Bridge crack detection wall-climbing robot and detection method thereof

Abstract

The application provides a bridge crack detection wall-climbing robot and a detection method thereof. The robot comprises two rotating crawler mechanisms. A telescopic mechanism is arranged between the crawler mechanisms and an adjusting mechanism. The adjusting mechanism is rotationally connected with the crawler mechanisms. The adjusting mechanism comprises an outer rail, an intermediate rail and an inner rail. The outer rail, the intermediate rail and the inner rail are sequentially and slidably connected. The overall structure can be suitable for monitoring three types of scenes, i.e., bridge deck, pipeline outer wall of bridge body pipeline and pipeline inner wall. The same area can be detected by multiple different robots, which not only increases the procurement and maintenance costs, but also slows down the progress due to frequent equipment switching. Meanwhile, manual inspection is not only time-consuming and labor-intensive, but also limited by the complexity of the working environment and the danger of high-altitude operation. The detection efficiency and safety cannot be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of bridge maintenance, and in particular to a bridge crack detection climbing robot and its detection method. Background Technology

[0002] As bridges age, structural safety issues become increasingly prominent. Cracks, as one of the most common forms of bridge damage, can seriously affect a bridge's safety and lifespan if not detected and repaired in a timely manner. Traditional bridge crack detection typically relies on manual or robotic inspections. Manual inspections are not only time-consuming and labor-intensive, but also limited by the complexity of the working environment and the dangers of working at heights, making it difficult to guarantee both efficiency and safety.

[0003] Meanwhile, the inspection involves examining the bridge deck, the outer walls of pipes within the bridge structure, and the inner walls of pipes. This requires different robots, but existing robots have limited functionality and cannot simultaneously cover all three scenarios. Inspecting the same area necessitates multiple different robots, increasing procurement and maintenance costs and slowing down progress due to frequent equipment switching. Furthermore, the same area of ​​the bridge contains pipes of varying diameters. Because of these differences, existing robots are not universally compatible, requiring separate robot configurations for different pipe diameters. This necessitates repeated robot replacements and equipment adjustments, further increasing equipment costs. It also leads to discontinuous inspection processes, potential delays, and ultimately, interruptions to the inspection process, resulting in low inspection efficiency and extended overall project duration. Summary of the Invention

[0004] This invention provides a bridge crack detection climbing robot and its detection method, which solves the problems of manual inspection being not only time-consuming and labor-intensive with low detection efficiency; but also that inspection involves the inspection of the bridge deck, the outer wall of the bridge pipes and the inner wall of the pipes, and that existing robots have limited functions and cannot cover these three types of scenarios at the same time, which increases costs and slows down the maintenance progress.

[0005] Another technical problem solved by this invention is that bridges in the same area have pipes of different diameters. Due to the different pipe diameters, existing robots are not universally applicable. Different robot equipment needs to be configured for different pipe diameters, and robots need to be replaced and equipment needs to be debugged repeatedly, which further increases costs and results in low inspection efficiency.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a bridge crack detection climbing robot and its detection method, comprising a robot, the robot comprising two rotating track mechanisms, a telescopic mechanism provided between the track mechanisms and the adjustment mechanism, the adjustment mechanism being rotatably connected to the track mechanisms, the adjustment mechanism comprising an outer rail, a middle rail and an inner rail, the outer rail, the middle rail and the inner rail being slidably connected in sequence.

[0007] In a preferred embodiment, the robot includes a chassis with rotating shafts at both ends. A first motor is provided at one end of each rotating shaft, and multiple connecting seats are provided on one side of the track mechanism, with the connecting seats connected to the rotating shafts.

[0008] In the preferred embodiment, the track mechanism is provided with a mounting groove, the adjustment mechanism and the telescopic mechanism are installed in the mounting groove, the chassis is provided with multiple exhaust holes, one end of the exhaust hole is provided with a hose, a fan is provided in the hose, and a detection camera is provided on the chassis.

[0009] In the preferred embodiment, the middle rail slides against the outer rail, the inner rail slides against the middle rail, a side plate is provided on one side of the outer rail, a flipping motor is provided on the side plate, the output shaft of the flipping motor is rotatably connected to the outer rail, one end of the side plate is connected to the telescopic mechanism, and a cylinder is provided at the other end of the side plate.

[0010] In the preferred embodiment, the outer rail includes an arc-shaped rail with an arc-shaped groove, a second motor is provided on one side of the arc-shaped rail, and a first gear is provided at the output end of the second motor.

[0011] In a preferred embodiment, the intermediate rail includes a second arc-shaped rail, which has a second arc-shaped groove. One end of the second arc-shaped rail has an arc-shaped slider that slides against the arc-shaped groove. One end of the second arc-shaped rail has a third motor with a second gear. One side of the second arc-shaped rail has an arc-shaped rack that meshes with the first gear.

[0012] In a preferred embodiment, the inner rail includes a slide bar, one end of which is provided with a second slider that slides against the second arc-shaped groove. A ring toothed rack is provided on one side of the slide bar, which meshes with a second gear. A camera is provided at one end of the slide bar.

[0013] In a preferred embodiment, the telescopic mechanism includes a top plate, a hollow intermediate box, and a hollow outer box. The top plate is connected to the side plates, and side rails are provided on both sides of the top plate. Slide grooves are provided on both sides of the inner wall of the intermediate box, and the side rails abut against the slide grooves. A second slide groove is provided on the inner wall of the outer box, and second side rails are provided on both sides of the intermediate box, with the second side rails abutting against the second slide grooves. The outer box is connected to the track mechanism.

[0014] In the preferred embodiment, the robot's track mechanism rests against the bridge deck, the outer wall of the steel pipe, or the inner wall of the steel pipe.

[0015] A detection method for a bridge crack detection climbing robot, characterized in that: S1, when the bridge surface needs to be inspected, the robot's chassis and track mechanism are horizontal, and the flip motor is driven to make the camera of the adjustment mechanism tilt forward, with the angle between the camera and the horizontal plane being between 30° and 50°. S2. A mobile robot is used to enable the camera to visually inspect the bridge surface. The cylinder is driven to increase the visual inspection range of the camera. S3. When inspecting the outer wall of the steel pipe, drive the first motor to make the two track mechanisms rotate relative to the chassis, so as to adjust the angle between the track mechanisms and the chassis, so that the robot can be against the outer wall of steel pipes with different diameters. S4. Drive the fan, drive the cylinder, and adjust the mechanism to move horizontally so that the camera can adapt to steel pipes of different diameters. Drive the flip motor so that the camera of the adjustment mechanism faces downward. S5. Circumferential inspection of the outer wall of the steel pipe: drive the fan to strengthen and stabilize it, drive the second and third motors of the adjustment mechanism to make the adjustment mechanism extend and retract, and at the same time the cylinder moves to adjust the horizontal distance between the camera and the steel pipe for visual inspection of the outer wall of the steel pipe. S6. The fan starts intermittently and the track mechanism moves intermittently to prevent the adjustment mechanism from falling during adjustment, so as to enable the robot to move. S7. When the robot is performing circumferential detection on the inner wall, drive the first motor to make the two track mechanisms rotate upward to adapt to pipes of different diameters, and drive the flip motor to make the camera of the adjustment mechanism face upward. S8 drives the second and third motors of the adjustment mechanism to extend and retract the adjustment mechanism, while the cylinder moves to adjust the horizontal distance between the camera and the steel pipe for visual inspection of the inner wall of the steel pipe.

[0016] The beneficial effects of the present invention are as follows: when the bridge deck needs to be inspected, the first motor is driven to adjust the rotation angle of the two track mechanisms relative to the chassis so that the two track mechanisms are horizontal relative to the chassis. At the same time, the tilting motor is adjusted to make the adjustment mechanism rotate relative to the robot so that the camera of the adjustment mechanism faces the front end of the overall mechanism. The angle between the camera and the horizontal plane is between 30° and 50° so that the camera can inspect the horizontal plane of the bridge deck.

[0017] When the bridge deck is being inspected horizontally, the adjustment mechanism is moved horizontally relative to the robot by driving the cylinder, thereby adjusting the inspection range of the camera.

[0018] When inspecting the outer wall of the steel pipe, the first motor is driven to make the two track mechanisms rotate relative to the chassis, thereby adjusting the angle between the track mechanisms and the chassis. The track mechanisms rotate downwards from the chassis so that the robot can press against the outer wall of steel pipes of different diameters, making the overall structure adaptable to steel pipes of different diameters, thus having a wide range of applications.

[0019] When the telescopic adjustment mechanism is needed for the external wall inspection, the fan is driven to make the hose adhere to the steel pipe, so as to stabilize the overall structure and prevent the overall structure from shaking during the telescopic adjustment, which could cause the robot to fall off the steel pipe.

[0020] The robot is positioned at the top of the steel pipe, driving a flip motor to make the camera of the adjustment mechanism face downwards, driving a cylinder to extend and retract the telescopic mechanism, and moving the adjustment mechanism horizontally to adjust the horizontal distance between the camera and the outer wall of the steel pipe, so that the camera can adapt to steel pipes of different diameters for visual inspection of the circumference of the steel pipe.

[0021] When inspecting the inner wall of the steel pipe, the first motor is driven to rotate the two track mechanisms to accommodate pipes of different diameters. The flip motor is driven to make the camera of the adjustment mechanism face upward. The adjustment mechanism extends and retracts, while the cylinder moves to adjust the horizontal distance between the camera and the steel pipe for visual inspection of the inner wall of the steel pipe.

[0022] The overall structure is suitable for monitoring three scenarios: bridge deck, bridge body pipeline external wall, and pipeline internal wall inspection. This avoids the need for multiple different robots for the same area, which not only increases procurement and maintenance costs but also slows down the process due to frequent equipment switching. It also avoids the time-consuming and labor-intensive nature of manual inspection, which is limited by the complexity of the working environment and the dangers of working at heights, making it difficult to guarantee inspection efficiency and safety.

[0023] When inspecting the outer or inner walls of steel pipes, the integrated structure can accommodate steel pipes of different diameters, eliminating the need for separate robot equipment for different pipe diameters. This avoids the need for repeated robot replacements and equipment adjustments, reducing procurement investment and maintenance costs. With fewer devices, there is no need to stock spare parts for equipment of different diameters and inspection surfaces. Furthermore, maintenance personnel only need to master the maintenance logic of one structure, reducing training costs and daily maintenance workload. When inspecting steel pipes of different diameters in the same area, there is no need to disassemble and assemble different equipment; the integrated robot structure and adjustment mechanism are used to adapt to the dimensions, significantly improving inspection efficiency and shortening the work cycle. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is an axonometric view of the overall structure of the present invention; Figure 2 This is an axonometric view of the overall structure of the present invention from another perspective; Figure 3 This is a front view of the overall structure of the bridge deck of the present invention; Figure 4 This is a front view of the overall structure of the present invention when inspecting the inner wall of the steel pipe; Figure 5 This is a front view of the outer wall of the steel pipe during the overall structural inspection of this invention; Figure 6 This is an axonometric view of the robot of the present invention; Figure 7 This is an axonometric view of the robot of the present invention from another perspective; Figure 8 This is a side view of the adjusting mechanism, telescopic mechanism, and flipping motor of the present invention; Figure 9 This is an axonometric view of the adjusting mechanism of the present invention; Figure 10 This is a view of the adjustment mechanism for the extension of the adjustment mechanism of the present invention; Figure 11 This is an exploded view of the adjusting mechanism of the present invention; Figure 12 This is an isometric view of the intermediate rail of the present invention; Figure 13 This is an exploded view of the telescopic mechanism of the present invention; In the diagram: Robot 1; Chassis 101; Exhaust port 1011; Track mechanism 102; Mounting slot 1021; Connecting seat 1022; Rotating shaft 103; First motor 104; Detection camera 105; Hose 106; Fan 107; Adjustment mechanism 2; Outer rail 3; Arc rail 301; Arc groove 303; Second motor 304; First gear 305; Intermediate rail 4; Second arc rail 401; Second arc groove 402; Slider 403; Arc rack 404; Third motor 405; Second gear 406; Inner rail 5; Sliding bar 501; Second slider 502; Ring rack 503; Camera 504; Telescopic mechanism 6; Top plate 601; Side rail 6011; Intermediate box 602; Slide 6022; Outer box 603; Tilting motor 7; Cylinder 8; Steel pipe 9; Bridge deck 10; Side plate 11. Detailed Implementation

[0025] Example 1: like Figure 1-13 A bridge crack detection climbing robot includes a robot 1, which comprises two rotating tracked mechanisms 102. A telescopic mechanism 6 is provided between the tracked mechanisms 102 and an adjustment mechanism 2. The adjustment mechanism 2 is rotatably connected to the tracked mechanisms 102. The adjustment mechanism 2 includes an outer rail 3, a middle rail 4, and an inner rail 5, which are sequentially slidably connected. With this structure, when the bridge deck needs maintenance, a first motor 104 is driven to adjust the rotation angle of the two tracked mechanisms 102 relative to the chassis 101, making the two tracked mechanisms 102 horizontal relative to the chassis 101. Simultaneously, a tilting motor 7 is adjusted to rotate the adjustment mechanism 2 relative to the robot 1, so that the camera 504 of the adjustment mechanism 2 faces the front end of the entire mechanism. The angle between the camera 504 and the horizontal plane is between 30° and 50°, allowing the camera 504 to inspect the horizontal surface of the bridge deck.

[0026] When the horizontal plane of the bridge is being inspected, the adjustment mechanism 2 is moved horizontally relative to the robot 1 by driving the cylinder 8, thereby adjusting the inspection range of the camera 504.

[0027] When inspecting the outer wall of the steel pipe 9, the first motor 104 is driven to make the two track mechanisms 102 rotate relative to the chassis 101 to adjust the angle between the track mechanisms 102 and the chassis 101. The track mechanisms 102 rotate downwards towards the chassis 101 so that the robot 1 can abut against the outer wall of the steel pipe 9 with different diameters, so that the overall structure can adapt to steel pipes 9 with different diameters and has a wide range of adaptability.

[0028] When the external wall inspection requires the telescopic adjustment mechanism 2, the fan 107 is driven so that the hose 106 is attached to the steel pipe 9 to stabilize the overall structure and prevent the overall structure from shaking when the telescopic adjustment mechanism 2 is activated, which could cause the robot 1 to fall off the steel pipe 9.

[0029] Robot 1 is located on top of steel pipe 9. It drives the flip motor 7 to make the camera 504 of the adjustment mechanism 2 face downwards, drives the cylinder 8 to make the telescopic mechanism 6 extend and retract, and the adjustment mechanism 2 moves horizontally to adjust the horizontal distance between the camera 504 and the outer wall of the steel pipe 9 so that the camera 504 can adapt to steel pipes 9 of different diameters for visual inspection of the circumference of the steel pipe 9.

[0030] When inspecting the inner wall of the steel pipe 9, the first motor 104 is driven to make the two track mechanisms 102 rotate upward to accommodate pipes of different diameters. The flip motor 7 is driven to make the camera 504 of the adjustment mechanism 2 face upward. The adjustment mechanism 2 extends and retracts, while the cylinder 8 moves to adjust the horizontal distance between the camera 504 and the steel pipe 9 for visual inspection of the inner wall of the steel pipe 9.

[0031] The overall structure is suitable for monitoring three scenarios: bridge deck, bridge body pipeline external wall, and pipeline internal wall inspection. This avoids the need for multiple different robots for the same area, which not only increases procurement and maintenance costs but also slows down the process due to frequent equipment switching. It also avoids the time-consuming and labor-intensive nature of manual inspection, which is limited by the complexity of the working environment and the dangers of working at heights, making it difficult to guarantee inspection efficiency and safety.

[0032] When inspecting the outer or inner wall of steel pipe 9, the overall structure can accommodate steel pipes 9 of different diameters, eliminating the need for separate robot equipment for different pipe diameters. This avoids the need for repeated robot replacements and equipment adjustments, reducing procurement investment and maintenance costs. With fewer devices, there is no need to separately stock spare parts for equipment of different diameters and inspection surfaces. Furthermore, maintenance personnel only need to master the maintenance logic of one structure, reducing training costs and daily maintenance workload. When inspecting steel pipes of different diameters in the same area, there is no need to disassemble and assemble different equipment; the robot 1 and adjustment mechanism 2 of the overall structure are used to adapt the dimensions, significantly improving inspection efficiency and shortening the work cycle.

[0033] In a preferred embodiment, robot 1 includes a chassis 101 with rotating shafts 103 rotatably connected at both ends. A first motor 104 is mounted at one end of each shaft 103. Multiple connecting seats 1022 are located on one side of the track mechanism 102, and these connecting seats 1022 are connected to the rotating shafts 103. With this structure, by driving the first motor 104, the two track mechanisms 102 rotate relative to the chassis 101, thereby adjusting the rotation angle between the track mechanism 102 and robot 1 to accommodate steel pipes 9 of different diameters.

[0034] In the preferred embodiment, the track mechanism 102 is provided with a mounting groove 1021, and the adjustment mechanism 2 and the telescopic mechanism 6 are installed in the mounting groove 1021. The chassis 101 is provided with multiple exhaust holes 1011, and a flexible hose 106 is provided at one end of the exhaust hole 1011. A blower 107 is installed inside the flexible hose 106, and a detection camera 105 is provided on the chassis 101. With this structure, the flexible hose 106 is elastic, and one end of the flexible hose 106 is open in a flared state. The blower 107 is powered by 24V DC, and the power of a single blower 107 is approximately 2400W. The negative pressure value can reach -70 kPa, and the unit suction force is ≥350 N. When the telescopic adjustment mechanism 2 is required for external wall inspection, the blower 107 is driven to make the flexible hose 106 adhere to the steel pipe 9, so as to stabilize the overall structure and prevent the overall structure from shaking during the telescopic adjustment mechanism 2, which could cause the robot 1 to fall off the steel pipe 9.

[0035] In the preferred embodiment, the intermediate rail 4 slides against the outer rail 3, and the inner rail 5 slides against the intermediate rail 4. A side plate 11 is provided on one side of the outer rail 3, and a flipping motor 7 is mounted on the side plate 11. The output shaft of the flipping motor 7 is rotatably connected to the outer rail 3. One end of the side plate 11 is connected to the telescopic mechanism 6, and the other end of the side plate 11 is equipped with a cylinder 8. With this structure, the second motor 304 is driven to rotate the first gear 305, causing the intermediate rail 4 to slide along the outer rail 3. The outer rail 3, intermediate rail 4, and inner rail 5 are all arc-shaped structures. The third motor 405 is driven to rotate the second gear 406, causing the slide bar 501 to slide along the intermediate rail 4, thereby extending and retracting the adjusting mechanism 2.

[0036] In the preferred embodiment, the outer rail 3 includes an arc-shaped rail 301, an arc-shaped groove 303 is provided on the arc-shaped rail 301, a second motor 304 is provided on one side of the arc-shaped rail 301, and a first gear 305 is provided at the output end of the second motor 304.

[0037] In a preferred embodiment, the intermediate rail 4 includes a second arc-shaped rail 401, with a second arc-shaped groove 402 inside the second arc-shaped rail 401. An arc-shaped slider 403 is located at one end of the second arc-shaped rail 401, sliding against the arc-shaped groove 403. A third motor 405 is located at one end of the second arc-shaped rail 401, with a second gear 406 mounted on the third motor 405. An arc-shaped rack 404 is located on one side of the second arc-shaped rail 401, meshing with the first gear 305. With this structure, the third motor 405 is mounted at one end of the second arc-shaped rail 401, its output shaft passing through the second arc-shaped rail 401. The second motor 304 is mounted at one end of the arc-shaped rail 301, and the arc-shaped rail 301 is rotatably connected to the side plate 11.

[0038] In a preferred embodiment, the inner rail 5 includes a slide bar 501, with a second slider 502 at one end of the slide bar 501. The second slider 502 slides against the second arc-shaped groove 402. A ring toothed rack 503 is provided on one side of the slide bar 501, meshing with a second gear 406. A camera 504 is provided at one end of the slide bar 501. With this structure, the side plate 11 is connected to the telescopic mechanism 6. When the driving cylinder 8 is activated, the adjusting mechanism 2 moves horizontally, driving the flipping motor 7 to rotate the adjusting mechanism 2 relative to the side plate 11.

[0039] In a preferred embodiment, the telescopic mechanism 6 includes a top plate 601, a hollow intermediate box 602, and a hollow outer box 603. The top plate 601 is connected to the side plates 11, and side rails 6011 are provided on both sides of the top plate 601. Slide grooves 6022 are provided on both sides of the inner wall of the intermediate box 602, and the side rails 6011 abut against the slide grooves 6022. A second slide groove is provided on the inner wall of the outer box 603, and second side rails are provided on both sides of the intermediate box 602, abutting against the second slide grooves. The outer box 603 is connected to the track mechanism 102. With this structure, the outer box 603 of the telescopic mechanism 6 is mounted on the mounting slot 1021, driving the cylinder 8 to horizontally extend and retract the telescopic mechanism 6, thereby allowing the adjusting mechanism 2 to move horizontally.

[0040] In the preferred embodiment, the track mechanism 102 of robot 1 abuts against the bridge deck 10, the outer wall of the steel pipe 9, or the inner wall of the steel pipe 9. With this structure, Example 2: Further explanation based on Embodiment 1: A detection method for a bridge crack detection climbing robot, S1, when the bridge surface needs to be detected, the chassis 101 and track mechanism 102 of the robot 1 are horizontal, driving the flip motor 7 so that the camera 504 of the adjustment mechanism 2 tilts forward, and the angle between the camera 504 and the horizontal plane is between 30° and 50°. S2, Mobile robot 1, to enable camera 504 to visually inspect the bridge surface, drives cylinder 8 to increase the visual inspection range of camera 504; S3. When inspecting the outer wall of the steel pipe, drive the first motor 104 to make the two track mechanisms 102 rotate relative to the chassis 101, so as to adjust the angle between the track mechanism 102 and the chassis 101, so that the robot 1 can abut against the outer wall of the steel pipe 9 with different diameters. S4. Drive the fan 107, drive the cylinder 8, and adjust the mechanism 2 to move horizontally so that the camera 504 can adapt to steel pipes of different diameters 9. Drive the flip motor 7 so that the camera 504 of the adjustment mechanism 2 faces downward. S5. Circumferential inspection of the outer wall of steel pipe 9, drive fan 107 to strengthen and stabilize, drive the second motor 304 and the third motor 405 of adjustment mechanism 2 to make adjustment mechanism 2 extend and retract, at the same time cylinder 8 moves, adjust the horizontal distance between camera 504 and steel pipe 9, and visually inspect the outer wall of steel pipe 9. S6, the fan 107 is turned on intermittently and the track mechanism 102 moves intermittently to prevent the adjustment mechanism 2 from falling off during adjustment, so as to make the robot 1 move; S7. When the robot performs circumferential detection on the inner wall, drive the first motor 104 to make the two track mechanisms 102 rotate upwards to adapt to drive the flip motor 7 so that the camera 504 of the adjustment mechanism 2 faces upwards. S8 drives the second motor 304 and the third motor 405 of the adjustment mechanism 2 to extend and retract the adjustment mechanism 2, while the cylinder 8 moves to adjust the horizontal distance between the camera 504 and the steel pipe 9 for visual inspection of the inner wall of the steel pipe 9.

[0041] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A bridge crack detection wall-climbing robot, characterized in that: The robot (1) includes two rotating track mechanisms (102). A telescopic mechanism (6) is provided between the track mechanism (102) and the adjustment mechanism (2). The adjustment mechanism (2) is rotatably connected to the track mechanism (102). The adjustment mechanism (2) includes an outer rail (3), a middle rail (4) and an inner rail (5). The outer rail (3), the middle rail (4) and the inner rail (5) are slidably connected in sequence. The outer rail (3) includes an arc-shaped rail (301), an arc-shaped groove (303) is provided on the arc-shaped rail (301), a second motor (304) is provided on one side of the arc-shaped rail (301), and a first gear (305) is provided at the output end of the second motor (304). The intermediate rail (4) includes a second arc-shaped rail (401), a second arc-shaped groove (402) is provided in the second arc-shaped rail (401), an arc-shaped slider (403) is provided at one end of the second arc-shaped rail (401), the slider (403) slides against the arc-shaped groove (303), a third motor (405) is provided at one end of the second arc-shaped rail (401), a second gear (406) is provided on the third motor (405), and an arc-shaped rack (404) is provided on one side of the second arc-shaped rail (401), the arc-shaped rack (404) meshes with the first gear (305); The inner rail (5) includes a slide bar (501), a second slider (502) is provided at one end of the slide bar (501), the second slider (502) slides against the second arc groove (402), a ring toothed rack (503) is provided on one side of the slide bar (501), the ring toothed rack (503) meshes with the second gear (406), and a camera (504) is provided at one end of the slide bar (501). The middle rail (4) slides against the outer rail (3), and the inner rail (5) slides against the middle rail (4). A side plate (11) is provided on one side of the outer rail (3), and a flip motor (7) is provided on the side plate (11). The output shaft of the flip motor (7) drives the outer rail (3) to rotate so as to inspect the inner wall, outer wall and bridge surface of the steel pipe (9). One end of the side plate (11) is connected to the telescopic mechanism (6), and the other end of the side plate (11) is provided with a cylinder (8) for telescopic mechanism (6) to extend and retract. The adjustment mechanism (2) moves horizontally to adjust the horizontal distance between the camera (504) and the outer wall of the steel pipe (9) so that the camera (504) can adapt to steel pipes (9) of different diameters.

2. The bridge crack detection climbing robot according to claim 1, characterized in that: The robot (1) includes a chassis (101), with rotating shafts (103) rotatably connected at both ends of the chassis (101). A first motor (104) is provided at one end of the rotating shaft (103), and multiple connecting seats (1022) are provided on one side of the track mechanism (102). The connecting seats (1022) are connected to the rotating shaft (103).

3. The bridge crack detection wall-climbing robot according to claim 2, characterized in that: The track mechanism (102) is provided with a mounting groove (1021), the adjustment mechanism (2) and the telescopic mechanism (6) are installed in the mounting groove (1021), the chassis (101) is provided with multiple exhaust holes (1011), one end of the exhaust hole (1011) is provided with a hose (106), the hose (106) is provided with a fan (107), and the chassis (101) is provided with a detection camera (105).

4. The bridge crack detection climbing robot according to claim 1, characterized in that: The telescopic mechanism (6) includes a top plate (601), a hollow intermediate box (602) and a hollow outer box (603). The top plate (601) is connected to the side plate (11). Side rails (6011) are provided on both sides of the top plate (601). Slide grooves (6022) are provided on both sides of the inner wall of the intermediate box (602). The side rails (6011) abut against the slide grooves (6022). A second slide groove is provided on the inner wall of the outer box (603). Second side rails are provided on both sides of the intermediate box (602). The second side rails abut against the second slide grooves. The outer box (603) is connected to the track mechanism (102).

5. The bridge crack detection climbing robot according to claim 1, characterized in that: The track mechanism (102) of the robot (1) abuts against the bridge deck (10), the outer wall of the steel pipe (9), or the inner wall of the steel pipe (9).

6. The detection method of a bridge crack detection climbing robot according to any one of claims 1 to 5, characterized in that: S1. When the bridge surface needs to be inspected, the chassis (101) and track mechanism (102) of the robot (1) are horizontal, driving the flip motor (7) to tilt the camera (504) of the adjustment mechanism (2) forward, with the angle between the camera (504) and the horizontal plane being between 30° and 50°. S2, a mobile robot (1) is used to enable the camera (504) to visually inspect the bridge surface, and a cylinder (8) is driven to increase the visual inspection range of the camera (504); S3. When inspecting the outer wall of the steel pipe, drive the first motor (104) to make the two track mechanisms (102) rotate relative to the chassis (101) to adjust the angle between the track mechanism (102) and the chassis (101) so that the robot (1) can abut against the outer wall of the steel pipe (9) with different diameters. S4. Drive the fan (107), drive the cylinder (8), and adjust the mechanism (2) to move horizontally so that the camera (504) can adapt to steel pipes (9) of different diameters. Drive the flip motor (7) so that the camera (504) of the adjustment mechanism (2) faces downward. S5. Circumferential inspection of the outer wall of the steel pipe (9), drive the fan (107) to strengthen and stabilize, drive the second motor (304) and the third motor (405) of the adjustment mechanism (2) to make the adjustment mechanism (2) extend and retract, while the cylinder (8) moves, adjust the horizontal distance between the camera (504) and the steel pipe (9), and visually inspect the outer wall of the steel pipe (9). S6. The fan (107) is turned on intermittently and the track mechanism (102) moves intermittently to prevent the adjustment mechanism (2) from falling during adjustment, so as to make the robot (1) move. S7. When the robot performs circumferential detection on the inner wall, drive the first motor (104) to make the two track mechanisms (102) rotate upward to adapt to pipes of different diameters, and drive the flip motor (7) to make the camera (504) of the adjustment mechanism (2) face upward; S8 drives the second motor (304) and the third motor (405) of the adjustment mechanism (2) to extend and retract, while the cylinder (8) moves to adjust the horizontal distance between the camera (504) and the steel pipe (9) for visual inspection of the inner wall of the steel pipe (9).

Images