Device for detecting internal cracks of steel box girder

Abstract

The utility model relates to a device for detecting internal cracks of a steel box girder, which belongs to the technical field of steel box girder detection and comprises a working base station, a mechanical arm is mounted on the working base station, a drilling detection component is mounted on the mechanical arm and comprises a circumferential motor, the non-rotating shaft end of the circumferential motor is fixed on the mechanical arm, and the rotating shaft axis of the circumferential motor is vertically arranged; the outer observation assembly is fixed on a rotating shaft of the circumferential motor; the non-telescopic end of the telescopic device is fixed on the lower end surface of the outer observation assembly; the inner observation assembly is fixed on the telescopic end of the telescopic device; the center line of the telescopic device in the horizontal direction is set as a line G, the surface passing through the line G and along the horizontal plane is a surface P, and the outer observation assembly and the inner observation assembly are symmetrically arranged along the surface P; the drilling machine can drill holes in the steel box girder; and the punching camera is used for shooting a picture of the punching position and uploading the picture to the cloud platform. According to the detection device, the crack near the drill hole can be mechanically shot, and the crack detection process can be simplified.

Description

Technical Field

[0001] The utility model belongs to the technical field of steel box girder detection, and particularly relates to a device for detecting internal cracks of a steel box girder. Background Technique

[0002] A steel box girder, also called a steel plate box girder, is a common structural form for long-span bridges. It is generally used in bridges with larger spans and is called a steel box girder because its appearance is like a box. The steel bridge deck of the steel box girder directly bears the wheel load, and the local structure is complex. Under the action of cyclic loads, out-of-plane deformations in different directions will occur, and finally fatigue cracks may appear. As an efficient and economical repair method, drilling crack arrest is widely used in the repair of fatigue cracks.

[0003] After traditional drilling crack arrest, an artificial method is adopted, that is, a person uses an endoscope to detect the hole and observe the situation of the crack, such as the degree of cracking on the outer side and the inner side of the crack. This method has high requirements for the operator. Because of the limitation of the space inside the hole, it is very difficult for the operator to accurately and comprehensively observe the internal environment of the hole with the endoscope, and manual operation is prone to situations where there are missed areas that cannot be observed manually, resulting in unreasonable drilling parameters and unsatisfactory drilling crack arrest effects. Content of the Utility Model

[0004] A device for detecting internal cracks of a steel box girder according to the utility model is used for mechanically detecting the inside of the steel girder after drilling, and reducing the difficulty of detecting cracks in the crack arrest hole.

[0005] A device for detecting internal cracks of a steel box girder according to the utility model includes a working base that can be adsorbed on the steel box girder. A robotic arm is provided on the working base, and one end of the robotic arm is installed on the working base; a drilling detection assembly is installed at the end of the robotic arm away from the working base. The drilling detection assembly includes:

[0006] A circumferential motor, the non-rotating shaft end of which is fixed on the robotic arm, and the rotating shaft of the circumferential motor faces downward, and the axis of the rotating shaft of the circumferential motor is arranged vertically;

[0007] An outer observation assembly capable of taking a crack photo from the outside of the drill hole; fixed on the rotating shaft of the circumferential motor;

[0008] A telescopic device, the axis of the telescopic device coincides with the axis of the circumferential motor, and the non-telescopic end of the telescopic device is fixed on the lower surface of the outer observation assembly;

[0009] An inner observation assembly capable of taking a crack photo from the inside of the drill hole, fixed on the telescopic end of the telescopic device; viewed from the radial direction of the telescopic device, let the horizontal center line of the telescopic device be line G, and the plane passing through line G and along the horizontal plane be plane P, and the outer observation assembly and the inner observation assembly are symmetrically arranged along plane P;

[0010] The drilling machine is installed at the lower end surface of the inner observation component and can drill holes in the steel box girder;

[0011] The punching camera is used to take pictures of the punching position and upload them to the cloud platform.

[0012] This solution can drill holes near the crack, and then insert the inner observation component into the hole. Using the crack camera of the inner observation component, observe and take crack images from inside the hole; using the crack camera of the outer observation component, simultaneously observe and take crack images of the same location from outside the hole. Through the pictures taken by the inner and outer observation components, the crack can be analyzed later. Through mechanized actions, it simplifies the way of manually using an endoscope for detection, improves the detection efficiency, and reduces the detection difficulty.

[0013] Furthermore, both the inner observation component or the outer observation component include:

[0014] The mounting frame has an accommodation cavity inside, and a through groove is provided on the side wall of the mounting frame. The through groove communicates with the accommodation cavity; the mounting frame of the outer observation component is fixedly connected to the rotating shaft of the circumferential motor, and the mounting frame of the inner observation component is fixedly connected to the telescopic end of the telescopic device;

[0015] The steering rod is rotatably connected in the accommodation cavity, and the axial direction of the steering rod is along the horizontal direction; let the axial direction of the steering rod be the X direction, and let the cutting direction of the through groove be the Y direction, and the X direction is perpendicular to the Y direction;

[0016] The angle motor is located in the accommodation cavity and is used to rotate the rotating rod;

[0017] The crack camera has its housing fixed on the steering rod and rotates with the rotation of the steering rod. The lens of the crack camera can extend into the accommodation cavity from the through groove through the rotation of the steering rod; the crack camera can take crack images and upload them to the cloud platform.

[0018] Through the angle motor, the axes of the inner and outer crack cameras rotate with the rotation of the steering rod, thereby changing the position of the intersection point Z of the axes of the inner and outer crack cameras. By doing so, the position of the point where the crack to be photographed can be adjusted mechanistically, reducing the detection difficulty.

[0019] Furthermore, the axis of the lens of the crack camera of the outer observation component faces downward, and the upper end of the crack camera of the outer observation component is fixed on the circumferential side wall of the corresponding steering rod; the axis of the lens of the crack camera of the inner observation component faces upward, and the lower end of the crack camera of the inner observation component is fixed on the circumferential side wall of the corresponding steering rod; the axes of the inner observation component and the outer observation component intersect at a point.

[0020] Align the axes of the crack cameras of the inner and outer observation components at a point, so that the photos taken by the inner and outer observation components simultaneously are of the same group of photos at the same crack, which is conducive to the induction of cracks at the same position.

[0021] Furthermore, the working base is an electromagnet that can be energized to adsorb on the steel box girder.

[0022] After being energized, it can quickly adsorb on the steel box girder, and after being powered off, it can be directly removed from the steel box girder, and the connection method with the steel box girder is simple.

[0023] Furthermore, a handheld part for grasping and carrying is installed on the robotic arm.

[0024] It is convenient to pick up the entire device.

[0025] Beneficial effects

[0026] This device uses the inner observation component and the outer observation component to simultaneously photograph the inner and outer sides of the crack. At the same time, the circumferential motor is used to drive the inner observation component and the outer observation component to rotate around their axes, and other cracks can be photographed within a range of one week. The mechanization degree of crack photographing of the entire device is high, and the traditional crack detection is simplified. Description of the drawings

[0027] Figure 1 is one of the overall structure schematic diagrams of this device;

[0028] Figure 2 is the second overall structure schematic diagram of this device.

[0029] Figure 3 is the state diagram when this device photographs the crack image.

[0030] 1. Working base; 2. Robotic arm; 3. Circumferential motor; 4. Outer observation component; 5. Telescopic device; 6. Inner observation component; 7. Drilling machine; 8. Punching camera; 9. Installation frame; 10. Through groove; 11. Crack camera; Specific implementation manners

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions of the present utility model will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present utility model belong to the scope of protection of the present utility model.

[0032] See Figure 1, a crack detection device inside a steel box girder, including a working base 1, on which a robotic arm 2 is installed. The working base 1 is an electromagnet, which can generate magnetic force after being energized and adsorb on the steel box girder.

[0033] At one end of the robotic arm 2 far away from the working base 1, a drilling and detection assembly is installed, and the drilling and detection assembly includes:

[0034] A circumferential motor 3, the axis of the rotating shaft of the circumferential motor 3 is set vertically, and the rotating shaft of the circumferential motor 3 faces downward; the non-rotating shaft end of the circumferential motor 3 is fixed at one end of the robotic arm 2 far away from the working base 1;

[0035] An external observation assembly 4 is installed on the rotating shaft of the circumferential motor 3; it is used to take photos of the surface cracks of the steel box girder from outside the hole, and can rotate around the axis of the rotating shaft of the circumferential motor 3 as the circumferential motor 3 rotates.

[0036] A telescopic device 5, the axis of the telescopic device 5 coincides with the axis of the circumferential motor 3, and the telescopic end of the telescopic device 5 faces downward. The non-telescopic end of the telescopic device 5 is fixed on the lower surface of the external observation assembly 4. In this embodiment, the telescopic device 5 is a hydraulic cylinder.

[0037] An internal observation assembly 6 is installed at the lower end of the telescopic end of the telescopic device 5; it is used to take photos of the surface cracks of the steel beam from inside the hole. After the rotating shaft of the circumferential motor 3 rotates, the external observation assembly 4, the telescopic device 5 and the internal observation assembly 6 as a whole can rotate around the axis of the rotating shaft of the circumferential motor 3.

[0038] A drilling machine 7, the axis of the rotating shaft coincides with the axis of the rotating shaft of the axis motor, the rotating shaft of the drilling machine 7 faces downward, the non-rotating shaft end of the drilling machine 7 is fixed on the lower surface of the internal observation assembly 6, and a drill rod is installed on the rotating shaft of the drilling machine 7, which can drill holes in the steel box girder.

[0039] A punching camera 8 is installed on the lower surface of the internal observation assembly 6, and is used to take photos of the punching position to reflect the punching situation.

[0040] Viewed from the radial direction of the telescopic device 5, let the horizontal midline of the telescopic device 5 be line G, and the plane along the horizontal plane passing through line G be plane P. The internal observation assembly 6 and the external observation assembly 4 are symmetrically arranged along plane P. The external observation assembly 4 or the internal observation assembly 6 both include:

[0041] See Figure 2, mounting frame 9. In this embodiment, the mounting frame 9 is a rectangular frame. Let one of the center lines of the rectangular frame be line M, then line M coincides with the axis of the rotating shaft of the circumferential motor 3. An accommodating cavity is provided inside the mounting frame 9, and a through groove 10 is provided on the side wall of the mounting frame 9, and the through groove 10 communicates with the accommodating cavity. Both ends of the telescopic device 5 are fixedly connected to the mounting frame 9 of the outer observation assembly 4 or the inner observation assembly 6 respectively; the rotating shaft of the circumferential motor 3 is fixedly connected to the mounting frame 9 of the outer observation assembly 4; the drilling machine 7 is fixed on the mounting frame 9 of the inner observation assembly 6.

[0042] A rotating rod (not shown) is rotatably connected in the accommodating cavity through a support, and the axis of the rotating rod is in the horizontal direction; in a top view, let the axis of the rotating rod be in the X direction, and let the cutting direction of the through groove 10 be in the Y direction, and the X direction is perpendicular to the Y direction.

[0043] An angle motor (not shown), the non-rotating shaft end is fixed on the inner wall of the accommodating cavity, the rotating shaft of the angle motor is fixedly connected to the rotating rod, and the axis of the angle motor coincides with the axis of the rotating rod. The angle motor is used to make the rotating rod rotate around its own axis.

[0044] A crack camera 11, its housing is fixed on the circumferential outer wall of the rotating rod, the lens of the crack camera 11 is at one end far from the rotating rod, and the axis of the lens of the crack camera 11 is arranged along the radial direction of the rotating rod; after the angle motor rotates, the rotating rod and the crack camera 11 can rotate as a whole around the axis of the rotating rod, and the lens of the crack camera 11 can rotate through the through groove 10 and turn outside the accommodating cavity. Let the initial state be that the crack camera 11 is completely in the accommodating cavity and its lens does not protrude from the accommodating cavity.

[0045] Among them, the lens of the crack camera 11 in the inner observation assembly 6 faces upward, and the lower end of its crack camera 11 is fixed on the circumferential side wall of the corresponding rotating rod; the lens of the crack camera 11 in the outer observation assembly 4 faces downward, and the lower end of its crack camera 11 is fixed on the circumferential side wall of the corresponding rotating rod; see Figure 3 , the lens rays of the two crack cameras 11 intersect at a point, let this intersection point be point Z. When detecting the crack at point Z, the two crack cameras 11 take crack photos of point Z at the same time. See Figure 3 , because the steel box girder is not solid, after drilling, the surface of the steel box girder is a plate when viewed from the horizontal direction, and the crack patterns on the upper and lower surfaces of the plate are different. Therefore, in this solution, the two crack cameras 11 respectively take pictures of the crack patterns from the upper and lower directions of the surface of the steel box girder to ensure that the crack patterns can be accurately judged based on the multi-directional photos.

[0046] A handheld part for grasping and carrying is installed on the robotic arm 2. When replacing the position of the entire device or carrying the entire device, a person takes the entire device through the handheld part.

[0047] Usage process of this device:

[0048] When fatigue cracks appear on the surface of the steel box girder and it is necessary to drill holes to stop the cracks.

[0049] First, energize the working base 1 to generate magnetism, so that the working base 1 adsorbs on the steel box girder, making the entire device near the fatigue crack, and the entire device adheres to the steel box girder without falling.

[0050] Then, through remote control, control the movement of the robotic arm 2. The drilling camera 8 continuously takes pictures and feeds them back to the cloud platform. The operator determines the position Q where drilling is needed to stop the crack based on the photos uploaded by the drilling camera 8 on the cloud platform. Through the cloud platform, remotely control the movement of the robotic arm 2 to make the drilling machine 7 approach the crack stopping position Q. Remotely control the drilling machine 7 to start, and the drilling machine 7 starts drilling. By remotely controlling the telescopic device to expand and contract, the drilling depth can be adjusted to ensure successful drilling.

[0051] The operator continuously observes the images of the drilling position uploaded by the drilling camera 8, and by continuously adjusting the robotic arm and the telescopic device until the drilling machine 7 drills a crack stopping hole that can allow the internal observation component 6 to extend into it. Then, the operator controls the telescopic device 5 to extend through the cloud platform, so that the internal observation component 6 extends into the crack stopping hole, and the external observation component 4 is outside the crack stopping hole, as shown in Figure 3 .

[0052] The operator controls the angle motors of the internal observation component 6 and the external observation component 4 to rotate synchronously through the cloud platform, so that the lenses of the crack cameras 11 rotate synchronously. The rotation directions of the two angle motors are opposite, so the lenses of the two crack cameras 11 are always symmetric along the plane P during the rotation process.

[0053] The two crack cameras 11 rotate out of the accommodation cavity through the through slot 10. Adjust the telescopic length of the telescopic device or adjust the robotic arm to ensure that the lenses of the two crack cameras 11 intersect at a point Z. Ignoring a little error, the lenses of the two crack cameras 11 simultaneously take pictures of the point Z and upload them to the cloud platform. The internal observation component 6 takes pictures of the crack image at the point Z from the inside, and the external observation component 4 takes pictures of the crack image at the point Z from the outside, achieving a comprehensive internal and external shooting of the crack. When the lenses of the crack cameras 11 rotate out of the accommodation cavity, observe the distance between the lenses of the crack cameras 11 and the inside of the crack stopping hole through the taken pictures to ensure that the lenses of the crack cameras 11 do not hit the inner surface of the crack stopping hole.

[0054] Then, the operator slowly turns on the circumferential motor 3 through the cloud platform, so that the internal observation component 6 and the external observation component 4 rotate 360 degrees to ensure that the point Z also rotates one circle. During the rotation process, find other crack positions Q2, align the aforementioned point Z with Q2, take pictures again and upload them, and ensure that no crack positions are missed during the one - circle rotation process.

[0055] Based on the photographed images, subsequent analysis and scoring will be carried out to determine whether to continue drilling a crack arrest hole near the existing one, or to analyze the degree of the crack according to the photographed images and evaluate the subsequent development trend of the crack, etc.

[0056] After drilling according to this solution, photos are mechanically taken of the inside and outside of the crack simultaneously, achieving the purpose of comprehensively photographing the crack and reducing the difficulty of manual endoscope inspection.

[0057] Inspired by the ideal embodiments of the present utility model described above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this utility model. The technical scope of this utility model is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A steel box girder internal crack detection device, characterized in that It includes a working base (1) that can adsorb on the steel box girder. A robotic arm (2) is provided on the working base (1), and one end of the robotic arm (2) is installed on the working base (1); a drilling detection component is installed at the end of the robotic arm (2) away from the working base (1), and the drilling detection component includes: A circumferential motor (3), with the non-rotating shaft end fixed on the robotic arm (2), the rotating shaft of the circumferential motor (3) facing downwards, and the axis of the rotating shaft of the circumferential motor (3) is set vertically; An external observation component (4) that can take crack photos from the outside of the drill hole; it is fixed on the rotating shaft of the circumferential motor (3); A telescopic device (5), the axis of the telescopic device (5) coincides with the axis of the circumferential motor (3), and the non-telescopic end of the telescopic device (5) is fixed on the lower surface of the external observation component (4); An internal observation component (6) that can take crack photos from the inside of the drill hole, fixed on the telescopic end of the telescopic device (5); viewed radially of the telescopic device (5), let the midline of the telescopic device (5) in the horizontal direction be line G, and the plane passing through line G and in the horizontal plane be plane P, and the external observation component (4) and the internal observation component (6) are symmetrically arranged along plane P; A drilling machine (7), installed on the lower surface of the internal observation component (6), capable of drilling holes in the steel box girder; A drilling camera (8), used to take photos of the drilling position and upload them to the cloud platform.

2. The internal crack detection device for a steel box girder according to claim 1, characterized in that, Both the internal observation component (6) or the external observation component (4) include: An installation frame (9), with an accommodation cavity opened inside, and a through groove (10) is opened on the side wall of the installation frame (9), and the through groove (10) communicates with the accommodation cavity; the installation frame (9) of the external observation component (4) is fixedly connected to the rotating shaft of the circumferential motor (3), and the installation frame (9) of the internal observation component (6) is fixedly connected to the telescopic end of the telescopic device (5); A steering rod, rotatably connected in the accommodation cavity, and the axis direction of the steering rod is along the horizontal direction; let the axis direction of the steering rod be the X direction, and let the cutting direction of the through groove (10) be the Y direction, and the X direction is perpendicular to the Y direction; An angle motor, located in the accommodation cavity, used to rotate the rotating rod; A crack camera, with the housing fixed on the steering rod and rotating with the rotation of the steering rod, and the lens of the crack camera can extend into the accommodation cavity from the through groove (10) through the rotation of the steering rod; the crack camera can take crack images and upload them to the cloud platform.

3. The internal crack detection device for a steel box girder according to claim 1, wherein The axis of the lens of the crack camera of the external observation component (4) faces downwards, and the upper end of the crack camera of the external observation component (4) is fixed on the circumferential side wall of the corresponding steering rod; the axis of the lens of the crack camera of the internal observation component (6) faces upwards, and the lower end of the crack camera of the internal observation component (6) is fixed on the circumferential side wall of the corresponding steering rod; the axes of the internal observation component (6) and the external observation component (4) intersect at one point.

4. A steel box girder internal crack detection device according to claim 1, characterized in that, The working base (1) is an electromagnet and can be electrified to adsorb on the steel box girder.

5. The internal crack detection device for a steel box girder according to claim 1, characterized in that, A handheld part for grasping and carrying is installed on the robotic arm (2).

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