Self-adaptive bridge lower crack repairing machine

Abstract

The invention relates to the technical field of crack repairing machines, in particular to a self-adaptive bridge lower crack repairing machine. According to the technical scheme, the device comprises a guide frame, a mounting base, detection equipment, a repairing system and a driving part. The detection equipment comprises a laser detector and an industrial camera and is used for automatically identifying cracks; the repairing system comprises a supporting plate, an air cushion and a slurry injection structure, the air cushion seals the concave-convex surface of the bridge bottom in a self-adaptive mode after being inflated, and grouting is conducted after vacuum pumping is conducted through a vacuum pump; the slurry injection structure is provided with a cleaning flow channel capable of being horizontally staggered, the pipeline can be thoroughly cleaned after slurry injection, and blockage is prevented. According to the method, the three technical problems that upward face grouting exhaust is difficult, curved face sealing is difficult, and a grouting pipeline is prone to being blocked are solved, and efficient, high-quality and repeatable automatic repairing of cracks in the lower portion of a bridge is achieved.

Description

Technical Field

[0001] This invention relates to the field of crack repair machine technology, and in particular to an adaptive bridge substructure crack repair machine. Background Technology

[0002] During the long-term service of bridges, their substructures, especially the bottom slabs of beams and the undersides of cap beams, are prone to various cracks due to loads, shrinkage, creep, and environmental erosion. These cracks not only affect structural durability and accelerate steel corrosion, but in severe cases, they can also jeopardize the overall load-bearing safety of the bridge. Traditional crack repair mainly relies on manual scaffolding for high-altitude operations, which has drawbacks such as low efficiency, high safety risks, and poor quality consistency. Therefore, the development of automated and intelligent bridge substructure crack repair technologies and equipment has become an urgent need in the field of intelligent infrastructure operation and maintenance.

[0003] However, achieving high-quality automated repair of cracks under bridges faces a series of unique and challenging technical difficulties. First, when grouting cracks on the bridge's underside, the grout must be injected upwards against gravity. Air inside the crack naturally rises and accumulates at the highest point, making it difficult to escape through conventional grouting ports, easily forming voids and resulting in incomplete filling. Second, to prevent grout from dripping under gravity, reliable temporary sealing must be applied to the outside of the crack. However, achieving rapid and suitable sealing on the large-span, uneven surface of the bridge underside is extremely difficult. Adding to the complexity, the grouting process itself introduces subsequent problems: the grouting pipe needs to pass through the temporary seal and connect to the crack, meaning grouting holes need to be opened on the temporary sealing plate. If the pipe is pulled out directly after grouting, grout inside the crack will leak through the grouting holes, compromising the seal. If the pipe is left in place, the grouting channel and holes cannot be flushed, causing residual grout to solidify within the complex flow channels, leading to blockage and scrapping of the grouting channels and sealing components, severely impacting the reusability and economy of the equipment. Summary of the Invention

[0004] The purpose of this invention is to address the problems in the prior art, such as difficulty in grouting and venting on the overhead surface, difficulty in sealing irregular curved surfaces, and difficulty in cleaning and preventing blockage of the grout path, and to propose an adaptive bridge substructure crack repair machine.

[0005] The technical solution of the present invention: an adaptive bridge substructure crack repair machine, comprising a guide frame fixedly installed on the bridge and a detection and repair component installed on the guide frame; The inspection and repair component includes a mounting base mounted on a guide frame, multiple sets of inspection equipment mounted on the mounting base, a repair system mounted on the mounting base, and a drive unit that drives the mounting base to move along the guide frame. The repair system includes a support plate and an air cushion mounted on the support plate. The support plate is provided with a plurality of grouting holes, and the air cushion is provided with a plurality of flow holes that correspond one-to-one with the grouting holes and are coaxially arranged. A grout injection structure is installed on the grouting hole. The grout injection structure includes a vertically installed connecting pipe, a horizontally installed input pipe, a first electrically controlled valve fixedly installed on the input pipe and connected to a pumping system for conveying mortar, and a second electrically controlled valve fixedly installed on the connecting pipe. The mounting base is equipped with a support assembly that supports the support plate and drives the support plate to move vertically and horizontally.

[0006] Optionally, the guide frame includes multiple support rods fixedly installed on both sides of the bridge, and a guide rail is fixedly installed on the multiple support rods on the same side, and the mounting base is slidably connected to the two guide rails.

[0007] Optionally, the detection equipment includes a laser detector and an industrial camera fixedly mounted on a mounting base.

[0008] Optionally, an air pipe is connected to the air cushion, and an air pump system for inputting gas into the air cushion is connected to the air pipe.

[0009] Optionally, the air cushion is provided with multiple adsorption holes, and an air extraction pipe is connected to each adsorption hole. A third electrically controlled valve is fixedly installed on the air extraction pipe, and multiple air extraction pipes are connected to a vacuum pump system.

[0010] Optionally, a flow guide pipe is connected to the second electrically controlled valve, and the flow guide pipe extends to the bottom of the bridge.

[0011] Optionally, the support assembly includes multiple support seats fixedly installed on the mounting base, a base plate fixedly installed on the multiple support seats, multiple slide rods slidably installed on the base plate, a lifting plate fixedly installed on the multiple slide rods, a first hydraulic rod fixedly installed on the base plate, and the output shaft of the first hydraulic rod fixedly connected to the lifting plate.

[0012] Optionally, multiple connecting seats are fixedly installed on the lifting plate, the support plate is slidably connected to the connecting seats, and a second hydraulic rod is rotatably installed on the lifting plate, the output shaft of the second hydraulic rod being rotatably connected to the support plate.

[0013] Optionally, a plurality of support wheels are rotatably mounted on the mounting base, and the support wheels are engaged inside the guide rail.

[0014] Optionally, the driving component includes two drive wheels rotatably mounted on a mounting base. The two drive wheels are located on both sides of a guide rail and press against the guide rail. Gears are fixedly mounted on the drive wheels, and the two gears mesh with each other. A motor is fixedly mounted on the mounting base, and the output shaft of the motor is coaxially and fixedly connected to one of the gears.

[0015] Compared with the prior art, this application includes at least one of the following beneficial technical effects: This application effectively solves the problem of sealing irregular curved surfaces under bridges by using air cushion inflation adaptive sealing. It adopts vacuum pretreatment technology to completely remove gas from cracks, avoid grouting cavities, and improve filling density. By using a grout injection structure that can be horizontally misaligned and has a cleaning function, timely cleaning and reuse of the grouting channel are achieved, overcoming the pain point of easy clogging and scrapping of pipelines in traditional processes. The whole system integrates detection, positioning, sealing, grouting and cleaning functions, realizing automated and intelligent operation of bridge substructure crack repair, which greatly improves repair efficiency, quality consistency and operation safety. Attached Figure Description

[0016] Figure 1 Schematic diagram for inspecting the connection between the repaired components and the bridge. Figure 1 ; Figure 2 Schematic diagram for inspecting the connection between the repaired components and the bridge. Figure 2 ; Figure 3 A schematic diagram of the structure for inspecting and repairing the component; Figure 4 This is a structural schematic diagram of the testing equipment and its driving components; Figure 5 for Figure 4 A magnified view of a section at point A in the middle; Figure 6 This is a schematic diagram showing the connection between the mounting base and the guide rail; Figure 7 for Figure 6 A magnified view of a section at point B in the middle; Figure 8 A schematic diagram of the supporting components; Figure 9 Schematic diagram of slurry injection structure Figure 1 ; Figure 10 Schematic diagram of slurry injection structure Figure 2 ; Figure 11 This is a schematic diagram showing the change in the position of the mounting base during grouting.

[0017] Reference numerals: 1. Bridge; 2. Guide frame; 21. Support rod; 22. Guide rail; 3. Inspection and repair component; 31. Mounting base; 311. Support wheel; 32. Inspection equipment; 321. Laser detector; 322. Industrial camera; 33. Repair system; 331. Support plate; 3311. Grouting hole; 332. Air cushion; 3321. Flow hole; 3322. Air pipe; 3323. Adsorption hole; 3324. Extraction pipe; 3325. Third solenoid valve; 33 3. Slurry injection structure; 3331. Connecting pipe; 3332. Input pipe; 3333. First solenoid valve; 3334. Second solenoid valve; 3335. Guide pipe; 334. Support assembly; 3341. Support seat; 3342. Base plate; 3343. Slide rod; 3344. Lifting plate; 3345. First hydraulic rod; 3346. Connecting seat; 3347. Second hydraulic rod; 34. Driving component; 341. Driving wheel; 342. Gear; 343. Motor. Detailed Implementation

[0018] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0019] Example: Figures 1 to 4 and Figure 6 , Figure 7 As shown, the present invention proposes an adaptive bridge substructure crack repair machine, including a guide frame 2 fixedly installed on a bridge 1, and a detection and repair component 3 installed on the guide frame 2. The detection and repair component 3 includes a mounting base 31 installed on the guide frame 2, multiple sets of detection devices 32 installed on the mounting base 31, a repair system 33 installed on the mounting base 31, and a driving component 34 that drives the mounting base 31 to move along the guide frame 2. The driving component 34 can drive the detection devices 32 to cover the entire bottom of the bridge 1, realize full-range detection, and determine whether cracks have appeared on the bottom of the bridge and where the cracks are located through the detection devices 32.

[0020] Furthermore, the guide frame 2 includes multiple support rods 21 fixedly installed on both sides of the bridge 1. A guide rail 22 is fixedly installed on the multiple support rods 21 on the same side. The mounting base 31 is slidably connected to the two guide rails 22. Multiple support wheels 311 are rotatably installed on the mounting base 31. The support wheels 311 are engaged inside the guide rails 22, which can provide a stable and precisely positioned mobile platform for the entire equipment. This ensures that the inspection and repair work can efficiently and smoothly traverse the entire working surface under the bridge along the length of the bridge, overcoming the drawbacks of difficult movement and inaccurate positioning of manual high-altitude operations.

[0021] The detection equipment 32 includes a laser detector 321 and an industrial camera 322, which are fixedly installed on the mounting base 31. The laser detector can accurately acquire the three-dimensional geometric information of the crack, such as its width and depth, while the industrial camera provides high-resolution texture images. The data of the two are fused and processed by the built-in algorithm to realize the automatic identification, quantification and digital archiving of the crack, providing a basis for decision-making for subsequent precise repair.

[0022] like Figures 3 to 4 and Figures 7 to 8 As shown, in this embodiment, the repair system 33 includes a support plate 331 and an air cushion 332 installed on the support plate 331. The support plate 331 is provided with a plurality of grouting holes 3311, and the air cushion 332 is provided with a plurality of flow holes 3321 that correspond one-to-one with the grouting holes 3311 and are coaxially arranged. When grouting is performed inside the crack, the grout is injected into the grouting hole 3311 and enters the flow hole 3321 through the grouting hole 3311, and then enters the crack to fill the crack.

[0023] The air cushion 332 is connected to an air pipe 3322, which is connected to an air pump system that supplies gas to the air cushion 332. The air pump system can increase the air pressure inside the air cushion 332, so that the air cushion 332 is tightly attached to the bottom of the bridge 1 and seals the cracks. This can prevent leakage during grouting. As a flexible sealing element, the air cushion 332 can adaptively fit the uneven bottom surface of the bridge 1 after being inflated, forming a reliable sealed grouting cavity around the cracks. This effectively solves the industry problem of traditional rigid sealing which is difficult to seal on irregular curved surfaces at the bottom of the bridge, and fundamentally prevents the grout from dripping during grouting on the overhead side.

[0024] The air cushion 332 is provided with multiple adsorption holes 3323, and the adsorption holes 3323 are connected to the air extraction pipes 3324. A third electric control valve 3325 is fixedly installed on the air extraction pipes 3324. The multiple air extraction pipes 3324 are connected to a vacuum pump system. After the crack is sealed by the air cushion 332, the vacuum pump system can be used to evacuate the inside of the crack, avoiding the problem of cavities caused by gas at the top of the crack during the grouting process. By pre-extracting air and moisture from the sealed cavity and creating a negative pressure environment, not only is the quality hazard of cavities caused by gas not being able to be discharged completely solved, but the pressure difference can also be used to assist the grout to penetrate more smoothly to the finest end of the crack, significantly improving the fullness and density of the grouting.

[0025] like Figures 8 to 11 As shown, in this embodiment, a grout injection structure 333 is installed on the grouting hole 3311. The grout injection structure 333 includes a vertically installed connecting pipe 3331, a horizontally installed input pipe 3332, a first electrically controlled valve 3333 fixedly installed on the input pipe 3332 and connected to a grout pumping system, and a second electrically controlled valve 3334 fixedly installed on the connecting pipe 3331. During the grouting process, the first electrically controlled valve 3333 opens and the second electrically controlled valve 3334 closes, allowing the grout to enter the crack. After grouting is completed, the air cushion 332 is moved by the moving support plate 331. The movement is initiated, at which point the grouting hole 3311 and the flow hole 3321 are misaligned with the crack, and the crack can still be sealed by the large air cushion 332. At this time, the second solenoid valve 3334 is opened, and cleaning fluid is introduced into the input pipe 3332 to clean the inside of the delivery pipe, the grouting hole 3311, and the flow hole 3321. This can be recycled. The second solenoid valve 3334 is connected to a guide pipe 3335, which extends to the bottom of the bridge 1. At this time, the excess mortar inside the pipe will be mixed with the cleaning fluid and discharged through the guide pipe 3335 to the designated location.

[0026] This solution achieves a washable injection structure, solving a key pain point in the sustainable use of grouting equipment. It ensures that the pipelines and grouting channels can be thoroughly cleaned after each use, avoiding solidification and blockage, ensuring the reusability of core components, and greatly improving the economy and operational continuity of the equipment.

[0027] like Figure 8 and Figure 9As shown, this embodiment also includes a support assembly 334 mounted on the mounting base 31 to support the support plate 331 and drive the support plate 331 to move vertically and horizontally. The support assembly 334 includes multiple support seats 3341 fixedly mounted on the mounting base 31 and a base plate 3342 fixedly mounted on the multiple support seats 3341. Multiple sliding rods 3343 are slidably mounted on the base plate 3342. A lifting plate 3344 is fixedly mounted on the multiple sliding rods 3343. A first hydraulic rod 3345 is fixedly mounted on the base plate 3342. The output shaft of the first hydraulic rod 3345 is fixedly connected to the lifting plate 3344. The lifting plate 3344 can be driven to move up and down through the first hydraulic rod 3345, thereby driving the mounting base 31 to move up and down, so that the air cushion 332 fits with the bottom of the bridge 1, realizing mold closing and demolding.

[0028] Furthermore, multiple connecting seats 3346 are fixedly installed on the lifting plate 3344, and the support plate 331 is slidably connected to the connecting seats 3346. A second hydraulic rod 3347 is rotatably installed on the lifting plate 3344, and the output shaft of the second hydraulic rod 3347 is rotatably connected to the support plate 331. The extension and retraction of the second hydraulic rod 3347 can drive the support plate 331 to move horizontally along the connecting seats 3346, thereby providing fine horizontal displacement. It is the key action actuator to realize the above-mentioned misalignment cleaning function.

[0029] like Figure 4 and Figure 5 As shown, in this embodiment, the driving component 34 includes two driving wheels 341 rotatably mounted on the mounting base 31. The two driving wheels 341 are located on both sides of the guide rail 22 and press against the guide rail 22. Gears 342 are fixedly mounted on the driving wheels 341, and the two gears 342 mesh with each other. A motor 343 is fixedly mounted on the mounting base 31. The output shaft of the motor 343 is coaxially fixedly connected to one of the gears 342. By using the double-sided driving wheels 341 pressing against and meshing with the gears 342 for transmission, a strong driving force and anti-deviation capability are provided, ensuring the stability and positioning accuracy of the mounting base 31 and all equipment on it when moving over long distances and large spans under the bridge. Specifically, the motor 343 can drive one of the driving wheels 341 to rotate, and under the transmission action of the gears 342, the two driving wheels 341 rotate synchronously in opposite directions. Under the friction between the driving wheels 341 and the guide rail 22, the mounting base 31 can move along the guide rail 22.

[0030] In this embodiment, firstly, the driving component 34 drives the mounting base 31 to move smoothly along the guide frame 2 fixed on both sides of the bridge 1, so that the detection device 32 integrated on the mounting base 31 can perform a full-coverage scan of the bridge bottom, automatically identify and locate cracks. When a crack is found, the support component 334 drives the support plate 331 and the air cushion 332 to move above the crack. The air cushion 332 is inflated through the air pipe 3322 to adaptively fit the uneven bridge bottom surface and form a sealed grouting cavity. Subsequently, the air extraction pipe 3324 connected to the air cushion 332 and the vacuum pump system are used to evacuate the crack area and remove air and moisture. During grouting, the first solenoid valve 3333 of the grout injection structure 333 is opened and the second solenoid valve 3334 is closed. The grout is injected into the crack through the input pipe 3332, connecting pipe 3331, grouting hole 3311 and air cushion flow hole 3321. After grouting is completed, the second hydraulic rod 3347 drives the support plate 331 to move horizontally, so that the grouting hole 3311 is misaligned with the crack, but the air cushion 332 remains sealed. At this time, the second solenoid valve 3334 is opened and cleaning fluid is injected to clean the flow channels such as the connecting pipe 3331 and the grouting hole 3311. The waste liquid is discharged through the guide pipe 3335, thereby realizing pipeline anti-blocking and component reuse.

[0031] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. An adaptive bridge substructure crack repair machine, characterized in that, include: Guide frame (2) fixedly installed on the bridge (1), and inspection and repair components (3) installed on the guide frame (2); The inspection and repair component (3) includes a mounting base (31) mounted on the guide frame (2), multiple sets of inspection devices (32) mounted on the mounting base (31), a repair system (33) mounted on the mounting base (31), and a drive unit (34) that drives the mounting base (31) to move along the guide frame (2). The repair system (33) includes a support plate (331) and an air cushion (332) installed on the support plate (331). The support plate (331) is provided with a plurality of grouting holes (3311), and the air cushion (332) is provided with a plurality of flow holes (3321) that correspond one-to-one with the grouting holes (3311) and are coaxially arranged. A grout injection structure (333) is installed on the grouting hole (3311). The grout injection structure (333) includes a vertically installed connecting pipe (3331), a horizontally installed input pipe (3332) on the connecting pipe (3331), a first electrically controlled valve (3333) fixedly installed on the input pipe (3332) and connected to a pumping system for conveying mortar, and a second electrically controlled valve (3334) fixedly installed on the connecting pipe (3331). The mounting base (31) is equipped with a support assembly (334) that supports the support plate (331) and drives the support plate (331) to move vertically and horizontally.

2. The adaptive bridge substructure crack repair machine according to claim 1, characterized in that, The guide frame (2) includes multiple support rods (21) fixedly installed on both sides of the bridge (1). A guide rail (22) is fixedly installed on the multiple support rods (21) on the same side. The mounting seat (31) is slidably connected to the two guide rails (22).

3. The adaptive bridge substructure crack repair machine according to claim 2, characterized in that, The detection device (32) includes a laser detector (321) and an industrial camera (322) fixedly mounted on a mounting base (31).

4. The adaptive bridge substructure crack repair machine according to claim 3, characterized in that, The air cushion (332) is connected to an air tube (3322), and the air tube (3322) is connected to an air pump system for inputting gas into the air cushion (332).

5. The adaptive bridge substructure crack repair machine according to claim 4, characterized in that, The air cushion (332) is provided with multiple adsorption holes (3323), and an air extraction pipe (3324) is connected to the adsorption holes (3323). A third electric control valve (3325) is fixedly installed on the air extraction pipe (3324), and multiple air extraction pipes (3324) are connected to a vacuum pump system.

6. The adaptive bridge substructure crack repair machine according to claim 5, characterized in that, A guide pipe (3335) is connected to the second solenoid valve (3334), which extends to the bottom of the bridge (1).

7. The adaptive bridge substructure crack repair machine according to claim 6, characterized in that, The support assembly (334) includes a plurality of support seats (3341) fixedly installed on the mounting base (31) and a base plate (3342) fixedly installed on the plurality of support seats (3341). A plurality of slide rods (3343) are slidably installed on the base plate (3342). A lifting plate (3344) is fixedly installed on the plurality of slide rods (3343). A first hydraulic rod (3345) is fixedly installed on the base plate (3342). The output shaft of the first hydraulic rod (3345) is fixedly connected to the lifting plate (3344).

8. The adaptive bridge substructure crack repair machine according to claim 7, characterized in that, Multiple connecting seats (3346) are fixedly installed on the lifting plate (3344). The support plate (331) is slidably connected to the connecting seats (3346). A second hydraulic rod (3347) is rotatably installed on the lifting plate (3344). The output shaft of the second hydraulic rod (3347) is rotatably connected to the support plate (331).

9. An adaptive bridge substructure crack repair machine according to claim 8, characterized in that, Multiple support wheels (311) are rotatably mounted on the mounting base (31), and the support wheels (311) are engaged inside the guide rail (22).

10. An adaptive bridge substructure crack repair machine according to claim 9, characterized in that, The drive component (34) includes two drive wheels (341) rotatably mounted on the mounting base (31). The two drive wheels (341) are located on both sides of the guide rail (22) and press against the guide rail (22). Gears (342) are fixedly mounted on the drive wheels (341) and the two gears (342) mesh with each other. A motor (343) is fixedly mounted on the mounting base (31), and the output shaft of the motor (343) is coaxially fixedly connected to one of the gears (342).

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