Camera position adjusting manipulator for steel bridge crack detection and operation method thereof

Abstract

The invention discloses a steel bridge crack detection camera position adjusting manipulator and an operation method thereof, and relates to the technical field of steel bridge quality detection.The steel bridge crack detection camera position adjusting manipulator comprises a detection camera, a mounting box, a horizontal rod and an extension frame, and a vertical motor is fixedly arranged at the bottom of an inner cavity of the extension frame. The cleaning composite assembly can blow dust to the crack before the detection camera shoots the crack, the problems that dust is accumulated near the crack, crack details are likely to be shielded, image definition and recognition accuracy are affected, and crack missing detection or misjudgment is caused are solved, the cleaning composite assembly has certain particularity, and when dust blowing work is carried out, the cleaning composite assembly can be used for cleaning the crack. The cleaning composite assembly can forcibly shield and protect the detection camera, blown dust, chippings or corrosion particles can be prevented from being in direct contact with and polluting the lens, the subsequent image definition is prevented from being affected, in addition, the shielding protection has the automatic synchronization characteristic, and additional operation is not needed.

Description

Technical Field

[0001] This invention relates to the field of steel bridge quality inspection technology, and in particular to a camera position adjustment robot for steel bridge crack detection and its operation method. Background Technology

[0002] During long-term use, steel bridges are susceptible to structural fatigue, weld aging, and microcracks at stress concentration points due to repeated vehicle loads, thermal expansion and contraction caused by temperature changes, and weathering corrosion. If these cracks are not detected and addressed in time, they may gradually expand, potentially jeopardizing the entire bridge's structural safety. Traditional manual inspection suffers from low efficiency, high risk, and a significant risk of missed detections. Therefore, introducing robotic arms equipped with cameras for photographic inspection has become an efficient and safe solution. The robotic arms possess flexible movement capabilities, allowing them to reach areas of the bridge structure that are difficult to access. Combined with high-definition cameras, this enables remote and automated crack identification, significantly improving inspection accuracy and efficiency, and ensuring the safe operation of steel bridges.

[0003] In existing technologies, when robotic arms equipped with cameras are used to detect cracks in steel bridges, dust accumulation near the cracks can obscure the details of the cracks, affecting image clarity and recognition accuracy. This can lead to missed or misjudged cracks. Furthermore, since cracks in steel bridges are generally small, after the camera has captured images of a batch of cracks, maintenance workers cannot quickly locate the cracks with the naked eye. This results in a lengthy manual crack location process, delaying the inspection and repair of the cracks. Summary of the Invention

[0004] The purpose of this invention is to address the problems in existing technologies where robotic arms equipped with cameras are used for crack detection on steel bridges. These problems arise because dust accumulates near cracks, obscuring crack details and affecting image clarity and accuracy, leading to missed or misjudged cracks. Furthermore, steel bridge cracks are generally small, and after the camera captures images of a batch of cracks, maintenance workers cannot quickly locate the cracks visually, resulting in a time-consuming manual location process that delays inspection and repair. The invention proposes a robotic arm for adjusting the camera position for steel bridge crack detection, along with its operating method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm for adjusting the position of a camera in steel bridge crack detection includes a detection camera, a mounting box, a horizontal bar, and an extension frame. A vertical motor is fixedly installed at the bottom of the inner cavity of the extension frame, and a top plate is fixedly installed at the top of the extension frame. The top plate is bolted to the end of the six-axis robotic arm actuator. A horizontal bar is fixedly installed at the output end of the vertical motor. A detection camera is fixedly installed at one end of the horizontal bar, and a mounting box is fixedly installed at the other end of the horizontal bar. A cleaning composite component is installed on the top of the detection camera to pre-blow dust from the steel bridge cracks while preventing dirt from getting on the camera lens. The cleaning composite component includes a lens cover, an air blowing pipe, and a protective motor. An outer top cover is fixedly installed on the top of the mounting box, and a switching motor is fixedly installed on the bottom of the mounting box. After the output end of the switching motor extends into the interior of the mounting box, a marking box is fixedly installed. The marking box is equipped with marking components that apply different markings according to the type of crack. The marking components include a paint spray can, a paint spray vertical pipe, a horizontal pipe, and a flexible mask. The horizontal pipe is equipped with a safety sealing component to prevent accidental spraying due to the incorrect installation of the soft cover on the marking box. The top of the mounting box is fixedly equipped with an outer top cover, which is equipped with an interlocking sealing component to place the crack marking work inside a sealed environment.

[0006] Optionally, a top block is fixedly installed on the top of the detection camera, an air supply pipe is fixedly connected to the side of the top block, a protection motor is fixedly installed on the side of the top block, an air blowing pipe is fixedly installed at the output end of the protection motor, a lens cover is fixedly installed at the outer end of the air blowing pipe, the lens cover is attached to the head of the detection camera, and an air blowing hole is provided on the outer wall of the air blowing pipe near the output end of the protection motor, the air blowing hole is located inside the top block.

[0007] Optionally, the interlocking sealing assembly includes a folded seat, an external spring, a horizontal plug, and a sealing cover. One end of the sealing cover is fixedly provided with an extension cylinder, and the other end of the sealing cover is sleeved on the outer wall of the mounting box. A horizontal plug is fixedly provided at the top of one end of the sealing cover. One end of the horizontal plug passes through the paint spraying pipe and is fixedly connected to one end of the external spring. A horizontal plug hole is provided at the top of the horizontal plug. The other end of the external spring is fixedly connected to the side of the folded seat, and the folded seat is fixedly connected to the top of the outer top cover.

[0008] Optionally, the top end of the spray nozzle is fixedly connected to the top of the outer cover, a horizontal U-tube is fixedly installed at the bottom of the spray nozzle, a horizontal tube is fixedly installed at the other end of the horizontal U-tube, a spray nozzle is fixedly installed at the other end of the horizontal tube, a flexible shield is symmetrically and movably inserted into the inner wall of the marking box, and a bottom support rod is fixedly installed at the bottom of the flexible shield in the inner cavity of the marking box.

[0009] Optionally, the safety sealing assembly includes a force-applying half-plate, a vertical column, and a mounting block. A top horizontal plate is fixedly installed at the bottom of the horizontal pipe, and a mounting block is fixedly installed on the outer wall of the vertical column. The top of the mounting block is fixedly connected to one end of a vertical spring, and the other end of the vertical spring is fixedly connected to the bottom of the top horizontal plate. The top of the vertical column extends into the interior of the horizontal pipe.

[0010] Optionally, the vertical column has an AC hole with the same diameter as the horizontal pipe on its side, a force-applying half-disc is fixedly installed at the bottom of the vertical column, the top cross-sectional shape of the flexible shield is horizontal T-shaped, a force-applying block is fixedly installed at the bottom of the inner wall of the flexible shield, and one end of the force-applying block is connected to the top of the force-applying half-disc.

[0011] Optionally, an inner top cover is fixedly provided on the top of the marking box, the top end of the paint spraying pipe protrudes from the inner top cover, and symmetrical receiving grooves are provided on the top of the inner top cover.

[0012] Optionally, a release groove is provided on one side of the receiving groove, a side groove is provided on the side of the inner top cover, and a top groove is provided on the top of the side groove of the inner top cover.

[0013] Optionally, an extension column is movably inserted into the side of the side groove, and a transverse column is fixedly installed inside the top groove of the extension column, with a release cap fixedly installed at the other end of the extension column.

[0014] The procedure for detecting cracks in steel bridges includes the following steps: S1, Pre-dust blowing of steel bridge cracks: Cleaning composite components blow dust near the cracks in the steel bridge, and detection cameras take pictures of the cracks in the steel bridge for classification. S2, steel bridge crack marking: The detection camera controls the soft shields at different positions inside the marking box to move to the side of the paint spray gun according to the type of crack. The paint spray gun forms different shapes of marks on the side of the steel bridge through the soft shields.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The present invention includes a cleaning composite component in the head of the detection camera. Before the detection camera captures an image of the crack, the cleaning composite component blows away dust from the crack area, preventing dust accumulation near the crack from obscuring crack details, affecting image clarity and recognition accuracy, and causing problems such as missed or misjudged cracks. The cleaning composite component also has certain special features. When blowing away dust, the cleaning composite component will forcibly shield and protect the detection camera, preventing the blown dust, debris, or corrosive particles from directly contacting and contaminating the lens, thus avoiding affecting the clarity of subsequent images. In addition, this shielding protection has an automatic synchronization feature and does not require additional operation.

[0016] 2. This invention features a marking component on the other side of the detection camera. This component sprays a mark near the crack when the camera captures its image, allowing workers to quickly locate the crack visually. The marking component automatically sprays a conspicuous mark near the crack. This structure enables simultaneous detection and marking, avoiding omissions and secondary positioning, significantly improving maintenance efficiency. Workers can then directly identify the sprayed location visually, quickly finding the crack area for assessment and repair, reducing manual search time and improving the accuracy and convenience of maintenance work. Furthermore, the marking component includes two soft shields with different marking shapes on their sides. After the detection camera photographs and classifies the crack, the marking component can spray different types of marks according to the crack type, enabling workers to quickly determine the nature and severity of the crack and formulate corresponding repair plans during subsequent maintenance. The different marking shapes are clearly distinguishable, improving the intuitiveness of on-site management and the accuracy of maintenance decisions, enhancing the scientific and efficient nature of crack treatment.

[0017] 3. The marking box of the present invention has flexible shields that can be movably inserted on both sides. Two safety sealing components are provided on the horizontal pipe. The safety sealing components prevent the marking components from being accidentally sprayed on cracks and forming huge marks due to the absence of one or even two flexible shields in the installation box, which would affect crack identification and subsequent maintenance judgment. The safety sealing components improve the stability and safety of the system, ensure that marking is only performed in the complete configuration, and improve the reliability of on-site operation and the accuracy of marking detection.

[0018] 4. The present invention has an additional interlocking sealing component on the top of the mounting box. The interlocking sealing component places the crack marking work in a sealed environment, so that the marking component can perform the paint marking action on the crack. This structure can effectively prevent paint splashing, odor leakage or environmental pollution during the painting process, ensuring site cleanliness and personnel safety. At the same time, the sealed space can stabilize the spray airflow, improve the marking accuracy, avoid the marking being blurred or offset due to external wind or dust interference, and also improve the safety of operation. Attached Figure Description

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

[0020] Figure 2 for Figure 1 Another perspective structural diagram.

[0021] Figure 3 This is a schematic diagram of the structure of the cleaning composite component.

[0022] Figure 4 This is a structural diagram of the mounting box and its connecting parts.

[0023] Figure 5 This is a structural diagram of the sealing cover and its connecting parts.

[0024] Figure 6 This is a top sectional view of the mounting box.

[0025] Figure 7 This is a partial structural diagram of the marking box.

[0026] Figure 8 for Figure 7 A magnified schematic diagram of the structure at point A.

[0027] Figure 9 This is a schematic diagram of the top cross-sectional structure of the marking box.

[0028] Figure 10 This is a schematic diagram of a half-section of the marking box.

[0029] Figure 11 This is a schematic diagram of the structure of a safety sealing component.

[0030] Figure 12 This is a schematic diagram of the inner top cover.

[0031] In the diagram: 1. Detection camera; 2. Horizontal bar; 3. Mounting box; 301. Outer top cover; 302. Folding seat; 4. Top plate; 5. Extension frame; 6. Vertical motor; 7. Protective motor; 8. Air pipe; 81. Air hole; 9. Lens cap; 10. Top block; 11. Air supply pipe; 12. Horizontal groove; 13. External spring; 14. Horizontal plug; 141. Horizontal plug hole; 15. Sealing cover; 151. Extension tube; 16. Marking box; 161. Inner top cover; 161 0. Release slot; 162. Clearance slot; 163. Switching motor; 164. Bottom support rod; 17. Release cover; 18. Lateral column; 19. Extension column; 20. Top slot; 21. Side slot; 22. Receiving slot; 23. Soft shield; 231. Force application block; 24. Spray painting vertical pipe; 25. Horizontal U-tube; 26. Horizontal pipe; 27. Spray painting canister; 28. Top horizontal plate; 29. ​​Vertical spring; 30. Mounting block; 31. AC port; 32. Vertical column; 33. Force application half plate. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0033] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Reference Figure 1-12 The camera position adjustment robot for steel bridge crack detection and its operation method include a detection camera 1, a mounting box 3, a horizontal bar 2, and an extension frame 5. A vertical motor 6 is fixed to the bottom of the inner cavity of the extension frame 5 with bolts. A top plate 4 is integrally formed on the top of the extension frame 5. The top plate 4 is fixed to the end of the six-axis robot actuator with bolts. The six-axis robot is a common six-axis robot in the existing technology.

[0035] Therefore, mounting holes are provided at the four corners of the top plate 4. A horizontal rod 2 is fixedly installed at the output end of the vertical motor 6. A detection camera 1 is fixedly installed at one end of the horizontal rod 2 with screws. A mounting box 3 is integrally formed at the other end of the horizontal rod 2. A cleaning composite component is provided on the top of the detection camera 1 to pre-blow dust from the cracks in the steel bridge and prevent the lens of the detection camera 1 from getting dirty. The cleaning composite component includes a lens cover 9, an air blowing pipe 8, and a protective motor 7.

[0036] The top of the detection camera 1 is integrally formed with a top block 10. An air supply pipe 11 is welded to the side of the top block 10. A protection motor 7 is fixed to the side of the top block 10 with bolts. An air blowing pipe 8 is welded to the output end of the protection motor 7. A lens cover 9 is integrally formed at the end of the outer wall of the air blowing pipe 8. The lens cover 9 is attached to the head of the detection camera 1. An air blowing hole 81 is provided on the outer wall of the air blowing pipe 8 near the output end of the protection motor 7. The air blowing hole 81 is located inside the top block 10.

[0037] The top of the mounting box 3 is bolted with an outer top cover 301. The housing of the switching motor 163 is fixedly mounted at the bottom of the mounting box 3 with bolts. After the output end of the switching motor 163 extends into the mounting box 3, a marking box 16 is fixedly mounted. The marking box 16 is equipped with marking components that apply different markings according to the type of crack. The marking components include a paint spray can 27, a paint spray vertical pipe 24, a horizontal pipe 26, and a soft mask 23.

[0038] A safety sealing component is provided on the horizontal pipe 26 to prevent accidental spraying caused by the incorrect installation of the soft cover 23 on the marking box 16. An outer top cover 301 is fixedly installed on the top of the mounting box 3. The outer top cover 301 is provided with an interlocking sealing component that places the crack marking work inside the sealed environment. The interlocking sealing component includes a folded seat 302, an external spring 13, a horizontal plug 14, and a sealing cover 15. An extension tube 151 is integrally formed at one end of the sealing cover 15. The diameter of the extension tube 151 is much smaller than the diameter of the sealing cover 15. The other end of the sealing cover 15 is fitted onto the outer wall of the mounting box 3. A horizontal plug 14 is integrally formed at the top of one end of the sealing cover 15.

[0039] One end of the horizontal blocking column 14 passes through the paint spraying vertical pipe 24 and is fixedly connected to one end of the external spring 13. A horizontal blocking hole 141 is opened at the top of the horizontal blocking column 14. The other end of the external spring 13 is welded to the side of the folding seat 302. The folding seat 302 is fixedly connected to the top of the outer top cover 301 by bolts. The extension tube 151 is made of rubber. When the extension tube 151 is not subjected to external force, the external spring 13 is in its original length state, and the horizontal blocking hole 141 is outside the paint spraying vertical pipe 24. At this time, the paint spraying vertical pipe 24 is isolated, and the painting equipment connected to the paint spraying vertical pipe 24 cannot spray paint.

[0040] The top of the spray nozzle 24 is fixedly connected to the top of the outer top cover 301. The bottom of the spray nozzle 24 is integrally formed with a horizontal U-tube 25. The other end of the horizontal U-tube 25 is integrally formed with a horizontal tube 26. The other end of the horizontal tube 26 is integrally formed with a spray nozzle 27. A flexible shield 23 is symmetrically inserted into the inner wall of the marking box 16. A bottom support rod 164 is integrally formed at the bottom of the flexible shield 23 in the inner cavity of the marking box 16. An avoidance groove 162 is provided on the side wall of the marking box 16 at the insertion position of the flexible shield 23. There is a gap between the bottom of the bottom support rod 164 and the bottom of the inner cavity of the marking box 16. There are two flexible shields 23. The two flexible shields 23 have marking grooves with different marking shapes on their sides. The top of the outer top cover 301 is also symmetrically provided with a horizontal groove 12. The width of the horizontal groove 12 is the same as the width of the release groove 1610, which makes it easy for the user to pull the flexible shield 23 out of the marking box 16.

[0041] The safety sealing assembly includes a force-applying half-disc 33, a vertical column 32, and a mounting block 30. A top horizontal plate 28 is welded to the bottom of the horizontal pipe 26. A mounting block 30 is welded to the outer wall of the vertical column 32. The top of the mounting block 30 is fixedly connected to one end of a vertical spring 29, and the other end of the vertical spring 29 is fixedly connected to the bottom of the top horizontal plate 28. The top of the vertical column 32 extends into the interior of the horizontal pipe 26. An exchange hole 31 with the same diameter as the horizontal pipe 26 is opened on the side of the vertical column 32. A force-applying half-disc 33 is welded to the bottom of the vertical column 32. The top cross-sectional shape of the flexible shield 23 is horizontal T-shaped. A force-applying block 231 is welded to the bottom of the inner wall of the flexible shield 23. One end of the force-applying block 231 overlaps the top of the force-applying half-disc 33. When any force-applying half-disc 33 is not subjected to downward pressure, the vertical spring 29 is in its original length state. The exchange hole 31 on the side wall of the vertical column 32 is above the horizontal pipe 26, and the horizontal pipe 26 is blocked by the vertical column 32.

[0042] An inner top cover 161 is fixedly installed on the top of the marking box 16. The top end of the spray nozzle 24 extends out from the inner top cover 161. A receiving groove 22 is symmetrically opened on the top of the inner top cover 161. A release groove 1610 is opened on one side of the receiving groove 22. A side groove 21 is opened on the side of the inner top cover 161. A top groove 20 is opened on the top of the side groove 21. An extension column 19 is movably inserted into the side of the side groove 21. A transverse column 18 is fixedly installed inside the top groove 20 of the extension column 19. A release cover 17 is fixedly installed at the other end of the extension column 19. The user can move the release cover 17 transversely along the receiving groove 22. At this time, the release groove 1610 is no longer obstructed. The soft cover 23 can be pulled out from the top of the marking box 16 through the release groove 1610.

[0043] It should be added that the air supply pipe 11 needs to be connected to an external blower, and the top of the paint spraying vertical pipe 24 needs to be connected to an external paint spraying device.

[0044] The specific implementation steps and principles of this invention are as follows: In the initial state, the lens cap 9 blocks the head of the detection camera 1. At this time, the air blowing hole 81 is connected to the air supply pipe 11. The six-axis free arm set on the top plate 4 drives the entire mechanism to move. At this time, the air pump connected to the external air supply pipe 11 blows dust off the steel bridge to be detected through the air blowing pipe 8. After waiting for a period of time, the protection motor 7 rotates, driving the lens cap 9 at the end of the air blowing pipe 8 to rotate 180 degrees. At this time, the air blowing hole 81 is not connected to the air supply pipe 11, the extension cylinder 151 is not subjected to external force, the horizontal plug 141 is outside the paint spraying vertical pipe 24, and the top of the paint spraying vertical pipe 24 is blocked by the horizontal plug 14.

[0045] When two flexible shields 23 are correctly inserted into both sides of the marking box 16, the force blocks 231 on the sides of the two flexible shields 23 drive the vertical column 32 to move down through the force half-plate 33. At this time, the two communication holes 31 enter the interior of the horizontal pipe 26, and the paint spraying tube 27 is connected to the paint spraying vertical pipe 24 through the horizontal pipe 26 and the horizontal U-tube 25.

[0046] After the detection camera 1 detects and classifies the cracks, the switching motor 163 is started. The switching motor 163 drives the marking box 16 to rotate. The soft mask 23 of appropriate shape on the side of the marking box 16 moves to the side of the paint spraying tube 27. The six-axis free arm set on the top plate 4 drives the extension tube 151 of the entire mechanism to press against a crack in the steel bridge. At this time, the external spring 13 is compressed, and the horizontal plug hole 141 enters the paint spraying vertical tube 24. At this time, the painting equipment connected to the paint spraying vertical tube 24 sprays paint from the horizontal tube 26, the horizontal U-tube 25, and the paint spraying tube 27 to the soft mask 23 in sequence, forming a mark of the required shape at the crack.

[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A camera position adjustment robot for crack detection in steel bridges, comprising a detection camera, a mounting box, a horizontal bar, and an extension frame, characterized in that, A vertical motor is fixedly installed at the bottom of the inner cavity of the extension frame, and a top plate is fixedly installed at the top of the extension frame. The top plate is fixed to the end of the six-axis robotic arm actuator with bolts. A horizontal rod is fixedly installed at the output end of the vertical motor. A detection camera is fixedly installed at one end of the horizontal rod, and a mounting box is fixedly installed at the other end of the horizontal rod. A cleaning composite component is installed on the top of the detection camera. The cleaning composite component is installed at the head of the camera lens to pre-blow dust from the cracks in the steel bridge while preventing dirt from getting on the camera lens. An outer top cover is fixedly installed on the top of the mounting box, and a switching motor is fixedly installed on the bottom of the mounting box. After the output end of the switching motor extends into the interior of the mounting box, a marking box is fixedly installed. The marking box is equipped with marking components that apply different markings according to the type of crack. The marking components include a spray gun, a paint spraying pipe, a horizontal pipe, and a flexible mask. The horizontal pipe is equipped with a safety sealing component to prevent accidental spraying due to the incorrect installation of the soft masking cover on the marking box. The top of the mounting box is fixedly equipped with an outer top cover, which is equipped with an interlocking sealing component to place the crack marking work inside a sealed environment and prevent paint leakage.

2. The camera position adjustment robot for steel bridge crack detection according to claim 1, characterized in that, The cleaning composite assembly includes a lens cap, an air blowing pipe, and a protective motor. A top block is fixedly installed on the top of the detection camera. An air supply pipe is fixedly connected to the side of the top block. A protective motor is fixedly installed on the side of the top block. An air blowing pipe is fixedly installed at the output end of the protective motor. A lens cap is fixedly installed at the outer end of the air blowing pipe. The lens cap is attached to the head of the detection camera. An air blowing hole is provided on the outer wall of the air blowing pipe near the output end of the protective motor. The air blowing hole is located inside the top block.

3. The camera position adjustment robot for steel bridge crack detection according to claim 1, characterized in that, The interlocking sealing assembly includes a folded seat, an external spring, a horizontal plug, and a sealing cover. An extension tube is fixedly installed at one end of the sealing cover, and the other end of the sealing cover is sleeved on the outer wall of the mounting box. A horizontal plug is fixedly installed at the top of one end of the sealing cover. One end of the horizontal plug passes through the paint spraying pipe and is fixedly connected to one end of the external spring. A horizontal plug hole is opened at the top of the horizontal plug. The other end of the external spring is fixedly connected to the side of the folded seat, and the folded seat is fixedly connected to the top of the outer top cover.

4. The camera position adjustment robot for steel bridge crack detection according to claim 1, characterized in that, The top end of the spray nozzle is fixedly connected to the top of the outer cover. A horizontal U-tube is fixedly installed at the bottom of the spray nozzle. A horizontal tube is fixedly installed at the other end of the horizontal U-tube. A spray nozzle is fixedly installed at the other end of the horizontal tube. A soft shield is symmetrically and movably inserted into the inner wall of the marking box. A bottom support rod is fixedly installed at the bottom of the soft shield in the inner cavity of the marking box.

5. The camera position adjustment robot for steel bridge crack detection according to claim 1, characterized in that, The safety sealing assembly includes a force-applying half-plate, a vertical column, and a mounting block. A top horizontal plate is fixedly installed at the bottom of the horizontal pipe, and a mounting block is fixedly installed on the outer wall of the vertical column. The top of the mounting block is fixedly connected to one end of a vertical spring, and the other end of the vertical spring is fixedly connected to the bottom of the top horizontal plate. The top of the vertical column extends into the interior of the horizontal pipe.

6. The camera position adjustment robot for steel bridge crack detection according to claim 5, characterized in that, The vertical column has an AC hole with the same diameter as the horizontal pipe on its side. A force-applying half-plate is fixedly installed at the bottom of the vertical column. The top cross-sectional shape of the flexible shield is horizontal T-shaped. A force-applying block is fixedly installed at the bottom of the inner wall of the flexible shield. One end of the force-applying block is attached to the top of the force-applying half-plate.

7. The camera position adjustment robot for steel bridge crack detection according to claim 1, characterized in that, The top of the marking box is fixedly provided with an inner top cover, the top end of the spray pipe protrudes from the inner top cover, and the top of the inner top cover is symmetrically provided with receiving grooves.

8. The camera position adjustment robot for steel bridge crack detection according to claim 7, characterized in that, The receiving groove has a release groove on one side, the inner top cover has a side groove on one side, and the inner top cover has a top groove at the top of the side groove.

9. The camera position adjustment robot for steel bridge crack detection according to claim 8, characterized in that, An extension column is movably inserted into the side of the side groove. A transverse column is fixedly installed inside the top groove of the extension column. A release cap is fixedly installed at the other end of the extension column.

10. A method for detecting cracks in steel bridges, used in the camera position adjustment robot for detecting cracks in steel bridges as described in any one of claims 1-9, characterized in that... Includes the following steps: S1, Pre-dust blowing of steel bridge cracks: Cleaning composite components blow dust near the cracks in the steel bridge, and detection cameras take pictures of the cracks in the steel bridge for classification. S2, steel bridge crack marking: The detection camera controls the soft shields at different positions inside the marking box to move to the side of the paint spray gun according to the type of crack. The paint spray gun forms different shapes of marks on the side of the steel bridge through the soft shields.

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