Detection apparatus for detecting narrow space under the bottom of bridge

Abstract

A detection apparatus for detecting narrow space under the bottom of bridge, which comprise guideway rod with guideway, four-bar linkage, first dilatation rod assembly, second dilatation rod assembly, detecting device and carrier for carrying the above each assembly. The four-bar linkage has a first link lever, a second link lever, a third link lever and a fourth link lever. The fourth link lever detachably and pivotally connecting the guideway rod and could slide on the guideway. The first dilatation rod assembly is formed by a plurality of sleeves and has opposite first end and second end. The first end detachably connecting with the third link lever. The second dilatation rod assembly detachably and pivotally connecting the second end and has a first rod which moves relatively to a second rod. The detecting device has a three-axis stabilizer and an image capture device.

Description

[Technical Field]

[0001] This invention relates to the field of bridge inspection, and more particularly to a device for inspecting the narrow space under a bridge beam. [Previous Technology]

[0002] In mountainous and valley-filled geographical environments with numerous rivers and streams, bridges are essential for connecting different regions via land transportation. If bridge damage causes regional traffic paralysis, it will hinder economic development. Therefore, ensuring that bridges provide a high level of service is crucial. To ensure good bridge service quality, transportation departments in various countries have established bridge inspection standards, and bridge maintenance units must conduct regular inspections and maintenance to guarantee the quality of bridge service.

[0003] Bridge safety directly affects the safety of pedestrians, therefore regular inspections and timely maintenance are necessary to maintain normal function. In Taiwan, for example, there are nearly 23,000 highway bridges. When inspecting bridges, engineers must climb up and down like Spider-Man, which is dangerous and time-consuming.

[0004] In current bridge inspection practice, when encountering larger bridges, high piers, or bridges spanning rivers, bridge inspection vehicles, aerial work platforms, or unmanned aerial vehicles can be used to assist in approaching them. However, not all bridges are suitable for the above-mentioned auxiliary tools.

[0005] Many bridges are subject to repeated contact between the bottom of the beam and water and air due to factors such as their location, terrain, or tidal influence. This can easily lead to steel reinforcement corrosion and expansion, concrete spalling, and gradually reduce the load-bearing capacity and function of the bridge.

[0006] Due to insufficient clearance at the bottom of the bridge beams and narrow spaces, it is difficult for personnel and equipment to enter. Inspection personnel often need to take boats or wade through water in diving suits to enter the narrow, dark and damp space under the beams for inspection. However, the bottom of the bridge is often covered with dirt and floating garbage, or aquatic plants and weeds, making it a muddy and slippery environment, which increases the difficulty for inspection personnel to carry out bridge inspection work and leads to increased operational risks.

[0007] Based on the need for bridge bottom inspection, the applicant filed an invention patent application on July 30, 2018, entitled "Bridge Bottom Inspection Device", which was approved and published on June 11, 2019, with publication number I662170, hereinafter referred to as "Case 1"; and filed an invention patent application on July 29, 2020, entitled "Portable Bridge Bottom Inspection Device", which was approved and published on October 1, 2021, with publication number I741701, hereinafter referred to as "Case 2".

[0008] The "bridge bottom detection device" disclosed in Case 1 is a three-bar structure that is pivotally connected and can be retracted and unfolded, mounted on the top of a vehicle (or mobile vehicle). The vehicle transports the "bridge bottom detection device" to its destination, usually the bridge deck of the bridge to be inspected. Then, the "bridge bottom detection device" is unfolded and flipped to the outside of the bridge, and the movable rod is controlled to extend the image capturing device into the bottom of the bridge to inspect it. Compared with the prior art, Case 1's structure is patentable, and therefore an invention patent can be granted.

[0009] The "lightweight bridge bottom inspection device" disclosed in Case 2 is characterized by a lightweight mobile device supporting a detachable three-bar flip design, and a specially designed drive box provided in the third bar extending into the bottom of the bridge. This achieves the goals of reducing size and weight, minimizing operating space, reducing manpower and time, facilitating transport, assembly, disassembly, and operation, and providing a wide inspection range. Compared to the prior art and Case 1, Case 2's structure is patentable, thus qualifying for an invention patent.

[0010] However, based on the applicant's spirit of continuous improvement, it is believed that there is still room for improvement in Case 1 and Case 2, including: (a) The rod used in Case 2 is in the form of a sleeve, which is prone to deformation, leading to increased friction and thus telescopic failure. (b) Case 1 and Case 2 place the image capturing unit at the end of the movable rod or the third rod, which is prone to vibration and shaking during operation, affecting the stability and quality of image capture. (c) The movable rod or the third rod in Case 1 and Case 2 is usually very long (e.g., about 10 meters), and its suspended end is prone to drooping and bending due to its own weight. Combined with the weight of the image capturing unit, this causes distortion of the distance between the image capturing unit and the detection position. If a tensioner is used to lift it to solve the problem of drooping and bending at the end, it will instead cause the end to sway and bend from side to side. (d) Even though Case 2 can improve the problem of operating space in Case 1, the first member of Case 2 is connected to the main body at one end, and the rotation of the first member is controlled to climb over the bridge railing. This structure still requires a lot of operating space and has poor stability and is not easy to operate. (e) Even though Case 2 can improve the problem of occupying a lot of space and being difficult to transport in Case 1, the main body, the first member and the second member of Case 2 cannot be disassembled and separated, and are heavy, which is not conducive to personnel handling.

[0011] Accordingly, how to develop a "bridge beam bottom narrow space detection device" that can achieve the goals of not being easily deformed, having good stability, high durability, clear image capture, small operating space, easy to transport, easy to assemble, easy to disassemble, and easy to operate is an issue that people in related technical fields urgently need to solve. [Summary of the Invention]

[0012] In one embodiment, the present invention provides a bridge beam bottom narrow space detection device, comprising: a slide rail member, wherein at least one side is provided with a slide rail, the length of each slide rail is perpendicular to the XY plane formed by the X-axis and the Y-axis, and the X-axis, Y-axis and Z-axis are three mutually perpendicular axes; at least one set of four-bar linkages, wherein a first link, a second link, a third link and a fourth link form a quadrilateral, the opposite ends of the first link and the second link are respectively pivotally connected to the third link and the fourth link, the fourth link is separable and pivotally connected to the slide rail member and the fourth link can slide parallel to the Z-axis on the slide rail, and the first link and the second link can swing parallel to each other with their pivot points with the fourth link as the center, so as to change the horizontal height of the third link; At least one first telescopic rod assembly, parallel to the Z-axis, has a first end and a second end opposite to each other, the first end being detachably connected to a third link. The first telescopic rod assembly is composed of a plurality of sleeves interlocked, and the plurality of sleeves can move relative to each other to change the distance between the first end and the second end; a second telescopic rod assembly, including a first rod and a second rod with lengths parallel to the XY plane, the first rod and the second rod being movable relative to each other parallel to the XY plane, the second telescopic rod assembly being detachably and pivotally mounted at the second end of the first telescopic rod assembly; a detection device, including a three-axis stabilizer and an image capturing device, the three-axis stabilizer being detachably mounted at one end of the first rod, the image capturing device being detachably mounted on the three-axis stabilizer for capturing an image of the bottom of the bridge beam; and a bearing device for bearing the sliding rail members, the four-bar linkage, the first telescopic rod assembly, the second telescopic rod assembly, and the detection device.

Implementation Method

[0013] Please refer to Figures 1 to 3. The bridge beam bottom narrow space detection device 100 provided by the present invention includes a slide rail member 10, a four-bar linkage 20, a first telescopic rod linkage 30, a second telescopic rod linkage 40, a detection device 50 and a bearing device 60.

[0014] A slide rail 11 is provided on each of the opposite sides of the slide rail member 10. Alternatively, a slide rail 11 may be provided on only one side of the slide rail member 10, depending on the circumstances. The length of the slide rail 11 is perpendicular to the XY plane formed by the X-axis and the Y-axis. The X-axis, Y-axis and Z-axis are three mutually perpendicular axes.

[0015] Please refer to Figures 1 to 3. The four-bar linkage 20 is a quadrilateral formed by a first link 21, a second link 22, a third link 23 and a fourth link 24. The opposite ends of the first link 21 and the second link 22 are pivotally connected to the third link 23 and the fourth link 24, respectively.

[0016] The fourth link 24 is detachably and pivotally connected to the slide rail member 10 and can slide parallel to the Z-axis on the slide rail 11. For example, the fourth link 24 is detachably and pivotally connected to a slide block 241, through which the slide block 241 drives the fourth link 24, together with the entire four-bar linkage 20, the first telescopic rod group 30, the second telescopic rod group 40 and the detection device 50.

[0017] Please refer to Figures 4A to 4D. The first link 21 and the second link 22 can swing parallel to each other with their pivot points with the fourth link 24 as the center. Since the other ends of the first link 21 and the second link 22 are pivotally connected to the third link 23, the horizontal height of the third link 23 can be changed when the first link 21 and the second link 22 swing at different angles.

[0018] As shown in Figure 4A, the lengths of the first link 21 and the second link 22 are parallel to the Z-axis, and the horizontal height of the third link 23 is the highest. As shown in Figure 4D, the lengths of the first link 21 and the second link 22 are parallel to the Y-axis, and the horizontal height of the third link 23 is the lowest. During the swinging process of the first link 21 and the second link 22 from the state in Figure 4A to Figure 4D, the horizontal height of the third link 23 gradually decreases. Similarly, during the swinging process of the first link 21 and the second link 22 from the state in Figure 4D to Figure 4A, the horizontal height of the third link 23 gradually increases. The four-bar linkage 20 shown in Figure 1 is roughly equivalent to the swinging state of the four-bar linkage 20 shown in Figure 4B.

[0019] The swing angle θ between the first link 21 and the second link 22 can be, for example, 90 degrees. If the first link 21 and the second link 22 shown in Figure 4A are 0 degrees, then the first link 21 and the second link 22 shown in Figure 4D are 90 degrees, but it is not limited to this.

[0020] This embodiment provides two sets of four-bar linkages 20, which are arranged with a distance between them. Alternatively, one or more sets of four-bar linkages 20 may be provided as needed.

[0021] Referring to Figures 1 to 3 and Figures 5A and 5B, the first telescopic rod assembly 30 has a first end 31 and a second end 32 opposite to each other, parallel to the Z-axis. The first end 31 is separable and pivotally connected to the third link 23. The first end 31 and the third link 23 can be bolted together, for example.

[0022] The first telescopic rod assembly 30 is composed of a plurality of sleeves 30A to 30D that are interconnected. The first telescopic rod assembly 30 is electrically connected to a first drive assembly 33. The first drive assembly 33 includes a first motor 331 and a first steel cable 332. The first steel cable 332 is connected to each sleeve 30A to 30D, and the first motor 331 is connected to and controls the movement of the first steel cable 332 to control the movement of the sleeves 30A to 30D, thereby changing the distance between the first end 31 and the second end 32.

[0023] This embodiment provides two sets of first telescopic rod groups 30, which are arranged at a distance from each other. Alternatively, one or more sets of first telescopic rod groups 30 may be provided depending on the situation.

[0024] Please refer to Figures 1 to 3 and Figures 6 to 7. The second telescopic rod assembly 40 includes a first rod 41 and a second rod 42 whose lengths are parallel to the XY plane.

[0025] The second telescopic rod assembly 40 is detachably and pivotally disposed at the second end 32 of the first telescopic rod assembly 30. The connection method between the second telescopic rod assembly 40 and the first telescopic rod assembly 30 is not limited, as long as the state in which the second telescopic rod assembly 40 is detachably and pivotally disposed at the second end 32 of the first telescopic rod assembly 30 can be achieved, for example, a universal joint seat that can be screwed together or a mechanism with the same function can be used.

[0026] The first rod 41 and the second rod 42 of the second telescopic rod assembly 40 are connected to a second drive assembly 43. The second drive assembly 43 includes a second motor 431 and a gear set 432.

[0027] A first gear row 411 is provided on one side of the first rod 41, which meshes with the gear set 432. A second gear row 421 is provided on one side of the second rod 42, which meshes with the gear set 432. A second motor 431 is connected to and controls the gear set 432 to actuate, thereby controlling the first rod 41 and the second rod 42 to move relative to each other in parallel with the XY plane.

[0028] In this embodiment, the first rod 41 is an aluminum extruded octagonal tube with an octagonal cross-section, having a first width W1 parallel to the Y-axis and a first height H1 parallel to the Z-axis. The dimension of the first height H1 is greater than the dimension of the first width W1.

[0029] The second rod 42 is an extruded aluminum elliptical tube with a flat elliptical cross-section, having a second width W2 parallel to the Y-axis and a second height H2 parallel to the Z-axis. The dimension of the second height H2 is greater than the dimension of the second width W2.

[0030] The second drive assembly 43 includes a plurality of bearings 44 and 45. At least one bearing 44 is provided on the top edge and the bottom edge of the first rod 41, and at least one bearing 45 is provided on the top edge and the bottom edge of the second rod 42. The bearings 44 and 45 enable smoother relative movement between the first rod 41 and the second rod 42.

[0031] Please refer to Figures 2 and 3. The detection device 50 includes a three-axis stabilizer 51 and an image capturing device 52. The three-axis stabilizer 51 is detachably disposed at one end of the first rod 41, and the image capturing device 52 is detachably disposed on the three-axis stabilizer 51 to capture an image of the bottom of the bridge beam.

[0032] Typically, the three-axis stabilizer 51 works by using a gyroscope to detect the stabilizer's rotation and driving the motor to reverse, thus stabilizing the image capturing device 52 in a specific direction to avoid shaking. This invention uses the three-axis stabilizer 51 to prevent shaking of the image capturing device 52, thereby obtaining a clear image of the bridge's underside.

[0033] In addition, the detection device 50 may further include an illumination unit (not shown) to provide the illumination required by the image capturing device 52 when capturing images.

[0034] Please refer to Figures 1 to 3. The bearing device 60 is used to support the slide rail rod 10, the four-bar linkage 20, the first telescopic rod linkage 30, the second telescopic rod linkage 40 and the detection device 50.

[0035] The supporting device 60 includes a support platform 61, a battery pack 62, a handle 63, and a plurality of pulleys 64 and 65. The bottom end of the slide rail member 10 is disposed on the top surface of the support platform 61. The battery pack 62 is disposed on the top surface of the support platform 61, supplying the power required for the operation of the slide rail member 10, the four-bar linkage 20, the first telescopic rod linkage 30, the second telescopic rod linkage 40, and the detection device 50, and can also be used as a counterweight. The handle 63 is disposed on one side of the slide rail member 10. The pulleys 64 and 65 are disposed on both sides and / or the bottom of the support platform 61.

[0036] The four-bar linkage 20, the first telescopic rod linkage 30, the second telescopic rod linkage 40 and the detection device 50 are electrically connected to a control device 70 via wired or wireless means. The control device 70 includes, for example, a programmable controller and a wireless communication module.

[0037] The operation of the bridge beam bottom confined space detection device 100 is controlled by the control device 70. For example, it controls the sliding of the four-bar linkage 20 on the slide rail 11, and controls the swing of the first link 21 and the second link 22 (as shown in Figures 4A-4D), and controls the relative movement between the multiple sleeves 30A-30D of the first telescopic rod group 30 (as shown in Figure 5A), and controls the relative movement of the first rod 41 and the second rod 42 of the second telescopic rod group 40 (as shown in Figure 7), and controls the image capturing device 52 of the detection device 50 to capture the image of the bridge beam bottom.

[0038] Please refer to Figures 8 to 13 to illustrate the continuous operation of the present invention in bridge beam bottom detection.

[0039] Please refer to Figure 8. By means of the pulleys 64 and 65 and the handle 63 of the bearing device 60, the operator can push the bridge beam bottom narrow space detection device 100, that is, the bearing device 60 which carries the slide rail rod 10, the four-bar linkage 20, the first telescopic rod linkage 30, the second telescopic rod linkage 40, and the detection device 50 (see Figure 2), on the bridge deck 81 of the bridge 80 to the inside of the guardrail 82 of the bridge 80.

[0040] Please refer to Figure 9. Then, the control device 70 controls the four-bar linkage 20, the first telescopic rod linkage 30, the second telescopic rod linkage 40 and the detection device 50 (see Figure 2) to rise along the slide rail 11 of the slide rail member 10 parallel to the Z-axis.

[0041] Please refer to Figures 10 and 11. Then, the control device 70 controls the first link 21 and the second link 22 of the four-bar linkage 20 to swing downwards towards the guardrail 82 with the fourth link 24 as the fulcrum, so that the first telescopic bar group 30, the second telescopic bar group 40 and the detection device 50 (see Figure 2) pass over the guardrail 82.

[0042] Please refer to Figure 12. After the first link 21 and the second link 22 of the four-bar linkage 20 are swung down to a roughly horizontal position, the first telescopic rod group 30 is controlled by the control device 70 to extend downward parallel to the Z-axis, so that the second telescopic rod group 40 and the detection device 50 (see Figure 2) are lowered to the required position, for example, below a certain required position of the bottom beam 83 of the bridge 80. Then the first telescopic rod group 30 is controlled by the control device 70 to stop extending.

[0043] Please refer to Figure 13. Then, the control device 70 controls the second telescopic rod assembly 40 and the detection device 50 to rotate approximately 90 degrees parallel to the XY plane, so that the image capturing device 52 is located below the beam bottom 83 of the bridge 80. The length of the first rod 41 of the second telescopic rod assembly 40 is controlled as needed to adjust the position of the image capturing device 52. Then, the control device 70 controls the image capturing device 52 to capture the image of the beam bottom 83 of the bridge 80.

[0044] When the inspection work is completed, simply reverse the above steps to restore the bridge beam bottom narrow space inspection equipment 100 to the state shown in Figure 8.

[0045] In summary, the bridge beam under-span confined space detection device provided by the present invention features a uniquely designed four-bar linkage structure, coupled with a second telescopic rod assembly composed of aluminum extruded elliptical flat tubes or aluminum extruded octagonal tubes, allowing relative movement between the first and second rods. Furthermore, a three-axis stabilizer supports the image acquisition unit located at the tail end of the second telescopic rod assembly. This achieves the objectives of being resistant to deformation, exhibiting excellent stability, high durability, clear image acquisition, requiring minimal operating space, being easy to transport, assemble, disassemble, and operate. For bridges with confined under-span spaces, deep water, and rapid currents, especially bridges with narrow beam under-span clearance, tidal river sections, or deep valleys in mountainous areas, where the location and terrain are unfavorable for the access of large transport vehicles, the bridge beam under-span confined space detection device provided by the present invention is indeed convenient and necessary.

[0046] Although the present invention has been disclosed above by way of embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make some modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims. [Simplified Explanation of the Diagram]

[0047] Figure 1 is a side view of one embodiment of the present invention. Figure 2 is a front view of the embodiment of Figure 1. Figure 3 is a rear view of the embodiment of Figure 1. Figures 4A to 4D are structural schematic diagrams of the deployed state of the four-bar linkage of the embodiment of Figure 1. Figure 5A is a structural schematic diagram of the extended state of the longitudinal telescopic rod group of the embodiment of Figure 1. Figure 5B is a structural schematic diagram of the connection between the first drive group and the plurality of sleeves in the embodiment of Figure 1. Figure 6 is a structural schematic diagram of the AA section of Figure 2. Figure 7 is a structural schematic diagram of the extended state of the transverse telescopic rod group of the embodiment of Figure 1. Figures 8 to 13 are structural schematic diagrams of the continuous operation state of the present invention implemented in the inspection of the bottom of a bridge beam.

Claims

1. A device for detecting narrow spaces under bridge beams, comprising: a slide rail member, wherein at least one side of the slide rail is provided with a slide rail, the length of each slide rail being perpendicular to the XY plane formed by the X-axis and the Y-axis, wherein the X-axis, the Y-axis and the Z-axis are mutually perpendicular axes; at least one set of four-bar linkages, comprising a first link, a second link, a third link and a fourth link forming a quadrilateral, wherein the opposite ends of the first link and the second link are respectively pivotally connected to the third link and the fourth link, the fourth link is separable and pivotally connected to the slide rail member and can slide parallel to the Z-axis on the slide rail, and the first link and the second link can swing parallel to each other with their pivot points with the fourth link as the center, so as to change the horizontal height of the third link; At least one first telescopic rod assembly, parallel to the Z-axis, has a first end and a second end opposite to each other. The first end is detachably connected to the third link. The first telescopic rod assembly is composed of a plurality of sleeves interlocked together. The plurality of sleeves can move relative to each other to change the distance between the first end and the second end. A second telescopic rod assembly includes a first rod and a second rod with lengths parallel to the XY plane. The first rod and the second rod can move relative to each other parallel to the XY plane. The second telescopic rod assembly is detachably and pivotally disposed at the second end of the first telescopic rod assembly. A detection device includes a three-axis stabilizer and an image capturing device. The three-axis stabilizer is detachably disposed at one end of the first rod. The image capturing device is detachably disposed at the three-axis stabilizer for capturing an image of the bottom of the bridge beam. A bearing device is used to support the slide rail member, each of the four-link assemblies, each of the first telescopic rod assemblies, the second telescopic rod assembly, and the detection device.

2. The bridge beam underpass confined space detection device as described in claim 1, wherein the load-bearing device includes: A support platform, with the bottom end of the slide rail member located on the top surface of the support platform; A battery pack is located on the top surface of the support platform to supply the power and counterweight required for the operation of the slide rail rod, the four-bar linkage, the first telescopic rod linkage, the second telescopic rod linkage, and the detection device; a handle is located on one side of the slide rail rod; and a plurality of pulleys are located on both sides and / or the bottom of the support platform.

3. The bridge beam bottom narrow space detection device as claimed in claim 1, wherein the first rod has a first width parallel to the Y-axis and a first height parallel to the Z-axis, the first height being greater than the first width, and the second rod has a second width parallel to the Y-axis and a second height parallel to the Z-axis, the second height being greater than the second width.

4. The bridge beam bottom narrow space detection device as requested in item 1, wherein the first rod and the second rod are aluminum extruded elliptical flat tubes with a flat elliptical cross section or aluminum extruded octagonal tubes with an octagonal cross section.

5. The bridge beam bottom narrow space detection device as requested in item 1, which has two sets of the four-bar linkage, the two sets of four-bar linkage are arranged at a distance between them.

6. The bridge beam bottom narrow space detection device as requested in item 1, which has two sets of the first telescopic rod group, the two sets of the first telescopic rod group being arranged at a distance between them.

7. The bridge beam bottom narrow space detection device as claimed in claim 1, wherein each of the first telescopic rod groups is electrically connected to a first drive group, the first drive group including at least one first motor and at least one first steel cable, each of the first steel cables being connected to each of the sleeves, and each of the first motors being connected to and controlling the movement of each of the first steel cables to control the movement of at least one of the sleeves.

8. The bridge beam underpass narrow space detection device as claimed in claim 1, wherein the first rod and the second rod of the second telescopic rod assembly are connected to a second drive group, the second drive group includes at least one second motor and a gear group, a first toothed row is provided on one side of the first rod and meshes with the gear group, a second toothed row is provided on one side of the second rod and meshes with the gear group, and each of the second motors is connected to and controls the gear group to operate so as to control the relative movement of the first rod and the second rod.

9. The bridge beam bottom narrow space detection device as claimed in claim 8, wherein the second drive group includes a plurality of bearings, at least one of the bearings is provided at the top edge and bottom edge of the first rod, and at least one of the bearings is provided at the top edge and bottom edge of the second rod.

10. The bridge beam underpass narrow space detection device as claimed in claim 1, wherein each of the four-bar linkages, each of the first telescopic rods, the second telescopic rods, and the detection device are electrically connected to a control device, the control device including a programmable controller and a wireless communication module, the control device controlling each of the four-bar linkages to slide on the slide rail, controlling the swing of the first and second linkages, controlling the relative movement between the plurality of sleeves of the first telescopic rods, controlling the relative movement of the plurality of rods of the second telescopic rods, and controlling the image capturing device of the detection device to capture an image of the bridge beam underpass.

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