CN-117144792-B - Bridge crack detection robot and working method thereof

CN117144792BCN 117144792 BCN117144792 BCN 117144792BCN-117144792-B

Abstract

The invention provides a bridge crack detection robot and a working method thereof, wherein rotating frames are connected to two sides of a mounting shell, the interior of the rotating frames is in a barrel-shaped structure, a power fan is arranged in the rotating frames, the power fan pumps air towards the rear end of the rotating frames, the end face of an air suction opening of each rotating frame is used for being adsorbed on a wall surface, rubber rings are arranged on the end face of the air suction opening of each rotating frame, a plurality of driving wheels are further arranged at positions, close to the mounting shell, of the rotating frames, and are electrically connected with driving motors, the lowest ends of the driving wheels are higher than the end face of the air suction opening of each rotating frame, driving equipment is further arranged in the mounting shell, and the driving equipment drives the two rotating frames to rotate around one side of the mounting shell respectively. The robot can reach any appointed position of the bridge, the detection cost is obviously lower than that of manual detection, and the robot can also reach the bridge position detection which can not be reached by conventional manual detection, so that great convenience is brought to detection personnel.

Inventors

TIAN WEI
CHENG XUEBIN
Cheng Xuecong
ZHU MINGQING
Tu Tonghang
YANG XIULI
PAN DAOHUI
ZHANG YIPENG
LI DONGDONG
CHENG MAOLIN
XIAO HAO
ZHANG XIAOPING
XIA HAO

Assignees

中交第二航务工程局有限公司

Dates

Publication Date: 20260508
Application Date: 20230831

Claims (7)

1. A bridge crack detection robot is characterized in that rotating frames (3) are hinged to two sides of a mounting shell (2), the interiors of the rotating frames (3) are in barrel-shaped structures, a power fan (4) is arranged in each rotating frame (3), the power fan (4) pumps air towards the rear end of each rotating frame (3), the end face of an air suction port of each rotating frame (3) is used for being adsorbed on the surface of a bridge, and rubber rings are arranged on the end face of the air suction port of each rotating frame (3); the rotating frame (3) is also provided with a plurality of moving wheels (6) close to the mounting shell (2), the moving wheels (6) are electrically connected with the driving motor, and the lowest end of each moving wheel (6) is higher than the end face of the air suction port of the rotating frame (3); a driving device is further arranged in the mounting shell (2), and the driving device drives the two rotating frames (3) to rotate around one side of the mounting shell (2) by an angle respectively; The device comprises a deflection motor (1), wherein the deflection motor (1) is arranged on the upper surface of a mounting shell (2), the deflection motor (1) is connected with a driving shaft (8), the driving shaft (8) is arranged inside the mounting shell (2), two synchronous wheels (13) are rotatably arranged on the driving shaft (8), and gears are arranged on one side surface of each synchronous wheel (13); A driving gear (14) is arranged between the two synchronous wheels (13), a synchronous gear cylinder (9) is meshed on the driving gear (14), and gears are arranged on the end faces of the upper end and the lower end of the synchronous gear cylinder (9); The outer surface of the synchronous gear cylinder (9) is also provided with a driving deflector rod (15), the driving deflector rod (15) drives the synchronous gear cylinder (9) to move up and down, a gear on the surface of the synchronous gear cylinder (9) is meshed with a gear on the surface of the synchronous wheel (13), and the synchronous wheel (13) rotates to drive the rotating frame (3) to rotate by an angle; The two synchronous wheels (13) are respectively connected with the rotating frames (3) at the two sides of the installation shell (2) through two synchronous belts (12); An incomplete worm wheel (10) is arranged on a rotating shaft of the rotating frame (3), a worm (11) is arranged in the installation shell (2), the worm (11) is meshed with the incomplete worm wheel (10), and the worm (11) is connected with a synchronous belt (12); The outer surface of the synchronous gear cylinder (9) is provided with an annular groove (901), the end part of the driving deflector rod (15) is provided with a shifting fork (1501) with a semi-annular structure, the shifting fork (1501) is arranged inside the groove (901), one end of the driving deflector rod (15) is provided with an iron ring (16), the upper end and the lower end of the iron ring (16) are provided with electromagnets (17), the electromagnets (17) are electrified to drive the iron ring (16) and the driving deflector rod (15) to move up and down, the driving deflector rod (15) drives a driving gear (14) to be meshed with the synchronous wheel (13), and the synchronous wheel (13) drives the rotating frame (3) to rotate at an angle.
2. The bridge crack detection robot according to claim 1, wherein a camera (7) is arranged at the bottom of the installation shell (2), the camera (7) is electrically connected with a cable through a control circuit, and the cable is electrically connected with a data analysis circuit.
3. The bridge crack detection robot according to claim 1, wherein a mounting rod (18) is further arranged inside the mounting shell (2), two electromagnets (17) are arranged on the mounting rod (18), an iron ring (16) is sleeved on the mounting rod (18), the iron ring (16) is arranged between the two electromagnets (17), springs (19) are arranged between the surfaces of the two electromagnets (17) and the iron ring (16) respectively, and the springs (19) are sleeved on the mounting rod (18).
4. The bridge crack detection robot according to claim 1, wherein the driving shaft (8) is provided with a plurality of limiting grooves (801), the bearing (1301) is arranged on the limiting grooves (801), and the outer surface of the bearing (1301) is matched with the synchronous wheel (13).
5. The bridge crack detection robot according to claim 1, wherein the movable end of the rotating frame (3) is further provided with a plurality of universal wheels (5).
6. The bridge crack detection robot according to claim 1, wherein the movable end of the rotating frame (3) is further provided with an induction infrared sensor.
7. The working method of the bridge crack detection robot according to any one of claims 1 to 6, wherein the method comprises the following steps: S1, vertically attaching a bridge crack detection robot to a bridge pier surface, and simultaneously starting a power fan (4) to generate negative pressure so as to attach the bridge crack detection robot to the bridge pier surface; S2, driving a moving wheel (6) to rotate through driving of a driving motor, driving a bridge crack detection robot to move through the moving wheel (6), collecting information through a camera (7), and uploading the information; s3, controlling the four driving motors to independently control the moving wheels (6) to rotate through interaction of the path planning module, the obstacle avoidance sensor and the gyroscope and the controller, so that the path planning movement of the bridge crack detection robot is realized, and the detection of the whole bridge pier surface is realized; S4, when the bridge pier is required to be switched to face the lower surface of the bridge body of the bridge for detection; Firstly, a bridge crack detection robot is moved to the upper end of a bridge pier, then the power of a power fan positioned below is increased, the rotating speed is increased, then an electromagnet at the lower position acts to adsorb an iron ring (16) to approach, the iron ring (16) drives a driving deflector rod (15) to move downwards, further a synchronous gear cylinder (9) is driven to be meshed with a lower end face synchronous wheel (13), then a deflection motor (1) rotates to drive the synchronous gear cylinder (9) to rotate, the synchronous gear cylinder (9) rotates to drive the lower synchronous wheel (13) to rotate, the synchronous wheel (13) drives a synchronous belt to rotate, the synchronous belt rotates to drive a worm to rotate, the worm (11) rotates to drive an incomplete worm wheel (10) to rotate, the incomplete worm wheel (10) rotates to drive the whole installation shell (2) and an upper rotating frame to rotate, and the rotating frame at the upper position rotates for 90 degrees and then stops; S5, a driving motor on the lower rotating frame works to drive the movable wheel to rotate, so that the bridge crack detection robot is driven to integrally ascend, and when the movable wheel on the upper rotating frame and the universal wheel are contacted with the lower surface of the bridge beam body, the contact is judged to be sensed through a pressure sensor or a contact switch; S6, at the moment, the power fan at the upper part works, the rotating speed of the power fan is increased, the increasing amplitude is larger than that of the power fan at the lower part, so that the adhesive force for overcoming the gravity is provided, and then the power fan at the lower part is stopped; S7, driving a driving motor on a rotating frame at the upper part to work to drive a moving wheel to rotate so as to drive the bridge crack detection robot to integrally keep away from the bridge pier, and judging a distance by a time delay program or collecting a rotating angle signal of the driving motor after the bridge crack detection robot leaves the bridge pier; s8, a deflection motor (1) works to drive a rotating frame to reset, then a power fan on the rotating frame starts to work, and after the power fan starts to work, the other power fan properly reduces the wind speed, and at the moment, crack detection is carried out on the lower surface of the bridge girder body through path planning control; and after the work is finished, the processes of S4 to S7 are reversely executed, the bridge is moved from the bottom surface of the beam body to the pier, and the bridge is moved to the lower end of the pier to finish the work.

Description

Bridge crack detection robot and working method thereof Technical Field The invention relates to the field of bridge detection, in particular to a bridge crack detection robot and a working method thereof. Background In recent years, the infrastructure of China carries out a large number of management and maintenance periods in the later period, and is an important point of management and maintenance of foundation facilities for bridge, and the main technical means of management and maintenance are to detect the bridge regularly so as to know the disease condition of the bridge and evaluate the operation state of the bridge. At present, the detection period of the bridge structure in China is generally 3 years. Because of the huge number of bridges in China, the workload of bridge detection is very large. For concrete bridges, the defects with the greatest influence on structural safety and durability are structural cracks, so that the cracks are the detection key points of the bridge, the trend, the length and the width (the precision is required to be 0.01 mm) of the cracks are measured at the same time, the cracks of part of the bridge are very many, and the detection workload is also huge. At present, detection of concrete bridge cracks is mainly carried out by adopting technical means such as manual detection, unmanned aerial vehicle detection, remote camera shooting recognition and the like. The manual detection can reach the accuracy of 0.01mm in width measurement, but various means are needed to carry people to the crack, so that for long and tall bridges, the carrying economic cost is very high, the detection efficiency is very low, the safety risk is high, and a plurality of parts (such as high piers and bridge tower space arch ribs) cannot reach the detection. The unmanned aerial vehicle detection and remote camera shooting identification and other automatic unmanned methods can solve the problems of high personnel carrying cost, low detection efficiency, high risk and unreachable, and can realize automatic unmanned detection of the bridge cracks, but as the two methods are non-contact and relatively remote measurement methods, the measurement of the lengths and the trend of the cracks can meet the detection precision requirement, but the measurement of the width of the cracks can only reach the precision of 0.1mm at most, and the detection precision requirement cannot be completely met. Therefore, an automatic, unmanned, high-precision and high-efficiency bridge crack detection technical means is required to be found to solve the problems in the current detection. In the prior art, patent publication number CN110816702B discloses a wing wheel combined approaching type bridge crack detection robot, which belongs to the technical field of robots and comprises a mobile trolley, a rotor mechanism, a control system and a mobile terminal, wherein the rotor mechanism is provided with two propellers which are driven by two rotating motors to reversely rotate, the control system comprises a control module, a detection module, a motor driving module, a power supply module and a wireless communication module, a camera of the detection module is used for collecting image information of the bridge surface and transmitting the image information to the control module, the control module is used for analyzing according to the image information to judge whether the bridge surface has cracks, a range finder of the detection module is used for measuring the sizes of the cracks, and the wireless communication module is used for carrying out information interaction with the mobile terminal. The prior art method solves the problems in the background art to a certain extent, but in actual use, when the bridge pier and the lower surface of the beam body of the bridge are detected, the technical scheme cannot cross the right angle to face another mutually perpendicular plane for detection. There is a need for a bridge crack detection robot and method of operation thereof that addresses the above-described problems. Disclosure of Invention The invention mainly aims to provide a bridge crack detection robot and a working method thereof, which solve the problem that the bridge crack detection robot cannot detect another mutually perpendicular plane crossing right angles. There is a need for a bridge crack detection robot and a method of operating the same that addresses the above-described problems. In order to solve the technical problems, the technical scheme adopted by the invention is that a rotating frame is connected at two sides of a mounting shell of the bridge crack detection robot, the interior of the rotating frame is in a barrel-shaped structure, a power fan is arranged in the rotating frame, the power fan pumps air towards the rear end of the rotating frame, the end face of an air suction port of the rotating frame is used for being adsorbed on a wall surface, and a rubber ring is arranged on the end face of t