CN104950913A - One-key unfolding control system of cantilever crane of bridge detecting robot - Google Patents
One-key unfolding control system of cantilever crane of bridge detecting robot Download PDFInfo
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- CN104950913A CN104950913A CN201510252969.2A CN201510252969A CN104950913A CN 104950913 A CN104950913 A CN 104950913A CN 201510252969 A CN201510252969 A CN 201510252969A CN 104950913 A CN104950913 A CN 104950913A
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Abstract
The invention provides a one-key unfolding control system of a cantilever crane of a bridge detecting robot. The one-key unfolding control system of the cantilever crane of the bridge detecting robot comprises a parameter input device, a signal acquiring device, a controller and an executive device, wherein the parameter input device is arranged at one end of a chassis, and the parameter input device, the signal acquiring device and the executive device are electrically connected with the controller. The one-key unfolding control system of the cantilever crane of the bridge detecting robot has the advantages of high detection efficiency and reliability.
Description
Technical field
The present invention relates to Bridge Inspection field, the key being specifically related to a kind of bridge detection robot jib launches control system.
Background technology
The different types of rridges of current China are faced with the problem same with numerous country in the world, namely have large quantities ofly to enter " old-age group " stage, and lie dormant huge potential safety hazard, are to improve bridge management level, reduce security incident, must pay attention to bridge machinery.Bridge inspection vehicle is popular gradually in recent years, and detect a grand bridge and only need one to two day time, detection efficiency and maintenance level significantly improve, and very likely replace traditional detection method, have very large market potential.
Bridge inspection vehicle one-piece construction of the prior art is larger, generally hang basket in the setting foremost of jib, people stands in basket, then drives jib that tester is transferred to each position by the power system of inspection vehicle, the process of movement is interrupted often, do not have continuity, lose time, efficiency is low, and people stands in basket, jib weight can be increased, the dirigibility of jib movement can be affected simultaneously, cause detecting reliability to reduce.
Summary of the invention
In order to solve the technical matters that above-mentioned bridge inspection vehicle detection efficiency is low and detecting reliability is low, the key that the invention provides the bridge detection robot jib that a kind of detection efficiency is high and detecting reliability is high launches control system.
One key of bridge detection robot jib of the present invention launches control system, comprise parameter input device, signal pickup assembly, controller, actuating unit, described parameter input device, described signal pickup assembly and described actuating unit are all electrically connected with described controller.
According to a preferred embodiment of the present invention, described parameter input device comprises touch display screen and toggle switch, and described touch display screen is located at by described toggle switch, and described toggle switch and described touch display screen are electrically connected with described controller respectively.
According to a preferred embodiment of the present invention, described signal pickup assembly comprises rotary encoder, obliquity sensor and displacement transducer, and described rotary encoder, described obliquity sensor and institute's displacement sensors are electrically connected with described controller respectively.
According to a preferred embodiment of the present invention, described actuating unit comprises multi-channel electromagnetic operation valve group, arm support oil cylinder and turntable motor, described multi-channel electromagnetic operation valve group is connected with described controller, and described arm support oil cylinder, described turntable motor are connected with described multi-channel electromagnetic operation valve group respectively.
According to a preferred embodiment of the present invention, described rotary encoder comprises the first rotary encoder and the second rotary encoder, described first rotary encoder and described second rotary encoder are electrically connected with described controller respectively, the first turntable of bridge detection robot is located at by described first rotary encoder, described chassis is located at by described first turntable, and bridge detection robot first jib is located at by described second rotary encoder.
According to a preferred embodiment of the present invention, described obliquity sensor comprises the first obliquity sensor, second obliquity sensor and the 3rd obliquity sensor, described first obliquity sensor, described second obliquity sensor and described 3rd obliquity sensor are electrically connected with described controller respectively, described first obliquity sensor is located at bridge detection robot first jib, described second obliquity sensor is located at bridge detection robot second jib, described 3rd obliquity sensor is located at bridge detection robot the 3rd jib, institute's displacement sensors is located in the middle part of bridge detection robot the 3rd jib.
According to a preferred embodiment of the present invention, described arm support oil cylinder comprises the first arm support oil cylinder, 2nd A arm support oil cylinder, 2nd B arm support oil cylinder and the 3rd arm support oil cylinder, described first arm support oil cylinder, described 2nd A arm support oil cylinder, described 2nd B arm support oil cylinder is connected with described multi-channel electromagnetic operation valve group respectively with described 3rd arm support oil cylinder, described first arm support oil cylinder is located at bridge detection robot first jib and is connected one end with chassis, described 2nd A arm support oil cylinder is located at bridge detection robot first jib and is connected one end with the second jib, described 2nd B arm support oil cylinder is located at bridge detection robot second jib and is connected one end with the first jib, described 3rd arm support oil cylinder is located at bridge detection robot second jib and is connected the 3rd jib one end.
According to a preferred embodiment of the present invention, described turntable motor comprises the first turntable motor and the second turntable motor, described first turntable motor and described second turntable motor are connected with described multi-channel electromagnetic operation valve group respectively, described first turntable motor is located at bridge detection robot first jib connecting base plate place, and described second turntable motor is located at bridge detection robot first jib and is connected the second jib place.
According to a preferred embodiment of the present invention, described second jib is telescopic jib.
According to a preferred embodiment of the present invention, one key of described bridge detection robot jib launches the using method of control system, described bridge detection robot jib comprises the first jib, second jib, 3rd jib, chassis, described first jib one end is articulated in described first turntable, described chassis is located at by described first turntable, described first hinged described second turntable one end of the jib other end, the second turntable other end described in described second jib one end pivot joint, 3rd jib described in described second jib other end hinge, described 3rd jib comprises the 3rd jib body and extension, described extension is flexibly connected described 3rd jib, comprise the steps:
Step one, described first jib upwards play arm along bridge detection robot length direction;
Step 2, play arm and start to open up arm to the second jib described in during certain angle, exhibition arm rotates to the first jib described in when being greater than 90 ° towards headstock direction, left side;
Step 3, go to vertical with vehicle body, described first jib rotates towards headstock left direction Vertical dimension ground, until rotate to described first jib level;
Step 4, described 3rd jib start to open up arm, are expanded to described 3rd jib perpendicular to till during described second jib;
Step 5, described 3rd jib rotate, until under rotating on bridge at the bottom of bridge;
Step 6, extend described extension, until the length of described 3rd jib meets detect needs.
Compared to prior art, a key of described bridge detection robot jib provided by the invention launches control system and has following beneficial effect:
The testing process that traditional bridge inspection vehicle is interrupted is changed into the continuous detecting controlled by described parameter input device, described signal pickup assembly, described controller and described actuator, save the time, improve efficiency, simultaneously because change traditional manual detection into automatic detection, improve detecting reliability.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing described below is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of a key expansion control system of bridge detection robot jib provided by the invention;
Fig. 2 is the work-based logic figure of a key expansion control system of bridge detection robot jib provided by the invention;
Fig. 3 is the operational flowchart of a key expansion control system of bridge detection robot jib provided by the invention;
Fig. 4 is a key expansion control system of bridge inspection vehicle provided by the invention and the structural representation of bridge inspection vehicle;
Fig. 5 is that the jib of bridge detection robot jib provided by the invention launches movement decomposition figure.
Embodiment
Below in conjunction with accompanying drawing of the present invention, carry out clear, complete description to the technical scheme in the embodiment of the present invention, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.
Referring to Fig. 1, is the structural representation of a key expansion control system of bridge detection robot jib provided by the invention.One key of described bridge detection robot jib launches control system 1 and comprises parameter input device 11, signal pickup assembly 12, controller 13, actuating unit 14.Described parameter input device 11, described signal pickup assembly 12, described actuating unit 14 are electrically connected with described controller 13 respectively.
Described parameter input device 11 comprises toggle switch 111 and touch display screen 112.Described touch display screen 112 is located at by described toggle switch 111.
Described signal pickup assembly 12 comprises rotary encoder 121, obliquity sensor 122 and displacement transducer 123.Described rotary encoder 121, described obliquity sensor 122 and institute's displacement sensors 123 are electrically connected with described controller 13 respectively.
Described actuating unit 14 comprises multi-channel electromagnetic operation valve group 141, arm support oil cylinder 142 and turntable motor 143.Described multi-channel electromagnetic operation valve group 141 is connected with described controller 13, and described arm support oil cylinder 142, described turntable motor 143 are connected with described multi-channel electromagnetic operation valve group 141 respectively.
Please on the basis of consulting Fig. 1, consult Fig. 4, Fig. 4 is a key expansion control system of bridge inspection vehicle provided by the invention and the structural representation of bridge inspection vehicle.Described rotary encoder 121 comprises the first rotary encoder 1211 and the second rotary encoder 1212.Described first rotary encoder 1211 and described second rotary encoder 1212 are electrically connected with described controller 13 respectively.
Described obliquity sensor 122 comprises the first obliquity sensor 1221, second obliquity sensor 1222 and the 3rd obliquity sensor 1223.Described first obliquity sensor 1221, described second obliquity sensor 1222 and described 3rd obliquity sensor 1223 are electrically connected with described controller 13 respectively.
Described arm support oil cylinder 142 comprises the first arm support oil cylinder 1421, the 2nd A arm support oil cylinder 1422, the 2nd B arm support oil cylinder 1423 and the 3rd arm support oil cylinder 1424.Described first arm support oil cylinder 1421, described 2nd A arm support oil cylinder 1422, described 2nd B arm support oil cylinder 1423 are connected with described multi-channel electromagnetic operation valve group 141 respectively with described 3rd arm support oil cylinder 1424.
Described turntable motor 143 comprises the first turntable motor 1431 and the second turntable motor 1432.Described first turntable motor 1431 is connected with described multi-channel electromagnetic operation valve group 141 respectively with described second turntable motor 1432.
Described bridge detection robot comprises the first jib 15, second jib 16, the 3rd jib 17 and chassis 18.Described first jib 15 one end is articulated in the first turntable (sign), described chassis 18 is located at by described first turntable, described first hinged described second turntable (sign) one end of jib 15 other end, the second turntable other end described in described second jib 16 pivot joint, hinged described second jib 16 of described 3rd jib 17.Preferably, described second jib 16 is telescopic jib.
Described first turntable (sign) is located at by described first rotary encoder 1211, and described chassis 18 is located at by described first turntable.
Described first jib 15 is located at by described second rotary encoder 1212.Described first obliquity sensor 1221 is located at described first jib 15, and described second obliquity sensor 1222 is located at described second jib 16, and described 3rd obliquity sensor 1223 is located at described 3rd jib 17.Institute's displacement sensors 123 is located in the middle part of described 3rd jib 17.
Described chassis 18 is located at by described controller 13.
Described first arm support oil cylinder 1421 is located at described first jib 15 and is connected one end with described chassis 18, described 2nd A arm support oil cylinder 1422 is located at described first jib 15 and is connected one end with described second jib 16, described 2nd B arm support oil cylinder 1423 is located at described second jib 16 and is connected one end with described first jib 15, and described 3rd arm support oil cylinder 17 is located at described second jib 16 and is connected described 3rd jib 17 one end.
Described first turntable motor 1431 is located at described first jib 15 and is connected described chassis 18 place, and described second turntable motor 1432 is located at described first jib 15 and is connected described second jib 16 place.
Please on the basis of consulting Fig. 4, consult Fig. 3 and Fig. 5, wherein Fig. 3 is the operational flowchart of a key expansion control system of bridge detection robot jib provided by the invention, and Fig. 5 is the expansion movement decomposition figure of bridge detection robot jib provided by the invention.Be followed successively by described first jib 15 arms by the order of arrow, arm opened up by described second jib 16, and described first jib 15 rotates, and described first jib 15 declines, and stretches out with the described extension 172 of described 3rd jib body 171 active link.
Concrete steps are as follows:
S1, described first jib 15, described second jib 16 and described 3rd jib 17 are in horizontality in non-duty, starting engine, make described first jib 15 first upwards play arm along bridge detection robot length direction under the driving of described first arm support oil cylinder 1421, described first obliquity sensor 1221 being now located at described first jib 15 starts to have detected arm angle;
S2, play arm and start to open up arm to the second jib 16 described in during certain angle under the driving of described 2nd A arm support oil cylinder, now open described second obliquity sensor 1222, exhibition arm rotates towards headstock direction, left side under the driving of described first turntable motor 1431 to the first jib 15 described in when being greater than 90 °, drive described second jib 16 to rotate simultaneously, now open described first rotary encoder 1211 and detect the anglec of rotation;
S3, go to vertical with vehicle body, now described first jib 15 rotates towards headstock left direction Vertical dimension ground under the driving of described first arm support oil cylinder 1421, until rotate to described first jib 15 level;
S4, meanwhile described 3rd jib 17 start to open up arm under the driving of described 3rd arm support oil cylinder 1424, and now described 3rd obliquity sensor 1223 starts, and are expanded to described 3rd jib 17 perpendicular to till during described second jib 16;
S5, subsequently described 3rd jib 17 rotate under the driving of described second turntable motor 1432 at the bottom of bridge, and described 2nd B arm support oil cylinder 1423 coordinates the action of described turntable motor 1432, and now described second rotary encoder 1212 starts, until under rotating on bridge;
S6, extend described extension 172, the institute's displacement sensors 123 being located at described 3rd jib 17 starts the development length detecting described extension 172, detects needs until meet.
More than for detecting the overall process of the key exhibition arm before formally starting.
Refer to Fig. 2, Fig. 2 is the work-based logic figure of a key expansion control system of bridge detection robot jib provided by the invention.If exhibition arm state does not reach target location, then described first jib 15, described second jib 16 and described 3rd jib 17 can continue action, until arrive dbjective state.Measuring robots starts to detect bridge subsequently.
One key of described bridge detection robot jib provided by the invention launches control system 1 and has following beneficial effect:
The testing process that traditional bridge inspection vehicle is interrupted is changed into the continuous detecting controlled by described parameter input device 11, described signal pickup assembly 12, described actuator 13 and described controller 14, save the time, improve efficiency, simultaneously because change traditional manual detection into automatic detection, improve detecting reliability.
The foregoing is only embodiments of the invention; not thereby scope of patent protection of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; directly or indirectly be used in the technical field that other is relevant, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a key of a bridge detection robot jib launches control system, it is characterized in that, comprise parameter input device, signal pickup assembly, controller, actuating unit, described parameter input device, described signal pickup assembly and described actuating unit are all electrically connected with described controller.
2. a key of bridge detection robot jib according to claim 1 launches control system, it is characterized in that, described parameter input device comprises touch display screen and toggle switch, described touch display screen is located at by described toggle switch, and described toggle switch and described touch display screen are electrically connected with described controller respectively.
3. a key of bridge detection robot jib according to claim 1 launches control system, it is characterized in that, described signal pickup assembly comprises rotary encoder, obliquity sensor and displacement transducer, and described rotary encoder, described obliquity sensor and institute's displacement sensors are electrically connected with described controller respectively.
4. a key of bridge detection robot jib according to claim 1 launches control system, it is characterized in that, described actuating unit comprises multi-channel electromagnetic operation valve group, arm support oil cylinder and turntable motor, described multi-channel electromagnetic operation valve group is connected with described controller, and described arm support oil cylinder, described turntable motor are connected with described multi-channel electromagnetic operation valve group respectively.
5. a key of bridge detection robot jib according to claim 3 launches control system, it is characterized in that, described rotary encoder comprises the first rotary encoder and the second rotary encoder, described first rotary encoder and described second rotary encoder are electrically connected with described controller respectively, the first turntable of bridge detection robot is located at by described first rotary encoder, described chassis is located at by described first turntable, and bridge detection robot first jib is located at by described second rotary encoder.
6. a key of bridge detection robot jib according to claim 3 launches control system, it is characterized in that, described obliquity sensor comprises the first obliquity sensor, second obliquity sensor and the 3rd obliquity sensor, described first obliquity sensor, described second obliquity sensor and described 3rd obliquity sensor are electrically connected with described controller respectively, described first obliquity sensor is located at bridge detection robot first jib, described second obliquity sensor is located at bridge detection robot second jib, described 3rd obliquity sensor is located at bridge detection robot the 3rd jib, institute's displacement sensors is located in the middle part of bridge detection robot the 3rd jib.
7. a key of bridge detection robot jib according to claim 4 launches control system, it is characterized in that, described arm support oil cylinder comprises the first arm support oil cylinder, 2nd A arm support oil cylinder, 2nd B arm support oil cylinder and the 3rd arm support oil cylinder, described first arm support oil cylinder, described 2nd A arm support oil cylinder, described 2nd B arm support oil cylinder is connected with described multi-channel electromagnetic operation valve group respectively with described 3rd arm support oil cylinder, described first arm support oil cylinder is located at bridge detection robot first jib and is connected one end with chassis, described 2nd A arm support oil cylinder is located at bridge detection robot first jib and is connected one end with the second jib, described 2nd B arm support oil cylinder is located at bridge detection robot second jib and is connected one end with the first jib, described 3rd arm support oil cylinder is located at bridge detection robot second jib and is connected the 3rd jib one end.
8. a key of bridge detection robot jib according to claim 4 launches control system, it is characterized in that, described turntable motor comprises the first turntable motor and the second turntable motor, described first turntable motor and described second turntable motor are connected with described multi-channel electromagnetic operation valve group respectively, described first turntable motor is located at bridge detection robot first jib connecting base plate place, and described second turntable motor is located at bridge detection robot first jib and is connected the second jib place.
9. a key of bridge detection robot jib according to claim 8 launches control system, and it is characterized in that, described second jib is telescopic jib.
10. an application rights requires that a key of the bridge detection robot jib in 1 to 9 described in any one launches the using method of control system, it is characterized in that, described bridge detection robot jib comprises the first jib, second jib, 3rd jib, chassis, described first jib one end is articulated in described first turntable, described chassis is located at by described first turntable, described first hinged described second turntable one end of the jib other end, the second turntable other end described in described second jib one end pivot joint, 3rd jib described in described second jib other end hinge, described 3rd jib comprises the 3rd jib body and extension, described extension is flexibly connected described 3rd jib, comprise the steps:
Step one, described first jib upwards play arm along bridge detection robot length direction;
Step 2, play arm and start to open up arm to the second jib described in during certain angle, exhibition arm rotates to the first jib described in when being greater than 90 ° towards headstock direction, left side;
Step 3, go to vertical with vehicle body, described first jib rotates towards headstock left direction Vertical dimension ground, until rotate to described first jib level;
Step 4, described 3rd jib start to open up arm, are expanded to described 3rd jib perpendicular to till during described second jib;
Step 5, described 3rd jib rotate, until under rotating on bridge at the bottom of bridge;
Step 6, extend described extension, until the length of described 3rd jib meets detect needs.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510252969.2A CN104950913A (en) | 2015-05-19 | 2015-05-19 | One-key unfolding control system of cantilever crane of bridge detecting robot |
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| CN201510252969.2A CN104950913A (en) | 2015-05-19 | 2015-05-19 | One-key unfolding control system of cantilever crane of bridge detecting robot |
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| CN201510252969.2A Pending CN104950913A (en) | 2015-05-19 | 2015-05-19 | One-key unfolding control system of cantilever crane of bridge detecting robot |
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Cited By (2)
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| CN106869023A (en) * | 2017-03-06 | 2017-06-20 | 张家港市欧微自动化研发有限公司 | A kind of bridge detection robot |
| CN114738624A (en) * | 2022-06-13 | 2022-07-12 | 辽宁省交通规划设计院有限责任公司 | Bridge detection device and detection method |
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