A flexible adjustment motion trajectory crack detection conveying trolley and an adjustment method thereof

Abstract

The present application relates to the technical field of conveying trolley, in particular to a flexible adjustment motion track conveying trolley for crack detection and an adjustment method thereof, comprising: a track part, comprising a first track and a second track arranged in parallel, the first track and the second track are connected and fixed through assembling supports at both ends, and the assembling supports are provided with steel bridge fixing members for fixing the whole track part on the surface of a steel bridge; a trolley part, comprising a trolley main body, the bottom of the trolley main body is provided with a magnetic slide seat and a driving wheel in sliding fit with the first track and the second track; the top of the trolley main body is provided with a moving seat capable of moving perpendicularly to the length direction of the track, and the moving seat is provided with a holder mounting rack; the second track is provided with at least one additional seat capable of sliding along the length direction and fixed, and the additional seat is provided with a flexible adjustment track structure; the flexible adjustment track structure comprises an assembling pipe and unit seats arranged in the assembling pipe; the purpose of adjusting the motion track and flexibly conveying the detector is achieved.

Description

Technical Field

[0001] This invention relates to the field of conveyor technology, specifically to a conveyor for crack detection with flexible adjustable motion trajectory and its adjustment method. Background Technology

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

[0003] Manual visual inspection is heavily influenced by the subjective experience of inspectors, the on-site environment, and fatigue levels, resulting in low efficiency and a high risk of missed defects. In recent years, with the development of machine vision technology, image-based surface defect detection methods have been widely used in industrial inspection due to their non-contact, high efficiency, and high automation characteristics. In particular, binocular stereo vision technology, by simulating the parallax principle of the human eye, can recover the three-dimensional shape information of a target object from a two-dimensional image, providing a new technical approach for the quantitative measurement of cracks (such as width, depth, and orientation). However, applying binocular vision systems to large and complex environments such as steel bridges still faces many challenges. First, the inspection device needs to move stably and be precisely positioned on the complex surface of a high-altitude, narrow steel bridge, which is prone to slippage, deviation, or insufficient stability. More importantly, the weld cracks in steel bridges have diverse morphologies, random distribution, and often exhibit non-linear characteristics, requiring the inspection device to have the ability to flexibly adjust the scanning trajectory. However, existing equipment mostly uses fixed paths or pre-programmed trajectories, making it difficult to adaptively track the complex crack orientation. Real-time crack tracking places excessively high demands on the overall inspection equipment, increasing inspection costs. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible adjustable motion trajectory conveying trolley for crack detection and its adjustment method, so as to achieve the purpose of adjustable motion trajectory and flexible conveying of the detector, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a conveying trolley for crack detection with flexible adjustable motion trajectory, comprising:

[0006] The track section includes a first track and a second track arranged in parallel. The first track and the second track are connected and fixed by mounting brackets at both ends. The mounting brackets are provided with steel bridge fasteners for fixing the entire track section to the surface of the steel bridge.

[0007] The trolley part includes the trolley body, the bottom of the trolley body is provided with a magnetic slide and drive 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 of the track, and the movable seat is provided with a gimbal mounting bracket.

[0008] The second track is provided with at least one additional seat that can slide and be fixed along its length, and the additional seat is equipped with a flexible adjustment rail structure.

[0009] The flexible adjustable rail structure includes an assembly tube and unit seats arranged therein. Each unit seat has a unit rod slidably installed in it, and the ends of multiple unit rods together form an adjustable continuous guide track.

[0010] The movable base has a side bracket that can be locked or detached from it on one side, and a guide member that cooperates with the end of the unit rod at the bottom of the side bracket; the movable base has a plastic guide rail for driving the side bracket to move laterally, and an electrically controlled pin and cross pin locking structure for controlling the locking state of the side bracket and the movable base.

[0011] The drive wheel is connected to a geared motor with a shifting mechanism. The drive wheel contacts the inner walls of the first and second tracks and is driven by the geared motor.

[0012] The auxiliary seat is equipped with a screw-type fastener. By tightening the fastener, it is pressed against the side of the second track, so as to achieve quick fixing and release of the auxiliary seat on the second track.

[0013] The auxiliary seat is fixedly installed with an end seat, and the end seat has a slot.

[0014] The end of the assembly tube is adapted to the slot to enable quick snap-fit ​​installation of the assembly tube on the attachment seat.

[0015] Among them, ball heads are fitted at both ends of the unit rod, and the ball heads on multiple unit rods are closely arranged to form a continuous guide trajectory;

[0016] A positioning rod is vertically slidably installed in the unit base. The upper end of the positioning rod is provided with a locking device that can contact the unit rod, and the lower end is provided with a lifting device. By pushing the lifting device, the locking device can be moved upward and make frictional contact with the unit rod, so as to realize the individual locking and positioning of a single unit rod.

[0017] Among them, a lifting rod is inserted into the unit seat. The lifting rod can be inserted into the cavity of all unit seats and act on all lifting components at the same time, so as to achieve unified and synchronous locking of all unit rods.

[0018] The guide is rotatably mounted on the bottom support of the side bracket. The guide is equipped with a vertical sliding plate, the width of which is 2 to 2.5 times the diameter of the ball head at the end of the unit rod.

[0019] The shaping guide rail is a lead screw guide rail, which is connected to the control base through a sliding frame, and the electric control pin is located inside the control base.

[0020] The cross-pin locking structure includes a central seat fixed to the side wall of the movable seat and a lower locking seat fixed to the main body of the trolley.

[0021] 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 movable seat are locked together; when the lower end of the cross pin is inserted into the lower card seat, the movable seat and the trolley body are locked together.

[0022] A method for adjusting a conveyor trolley for crack detection with flexible adjustment of its motion trajectory includes the following steps:

[0023] Track installation involves fixing the dual-track structure, including the first and second tracks, to the surface of the steel bridge deck using assembly brackets and steel bridge fasteners.

[0024] The flexible adjustment rail arrangement involves sliding at least one additional seat into the mounting groove of the second rail and locking it with fasteners, based on the crack prediction path. An assembly tube and a flexible adjustment rail structure consisting of multiple unit seats and unit rods are installed on the additional seat.

[0025] Forward movement and trajectory shaping: The main body of the trolley is started to move forward along the double track. When it moves to the flexible adjustment rail structure, the control of the electric control pin is activated to disengage the side support from the moving seat. The side support is then driven to move through the shaping guide rail. The guide at its bottom pushes the ends of each unit rod, so that the ends of multiple unit rods form a continuous guide trajectory that matches the actual direction of the crack.

[0026] Locking: After the guide trajectory is shaped, the lifting components in all unit seats are lifted by the lifting rod, so that the positioning rod moves up and the clamps lock all unit rods by friction.

[0027] The connection status is switched and reverse detection is performed. The control of the electric control pin is retracted, and the cross pin moves upward under the action of the spring, locking the side bracket and the moving seat into one piece. The main body of the trolley is driven to move in the opposite direction along the double track. At this time, the guide part at the bottom of the side bracket moves along the locked guide track, thereby driving the moving seat and the vision inspection instrument to move along the preset non-linear track to complete the tracking detection.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. This invention provides the conveying trolley with extremely high operational stability and load capacity by adopting a basic structure that combines a double track with a magnetic slide, enabling it to tightly adhere to and run smoothly on complex ferromagnetic surfaces such as steel bridge decks, effectively overcoming slippage, offset and vibration interference, and ensuring that the visual inspection instrument conveyed on it can perform inspections stably.

[0030] 2. Through the flexible adjustment rail structure combining additional seats and unit rods that can be arbitrarily arranged on the side of the dual track, the accurate physical reproduction and mechanical guidance of non-linear and irregular crack trajectories are realized, solving the problem that fixed paths cannot adaptively track complex cracks.

[0031] 3. By using a side support linkage mechanism and a rapid switching and locking mechanism with an electrically controlled pin and a cross pin, the trajectory learning and shaping stage is separated from the precise detection and execution stage. During forward movement, a wide-angle lens is used to perform a panoramic scan and drive the flexible track to form. During reverse movement, the trajectory is locked and a telecentric lens is used to perform high-precision three-dimensional measurement. This ensures a high degree of consistency between the detection path and the actual crack morphology, while significantly reducing the system's dependence on complex real-time algorithms and computing power. The overall mechanical guidance and adjustment scheme greatly improves the reliability and adaptability of the detection system, making it suitable for outdoor variable lighting and harsh working conditions. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0033] Figure 2 This is a schematic diagram of the dual-track structure of the present invention.

[0034] Figure 3 This is a schematic diagram of the installation of the flexible adjustment rail of the present invention.

[0035] Figure 4 This is a schematic diagram of the additional support structure of the present invention.

[0036] Figure 5 This is a schematic diagram of the flexible adjustment rail structure of the present invention.

[0037] Figure 6 This is a schematic diagram of the assembled tube structure of the present invention.

[0038] Figure 7 This is a schematic diagram of the unit seat structure of the present invention.

[0039] Figure 8 This is a schematic diagram of the positioning rod structure of the present invention.

[0040] Figure 9 This is a three-dimensional schematic diagram of the main structure of the vehicle of the present invention.

[0041] Figure 10 This is a side view of the main structure of the vehicle of the present invention.

[0042] Figure 11 This is a schematic diagram of the side support structure of the present invention.

[0043] Figure 12 This is a schematic diagram of the base and guide structure of the present invention.

[0044] Figure 13 This is a schematic diagram of the shaping guide rail structure of the present invention.

[0045] Figure 14 This is a schematic diagram of the cross-pin mounting structure of the present invention.

[0046] In the diagram: 1. Cart body; 2. Movable seat; 3. Gimbal mounting frame; 4. First track; 5. Second track; 6. Assembly bracket; 7. Steel bridge fixing component; 8. Magnetic slide; 9. Drive wheel; 10. Mounting slot; 11. Additional seat; 12. Fastener; 13. End seat; 14. Slot; 15. Assembly tube; 16. Straight through slot; 17. Unit seat; 18. Unit rod; 19. Ball head; 20. Positioning rod; 21. Clamping component; 22. Lifting component; 23. Lifting rod; 24. Limiting seat; 25. Shaping guide rail; 26. Sliding frame; 27. Control seat; 28. Electrical control pin; 29. ​​Side bracket; 30. Limiting slot; 31. Base support; 32. Guide component; 33. Center seat; 34. Cross pin; 35. Spring; 36. Lower clamping seat. Detailed Implementation

[0047] The present invention will now be further described with reference to 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 understood that the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0048] Please see Figures 1 to 14 The present invention provides a technical solution: a conveying trolley for crack detection with flexible adjustment of motion trajectory. The conveying trolley is composed of two parts: a trolley part and a track part. It can realize the trajectory transportation of visual inspection instruments and complete the effective detection of fatigue cracks in the weld seams of steel bridge decks.

[0049] like Figure 1 As shown, the trolley mainly includes the trolley body 1. A movable seat 2 is movably mounted on the top of the trolley body 1 via a linear guide rail. A gimbal mounting frame 3 is assembled on the movable seat 2 using bolt assemblies. The gimbal mounting frame 3 is used to install the gimbal and the binocular vision inspection device. When needed, the movable seat 2 can move linearly in real time to adjust the left and right position of the binocular vision inspection device during the forward and backward movement of the trolley body 1, thereby realizing the trajectory transportation of the inspection device.

[0050] like Figure 2As shown, the track section mainly adopts a double track structure, consisting 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 can be assembled using the assembly brackets 6 at both ends. The assembly bracket 6 is provided with two socket grooves, which are movably connected to the double track structure. The length of the first track 4 and the second track 5 can be controlled by moving the assembly bracket 6. The assembly bracket 6 is also provided with bolt assemblies that can be fixedly connected to the first track 4 and the second track 5.

[0051] like Figure 2 As shown, a steel bridge fixing component 7 is further welded and installed on the assembly bracket 6. The steel bridge fixing component 7 can be fixed on the steel bridge by bolt positioning, thereby stably attaching the first track 4 and the second track 5 to the surface of the steel bridge panel for use.

[0052] like Figure 9 , Figure 10 As shown, a magnetic slide 8 is installed at the bottom of the car body 1 by screws. It consists of a smooth outer shell and an embedded magnet. With the first track 4 and the second track 5 made of ferromagnetic material, the magnetic slide 8 can slide along the first track 4 and the second track 5 while ensuring a close fit, thus ensuring the stability of the car body 1. At the same time, drive wheels 9 are symmetrically installed on both sides of the bottom of the car body 1. The drive wheels 9 are connected to the inner wall of the double track structure. The drive wheels 9 are driven by a reduction motor with a shifting mechanism in the car body 1, so that the car body 1 can move back and forth along the first track 4 and the second track 5 while supported by the magnetic slide 8.

[0053] like Figures 2-4 As shown, considering that the cracks on the steel bridge deck do not develop in a straight line, the visual inspection may be inaccurate when the trolley body 1 drives the detector to move in a straight line. As an embodiment of the present invention, an installation groove 10 is provided in the middle of the second track 5. The installation groove 10 is set through one side of the second track 5. From this side, the auxiliary seat 11 can be slidably inserted into the second track 5. The auxiliary seat 11 adopts a horizontal structure, on which a flexible adjustment rail structure can be further installed. So that when the trolley body 1 moves to this position, the trajectory is guided by the flexible adjustment rail structure, so that the moving seat 2 on it can be adjusted and moved left and right, driving the detector to visually inspect the crack.

[0054] like Figures 4-6As shown, the auxiliary seat 11 is equipped with a screw-type fastener 12. The fastener 12 connects to the side of the second track 5, generating resistance to quickly fix the auxiliary seat 11. This allows for the installation of multiple auxiliary seats 11 as needed, and the position of each auxiliary seat 11 can be adjusted arbitrarily. An end seat 13 is welded onto the auxiliary seat 11. The end seat 13 has a straight structure and a slot 14, which allows for the quick assembly and snapping of the assembly tube 15. A straight groove 16 is provided at the top of the assembly tube 15, communicating with the cavity of the assembly tube 15.

[0055] like Figures 6-8 As shown, the assembly tube 15 serves as the mounting base for the flexible adjustment rail. The flexible adjustment rail is composed of multiple unit seats 17 arranged side by side. Depending on the direction and length of the non-linear crack, different lengths of assembly tubes 15 can be selected, thereby installing different numbers of unit seats 17 within them.

[0056] like Figure 7 As shown, the unit seat 17 is an integrally formed combination structure of a ring and a straight rod. The top of the unit seat 17 has a horizontal groove, through which the unit rod 18 is movably installed. Ball heads 19 are fitted at both ends of the unit rod 18. When multiple unit rods 18 are arranged and used in close combination, the ball heads 19 at both ends can form a guide track. Since the unit rod 18 can slide left and right, each unit rod 18 can be pushed as needed to form a flexible adjustable track structure with controllable trajectory. This guides the moving seat 2 to move left and right as it moves back and forth with the main body 1 of the trolley.

[0057] like Figures 5-8 As shown, a positioning rod 20 is vertically slidably inserted into the unit seat 17. The upper end of the rod enters the groove, and the lower end enters the ring of the unit seat 17. A clip 21 is attached to the upper end, and a lifting member 22 is attached to the lower end. The lifting member 22 is usually spherical. The lifting member 22 can drive the positioning rod 20 and the clip 21 to move upward, so that the clip 21 is in close contact with the unit rod 18 in the groove. The unit rod 18 is positioned after adjustment by the friction generated.

[0058] like Figure 5 , Figure 6As shown, after all the unit rods 18 are adjusted to their corresponding positions to form a complete flexible track, lifting rods 23 are inserted into the annular structures of all unit seats 17. The lifting rods 23 are usually cylindrical rods, which contact the spherical lifting components 22 and can push all the lifting components 22 upward, thereby simultaneously fixing all the unit rods 18 and ensuring that the flexible track has a stable guiding effect. Furthermore, the ends of the lifting rods 23 are welded and fixed with limit seats 24. The limit seats 24 are provided with pins, which are connected to the ends of the assembly tubes 15 to fix the lifting rods 23 and ensure their stable lifting effect.

[0059] like Figure 9 As shown, in order to adjust the trajectory of the flexible adjustment track structure and subsequently make the moving seat 2 move left and right along the trajectory, a push mechanism integrating pre-adjustment and guidance functions is provided on the main body 1 of the trolley.

[0060] like Figures 9-12 As shown in the embodiment of the present invention, the pushing structure includes a side bracket 29 slidably mounted on the side of the movable seat 2 near the second track 5. The side bracket 29 adopts an L-shaped structure and includes a horizontal rod and a vertical rod. The horizontal rod is limited and connected in the guide groove on the side of the movable seat 2, and a limit groove 30 is provided on the horizontal rod. The bottom end of the vertical rod is welded and fixed to a base 31. Two guide members 32 are rotatably mounted below the base. The guide members 32 are mounted in the shaft groove of the base 31 through a rotating shaft. The two guide members 32 are symmetrically arranged, and a vertical flat 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 can move. Thus, when the side bracket 29 is in the state controlled by the movable seat 2 and the unit rod 18 is in the movable state, the base 31 can be flexibly adjusted to control the trajectory of the track. When the side bracket 29 is fixed to the movable seat 2 and the unit rod 18 is fixed, the base 31 can move along the forming trajectory of the flexible adjustment track.

[0061] The width of the sliding plate of the guide 32 is usually set to twice the diameter of the ball head 19 to prevent the sliding plate from getting stuck between the two ball heads 19.

[0062] like Figure 13 , Figure 14As shown, the movable seat 2 is further equipped with a linear drive structure for the side bracket 29, and a locking structure for the side bracket 29 is installed on the side wall of the movable seat 2. The linear drive structure includes a shaping guide rail 25 horizontally installed in the cavity of the movable seat 2. The shaping guide rail 25 can be a lead screw guide rail. A sliding frame 26 is driven and installed on the shaping guide rail 25. A control seat 27 is installed at the end of the sliding frame 26 by screws. An electric control pin 28 is provided in the control seat 27. It can be an electromagnetically driven pop-out pin structure. When it is necessary to shape the trajectory of the flexible adjustment rail, the electric control pin 28 is popped out and inserted into the limiting groove 30 of the side bracket 29, thereby connecting the side bracket 29 and the sliding frame 26 together. The shaping guide rail 25 can drive the side bracket 29 to move left and right. When the trolley body 1 moves back and forth along the double track structure to the flexible adjustment rail structure, the bottom support 31 moves back and forth 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.

[0063] like Figure 13 , Figure 14 As shown, the locking structure includes a center seat 33 mounted on the side wall of the movable seat 2 by screws. The center seat 33 is located below the horizontal bar of the side bracket 29, and when the side bracket 29 is in its initial position, the limiting groove 30 is directly above the center seat 33. A cross pin 34 is vertically slidably mounted in the center seat 33. The cross pin 34 is provided with elastic force by springs 35 connected on both sides, which can keep it in the middle of the center seat 33. The upper and lower ends of the cross pin 34 can pass through the center seat 33. At the same time, a lower locking seat 36 is fixed to the side wall of the trolley body 1 by screws. 6 is located directly 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 limiting groove 30. In this state, the side bracket 29 and the movable seat 2 are integrated. Therefore, the movable seat 2 can be moved left and right by controlling the side bracket 29. When the two guide members 32 of the base 31 move along the trajectory of the flexible adjustment rail structure, the movable seat 2 can move according to the set trajectory, thereby enabling the vision inspection instrument on it to take pictures according to the set trajectory, avoiding missing non-straight cracks.

[0064] like Figures 9-14As shown, when the side support 29 needs to be controlled via the shaping guide rail 25 to control the forming of the flexible adjustment rail structure, the electrically controlled pin 28 extends from the control seat 27 and inserts into the limiting groove 30 of the side support 29, squeezing out the cross pin 34, so that the side support 29 and the moving seat 2 are not integrated. Conversely, the cross pin 34 moves down, and its lower end can be inserted into the lower clamp 36, keeping the moving seat 2 and the trolley body 1 in an integrated state, so that the moving seat 2 will not shift left or right. The shaping guide rail 25 can push the side support 29 to move left and right to 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. During this process, the moving seat 2 moves according to the set trajectory, and the corresponding detection is performed by the detector.

[0065] It should be noted that the detection process is divided into two stages: forward movement and reverse movement. Forward movement mainly involves shaping the flexible adjustment track structure, while reverse movement is the final imaging and detection process.

[0066] As the binocular vision inspection device used in conjunction with the conveying trolley of this invention, each of its single eyes has a wide-angle lens and a telecentric lens, which can respectively perform panoramic capture and fine measurement. Furthermore, the binocular structure can utilize the principle of binocular parallax to obtain complete coordinate information of the target object, thereby realizing the reconstruction of the three-dimensional model of the target object.

[0067] like Figures 1-14 As shown, the shaping guide rail 25 of this invention is controlled by a detector. First, a preliminary manual observation is performed. In areas where the crack deviation is significant, the additional seat 11 and the flexible adjustment rail are installed. When the trolley body 1 moves the detector forward, a wide-angle lens captures the crack comprehensively. Based on the distance of the captured crack location, the shaping guide rail 25 moves the side support 29. In non-straight crack sections, the base support 31 shapes the trajectory of the flexible adjustment rail. Then, the trolley body 1 moves in the reverse direction. At this time, the flexible adjustment rail is fixed, and the side support 29 is integrated with the moving seat 2, enabling the moving seat 2 to move along a set trajectory. A telecentric lens is used for targeted imaging.

[0068] By setting up a flexible adjustment rail, the operation of the vision inspection instrument mounted on the conveyor trolley is divided into two steps: trajectory adjustment calculation and vision inspection calculation are performed separately. This achieves the effect of reducing the computing power requirement of the inspection instrument by utilizing the mechanical structure of the conveyor trolley, thus ensuring the accuracy of vision inspection.

[0069] like Figures 1-14As shown, in use, the present invention is as follows: 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 panel to be inspected through the assembly bracket 6 and the steel bridge fixing component 7 to ensure stable fit of the track; based on preliminary observation or historical data, in the non-linear area where cracks may appear, the additional seat 11 is slidably inserted into the mounting groove 10 of the second track 5 and locked by the fastener 12. 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 its bottom drive wheel 9 moves along the double track in the positive direction under the drive of the reduction motor. At the same time, the magnetic slide 8 provides adsorption stability. The gimbal mounting frame 3 on the moving seat 2 is equipped with a binocular vision inspection instrument, and its wide-angle lens captures panoramic images to initially 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 limiting groove 30 of the side bracket 29, so that the side bracket 29 is separated from the moving seat 2 and driven by the shaping guide rail 25. The bracket 29 drives the base 31 and guide 32 to move. The guide 32 pushes the ball head 19 of the unit rod 18, shaping a flexible trajectory point by point according to the actual crack direction. After the trajectory is shaped, the lifting rod 23 is inserted into the rings of all unit seats 17 to lift the lifting member 22 and the positioning rod 20 in unison. All unit rods 18 are locked by friction through the clamp 21 to form a stable guide trajectory. Then the electrically controlled pin 28 is retracted, and the cross pin 34 moves upward under the action of the spring 35 and inserts into the limiting groove 30 of the side bracket 29, and the lower end... The lower bracket 36 is disengaged, restoring the side support 29 and the movable seat 2 to a single integrated connection. At the same time, the lower end of the cross pin 34 disengages from the lower bracket 36, ensuring that the movable seat 2 can move freely left and right. Then, the trolley body 1 moves in the opposite direction. At this time, the guide component 32 moves along the solidified flexible trajectory, driving the side support 29 and the movable seat 2 to move left and right along a preset non-linear trajectory. This allows the telecentric lens on the binocular vision inspection instrument to accurately track the crack direction for high-definition imaging and three-dimensional measurement, ultimately completing the precise visual inspection of the crack in the steel bridge deck.

[0070] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A conveying trolley for crack detection with flexible adjustable motion trajectory, characterized in that: include: The track section includes a first track and a second track arranged in parallel. The first track and the second track are connected and fixed by mounting brackets at both ends. The mounting brackets are provided with steel bridge fasteners for fixing the entire track section to the surface of the steel bridge. The trolley part includes the trolley body, the bottom of the trolley body is provided with a magnetic slide and drive 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 of the track, and the movable seat is provided with a gimbal mounting bracket. The second track is provided with at least one additional seat that can slide and be fixed along its length, and the additional seat is equipped with a flexible adjustment rail structure. The flexible adjustable rail structure includes an assembly tube and unit seats arranged therein. Each unit seat has a unit rod slidably installed in it, and the ends of multiple unit rods together form an adjustable continuous guide track. The movable base has a side bracket that can be locked or detached from it on one side, and a guide member that cooperates with the end of the unit rod at the bottom of the side bracket; the movable base has a plastic guide rail for driving the side bracket to move laterally, and an electrically controlled pin and cross pin locking structure for controlling the locking state of the side bracket and the movable base.

2. The conveying trolley for crack detection with flexible adjustable motion trajectory according to claim 1, characterized in that: The drive wheel is connected to a geared motor with a shifting mechanism. The drive wheel contacts the inner walls of the first and second tracks and is driven by the geared motor.

3. The conveying trolley for crack detection with flexible adjustable motion trajectory according to claim 1, characterized in that: The attachment seat is equipped with a screw-type fastener. By tightening the fastener, it is pressed against the side of the second track, thereby achieving quick fixing and release of the attachment seat on the second track.

4. The conveying trolley for crack detection with flexible adjustable motion trajectory according to claim 3, characterized in that: An end seat is fixedly installed on the additional seat, and a slot is provided on the end seat; The end of the assembly tube is adapted to the slot to enable quick snap-fit ​​installation of the assembly tube on the attachment seat.

5. The conveying trolley for crack detection with flexible adjustable motion trajectory according to claim 1, characterized in that: Ball heads are fitted at both ends of the unit rod, and the ball heads on multiple unit rods are closely arranged to form the continuous guide trajectory. A positioning rod is vertically slidably installed in the unit base. The upper end of the positioning rod is provided with a locking component that can contact the unit rod, and the lower end is provided with a lifting component. By pushing the lifting component, the locking component can be moved upward and rubbed into contact with the unit rod, thereby realizing the individual locking and positioning of a single unit rod.

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

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

8. The conveying trolley for crack detection with flexible adjustable motion trajectory according to claim 1, characterized in that: The shaping guide rail is a lead screw guide rail, which is connected to the control base through a sliding frame, and the electronically controlled pin is located inside the control base.

9. A conveying trolley for crack detection with flexible adjustable motion trajectory according to claim 1, characterized in that: The cross-pin locking structure includes a central seat fixed to the side wall of the movable seat and a lower locking 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 movable seat are locked together; when the lower end of the cross pin is inserted into the lower card seat, the movable seat and the trolley body are locked together.

10. A method for adjusting a conveyor trolley for crack detection with flexible adjustable motion trajectory according to any one of claims 1-9, characterized in that: Includes the following steps: Track installation involves fixing the dual-track structure, including the first and second tracks, to the surface of the steel bridge deck using assembly brackets and steel bridge fasteners. The flexible adjustment rail arrangement involves sliding at least one additional seat into the mounting groove of the second rail and locking it with fasteners, based on the crack prediction path. An assembly tube and a flexible adjustment rail structure consisting of multiple unit seats and unit rods are installed on the additional seat. Forward movement and trajectory shaping: The main body of the trolley is started to move forward along the double track. When it moves to the flexible adjustment rail structure, the control of the electric control pin is activated to disengage the side support from the moving seat. The side support is then driven to move through the shaping guide rail. The guide at its bottom pushes the ends of each unit rod, so that the ends of multiple unit rods form a continuous guide trajectory that matches the actual direction of the crack. Locking: After the guide trajectory is shaped, the lifting components in all unit seats are lifted by the lifting rod, so that the positioning rod moves up and the clamps lock all unit rods by friction. The connection status switching and reverse detection control the retraction of the electric control pin, causing the cross pin to move upward under the action of the spring, locking the side bracket and the movable seat into one piece; The main body of the trolley moves in opposite directions along the double tracks. At this time, the guide component at the bottom of the side support moves along the locked guide trajectory, thereby driving the moving seat and vision inspection instrument to move along a preset non-linear trajectory to complete the tracking inspection.

Images