Bridge tower pier internal maintenance inspection equipment

Abstract

The utility model belongs to bridge detection device technical field, concretely relates to a kind of bridge tower pier internal maintenance inspection equipment, including main truss, telescopic mechanism, turnover mechanism and travelling mechanism;The travelling mechanism is set on main truss, for driving main truss in main tower tower vertical travelling;The telescopic mechanism is provided with two groups, and it is distributed in the both ends of main truss along the length direction of main truss, and the telescopic mechanism includes telescopic truss and telescopic component, and the telescopic truss is slidably fitted on main truss by telescopic component;The turnover mechanism is set on main truss, and the turnover mechanism includes turnover truss and turnover limiting component, and the turnover truss is hingedly connected on main truss by turnover limiting component and can be turned over;The scheme can adapt to the complex space of the gradual change (self from top to bottom reduce) of main tower cross section size, satisfy the maintenance operation of full coverage to main tower tower inner appearance.

Description

Technical Field

[0001] This utility model belongs to the technical field of bridge inspection devices, and more specifically, it relates to a maintenance and inspection device for bridge towers and piers. Background Technology

[0002] As the core load-bearing component of the bridge structure, the main tower piers of extra-large bridges typically have a design life of over 100 years. They must withstand multiple effects such as static loads, dynamic loads, wind vibration, creep, environmental erosion, and earthquakes over a long period, making them prone to defects such as concrete cracking, protective layer peeling, and steel structure corrosion. According to the "Technical Specification for Maintenance of Highway Cable-stayed Bridges" (JTG / T 5122), regular inspection and maintenance of defects inside and outside the main tower are required. However, the shape and size of the interior space of the main tower of extra-large bridges vary, with the cross-sectional dimensions gradually decreasing from bottom to top. Traditional inspection methods have significant limitations. On the one hand, relying on internal elevators, traction elevators, or fixed steel ladders limits the inspection coverage and requires frequent construction platform setup, which is time-consuming and labor-intensive. On the other hand, the interior of the main tower is usually a variable cross-sectional space, wider at the bottom and narrower at the top. Fixed ladders or elevators cannot be flexibly adjusted to adapt to the complex space of the main tower's gradually changing cross-sectional dimensions (reducing from top to bottom), easily leading to blind spots in inspection. Utility Model Content

[0003] To address the aforementioned technical problems, this utility model provides a maintenance and inspection device for bridge tower piers, which solves the problem that existing maintenance methods have limited detection coverage and are difficult to adapt to the complex space where the cross-sectional dimensions of the main tower gradually change (reducing from top to bottom), easily leading to blind spots in detection.

[0004] The technical solution adopted by this utility model is as follows: a maintenance and inspection device for bridge tower piers, including a main truss, a telescopic mechanism, a tilting mechanism and a traveling mechanism;

[0005] The traveling mechanism is mounted on the main truss and is used to drive the main truss to move vertically within the main tower.

[0006] The telescopic mechanism is provided in two sets and is distributed at both ends of the main truss along the length of the main truss. The telescopic mechanism includes a telescopic truss and a telescopic assembly. The telescopic truss is slidably engaged with the main truss through the telescopic assembly.

[0007] The flipping mechanism is mounted on the main truss and includes a flipping truss and a flipping limiting assembly. The flipping truss is hinged to the main truss in a flipping manner through the flipping limiting assembly.

[0008] Furthermore, the main truss is equipped with several traveling mechanisms, each of which includes a mounting frame, a first motor, gears, racks, and guide wheels.

[0009] A track is provided on one inner side wall of the main tower along the height direction of the main tower, and a rack is provided on the track;

[0010] The mounting frame is fixedly mounted on the main truss, the first motor is fixedly mounted on the mounting frame, the drive end of the first motor is connected to a gear, the gear meshes with a rack, and several guide wheels are provided, which abut against the two side walls of the track respectively for guidance.

[0011] Furthermore, the telescopic assembly includes rollers and a slide rail;

[0012] The two telescopic mechanisms are respectively arranged on the left and right sides of the main truss. The two telescopic trusses are slidably sleeved on the left and right sides of the main truss. Several arrayed rollers are installed at the bottom of the telescopic truss. The main truss is provided with slide rails corresponding to the rollers. The rollers at the bottom of the telescopic truss are slidably engaged with the slide rails.

[0013] Furthermore, the flipping limiting assembly includes a support frame, a locking block, and a locking pin;

[0014] The support frame is mounted on the front side wall of the main truss. The rear end of the flip truss is hinged to the front side wall of the support frame. The flip truss can be flipped and folded upward toward the main truss. The locking block is fixedly mounted on the top of the flip truss. The locking block has a hole along the length of the main truss. The locking pin is horizontally mounted on the top of the support frame. The locking pin can be inserted into the hole of the locking block.

[0015] Furthermore, the support frame is slidably connected to the main truss. The support frame has a rectangular structure, and support blocks are provided at each of the four corners of the support frame. Two support blocks are distributed on the upper and lower sides of the main truss. Support slots that run through the length of the main truss are opened on the inner sidewall of the support blocks facing the main truss. A pulley is rotatably connected in the support slot. The arc surface of the pulley abuts against the main truss, which can drive the support frame to slide along the length of the main truss.

[0016] Furthermore, it also includes an image acquisition device, which includes a reciprocating drive assembly, a robotic arm, and an image acquisition unit;

[0017] The reciprocating drive assembly is located at the bottom of the main truss along its length. The drive end of the reciprocating drive assembly is connected to the bottom of the robotic arm, enabling the robotic arm to reciprocate along the length of the main truss. The image acquisition device is located at the gripping jaws of the robotic arm's movable end.

[0018] The beneficial effects of this utility model are:

[0019] The main truss is driven to move autonomously vertically within the tower via a walking mechanism. Two sets of telescopic mechanisms are distributed at both ends of the main truss. The telescopic truss slides on the main truss through telescopic components, allowing for dynamic adjustment of the overall size of the inspection vehicle. The tilting truss is hinged to the main truss and can be folded upwards or unfolded through tilting limit components. In narrow sections within the main tower, the tilting truss can be folded to fit snugly against the main truss. When the working area needs to be expanded, such as for inspecting large cross-sectional areas, the tilting truss unfolds as a platform, thus adapting to the complex space where the cross-sectional dimensions of the main tower gradually change (reducing from top to bottom). This utility model's inspection vehicle, through the dynamic vertical movement of the walking mechanism, the spatial self-adaptation of the telescopic mechanism, and the dimensional expansion of the tilting mechanism, meets the requirement of full-coverage maintenance work on the interior surface of the main tower. Attached Figure Description

[0020] Figure 1 This is a front view of the present invention;

[0021] Figure 2 for Figure 1 Enlarged structural diagram at point A in the middle;

[0022] Figure 3 This is a partial right-side sectional view of the present invention (with the flip truss in its folded state).

[0023] Figure 4 for Figure 3 Enlarged structural diagram at point B;

[0024] Figure 5 for Figure 3 Enlarged structural diagram at point C;

[0025] Figure 6 This is a partial sectional view of the right side of the present invention (folded flip truss).

[0026] Figure 7 This is a top view of the walking mechanism in this utility model;

[0027] Figure 8 This is a partial sectional view of the walking mechanism in this utility model;

[0028] Figure 9 This is a partial top view of the structure of this utility model (the telescopic mechanism and the flipping mechanism are not shown in the figure).

[0029] The attached diagram is labeled as follows:

[0030] Main truss 1, connecting plate 11, telescopic mechanism 2, telescopic truss 21, roller 22, slide rail 23, first stop block 24, second stop block 25, tilting mechanism 3, tilting truss 31, support frame 32, locking block 33, locking pin 34, support block 35, support through groove 36, pulley 37, crossbar 311, side frame 312, base plate 313, walking mechanism 4, mounting frame 41, first motor 42, gear 43, rack 44, guide wheel 45, load-bearing wheel 46, anti-tipping wheel 47, image acquisition device 5, reciprocating drive assembly 51, robotic arm 52, image acquisition device 53, second motor 54, lead screw 55, slide bar 56, lead screw nut 57, base frame 58, connecting seat 59, main tower 6, track 61, upper flange plate 62, lower flange plate 63, emergency ladder 7. Detailed Implementation

[0031] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0032] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] Example 1:

[0035] like Figures 1 to 8 As shown, a maintenance and inspection device for bridge tower piers includes a main truss 1, a telescopic mechanism 2, a tilting mechanism 3, and a traveling mechanism 4.

[0036] The walking mechanism 4 is mounted on the main truss 1 and is used to drive the main truss 1 to move vertically within the main tower 6; it is also used to drive the main truss 1 to move along the height direction within the main tower 6.

[0037] The telescopic mechanism 2 is provided in two sets and is distributed at both ends of the main truss 1 along the length direction of the main truss 1. The telescopic mechanism 2 includes a telescopic truss 21 and a telescopic assembly. The telescopic truss 21 is slidably engaged with the main truss 1 through the telescopic assembly.

[0038] The flipping mechanism 3 is mounted on the main truss 1. The flipping mechanism 3 includes a flipping truss 31 and a flipping limiting component. The flipping truss 31 is hinged to the main truss 1 in a flipping manner through the flipping limiting component.

[0039] As a preferred embodiment, the main truss 1 is provided with several traveling mechanisms 4, each traveling mechanism 4 including a mounting frame 41, a first motor 42, a gear 43, a rack 44, and a guide wheel 45;

[0040] A track 61 is provided on one inner side wall of the main tower 6 along the height direction of the main tower 6, and a rack 44 is provided on the track 61; the mounting frame 41 is fixedly mounted on the main truss 1, the first motor 42 is fixedly mounted on the mounting frame 41, the drive end of the first motor 42 is connected to the gear 43, the gear 43 meshes with the rack 44, and several guide wheels 45 are provided, which abut against the two side walls of the track 61 respectively for guidance.

[0041] In this embodiment, the inner bottom walls of the main truss 1 and the telescopic truss 21 are equipped with footboards for personnel to walk on; the main truss 1, the telescopic truss 21 and the tilting truss 31 are all made of aluminum alloy; the main truss 1 is also equipped with an electrical control system and a power supply system.

[0042] In this embodiment, a track 61 is provided on the inner side wall of the main tower 6, where the cross-sectional length changes, along the height direction of the main tower 6; two tracks 61 are provided at intervals along the length direction of the main truss 1, and four sets of traveling mechanisms 4 are provided on the rear side wall of the main truss 1, corresponding to the two tracks 61, and two sets of traveling mechanisms 4 are provided on the upper and lower sides of the main truss 1.

[0043] Specifically, the track 61 uses 294x200 H-beams as the inspection vehicle track 61, including an upper flange plate 62, a lower flange plate 63, and a web connecting the upper flange plate 62 and the lower flange plate 63. The H-beam track 61 is inclinedly installed on the inner wall of the main tower 6. The lower flange plate 63 of the track 61 is fixedly installed on the inner wall of the main tower 6. The inspection vehicle moves up and down along the track 61. The rack 44 is fixedly installed on the outer wall of the upper flange plate 62. Each traveling mechanism 4 has four guide wheels 45, and the rack 44 has guide wheels 45 on both sides. There are two guide wheels 45. The arc-shaped surfaces of the guide wheels 45 on both sides of the rack 44 abut against the outer edge walls on the left and right sides of the upper flange plate 62, respectively, for guiding the traveling mechanism 4 and preventing it from deviating. In addition, the traveling mechanism 4 also includes a load-bearing wheel 46 and an anti-tipping wheel 47. The load-bearing wheel 46 is pressed against the outer side wall of the upper flange plate 62, and the anti-tipping wheel 47 is pressed against the inner side wall of the upper flange plate 62 of the track 61. A reducer is provided on the first motor 42. The reducer of the first motor 42 drives the gear 43 to rotate, which meshes with the rack 44 to provide upward power.

[0044] In this embodiment, four traveling mechanisms 4 are provided on the main truss 1. A connecting plate 11 is also bolted to the rear side wall of the main truss 1. The four traveling mechanisms 4 correspond to two tracks 61 and are respectively located at the four corners of the rear side wall of the connecting plate 11, and can travel on the tracks 61. An emergency ladder 7 is provided between the two tracks 61, and a vertical emergency ladder 7 is provided between the tracks 61. In case of inspection vehicle malfunction, personnel can reach the bottom of the tower through the ladder.

[0045] In this embodiment, the walking mechanism 4 is also equipped with a fall arrestor and a descent device. The fall arrestor is installed on the drive mechanism and shares the rack 44 of the track 61 with the gear 43. It also meshes with the rack 44 of the track 61. Normally, it does not bear any force and is in free meshing. When a tooth of the walking gear 43 breaks, the running speed suddenly increases. The fall arrestor uses centrifugal force to clamp the gear 43 and rack 44 transmission to achieve the purpose of stopping. The descent device is located at the tail of the reducer of the first motor 42. When the handle is manually pulled to release the brake, the inspection vehicle slides down by gravity.

[0046] In this embodiment, the walking mechanism 4 uses a rack 44 and gear 43 on the H-shaped steel rail 61 for transmission. The first motor 42 drives the gear 43 to mesh with the rack 44 to achieve lifting. The guide wheel 45, the load-bearing wheel 46 and the anti-tipping wheel 47 work together to ensure operational stability. The fall arrestor stops abnormal acceleration by centrifugal force, and the slow descent device is manually released to achieve emergency descent. High load and high precision lifting meet the height requirements of the main tower 6. Multiple anti-tipping and fall arrest mechanisms ensure safety.

[0047] As a preferred embodiment, the telescopic assembly includes rollers 22 and slide rails 23;

[0048] The two telescopic mechanisms 2 are respectively arranged on the left and right sides of the main truss 1, and the two telescopic trusses 21 are respectively slidably sleeved on the left and right sides of the main truss 1. Several arrayed rollers 22 are installed at the bottom of the telescopic truss 21, and slide rails 23 are provided on the main truss 1 corresponding to the rollers 22. The rollers 22 at the bottom of the telescopic truss 21 are slidably engaged with the slide rails 23.

[0049] In this embodiment, several rollers 22 are provided at the front and rear edges of the bottom of the telescopic truss 21. The rollers 22 are arranged in an array along the length of the telescopic truss 21. Slide rails 23 are provided on the inner bottom wall of the main truss 1 corresponding to the rollers 22.

[0050] To prevent the telescopic truss 21 from detaching from the main truss 1, a limit block assembly is also provided. The limit block assembly includes a first block 24 and a second block 25. The inner sidewalls of the telescopic truss 21 on both the left and right sides of the main truss 1 are provided with the first block 24, and the upper end of the first block 24 is located above the top of the main truss 1. The left and right sidewalls of the main truss 1 are provided with the second block 25. The outer sidewall of the first block 24 on the telescopic truss 21 can abut against the inner sidewall of the second block 25. The second block 25 of the main truss 1 is used to block the second block 25 on the telescopic truss 21 and prevent the telescopic truss 21 from detaching from the main truss 1.

[0051] In this embodiment, the telescopic mechanism 2 achieves the lateral left and right sliding of the telescopic truss 21 through the cooperation of roller 22 and slide rail 23. The telescopic truss 21 on both sides of the main truss 1 is extended and retracted through the cooperation of roller 22 and slide rail 23. The limit block prevents derailment and flexibly adjusts the width to adapt to the variable cross-section space inside the main tower 6.

[0052] In other embodiments of this solution, the main truss 1 and the telescopic truss 21 can be bound together by a strip to limit their movement.

[0053] As a preferred embodiment, the flipping limiting assembly includes a support frame 32, a locking block 33, and a locking pin 34;

[0054] The support frame 32 is mounted on the front side wall of the main truss 1. The rear end of the flip truss 31 is hinged to the front side wall of the support frame 32. The flip truss 31 can be flipped and folded upward toward the main truss 1. The locking block 33 is fixedly mounted on the top of the flip truss 31. The locking block 33 has an insertion hole along the length direction of the main truss 1. The locking pin 34 is horizontally mounted on the top of the support frame 32. The locking pin 34 can be inserted into the insertion hole of the locking block 33.

[0055] As a preferred embodiment, the support frame 32 is slidably connected to the main truss 1. The support frame 32 has a rectangular structure, and support blocks 35 are provided at each of the four corners of the support frame 32. Two support blocks 35 are distributed on the upper and lower sides of the main truss 1. The support blocks 35 have a support groove 36 extending along the length of the main truss 1 on their inner sidewalls facing the main truss 1. A pulley 37 is rotatably connected in the support groove 36. The arc surface of the pulley 37 abuts against the main truss 1, which can drive the support frame 32 to slide along the length of the main truss 1.

[0056] In this embodiment, the flip truss 31 slides left and right along the length of the main truss 1 via pulleys 37. The support block 35 is also provided with a vertical pin. The top of the main truss 1 is provided with several limiting holes corresponding to the vertical pin. The limiting holes are arranged in an array along the length of the main truss 1. The lower end of the vertical pin can be inserted into the limiting hole, thereby limiting the support frame 32.

[0057] In this embodiment, the flip-up truss 31 includes a crossbar 311, a side frame 312, and a base plate 313;

[0058] The base plate 313 is mounted on the front side wall of the support frame 32 and is located above the support block 35 at the bottom of the support frame 32. The side frame 312 is hinged to the front side wall of the base plate 313 at its bottom. The support frame 32 and the side frame 312 are hinged together by four crossbars 311. Two crossbars 311 are provided on both the left and right sides of the base plate 313. The two crossbars 311 are spaced apart from top to bottom. The front and rear ends of the crossbars 311 are hinged to the side frame 312 and the support frame 32, respectively, so that the base plate 313 and the side frame 312 can be flipped upward and folded onto the front side wall of the support frame 32. Specifically, there are two locking blocks 33, which are fixedly installed on the upper surfaces of the two uppermost crossbars 311. There are also two locking pins 34, which are horizontally installed on the upper surfaces of the two support blocks 35 on the upper side of the support frame 32 along the length of the main truss 1. When the flip truss 31 flips upward, the upper surface of the upper crossbar 311 gradually approaches the main truss 1 until the pin of the locking pin 34 slides into the corresponding locking block 33, thereby completing the limiting of the flip truss 31 after flipping.

[0059] In this embodiment, the flip truss 31 is hinged to the support frame 32 and the side frame 312 via the crossbar 311 to achieve upward folding. After folding, it fits against the front side of the support frame 32, reducing the space occupied. The locking block 33 and the locking pin 34 fix the folded state. The flip truss 31 (including the base plate 313 and the side frame 312) in the non-folded state serves as an extension platform. At the same time, the left and right positions of the flip truss 31 are adjusted by sliding with the pulley 37 of the support frame 32 to cover the larger cross-sectional area of ​​the main tower 6, which is convenient for detecting the tower wall defects in the larger cross-sectional space of the main tower 6 in front of the main truss 1. After folding, the flip truss 31 retracts to the front side of the support frame 32, which reduces the overall size of the inspection vehicle and makes it easier to pass through narrow cross sections.

[0060] In other embodiments of this solution, a strip can also be used to secure the flipped truss 31 and the main truss 1 after they have flipped upwards, thereby completing the limiting of the flipped truss 31 after it has flipped.

[0061] Example 2:

[0062] Example 2 is basically as shown in the attached document. Figure 9 As shown:

[0063] The remaining features of Embodiment 2 are the same as those of Embodiment 1, except that Embodiment 2 also includes an image acquisition device 5, which includes a reciprocating drive assembly 51, a robotic arm 52, and an image acquisition unit 53.

[0064] The reciprocating drive assembly 51 is disposed at the bottom of the main truss 1 along the length direction of the main truss 1. The drive end of the reciprocating drive assembly 51 is connected to the bottom of the robotic arm 52, which can drive the robotic arm 52 to reciprocate along the length direction of the main truss 1. The image acquisition device 53 is disposed at the clamping jaw of the movable end of the robotic arm 52.

[0065] As a preferred embodiment, the reciprocating drive assembly 51 includes a second motor 54, a lead screw 55, a slide rod 56, a lead screw nut 57, a base frame 58, and a connecting seat 59;

[0066] The base frame 58 is fixedly installed at the bottom of the main truss 1 along the length direction of the main truss 1. The motor is installed on the right side wall of the base frame 58. The drive end of the motor is connected to the right end of the lead screw 55. The lead screw 55 is rotatably connected inside the base frame 58 along the length direction of the base frame 58. The slide rod 56 is fixedly connected inside the base frame 58 along the length direction of the base frame 58 and is located behind the lead screw 55. The front part of the lead screw nut 57 is threaded onto the lead screw 55. The rear part of the lead screw nut 57 is slidably fitted onto the slide rod 56. The front side wall of the lead screw nut 57 is fixedly connected to the connecting seat 59 and extends forward out of the main truss 1. The bottom of the robotic arm 52 is fixedly installed on the connecting seat 59.

[0067] In this embodiment, the robotic arm 52 has 360-degree rotation and extension functions. The image acquisition device 53 mounted on the front end of the robotic arm 52 includes a camera and a multispectral supplementary light. A remote management system is installed at the bridge management center. The management system includes a control system, a software analysis system, and a power supply system. The second motor 54, the robotic arm 52, and the image acquisition device 53 are all electrically connected to the remote management system. The camera is equipped with an industrial-grade high-definition camera. The system divides the gridded area based on the main tower BIM / point cloud model and plans the movement trajectory of the robotic arm. The image acquisition device 53 automatically scans the surface of the tower wall. The software analysis system identifies the types of defects such as cracks and corrosion through deep learning algorithms (such as YOLOv7) and calculates the size and spatial location of the defects by combining the pose data of the robotic arm 52, and finally generates a structured inspection report.

[0068] The second motor 54 drives the lead screw 55 to rotate, which in turn drives the robotic arm 52 to move left and right. Combined with the 360° rotation and extension functions, multi-angle detection can be achieved.

[0069] The present invention has been described in detail above. The specific embodiments are provided only to help understand the method and core idea of ​​the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A maintenance and inspection device for bridge tower piers, characterized in that, include: Main truss (1), telescopic mechanism (2), tilting mechanism (3) and traveling mechanism (4); The walking mechanism (4) is mounted on the main truss (1) and is used to drive the main truss (1) to move vertically within the main tower (6); The telescopic mechanism (2) is provided in two sets and is distributed at both ends of the main truss (1) along the length direction of the main truss (1). The telescopic mechanism (2) includes a telescopic truss (21) and a telescopic assembly. The telescopic truss (21) is slidably fitted on the main truss (1) through the telescopic assembly. The flipping mechanism (3) is mounted on the main truss (1). The flipping mechanism (3) includes a flipping truss (31) and a flipping limiting assembly. The flipping truss (31) is hinged to the main truss (1) in a flipping manner through the flipping limiting assembly.

2. The bridge tower pier maintenance and inspection equipment as described in claim 1, characterized in that: The main truss (1) is provided with several traveling mechanisms (4), and the traveling mechanism (4) includes a mounting frame (41), a first motor (42), a gear (43), a rack (44) and a guide wheel (45); A track (61) is provided on one inner side wall of the main tower (6) along the height direction of the main tower (6), and a rack (44) is provided on the track (61); The mounting bracket (41) is fixedly mounted on the main truss (1). The first motor (42) is fixedly mounted on the mounting bracket (41). The drive end of the first motor (42) is connected to the gear (43). The gear (43) meshes with the rack (44). Several guide wheels (45) are provided and abut against the two side walls of the track (61) respectively for guidance.

3. The bridge tower pier maintenance and inspection equipment as described in claim 1, characterized in that: The telescopic assembly includes rollers (22) and slide rails (23); The two telescopic mechanisms (2) are respectively set on the left and right sides of the main truss (1), and the two telescopic trusses (21) are respectively slidably sleeved on the left and right sides of the main truss (1). Several arrayed rollers (22) are installed at the bottom of the telescopic truss (21), and slide rails (23) are provided on the main truss (1) corresponding to the rollers (22). The rollers (22) at the bottom of the telescopic truss (21) are slidably engaged with the slide rails (23).

4. The bridge tower pier maintenance and inspection equipment as described in claim 1, characterized in that: The flip-limiting assembly includes a support frame (32), a locking block (33), and a locking pin (34); The support frame (32) is mounted on the front side wall of the main truss (1). The rear end of the flip truss (31) is hinged to the front side wall of the support frame (32). The flip truss (31) can be flipped and folded upward toward the main truss (1). The locking block (33) is fixedly mounted on the top of the flip truss (31). The locking block (33) has an insertion hole along the length direction of the main truss (1). The locking pin (34) is horizontally mounted on the top of the support frame (32). The locking pin (34) can be inserted into the insertion hole of the locking block (33).

5. The bridge tower pier maintenance and inspection equipment as described in claim 1, characterized in that: The support frame (32) is slidably connected to the main truss (1). The support frame (32) has a rectangular structure. Support blocks (35) are provided at the four corners of the support frame (32). Two support blocks (35) are distributed on the upper and lower sides of the main truss (1). The support blocks (35) have a support groove (36) that runs through the length of the main truss (1) on the inner sidewall facing the main truss (1). A pulley (37) is rotatably connected in the support groove (36). The arc surface of the pulley (37) abuts against the main truss (1) and can drive the support frame (32) to slide along the length of the main truss (1).

6. The bridge tower pier maintenance and inspection equipment as described in claim 1, characterized in that: It also includes an image acquisition device (5), which includes a reciprocating drive assembly (51), a robotic arm (52), and an image acquisition unit (53); The reciprocating drive assembly (51) is arranged at the bottom of the main truss (1) along the length direction of the main truss (1). The drive end of the reciprocating drive assembly (51) is connected to the bottom of the robotic arm (52) and can drive the robotic arm (52) to reciprocate along the length direction of the main truss (1). The image acquisition device (53) is arranged at the clamping jaw of the movable end of the robotic arm (52).

Images