CN120489412A - Detection device and method for welding seam of bridge deck of steel box girder - Google Patents
Detection device and method for welding seam of bridge deck of steel box girderInfo
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- CN120489412A CN120489412A CN202510739021.3A CN202510739021A CN120489412A CN 120489412 A CN120489412 A CN 120489412A CN 202510739021 A CN202510739021 A CN 202510739021A CN 120489412 A CN120489412 A CN 120489412A
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Abstract
本发明属于钢箱梁桥面板检测技术领域，公开了一种用于钢箱梁桥面板焊缝的检测装置及方法，包括底座平台；底座平台的中心开设有矩形操作孔，水平对置滑台机构水平设置在底座平台的上表面，并对称设置在矩形操作孔的侧部；横向滑台机构水平设置在水平对置滑台机构的上方，竖向滑台机构设置在横向滑台机构的侧边；钻具和视觉定位探头均安装在竖向滑台机构的侧边，钻具的钻进方向竖直向下设置；控制模块的输入端与视觉定位探头的输出端相连，控制模块的输出端与水平对置滑台机构、横向滑台机构及竖向滑台机构均相连；本发明利用视觉定位的方式实现钻具的快速对中定位、钻孔，大大降低的对中定位的难度，显著提升了检测效率和检测结果的精度。
The present invention belongs to the technical field of steel box girder bridge deck inspection, and discloses a device and method for inspecting welds of steel box girder bridge decks, comprising a base platform; a rectangular operating hole is opened at the center of the base platform, and horizontally opposed slide mechanisms are horizontally arranged on the upper surface of the base platform and symmetrically arranged on the sides of the rectangular operating hole; the transverse slide mechanism is horizontally arranged above the horizontally opposed slide mechanism, and the vertical slide mechanism is arranged on the side of the transverse slide mechanism; the drilling tool and the visual positioning probe are both installed on the side of the vertical slide mechanism, and the drilling direction of the drilling tool is set vertically downward; the input end of the control module is connected to the output end of the visual positioning probe, and the output end of the control module is connected to the horizontally opposed slide mechanism, the transverse slide mechanism and the vertical slide mechanism; the present invention utilizes visual positioning to realize rapid centering and drilling of the drilling tool, greatly reduces the difficulty of centering and positioning, and significantly improves the inspection efficiency and the accuracy of the inspection results.
Description
Technical Field
The invention belongs to the technical field of steel box girder bridge deck plate detection, relates to a residual stress drilling technology, and particularly relates to a device and a method for detecting welding seams of a steel box girder bridge deck plate.
Background
In the welding process of the steel box girder bridge deck slab, the elastic modulus of steel is obviously reduced due to the rapid temperature rise, the steel is restrained to generate thermoplastic compression deformation, the volume of a welding seam is reduced and limited by surrounding steel tissues in the cooling process, larger residual stress is generated, and the fatigue strength of the steel box girder bridge deck slab is reduced and the welding seam is cracked due to the adverse effect of the superposition of the residual stress by external load, so that the detection of the residual stress of the welding seam of the steel box girder bridge deck slab is particularly important.
The blind hole method is characterized in that the residual stress on the surface of the component is released by drilling the blind hole, so that the residual stress is generated on the surface of the steel, the residual stress is calculated according to the strain release condition, and the blind hole method is a micro-damage residual stress detection method, is different from a total damage detection method, such as a strip cutting method, a ring core method, a layer-by-layer milling method and the like, does not greatly weaken the service performance of the component, can be suitable for stress measurement on the surface of a test piece with larger stress gradient, and is difficult to detect in batches due to complicated centering steps and large weight of a traditional drilling device for detecting the residual stress of the blind hole method.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a device and a method for detecting the welding seam of a bridge deck of a steel box girder, which are used for solving the technical problems that the prior drilling device for detecting residual stress by a blind hole method has complicated centering steps and large weight, is only suitable for detecting a small number of measuring points in a test, and is difficult to detect in batches.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The invention provides a detection device for a steel box girder bridge deck plate welding seam, which comprises a base platform, a horizontal opposite sliding table mechanism, a horizontal sliding table mechanism, a vertical sliding table mechanism, a drilling tool, a visual positioning probe and a control module, wherein the base platform is connected with the horizontal opposite sliding table mechanism;
The horizontal sliding table mechanism is horizontally arranged above the horizontal opposite sliding table mechanism, and the vertical sliding table mechanism is arranged on the side edge of the horizontal sliding table mechanism;
the drilling tool and the visual positioning probe are both arranged on the side edge of the vertical sliding table mechanism, the drilling direction of the drilling tool is vertically downwards, the input end of the control module is connected with the output end of the visual positioning probe, and the output end of the control module is connected with the horizontal opposite sliding table mechanism, the horizontal sliding table mechanism and the vertical sliding table mechanism.
Further, the horizontal opposite sliding table mechanism comprises a first servo motor, a first bevel gear device, a transmission shaft, a second bevel gear device, a first longitudinal slideway, a first sliding table, a first screw rod, a second longitudinal slideway, a second sliding table and a second screw rod;
The first sliding table is arranged above the first longitudinal slideway in a sliding way, the first screw rod is arranged in the first longitudinal slideway, and the first sliding table is connected with the first screw rod by adopting threads; the second sliding table is arranged above the second longitudinal slideway in a sliding way, the second screw rod is arranged in the second longitudinal slideway, and the second sliding table is connected with the second screw rod by adopting threads;
The output end of the first servo motor is connected with the input end of the first bevel gear device, and the first bevel gear device is connected with the second bevel gear device through the transmission shaft;
The first bevel gear device is used for driving the first screw rod to rotate, the second bevel gear device is used for driving the second screw rod to rotate, one end of the transverse sliding table mechanism is connected with the first sliding table, and the other end of the transverse sliding table mechanism is connected with the second sliding table.
Further, the transverse sliding table mechanism comprises a second servo motor, a transverse sliding way, a third sliding table and a third screw rod;
The horizontal sliding way is horizontally arranged above the horizontal opposite sliding way mechanism, the third sliding way is arranged above the horizontal sliding way in a sliding way, the third screw rod is arranged in the horizontal sliding way, the third sliding way is connected with the third screw rod through threads, and the second servo motor is arranged at the end part of the horizontal sliding way and used for driving the third screw rod to rotate.
Further, the vertical sliding table mechanism comprises a third servo motor, a vertical sliding way, a drilling tool fixing seat and a fourth screw rod;
The vertical slide way is vertically arranged on the side edge of the transverse slide way mechanism, the drilling tool fixing seat is arranged on the vertical slide way in a sliding way, the fourth screw rod is arranged in the vertical slide way, and the drilling tool fixing seat is connected with the fourth screw rod by adopting threads;
The drilling tool is vertically fixed in the drilling tool fixing seat, and the visual positioning probe is installed on the outer wall of the drilling tool fixing seat.
The device is arranged on the base platform and is used for realizing the adsorption or separation of the base platform and the bridge deck of the steel box girder in an electromagnetic adsorption mode.
Further, the base platform is provided with electromagnet passing holes which are symmetrically arranged at the front end and the rear end of the rectangular operation hole;
the electromagnetic adsorption device comprises an electromagnet fixing bracket, a connecting spring and an electromagnet;
The electromagnet fixing support is fixed above the base platform and is arranged close to the electromagnet passing hole, the electromagnet is vertically arranged in the electromagnet passing hole in a sliding mode, and the top end of the electromagnet is connected with the electromagnet fixing support through the connecting spring.
The device comprises a steel box girder bridge deck, a strain gauge, a residual stress detection device and a control device, wherein the strain gauge is adhered to a part to be detected of a welding seam of the steel box girder bridge deck, and the output end of the strain gauge is connected with the input end of the residual stress detection device.
Further, the device also comprises a travelling mechanism and a movable pushing handle; the travelling mechanism is arranged below the bottom surface of the base platform, and the movable pushing handle is arranged at the end part of the side edge of the base platform.
Further, the output end of the control module is also connected with the control end of the drilling tool and used for controlling the feeding rate and the drilling speed of the drilling tool.
The invention also provides a detection method for the welding seam of the bridge deck plate of the steel box girder, and the detection device for the welding seam of the bridge deck plate of the steel box girder is utilized;
the detection method comprises the following steps:
moving the base platform to the position above the weld joint to be detected of the steel box girder bridge deck, and enabling the position to be detected of the weld joint of the steel box girder bridge deck to be positioned at the center of the rectangular operation hole;
identifying a part to be detected of the welding seam of the bridge deck of the steel box girder by using a visual positioning probe;
And controlling the horizontal opposite sliding table mechanism, the horizontal sliding table mechanism and the vertical sliding table mechanism according to the recognition result of the part to be detected of the welding seam of the bridge deck of the steel box girder so that the drilling tool is positioned right above the part to be detected of the welding seam of the bridge deck of the steel box girder, and starting to detect residual stress through a blind hole method.
Compared with the prior art, the invention has the beneficial effects that:
According to the detection device for the welding seam of the bridge deck of the steel box girder, provided by the invention, the horizontal opposite sliding table mechanism, the horizontal sliding table mechanism and the vertical sliding table mechanism are arranged on the base platform, and the drilling tool is arranged on the side edge of the vertical sliding table mechanism, so that the three-dimensional position adjustment of the drilling tool in the horizontal longitudinal direction, the horizontal transverse direction and the vertical direction is realized by using the horizontal opposite sliding table mechanism, the horizontal sliding table mechanism and the vertical sliding table mechanism, and secondly, the position to be detected of the welding seam of the bridge deck of the steel box girder is identified by using the visual positioning probe and the horizontal opposite sliding table mechanism, the horizontal sliding table mechanism and the vertical sliding table mechanism are controlled according to the identification result, so that the rapid centering positioning and drilling of the drilling tool are realized by using the visual positioning mode, the centering positioning difficulty is greatly reduced, and the detection efficiency and the detection result accuracy are remarkably improved.
Further, the base platform and the steel box girder bridge deck are adsorbed or separated through the electromagnetic adsorption device, so that the displacement of the base platform can be limited in the drilling process, and the stability and the reliability of the device are improved.
Further, through setting up running gear and removal pushing handle, can realize on-the-spot quick moving with the mode that the dolly promoted, manpower and time cost when greatly reduced the job site and moved improves work efficiency.
Drawings
FIG. 1 is an isometric schematic view of a detection device for a steel box girder bridge deck weld provided by the invention;
FIG. 2 is a top view of the detection device for steel box girder bridge deck welds provided by the invention;
FIG. 3 is a schematic view of a horizontally opposed slide mechanism in accordance with the present invention;
FIG. 4 is a schematic view of a transverse slipway mechanism according to the present invention;
FIG. 5 is a schematic view of a detailed structure of a transverse slipway mechanism in the present invention;
FIG. 6 is a schematic view of a vertical slipway mechanism according to the present invention;
FIG. 7 is a schematic structural diagram of an electromagnetic adsorption device according to the present invention;
fig. 8 is a schematic diagram of the working principle of the electromagnet body in the present invention.
The device comprises a base platform 1, a horizontally opposite sliding table mechanism 2, a horizontal sliding table mechanism 3, a vertical sliding table mechanism 4, a drilling tool 5, a visual positioning probe 6, an electromagnetic adsorption device 7, an 8-universal steering gear 9, a wheel 10, a moving pushing handle 201, a first servo motor 202, a first bevel gear device 203, a transmission shaft 204, a second bevel gear device 204, a first longitudinal sliding rail 205, a first sliding table 206, a first screw rod 207, a first limiter 208, a second longitudinal sliding rail 209, a second sliding table 210, a second screw rod 211, a second limiter 212, a second servo motor 301, a horizontal sliding rail 302, a third sliding table 303, a third screw rod 304, a third limiter 305, a fourth limiter 306, a third servo motor 401, a vertical sliding rail 402, a fixing seat 403, a fourth screw rod 404, a fifth limiter 405, a sixth limiter, an electromagnet fixing bracket 701, a connecting spring 703 and an electromagnet 703.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the following specific embodiments are used for further describing the invention in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-7, the invention provides a detection device for a steel box girder bridge deck slab welding seam, which comprises a base platform 1, a horizontal opposite sliding table mechanism 2, a horizontal sliding table mechanism 3, a vertical sliding table mechanism 4, a drilling tool 5, a visual positioning probe 6, an electromagnetic adsorption device 7, a travelling mechanism, a movable pushing handle 10, a control module, a strain gauge and residual stress detection equipment.
The base platform 1 is of a horizontally arranged platy structure, a rectangular operation hole is formed in the center of the base platform 1, the rectangular operation hole is used as an operation space for drilling blind holes of the drilling tool 5 and is used as a visual positioning boundary of the visual positioning probe 6, the horizontally opposite sliding table mechanism 2 is horizontally arranged on the upper surface of the base platform 1 and symmetrically arranged on the side portion of the rectangular operation hole, the horizontally opposite sliding table mechanism 2 is used for driving the horizontal sliding table mechanism 3 to horizontally move along the longitudinal axis direction of the rectangular operation hole, the horizontal sliding table mechanism 3 is horizontally arranged above the horizontally opposite sliding table mechanism 2, the horizontal sliding table mechanism 3 is used for driving the vertical sliding table mechanism 4 to horizontally move along the transverse axis direction of the rectangular operation hole, the vertical sliding table mechanism 4 is arranged on the side edge of the horizontal sliding table mechanism 3, and the vertical sliding table mechanism 4 is used for driving the drilling tool 5 and the visual positioning probe 6 to vertically move up and down.
The drilling tool 5 and the visual positioning probe 6 are both arranged on the side edge of the vertical sliding table mechanism 4, the drilling direction of the drilling tool 5 is vertically downwards, the drilling tool 5 is used for drilling blind holes in a position to be detected of a welding seam of a steel box girder bridge deck, the visual positioning probe 6 is used for identifying the position to be detected of the welding seam of the steel box girder bridge deck, the electromagnetic adsorption device 7 is arranged on the base platform 1 and used for realizing adsorption or separation of the base platform 1 and the steel box girder bridge deck in an electromagnetic adsorption mode, the travelling mechanism is arranged below the bottom surface of the base platform 1 and used for driving the base platform 1 to horizontally move along the surface of the steel box girder bridge deck, the moving pushing handle 10 is arranged at the end part of the side edge of the base platform 1 and used for applying horizontal driving force to the base platform 1 so as to enable the base platform 1 to horizontally displace, the strain gauge is adhered to the position to be detected of the welding seam of the steel box girder bridge deck, and the output end of the strain gauge is connected with the input end of the residual stress monitoring device.
As shown in fig. 1-3, the horizontally opposed slide mechanism 2 includes a first servo motor 201, a first bevel gear 202, a transmission shaft 203, a second bevel gear 204, a first longitudinal slide 205, a first slide 206, a first screw 207, a first stopper 208, a second longitudinal slide 209, a second slide 210, a second screw 211, and a second stopper 212.
The first longitudinal slide way 205 and the second longitudinal slide way 209 are parallel to each other and are respectively arranged at two sides of the longitudinal edge of the rectangular operation hole, the first sliding table 206 is slidably arranged above the first longitudinal slide way 205, the first screw rod 207 is arranged in the first longitudinal slide way 205, the first sliding table 206 is in threaded connection with the first screw rod 207, the second sliding table 210 is slidably arranged above the second longitudinal slide way 209, the second screw rod 211 is arranged in the second longitudinal slide way 209, and the second sliding table 210 is in threaded connection with the second screw rod 211.
Specifically, the top surfaces of the first longitudinal slide 205 and the second longitudinal slide 209 are both provided with top surface opening slide grooves, and the opening ends of the top surface opening slide grooves are communicated with the top surface of the first longitudinal slide 205 or the second longitudinal slide 209, wherein the axis of the top surface opening slide grooves is parallel to the axis of the first longitudinal slide 205 or the second longitudinal slide 209, i.e. the axis of the top surface opening slide grooves is parallel to the longitudinal edge of the rectangular operation hole.
The first screw rod 207 is rotatably arranged in the top surface opening chute of the first longitudinal slide 205, the axis of the first screw rod 207 is parallel to the axis of the top surface opening chute of the first longitudinal slide 205, the bottom end chute of the first sliding table 206 is arranged in the top surface opening chute of the first longitudinal slide 205 and is sleeved on the outer side of the first screw rod 207, and the bottom end of the first sliding table 206 is connected with the first screw rod 207 through threads so as to drive the first sliding table 206 to translate on the surface of the first longitudinal slide 205 through the rotation of the first screw rod 207.
The second screw rod 211 is rotatably arranged in the top surface opening chute of the second longitudinal slide rail 209, the axis of the second screw rod 211 is parallel to the axis of the top surface opening chute of the second longitudinal slide rail 209, the bottom end chute of the second sliding table 210 is arranged in the top surface opening chute of the second longitudinal slide rail 209 and is sleeved outside the second screw rod 211, and the bottom end of the second sliding table 210 is connected with the second screw rod 211 by adopting threads so as to drive the second sliding table 210 to translate on the surface of the second longitudinal slide rail 209 through the rotation of the second screw rod 211.
The first bevel gear 202 is disposed at a first end of the first longitudinal slide 205, an output end of the first bevel gear 202 is connected to an end of the first screw rod 207, the first bevel gear 202 is used for driving the first screw rod 207 to rotate, the second bevel gear 204 is disposed at a first end of the second longitudinal slide 209, an output end of the second bevel gear 204 is connected to an end of the second screw rod 211, and the second bevel gear 204 is used for driving the second screw rod 211 to rotate.
The first servo motor 201 is disposed at a side of the first bevel gear 202, an output end of the first servo motor 201 is connected to an input end of the first bevel gear 202, the transmission shaft 203 is disposed between the first bevel gear 202 and the second bevel gear 204, that is, the first bevel gear 202 and the second bevel gear 204 are connected through the transmission shaft 203, one end of the transmission shaft 203 is connected to the first bevel gear 202, and the other end of the transmission shaft 203 is connected to the second bevel gear 204, so as to achieve synchronization of translation of the first sliding table 206 and the second sliding table 207.
The first limiter 208 is disposed at the second end of the first longitudinal slideway 205 to limit the first sliding table 206, so as to prevent the first sliding table 206 from being separated from the second end of the first longitudinal slideway 205, and the second limiter 212 is disposed at the second end of the second longitudinal slideway 205, so as to limit the second sliding table 210, so as to prevent the second sliding table 210 from being separated from the second end of the second longitudinal slideway 209.
One end of the transverse sliding table mechanism 3 is connected with the first sliding table 206, the other end of the transverse sliding table mechanism 3 is connected with the second sliding table 210, so that the transverse sliding table mechanism 3 is driven to integrally translate along the longitudinal edge of the rectangular operation hole through synchronous translation of the first sliding table 206 and the second sliding table 210, as shown in fig. 1-2 and 4-5, the transverse sliding table mechanism 3 comprises a second servo motor 301, a transverse sliding way 302, a third sliding table 303, a third screw rod 304, a third limiter 305 and a fourth limiter 306, the transverse sliding way 302 is horizontally arranged above the horizontal opposite sliding table mechanism 2, the third sliding table 303 is slidably arranged above the transverse sliding way 302, the third screw rod 304 is arranged in the transverse sliding way 302, the third sliding table 303 is connected with the third screw rod 304 through threads, and the second servo motor 301 is arranged at the end part of the transverse sliding way 302 and used for driving the third screw rod 304 to rotate.
Specifically, the transverse slideway 302 is horizontally disposed above the rectangular operation hole and is disposed along a transverse edge of the rectangular operation hole, that is, an axis of the transverse slideway 302 is parallel to the transverse edge of the rectangular operation hole, one end of the transverse slideway 302 is connected with the first sliding table 206, the other end of the transverse slideway 302 is connected with the second sliding table 210, a transverse opening chute is formed in a side surface of the transverse slideway 302, an opening end of the transverse opening chute is communicated with a side surface of the transverse slideway 302, and an axis of the transverse opening chute is parallel to an axis of the transverse slideway 302, that is, an axis of the transverse opening chute is parallel to the transverse edge of the rectangular operation hole.
The third screw rod 304 is rotatably disposed in the transverse opening chute of the transverse slideway 302, the axis of the third screw rod 304 is parallel to the axis of the transverse opening chute of the transverse slideway 302, the end part of the third sliding table 303 is slidably disposed in the transverse opening chute of the transverse slideway 302 and is sleeved outside the third screw rod 304, the end part of the third sliding table 303 is connected with the third screw rod 304 by adopting threads, so that the third sliding table 303 is driven to translate on the side surface of the transverse slideway 302 by the rotation of the third screw rod 304, and the translation direction of the third sliding table 303 is perpendicular to the translation direction of the first sliding table 206 or the second sliding table 210 in the horizontal plane.
The third limiter 305 is fixed at the first end of the transverse slideway 302, and the fourth limiter 306 is fixed at the second end of the transverse slideway 302, so that the third limiter 305 and the fourth limiter 306 are used to limit the third sliding table 303, so as to prevent the third sliding table 303 from being separated from the transverse slideway 302.
The vertical sliding table mechanism 4 is arranged on the side edge of the third sliding table 303, so that the vertical sliding table mechanism 4 is driven to integrally translate along the transverse edge of the rectangular operation hole through the translation of the third sliding table 303, as shown in fig. 1-2 and 6, the vertical sliding table mechanism 4 comprises a third servo motor 401, a vertical sliding way 402, a drilling machine fixing seat 403, a fourth screw rod 404, a fifth limiter 405 and a sixth limiter 406, the vertical sliding way 402 is vertically arranged on the side edge of the transverse sliding table mechanism 3, the drilling tool fixing seat 402 is slidingly arranged on the vertical sliding way 402, the fourth screw rod 404 is arranged in the vertical sliding way 402, the drilling tool fixing seat 402 is connected with the fourth screw rod 404 through threads, and the third servo motor 401 is arranged on the top end of the vertical sliding way 402 and is used for driving the fourth screw rod 404 to rotate.
Specifically, the vertical slide way 402 is vertically disposed above the rectangular operation hole, the side wall of the vertical slide way 402 is fixedly connected with the third slide table 303, a vertical opening slide way is opened on the side surface of the vertical slide way 402, and the opening end of the vertical opening slide way is communicated with the side surface of the vertical slide way 402, wherein the axis of the vertical opening slide way is perpendicular to the transverse slide way 302, the first longitudinal slide way 205 and the second longitudinal slide way 209, that is, the axis of the vertical opening slide way is perpendicular to the transverse edge and the longitudinal edge of the rectangular operation hole.
The fourth screw rod 404 is rotatably disposed in the vertical opening chute of the vertical chute 402, and the axis of the fourth screw rod 404 is parallel to the axis of the vertical opening chute of the vertical chute 402, the end chute of the drill tool fixing seat 402 is disposed in the vertical opening chute of the vertical chute 402 and is sleeved outside the fourth screw rod 404, and the end of the drill tool fixing seat 402 is connected with the fourth screw rod 404 by threads, so that the drill tool fixing seat 402 is driven to move in the vertical direction by the rotation of the fourth screw rod 404.
The fifth limiter 405 is fixed at the top end of the vertical slideway 402, the sixth limiter 406 is fixed at the bottom end of the vertical slideway 402, so that the fifth limiter 405 and the sixth limiter 406 are utilized to limit the drilling tool fixing seat 402, the drilling tool fixing seat 402 is prevented from being separated from the vertical slideway 402, the drilling tool 5 is vertically fixed in the drilling tool fixing seat 403, and the visual positioning probe 6 is mounted on the outer wall of the drilling tool fixing seat 403.
The base platform 1 is provided with electromagnet through holes which are symmetrically arranged at the front end and the rear end of the rectangular operation hole, as shown in figures 1-2 and 7-8, the electromagnetic adsorption device 7 comprises an electromagnet fixing bracket 701, a connecting spring 702 and an electromagnet 703, the electromagnet fixing bracket 701 is fixed above the base platform 1 and is arranged close to the electromagnet through holes, the electromagnet 703 is vertically arranged in the electromagnet through holes in a sliding mode, and the top end of the electromagnet 703 is connected with the electromagnet fixing bracket 701 through the connecting spring 702.
The electromagnet 703 comprises an electromagnet shell and an electromagnet body arranged in the electromagnet shell, wherein the top end of the electromagnet shell is connected with the bottom end of a connecting spring 702, the top end of the connecting spring 702 is connected with an electromagnet fixing support 701, a semicircular groove is formed in the side wall of the electromagnet shell, a semicircular protrusion is formed in the inner wall of an electromagnet through hole, the semicircular groove is arranged in the vertical direction, one end of the semicircular protrusion is matched in the semicircular groove, the other end of the semicircular protrusion is fixed with the inner wall of the electromagnet through hole, the electromagnet body is an iron block wound with a coil, the working principle of the electromagnet body is shown in fig. 8, the connecting spring 702 can overcome the gravity and friction force of the electromagnet to suspend the electromagnet on the electromagnet fixing support 701, and the elastic force of the connecting spring 702 is far smaller than that of the electromagnet.
As shown in figure 1, the travelling mechanism comprises universal steering gears 8 and wheels 9, wherein the universal steering gears 8 are fixed at corners of the bottom surface of the base platform 1, the bottom end of each universal steering gear 8 is respectively provided with one wheel 9, the wheels 9 are connected with the universal steering gears 8 through bearings, so that the wheels 9 can move forwards and backwards and rotate in a plane, meanwhile, the wheels 9 have preset heights so as to span the condition of a road surface with complex site construction, and the movable push handle 10 is fixed on the base platform through an L-shaped connecting plate.
The control module is mounted on the base platform 1, the input end of the control module is connected with the output end of the visual positioning probe 6, the output end of the control module is connected with the horizontal opposite sliding table mechanism 2, the horizontal sliding table mechanism 3 and the vertical sliding table mechanism 4, the input end of the control module is connected with the output end of the visual positioning probe 6, the output end of the control module is connected with the first servo motor 201, the second servo motor 301 and the third servo motor 401, the control module is used for controlling the first servo motor 201, the second servo motor 301 and the third servo motor 401 according to the identification result of the weld joint to be detected of the steel box girder bridge deck, and optionally, the output end of the control module is also connected with the control end of the drilling tool 5 and used for controlling the feeding rate and the drilling rate of the drilling tool 5.
Optionally, an operation button is disposed on the mobile knob 10, an output end of the operation button is connected to an input end of the control module, the operation button includes a start button, a reset button and a pause button, the start button is used for sending a motor start command to the control module, the reset button is used for sending a motor reset command to the control module, the pause button is used for sending a motor pause button to the control module, and the control module is further used for sending the received motor start command, motor reset command and motor pause command to the first servo motor 201, the second servo motor 301 and the third servo motor 401, so that the first servo motor 201, the second servo motor 301 and the third servo motor 401 execute start, reset or pause actions.
The detection method and the working principle are as follows:
the invention also provides a detection method for the welding seam of the bridge deck of the steel box girder, which comprises the following steps:
the method comprises the steps of moving a base platform 1 to the position above a welding seam to be detected of a steel box girder bridge deck, enabling the position to be detected of the welding seam of the steel box girder bridge deck to be located at the center of a rectangular operation hole, utilizing a visual positioning probe 6 to identify the position to be detected of the welding seam of the steel box girder bridge deck, and controlling a horizontal opposite sliding table mechanism 2, a horizontal sliding table mechanism 3 and a vertical sliding table mechanism 4 according to the identification result of the position to be detected of the welding seam of the steel box girder bridge deck so that a drilling tool 5 is located right above the position to be detected of the welding seam of the steel box girder bridge deck, and starting residual stress detection through a blind hole method.
Specifically, the detection process is as follows:
firstly, polishing a to-be-detected part of a welding seam of a bridge deck of a steel box girder, pasting a strain gauge on the to-be-detected part of the welding seam of the bridge deck of the steel box girder, rolling to firmly paste the strain gauge, and connecting the strain gauge with residual stress monitoring equipment by utilizing a lead after the strain gauge is firmly pasted.
And then, moving the base platform 1 to the position above the weld joint to be detected of the bridge deck of the steel box girder, and enabling the strain gauge to be positioned at the center of the rectangular operation hole.
And then resetting the residual stress monitoring equipment, and preparing to drill blind holes. The coordinate system establishment process comprises the steps of taking the axis of a transverse slideway in the transverse slipway mechanism 3 as an X axis, taking the axis of a first longitudinal slideway or a second longitudinal slideway in the horizontal opposite slipway mechanism 2 as a Y axis and taking the axis of a vertical slideway in the vertical slipway mechanism 4 as a Z axis, and establishing a three-dimensional rectangular coordinate system, wherein the position of a first bevel gear or a second bevel gear in the horizontal opposite slipway mechanism 2 is marked as a zero point of the Y axis, namely Y=0 at the position of the first bevel gear or the second bevel gear, the position of a third slipway in the transverse slipway mechanism 3 is marked as a zero point of the X axis when the third slipway is positioned at the center of the rectangular operation hole, namely X=0 when the third slipway is positioned at the center of the rectangular operation hole, one end close to the second servo motor is marked as a negative X axis, and the maximum value of the corresponding Z axis when a drilling machine fixing seat is positioned at the highest point in the vertical slipway mechanism 4.
Then, the first servo motor, the second servo motor and the third servo motor are driven to act, so that the first sliding table and the second sliding table are positioned at the zero position of the Y axis, the third sliding table is positioned at the zero position of the X axis and the drilling machine fixing seat is positioned at the maximum value of the Z axis, the visual field of the visual positioning probe 6 reaches the maximum, the state that the first sliding table and the second sliding table are positioned at the zero position of the Y axis, the third sliding table is positioned at the zero position of the X axis and the drilling machine fixing seat is positioned at the maximum value of the Z axis is defined as a reset state, and after a reset button sends a motor reset instruction to the control module, the control module controls the first servo motor, the second servo motor and the third servo motor to act, so that the first sliding table and the second sliding table are positioned at the zero position of the Y axis, the third sliding table is positioned at the zero position of the X axis and the drilling machine fixing seat is positioned at the maximum value of the Z axis.
And then, identifying the position to be detected of the welding seam of the bridge deck of the steel box girder by using the visual positioning probe 6 to obtain the identification result of the position to be detected of the welding seam of the bridge deck of the steel box girder, wherein the identification result of the position to be detected of the welding seam of the bridge deck of the steel box girder comprises the coordinate data of the strain gauge.
And then, generating control instructions of the first servo motor, the second servo motor and the third servo motor by utilizing the control module according to the recognition result of the part to be detected of the welding seam of the bridge deck of the steel box girder so as to drive the first servo motor, the second servo motor and the third servo motor to act, so that the drilling tool 5 is positioned right above the part to be detected of the welding seam of the bridge deck of the steel box girder.
And finally, starting drilling the blind hole by using the drilling tool 5 to detect residual stress by a blind hole method, wherein when the drilling tool 5 starts drilling the blind hole, determining the position when the reading of the strain gauge is obviously increased as a drilling starting position, starting drilling from the drilling starting position, finishing the drilling process of the drilling tool 5 in four steps, drilling 1/4 of the hole depth each time, recording the measured strain by using a residual stress detection device, finally calculating the residual stress, and adjusting the position of the drilling tool 5 in real time by using a first servo motor, a second servo motor and a third servo motor when the drilling tool 5 is used for drilling the blind hole.
The detection device for the welding seam of the bridge deck of the steel box girder utilizes the visual positioning probe to identify the to-be-detected part of the welding seam of the bridge deck of the steel box girder, controls the horizontal opposite sliding table mechanism, the horizontal sliding table mechanism and the vertical sliding table mechanism according to the identification result of the to-be-detected part of the welding seam of the bridge deck of the steel box girder, so that the centering operation of a drilling tool is realized, the difficulty of the centering operation is greatly simplified, secondly, in the drilling process, the servo motor is controlled to drill holes, the operation is simplified, the interference of external errors on the measurement result is greatly reduced, the subsequent error analysis is very convenient, in addition, the trouble of manually moving the device at different positions is avoided by the design mode of the mobile trolley, the mobile device is only needed to be pushed by moving a pushing handle, the mobile device can have flexible mobility on the surface of the steel bridge with a large range, the measurement efficiency is increased, and the labor force is also liberated.
The invention utilizes the method that the base platform and the steel box girder bridge deck are adsorbed and fixed by utilizing the electromagnet after the strain gauge is arranged at the preset position of the rectangular operation hole, thereby ensuring the reliability and stability of the drilling process, and the control module is used for processing the identification result of the part to be detected of the welding seam of the steel box girder bridge deck transmitted by the visual positioning probe, acquiring the relative coordinate position of the drilling tool and the strain gauge and the drilling tool height, and controlling the first servo motor, the second servo motor and the third servo motor so as to finish the residual stress detection task of the blind hole method.
The above embodiment is only one of the implementation manners capable of implementing the technical solution of the present invention, and the scope of the claimed invention is not limited to the embodiment, but also includes any changes, substitutions and other implementation manners easily recognized by those skilled in the art within the technical scope of the present invention.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510739021.3A CN120489412A (en) | 2025-06-04 | 2025-06-04 | Detection device and method for welding seam of bridge deck of steel box girder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202510739021.3A CN120489412A (en) | 2025-06-04 | 2025-06-04 | Detection device and method for welding seam of bridge deck of steel box girder |
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| CN202510739021.3A Pending CN120489412A (en) | 2025-06-04 | 2025-06-04 | Detection device and method for welding seam of bridge deck of steel box girder |
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