional seat is provided with a screw-type fastener, which is tightened to press the fastener against the side of the second track, thereby achieving rapid fixation and release of the additional seat on the second track.

4. The crack detection conveyor with flexible motion trajectory adjustment according to claim 3, characterized in that: An end seat is fixedly mounted on the additional seat, and a slot is provided on the end seat; The end of the assembly tube is matched with the clamping groove to realize the rapid clamping installation of the assembly tube on the additional seat.

5. The crack detection conveyor with flexible motion trajectory adjustment according to claim 1, characterized in that: Both ends of the unit rod are provided with ball heads, and the ball heads on the multiple unit rods are closely arranged to form the continuous guide track; A positioning rod is vertically slidably installed in the unit seat, the upper end of the positioning rod is provided with a clamping piece that can contact the unit rod, and the lower end is provided with a lifting piece; by pushing the lifting piece, the clamping piece can be moved up and frictionally contact the unit rod, thereby realizing the individual locking and positioning of a single unit rod.

6. The crack detection conveyor with flexible trajectory adjustment according to claim 5, characterized in that: A jacking rod is inserted into the unit seat, and the jacking rod can be inserted into the cavity of all the unit seats and act on all the jacking members at the same time, so as to realize the unified and synchronous locking of all the unit rods.

7. The crack detection conveyor with flexible motion trajectory adjustment according to claim 1, characterized in that: The guide member is rotatably mounted on the bottom bracket of the side bracket. The guide member is provided with a vertical sliding plate. The width of the sliding plate is 2 to 2.5 times the diameter of the ball head at the end of the unit rod.

8. The crack detection conveyor with flexible trajectory adjustment according to claim 1, characterized in that: The shaping guide rail is a screw guide rail, which is connected to the control seat through a sliding frame, and the electric control pin is arranged in the control seat.

9. The crack detection conveyor with flexible motion trajectory adjustment according to claim 1, characterized in that: The cross pin locking structure includes a center seat fixed to the side wall of the moving seat and a lower clamping seat fixed to the main body of the trolley; The cross pin is vertically slidably installed in the center seat and supported by a spring; when the upper end of the cross pin is inserted into the limiting groove of the side bracket, the side bracket and the moving seat are locked as one; when the lower end of the cross pin is inserted into the lower clamping seat, the moving seat and the trolley body are locked as one.

10. A method for adjusting a conveyor carriage for crack detection with flexible adjustment of motion trajectory according to any one of claims 1 to 9, characterized in that: The following steps are involved: Track installation: fixing the double track structure including the first track and the second track to the surface of the steel bridge deck through the assembly bracket and the steel bridge fixing parts; The flexible adjustment rail is arranged such that, according to the estimated crack path, at least one additional seat is slidably installed in the installation groove of the second rail and locked by fasteners, and an assembly tube and a flexible adjustment rail structure composed of a plurality of unit seats and unit rods are installed on the additional seat; Forward movement and trajectory shaping: The trolley body is started to move forward along the double tracks. When it moves to the flexible adjustment rail structure, the electric control latch is controlled to disengage the side bracket from the moving seat, and the side bracket is driven to move by the shaping guide rail. The guide member at the bottom pushes the end of each unit rod, so that the ends of multiple unit rods form a continuous guide track that matches the actual direction of the crack. Locking: After the guide track is shaped, the lifting parts in all unit seats are lifted uniformly by the lifting rod, so that the positioning rod moves up and all unit rods are locked by friction of the clamp; The connection status is switched and reversed, and the electric control pin is controlled to be retracted, so that the cross pin moves upward under the action of the spring, locking the side bracket and the movable seat into one; The main body of the trolley is driven to move in the opposite direction along the double tracks. At this time, the guide at the bottom of the side bracket moves along the locked guide track, thereby driving the moving seat and the visual inspection instrument to move along the preset non-linear track to complete the tracking inspection.

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