CN106592425A - Railway bridge inspection vehicle and control method thereof - Google Patents
Railway bridge inspection vehicle and control method thereof Download PDFInfo
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- CN106592425A CN106592425A CN201710111595.1A CN201710111595A CN106592425A CN 106592425 A CN106592425 A CN 106592425A CN 201710111595 A CN201710111595 A CN 201710111595A CN 106592425 A CN106592425 A CN 106592425A
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- support member
- driver element
- railway bridge
- supporting leg
- controller
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The embodiment of the invention discloses a railway bridge inspection vehicle and a control method thereof. The railway bridge inspection vehicle comprises a vehicle body which is provided with a controller, a sensor and supporting legs. Each supporting leg comprises a first supporting piece, a first supporting piece drive unit, a second supporting piece and a second supporting piece drive unit. The controller is electrically connected with the sensor, the first supporting piece drive units and the second supporting piece drive units. The sensor is used for detecting work condition environment information of the railway bridge inspection vehicle. The controller is used for controlling the second supporting piece drive units to drive the second supporting pieces to be engaged with or disengaged from the first supporting pieces. According to the railway bridge inspection vehicle, two supporting pieces are designed on each supporting leg according to the work condition environments of ballast tracks and ballastless tracks, the sensor is used for detecting the work condition environment of the railway bridge inspection vehicle, and the controller is used for controlling the supporting legs to select the first supporting pieces or the second supporting pieces to be supported on the two sides of steel rails according to the work condition environment, of the railway bridge inspection vehicle, detected by the sensor .
Description
Technical field
The present invention relates to railway bridge inspection car technical field, more particularly to a kind of railway bridge-checking vehicle and its control method.
Background technology
Bridge is the important component part of railway traffic, and the development for railway in the natural environment of inclement condition is created
Good condition, but the aging of bridge or design and construction defect can affect to traffic safety.In order to ensure
Bridge life-time service it is safe and reliable, it is made regular check on and maintenance is particularly important.In order to improve railway Bridge
Overhaul efficiency, generally bridge is overhauled using railway bridge-checking vehicle.
Figure 1A and Figure 1B is a kind of maintenance schematic diagram of a scenario of railway bridge-checking vehicle in prior art, as shown in Figure 1A and 1B,
Railway bridge-checking vehicle includes vehicle 101, and vehicle 101 is provided with the first working arm 102, the second working arm 103 and the being sequentially connected
Three working arms 104, the first working arm 102, the second working arm 103 and the 3rd working arm 104 can be with opposing oscillatories, in the 3rd work
The end of arm 104 is provided with hanging basket 105.During work, maintainer stands in hanging basket 105, and the driver of vehicle 101 is by control first
The pendulum angle of working arm 102, the second working arm 103 and the 3rd working arm 104, by maintainer the corresponding of bridge 106 is delivered to
Position, and then bridge 106 can be overhauled.Wherein, when overhauling to bridge 106, in order to improve railway bridge-checking vehicle
Stability, it usually needs railway bridge-checking vehicle is supported on the upper surface of bridge by railway bridge-checking vehicle supporting leg.
In order to railway bridge-checking vehicle to be stablely supported at the upper surface of bridge, railway bridge-checking vehicle supporting leg and supporting surface (are used
In the surface for supporting railway bridge-checking vehicle supporting leg) between need to keep stable matching relationship.But, the work condition environment tool of railway
There is multiformity (such as Ballast track and non-fragment orbit), correspondingly, for supporting the supporting surface of railway bridge-checking vehicle supporting leg same
With multiformity, railway bridge-checking vehicle of the prior art can not meet the demand of multiformity work condition environment.
The content of the invention
A kind of railway bridge-checking vehicle and its control method are provided in the embodiment of the present invention, to solve railway of the prior art
Bridge-checking vehicle can not meet the problem of the demand of multiformity work condition environment.
In a first aspect, embodiments provide a kind of railway bridge-checking vehicle, including vehicle, the vehicle is provided with control
Device, sensor and supporting leg；The supporting leg is arranged on the bottom of the vehicle, the supporting leg include supporting leg main body and with
The first support member that the supporting leg main body is coaxially disposed, one end of first support member passes through the first support member driver element
It is connected with the supporting leg main body, the other end of first support member is tip, and the first support member driver element is used for
First support member is driven to move along the axis direction of the supporting leg main body；
First support member is provided with the second support body assembly, and second support body assembly includes discoid second
Support member and the second support member driver element, second support member is provided with the first groove matched with the tip, institute
The second support member driver element is stated for driving second support member to fasten or depart from first support member；
Wherein, when second support member is fastened with first support member, the tip is embedded in first groove
It is interior, and the plane that second support member is located is vertical with the axis of the supporting leg main body；
The controller is electrically connected with the sensor, the first support member driver element and the second support member driver element,
The sensor is used to detect the work condition environment information of the railway bridge-checking vehicle that the controller to be used for according to the work condition environment
Information controls the second support member driver element and drives second support member to fasten or depart from first support member.
Preferably, the sensor includes image acquisition units, and described image collecting unit is used for collection and the vehicle
The corresponding bridge surface in bottom image information；
The controller is used to be analyzed described image information, determines the work condition environment of the railway bridge-checking vehicle.
Preferably, the sensor includes first laser diastimeter and second laser diastimeter, the first laser range finding
Instrument and the second laser diastimeter are arranged on the rail wheel outside of the bottom of the vehicle, the vehicle, and described first swashs
Direct of travel of the line of optar and the second laser diastimeter perpendicular to the vehicle；
The first laser diastimeter and the second laser diastimeter are used to towards the direction transmitting away from the vehicle swash
Light beam, the plane that the laser beam is located perpendicular to the bottom of the vehicle；
The controller is used for the range information to the first laser diastimeter and second laser diastimeter collection
It is analyzed, determines the work condition environment of the railway bridge-checking vehicle.
Preferably, the controller be used for the first laser diastimeter and the second laser diastimeter collection away from
It is analyzed from information, determines the work condition environment of the railway bridge-checking vehicle, specifically includes：
The controller is used to calculate the distance letter of the first laser diastimeter and second laser diastimeter collection
The difference of breath；
When the difference is more than default first threshold and during less than default Second Threshold, the railway bridge-checking vehicle is determined
Work condition environment be Ballast track；
When the difference is less than or equal to default first threshold, or during more than or equal to default Second Threshold, really
The work condition environment of the fixed railway bridge-checking vehicle is non-fragment orbit.
Preferably, second support body assembly also includes connecting rod, and one end of the connecting rod is driven with second support member
Moving cell be connected, the other end of the connecting rod is connected with second support member, and the axis of the connecting rod with described first
The plane that support member is located is vertical；
The second support member driver element is used to drive the connecting rod to drive second support member to put along first rotating shaft
Dynamic, the first rotating shaft is mutually perpendicular to the axis of the supporting leg main body；
Wherein, in the first extreme position of the swing, the axis phase of the axis of the connecting rod and the supporting leg main body
Mutually parallel, in the second extreme position of the swing, the axis of the connecting rod is mutually perpendicular to the axis of the supporting leg main body.
Preferably, the connecting rod includes connecting rod driver element, and the connecting rod driver element is used to drive the connecting rod to extend
Or shorten.
Preferably, second support member is " Ω " shape, is elastic component at the opening of second support member.
Preferably, point pawls component is provided with first support member, the point pawls component includes point pawls driver element and point
Pawl, the side wall at the tip is provided with the through hole matched with the point pawls；
The point pawls driver element is used to drive the point pawls to stretch out the through hole, or is contracted in inside the through hole.
Preferably, the quantity of the point pawls and the through hole be 3 and more than.
Second aspect, embodiments provides a kind of control method of railway bridge-checking vehicle, is applied to above-mentioned first party
Railway bridge-checking vehicle described in face, methods described includes：
When the work condition environment information that the sensor detects the railway bridge-checking vehicle is Ballast track, the controller
The first work order is sent to the first support member driver element, first work order is used to indicate that described first supports
Part driver element drives the tip of first support member to stretch in the railway ballast of the Ballast track；
When the work condition environment information that the sensor detects the railway bridge-checking vehicle is non-fragment orbit, the controller
The second work order is sent to the second support member driver element, second work order is used to indicate that described second supports
Part driver element drives second support member to fasten with first support member.
Preferably, second support member is driven to fasten with first support member in the second support member driver element
Afterwards, also include：
The controller to the first support member driver element sends the 3rd work order, and the 3rd work order is used
In the first support member driver element driving the first support member drive the second support member extension is indicated, until described
Second support member props up the rectangular base seat board of the rail both sides of the non-fragment orbit or the upper surface of rectangular rail plate.
Preferably, after the tip of first support member is stretched in the railway ballast of the Ballast track, also include：
The controller to the point pawls driver element sends the 4th work order, and the 4th work order is used to indicate
The point pawls driver element drives the point pawls to stretch out the through hole.
From above technical scheme, railway bridge-checking vehicle supporting leg provided in an embodiment of the present invention is for Ballast track and nothing
The work condition environment of tiny fragments of stone, coal, etc. track devises two support members (the first support member and the second support member) on supporting leg, in the course of work
In, sensor detects the work condition environment of railway bridge-checking vehicle, and controller is according to the work condition environment control supporting leg Selection utilization first
Support member or the second supports support are in the both sides of rail so that railway bridge-checking vehicle goes for various working environment.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, on the premise of not paying creative work, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Figure 1A and Figure 1B is a kind of maintenance schematic diagram of a scenario of railway bridge-checking vehicle in prior art；
Fig. 2A is a kind of work condition environment schematic diagram of Ballast track provided in an embodiment of the present invention；
Fig. 2 B are a kind of work condition environment schematic diagram of non-fragment orbit provided in an embodiment of the present invention；
Fig. 2 C are that a kind of range finding of the laser range finder provided in an embodiment of the present invention in the work condition environment of Ballast track is shown
It is intended to；
Fig. 2 D are that a kind of range finding of the laser range finder provided in an embodiment of the present invention in the work condition environment of non-fragment orbit is shown
It is intended to；
Fig. 2 E are range finding of another kind of laser range finder provided in an embodiment of the present invention in the work condition environment of non-fragment orbit
Schematic diagram；
Fig. 3 A-3E are a kind of railway bridge-checking vehicle support leg structure schematic diagram provided in an embodiment of the present invention；
Fig. 4 is a kind of structural representation of second support member provided in an embodiment of the present invention；
Fig. 5 A and Fig. 5 B is another kind of railway bridge-checking vehicle support leg structure schematic diagram provided in an embodiment of the present invention；
Fig. 6 is a kind of structural representation of point pawls provided in an embodiment of the present invention；
Fig. 7 A and Fig. 7 B are a kind of structural representation of first support member provided in an embodiment of the present invention；
Symbol in figure is expressed as：101- vehicles, the working arms of 102- first, the working arms of 103- second, 104- the 3rd works
Arm, 105- hanging baskets, 106- bridges, 201- rail, the trapezoidal railway roadbeds of 202-, the supporting surfaces of 203- first, 204- rectangular rail plates, 205-
Second supporting surface, 206- rectangular base seat boards, 207- vehicles, 208- first laser diastimeters, 209- second laser diastimeters, 210-
Rail wheel, 301- supporting leg main bodys, the support members of 302- first, 303- the first support member driver elements, the support members of 304- second,
305- the second support member driver elements, 306- connecting rods, the grooves of 307- first, 308- is sophisticated, 401- point pawls, and 402- point pawls drive single
Unit, 403- through holes.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described enforcement
Example is only a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
Because in practical work process, railway bridge-checking vehicle is walked all the time along rail, therefore railway bridge-checking vehicle supporting leg
The both sides of rail can only be supported on.Wherein, when railway bridge-checking vehicle is fixed by supporting leg, the stability of supporting leg receives steel
The work condition environment of rail both sides affects.The work condition environment that the embodiment of the present invention may relate to is illustrated first below.
Fig. 2A is a kind of work condition environment schematic diagram of Ballast track provided in an embodiment of the present invention, as shown in Figure 2 A, rail
201 lower section is trapezoidal railway roadbed 202 (being trapezoidal perpendicular to the cross section of rail bearing of trend), and trapezoidal railway roadbed 202 is generally by road
The tiny fragments of stone, coal, etc. is piled up and is formed.Because in the work condition environment of Ballast track, the both sides of rail 201 are the inclined plane of trapezoidal railway roadbed 202, and
The operation on bridge of railway bridge-checking vehicle, is often limited to bridge floor space, it is impossible to which supporting leg is stretched out longer to away from car body direction
Distance, therefore when railway bridge-checking vehicle is fixed by supporting leg, supporting leg can only be fixed on the inclined plane of trapezoidal railway roadbed 202
Upper (hereinafter referred to as " the first supporting surface 203 ").
Fig. 2 B are a kind of work condition environment schematic diagram of non-fragment orbit provided in an embodiment of the present invention, as shown in Figure 2 B, rail
It (is square perpendicular to the cross section of rail bearing of trend that 201 lower section is followed successively by rectangular rail plate 204 and rectangular base seat board 206
Shape), a rectangular rail plate 204 and rectangular base seat board 206 typically respectively complete cement plate, wherein, rectangular base seat board 206
It is more than rectangular rail plate 204 in the length perpendicular to rail bearing of trend.Due in the work condition environment of non-fragment orbit, rail
201 both sides are the two ends of rectangular rail plate 204 and rectangular base seat board 206, rectangular rail plate 204 and rectangular base seat board 206
The upper surface at two ends is horizontal plane, and railway bridge-checking vehicle operation on bridge is often limited to bridge floor space, it is impossible to supporting leg
Longer distance is stretched out to away from car body direction, therefore when railway bridge-checking vehicle is fixed by supporting leg, supporting leg is fixed
(hereinafter referred to as " the second supporting surface on the rectangular rail plate 204 of the both sides of rail 201 or the upper surface of rectangular base seat board 206
205”)。
In a kind of preferred version, supporting leg is fixed on the rectangular base seat board 206 of the both sides of rail 201.
As shown in Figure 2 A and 2B, in the work condition environment of Ballast track and non-fragment orbit, for supporting railway bridge-checking vehicle
First supporting surface 203 of support leg and the gap of the second supporting surface 205 are larger.From the point of view of in shape, the first supporting surface 203 is inclination
Face, the second supporting surface 205 is horizontal plane；In view of composition, the first supporting surface 203 be by railway ballast pile up loose face, second
The surface that supporting surface 205 is formed in one.
If by the bottom design of railway bridge-checking vehicle supporting leg (hereinafter referred to as " supporting leg ") into planar structure, due to
Second supporting surface 205 is horizontal plane, therefore the supporting leg can obtain stable support on the second supporting surface 205.But, by
It is inclined plane in the first supporting surface 203, and is the loose face piled up by railway ballast, it is clear that the supporting leg is on the first supporting surface 203
Stable support can not be obtained.That is, bottom design may be only available for into non-fragment orbit into the supporting leg of planar structure
Work condition environment, is not suitable for the work condition environment of Ballast track.
If the design of the end of supporting leg is tapered, because the first supporting surface 203 is the loose face piled up by railway ballast, because
This supporting leg can be embedded in the inside of the first supporting surface 203 until level ground, obtains stable on the first supporting surface 203
Support.But, due to the surface that the second supporting surface 205 is formed in one, the supporting leg cannot be embedded in the interior of the second supporting surface 205
Portion, and pyramidal structure is less with the contact area of the second supporting surface 205, causes the supporting leg can not on the second supporting surface 205
Obtain stable support.That is, the supporting leg of the tapered structure of bottom design may be only available for into the operating mode of Ballast track
Environment, is not suitable for the work condition environment of non-fragment orbit.
For this phenomenon, a kind of railway bridge inspection for going for various working environment is embodiments provided
Car, the railway bridge-checking vehicle includes vehicle, and the bottom of the vehicle is provided with supporting leg.The number of supporting leg in a kind of preferred version
Measure as 4, be separately positioned at four angles of the bottom of the vehicle.Wherein, the supporting leg includes the He of supporting leg main body 301
The first support member 302 being coaxially disposed with the supporting leg main body 301, one end of first support member 302 passes through first
Support member driver element 303 is connected with the supporting leg main body 301, and the other end of first support member 302 is tip 308, institute
Stating the first support member driver element 303 is used to drive first support member 302 along the axis direction of the supporting leg main body 301
Motion；First support member 302 is provided with the component of the second support member 304, and the component of the second support member 304 includes discoid
The second support member 304 and the second support member driver element 305, second support member 304 is provided with and sophisticated 308 phase
First groove 307 of matching, the second support member driver element 305 is used to drive second support member 304 to fasten or take off
From first support member 302；Wherein, when second support member 304 is fastened with first support member 302, the point
End 308 is embedded in first groove 307, and the plane and the supporting leg main body 301 at second support member 304 place
Axis is vertical.
That is, work condition environment difference of the supporting leg provided in an embodiment of the present invention for Ballast track and non-fragment orbit
Two support members (the first support member 302 and the second support member 304) are devised, in the course of the work, can be according to actual work
Condition environmental selection is supported on the both sides of rail using the first support member 302 or the second support member 304 so that supporting leg can be suitable for
In various working environment.
In addition, the automaticity in order to improve railway bridge-checking vehicle, is additionally provided with controller and sensor on vehicle 207,
Sensor is used to detect the work condition environment information of railway bridge-checking vehicle, and the work condition environment information for detecting is sent to into controller,
Controller controls the second support member driver element 305 and drives second support member 304 according to the work condition environment information
Fasten or depart from first support member 302.For example, when work condition environment information corresponds to Ballast track, controller control institute
Stating the second support member driver element 305 drives second support member 304 to depart from first support member 302, makes supporting leg profit
The both sides of rail 201 are supported on the first support member 302；When work condition environment information corresponds to non-fragment orbit, controller control
The second support member driver element 305 drives second support member 304 to fasten first support member 302, makes supporting leg
The both sides of rail 201 are supported on using the second support member 304.
That is, in embodiments of the present invention railway bridge-checking vehicle has the identification function of work condition environment, railway bridge-checking vehicle
Rail 201 can be supported on according to autonomous Selection utilization the first support member 302 of work condition environment or the second support member 304 that it is recognized
Both sides, improve its automaticity.Wherein, the identification to work condition environment can be realized by following two modes.
In the first possible implementation, sensor includes image acquisition units, and described image collecting unit is used for
The image information on the collection bridge surface corresponding with the bottom of the vehicle 207, and image information is sent to controller.It
Afterwards, controller is analyzed to the image information, determines the work condition environment of the railway bridge-checking vehicle for Ballast track or without tiny fragments of stone, coal, etc. rail
Road.Specifically potentially include, by described image information respectively with data base in store Ballast track or non-fragment orbit standard drawing
As being contrasted, if described image information is higher with the standard picture similarity of Ballast track, it is determined that work condition environment is have the tiny fragments of stone, coal, etc.
Track；Conversely, determining that work condition environment is non-fragment orbit.
In second possible implementation, by laser range finder bottom and the Ballast track of vehicle 207 are detected
Trapezoidal railway roadbed 202, or the distance between the rectangular rail plate 204 or rectangular base seat board 206 of non-fragment orbit, and according to perpendicular to
The distance difference that two test points on the direction of travel of vehicle 207 are detected determines the work condition environment of railway bridge-checking vehicle.
Specifically, the sensor includes first laser diastimeter 208 and second laser diastimeter 209, and described first swashs
Optar 208 and the second laser diastimeter 209 are arranged on the bottom of the vehicle 207, the rail wheel of the vehicle 207
210 outside, and the line of the first laser diastimeter 208 and the second laser diastimeter 209 is perpendicular to the vehicle
207 direct of travel；The first laser diastimeter 208 and the second laser diastimeter 209 are used for towards away from the vehicle
207 direction transmitting laser beam, the plane that the laser beam is located perpendicular to the bottom of the vehicle 207.In order to reach preferably
Detection results, should keep between the first laser diastimeter 208 and the second laser diastimeter 209 it is less away from
From.In a kind of alternative embodiment, the distance of the first laser diastimeter 208 and the second laser diastimeter 209 is less than
Or equal to 10cm.
Below in conjunction with Fig. 2 C- Fig. 2 E to first laser diastimeter 208 under different work condition environments and second laser diastimeter 209
The situation of change of the range information of collection is analyzed.
Fig. 2 C are that a kind of range finding of the laser range finder provided in an embodiment of the present invention in the work condition environment of Ballast track is shown
It is intended to, as shown in Figure 2 C, first laser diastimeter 208 and second laser diastimeter 209 detect respectively it with trapezoidal railway roadbed 202
Vertical distance between inclined plane.Easy to understand, under the work condition environment, first laser diastimeter 208 and second laser are found range
The range information of the collection of instrument 209 is bound to the presence of certain difference, due to first laser diastimeter 208 and second laser diastimeter
209 lateral separation is less, therefore the difference will not be very big.
Fig. 2 D are that a kind of range finding of the laser range finder provided in an embodiment of the present invention in the work condition environment of non-fragment orbit is shown
It is intended to, as shown in Figure 2 D, first laser diastimeter 208 and second laser diastimeter 209 detect it with rectangular rail plate 204
Vertical distance between upper surface.Easy to understand, under the work condition environment, first laser diastimeter 208 and second laser are found range
The range information of the collection of instrument 209 is equal, i.e., its range information difference is 0.
Correspondingly, when first laser diastimeter 208 and second laser diastimeter 209 detect it with rectangular base seat board 206
Upper surface between vertical distance when, first laser diastimeter 208 and second laser similar to the work condition environment shown in Fig. 2 D
The range information of the collection of diastimeter 209 is equal, i.e., its range information difference is 0.
Fig. 2 E are range finding of another kind of laser range finder provided in an embodiment of the present invention in the work condition environment of non-fragment orbit
Schematic diagram, as shown in Figure 2 E, first laser diastimeter 208 detection itself and the upper surface of rectangular base seat board 206 between it is vertical away from
From second laser diastimeter 209 detects itself and the vertical distance between the upper surface of rectangular rail plate 204.Due to therebetween
There is the thickness difference of a rectangular rail plate 204, therefore under the work condition environment, first laser diastimeter 208 and second laser
The difference of the range information of the collection of diastimeter 209 is larger.
In sum, when the range information difference that first laser diastimeter 208 and second laser diastimeter 209 are gathered is 0
Or when larger, it may be determined that the work condition environment of railway bridge-checking vehicle is non-fragment orbit；Otherwise, it determines the operating mode ring of railway bridge-checking vehicle
Border is Ballast track.
Based on the principle, in embodiments of the present invention controller determines that the work condition environment of railway bridge-checking vehicle is specifically included：Institute
Controller is stated for calculating the range information that the first laser diastimeter 208 and the second laser diastimeter 209 are gathered
Difference；When the difference is more than default first threshold and during less than default Second Threshold, the railway bridge-checking vehicle is determined
Work condition environment is Ballast track；When the difference is less than or equal to default first threshold, or more than or equal to default the
During two threshold values, the work condition environment for determining the railway bridge-checking vehicle is non-fragment orbit.Wherein, the first threshold can be 0.Figure
3A-3E is a kind of railway bridge-checking vehicle support leg structure schematic diagram provided in an embodiment of the present invention, and wherein Fig. 3 A are the first support member
302 and the view that departs from of the second support member 304, Fig. 3 D are the shape that the first support member 302 and the second support member 304 are fastened
State schematic diagram.
As figs. 3 a-3 e, railway bridge-checking vehicle supporting leg provided in an embodiment of the present invention include supporting leg main body 301 and with
The first support member 302 that the supporting leg main body 301 is coaxially disposed, one end of first support member 302 supports by first
Part driver element 303 is connected with the supporting leg main body 301, and the other end of first support member 302 is tip 308, described
First support member driver element 303 is used to drive first support member 302 to transport along the axis direction of the supporting leg main body 301
It is dynamic.
Wherein, supporting leg main body 301 is used to be connected to the bottom of railway bridge-checking vehicle, and the first support member 302 is used to be supported on
On first supporting surface 203 of Ballast track.Specifically, when the work condition environment of railway bridge-checking vehicle is Ballast track, by the
One support member driver element 303 drives first support member 302 to move to the direction of the first supporting surface 203.Due to first
Support member 302 is tip 308 near one end of the first supporting surface 203, and the first supporting surface 203 is the loose face piled up by railway ballast,
Therefore in the presence of the first support member driver element 303, the embedded (road of first supporting surface 203 of the first support member 302 can be caused
The tiny fragments of stone, coal, etc.) it is interior up to ground, and then cause supporting leg that stable support is obtained in the work condition environment of Ballast track.
In addition, in order that supporting leg can be similarly obtained stable support in the work condition environment of non-fragment orbit, first
The component of the second support member 304 is additionally provided with support member 302, the component of the second support member 304 is supported including discoid second
Part 304, the second support member 304 is provided with the first groove 307 matched with tip 308, in the work condition environment of non-fragment orbit,
The first support member 302 and the second support member 304 is made to fasten, embedded second support member 304 in tip 308 of the first support member 302
In first groove 307.In this case, when supporting leg is supported on the (rectangular rail of the both sides of rail 201 of the second supporting surface 205
The upper surface of plate 204 or rectangular base seat board 206) on when, the second support member 304 and the directly contact of the second supporting surface 205.Due to
The bottom of two support members 304 is a plane, and the second supporting surface 205 is a horizontal plane, therefore the second support member 304 and second
There is larger contact area between supporting surface 205, and then supporting leg is stablized in the work condition environment of non-fragment orbit
Support.
Wherein, in order that supporting leg is flexibly switched in the work condition environment of Ballast track and non-fragment orbit, need
Driver element is set for the second support member 304 so that the second support member 304 can neatly fasten or depart from the first support member
302。
Based on this, the component of the second support member 304 provided in an embodiment of the present invention also drives including the support member of connecting rod 306 and second
Moving cell 305, one end of the connecting rod 306 is connected with the second support member driver element 305, the connecting rod 306 it is another
End is connected with second support member 304, and the axis of the connecting rod 306 hangs down with the plane that first support member 302 is located
Directly, the second support member driver element 305 is used to drive the connecting rod 306 to drive second support member 304 along first turn
Axle swings, and the first rotating shaft is mutually perpendicular to the axis of the supporting leg main body 301.
Wherein, the second support member driver element 305, connecting rod 306, the second support member 304 and the first support member 302
Position relationship is configured to：When the second support member driver element 305 drives the second support member 304 to swing to the first extreme position
When, the axis of the connecting rod 306 is parallel to each other with the axis of the supporting leg main body 301；When the second support member driver element 305
When driving the second support member 304 to swing to the second extreme position, the axis of the connecting rod 306 and the supporting leg main body 301
Axis is mutually perpendicular to.
It is easily understood that when the second support member 304 swings to the first extreme position (as shown in Figure 3 D), first supports
The support member 304 of part 302 and second is fastened, it is adaptable to non-fragment orbit；When the second support member 304 swings to the second extreme position
(as shown in Figure 3A), the first support member 302 and the second support member 304 depart from, it is adaptable to Ballast track.
But, first extreme position is swung to or by the first extreme position by the second extreme position in the second support member 304
During swinging to the second extreme position, can interfere with the first support member 302, as shown in FIGURE 3 E, cause the first support
The support member 304 of part 302 and second cannot normally be fastened or departed from.
For this problem, in embodiments of the present invention, it is additionally provided with connecting rod 306 for driving the connecting rod 306 to extend
Or the driver element of connecting rod 306 for shortening.Correspondingly, first limit position is swung to by the second extreme position in the second support member 304
Before putting, extended by the driver element drive link 306 of connecting rod 306, as shown in Figure 3 B, now, in the second support member 304 by
During two extreme positions swing to the first extreme position or swing to the second extreme position by the first extreme position, second
The support member 302 of support member 304 and first will not be interfered, as shown in Figure 3 C.Afterwards, the driver element drive link 306 of connecting rod 306
Shrink, it is as shown in Figure 3 D, real until the tip 308 of the first support member 302 is embedded in the first groove 307 of the second support member 304
The fastening of existing first support member 302 and the second support member 304.
Conversely, when the first support member 302 and the second support member 304 need to depart from, being driven by the driver element of connecting rod 306 first
Dynamic connecting rod 306 extends, and reaches position as shown in Figure 3 C；Then the second support member is driven by the second support member driver element 305
304 swing to the second extreme position by the first extreme position, reach position as shown in Figure 3 B；Finally list is driven by connecting rod 306
First drive link 306 is shunk, and reaches the position shown in Fig. 3 A, realizes the disengaging of the first support member 302 and the second support member 304.
Although aforesaid way can realize fastening and the disengaging of the first support member 302 and the second support member 304, due to
First support member 302 and the second support member 304 need the driver element drive link of connecting rod 306 when changing between the two states
306 elongations so that the conversion between two states needs larger space, but hollow in some specific environments of bridge maintenance
Between it is limited, it is impossible to provide corresponding space for the elongation of connecting rod 306, and then cause the first support member 302 and the nothing of the second support member 304
Method is fastening and is departing from conversion between two states.Now, railway bridge can only be examined the environment that garage sails to spaciousness by human pilot
In carry out State Transferring, then again by railway bridge inspection garage sail to home position, cause overhaul efficiency relatively low.
For this phenomenon, in the alternatively possible implementation of the present invention, the second support member 304 is designed as " Ω "
Shape (as shown in Figure 4), is elastic component at the opening of second support member 304, former to its work below in conjunction with Fig. 5 A and Fig. 5 B
Reason is illustrated.
Fig. 5 A and Fig. 5 B is another kind of railway bridge-checking vehicle support leg structure schematic diagram provided in an embodiment of the present invention, of the invention
The structure basic simlarity of the embodiment shown in embodiment and Fig. 3 A-3E, its difference is, in embodiments of the present invention second
Support member 304 is using the structure shown in Fig. 4.
When the second support member driver element 305 drives the second support member 304 to swing to the position shown in Fig. 5 A, first
The support member 304 of support member 302 and second is interfered, but due to being elastic component at the opening of the second support member 304 so that second
Support member driver element 305 can drive the second support member 304 to continue to swing, in this process the tip of the first support member 302
308 openings that can squeeze through the second support member 304, and then in the groove of the second support member 304 so that the first support member
302 and second support member 304 fasten, reach position as shown in Figure 5 B.Conversely, the first support member 302 and the second support member 304
The process of disengaging is similar to above-mentioned operation principle, will not be described here.
In embodiments of the present invention, during fastening or depart from due to the first support member 302 and the second support member 304 not
Need connecting rod 306 stretch, it is therefore desirable to transformed space it is less.
Generally speaking, in the embodiment shown in Fig. 3 A-3E, because the second support member 304 is hard structure, in order to avoid
First support member 302 and the second support member 304 are fastened or interfered during departing from, and connecting rod 306 is arranged in connecting rod 306
Driver element, drive link 306 is stretched.In the embodiment shown in Fig. 5 A and Fig. 5 B, because the second support member 304 is " Ω "
It is elastic component at shape, and the opening of the second support member 304, even if the first support member 302 and the second support member 304 are interfered,
The tip 308 of the first support member 302 can still squeeze through the opening of the second support member 304 so that the first support member 302 and second is supported
Part 304 is fastened.
In a kind of preferred embodiment of the invention, in first support member 302 point pawls component, the point pawls component are provided with
Including point pawls driver element 402 and point pawls 401, described sophisticated 308 side wall is provided with the through hole matched with the point pawls 401
403；The point pawls driver element 402 is used to drive the point pawls 401 to stretch out the through hole 403, or is contracted in the through hole 403
It is internal.
Fig. 6 is a kind of structural representation of point pawls provided in an embodiment of the present invention, as shown in fig. 6, in the embodiment of the present invention
In, the quantity of point pawls 401 is 3, and accordingly, the quantity of the through hole 403 being engaged with point pawls 401 on tip 308 equally should
For 3.Certainly, those skilled in the art can according to actual needs design the point pawls 401 and through hole 403 of other quantity, and such as 5
It is individual, 6 or 8 etc., it should fall under the scope of the present invention.
Fig. 7 A and Fig. 7 B are a kind of structural representation of first support member provided in an embodiment of the present invention, as shown in Figure 7 A,
Under normal circumstances, point pawls 401 are contracted in inside through hole 403.When the first support member driver element 303 drives the first support member
After in 302 embedded railway ballasts, point pawls driver element 402 drives point pawls 401 to stretch out the through hole 403, as shown in Figure 7 B, stretches into railway ballast
Inside, can improve the earth-grasping force of the first support member 302, that is, improve the stability of support feet.Conversely, when the first support feet needs
When packing up, first-selection drives point pawls 401 to be contracted to inside through hole 403 by point pawls driver element 402, and then the first support member drives single
Unit 303 drives the first support member 302 to withdraw from railway ballast.
On the basis of said apparatus embodiment, the embodiment of the present invention additionally provides a kind of controlling party of railway bridge-checking vehicle
Method, the method is applied to include the railway bridge-checking vehicle described in said apparatus embodiment that methods described includes：
When the work condition environment information that the sensor detects the railway bridge-checking vehicle is Ballast track, the controller
The first work order is sent to the first support member driver element 303, first work order is used to indicate described first
Support member driver element 303 drives the tip 308 of first support member 302 to stretch in the railway ballast of the Ballast track；
When the work condition environment that the sensor detects the railway bridge-checking vehicle is non-fragment orbit, the controller is to institute
State the second support member driver element 305 and send the second work order, second work order is used to indicate that described second supports
Part driver element 305 drives second support member 304 to fasten with first support member 304.
Preferably, second support member 304 is driven to support with described first in the second support member driver element 305
After part 304 is fastened, also include：
The controller to the first support member driver element 303 sends the 3rd work order, and the 3rd work refers to
Make for indicating that the first support member driver element 303 drives first support member 302 to drive second support member 304
Extend, until second support member 304 props up the rectangular base seat board or rectangular rail plate of the rail both sides of the non-fragment orbit
Upper surface.
Preferably, after the tip 308 of first support member 302 is stretched in the railway ballast of the Ballast track, also wrap
Include：The controller to the point pawls driver element 402 sends the 4th work order, and the 4th work order is used to indicate institute
Stating point pawls driver element 402 drives the point pawls 401 to stretch out the through hole 403.
The content of the method embodiment and device embodiment can be succinct in order to describe with cross-reference, will not be described here.
It should be noted that herein, the relational terms of such as " first " and " second " or the like are used merely to one
Individual entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operate it
Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant are intended to
Cover including for nonexcludability, so that a series of process, method, article or equipment including key elements not only includes those
Key element, but also including other key elements being not expressly set out, or also include for this process, method, article or set
Standby intrinsic key element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that
Also there is other identical element in the process including the key element, method, article or equipment.
The above is only the specific embodiment of the present invention, is made skilled artisans appreciate that or realizing this
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (10)
1. a kind of railway bridge-checking vehicle, it is characterised in that including vehicle, the vehicle is provided with controller, sensor and supporting leg；
The supporting leg is arranged on the bottom of the vehicle, the supporting leg include supporting leg main body and with the supporting leg main body
The first support member being coaxially disposed, one end of first support member is by the first support member driver element and the supporting leg master
Body phase connects, and the other end of first support member is tip, and the first support member driver element is used to drive described first
Support member is moved along the axis direction of the supporting leg main body；
First support member is provided with the second support body assembly, and second support body assembly is supported including discoid second
Part and the second support member driver element, second support member is provided with the first groove matched with the tip, and described
Two support member driver elements are used to drive second support member to fasten or depart from first support member；
Wherein, when second support member is fastened with first support member, the tip is embedded in first groove, and
The plane that second support member is located is vertical with the axis of the supporting leg main body；
The controller is electrically connected with the sensor, the first support member driver element and the second support member driver element, described
Sensor is used to detect the work condition environment information of the railway bridge-checking vehicle that the controller to be used for according to the work condition environment information
Controlling the second support member driver element drives second support member to fasten or depart from first support member.
2. railway bridge-checking vehicle according to claim 1, it is characterised in that the sensor includes image acquisition units, institute
State image acquisition units for gather the bridge surface corresponding with the vehicle bottom image information；
The controller is used to be analyzed described image information, determines the work condition environment of the railway bridge-checking vehicle.
3. railway bridge-checking vehicle according to claim 1, it is characterised in that the sensor include first laser diastimeter and
Second laser diastimeter, the first laser diastimeter and the second laser diastimeter are arranged on the bottom of the vehicle, institute
The rail wheel outside of vehicle is stated, and the line of the first laser diastimeter and the second laser diastimeter is perpendicular to the car
Direct of travel；
The first laser diastimeter and the second laser diastimeter are used for towards the direction transmitting laser beam away from the vehicle,
The plane that the laser beam is located perpendicular to the bottom of the vehicle；
The controller is used to carry out the range information of the first laser diastimeter and second laser diastimeter collection
Analysis, determines the work condition environment of the railway bridge-checking vehicle.
4. railway bridge-checking vehicle according to claim 3, it is characterised in that the controller is used to survey the first laser
Distance meter and the range information of second laser diastimeter collection are analyzed, and determine the work condition environment of the railway bridge-checking vehicle,
Specifically include：
The controller is used to calculate the range information of the first laser diastimeter and second laser diastimeter collection
Difference；
When the difference is more than default first threshold and during less than default Second Threshold, the work of the railway bridge-checking vehicle is determined
Condition environment is Ballast track；
When the difference is less than or equal to default first threshold, or during more than or equal to default Second Threshold, determine institute
The work condition environment for stating railway bridge-checking vehicle is non-fragment orbit.
5. railway bridge-checking vehicle according to claim 1, it is characterised in that second support body assembly also includes connecting rod,
One end of the connecting rod is connected with the second support member driver element, the other end of the connecting rod and the second support member phase
Connect, and the axis of the connecting rod is vertical with the plane that first support member is located；
The second support member driver element is used to drive the connecting rod to drive second support member to swing along first rotating shaft, institute
State first rotating shaft to be mutually perpendicular to the axis of the supporting leg main body；
Wherein, in the first extreme position of the swing, the axis of the connecting rod is mutually put down with the axis of the supporting leg main body
OK, in the second extreme position of the swing, the axis of the connecting rod is mutually perpendicular to the axis of the supporting leg main body.
6. railway bridge-checking vehicle according to claim 5, it is characterised in that the connecting rod includes connecting rod driver element, described
Controller drives the connecting rod to elongate or shorten for controlling the connecting rod driver element.
7. railway bridge-checking vehicle according to claim 5, it is characterised in that second support member is " Ω " shape, described the
It is elastic component at the opening of two support members.
8. the railway bridge-checking vehicle according to any one of claim 1-7, it is characterised in that be provided with point in first support member
Claw assembly, the point pawls component includes point pawls driver element and point pawls, and the side wall at the tip is provided with and the point pawls phase
The through hole matched somebody with somebody；
The controller is electrically connected with the point pawls driver element, and the controller is used to control the point pawls driver element driving
The point pawls stretch out the through hole, or are contracted in inside the through hole.
9. a kind of control method of railway bridge-checking vehicle, it is characterised in that the railway bridge being applied to described in any one of claim 1-8
Inspection car, methods described includes：
When the work condition environment information that the sensor detects the railway bridge-checking vehicle is Ballast track, the controller is to institute
State the first support member driver element and send the first work order, first work order is used to indicate that first support member drives
Moving cell drives the tip of first support member to stretch in the railway ballast of the Ballast track；
When the work condition environment information that the sensor detects the railway bridge-checking vehicle is non-fragment orbit, the controller is to institute
State the second support member driver element and send the second work order, second work order is used to indicate that second support member drives
Moving cell drives second support member to fasten with first support member.
10. control method according to claim 9, it is characterised in that drive institute in the second support member driver element
After stating the second support member and first support member fastening, also include：
The controller to the first support member driver element sends the 3rd work order, and the 3rd work order is used to refer to
Show that the first support member driver element drives first support member to drive second support member to extend, until described second
Support member props up the rectangular base seat board of the rail both sides of the non-fragment orbit or the upper surface of rectangular rail plate；At described first
After the tip of support member is stretched in the railway ballast of the Ballast track, also include：
The controller to the point pawls driver element sends the 4th work order, and the 4th work order is described for indicating
Point pawls driver element drives the point pawls to stretch out the through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111595.1A CN106592425B (en) | 2017-02-28 | 2017-02-28 | A kind of railway bridge-checking vehicle and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111595.1A CN106592425B (en) | 2017-02-28 | 2017-02-28 | A kind of railway bridge-checking vehicle and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106592425A true CN106592425A (en) | 2017-04-26 |
| CN106592425B CN106592425B (en) | 2018-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710111595.1A Expired - Fee Related CN106592425B (en) | 2017-02-28 | 2017-02-28 | A kind of railway bridge-checking vehicle and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112900258A (en) * | 2021-01-26 | 2021-06-04 | 广西建宏工程科技有限公司 | Bridge inspect vehicle job stabilization nature monitoring devices |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2455546A1 (en) * | 2010-11-09 | 2012-05-23 | Volkmann & Rossbach GmbH & Co. KG | Post assembly for a protective plank construction and protective plank construction for securing tracks on structures |
| CN204752038U (en) * | 2015-06-19 | 2015-11-11 | 河南宝起华东起重机有限公司 | Hoist hydraulic leg |
| CN205892581U (en) * | 2016-06-06 | 2017-01-18 | 梁协铭 | Lorry crane landing leg that overturns |
| CN205934715U (en) * | 2016-07-27 | 2017-02-08 | 株洲旭阳机电科技开发有限公司 | Railway steel bridge roof beam overhauls machine |
-
2017
- 2017-02-28 CN CN201710111595.1A patent/CN106592425B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2455546A1 (en) * | 2010-11-09 | 2012-05-23 | Volkmann & Rossbach GmbH & Co. KG | Post assembly for a protective plank construction and protective plank construction for securing tracks on structures |
| CN204752038U (en) * | 2015-06-19 | 2015-11-11 | 河南宝起华东起重机有限公司 | Hoist hydraulic leg |
| CN205892581U (en) * | 2016-06-06 | 2017-01-18 | 梁协铭 | Lorry crane landing leg that overturns |
| CN205934715U (en) * | 2016-07-27 | 2017-02-08 | 株洲旭阳机电科技开发有限公司 | Railway steel bridge roof beam overhauls machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112900258A (en) * | 2021-01-26 | 2021-06-04 | 广西建宏工程科技有限公司 | Bridge inspect vehicle job stabilization nature monitoring devices |
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| Publication number | Publication date |
|---|---|
| CN106592425B (en) | 2018-05-22 |
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