阅读说明：本技术 一种用于桥梁梁体检测的轨道和设备 (Track and equipment for detecting bridge body ) 是由 丁宁 李德程 郝万鈞 李南 张爱东 于 2021-09-03 设计创作，主要内容包括：本申请公开了一种用于桥梁梁体检测的轨道和设备。轨道包括：轨道单元和关节旋转约束机构,轨道可支撑检测机器沿所述轨道运动；轨道单元包括上缘和下缘,上缘的长度大于下缘的长度；轨道单元并排分布,相邻轨道单元的上缘相互铰接；相邻轨道单元之间设置有一组关节旋转约束机构；轨道处于卷曲状态时,关节旋转约束机构处于收起状态；轨道处于伸直状态时,关节旋转约束机构处于伸展状态以约束相邻轨道单元下缘相互远离的极限位置。设备包括：第一悬吊绳索、第二悬吊绳索和绳索收放部及轨道。另一种设备包括：第一移动操作件、第二移动操作件、第一卷扬件、第二卷扬件、牵引绳索及轨道。本申请实施例人力成本较低,检测效率较高。(The application discloses a track and equipment for bridge body detection. The track includes: the detection device comprises a track unit and a joint rotation constraint mechanism, wherein the track can support the detection machine to move along the track; the track unit comprises an upper edge and a lower edge, and the length of the upper edge is greater than that of the lower edge; the track units are distributed side by side, and the upper edges of the adjacent track units are hinged with each other; a group of joint rotation constraint mechanisms are arranged between the adjacent track units; when the track is in a curling state, the joint rotation restraining mechanism is in a retracting state; when the rail is in the extension state, the joint rotation restraining mechanism is in the extension state to restrain the limit positions of the lower edges of the adjacent rail units, which are far away from each other. The apparatus comprises: the first suspension rope, the second suspension rope, the rope winding and unwinding part and the track. Another apparatus includes: the first moving operation piece, the second moving operation piece, the first hoisting piece, the second hoisting piece, the traction rope and the track. The embodiment of the application has the advantages of low labor cost and high detection efficiency.)

1. A track for bridge beam body detection, characterized by comprising: n track units and M groups of joint rotation constraint mechanisms, wherein N is more than or equal to 2, and M is equal to N minus 1; the track can support the detection machine to move along the track;

the rail unit includes an upper edge and a lower edge, wherein a length of the upper edge is greater than a length of the lower edge in an extending direction of the rail; the track units are distributed side by side, and the upper edges of the adjacent track units are hinged with each other; a group of joint rotation constraint mechanisms are arranged between the adjacent track units; when the track is in a curling state, the joint rotation restraining mechanism is in a retracting state; when the rail is in a straightening state, the joint rotation restraining mechanism is in an extending state to restrain the limit positions of the lower edges of the adjacent rail units, which are far away from each other.

2. The track for bridge beam body detection according to claim 1, wherein the track unit comprises a truss structure, a cast structure or a forged structure.

3. The track for detecting the bridge beam body according to claim 1, wherein the upper edge is provided with track bodies, and when the track is in a straightened state, each track body is connected into a continuous track.

4. The track for detecting the bridge beam body according to claim 1, wherein the lengths of the upper edges of the track units arranged in sequence are the same or gradually increase along the extending direction of the track.

5. The track for detecting the bridge beam body according to claim 1, wherein the joint rotation restraining mechanism comprises a flexible member with a preset length, and two ends of the flexible member are respectively connected with the adjacent track units; the flexible part is tensile in the extending direction of the track, and the preset length meets the requirement that the flexible part is in a stretching state when the track is in a straightening state.

6. The track for bridge beam detection of claim 5, wherein the flexure comprises a rope, chain or belt.

7. The track for bridge beam detection according to claim 5, wherein the joint rotation restriction mechanism further comprises a retractor for retracting the flexure in the retracted state.

8. The track for bridge beam detection according to claim 1, wherein the joint rotation restriction mechanism comprises a rigid component bendable in a direction forming an angle with the extending direction of the track.

9. The track for bridge beam detection of claim 8, wherein the joint rotation restraint mechanism comprises a two-bar linkage; the two-link mechanism comprises two connecting rods connected through hinges, and one ends, far away from each other, of the two connecting rods are hinged with the adjacent track units through hinges respectively.

10. The track for detecting the bridge beam body according to claim 9, wherein the hinge, the connecting rod or the track unit is provided with a directional constraint device, so that the rotation direction of the connecting rod is consistent with the rolling direction of the track, and the angle of the included angle between the two connecting rods is smaller than or equal to 180 degrees.

11. The track for bridge beam detection according to claim 1, wherein the joint rotation restriction mechanism comprises a rigid member that is retractable in an extension direction of the track.

12. The track for detecting the bridge beam body according to claim 11, wherein the joint rotation restriction mechanism comprises a telescopic loop bar mechanism, and two ends of the telescopic loop bar mechanism are respectively hinged to the adjacent track units.

13. An apparatus for bridge beam inspection, comprising: a first suspension rope, a second suspension rope, a rope reel and the track for detecting a bridge body as claimed in any one of claims 1 to 12; the rope winding and unwinding parts are arranged on the bridge and are respectively connected with the two ends of the track through the first suspension ropes and the second suspension ropes.

14. An apparatus for bridge beam inspection, comprising: the track for detecting the bridge body comprises a first movement operation member, a second movement operation member, a first hoisting member, a second hoisting member, a traction rope and the track for detecting the bridge body as claimed in any one of claims 1 to 12; the first moving operation part and the second moving operation part are arranged on the bridge; the first hoisting part is arranged at one end of the first movable operating part, which is far away from the bridge, and the second hoisting part is arranged at one end of the second movable operating part, which is far away from the bridge;

one end of the track is hinged or fixedly connected to the first hoisting piece, the other end of the track is connected with one end of a traction rope, and the other end of the traction rope is connected with the second hoisting piece; the movable operation piece is used for adjusting the position of the hoisting piece and moving along the length direction of the bridge.

Technical Field

The application relates to the field of bridge detection, in particular to a track and equipment for bridge body detection.

Background

In order to avoid safety accidents, the bottom surface of the bridge which is exposed in the severe natural environment for a long time needs to be regularly detected.

At present, the detection aiming at the bottom surface of the bridge is divided into people detection and machine detection. The human inspection efficiency is low, the cost and the casualty risk are high, and the machine inspection can improve the efficiency and reduce the cost and the casualty risk.

The machine inspection can be divided into two types, wherein the first type is that an unmanned aerial vehicle carries a computer vision system to shoot a picture of the bottom surface of the bridge; the second method is that a track for the trolley to run is built on the bottom of the bridge, and then the trolley is used for carrying a computer vision system to shoot pictures of the bottom of the bridge. The first method has the disadvantages that when the unmanned aerial vehicle flies at the bottom of the bridge, the bridge body can shield the GPS signal, the unmanned aerial vehicle is difficult to position, and the second method does not need the GPS signal and has great advantages in the aspects of detection efficiency, detection cost, safety and the like, so that the method becomes a promising direction.

The rails built at the bottom of the bridge can be cantilever type rails and two-point suspension type rails, the bearing capacity of the cantilever type rails is limited, the cantilever type rails cannot reach the middle position of the bridge with larger width easily, the two-point suspension type rails can cover all the positions of the bridge with larger width, and the two-point suspension type rails have stronger bearing capacity than the cantilever type rails under the same width.

To the problem how to build two point suspension type tracks at the bottom of a bridge, the prior art solution is: and (3) building a rigid hanging basket on the ground below the bridge, drawing the hanging basket by using ropes hung on two sides of the width direction of the bridge until the hanging basket is away from the bottom surface of the bridge by a proper distance, and detecting personnel or detecting equipment detects the bottom surface of the bridge based on the hanging basket. The scheme has the advantages of complex operation flow, high labor cost and low detection efficiency especially under the condition of complex landform. In addition, the hanging basket is difficult to build under the bridge in the water area.

Disclosure of Invention

In order to overcome the defect that the operation flow of building a rigid hanging basket in the prior art is complex, the embodiment of the application provides a rollable track and equipment for detecting a bridge body.

The track that is used for bridge roof beam body to detect that this application embodiment provided includes: n track units and M groups of joint rotation constraint mechanisms, wherein N is more than or equal to 2, and M is equal to N minus 1; the track can support the detection machine to move along the track;

the rail unit includes an upper edge and a lower edge, wherein a length of the upper edge is greater than a length of the lower edge in an extending direction of the rail; the track units are distributed side by side, and the upper edges of the adjacent track units are hinged with each other; a group of joint rotation constraint mechanisms are arranged between the adjacent track units; when the track is in a curling state, the joint rotation restraining mechanism is in a retracting state; when the rail is in a straightening state, the joint rotation restraining mechanism is in an extending state to restrain the limit positions of the lower edges of the adjacent rail units, which are far away from each other.

The track is formed by a plurality of track units in parallel, the length of the upper edge is larger than that of the lower edge, so that the track can be rolled up, transportation is convenient, a rigid hanging basket is not required to be built on site, the operation process is simple, the labor cost is low, and the detection efficiency is high; the joint rotation restraining mechanism restrains the limit positions of the lower edges of the adjacent track units, which are far away from each other, and restrains the rotation angle of the upper edges at the same time, so that the angle of the upper edges of the adjacent track units does not exceed 180 degrees, and the angle of the upper edges of the adjacent track units is kept to be 180 degrees when the track is in a straight state; the detection machine moves on the track in the extension state, realizes the automatic detection to the bridge body, realizes the intelligent detection to the bridge.

In a particular implementation, the rail unit comprises a truss structure, a cast structure, or a forged structure. The track unit adopts a truss structure, has firm and light structure and can be built on a detection site; the casting structure is adopted, the structure is stable, the processing is simple, and the cost is low; and a forging structure is used, so that the rigidity is high and the product is stable.

In a specific implementation manner, the upper edge is provided with rail bodies, and when the rail is in a straightened state, each rail body is connected into a continuous rail. The continuous track can more conveniently detect the machine and move on the track, improves the efficiency and the stability of detection.

In a specific implementation manner, the lengths of the upper edges of the sequentially arranged track units are the same or sequentially increase along the extending direction of the track. When the length of the upper edge is increased progressively, the track can be wound into a spiral shape; the length of the upper edge is the same, and the rail can be rolled into a regular polygon.

In a specific implementation manner, the joint rotation restraining mechanism comprises a flexible part with a preset length, and two ends of the flexible part are respectively connected with adjacent track units; the flexible part is tensile in the extending direction of the track, and the preset length meets the requirement that the flexible part is in a stretching state when the track is in a straightening state. The flexibility of the flexible piece is high, and the installation is convenient.

In a particular implementation, the flexible member comprises a rope, chain or belt. The materials are cheap and easy to obtain.

In a specific implementation, the joint rotation restricting mechanism further includes a retractor for retracting the flexible member in the retracted state. The retractor is used to retract a flexible member such as a rope, a chain, or a belt, and to prevent the flexible member from being wound by natural slack when the rail is in a curled state.

In a particular implementation, the joint rotation restraint mechanism includes a rigid component that is bendable at an angle to the direction of extension of the track. When the track is rolled up, the rigid assembly is bent; when the rail is straightened, the rigid component is straightened or enters a locking state, so that the distance of the lower edge of the rail is not changed.

In a specific implementation, the joint rotation restraining mechanism comprises a two-link mechanism; the two-link mechanism comprises two connecting rods connected through hinges, and one ends, far away from each other, of the two connecting rods are hinged with the adjacent track units through hinges respectively. The two-link mechanism has simple structure and good stability.

In a specific implementation manner, the hinge, the connecting rod or the track unit is provided with a directional constraint device, so that the rotation direction of the connecting rod is consistent with the winding direction of the track, and the angle of the included angle between the two connecting rods is less than or equal to 180 degrees. The bending direction of the connecting rod is consistent with the upper edge, so that the space is saved, and the interference of the connecting rod and other track units is avoided.

In a particular implementation, the articulation rotation constraint mechanism comprises a rigid component that is telescopic in the extension direction of the track. When the track is rolled up, the rigid assembly contracts; when the rail is straightened, the rigid component extends and is locked, so that the distance between the lower edges is unchanged.

In a specific implementation manner, the joint rotation restriction mechanism includes a telescopic loop bar mechanism, and two ends of the telescopic loop bar mechanism are respectively hinged to the adjacent track units. And a single telescopic loop bar mechanism is used, so that the structure is simple and the cost is lower.

An apparatus for bridge beam inspection, comprising: the first suspension rope, the second suspension rope, the rope winding and unwinding part and the track for detecting the bridge body are arranged on the first suspension rope; the rope winding and unwinding parts are arranged on the bridge and are respectively connected with the two ends of the track through the first suspension ropes and the second suspension ropes.

This application has still following advantage except having the advantage that above-mentioned track had: the track can be quickly suspended to a position required by detection, and the installation efficiency is high; can be built on a water area; the distance between the track and the bridge body can be regulated, and then different distances of the detection machine to the bridge body are detected. The scheme has simple equipment and low cost.

An apparatus for bridge beam inspection, comprising: the device comprises a first moving operation piece, a second moving operation piece, a first hoisting piece, a second hoisting piece, a traction rope and a track for detecting a bridge body; the first moving operation part and the second moving operation part are arranged on the bridge; the first hoisting part is arranged at one end of the first movable operating part, which is far away from the bridge, and the second hoisting part is arranged at one end of the second movable operating part, which is far away from the bridge;

one end of the track is hinged or fixedly connected to the first hoisting piece, the other end of the track is connected with one end of a traction rope, and the other end of the traction rope is connected with the second hoisting piece; the movable operation piece is used for adjusting the position of the hoisting piece and moving along the length direction of the bridge.

This application has still following advantage except having the advantage that above-mentioned track had: the position of the hoisting part and the position of the track can be flexibly regulated and controlled by the movable operating part, so that the device is suitable for different installation positions and directions; the first winding part is used for winding the rail, and the second winding part is used for winding the traction rope. One end of the track is arranged on the first hoisting piece, the other end of the track is pulled by the traction rope, and the installation process is stable and controllable. The movable operation piece drives the track to move along the bridge, and large-range detection is achieved.

According to the technical scheme, the embodiment of the application has the following advantages:

the track is formed by a plurality of track units in parallel, the length of the upper edge is larger than that of the lower edge, so that the track can be rolled up, transportation is convenient, a rigid hanging basket is not required to be built on site, the operation process is simple, the labor cost is low, and the detection efficiency is high; the joint rotation restraining mechanism restrains the limit positions of the lower edges of the adjacent track units, which are far away from each other, and restrains the rotation angle of the upper edges at the same time, so that the angle of the upper edges of the adjacent track units does not exceed 180 degrees, and the angle of the upper edges of the adjacent track units is kept to be 180 degrees when the track is in a straight state; the detection machine moves on the track in the extension state, realizes the automatic detection to the bridge body, realizes the intelligent detection to the bridge.

Drawings

FIG. 1 is a schematic view of a rail straightening state for detecting a bridge body according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a rail curling state for detecting a bridge body according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a track unit of a track for detecting a bridge body according to an embodiment of the present application;

fig. 4 to 9 are schematic diagrams illustrating various connection manners of adjacent track units of a track for detecting a bridge body according to an embodiment of the present application;

FIG. 10 is a schematic structural view of a telescopic loop bar of a track for detecting a bridge body according to an embodiment of the present application;

FIG. 11 is a sectional view of a telescopic sleeve rod structure of a track for detecting a bridge body according to an embodiment of the present application;

fig. 12 to 17 are schematic diagrams of various building and recycling modes of a track for detecting a bridge body according to an embodiment of the present application.

1. A track; 11. a track unit; 1101. an upper edge; 1102. a lower edge; 1103. a track body; 12. a joint rotation restraint mechanism; 1201. a fixed length rope; 1202. a retractor; 1203. a first link; 1204. a second link; 1205. a directional torsion mechanism; 1206. a telescopic loop bar mechanism; 1207. an inner link; 1208. an outer sleeve; 1209 a first boss; 1210 a second boss; 21. a first suspension rope; 22. a second suspension rope; 23. a first movement operating member; 24. a first winding member; 25. a second movement operating member; 26. a second hoisting member; 27. a traction rope; 3. a beam body.

Detailed Description

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1 to 11, an embodiment of the present application provides a track for bridge beam detection, including: n track units 11 and M groups of joint rotation constraint mechanisms 12, wherein N is more than or equal to 2, and M is equal to N minus 1; the track 1 can support a detection machine to move along the track 1; in one specific implementation, N is 10 and M is 9.

The rail unit 11 comprises an upper edge 1101 and a lower edge 1102, wherein the length of the upper edge 1101 is greater than the length of the lower edge 1102 in the extending direction of the rail 1; the track units 11 are distributed side by side, and the upper edges 1101 of the adjacent track units 11 are hinged with each other; a group of joint rotation constraint mechanisms 12 are arranged between the adjacent track units 11; when the track 1 is in a curled state, the joint rotation restricting mechanism 12 is in a retracted state; when the track 1 is in the straightened state, the joint rotation restricting mechanism 12 is in the extended state to restrict the limit positions of the lower edges 1102 of the adjacent track units 11 away from each other.

It should be noted that the upper edges 1101 of the adjacent track units 11 are connected by a hinge structure, and the lower edges 1102 of the adjacent track units 11 can approach and separate to and from each other to some extent under the action of the self-gravity of the track units 11 and the joint rotation constraint mechanism 12; when the lower edges 1102 of all the adjacent track units 11 approach to the limit position, the track units 11 distributed side by side are wholly in a furled shape; when the lower edges 1102 of all the adjacent track units 11 are far away from each other to the limit position, the whole of the plurality of track units 11 distributed side by side is in an extension shape; the limit positions at which the lower edges 1102 of the adjacent rail units 11 approach each other and the limit positions at which they separate from each other are determined by the structure of the rail unit 11 itself and/or the joint rotation restricting mechanism 12 acting on the rail unit 11;

in a particular implementation, the upper edge 1101 and the lower edge 1102 are parallel to each other; the set of joint rotation restriction mechanisms 12 includes 2 joint rotation restriction mechanisms 12; the upper edges 1101 of the adjacent rail units 11 are connected by a hinge joint, and the lower edges 1102 are connected by a joint rotation restricting mechanism 12. The joint rotation restraining mechanism 12 is arranged at the joint of the adjacent track units 11, one end of the joint rotation restraining mechanism is connected with the lower edge 1102 of one track unit 11, and the other end of the joint rotation restraining mechanism is connected with the lower edge 1102 of the other track unit 11, and is used for limiting the limit positions of the lower edges 1102 of the adjacent track units 11, which are far away from each other;

it should be noted that the front view outline of the track unit 11 is not limited to the isosceles trapezoid shown in fig. 2, and may be a polygon such as other quadrangle, triangle, etc. set according to the actual application requirement. The number of N is not limited to 10, the number of M is also not limited to 9, the plurality of track units 11 distributed in a row is composed of N track units 11, and N may be any integer greater than or equal to 2. A set of the joint rotation constraint mechanisms 12 may include one or more joint rotation constraint mechanisms 12.

In a specific implementation, the track unit 11 includes a rigid structure such as a truss structure, a cast structure, or a forged structure. It should be noted that the rail may be made of metal or polymer material.

As shown in fig. 3 and 4, in a specific implementation, the upper edge 1101 is provided with track bodies 1103, and when the track 1 is in a straightened state, the track bodies 1103 are connected to form a continuous track 1. As shown in fig. 3, the track unit 11 is provided with track bodies 1103 on both sides of an upper edge 1101, and the track bodies 1103 are cylindrical bodies, or may be rectangular solids, triangular prisms, or other long strip-shaped geometric bodies. As shown in fig. 4, when the track 1 is in the straightened state, the track bodies 1103 are connected to form a continuous track 1, and the continuous track 1 can make the detection machine move on the track 1 more stably. Each track unit 11 is provided with a plurality of track bodies 1103, and when the lower edges 1102 of all the adjacent track units 11 are far away from each other to the limit position, the plurality of track bodies 1103 arranged on the track units 11 can be spliced into a continuous guide rail for the mobile equipment to pass through; the track body 1103 may be disposed on both sides of the upper edge 1101, or may be disposed in the middle of the upper edge 1101; the number of the track bodies 1103 on one track unit 11 may be two, one, or more than two; the track body 1103 may also be a slot on the track unit 11.

In a specific implementation manner, when the lower edges 1102 of all the adjacent track units 11 are close to each other to the limit position, the whole track 1 is in a curled state, and when the lower edges 1102 of all the adjacent track units 11 are far away from each other to the limit position, the whole track 1 is in a straightened state, and the plurality of track bodies 1103 arranged on the adjacent track units 11 are spliced into a continuous guide rail for the mobile device to pass through.

In a specific implementation manner, the lengths of the upper edges 1101 of the track units 11 arranged in sequence are the same or gradually increase along the extending direction of the track 1. The length of the track unit 11 is arbitrary.

The joint rotation restriction mechanism 12 may be implemented in several ways:

one way of achieving this is as shown in fig. 4 and 5, the joint rotation restricting mechanism 12 includes a fixed length rope 1201, and both ends of the fixed length rope 1201 are respectively connected with the lower edge 1102 at the junction of the adjacent track units 11 through a retractor 1202; the retractor 1202 retracts the fixed-length rope 1201, and when the lower edges 1102 at the joint of the adjacent track units 11 are far away from each other, the fixed-length rope 1201 is stretched to the maximum length; when the fixed-length rope 1201 is stretched to the maximum length, the lower edges 1102 of the joints of the adjacent track units 11 are far away from each other to reach the limit position, and at the moment, the track bodies 1103 arranged on the adjacent track units 11 are spliced into a continuous guide rail for the mobile equipment to pass through; when the lower edges 1102 of the junctions of adjacent track elements 11 are brought closer together up to a limit position, the length-determining cord 1201 will be retracted up to a minimum length.

It should be noted that the number of the retractors 1202 may be one or more; the retractor 1202 may not be used for retraction; the retractor 1202 may be provided on the rail unit 11 or on the fixed-length rope 1201.

It should be noted that the length-fixing rope 1201 may be replaced with a flexible member such as a chain or a belt. In a specific implementation manner, the joint rotation restriction mechanism 12 includes a flexible member with a preset length, and two ends of the flexible member are respectively connected with the adjacent track units 11; the flexible part is tensile in the extending direction of the track 1, and the preset length meets the requirement that the flexible part is in a stretching state when the track 1 is in a straightening state.

In another implementation manner, as shown in fig. 6 and 7, the joint rotation restriction mechanism 12 includes a two-bar linkage mechanism, the two-bar linkage mechanism includes a first bar 1203 and a second bar 1204, one end of the first bar 1203 is connected to one end of the second bar 1204 through a hinge structure, the other end of the first bar 1203 is connected to a lower edge 1102 of one track unit 11 in the adjacent track unit 11 through a hinge structure, and the other end of the second bar 1204 is connected to a lower edge 1102 of another track unit 11 in the adjacent track unit 11 through a hinge structure. When the lower edges 1102 at the joints of the adjacent track units 11 are far away from each other, the two-link mechanism is unfolded until reaching the limit position; when the two-bar linkage mechanism is unfolded to the limit position, the lower edges 1102 of the joints of the adjacent track units 11 are far away from each other to the limit position, and at the moment, the track bodies 1103 arranged on the adjacent track units 11 are spliced into a continuous guide rail for the mobile equipment to pass through; when the lower edges 1102 of the junctions of adjacent rail elements 11 are brought closer to each other up to the extreme position, the two-bar linkage mechanism is folded up to the other extreme position. In a specific implementation mode, a directional constraint device, namely a directional torsion mechanism 1205, is arranged at the hinged position of the first connecting rod 1203 and the second connecting rod 1204, so that the two connecting rods can move towards a specified direction when being converted from an unfolded state to a folded state; the rotating direction of the connecting rods is consistent with the winding direction of the track 1, and the angle of the included angle between the two connecting rods is smaller than or equal to 180 degrees. The two-bar linkage is a bendable rigid component, and the bending direction is upward and perpendicular to the extending direction of the track 1.

It should be noted that the two-bar linkage is unfolded until being collinear, that is, the unfolded limit position is reached; the two-bar linkage mechanism can be replaced by any rigid component which can be bent in a direction forming a certain included angle with the extending direction of the track 1, such as a three-bar linkage mechanism and the like. The directional constraint device can be mounted on a hinge, or can be mounted on a connecting rod or a track unit 11, and the directional constraint device can be a directional torsion mechanism 1205, or can be a baffle, a stop, a spring, or the like.

In another implementation manner, as shown in fig. 8 to 11, the joint rotation restriction mechanism 12 includes a telescopic bar mechanism 1206, where the telescopic bar mechanism 1206 includes an inner link 1207 and an outer sleeve 1208, one end of the inner link 1207 is nested with one end of the outer sleeve 1208, that is, the inner link 1207 can slide linearly in the outer sleeve 1208; one end of the inner connecting rod 1207 far away from the outer connecting rod 1208 is connected with the lower edge 1102 of one track unit 11 in the adjacent track unit 11 through a hinge structure, and one end of the outer connecting rod 1208 far away from the inner connecting rod 1207 is connected with the lower edge 1102 of the other track unit 11 in the adjacent track unit 11 through a hinge structure; when the lower edges 1102 at the joints of the adjacent track units 11 are far away from each other, the telescopic loop bar mechanism 1206 integrally extends to the limit position; when the telescopic loop bar mechanism 1206 extends to the limit position, the lower edges 1102 of the joints of the adjacent track units 11 are far away from each other to the limit position, and at the moment, the track bodies 1103 arranged on the adjacent track units 11 are spliced into a continuous guide rail for the mobile equipment to pass through; when the lower edges 1102 of the joints of adjacent track units 11 approach each other until a limit position, the telescopic bar linkage 1206 shortens until another limit position;

in a specific implementation, a first boss 1209 is arranged at one end of the inner connecting rod 1207 close to the outer sleeve 1208, a second boss 1210 is arranged at one end of the outer sleeve 1208 close to the inner connecting rod 1207, and the inner connecting rod 1207 is nested with the outer sleeve 1208, namely the inner connecting rod 1207 can linearly slide in the outer sleeve 1208; in the process that the inner connecting rod 1207 linearly slides in the outer sleeve 1208, when the first boss 1209 and the second boss 1210 approach to each other until contact occurs, the telescopic bar sleeving mechanism 1206 extends until the longest state is reached, and at the moment, the track 1 is in a straight state; when the first boss 1209 and the second boss 1210 move away from each other, the telescopic rod 1206 is shortened to the shortest state, and the track 1 is in a curled state.

The telescopic loop bar mechanism 1206 is a telescopic rigid component, and the telescopic direction shown in the figure is left-right telescopic and is consistent with the extending direction of the track 1; the telescopic bar mechanism 1206 can be replaced by any rigid component which can be extended and retracted in the extending direction of the track 1, such as a connecting rod and sliding groove mechanism, a linear motion actuator and the like.

As shown in fig. 12 and 13, an embodiment of the present application provides an apparatus for bridge body detection, including: the first suspension rope 21, the second suspension rope 22, the rope winding and unwinding part and the track for detecting the bridge body; the rope winding and unwinding parts are arranged on the bridge and are respectively connected with the two ends of the track 1 through the first suspension ropes 21 and the second suspension ropes 22. The rope winding and unwinding part may be used for winding and unwinding the suspension ropes on two sides respectively by two machines, or may be used for winding and unwinding the suspension ropes on two sides by one machine; the rope housing is movable along the length direction of the bridge.

As shown in fig. 14 to 17, an embodiment of the present application provides another apparatus for detecting a bridge beam, including: the device comprises a first moving operation member 23, a second moving operation member 25, a first hoisting member 24, a second hoisting member 26, a traction rope 27 and a track for detecting the bridge body; the first movement operation part 23 and the second movement operation part 25 are arranged on the bridge; the first hoisting member 24 is arranged at one end of the first moving operation member 23 far away from the bridge, and the second hoisting member 26 is arranged at one end of the second moving operation member 25 far away from the bridge;

one end of the track 1 is hinged or fixedly connected to the first hoisting member 24, the other end of the track 1 is connected to one end of a traction rope 27, and the other end of the traction rope 27 is connected to the second hoisting member 26; the movable operation piece is used for adjusting the position of the hoisting piece and moving along the length direction of the bridge.

It should be noted that the first movement operation member 23 and the second movement operation member 25 are provided with a mechanical arm or a joint unit for regulating and controlling the positions of the first hoisting member 24 and the second hoisting member 26, respectively; the rail unit 11 hinge-connected or fixedly connected to the first winding member 24 is the shortest rail unit 11; the pull rope 27 is detachably connected to the track 1 and the second hoisting member 26.

The operation of installing the track 1 under the bridge girder may include the following steps.

The first procedure is shown in fig. 12.

Firstly, placing a curled rail 1 on the ground below a beam body 3, and adjusting the curled rail to be in a straightening state;

next, hanging a first hanging rope 21 and a second hanging rope 22 from both sides of the upper part of the beam body 3 in the width direction, respectively, connecting the first hanging rope 21 to one end of the track 1, and connecting the second hanging rope 22 to the other end of the track 1;

next, the first suspension rope 21 and the second suspension rope 22 are pulled simultaneously, the linear track 1 is lifted to the air from the ground below the beam body 3 until the distance from the lower bottom surface of the beam body 3 reaches a proper value, and the joint rotation constraint mechanism 12 is kept below the hinge joint in the process;

next, the detection equipment detects the lower bottom surface of the beam body 3 based on the track 1;

next, after the single-section area detection is finished, moving the first suspension rope 21 and the second suspension rope 22 for a distance in the length direction of the beam body 3, namely the direction vertical to the paper surface, and carrying out the next section of area detection until the detection work of the whole section of area is finished;

next, the first suspension rope 21 and the second suspension rope 22 are released at the same time, and the linear track 1 descends until returning to the ground below the beam body 3;

finally, the first suspension rope 21 and the second suspension rope 22 are released, and the rail 1 is adjusted to be in a curled state.

Another procedure is shown in fig. 13.

Firstly, a curled track 1 is placed at one end of the beam body 3 in the width direction, one end of the track 1 is connected with a first suspension rope 21, the other end of the track 1 is connected with a second suspension rope 22, the other end of the second suspension rope 22 is connected to an unmanned aerial vehicle, the unmanned aerial vehicle is operated to fly from one end of the track 1 placed above the beam body 3 in the width direction to the other end of the beam body 3 in the width direction through the lower part of the beam body 3, and then the second suspension rope 22 connected with the unmanned aerial vehicle is released;

next, the track 1 is thrown below one side of the beam body 3 in the width direction through the first suspension rope 21, and meanwhile, the curled track 1 is converted into a vertical straightening state under the action of self gravity;

next, the second suspension rope 22 is pulled to convert the rail 1 in the vertical straightening state into a horizontal straightening state, and the joint rotation restriction mechanism 12 is kept below the hinge joint;

next, the first suspension rope 21 and the second suspension rope 22 are simultaneously pulled to adjust the distance between the track unit 11 and the lower bottom surface of the beam body 3 to a proper value;

next, the detection equipment detects the lower bottom surface of the beam body 3 based on the track 1;

next, after the single-section area detection is finished, moving the first suspension rope 21 and the second suspension rope 22 for a distance in the length direction of the beam body 3, namely the direction vertical to the paper surface, and carrying out the next section of area detection until the detection work of the whole section of area is finished;

next, the second suspension rope 22 is released, and the rail 1 in the horizontal straight state is converted into the vertical straight state;

finally, the rail 1 is retracted above the beam body 3 by the first suspension rope 21, and is adjusted from the straightened state to the curled state.

Another procedure is shown in fig. 14, 15, 16 and 17.

Firstly, a first moving operation piece 23 is arranged on one side of the upper part of a beam body 3 in the width direction, a second moving operation piece 25 is arranged on the other side of the upper part of the beam body 3 in the width direction, a first winding piece 24 is arranged at the tail end of the first moving operation piece 23, a second winding piece 26 is arranged at the tail end of the second moving operation piece 25, a track 1 is wound on the first winding piece 24, one end of the track 1 is connected with a reel of the first winding piece 24, and the other end of the track 1 is connected with a traction rope 27;

next, the other end of the traction rope 27, which is not connected with the track 1, is connected to the unmanned aerial vehicle, the unmanned aerial vehicle is operated to fly from one end of the beam body 3 above which the first moving operation part 23 is placed in the width direction to one end of the beam body 3 above which the second moving operation part 25 is placed through the lower part of the beam body 3, and then the end of the traction rope 27 connected to the unmanned aerial vehicle is released and fixedly connected to a reel of the second winding part 26;

next, the first winding member 24 is launched below one end side of the beam body 3 together with the rail 1 by the first moving operation member 23, and the second winding member 26 is launched below the other end side of the beam body 3 by the second moving operation member 25;

next, while the second winding member 26 winds the traction rope 27, the first winding member 24 winds the rail 1, the rail 1 is converted from a winding state to a straightening state until the width to be detected of the lower bottom surface of the whole beam body 3 is covered, and the joint rotation constraint mechanism 12 is kept below the hinge joint in the process;

next, adjusting the distance between the track 1 and the lower bottom surface of the beam body 3 to a proper value through the first moving operation member 23 and the second moving operation member 25;

next, the detection equipment detects the lower bottom surface of the beam body 3 based on the track 1;

next, after the single-section area detection is finished, the first moving operation part 23 and the second moving operation part 25 move for a distance towards the length direction of the beam body 3, namely the direction vertical to the paper surface, and the next section of area detection is carried out until the detection work of the whole section of area is finished;

next, while the first winding member 24 winds the rail 1, the second winding member 26 winds the pulling rope 27, and the rail 1 is converted from the straightened state to the curled state until the first winding member 24 finishes winding all the rails 1;

next, the first winding member 24 is retracted above the girder 3 together with the rail 1 by the first moving operation member 23, and the second winding member 26 is retracted above the girder 3 by the second moving operation member 25;

finally, the pulling rope 27 connected between the rail 1 and the second hoisting member 26 is released.

The technical effect brought by the solution provided by the embodiment of the application is as follows: the scheme for efficiently constructing the two-point suspension type track 1 is provided, the track 1 comprises a plurality of track units 11 which are distributed side by side, the upper edges 1101 of the adjacent track units 11 are connected through hinge joints, and the lower edges 1102 are connected through joint rotation constraint mechanisms 12; the joint rotation restricting mechanism 12 is used to define the extreme positions at which the lower edges 1102 of the adjacent rail units 11 are away from each other; when the lower edges 1102 of all the adjacent track units 11 are close to each other to the limit position, the plurality of track units 11 distributed side by side are entirely in a curled shape, and when the lower edges 1102 of all the adjacent track units 11 are far from each other to the limit position, the plurality of track units 11 distributed side by side are entirely in a straight shape. Accessible multiple mode is built bottom surface below under the bridge with track 1, and check out test set can be based on track 1 of straightening state detects bottom surface under the roof beam body 3.

The embodiment of the application has the advantages that: 1. the device can be rolled up, and is convenient to transport and build; 2. the operation flow is simple, and the detection efficiency can be improved; 3. a plurality of building modes can be adopted, and the beam body 3 is suitable for different landform environments and different sizes.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.