Crawling crack observation device

Abstract

The utility model relates to the technical field of crack detection, in particular to a creeping crack observation device which comprises a central controller installed at the bottom of a machine body, and three sets of creeping mechanisms driving the machine body to climb on a concrete bridge are symmetrically installed on the front side and the rear side of the machine body. And a detection mechanism for detecting cracks on the concrete bridge is arranged at the bottom of the machine body. The connecting arms are driven by the steering engines to rotate, the steering engines on the connectors are matched to drive the mechanical legs to move up and down in a staggered mode, and Van der Waals force generated between bionic cilia at the bottoms of the rack suction claws on the grippers and a bridge detection face is used for adsorption, so that the robot body can climb up and down on a bridge, and the robot body can climb up and down through rotation of the rotating shaft. The electric telescopic feeler lever is matched to drive the crack data collector to stretch out and draw back freely, so that telescopic rotation adjustment of the crack data collector is achieved, and crack detection of different directions and hidden positions of a bridge is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to crack detection technical field especially relates to a kind of crawling crack observation devices. BACKGROUND

[0002] Crack is the most common disease of concrete bridge structure, with the extension of bridge service time, the number of crack of concrete bridge structure appears increasingly, crack length and width are also increasing, and serious will crisis bridge normal use, therefore, the frequent inspection of bridge crack and timely processing are one of important measures to guarantee bridge safe operation.

[0003] At present, crack inspection often uses crack width observation instrument to detect, for high pier column, bridge floor and other relatively concealed parts, detection needs to be assisted by detection platform, needs to consume a lot of time and relatively high economic cost, operation is very convenient, some relatively concealed and narrow gap are not convenient for detection, leading to incomplete inspection, and worker needs to carry out high-altitude operation in detection process, there is certain security risk. UTILITARIAN CONTENT

[0004] In view of the deficiency of prior art, the utility model provides a kind of crawling crack observation devices, solve the technical problem that the prior art needs to be assisted by detection platform when detecting for high pier column, bridge floor and other relatively concealed parts, operation is tedious and detection is not thorough, reach the purpose of detecting concealed part quickly and conveniently.

[0005] To solve the above technical problems, the utility model provides the following technical scheme: a kind of crawling crack observation devices, including the center controller of installation in the bottom of machine body, three groups of crawling mechanism for driving machine body to climb on concrete bridge are symmetrically installed on the front and rear sides of machine body, the detection mechanism for detecting crack on concrete bridge is provided in the bottom of machine body.

[0006] The crawling mechanism includes three groups of rudders symmetrically installed on the front and rear sides of machine body, and connecting arm is installed on the rudder, one end of the connecting arm is installed with connector, and mechanical leg is installed on the outer side of the connector, and the bottom of the mechanical leg is installed with gripper for climbing bridge.

[0007] Further improvement lies in that the connector is double-end U-shaped seat structure, and rudders for controlling steering are installed at the connection positions of the connector, the connecting arm and the mechanical leg.

[0008] Further improvement lies in that the gripper includes gripper disc connected with the bottom of the mechanical leg, pressure sensor is installed in the mounting groove opened in the bottom of the gripper disc, rack suction claw is arrayed on the outer side of the gripper disc, and bionical cilium is installed on the bottom of the rack suction claw.

[0009] Further improvement lies in that the detection mechanism comprises a rotating shaft rotatably connected to a rotating hole opened in the bottom of the body, and a motor-driven telescopic probe rod is installed at the bottom of the rotating shaft, the free end of the motor-driven telescopic probe rod is installed with a crack data collector through a connecting rod, a rotating motor for driving the rotating shaft to rotate is installed in the body, and a sensor system for assisting the body to observe the crack is installed at one end of the bottom of the body.

[0010] Further improvement lies in that the sensor system comprises a contact sensor installed at the bottom of the body, a gyroscope is installed at one side of the contact sensor, and an anti-falling sensor is installed at one side of the gyroscope, and a navigation positioning instrument is installed on the body.

[0011] Further improvement lies in that the crawling mechanism and the detection mechanism are electrically connected to the central controller, and the central controller is wirelessly connected to an external controller.

[0012] By the above technical scheme, the crack observation device has at least the following beneficial effects:

[0013] 1. The connecting arm is driven to rotate by the rudder, the mechanical leg is driven to move up and down by the rudder on the connector, the bionical cilium at the bottom of the rack suction claw on the gripper is adsorbed by the Van der Waals force generated between the bionical cilium and the bridge detection surface, the bionical adsorption wall-climbing principle is utilized, the device can crawl on a plane and a vertical plane, is flexible and maneuverable, has high applicability and is easy to operate, and the crack detection in a concealed position is realized.

[0014] 2. The rotating shaft is driven to rotate by the rotating motor, the crack data collector connected to the free end of the motor-driven telescopic probe rod at the bottom of the rotating shaft is driven to rotate, the motor-driven telescopic probe rod drives the crack data collector to freely extend and retract, the extension and retraction rotation adjustment of the crack data collector is realized, and the detection of the bridge in different directions is realized.

[0015] 3. The height and space size of the obstacle are measured by the contact sensor, the actual movement direction is determined by the gyroscope, the "cliff" in the advancing direction is identified by the anti-falling sensor, the advancing direction is adjusted in time, the laser navigation mode of the navigation positioning instrument is matched, the detection area is mapped or modeled, the planning of the position of the detection area and the accurate positioning of the crack position are realized through the programmed intelligent algorithm. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application.

[0017] In the drawings:

[0018] Figure 1 It is a whole structure schematic view of the utility model;

[0019] Figure 2 It is a bottom view structure schematic view of the utility model;

[0020] Figure 3 It is a crawling mechanism independent structure schematic view of the utility model;

[0021] Figure 4 It is a detection mechanism independent structure schematic view of the utility model.

[0022] In the figure: 1, machine body; 2, central controller;

[0023] 3, crawling mechanism; 31, steering wheel; 32, connecting arm; 33, connector; 34, mechanical leg; 35, gripper; 351, grab disc; 352, pressure sensor; 353, rack suction claw;

[0024] 4, detection mechanism; 41, rotating shaft; 42, electric telescopic probe; 43, crack data collector; 44, rotary motor;

[0025] 45, sensor system; 451, contact sensor; 452, gyroscope; 453, anti-falling sensor; 454, navigation positioning instrument. DETAILED DESCRIPTION

[0026] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0027] Embodiment 1

[0028] Based on the problems that the prior art needs to use a detection platform when detecting high pier column, bridge floor plate and other relatively concealed positions, the operation is complicated and the detection is not thorough, the embodiment provides a crawling crack observation device, please refer to Figures 1-4The embodiment provides a crawling crack observation device which can quickly and conveniently detect hidden parts. The crawling crack observation device comprises a central controller 2 installed at the bottom of a machine body 1, three groups of crawling mechanisms 3 symmetrically installed at the front and back of the machine body 1 and used for driving the machine body 1 to climb on a concrete bridge, and a detection mechanism 4 arranged at the bottom of the machine body 1 and used for detecting cracks on the concrete bridge. The central controller 2 is used for controlling the crawling mechanisms 3 to climb up and down along the concrete bridge, and the detection mechanism 4 is used for detecting cracks on the concrete bridge, so that the double functions of climbing and crack detection are realized, and the crack detection of high piers and hidden parts of bridges is well solved.

[0029] The traditional crack width observation instrument needs to be assisted by a detection platform to realize the detection of high piers and the like, is complicated to operate and cannot well detect cracks in hidden parts, so the device is provided with the crawling mechanism 3. The crawling mechanism 3 comprises three groups of rudders 31 symmetrically installed at the front and back of the machine body 1, a connecting arm 32 installed on the rudders 31, a connector 33 installed at the other end of the connecting arm 32, a mechanical leg 34 installed outside the connector 33 and a gripper 35 installed at the bottom of the mechanical leg 34 and used for climbing on a bridge. The connector 33 is a double-head U-shaped seat structure, and the rudders 31 used for controlling turning are installed at the connecting positions of the connector 33, the connecting arm 32 and the mechanical leg 34.

[0030] The gripper 35 comprises a gripper disc 351 connected with the bottom of the mechanical leg 34, a pressure sensor 352 installed in an installation groove formed at the bottom of the gripper disc 351, a rack suction claw 353 arrayed outside the gripper disc 351 and bionic cilia installed at the bottom of the rack suction claw 353. The rudders 31 are used for driving the connecting arm 32 to rotate, the rudders 31 on the connector 33 are used for driving the mechanical leg 34 to move up and down alternately, and the bionic cilia at the bottom of the rack suction claw 353 on the gripper 35 are used for generating Van der Waals force between the bionic cilia and a detection surface of the bridge to realize adsorption, so that the machine body 1 can climb up and down on the bridge. The pressure sensor 352 installed on the gripper disc 351 is used for sensing the pressure between the gripper 35 and the detection surface. When the pressure is zero, it is indicated that the gripper 35 does not completely touch the detection surface, and when the pressure is not zero, it is indicated that the gripper 35 is adsorbed with the detection surface, so that the machine body 1 is prevented from falling.

[0031] If the crack data collector 43 is fixedly installed at the bottom of the machine body 1, a detection dead angle may occur, so the device is also provided with a detection mechanism 4, which comprises a rotating shaft 41 rotatably connected in a rotating hole opened in the bottom of the machine body 1, and an electric telescopic probe 42 is installed at the bottom of the rotating shaft 41, and a crack data collector 43 is installed at the free end of the electric telescopic probe 42 through a connecting rod, and a rotating motor 44 is installed in the machine body 1 to drive the rotating shaft 41 to rotate, and a sensor system 45 is installed at one end of the bottom of the machine body 1 to assist the machine body 1 in observing the cracks, and the rotating motor 44 drives the rotating shaft 41 to rotate, and then drives the crack data collector 43 connected to the free end of the electric telescopic probe 42 at the bottom of the rotating shaft 41 to rotate, and the electric telescopic probe 42 drives the crack data collector 43 to freely extend and retract, so as to realize the telescopic and rotary adjustment of the crack data collector 43, and realize the detection of the bridge in different directions.

[0032] Embodiment 2

[0033] On the basis of embodiment 1, as shown in Figures 1-4 In order to better operate the crawling mechanism 3 to drive the machine body 1 to crawl and control the detection mechanism 4 to detect the cracks of the bridge, the device is also provided with a sensor system 45, which comprises a contact sensor 451 installed at the bottom of the machine body 1, a gyroscope 452 installed on one side of the contact sensor 451, a fall prevention sensor 453 installed on one side of the gyroscope 452, and a navigation positioning instrument 454 installed on the machine body 1, the height and space size of the obstacle are measured by the contact sensor 451, the actual movement direction is determined by the gyroscope 452, the "cliff" of the forward direction is identified by the fall prevention sensor 453, the forward direction is adjusted in time, the laser navigation mode of the navigation positioning instrument 454 is used to map or model the detection area, and the position planning of the detection area and the accurate positioning of the crack position are realized through the programmed intelligent algorithm.

[0034] The crawling mechanism 3 and the detection mechanism 4 are electrically connected to the central controller 2, the central controller 2 is wirelessly connected to an external controller, the data transmission module in the crack data collector 43 is electrically connected to the central controller 2, so as to transmit the picture information sensed and shot by the microscopic imaging module in the crack data collector 43 to the central controller 2 in real time, and the positioning module in the crack data collector 43 is electrically connected to the central controller 2 and the navigation positioning instrument 454, so as to realize the timely transmission of the crack position information to the central controller 2, the central controller 2 defines a three-dimensional coordinate system of the detection area in combination with the position planning of the navigation positioning instrument 454, outputs a schematic diagram of the crack disease, including the position of the crack, the length of the crack, the width of the crack, etc., and the central controller 2 is wirelessly connected to an external remote controller, so as to facilitate manual remote control of the crawling mechanism 3 to drive the machine body 1 to crawl and detect.

[0035] It should be noted that, in this document, the terms "comprise", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise a list of elements are not limited to those elements, but can include other elements not expressly listed or inherent to such processes, methods, articles, or apparatuses.

[0036] While the embodiments of the present application have been illustrated and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and alterations can be made therein without departing from the spirit and scope of the present application, which is defined by the appended claims and their equivalents.

Claims

1. A crawling crack observation device comprising a central controller (2) installed at the bottom of a body (1), characterized in that: The machine body (1) is symmetrically provided with three groups of climbing mechanisms (3) for driving the machine body (1) to climb on the concrete bridge, and the bottom of the machine body (1) is provided with a detection mechanism (4) for detecting the cracks on the concrete bridge. The climbing mechanism (3) comprises three groups of rudders (31) symmetrically provided on the front and rear sides of the machine body (1), and a connecting arm (32) is provided on the rudder (31), one end of the connecting arm (32) is provided with a connector (33), and the outer side of the connector (33) is provided with a mechanical leg (34), and the bottom of the mechanical leg (34) is provided with a gripper (35) for climbing the bridge.

2. The creeping crack observation device according to claim 1, characterized by: The connector (33) is a double-head U-shaped seat structure, and the connector (33) is provided with a rudder (31) for controlling the steering at the connection positions of the connecting arm (32) and the mechanical leg (34).

3. The creeping crack observation device according to claim 1, characterized by: The gripper (35) comprises a gripper disc (351) connected to the bottom of the mechanical leg (34), a pressure sensor (352) is arranged in the mounting groove formed in the bottom of the gripper disc (351), and a rack suction claw (353) is arranged on the outer side of the gripper disc (351), and a bionic cilium is arranged on the bottom of the rack suction claw (353).

4. The creeping crack observation device according to claim 1, characterized by: The detection mechanism (4) comprises a rotating shaft (41) rotatably connected to the rotating hole formed in the bottom of the machine body (1), and the bottom of the rotating shaft (41) is provided with an electric telescopic probe (42), the free end of the electric telescopic probe (42) is provided with a crack data collector (43) through a connecting rod, the machine body (1) is provided with a rotating motor (44) for driving the rotating shaft (41) to rotate, and one end of the bottom of the machine body (1) is provided with a sensor system (45) for assisting the machine body (1) to observe the cracks.

5. A creeping crack observation device according to claim 4, characterized by: The sensor system (45) comprises a contact sensor (451) arranged on the bottom of the machine body (1), and a gyroscope (452) is arranged on one side of the contact sensor (451), and an anti-falling sensor (453) is arranged on one side of the gyroscope (452), and the machine body (1) is provided with a navigation positioning instrument (454).

6. The creeping crack observation device according to claim 1, characterized by: The climbing mechanism (3) and the detection mechanism (4) are electrically connected to the center controller (2), and the center controller (2) is wirelessly connected with an external controller.

Images