CN105783997A - Automatic detection device and method of bridge box girder - Google Patents
Automatic detection device and method of bridge box girder Download PDFInfo
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- CN105783997A CN105783997A CN201610222064.5A CN201610222064A CN105783997A CN 105783997 A CN105783997 A CN 105783997A CN 201610222064 A CN201610222064 A CN 201610222064A CN 105783997 A CN105783997 A CN 105783997A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention discloses an automatic detection device and method of a bridge box girder, and relates to the field of the bridge detection. The device is provided with a body platform, and mechanical arms perpendicular to the direction of forward motion are arranged at two sides of a body platform; rotatable manipulator wrists are arranged at one ends of the mechanical arms, and image acquisition devices and lamps are arranged on the manipulator wrists; and the device further comprises a machinery running gear, a sensor, a data storage device and a control system. The detection method comprises the steps: setting the running parameters of an automatic device; setting the motion parameters of stretching the manipulators and the work parameters of the sensor; resetting a mileage encoder; starting an automatic checkout device; and leading out detection data. The automatic detection device and method of a bridge box girder are able to realize the rapid unmanned automatic detection, substitute people's on-site work and improve the detection safety factors so as to realize the standardization of the detection within the box girder and avoid the subjective factor influence brought by manual detection.
Description
Technical field
The present invention relates to bridge machinery field, be specifically related to the internal automatic detection device of a kind of bridge box and beam and detection method.
Background technology
Build or in the large span cable-supported bridge built in China, significant proportion is had to apply box structure girder, bridge box and beam is generally made up of multiple connected chamber, due to steel box-girder itself, the process cause it making, installing is susceptible to the problem such as external coating scratch, welding burn.Meanwhile, natural environment residing for Longspan Bridge is relatively more severe, bears the dynamic load function such as vehicular load, wind load for a long time, corrosion and fatigue damage easily occurs.Main damage within steel box-girder has: rust in film efflorescence, coating is swollen causes the bubbling of film, film and steel construction crackle, film to come off, coating and steel plate gets rusty, steel box-girder makes, erection stage causes scratch etc..
The examination and maintenance of current Loads of Long-span Bridges steel box-girder part are concentrated mainly on outside, also possess detecting instrument and the equipment of various advanced person.Inspection within steel box-girder belongs to the inspection at bridge structure disguise position, currently mainly by manually carrying out, adopts people to carry out visual observations inside box beam.But manual detection is subject to a lot of restriction, for instance the temperature within the steel box-girder in summer of south is likely to up to about 50-60 DEG C, and manually under such adverse circumstances, operation is abnormally dangerous.The walking of steel box-girder internal structure inconvenience simultaneously, what have is configured without illumination, and some steel box-girder also have construction rubbish heap to build, and manual detection also receives the interference of a lot of objective condition, also very big by artificial subjective impact.In consideration of it, be badly in need of carrying out the internal Automatic Measurement Technique research of steel box-girder.
Summary of the invention
For the defect existed in prior art, it is an object of the invention to provide the internal automatic detection device of a kind of bridge box and beam and detection method, it is achieved the unmanned Aulomatizeted Detect within bridge box and beam.
For reaching object above, the present invention adopts the technical scheme that the internal automatic detection device of a kind of bridge box and beam, the internal automatic detection device of described bridge box and beam includes: the car body platform being arranged in bridge box and beam, described car body platform both sides are provided with mechanical arm, described mechanical arm is provided with rotating mechanical arm wrist away from described car body platform one end, described mechanical arm wrist is provided with image collecting device and lamp, and described car body platform is provided with mechanical walking device, sensor, data storage device and control system.
On the basis of technique scheme, described mechanical arm is perpendicular to described car body platform direction of advance.
On the basis of technique scheme, described mechanical walking device includes: wheel, lithium battery, motor, mileage coder, described wheel is provided with car body platform, it is provided with motor between described wheel, described lithium battery is arranged on below car body platform, described motor connects described lithium battery, and described wheel is provided with mileage coder.
On the basis of technique scheme, described sensor includes: temperature sensor, humidity sensor, PM10 monitoring sensor, PM2.5 monitor sensor.
On the basis of technique scheme, described data storage device connects temperature sensor, humidity sensor respectively, PM10 monitors sensor, PM2.5 monitors sensor and image collecting device.
On the basis of technique scheme, described control system connects lithium battery, motor, mileage coder, mechanical arm, sensor, image collecting device respectively.
On the basis of technique scheme, the internal automatic detection device of described bridge box and beam includes with the I-steel track that centre position is longitudinally laid along bridge in box beam.
For reaching object above, the present invention adopts the technical scheme that the detection method of the internal automatic detection device of a kind of bridge box and beam, and it comprises the following steps:
S1, being placed in box beam by internal for bridge box and beam automatic detection device, described box beam includes multiple connected chamber；
The internal automatic detection device of S2, bridge box and beam travels the centre position to first chamber；
S3, sensor collection case house data, stretch mechanical arm, rotate mechanical arm wrist, image collecting device collecting box off-the-air picture data, complete the internal automatic detection device of image data collection axle casing box beam to travel to next chamber collecting box off-the-air picture data again, until last chamber.
On the basis of technique scheme, the forward travel distance that total length according to box beam to be detected sets the internal automatic detection device of bridge box and beam total is S, the travel speed of the internal automatic detection device of bridge box and beam is v, from initial position to the distance in the centre position of first chamber be s1, the internal automatic detection device of bridge box and beam starts often to stop after walking length d to carry out detection work from the middle position of first chamber, altogether stop detection n times, the time of staying of each chamber is T, completes the internal automatic detection device of forward travel distance S axle casing box beam and automatically makes a return voyage；Wherein N is the number of chamber, and d is the length of single chamber.
On the basis of technique scheme, in S3, mechanical arm starts to extend to the longest, and image collecting device gathers the photo bottom chamber down；Rotating machine arm wrist, harvester gathers the photo of chamber side；Mechanical arm is retracted to the shortest, image collecting device upward, and the photo in vasculum ceiling portion；Rotating machinery arm, makes mechanical arm anterior towards chamber；Rotating machine arm wrist, image collecting device is anterior towards chamber；Image acquisition device chamber front portion photo；Rotating machinery arm, makes mechanical arm towards chamber rear portion；Rotating machine arm wrist, image collecting device is towards chamber rear portion；Image acquisition device chamber rear portion photo；Mechanical arm recovers initial attitude after being retracted to shortest length.
Compared with prior art, it is an advantage of the current invention that:
(1) the internal automatic detection device of the bridge box and beam of the present invention and method achieve the quickly unmanned detection automatically of bridge disguise structure position.
(2) the internal automatic detection device of the bridge box and beam of the present invention and method make the internal detection of box beam be automatically performed by pre-setting of program, have avoided radio magnetic wave signal in steel box-girder and have been difficult to the problem that distance is propagated.
(3) the internal automatic detection device of the bridge box and beam of the present invention and method instead of the field operation of people, improve the safety coefficient of detection.
(4) the internal automatic detection device of the bridge box and beam of the present invention and method make the internal detection of box beam realize standardization, standardization, it is to avoid the subjective factors impact that manual detection is brought.
Accompanying drawing explanation
Fig. 1 is the structural representation of the internal automatic detection device of embodiment of the present invention Bridge box beam；
The work that Fig. 2 is the internal automatic detection device of embodiment of the present invention Bridge box beam runs schematic diagram；
Fig. 3 is the workflow diagram of the internal automatic testing method of embodiment of the present invention Bridge box beam.
In figure: 1-diaphragm plate, position, 2-hole, 3-track, the internal automatic detection device of 4-bridge box and beam, 5-car body platform, 6-mechanical arm, 7-mechanical arm wrist, 8-sensor, 9-image collecting device, 10-lamp, 11-motor, 12-mileage coder, 13-lithium battery, 14-wheel, 15-data storage device, 16-controls system, 17-temperature sensor, 18-humidity sensor, 19-PM10 monitors sensor, and 20-PM2.5 monitors sensor, 21-mechanical walking device.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Shown in Figure 1, the embodiment of the present invention provides a kind of bridge box and beam internal automatic detection device, including car body platform 5, car body platform 5 both sides are provided with the mechanical arm 6 being perpendicular to car body platform 5 direction of advance, mechanical arm 6 is provided with rotating mechanical arm wrist 7 away from car body platform 5 one end, mechanical arm wrist 7 is provided with image collecting device 9 and lamp 10, and car body platform 5 is provided with mechanical walking device 21, sensor 8, data storage device 15 and control system 16.The internal automatic detection device 4 of this bridge box and beam instead of the field operation of people, improves the safety coefficient of detection.
Mechanical walking device 21 includes: wheel 14, lithium battery 13, motor 11, mileage coder 12, wheel 14 is provided with car body platform 5, motor 11 it is provided with between wheel 14, motor 11 connects lithium battery 13, control system 16 connects lithium battery 13, motor 11 respectively, making dolly install to pre-set under the control of control system 16 and carry out advancing, stop and retreating, lithium battery 13 is arranged on below car body platform 5, and wheel 14 is provided with mileage coder 12.
Sensor 8 includes: temperature sensor 17, humidity sensor 18, PM10 monitoring sensor 19, PM2.5 monitor sensor 20, automatic acquisition testing data while mechanical arm 6 and mechanical arm wrist 7 action.
Data storage device 15 connects temperature sensor 17, humidity sensor 18 respectively, PM10 monitors sensor 19, PM2.5 monitors sensor 20 and image collecting device 9.
Control system 16 connects lithium battery 13, motor 11, mileage coder 12, mechanical arm 6, sensor 8, image collecting device 9 respectively.Make the internal detection of box beam be automatically performed by pre-setting of program, avoided radio magnetic wave signal in steel box-girder and be difficult to the problem that distance is propagated.
The internal automatic detection device 4 of bridge box and beam includes with the I-steel track 3 that centre position is longitudinally laid along bridge in box beam.
Shown in Figure 2, in the embodiment of the present invention, bridge box and beam includes some chamber, separated by diaphragm plate 1 between each chamber, having position, some holes 2 on diaphragm plate 1, longitudinally lay track 3 with I-steel centre position in box beam along bridge, the internal automatic detection device 4 of bridge box and beam moves along track 3.
Shown in Figure 3, the embodiment of the present invention provides the detection method of the internal automatic detection device of a kind of bridge box and beam, and it comprises the following steps:
S1, being placed in box beam by internal for bridge box and beam automatic detection device 4, described box beam includes multiple connected chamber.
The internal automatic detection device 4 of S2, bridge box and beam travels the centre position to first chamber.The travel speed of the internal automatic detection device automatic detection device 4 of bridge box and beam is v, from initial position to the distance in the centre position of first chamber be s1.
S3, sensor 8 collecting box house data, stretch mechanical arm 6, rotate mechanical arm wrist 7, image collecting device 9 collecting box off-the-air picture data, view data includes photo and video, complete the internal automatic detection device 4 of image data collection axle casing box beam to travel to next chamber collecting box off-the-air picture data again, until last chamber.Mechanical arm 6 starts to extend to the longest, and image collecting device 9 gathers the photo bottom chamber down；Rotating machine arm wrist 7, harvester 9 gathers the photo of chamber side；Mechanical arm 6 is retracted to the shortest, image collecting device 9 upward, and the photo in vasculum ceiling portion；Rotating machinery arm 6, makes mechanical arm 6 anterior towards chamber；Rotating machine arm wrist 7, image collecting device 9 is anterior towards chamber；Image collecting device 9 gathers chamber front portion photo；Rotating machinery arm 6, makes mechanical arm 6 towards chamber rear portion；Rotating machine arm wrist 7, image collecting device 9 is towards chamber rear portion；Image collecting device 9 gathers chamber rear portion photo.Mechanical arm 6 recovers initial attitude after being retracted to shortest length.The internal automatic detection device 4 of bridge box and beam total forward travel distance be S, the travel speed of the internal automatic detection device 4 of bridge box and beam is v, the internal automatic detection device 4 of bridge box and beam starts often to stop after walking length d to carry out detection work from the middle position of first chamber, altogether stop detection n times, the time of staying of each chamber is T, wherein N is the number of chamber, and d is the length of single chamber.After completing forward travel distance S, automatic detection device 4 makes a return voyage automatically.
This detection method achieves the quickly unmanned detection automatically of bridge disguise structure position, makes the internal detection of box beam realize standardization, standardization, it is to avoid the subjective factors impact that manual detection is brought.
The present invention is not limited to above-mentioned embodiment, for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, and these improvements and modifications are also considered as within protection scope of the present invention.The content not being described in detail in this specification belongs to the known prior art of professional and technical personnel in the field.
Claims (10)
1. the internal automatic detection device of bridge box and beam, it is characterised in that the internal automatic detection device (4) of described bridge box and beam including:
It is arranged at the car body platform (5) in bridge box and beam, described car body platform (5) both sides are provided with mechanical arm (6), described mechanical arm (6) is provided with rotating mechanical arm wrist (7) away from described car body platform (5) one end, described mechanical arm wrist (7) is provided with image collecting device (9) and lamp (10), and described car body platform (5) is provided with mechanical walking device (21), sensor (8), data storage device (15) and controls system (16).
2. the internal automatic detection device of bridge box and beam as claimed in claim 1, it is characterised in that: described mechanical arm (6) is perpendicular to described car body platform (5) direction of advance.
3. the internal automatic detection device of bridge box and beam as claimed in claim 1, it is characterized in that, described mechanical walking device (21) including: wheel (14), lithium battery (13), motor (11), mileage coder (12), described wheel (14) is provided with car body platform (5), motor (11) it is provided with between described wheel (14), described lithium battery (13) is arranged on car body platform (5) lower section, described motor (11) connects described lithium battery (13), described wheel (14) is provided with mileage coder (12).
4. the internal automatic detection device of bridge box and beam as claimed in claim 1, it is characterized in that, described sensor (8) including: temperature sensor (17), humidity sensor (18), PM10 monitor sensor (19), PM2.5 monitoring sensor (20).
5. the internal automatic detection device of bridge box and beam as claimed in claim 1, it is characterised in that: described data storage device (15) connects temperature sensor (17), humidity sensor (18) respectively, PM10 monitors sensor (19), PM2.5 monitors sensor (20) and image collecting device (9).
6. the internal automatic detection device of bridge box and beam as claimed in claim 1, it is characterised in that: described control system (16) connects lithium battery (13), motor (11), mileage coder (12), mechanical arm (6), sensor (8), image collecting device (9) respectively.
7. the internal automatic detection device of bridge box and beam as claimed in claim 1, it is characterised in that: the internal automatic detection device (4) of described bridge box and beam includes with the I-steel track (3) that centre position is longitudinally laid along bridge in box beam.
8. the detection method of the internal automatic detection device of the bridge box and beam as described in claim 1-7 any one, it is characterised in that it comprises the following steps:
S1, being placed in box beam by internal for bridge box and beam automatic detection device (4), described box beam includes multiple connected chamber；
The internal automatic detection device (4) of S2, bridge box and beam travels the centre position to first chamber；
S3, sensor (8) collecting box house data, stretch mechanical arm (6), rotate mechanical arm wrist (7), image collecting device (9) collecting box off-the-air picture data, complete the internal automatic detection device (4) of image data collection axle casing box beam to travel to next chamber collecting box off-the-air picture data again, until last chamber.
9. the detection method of the internal automatic detection device of a kind of bridge box and beam as claimed in claim 8, it is characterized in that: setting, according to the total length of box beam to be detected, the forward travel distance that inside bridge box and beam, automatic detection device (4) is total is S, the travel speed of the internal automatic detection device (4) of bridge box and beam is v, from initial position to the distance in the centre position of first chamber be s1, the internal automatic detection device (4) of bridge box and beam starts often to stop after walking length d to carry out detection work from the middle position of first chamber, altogether stop detection n times, the time of staying of each chamber is T, complete the internal automatic detection device (4) of forward travel distance S axle casing box beam automatically to make a return voyage；Wherein N is the number of chamber, and d is the length of single chamber.
10. the detection method of the internal automatic detection device of a kind of bridge box and beam as claimed in claim 8, it is characterised in that: in S3, mechanical arm (6) starts to extend to the longest, and image collecting device (9) gathers the photo bottom chamber down；
Rotating machine arm wrist (7), harvester (9) gathers the photo of chamber side；
Mechanical arm (6) is retracted to the shortest, image collecting device (9) upward, and the photo in vasculum ceiling portion；
Rotating machinery arm (6), makes mechanical arm (6) anterior towards chamber；Rotating machine arm wrist (7), image collecting device (9) is anterior towards chamber；Image collecting device (9) gathers chamber front portion photo；
Rotating machinery arm (6), makes mechanical arm (6) towards chamber rear portion；Rotating machine arm wrist (7), image collecting device (9) is towards chamber rear portion；Image collecting device (9) gathers chamber rear portion photo；
Mechanical arm (6) recovers initial attitude after being retracted to shortest length.
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| CN201610222064.5A CN105783997B (en) | 2016-04-11 | 2016-04-11 | Automatic detection device and detection method inside a kind of bridge box and beam |
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| CN201610222064.5A CN105783997B (en) | 2016-04-11 | 2016-04-11 | Automatic detection device and detection method inside a kind of bridge box and beam |
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| CN105783997B CN105783997B (en) | 2018-03-16 |
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Cited By (5)
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| CN107816975A (en) * | 2017-11-30 | 2018-03-20 | 中铁第六勘察设计院集团有限公司 | Suspension type sky iron guideway beam automatic checkout system |
| CN110231349A (en) * | 2019-07-17 | 2019-09-13 | 深圳市卫飞科技有限公司 | A kind of airfield pavement multifunctional examining measuring car |
| CN110578293A (en) * | 2019-09-26 | 2019-12-17 | 中铁大桥科学研究院有限公司 | Concrete box girder inspection robot |
| CN110722553A (en) * | 2019-08-24 | 2020-01-24 | 湖南桥康智能科技有限公司 | Automatic detection system for bridge box body |
| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
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| CN111270608B (en) * | 2020-03-09 | 2021-11-16 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
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| CN105783997B (en) | 2018-03-16 |
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