CN102619167B - Bridge overhaul vehicle preventing occupying driving lane - Google Patents
Bridge overhaul vehicle preventing occupying driving lane Download PDFInfo
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- CN102619167B CN102619167B CN201210121601.9A CN201210121601A CN102619167B CN 102619167 B CN102619167 B CN 102619167B CN 201210121601 A CN201210121601 A CN 201210121601A CN 102619167 B CN102619167 B CN 102619167B
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- traveling lane
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Abstract
The invention belongs to the technical field of bridge overhaul and specifically relates to a bridge overhaul vehicle preventing occupying a driving lane. The bridge overhaul vehicle comprises a frame and is characterized in that the frame crosses over a half-width bridge deck or a full-width bridge deck, a traveling gear is connected at the lower part of the frame, the traveling gear can travel along an overhaul walk path on the bridge deck, an overhaul arm is arranged on one side of the frame, primary vehicle-robot matching equipment and a driving drive system are arranged on the inner side of the frame, and the driving drive system is used for driving the traveling gear. The overhaul vehicle disclosed by the invention does not occupy the driving lane and can realize intelligent operation and control, realize omnibearing overhaul operation, effectively improve the efficiency of overhaul operation, save human resources and bring great convenience to overhaul work of a bridge.
Description
Technical field
The invention belongs to bridge maintenance technical field, be specifically related to a kind of bridge inspection car not accounting for traveling lane.
Background technology
At present, along with the development of bridge construction engineering, the work of bridge maintenance maintenance aspect is more and more subject to people's attention, and towards the future development of all-around intelligent.But, a large amount of repair and maintenance work, traditional repair and maintenance operation is often existed, and overhaul efficiency is low, security risk large, lavish labor on the defect of resource; Meanwhile, regular repair and maintenance operation, often affects normal communications and transportation on bridge, brings inconvenience to the current of driving vehicle.In prior art, neither account for traveling lane, there is not been reported for the bridge inspection car of simultaneously high efficiency smart again.
Summary of the invention
The present invention be directed to exist in above-mentioned bridge maintenance operation traveling lane, overhaul efficiency is low, security risk is large defect and the bridge inspection car not accounting for traveling lane provided are provided.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of bridge inspection car not accounting for traveling lane, comprise vehicle frame, it is characterized in that, described vehicle frame is across half range bridge floor or full width bridge floor, the bottom of described vehicle frame is connected with running gear, described running gear is along the walking of bridge floor maintenance pavement, described vehicle frame side is equiped with maintenance arm, frame interior is provided with female Che-robot relevant equipment and running and driving system, described running and driving system controls described running gear, described female Che-robot relevant equipment comprises power supply, local 3D GIS database and application server, LAN switch, router, sucker vacuum generator, material storing box, delivery pump, umbilical cord and umbilical cord composite-joint, this female Che-robot relevant equipment is connected with described maintenance arm end by described umbilical cord and umbilical cord composite-joint.
Beneficial effect of the present invention: because tool car vehicle frame of the present invention is across half range bridge floor or the walking of full width bridge floor both sides, does not account for traveling lane, therefore can not affect the normal transport of traffic when carrying out upkeep operation; The design of described maintenance arm can realize bridge comprehensively repair and maintenance work automatically, improves the efficiency of upkeep operation; Again because whole service work has been come by maintenance arm substantially, security risk during upkeep operation greatly can be reduced; Described female Che-robot relevant equipment also may further be the synchronous robot for overhauling upkeep operation arranged and provides supply, for manipulation provides data and communication, by arranging external management system, realizes intelligent manipulation; Running and driving system then can realize the intelligent independent walking of tool car.Female Che-robot relevant equipment provides supply, power supply, communication and Data support for upkeep operation.
Further, described maintenance arm is multi-joint manipulator arm, this maintenance arm is controlled by AC servo drive motor, it comprises support arm and maintenance arm end, support arm can be lifted to bridge tower, suspension cable top, stretch out bridge sidebar, be bent at the bottom of bridge, the Awaiting Overhaul region of rotatable flexible sweep radius 20m ~ 50m.This kind of design can realize the major tune-up operation of large regions in little periphery by Intelligent control, effectively improve overhaul efficiency.
Further, described maintenance arm end comprises the surveying work head of manned The Cloud Terrace and arranging, electronic maintenance work head, 3D camera, sucker, paint nozzle and connects the umbilical cord of intelligent overhaul robot, and the device of above-mentioned arranging controls by an embedded core controller.Described manned The Cloud Terrace can carry true man and also can carry robot and carry out upkeep operation, described 3D camera can Real-Time Monitoring operation process by the management system that arranges in addition, the design of sucker can make maintenance arm firmly be adsorbed onto when needed on bridge member, the whip effect type that gets rid of reducing maintenance arm rocks, the design of umbilical cord facility both can connect robot, also can have the effect of safety rope concurrently.
Further, described umbilical cord is hawser, and described hawser inside is containing communications service, power sourcing equipment, vacuum tube and maintenance spray paint carrier pipe.This kind of design can provide the tens of rice of true man or robot to the supply within the scope of hundreds of meters needed for operation.
Further, described running gear comprises four stair climbing wheels be symmetrical set, described stair climbing wheel includes connecting axle, described connecting axle one end is connected with wheel carrier by large bearing, three support arms are provided with described wheel on frame peripheral same plane, become 120 ° between adjacent support arm, described three leg extremities are all provided with wheel, and the stair climbing wheel of every side is all connected with running and driving system.The stair climbing wheel of the design, when running into ladder or obstruction, can climb up ladder or throwing over barrier smoothly.
Further, described running and driving system includes reductor, and described reductor is connected with motor, and described motor is controlled by motor controller for battery car.This system can provide comparatively to be improved and more intelligentized mature technology, is convenient to application.
Further, described maintenance arm is provided with preventing collision protection mechanism to dodge sign board, suspension cable, street lamp and suspension cable suspension rod, and this protection mechanism is radar probe device.
Further, described vehicle frame side be provided with a set of can contraction aerial ladder from bottom of frame turn-knob to roof, the position that roof is corresponding with this contraction aerial ladder is provided with and operates control room.
Further, described height of chassis above ground is set to 5m ~ 6m.The tool car height of this design is moderate, facilitates the current of driving vehicle.
Accompanying drawing explanation
Fig. 1 is the bridge inspection car structural representation that the embodiment of the present invention does not account for traveling lane;
Fig. 2 is female Che in Fig. 1 embodiment-robot relevant equipment high-level schematic functional block diagram;
Fig. 3 overhauls arm end high-level schematic functional block diagram in Fig. 1 embodiment.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
As shown in Figure 1, a kind of bridge inspection car not accounting for traveling lane, comprise vehicle frame 1, the height of the preferred vehicle frame 1 of the present embodiment is 6m, described vehicle frame 1 is across half range bridge floor or full width bridge floor, because the bridge floor of most of bridge is wider, therefore the present embodiment is preferably across half range bridge floor 8, the bottom of described vehicle frame 1 is connected with running gear 5, described running gear 5 is walked along the maintenance pavement of bridge floor 8, described vehicle frame 1 side is equiped with maintenance arm 2, opposite side be provided with a set of can contraction aerial ladder 6 from bottom of frame turn-knob to roof, the position that roof is corresponding with this contraction aerial ladder 6 is provided with and operates control room 7, this vehicle frame 1 is also provided with warning lamp 9, the position that described vehicle frame 1 inside coordinates with running gear is provided with running and driving system 4, and described running and driving system 4 controls described running gear 5, and this vehicle frame 1 inner right side is also provided with female Che-robot relevant equipment 3.
Described maintenance arm 2 is multi-joint manipulator arm, controlled by AC servo drive motor, this maintenance arm 2 comprises support arm and maintenance arm end 10, described support arm has multiple joint, this support arm can be lifted to bridge tower, suspension cable top, stretch out bridge sidebar, be bent at the bottom of bridge, the Awaiting Overhaul region of rotatable flexible sweep radius 20m ~ 50m; Described maintenance arm 2 is provided with preventing collision protection mechanism; this preventing collision protection mechanism can be radar probe device; also can be infrared edge detector, the present embodiment be preferably multiple radar probe device 11, to dodge sign board, suspension cable, street lamp and suspension cable suspension rod.
Running and driving system 4 described in the present embodiment includes reductor, and described reductor is connected with motor, and described motor is controlled by motor controller for battery car.Described running gear 5 comprises four stair climbing wheels be symmetrical set, described stair climbing wheel includes connecting axle, described connecting axle one end is connected with wheel carrier by large bearing, three support arms are provided with described wheel on frame peripheral same plane, become 120 ° between adjacent support arm, described three leg extremities are all provided with wheel, and the stair climbing wheel of every side is all connected with the reductor in running and driving system 4, the present embodiment travels and drives manipulation to adopt wireless remote control, realizes intelligent walking.
The present embodiment further as shown in Figure 2, described female Che-robot relevant equipment comprises power supply, local 3D GIS database and application server 12, the LAN switch 14 be connected with this local 3D GIS database and application server, described LAN switch 14 one end is connected to umbilical cord 15, described umbilical cord 15 is hawser, this hawser inside is containing communications service, power sourcing equipment, spray paint carrier pipe is used in vacuum tube and maintenance, this umbilical cord 15 is also connected with multiple maintenance arm end 10 by umbilical cord composite-joint 20, vacuum pump 22, described vacuum pump 22 is connected with local 3D GIS database and application server by a motor 21, form sucker vacuum generator, one storage tank 19 is respectively by valve 23, delivery pump 25 is connected with umbilical cord with application server with local 3D GIS database with motor 24, described valve 23 and motor 24 are controlled by local application server, described LAN switch 14 other end is connected to router one 3 and radio access point 16, and the wireless connections of described router one 3 are in internet 17.
Be illustrated in figure 3 the present embodiment maintenance arm end view, comprise the surveying work head 30 of manned The Cloud Terrace and arranging, electronic maintenance work 31,3D camera 28, sucker 27, paint nozzle 29 and connect the umbilical cord of intelligent overhaul robot.Described umbilical cord is also hawser, and described hawser is inner same containing communications service, power sourcing equipment, vacuum tube and maintenance spray paint carrier pipe.The device that above-mentioned maintenance arm end arranges controls by an embedded core controller 26.The various devices of described maintenance arm end are all connected on umbilical cord by umbilical cord composite-joint.
The present invention is equipped with bridge maintenance management system, can realize efficient, intelligentized Measuring error, reduces the risk of bridge maintenance operation, saves manpower simultaneously.
Above-described is only the preferred embodiment of the present invention, should be understood that for a person skilled in the art, under the prerequisite not departing from structure of the present invention, can also make some distortion and improvement, these all can not affect effect of the invention process and practical applicability.
Claims (9)
1. one kind does not account for the bridge inspection car of traveling lane, comprise vehicle frame, it is characterized in that, described vehicle frame is across half range bridge floor or full width bridge floor, the bottom of described vehicle frame is connected with running gear, described running gear is along the walking of bridge floor maintenance pavement, described vehicle frame side is equiped with maintenance arm, frame interior is provided with female Che-robot relevant equipment and running and driving system, described running and driving system controls described running gear, described female Che-robot relevant equipment comprises power supply, local 3D GIS database and application server, LAN switch, router, sucker vacuum generator, material storing box, delivery pump, umbilical cord and umbilical cord composite-joint, this female Che-robot relevant equipment is connected with described maintenance arm end by described umbilical cord and umbilical cord composite-joint.
2. the bridge inspection car not accounting for traveling lane according to claim 1, it is characterized in that, described maintenance arm is multi-joint manipulator arm, this maintenance arm is controlled by AC servo drive motor, this maintenance arm comprises support arm and maintenance arm end, and support arm can be lifted to bridge tower, suspension cable top, stretches out bridge sidebar, be bent at the bottom of bridge, the Awaiting Overhaul region of rotatable flexible sweep radius 20m ~ 50m.
3. the bridge inspection car not accounting for traveling lane according to claim 2, it is characterized in that, described maintenance arm end comprises the surveying work head of manned The Cloud Terrace and arranging, electronic maintenance work head, 3D camera, sucker, paint nozzle and connects the umbilical cord of intelligent overhaul robot, and the device of above-mentioned arranging controls by an embedded core controller.
4. the bridge inspection car not accounting for traveling lane according to claim 1 and 2, is characterized in that, described umbilical cord is hawser, and described hawser inside is containing communications service, power sourcing equipment, vacuum tube and maintenance spray paint carrier pipe.
5. the bridge inspection car not accounting for traveling lane according to claim 1, it is characterized in that, described running gear comprises four stair climbing wheels be symmetrical set, described stair climbing wheel includes connecting axle, described connecting axle one end is connected with wheel carrier by large bearing, is provided with three support arms described wheel on frame peripheral same plane, becomes 120 ° between adjacent support arm, described three leg extremities are all provided with wheel, and the stair climbing wheel of every side is all connected with running and driving system.
6. do not account for the bridge inspection car of traveling lane according to claim 1 or 5, it is characterized in that, described running and driving system includes reductor, and described reductor is connected with motor, and described motor is controlled by motor controller for battery car.
7. the bridge inspection car not accounting for traveling lane according to claim 1, is characterized in that, described maintenance arm is provided with preventing collision protection mechanism, and this preventing collision protection mechanism is radar probe device.
8. the bridge inspection car not accounting for traveling lane according to claim 1, it is characterized in that, described vehicle frame side be provided with a set of can contraction aerial ladder from bottom of frame turn-knob to roof, the position that roof is corresponding with this contraction aerial ladder is provided with and operates control room.
9., according to the aforementioned bridge inspection car not accounting for traveling lane according to claim 1, it is characterized in that, described height of chassis above ground is set to 5m ~ 6m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210121601.9A CN102619167B (en) | 2012-04-24 | 2012-04-24 | Bridge overhaul vehicle preventing occupying driving lane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210121601.9A CN102619167B (en) | 2012-04-24 | 2012-04-24 | Bridge overhaul vehicle preventing occupying driving lane |
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| Publication Number | Publication Date |
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| CN102619167A CN102619167A (en) | 2012-08-01 |
| CN102619167B true CN102619167B (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210121601.9A Active CN102619167B (en) | 2012-04-24 | 2012-04-24 | Bridge overhaul vehicle preventing occupying driving lane |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105484154A (en) * | 2016-01-20 | 2016-04-13 | 招商局重庆交通科研设计院有限公司 | Multifunctional detection vehicle for bridge construction |
| CN108146283A (en) * | 2018-01-03 | 2018-06-12 | 东莞市趣电智能科技有限公司 | A kind of hand type intelligent charging spot |
| CN109183631A (en) * | 2018-09-18 | 2019-01-11 | 苏州润桐专利运营有限公司 | A kind of bridge lateral wall minute crack smearing method |
| CN109183632A (en) * | 2018-09-18 | 2019-01-11 | 苏州润桐专利运营有限公司 | A kind of bridge lateral wall minute crack smearing equipment |
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| CN201908257U (en) * | 2010-12-16 | 2011-07-27 | 重庆大江工业有限责任公司 | Anti-collision system for telescopic working platform of bridge-detection vehicle |
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| JPH05179616A (en) * | 1991-02-25 | 1993-07-20 | Mitsui Miike Mach Co Ltd | Bridge inspection vehicle |
| JP2004142899A (en) * | 2002-10-25 | 2004-05-20 | Mitsubishi Heavy Ind Ltd | Bridge inspecting vehicle |
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| CN102041776A (en) * | 2010-11-19 | 2011-05-04 | 吕彭民 | Intelligent and manual dual-purpose bridge detection vehicle |
| CN102199914A (en) * | 2010-11-30 | 2011-09-28 | 大连华锐股份有限公司 | Railway bridge detection trolley |
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| CN102619167A (en) | 2012-08-01 |
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