Multi-degree-of-freedom bridge detection device and method

Abstract

The invention belongs to the technical field of bridge detection, and relates to a multi-degree-of-freedom bridge detection device and method. The suspension rod is used for connecting the track to a bridge to be detected in a suspension mode, and a stable foundation platform is provided for movement and operation in the follow-up detection process. The self-walking trolley can freely slide on the track, so that the self-walking trolley can quickly and accurately reach different positions of the bridge according to detection requirements, and the detection convenience and efficiency are improved. The telescopic operation table can move along with movement of the self-walking trolley. And meanwhile, the rotary connecting part provides a flexible rotating function for the telescopic operation table, so that the requirements of detection positions and angles can be better met, and the accuracy and comprehensiveness of detection are improved. The telescopic operation table has a telescopic function, and the distance between the operation table and a bridge detection part can be adjusted, so that detection personnel can be closer to a disease position for detailed detection.

Description

Technical Field

[0001] This invention belongs to the field of bridge inspection technology, and relates to a multi-degree-of-freedom bridge inspection device and method. Background Technology

[0002] When inspecting suspension bridges, cable-stayed bridges, and tied arch bridges, the limitations of the suspenders and cables, and even the streetlights on urban bridges, can cause road-mounted bridge inspection vehicles to frequently retract their trusses, resulting in low work efficiency and even making it impossible to detect defects on the beam bottom near short cables and suspenders.

[0003] The integrated gantry inspection vehicle relies on the telescopic vertical gantry, the rotating transverse gantry, and the traveling wheels to form a whole, which can achieve the inspection of most bridge types. However, during the inspection process, it cannot effectively avoid the gantry, cables, and street light poles, which leads to the continuous telescopic and adjustment of the gantry, reducing work efficiency. In addition, it is easy to collide with the gantry, cables, and street light poles during the inspection, which poses certain safety hazards.

[0004] While the inverted-gate gantry inspection vehicle, fixed to both sides of the side beam, can move freely within a single span of the bridge and effectively avoid interference from hangers, cables, and streetlights, its inverted-gate design, being a single unit, prevents it from crossing bridge piers, thus limiting its ability to cross piers. In other words, one device can only operate within its own span; the number of spans corresponds to the number of devices required. Generally, cable-stayed and suspension bridges consist of three spans, therefore, three inverted-gate gantry inspection vehicles are needed for each cable-stayed or suspension bridge. Even with the use of openable crossbeam inverted-gate gantry inspection vehicles, the steps of unfolding, positioning, inspecting, and retracting must still be repeated during each span inspection, increasing the workload, reducing efficiency, and posing certain safety hazards during movement. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-degree-of-freedom bridge inspection device and method to solve the technical problem of low inspection efficiency for multi-span bridges.

[0006] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, the present invention provides a multi-degree-of-freedom bridge inspection device, comprising: track; A plurality of suspension rods are connected to the track, the suspension rods being used to suspend the track on the bridge to be inspected; A self-propelled trolley is slidably connected to the track; A rotating connecting component is used to fix the self-propelled trolley. The telescopic operating platform is fixedly connected to the rotating connecting component.

[0007] Furthermore, it also includes several lateral limiters and several longitudinal limiters, both of which are connected to the track and located at the top of the track. The suspension rod is movably connected to the track and located at the top of the track. The suspension rod, the lateral limiters, and the longitudinal limiters are arranged periodically.

[0008] Furthermore, the suspension rod includes a first connecting rod, which is used to fix and connect the bridge to be inspected. The first connecting rod is provided with a connecting sleeve, and the track is provided with a first portal-shaped connecting rod, which passes through the connecting sleeve and is rotatably connected to the connecting sleeve. The first connecting rod is L-shaped; The first portal-shaped connecting rod includes a horizontal bar and two vertical bars. The two vertical bars are arranged in parallel and are fixedly connected to the horizontal bar. The horizontal bar is movably inserted into the connecting sleeve, and the connecting sleeve is located between the two vertical bars.

[0009] Furthermore, the lateral limiter includes a second connecting rod, a first limiting plate, a second portal connecting rod, and two second limiting plates. The second connecting rod is used to fixably connect to the bridge to be tested. The second connecting rod is fixedly connected to the first limiting plate. The two second limiting plates are fixedly connected to the second portal connecting rod. The first limiting plate is located between the two second limiting plates. A first buffer pad is provided on the second limiting plate. The first buffer pad is located between the first limiting plate and the second limiting plate. There is a gap between the first limiting plate and the first buffer pad. The plane of the first limiting plate is parallel to the moving direction of the self-propelled trolley. The second portal connecting rod is fixedly connected to the track.

[0010] Furthermore, the longitudinal limiter includes a third connecting rod, a third limiting plate, a third portal connecting rod, and two fourth limiting plates. The third connecting rod is used to fix the bridge to be tested. The third connecting rod is fixedly connected to the third limiting plate. The two fourth limiting plates are fixedly connected to the third portal connecting rod. The third portal connecting rod is fixedly connected to the track. The third limiting plate is located between the two fourth limiting plates. A second buffer pad is provided on the fourth limiting plate. The second buffer pad is located between the third limiting plate and the fourth limiting plate. There is a gap between the third limiting plate and the second buffer pad. The plane of the third limiting plate is perpendicular to the moving direction of the self-propelled trolley.

[0011] Furthermore, the self-propelled trolley includes a sliding frame, on which a plurality of pulleys are provided. The pulleys are distributed on the upper and lower sides of the track. Along the sliding direction of the self-propelled trolley, at least two rows of pulleys are arranged on both the upper and lower sides of the track. The sliding frame is also provided with a passage slot, and when the self-propelled trolley moves on the track, the suspension rod, the lateral limiter and the longitudinal limiter can all pass through the passage slot.

[0012] Furthermore, the rotating connecting component includes a columnar connecting shaft, a columnar electromagnetic stator, and an electromagnetic actuator. The connecting shaft is fixedly connected to the self-propelled trolley, and the electromagnetic actuator is fixedly connected to the telescopic operating platform. The electromagnetic actuator has a receiving cavity, and the electromagnetic stator is located inside the receiving cavity. The receiving cavity has an opening, and the diameter of the electromagnetic stator is larger than the diameter of the opening. The connecting shaft passes through the opening and is fixedly connected to the electromagnetic stator. The connecting shaft and the electromagnetic stator are arranged coaxially.

[0013] Furthermore, the telescopic operating platform includes a fixed platform and a sliding platform. The fixed platform is fixedly connected to the rotating connecting component. The fixed platform is provided with several L-shaped connecting plates, and a T-shaped sliding groove is formed between every two L-shaped connecting plates. A T-shaped slide rail is slidably arranged in the T-shaped sliding groove. The T-shaped slide rail is fixedly connected to the sliding platform. The T-shaped slide rail is located between the fixed platform and the sliding platform. A limiting part is provided at the end of the T-shaped slide rail. Both the fixed platform and the sliding platform are provided with guardrails. The spacing between the guardrails on the fixed platform is greater than the spacing between the guardrails on the sliding platform.

[0014] Furthermore, it also includes two long, narrow sliding wheel rails, a connecting shaft, two rollers, a first suspension rod, a second suspension rod, and a fourth portal-shaped connecting rod. The sliding wheel rails are arranged parallel to the track, and the rollers are slidably disposed within the sliding wheel rails. The two rollers are connected by a connecting shaft, which is connected to the first suspension rod. The first suspension rod is movably connected to the second suspension rod, which is connected to the fourth portal-shaped connecting rod. The fourth portal-shaped connecting rod is connected to the telescopic operating platform.

[0015] Secondly, the present invention provides a bridge inspection method based on a bridge inspection device, comprising the following steps: The track is suspended from the bridge to be inspected by the suspension rod; The self-propelled trolley drives the telescopic operating platform to slide on the track, and during the crossing of the pier, the telescopic operating platform is made parallel to the track in the telescopic direction. After the telescopic operating platform reaches the area to be inspected, the angle of the telescopic operating platform is adjusted by rotating the connecting component, and the length of the telescopic operating platform is also adjusted to facilitate accurate inspection.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The suspension rod described in this invention is used to fix the track to the bridge to be inspected, providing a stable base platform for the movement of the self-propelled trolley and the telescopic operating platform during subsequent inspections. The self-propelled trolley can slide freely on the track, allowing one trolley per bridge to quickly and accurately reach different positions on the bridge according to inspection needs, improving the convenience and efficiency of the inspection. The telescopic operating platform can move along with the self-propelled trolley. Simultaneously, the rotating connecting component provides the telescopic operating platform with flexible rotation capabilities to better adapt to the requirements of the inspection position and angle, improving the accuracy and comprehensiveness of the inspection. The telescopic operating platform has a telescopic function, allowing adjustment of the distance between the operating platform and the inspection area on the bridge, enabling inspectors to get closer to the location of defects for detailed inspection.

[0017] This invention suspends the track on the bridge to be inspected using the suspension rod, providing a stable platform for movement and operation during subsequent inspections. The self-propelled trolley drives the telescopic operating platform to slide on the track, enabling flexible longitudinal movement of the inspection device along the bridge. This allows for rapid movement of the telescopic operating platform to different inspection areas according to the inspection plan. During sliding, the angle of the telescopic operating platform can be adjusted by rotating the connecting component, ensuring its extension direction is parallel to the track and preventing collisions with bridge piers. After reaching the inspection area, the angle of the telescopic operating platform can be adjusted again by rotating the connecting component, allowing inspectors to observe and inspect bridge defects from different perspectives. Adjusting the length of the telescopic operating platform allows the inspection equipment to be closer to the inspected area for accurate testing. This invention achieves rapid positioning and flexible operation of the inspection device through the movement of the self-propelled trolley and the adjustment of the angle and length of the telescopic operating platform. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the bridge inspection device of this invention suspended on the bridge to be inspected according to an embodiment of the invention; Figure 2 This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 3 This is another perspective view of the overall structure of an embodiment of the present invention; Figure 4 This is a schematic diagram of the track structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the suspension rod according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the lateral limiter according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the longitudinal limiter according to an embodiment of the present invention; Figure 8This is a state diagram of the lateral limiter passing through the self-propelled trolley according to an embodiment of the present invention; Figure 9 This is a diagram showing the telescopic operating platform in the extended state according to an embodiment of the present invention; Figure 10 This is a front view of the telescopic operating table according to an embodiment of the present invention; Figure 11 This is a diagram showing the assembly relationship between the sliding wheel rail and the roller in an embodiment of the present invention; Figure 12 This is a flowchart of a method according to an embodiment of the present invention.

[0019] Wherein: 1. Bridge; 101. Bridge pier; 2. Track; 201. Slide rail; 3. Suspension rod; 301. First connecting rod; 302. Connecting sleeve; 303. First portal connecting rod; 304. Horizontal bar; 305. Vertical bar; 4. Lateral limiter; 401. Second connecting rod; 402. First limiting plate; 403. Second limiting plate; 404. Second portal connecting rod; 405. First buffer pad; 5. Longitudinal limiter; 501. Third connecting rod; 502. Third limiting plate; 503. Fourth limiting plate; 504. 505. Three-port connecting rod; 6. Second buffer pad; 7. Self-propelled trolley; 8. Sliding frame; 9. Pulley; 10. Through slot; 11. Rotary connecting component; 2. Connecting shaft; 3. Electromagnetic stator; 4. Electromagnetic mover; 5. Telescopic operating platform; 6. Fixed platform; 7. Sliding platform; 8. L-shaped connecting plate; 9. T-shaped slide rail; 10. Guardrail; 11. Sliding wheel rail; 12. Connecting shaft; 13. Roller; 14. First suspension rod; 15. Second suspension rod; 16. Fourth portal connecting rod. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] The present invention will now be described in further detail with reference to the accompanying drawings: See Figures 1 to 3 The present invention discloses a bridge inspection device with multiple degrees of freedom, comprising: a track 2, several suspension rods 3, a self-propelled trolley 6, a rotating connecting component 7, and a telescopic operating platform 8.

[0023] See Figure 1 Several suspension rods 3 are connected to the track 2, see [reference]. Figure 4 This is a schematic diagram of the track 2. The suspension rod 3 is used to suspend the track 2 on the bridge 1 to be inspected, providing a stable base platform for the movement of the self-propelled trolley 6 and the telescopic operating platform 8 during subsequent inspections. This ensures that the track 2 can withstand various forces generated during the inspection process, guaranteeing the safe and stable movement of the self-propelled trolley 6 and the telescopic operating platform 8 on the track 2.

[0024] See 2 and Figure 4 In this embodiment of the invention, a plurality of lateral limiters 4 and a plurality of longitudinal limiters 5 are also included. The lateral limiters 4 and the longitudinal limiters 5 are all connected to the track 2 and located at the top of the track 2. The suspension rod 3 is movably connected to the track 2 and located at the top of the track 2. The suspension rod 3, the lateral limiters 4, and the longitudinal limiters 5 are arranged periodically. During the movement, angle adjustment, and position adjustment of the telescopic operating platform 8, the track 2 will experience appropriate swaying. The suspension rod 3 movably connects to the track 2 to prevent concentrated stress at the connection points between the suspension rod 3 and the bridge 1, thus avoiding damage to the bridge. Simultaneously, the lateral limiters 4 and the longitudinal limiters 5 are used to limit the swaying of the track 2 in the lateral and longitudinal directions, preventing excessive swaying and enhancing the stability of the device.

[0025] See Figure 5In this embodiment of the invention, the suspension rod 3 includes a first connecting rod 301, which is used to fix and connect the bridge to be tested. The first connecting rod 301 is provided with a connecting sleeve 302, and the track 2 is provided with a first portal-shaped connecting rod 303. The first portal-shaped connecting rod 303 passes through the connecting sleeve 302 and is rotatably connected to the connecting sleeve 302. The first connecting rod 301 is L-shaped; The first portal-shaped connecting rod 303 includes a horizontal rod 304 and two vertical rods 305. The two vertical rods 305 are arranged in parallel and are fixedly connected to the horizontal rod 304. The horizontal rod 304 is movably inserted into the connecting sleeve 302, and the connecting sleeve 302 is located between the two vertical rods 305.

[0026] See Figure 6 In this embodiment of the invention, the lateral limiter 4 includes a second connecting rod 401, a first limiting plate 402, a second portal-shaped connecting rod 404, and two second limiting plates 403. The second connecting rod 401 is used to fix the bridge to be tested. The second connecting rod 401 is fixedly connected to the first limiting plate 402. The two second limiting plates 403 are fixedly connected to the second portal-shaped connecting rod 404. The second portal-shaped connecting rod 404 is fixedly connected to the track 2. The first limiting plate 402 is located between the two second limiting plates 403. A first buffer pad 405 is provided on the second limiting plate 403. The first buffer pad 405 is located between the first limiting plate 402 and the second limiting plate 403. There is a gap between the first limiting plate 402 and the first buffer pad 405. The plane where the first limiting plate 402 is located is parallel to the moving direction of the self-propelled trolley 6. The second portal-shaped connecting rod 404 is fixedly connected to the track 2.

[0027] See Figure 7 In this embodiment of the invention, the longitudinal limiter 5 includes a third connecting rod 501, a third limiting plate 502, a third portal connecting rod 504, and two fourth limiting plates 503. The third connecting rod 501 is used to fix the bridge to be tested. The third connecting rod 501 is fixedly connected to the third limiting plate 502. The two fourth limiting plates 503 are fixedly connected to the third portal connecting rod 504. The third portal connecting rod 504 is fixedly connected to the track 2. The third limiting plate 502 is located between the two fourth limiting plates 503. A second buffer pad 505 is provided on the fourth limiting plate 503. The second buffer pad 505 is located between the third limiting plate 502 and the fourth limiting plate 503. There is a gap between the third limiting plate 502 and the second buffer pad 505. The plane of the third limiting plate 502 is perpendicular to the moving direction of the self-propelled trolley 6.

[0028] See Figures 1 to 3 The self-propelled trolley 6 is slidably connected to the track 2. The self-propelled trolley 6 can slide freely on the track 2, allowing it to quickly and accurately reach different locations on the bridge according to the inspection requirements. This eliminates the need for frequent manual handling of equipment, greatly improving the convenience and efficiency of the inspection and enabling comprehensive inspection of all parts of the bridge.

[0029] See Figure 8 In this embodiment of the invention, the self-propelled trolley 6 includes a sliding frame 601, on which a plurality of pulleys 602 are provided. The pulleys 602 are distributed on the upper and lower sides of the track 2. The track 2 passes through the sliding frame 601 and slides along the sliding direction of the self-propelled trolley 6. At least two rows of pulleys 602 are arranged on both the upper and lower sides of the track 2. In this embodiment of the invention, the track 2 includes a plurality of slide rails 201, with a plurality of slide rails 201 arranged above and below the track 2. The pulleys 602 are slidably arranged on the slide rails 201. The pulleys 602 that contact the upper slide rails 201 of the track 2 are located above the upper slide rails 201 of the track 2, and the pulleys 602 that contact the lower slide rails 201 of the track 2 are located below the lower slide rails 201 of the track 2.

[0030] The sliding frame 601 is also provided with a passage groove 603. When the self-propelled trolley 6 moves on the track 2, the suspension rod 3, the lateral limiter 4 and the longitudinal limiter 5 can all pass through the passage groove 603.

[0031] See Figures 1 to 3 The rotating connecting component 7 is fixedly connected to the self-propelled trolley 6.

[0032] See Figure 8 and Figure 9 In this embodiment of the invention, the rotating connecting component 7 includes a columnar connecting shaft 701, a columnar electromagnetic stator 702, and an electromagnetic actuator 703. The connecting shaft 701 is fixedly connected to the self-propelled trolley 6, and the electromagnetic actuator 703 is fixedly connected to the telescopic operating platform 8. The electromagnetic actuator 703 has a receiving cavity, and the electromagnetic stator 702 is located in the receiving cavity. The receiving cavity has an opening, and the diameter of the electromagnetic stator 702 is larger than the diameter of the opening. The connecting shaft 701 passes through the opening and is fixedly connected to the electromagnetic stator 702. The connecting shaft 701 and the electromagnetic stator 702 are arranged coaxially.

[0033] See Figures 1 to 3The telescopic operating platform 8 is fixedly connected to the rotating connecting component 7, allowing the telescopic operating platform 8 to move along with the self-propelled trolley 6. Simultaneously, the rotating connecting component 7 provides the telescopic operating platform 8 with flexible rotation capabilities, enabling adjustments based on the bridge structure, such as the angle of the beam bottom or the area around the stay cables, to better adapt to the requirements of the inspection position and angle, thereby improving the accuracy and comprehensiveness of the inspection. The telescopic operating platform 8 has a telescopic function, allowing adjustment of the distance between the operating platform and the bridge inspection area, enabling inspectors to get closer to the defect location for detailed inspection.

[0034] See Figure 9 and Figure 10 In this embodiment of the invention, the telescopic operating platform 8 includes a fixed platform 801 and a sliding platform 802. The fixed platform 801 is fixedly connected to the rotating connecting component 7. The fixed platform 801 is provided with a plurality of L-shaped connecting plates 803. A T-shaped sliding groove is formed between every two L-shaped connecting plates 803. A T-shaped slide rail 804 is slidably arranged in the T-shaped sliding groove. The T-shaped slide rail 804 is fixedly connected to the sliding platform 802. The T-shaped slide rail 804 is located between the fixed platform 801 and the sliding platform 802. A limiting part is provided at the end of the T-shaped slide rail 804. Both the fixed platform 801 and the sliding platform 802 are provided with guardrails 805. The spacing between the guardrails 805 on the fixed platform 801 is greater than the spacing between the guardrails 805 on the sliding platform 802.

[0035] See Figure 1 , Figure 2 and Figure 11 In this embodiment of the invention, it further includes two long, narrow sliding wheel rails 9, a connecting shaft 10, two rollers 11, a first suspension rod 12, a second suspension rod 13, and a fourth portal-shaped connecting rod 14. The sliding wheel rails 9 are disposed on the bridge base plate and arranged parallel to the track 2. The sliding wheel rails 9 are arranged below the bridge 1 to be inspected. The rollers 11 are slidably disposed within the sliding wheel rails 9. The two rollers 11 are connected by the connecting shaft 10. The connecting shaft 10 is connected to the first suspension rod 12. The first suspension rod 12 is movably connected to the second suspension rod 13. The second suspension rod 13 is connected to the fourth portal-shaped connecting rod 14. The fourth portal-shaped connecting rod 14 is connected to the telescopic operating platform 8. When the telescopic operating platform 8 extends, it will generate a large torque. In order to avoid excessive torque and damage to the equipment, a sliding wheel rail 9 is installed under the bridge 1 to be inspected. The sliding wheel rail 9 is connected to the telescopic operating platform 8 through rollers 11, connecting shafts 10, first suspension rods 12, second suspension rods 13 and fourth portal connecting rods 14, which ensures and improves the safety of operation.

[0036] The self-propelled trolley 6 of this invention can move flexibly on the track 2, and the telescopic operating platform 8 can quickly and accurately reach the detection position along the track 2. Multi-angle adjustments are made using the rotating connecting component 7, and further position adjustments are made using the telescopic operating platform 8. This reduces the preparation time and operation steps in the detection process, eliminates the need to replace the detection equipment, and improves detection efficiency.

[0037] See Figure 12 Based on the above structure, the present invention also discloses a bridge inspection method, comprising the following steps: S1, the track 2 is suspended on the bridge 1 to be inspected by the suspension rod 3, which provides a stable base platform for movement and operation in the subsequent inspection process, ensuring that the track 2 can withstand the various forces generated in the inspection process, and ensuring that the self-propelled trolley 6 moves safely and smoothly on the track 2; In this embodiment of the invention, the suspension rod 3 is movably connected to the track 2 to prevent concentrated stress at the connection between the suspension rod 3 and the bridge 1, thus avoiding damage to the bridge. Simultaneously, a lateral limiter 4 and a longitudinal limiter 5 are arranged between the bridge 1 to be tested and the track 2. These limiters restrict the swaying of the track 2 in the lateral and longitudinal directions, preventing excessive swaying and enhancing the stability of the device.

[0038] S2, the self-propelled trolley 6 drives the telescopic operating platform 8 to slide on the track 2, realizing flexible movement of the detection device in the longitudinal direction of the bridge, which facilitates the rapid movement of the telescopic operating platform 8 to different detection areas according to the detection plan. During the crossing of piers, the telescopic operating platform 8 is kept parallel to the track 2 in the telescopic direction to avoid the telescopic operating platform 8 being affected by the bridge piers 101 during operation; S3, after the telescopic operating platform 8 reaches the area to be inspected, the angle of the telescopic operating platform 8 is adjusted by rotating the connecting component 7, allowing the inspectors to observe and inspect bridge defects from different perspectives. Adjusting the length of the telescopic operating platform 8 allows the inspection equipment to get closer to the area to be inspected, facilitating accurate inspection.

[0039] In this embodiment of the invention, the telescopic operating platform 8 will generate a large torque after it extends. In order to avoid excessive torque and damage to the equipment, a sliding wheel rail 9 is arranged under the bridge 1 to be tested. The sliding wheel rail 9 is connected to the telescopic operating platform 8 through rollers 11, connecting shafts 10, first suspension rods 12, second suspension rods 13 and fourth portal connecting rods 14 to ensure operational safety.

[0040] This invention achieves rapid positioning and flexible operation of the inspection device through the fixing of track 2, the movement of the self-propelled trolley 6, and the adjustment of the angle and length of the telescopic operating platform 8. This reduces the time required for equipment installation and adjustment in traditional inspection methods, enabling more efficient bridge inspection work, and is particularly suitable for large-scale bridge inspection tasks.

[0041] Example 2: See Figure 1 system Figure 3 This embodiment discloses a multi-degree-of-freedom bridge inspection device. Tracks 2 are suspended on both sides of the side beam of the bridge 1. The tracks 2 are embedded in the self-propelled trolley 6. A multi-stage telescopic operating platform 8 is set directly below the self-propelled trolley 6. The telescopic operating platform 8 rotates 360° in the horizontal plane at the bottom of the trolley. When it rotates to the cross section direction of the bridge 1, it starts the working state and the current span walking state. When it rotates to the longitudinal section direction of the bridge 1, it starts the crossing pier walking state.

[0042] The self-propelled trolley 6 and the telescopic operating platform 8 form an organic whole. The side beam suspension rod 3 is hinged to the track 2 at multiple points, and several lateral limiters 4 and several longitudinal limiters 5 are also installed. The self-propelled trolley 6 and the telescopic operating platform 8 form an organic whole that can rotate and move moderately along the longitudinal and transverse axes of the bridge 1. Therefore, the track 2 can adaptively deform according to the working state of the self-propelled trolley 6 and the telescopic operating platform 8 as well as temperature changes, overcoming the stress concentration failure caused by excessive stiffness at the connection between the track 2 and the bridge 1. The telescopic operating platform 8 can rotate 360° in the horizontal plane at the bottom of the self-propelled trolley 6, and the telescopic operating platform 8 can freely extend and shorten according to the cross-sectional width of the bridge 1.

[0043] This invention integrates a self-propelled trolley 6 and a telescopic operating platform 8 into a single organic unit. The self-propelled trolley 6 has a built-in track 2, and the side beam suspension rod 3 is hinged to the track 2. The track 2 has multiple degrees of freedom and can adapt to deformation to avoid stress concentration damage. The telescopic operating platform 8 can rotate 360° within the horizontal plane at the bottom of the self-propelled trolley 6 and can move freely along the track 2. One self-propelled trolley 6 and the multi-stage extendable telescopic operating platform 8 can complete the inspection of the entire bridge. To overcome the large torque generated on the track 2 by the multi-stage extension of the telescopic operating platform 8 and the load, a sliding wheel rail 9 is installed at the bottom of the beam. The sliding wheel rail 9 connects to the telescopic operating platform 8 to reduce the torque exerted on the track 2 by the telescopic operating platform 8 and the load. Only one self-propelled trolley 6 and a multi-stage extendable telescopic operating platform 8 are needed for a single bridge, saving costs and improving efficiency.

[0044] In this invention, the track 2 is hinged to several suspension rods 3, enabling the track 2 to undergo multi-degree-of-freedom adaptive deformation, avoiding stress concentration damage, improving the service life of the track, and ensuring the safety of operation. The self-propelled trolley 6 of this invention can travel freely along the track 2, and the multi-level retractable telescopic operating platform 8 can rotate freely under the beam and can extend and retract in multiple stages, enabling comprehensive inspection of every defect under the beam. The present invention rotates the telescopic operating platform 8 to the longitudinal direction of the bridge by rotating the connecting component 7, and crosses the bridge pier 101 together with the self-propelled trolley 6, reaching every position of the entire bridge 1 during the movement of the self-propelled trolley 6. Using this invention, only one device needs to be installed on a bridge, which is low in cost and high in efficiency; The telescopic operating platform 8 of this invention has a large extension capacity, which can freely extend and retract according to the width of the bridge cross section to inspect every defect on the bottom of the beam. The present invention provides a sliding wheel rail 9 at the bottom of the bridge 1, which is connected to the telescopic operating platform 8 to reduce the torque of the telescopic operating platform 8 and the load on the rail 2. This invention enables the inspection of the bottom of the beams of a split bridge via a telescopic operating platform 8 at the bottom of the self-propelled trolley 6. One device can be placed on the side beams of the centerline of two bridges to inspect both bridges.

[0045] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A multi-degree-of-freedom bridge inspection device, characterized in that, include: Track (2); Several suspension rods (3) are connected to the track (2), and the suspension rods (3) are used to suspend the track (2) on the bridge (1) to be inspected; The self-propelled trolley (6) is slidably connected to the track (2); Rotary connecting component (7) is fixedly connected to the self-propelled trolley (6); The telescopic operating table (8) is fixedly connected to the rotating connecting component (7).

2. The bridge inspection device with multi-degree-of-freedom track and telescopic arm according to claim 1, characterized in that, It also includes several lateral limiters (4) and several longitudinal limiters (5), both of which are connected to the track (2) and located at the top of the track (2). The suspension rod (3) is movably connected to the track (2) and located at the top of the track (2). The suspension rod (3), the lateral limiters (4) and the longitudinal limiters (5) are arranged periodically.

3. The bridge inspection device with multi-degree-of-freedom track and telescopic arm according to claim 2, characterized in that, The suspension rod (3) includes a first connecting rod (301), which is used to fix the bridge to be tested. The first connecting rod (301) is provided with a connecting sleeve (302). The track (2) is provided with a first portal-shaped connecting rod (303). The first portal-shaped connecting rod (303) passes through the connecting sleeve (302) and is rotatably connected to the connecting sleeve (302). The first connecting rod (301) is L-shaped; The first portal-shaped connecting rod (303) includes a horizontal bar (304) and two vertical bars (305). The two vertical bars (305) are arranged in parallel and are fixedly connected to the horizontal bar (304). The horizontal bar (304) is movably inserted into the connecting sleeve (302), and the connecting sleeve (302) is located between the two vertical bars (305).

4. The bridge inspection device with multi-degree-of-freedom track and telescopic arm according to claim 2, characterized in that, The lateral limiter (4) includes a second connecting rod (401), a first limiting plate (402), a second portal connecting rod (404), and two second limiting plates (403). The second connecting rod (401) is used to fix the bridge to be tested. The second connecting rod (401) is fixedly connected to the first limiting plate (402). The two second limiting plates (403) are fixedly connected to the second portal connecting rod (404). The first limiting plate (402) is located between the two second limiting plates (403). The second limiting plate (403) is provided with a first buffer pad (405). The first buffer pad (405) is located between the first limiting plate (402) and the second limiting plate (403). There is a gap between the first limiting plate (402) and the first buffer pad (405). The plane where the first limiting plate (402) is located is parallel to the moving direction of the self-propelled trolley (6). The second portal connecting rod (404) is fixedly connected to the track (2).

5. The bridge inspection device with a multi-degree-of-freedom track and telescopic arm according to claim 2, characterized in that, The longitudinal limiter (5) includes a third connecting rod (501), a third limiting plate (502), a third portal connecting rod (504), and two fourth limiting plates (503). The third connecting rod (501) is used to fix the bridge to be inspected. The third connecting rod (501) is fixedly connected to the third limiting plate (502). The two fourth limiting plates (503) are fixedly connected to the third portal connecting rod (504). The third portal connecting rod (504) is fixedly connected to the rail. The third limiting plate (502) is located between the two fourth limiting plates (503). The fourth limiting plate (503) is provided with a second buffer pad (505). The second buffer pad (505) is located between the third limiting plate (502) and the fourth limiting plate (503). There is a gap between the third limiting plate (502) and the second buffer pad (505). The plane of the third limiting plate (502) is perpendicular to the moving direction of the self-propelled trolley (6).

6. The bridge inspection device with multi-degree-of-freedom track and telescopic arm according to claim 2, characterized in that, The self-propelled trolley (6) includes a sliding frame (601), on which a plurality of pulleys (602) are provided. The pulleys (602) are distributed on the upper and lower sides of the track (2). Along the sliding direction of the self-propelled trolley (6), at least two rows of pulleys (602) are arranged on the upper and lower sides of the track (2). The sliding frame (601) is also provided with a passage groove (603). When the self-propelled trolley (6) moves on the track (2), the suspension rod (3), the lateral limiter (4) and the longitudinal limiter (5) can all pass through the passage groove (603).

7. The bridge inspection device with multi-degree-of-freedom track and telescopic arm according to claim 1, characterized in that, The rotating connecting component (7) includes a columnar connecting shaft (701), a columnar electromagnetic stator (702), and an electromagnetic actuator (703). The connecting shaft (701) is fixedly connected to the self-propelled trolley (6), and the electromagnetic actuator (703) is fixedly connected to the telescopic operating table (8). The electromagnetic actuator (703) has a receiving cavity, and the electromagnetic stator (702) is located in the receiving cavity. The receiving cavity has an opening, and the diameter of the electromagnetic stator (702) is larger than the diameter of the opening. The connecting shaft (701) passes through the opening and is fixedly connected to the electromagnetic stator (702). The connecting shaft (701) and the electromagnetic stator (702) are arranged coaxially.

8. The bridge inspection device with multi-degree-of-freedom track and telescopic arm according to claim 1, characterized in that, The telescopic operating platform (8) includes a fixed platform (801) and a sliding platform (802). The fixed platform (801) is fixedly connected to the rotating connecting component (7). The fixed platform (801) is provided with a plurality of L-shaped connecting plates (803). A T-shaped sliding groove is formed between every two L-shaped connecting plates (803). A T-shaped slide rail (804) is slidably arranged in the T-shaped sliding groove. The T-shaped slide rail (804) is fixedly connected to the sliding platform (802). The T-shaped slide rail (804) is between the fixed platform (801) and the sliding platform (802). The end of the T-shaped slide rail (804) is provided with a limiting part. Both the fixed platform (801) and the sliding platform (802) are provided with guardrails (805). The spacing between the guardrails (805) on the fixed platform (801) is greater than the spacing between the guardrails (805) on the sliding platform (802).

9. The bridge inspection device with multi-degree-of-freedom track and telescopic arm according to claim 1, characterized in that, It also includes two long sliding wheel rails (9), a connecting shaft (10), two rollers (11), a first suspension rod (12), a second suspension rod (13), and a fourth portal connecting rod (14). The sliding wheel rails (9) are arranged parallel to the track (2). The rollers (11) are slidably disposed in the sliding wheel rails (9). The two rollers (11) are connected by the connecting shaft (10). The connecting shaft (10) is connected to the first suspension rod (12). The first suspension rod (12) is movably connected to the second suspension rod (13). The second suspension rod (13) is connected to the fourth portal connecting rod (14). The fourth portal connecting rod (14) is connected to the telescopic operating platform (8).

10. A bridge inspection method, based on the bridge inspection device according to any one of claims 1 to 9, characterized in that, Includes the following steps: The track (2) is suspended on the bridge (1) to be inspected by means of the suspension rod (3); The self-propelled trolley (6) drives the telescopic operating platform (8) to slide on the track (2). During the crossing of the pier, the telescopic operating platform (8) is parallel to the track (2) in the telescopic direction. After the telescopic operating table (8) reaches the area to be tested, the angle of the telescopic operating table (8) is adjusted by rotating the connecting component (7), and the length of the telescopic operating table (8) is adjusted to facilitate accurate testing.

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