Bridge crack precision repairing equipment based on photoelectric measurement

Abstract

This invention relates to the field of detection device technology, specifically to a precision bridge crack repair device based on photoelectric measurement. The device includes a mobile carrier with a lifting mechanism, which comprises a linear drive assembly, a floating worktable, and a linkage assembly. The end of the linkage assembly is connected to the floating worktable via a connecting structure, which includes a drive pin and an elongated hole. Multiple reference components are located at the bottom of the floating worktable, and a laser measurement assembly, a visual recognition assembly, and a grouting assembly are mounted thereon. By establishing a connection structure with a free travel between the mobile carrier and the floating worktable, and in conjunction with the logic control of the linear drive assembly, the problem of balancing rigid storage protection and flexible contouring operations is solved, achieving high-precision physical floating in the operational state and reliable rigid locking in the non-operational state.

Description

Technical Field

[0001] This invention relates to the field of detection device technology, specifically to a precision repair device for bridge cracks based on photoelectric measurement. Background Technology

[0002] With the increasing service life of transportation infrastructure, automated maintenance of bridge and pavement cracks has become a key requirement for ensuring structural safety. Traditional crack repair mainly relies on manual hand-held crack filling guns, which is not only inefficient but also subject to significant subjective factors in terms of repair quality, making it difficult to meet the standards of modern bridge precision reinforcement. Existing technology (Chinese Patent Publication No. CN117889753B) discloses an automatic bridge crack repair device for bridge engineering, which attempts to achieve automatic crack tracking and filling by incorporating identification and repair components. Such devices typically employ an integrated lifting structure, integrating the identification and repair modules onto the same mobile chassis, and using a motor or cylinder to drive the actuator to align the crack. Although the above devices improve automation to some extent, in actual complex bridge surfaces or uneven road surfaces, the actuator in this solution is usually in a state of constant rigid connection with the drive component. When the device travels on surfaces with minor undulations (such as misaligned concrete joints or road surface protrusions), the bumps of the moving carrier are directly transmitted to the end effector, causing frequent changes in the laser sensor's focal length, blurred visual imaging, and even nozzle impact with the ground. If a simple spring suspension is used, the module will shake randomly due to the lack of rigid constraints when the equipment is moved or not in operation, which can easily damage the delicate optoelectronic components. Summary of the Invention

[0003] To address the aforementioned issues, a precision bridge crack repair device based on photoelectric measurement is provided. By setting up a connection structure with idle travel between the moving carrier and the floating worktable, and in conjunction with the logic control of the linear drive component, the problem of balancing rigid storage protection and flexible contouring operation is solved, achieving high-precision physical floating in the working state and reliable rigid locking in the non-working state.

[0004] To address the problems of existing technologies, this invention provides a precision bridge crack repair device based on photoelectric measurement, comprising a mobile carrier with a lifting mechanism. The lifting mechanism includes a linear drive assembly fixed to the mobile carrier, a floating worktable located below the linear drive assembly, and a connecting rod assembly connecting the floating worktable and the linear drive assembly. The floating worktable is slidably mounted on the mobile carrier and elastically connected to it. The end of the connecting rod assembly is connected to the floating worktable via a connecting structure, which includes a drive pin at the end of the connecting rod assembly and a vertical elongated hole on the floating worktable. Multiple reference components are provided at the bottom of the floating worktable, and a laser measurement assembly, a visual recognition assembly, and a grouting assembly are sequentially installed at the bottom of the floating worktable along the travel direction of the mobile carrier. The lifting mechanism is configured to drive the connecting rod assembly to swing via the linear drive assembly, causing the drive pin to move within the elongated hole. This rigidly lifts the floating worktable to a retracted state when the drive pin abuts the top of the elongated hole, or releases the floating worktable into a vertically decoupled working state when the drive pin is within the free stroke of the elongated hole.

[0005] Preferably, the linear drive assembly includes a horizontally arranged lead screw module and a movable slide mounted on the lead screw module; one end of the connecting rod assembly is hinged to the movable slide, and the other end of the connecting rod assembly extends to the floating worktable.

[0006] Preferably, a plurality of guide rods extending vertically are fixedly connected to the floating worktable, and the plurality of guide rods are slidably engaged with the moving carrier. The elastic connection between the floating worktable and the moving carrier is a spring sleeved on the guide rod.

[0007] Preferably, the lead screw module is a bidirectional lead screw, and the movable slides are arranged in two symmetrically distributed positions, with the two movable slides threadedly connected to both ends of the bidirectional lead screw; the connecting rod assembly includes two sets of symmetrically arranged rocker arm connecting rods, with the upper ends of the two sets of rocker arm connecting rods respectively hinged to the two movable slides, and the lower ends respectively connected to the drive pins; the floating worktable has two vertical elongated holes corresponding to each other.

[0008] Preferably, the reference component is a universal ball unit, and multiple reference components are distributed in a rectangular array at the bottom of the floating worktable.

[0009] Preferably, the visual recognition component and the laser measurement component are jointly fixed to the mounting base, which is fixed to the base plate of the floating worktable by fasteners; wherein the laser measurement component is located at the foremost position in the direction of travel of the moving carrier.

[0010] Preferably, the center of the lens of the visual recognition component, the projection center of the laser measurement component, and the center of the nozzle of the grouting component are located on the same travel reference line.

[0011] Preferably, the grouting assembly includes a storage tank and a dispensing valve body; the storage tank is fixed on a mobile carrier, and the dispensing valve body is in fluid communication with the storage tank.

[0012] Preferably, the dispensing valve body is mounted on a floating worktable via a rotating bracket and is connected to an angle adjustment actuator. The angle adjustment actuator is used to drive the dispensing valve body to rotate around a horizontal axis to adjust the spray angle of the dispensing nozzle relative to the bridge surface.

[0013] Preferably, the dispensing valve body is a back-suction dispensing valve, which has a valve core driven by a motor inside; the grouting assembly is configured to control the valve core of the dispensing valve body to perform a reverse back-pull action to block the glue drip when grouting stops.

[0014] The advantages of this invention compared to the prior art are: 1. This invention resolves the conflict between road adaptability and equipment safety during mobile operations through pin-groove clearance fit and lifting logic. In the non-operating state, the linear drive assembly forcibly eliminates the clearance, using the rigid contact between the pin and the top of the elongated hole to lock the floating worktable in a high position. This not only overcomes the resistance of the elastic connection but also physically eliminates relative sway between components, ensuring reliable protection for the precision optical sensors and grouting nozzles during rapid relocation or transportation, preventing mechanical damage or optical axis misalignment caused by vehicle bumps. In the operating state, the linear drive assembly pushes the pin to the free travel range of the elongated hole, achieving complete mechanical decoupling between the drive end and the execution end. At this time, the floating worktable is controlled only by gravity and the elastic guide assembly, as if suspended below the linkage assembly. This allows the worktable to respond to the undulating surface of the bridge with millisecond-level follow-up, unaffected by vehicle vibration. This ensures that the object distance of the laser profilometer remains constant, thereby guaranteeing the accuracy of crack measurement. At the same time, it ensures a constant height between the nozzle and the ground, ensuring the consistency of the grouting distance, and effectively solving the problem of difficult precision repair under complex working conditions.

[0015] 2. This invention spatially separates the material storage from the execution process. The bulky, heavy material storage tank is anchored to a non-floating moving carrier, while only the lightweight dispensing valve body is mounted on the floating worktable. The two are connected by flexible piping, reducing the moving mass of the floating component. The lightweight floating worktable can follow terrain changes with extremely high acceleration, avoiding the risk of sliding or denting due to excessive inertia. This highly sensitive dynamic response, combined with a photoelectric detection system, allows the equipment to maintain precise tracking and repair of even minute cracks, even at relatively high speeds. Attached Figure Description

[0016] Figure 1A three-dimensional structural diagram of a precision bridge crack repair device based on photoelectric measurement. Figure 1 .

[0017] Figure 2 This is a top view of a precision bridge crack repair device based on photoelectric measurement.

[0018] Figure 3 This is a front view of a precision bridge crack repair device based on photoelectric measurement.

[0019] Figure 4 A three-dimensional structural diagram of a precision bridge crack repair device based on photoelectric measurement. Figure 2 .

[0020] Figure 5 This is a cross-sectional structural diagram of a precision bridge crack repair device based on photoelectric measurement, showing its operational state.

[0021] Figure 6 This is a schematic cross-sectional view of a precision bridge crack repair device based on photoelectric measurement in its stored state.

[0022] Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0023] Figure 8 A schematic diagram of the three-dimensional structure of a floating worktable in a precision bridge crack repair device based on photoelectric measurement. Figure 1 .

[0024] Figure 9 yes Figure 8 Enlarged view of point B in the middle.

[0025] Figure 10 A schematic diagram of the three-dimensional structure of a floating worktable in a precision bridge crack repair device based on photoelectric measurement. Figure 2 .

[0026] The following components are labeled in the diagram: 1. Moving carrier; 2. Lifting mechanism; 21. Linear drive assembly; 211. Screw module; 2111. Bidirectional screw; 2112. Rocker arm linkage; 212. Moving slide; 22. Floating worktable; 221. Laser measurement assembly; 2211. Mounting base; 222. Vision recognition assembly; 223. Grouting assembly; 2231. Storage box; 2232. Dispensing valve body; 2233. Rotating bracket; 2234. Angle adjustment actuator; 224. Reference component; 2241. Universal ball unit; 225. Guide rod; 2251. Spring; 23. Linkage assembly; 231. Connecting structure; 2311. Drive pin; 2312. Oblong hole. Detailed Implementation

[0027] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figures 1 to 7 As shown: A precision bridge crack repair device based on photoelectric measurement includes a mobile carrier 1, on which a lifting mechanism 2 is mounted. The lifting mechanism 2 includes a linear drive assembly 21 fixed to the mobile carrier 1, a floating worktable 22 located below the linear drive assembly 21, and a connecting rod assembly 23 connecting the floating worktable 22 and the linear drive assembly 21. The floating worktable 22 is slidably mounted on the mobile carrier 1 and is elastically connected to the mobile carrier 1. The end of the connecting rod assembly 23 is connected to the floating worktable 22 via a connecting structure 231. The connecting structure 231 includes a drive pin 2311 located at the end of the connecting rod assembly 23 and a drive pin 231 located at the end of the floating worktable 22. The floating worktable 22 has a vertical elongated hole 2312; the bottom of the floating worktable 22 is provided with multiple reference components 224, and the bottom of the floating worktable 22 is sequentially equipped with a laser measurement component 221, a vision recognition component 222 and a grouting component 223 along the traveling direction of the moving carrier 1; the lifting mechanism 2 is configured to drive the connecting rod component 23 to swing through the linear drive component 21, so that the drive pin 2311 moves in the elongated hole 2312, thereby rigidly lifting the floating worktable 22 to the storage state when the drive pin 2311 abuts the top of the elongated hole 2312, or releasing the floating worktable 22 into the vertically decoupled working state when the drive pin 2311 is within the free stroke of the elongated hole 2312.

[0029] In existing technologies, bridge surfaces or road surfaces often have slight undulations and unevenness. If the repair equipment uses a rigid connection, the bumps caused by vehicles will lead to the detection equipment hitting the ground or frequent changes in focus. If a simple suspension is used, it is difficult to retract and protect it when not in operation. In this embodiment, the lifting mechanism 2 drives the linkage assembly 23 to swing through the linear drive component 21, realizing the switching between two completely different mechanical states. The retraction process is that the action of the linear drive component 21 drives the linkage assembly 23 to swing upward, and the drive pin 2311 moves upward in the vertical elongated hole 2312 until it abuts the top of the hole. At this time, the linkage assembly 23 forms a rigid connection with the floating worktable 22, forcibly pulling the floating worktable 22 to a locked position away from the ground, overcoming the resistance of the elastic connection. When the floating worktable 22 needs to operate, the linear drive assembly 21 reverses its movement, causing the linkage assembly 23 to release downwards. The floating worktable 22 then contacts the working surface with the aid of gravity and elastic connection. At this time, the linear drive assembly 21 does not stop but continues to drive the linkage assembly 23 to move slightly, causing the drive pin 2311 to move to the free travel range of the vertical elongated hole 2312, meaning it does not contact the top or bottom of the elongated hole 2312. At this point, the floating worktable 22 is completely decoupled from the drive assembly in terms of vertical degree of freedom.

[0030] The above structure utilizes the gap between the pin slots to achieve a physical switch between rigid storage and flexible floating. During storage, the equipment is rigidly locked, facilitating rapid relocation and transportation and preventing damage from shaking. During operation, the floating worktable 22 appears to be suspended below the connecting rod assembly 23, automatically adjusting its height according to the undulating surface of the bridge, unaffected by the vibration of the moving carrier 1. This ensures the stability of the focal length of photoelectric detection and the consistency of the grouting distance, effectively solving the problem of difficult precision repair under complex working conditions.

[0031] like Figures 3 to 7 As shown: The linear drive assembly 21 includes a horizontally arranged lead screw module 211 and a movable slide block 212 that is fitted onto the lead screw module 211; one end of the connecting rod assembly 23 is hinged to the movable slide block 212, and the other end of the connecting rod assembly 23 extends to the floating worktable 22.

[0032] To address the issues of poor accuracy and tendency to tip-head in traditional hydraulic or pneumatic lifting mechanisms, this embodiment employs a mechanical transmission rigid chain. The lead screw module 211 is preferably driven by a motor, causing it to rotate and converting the rotational motion into horizontal linear motion of the movable slide 212. Since one end of the connecting rod assembly 23 is hinged to the movable slide 212 and the other end is connected to the floating worktable 22, the horizontal displacement of the movable slide 212 forces the connecting rod assembly 23 to change its angle with the horizontal plane, thereby driving the floating worktable 22 to rise and fall. By utilizing the self-locking characteristics and high resolution of the lead screw module 211 transmission, millimeter-level precise control of the lifting height of the floating worktable 22 is achieved. Compared to a direct-push cylinder, this horizontal-to-vertical force-multiplying mechanism can drive a heavy working module with less motor torque, and maintains its height by relying on the self-locking thread of the lead screw module 211 in the event of motor power failure, greatly improving the safety and stability of the equipment operation.

[0033] like Figure 3 , Figure 4 , Figure 8 and Figure 10 As shown: Multiple guide rods 225 extending vertically are fixedly connected to the floating worktable 22. The multiple guide rods 225 are slidably engaged with the moving carrier 1. The elastic connection between the floating worktable 22 and the moving carrier 1 is a spring 2251 sleeved on the guide rod 225.

[0034] In a simple gravity contact mode, the floating worktable 22 is prone to detaching from the reference plane during inverted operations such as under a bridge or during severe bumps. In this embodiment, the guide rod 225 passes through the linear bearing on the moving carrier 1, limiting the floating worktable 22 to vertical displacement and eliminating horizontal swaying. At the same time, the sleeved spring 2251 is in a compressed and energy-storing state during operation, applying a constant preload pressure towards the work surface to the floating worktable 22.

[0035] The guiding system composed of guide rod 225 and spring 2251 serves a dual purpose. First, it prevents the floating worktable 22 from deflecting or twisting, ensuring that the sensor optical axis is always perpendicular to the crack. Second, it allows the floating worktable 22 to be in constant pressure against the detection surface. Whether working on the ground or on the back, the force of spring 2251 ensures that the reference component 224 is pressed tightly against the concrete surface, avoiding the loss of measurement data or interruption of grouting ink due to jumping.

[0036] like Figures 3 to 7As shown: the lead screw module 211 is a bidirectional lead screw 2111; the movable slides 212 are arranged in two symmetrically distributed positions, and the two movable slides 212 are respectively threaded to the two ends of the bidirectional lead screw 2111; the connecting rod assembly 23 includes two sets of symmetrically arranged rocker arm connecting rods 2112, the upper ends of the two sets of rocker arm connecting rods 2112 are respectively hinged to the two movable slides 212, and the lower ends are respectively connected to the drive pins 2311; the floating worktable 22 has two vertical elongated holes 2312.

[0037] The cantilever effect of a single rocker arm linkage 2112 can easily lead to lifting and lowering jams. This embodiment uses a bidirectional lead screw 2111. When the bidirectional lead screw 2111 rotates, the movable slides 212 on both sides move synchronously towards or away from each other. This action drives the two sets of symmetrical rocker arm linkages 2112 to open and close synchronously, while simultaneously applying force through the drive pins 2311 on both sides within the corresponding elongated holes 2312. This symmetrical dual-drive structure forms a stable mechanical triangle, completely eliminating lateral torque. When lifting the heavily loaded floating worktable 22, the force is evenly distributed on both sides, resulting in extremely smooth lifting and lowering, eliminating the risk of guide rail jamming or structural deformation caused by single-sided drive. At the same time, the structure of the double rocker arm linkage 2112 significantly improves the lateral rigidity of the mechanism, further resisting lateral interference during vehicle movement.

[0038] like Figures 3 to 8 and Figure 10 As shown: The reference component 224 is a universal ball unit 2241, and multiple reference components 224 are distributed in a rectangular array at the bottom of the floating worktable 22.

[0039] Traditional directional wheels suffer from high directional frictional resistance when dealing with winding and tortuous cracks, easily causing the equipment to deviate. This embodiment arranges omnidirectional ball units 2241 (bullseye wheels) at the four corners of the bottom of the floating worktable 22. Utilizing the omnidirectional rolling characteristics of the balls, sliding friction is transformed into rolling friction. Together with the rectangularly distributed omnidirectional balls, a constant focal length plane is constructed. Regardless of the bridge surface's inclination, the plane defined by these four points remains parallel to the local working surface, physically locking the object distance between the laser measurement component 221 and the vision recognition component 222. Simultaneously, the extremely low frictional resistance of the omnidirectional ball units 2241 allows the equipment to smoothly follow the crack's direction for fine-tuning, significantly reducing the tracking burden on the servo system.

[0040] like Figures 1 to 6 and Figure 10 As shown: the visual recognition component 222 and the laser measurement component 221 are fixed together to the mounting base 2211, which is fixed to the bottom plate of the floating worktable 22 by fasteners; wherein the laser measurement component 221 is located at the foremost position in the direction of travel of the moving carrier 1.

[0041] To address data fusion errors caused by separate installations, this embodiment incorporates a mounting base 2211 that integrates the visual recognition component 222 and the laser measurement component 221. The laser measurement component 221 measures the depth of the crack, while the visual recognition component 222 identifies the texture of the crack. Both are rigidly locked onto the same mounting base 2211, which is directly fixed to the base plate of the floating worktable 22, which offers the best responsiveness. Following the process flow, the laser measurement component 221, located at the forefront, first scans and acquires the three-dimensional contour, followed by the visual recognition component 222 acquiring the image information.

[0042] This modular integrated layout physically eliminates relative displacement vibration between sensors. Even if the equipment experiences severe vibrations, the visual recognition component 222 and the laser measurement component 221 vibrate at the same frequency, and their relative coordinate relationship remains unchanged. This greatly simplifies the calibration of multi-sensor data fusion algorithms and ensures the accuracy of the equipment.

[0043] like Figures 1 to 6 and Figure 10 As shown: the center of the lens of the visual recognition component 222, the projection center of the laser measurement component 221, and the center of the nozzle of the grouting component 223 are located on the same travel reference line.

[0044] In path planning, if there is a lateral deviation between the sensor and the actuator, the control system needs to perform complex coordinate transformations and compensations. This embodiment strictly aligns the center points of all core components on the longitudinal central axis of the equipment, forming a physical three-point alignment. This reduces the complexity of the control logic. The system only needs to calculate the longitudinal time delay based on the travel speed, without needing to handle lateral coordinate compensation. This not only improves the computational response speed but also eliminates the grouting deviation crack phenomenon caused by lateral alignment errors from the source of the mechanical structure, achieving true line-following precision repair.

[0045] like Figures 1 to 6 and Figure 10 As shown: The grouting assembly 223 includes a storage tank 2231 and a dispensing valve body 2232; the storage tank 2231 is fixed on the mobile carrier 1, and the dispensing valve body 2232 is in fluid communication with the storage tank 2231.

[0046] To address the load sensitivity issue of the floating worktable 22, this embodiment employs a split-type adhesive supply system. A larger and heavier storage tank 2231 is mounted on a non-floating mobile carrier 1 as the fixed end; while a lightweight dispensing valve body 2232 is installed on the floating worktable 22 as the actuating end. Both are connected via flexible hoses for fluid delivery. By removing the heavy adhesive from the floating system, the overall mass of the floating worktable 22 is significantly reduced, resulting in a more sensitive dynamic response. When encountering sudden changes in road surface, the lightweight floating worktable 22 can more quickly conform to the road surface under the action of the spring 2251, avoiding overshooting or potholes caused by excessive inertia.

[0047] like Figures 1 to 6 , Figures 8 to 10 As shown: The dispensing valve body 2232 is mounted on the floating worktable 22 via a rotating bracket 2233 and is connected to an angle adjustment actuator 2234. The angle adjustment actuator 2234 is used to drive the dispensing valve body 2232 to rotate around a horizontal axis to adjust the spray angle of the dispensing nozzle relative to the bridge surface.

[0048] In reality, bridge cracks are often not vertically downwards, but rather exhibit complex shapes such as tilting and sidewall hollowing. A nozzle with a fixed angle struggles to deliver adhesive deep into the crack. In this embodiment, the angle adjustment actuator 2234 receives control commands and drives the rotating bracket 2233 to swing the dispensing valve body 2232 back and forth, changing the grouting incident angle in real time. This achieves shape-adaptive grouting. The equipment can automatically adjust the nozzle posture based on the crack cross-sectional angle detected by laser, ensuring that the adhesive follows the crack's direction and penetrates deep into the crack, rather than being blocked at the crack opening surface. This significantly improves the adhesive filling rate and the structural strength after repair, solving the pain point of difficult repair of irregularly shaped cracks.

[0049] like Figures 1 to 6 , Figures 8 to 10 As shown: The dispensing valve body 2232 is a back-suction dispensing valve, which has a valve core driven by a motor inside; the grouting assembly 223 is configured to control the valve core of the dispensing valve body 2232 to perform a reverse back-pull action to block the glue drip when grouting stops.

[0050] In precision repair, residual adhesive dripping not only wastes materials but also contaminates sensor lenses or bridge surfaces. This embodiment preferably uses a motor-driven valve core. When a stop signal is received, the motor doesn't just stop but reverses to drive the valve core rapidly backward, creating a negative pressure chamber at the adhesive outlet. Utilizing the piston effect generated by this physical negative pressure, the residual adhesive about to drip from the nozzle is forcibly drawn back into the valve body, achieving rapid adhesive cut-off. This not only ensures a clean and aesthetically pleasing work surface but also prevents adhesive from dripping onto the precision optical equipment below when working from below, reducing equipment maintenance frequency and failure rate.

[0051] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. A precision bridge crack repair device based on photoelectric measurement, comprising a mobile carrier, characterized in that, The mobile carrier is equipped with a lifting mechanism, which includes a linear drive assembly fixed on the mobile carrier, a floating worktable located below the linear drive assembly, and a linkage assembly connecting the floating worktable and the linear drive assembly. The floating worktable is slidably mounted on the moving carrier, and the floating worktable is elastically connected to the moving carrier. The end of the linkage assembly is connected to the floating worktable via a connection structure, which includes a drive pin located at the end of the linkage assembly and a vertical elongated hole opened on the floating worktable. The bottom of the floating worktable is equipped with multiple reference components, and the bottom of the floating worktable is sequentially equipped with a laser measurement component, a vision recognition component, and a grouting component along the traveling direction of the moving carrier. The lifting mechanism is configured to drive the linkage assembly to swing via a linear drive assembly, causing the drive pin to move within the elongated hole. This allows the floating worktable to be rigidly pulled to a retracted state when the drive pin abuts the top of the elongated hole, or to release the floating worktable into a vertically decoupled working state when the drive pin is within the free travel of the elongated hole.

2. The bridge crack precision repair equipment based on photoelectric measurement according to claim 1, characterized in that, The linear drive assembly includes a horizontally arranged lead screw module and a movable slide mounted on the lead screw module; one end of the connecting rod assembly is hinged to the movable slide, and the other end of the connecting rod assembly extends to the floating worktable.

3. The bridge crack precision repair equipment based on photoelectric measurement according to claim 1, characterized in that, Multiple guide rods extending vertically are fixedly connected to the floating worktable. All guide rods are slidably engaged with the moving carrier. The elastic connection between the floating worktable and the moving carrier is a spring sleeved on the guide rod.

4. The bridge crack precision repair equipment based on photoelectric measurement according to claim 2, characterized in that, The lead screw module is a bidirectional lead screw, and the two movable slides are symmetrically distributed, with the two movable slides threaded to both ends of the bidirectional lead screw respectively; the connecting rod assembly includes two sets of symmetrically arranged rocker arm connecting rods, with the upper ends of the two sets of rocker arm connecting rods respectively hinged to the two movable slides, and the lower ends respectively connected to the drive pins; the floating worktable has two vertical elongated holes.

5. The bridge crack precision repair equipment based on photoelectric measurement according to claim 1, characterized in that, The reference component is a universal ball unit, and multiple reference components are distributed in a rectangular array at the bottom of the floating worktable.

6. The bridge crack precision repair equipment based on photoelectric measurement according to claim 1, characterized in that, The visual recognition component and the laser measurement component are fixed together to the mounting base, which is fixed to the base plate of the floating worktable by fasteners; wherein the laser measurement component is located at the foremost position in the direction of travel of the moving carrier.

7. The bridge crack precision repair equipment based on photoelectric measurement according to claim 1, characterized in that, The center of the lens of the visual recognition component, the projection center of the laser measurement component, and the center of the nozzle of the grouting component are located on the same travel reference line.

8. A bridge crack precision repair device based on photoelectric measurement according to any one of claims 1-7, characterized in that, The grouting assembly includes a storage tank and a dispensing valve body; the storage tank is fixed on a mobile carrier, and the dispensing valve body is in fluid communication with the storage tank.

9. A bridge crack precision repair device based on photoelectric measurement according to claim 8, characterized in that, The dispensing valve body is mounted on a floating worktable via a rotating bracket and is connected to an angle adjustment actuator. The angle adjustment actuator is used to drive the dispensing valve body to rotate around a horizontal axis to adjust the spray angle of the dispensing nozzle relative to the bridge surface.

10. A bridge crack precision repair device based on photoelectric measurement according to claim 8, characterized in that, The dispensing valve body is a back-suction type dispensing valve, which has a valve core driven by a motor inside; the grouting assembly is configured to control the valve core of the dispensing valve body to perform a reverse back-pull action to block the glue drip when grouting stops.

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