CN108035248B - A kind of unmanned bridge machinery and maintenance unit - Google Patents
A kind of unmanned bridge machinery and maintenance unit Download PDFInfo
- Publication number
- CN108035248B CN108035248B CN201711023236.7A CN201711023236A CN108035248B CN 108035248 B CN108035248 B CN 108035248B CN 201711023236 A CN201711023236 A CN 201711023236A CN 108035248 B CN108035248 B CN 108035248B
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- Prior art keywords
- sliding block
- orifice plate
- adhesive tape
- walking
- bridge
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- 238000012423 maintenance Methods 0.000 title claims abstract description 34
- 239000002390 adhesive tape Substances 0.000 claims abstract description 41
- 238000005520 cutting process Methods 0.000 claims abstract description 32
- 238000004140 cleaning Methods 0.000 claims abstract description 20
- 230000003028 elevating effect Effects 0.000 claims abstract description 11
- 230000009184 walking Effects 0.000 claims description 58
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 239000007788 liquid Substances 0.000 claims description 9
- 238000007596 consolidation process Methods 0.000 claims description 3
- 238000005266 casting Methods 0.000 claims description 2
- 239000012530 fluid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 9
- 230000010412 perfusion Effects 0.000 description 9
- 238000010276 construction Methods 0.000 description 7
- 238000007689 inspection Methods 0.000 description 5
- 238000003825 pressing Methods 0.000 description 5
- 230000008439 repair process Effects 0.000 description 4
- 241000736199 Paeonia Species 0.000 description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The present invention provides a kind of unmanned bridge machinery and maintenance units, the center of work travelling platform is equipped with bearing, bearing is equipped with can be around the rotary table of bearing rotary, the upper surface of rotary table is equipped with the elevating mechanism coaxial with rotary table, the top of elevating mechanism is provided with cross working arm, camera is equipped at the center of cross working arm, cutting mechanism, cleaning agency, adhesive tape sticking mechanism and filling mechanism are respectively equipped on the cross working arm, the cutting mechanism, cleaning agency, adhesive tape sticking mechanism and filling mechanism can be moved along cross working arm respectively.Unmanned bridge machinery and maintenance activity can be achieved in the present invention, realizes full process automatization.
Description
Technical field
The invention belongs to bridge field, it is related to bridge machinery and maintenance, and in particular to a kind of unmanned bridge machinery and dimension
Repair device.
Background technique
As a large amount of bridges emerge in large numbers, bridge Aging Damage problem gradually increases, so carrying out periodic detection and dimension to bridge
It repairs to extend bridge service life and ensure that bridge service phase safety is very important.
In the prior art, bridge machinery mainly has two kinds of artificial detection and unmanned machine testing.It generallys use both at home and abroad at present
Method be artificial detection maintenance.In the prior art, bridge inspection vehicle is sent truss or Worker carrying basket structure to bridge using cantilever
Under, technical staff detects bridge on truss or Worker carrying basket.Therefore, the structure size of bridge inspection vehicle equipment
It is bigger, in order to prevent problem of overturning caused by cantilever, need to propose requirements at the higher level to chassis vehicle, but also chassis vehicle is not
Lane is occupied avoidablely, influences traffic capacity；Meanwhile technical staff is in high altitude operation, personal safety cannot have
Effect ensures, and artificial detection maintenance efficiency is low, increases the construction time, and to complicated bridge and is not suitable for.
The some new-type bridge inspection cars occurred in the recent period use double lifting point truss structure, avoid device structure size greatly and
The problem of occupying lane, but lamp bead, bridge cable, bridge pier etc. can not be passed through.Resistance in work progress by bridge pier, lamppost
It keeps off, on the ground that first truss inspection rack can only be placed under bridge or other mobile devices, followed by manpower or other machines
Tool power is transferred into the lower part of next hole bridge.Construction efficiency can be seriously affected in this way；And bridge is when having drag-line, bridge
Tool car can not be by drag-line, so bridge cable coverage area can not be detected.Meanwhile construction is still relied on and is accomplished manually, people
Member's safety does not obtain effective guarantee, and construction efficiency is also low.
In the prior art, bridge maintaining mainly has a manual maintenance, maintenance personal multiply bridge inspection vehicle under bridge to bridge into
The easy maintenance of row is general to use road closure, set up scaffold, the means of manual maintenance, such dimension if there is biggish disease
Section of manicuring can cause very big influence, and long construction period to traffic, difficulty of construction is big, and in some marshes, the mountain ridge
Band scaffold is difficult to set up, and in the construction process, personnel safety is not also ensured effectively.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of unmanned bridge machinery and maintenance
Device solves the problem of that detection device can not voluntarily pass through street lamp, bridge cable and need manual maintenance in the prior art.
In order to solve the above-mentioned technical problem, the present invention is realised by adopting the following technical scheme:
A kind of unmanned bridge machinery and maintenance unit, comprising:
Bridge floor walking mechanism, comprising: be longitudinally provided with driving along direction of travel on the non-traffic lane of bridge two sides
Vehicle, the driving vehicle can walk along the direction of travel of non-traffic lane；
Bindiny mechanism, each driving vehicle are connected with a bindiny mechanism respectively, and the bindiny mechanism includes lateral connection arm
With vertical linking arm, the lateral connection arm is connected with driving vehicle, and the vertical linking arm stretches out outside bridge and cross slide way
It is connected；
Operating mechanism, comprising: the work travelling platform of transverse shifting on cross slide way；
The lateral connection arm of the bindiny mechanism includes lateral connection head, the first orifice plate, the second orifice plate, connecting rod, described
Driving vehicle is connected by lateral connection head with the first orifice plate, and the second orifice plate, the first orifice plate are connected on the vertical linking arm
It is parallel with the second orifice plate, and it is respectively equipped with N number of connecting hole along the direction of travel of driving vehicle on the first orifice plate and the second orifice plate,
The connecting hole on connecting hole and the second orifice plate on first orifice plate is opposite one by one, and the connecting rod sequentially passes through on the first orifice plate
Connecting hole on connecting hole and the second orifice plate realizes the consolidation of the first orifice plate and the second orifice plate.
Further, the center of the work travelling platform is equipped with bearing, and the bearing is equipped with can be around bearing rotary
The upper surface of rotary table, the rotary table is equipped with the elevating mechanism coaxial with rotary table, and the top of the elevating mechanism is provided with cross
Working arm is equipped with camera at the center of cross working arm, and cutting mechanism is respectively equipped on the cross working arm, is cleaned
Mechanism, adhesive tape sticking mechanism and filling mechanism, the cutting mechanism, cleaning agency, adhesive tape sticking mechanism and filling mechanism can divide
It is not moved along cross working arm.
Further, the inside of the connecting hole is funnel-form, and the outside of connecting hole is cross recess；The connecting rod
One end is equipped with fixed column and limited post, and the fixed column is matched with cross recess, and the limited post is worn for limiting connecting rod
Cross the length of connecting hole.
Further, the two sides of the rotary table are set vertically respectively there are two leading truck, and the lower end of the leading truck is equipped with one
Sliding eye is equipped with movable pulley by bolt on the sliding eye, and the movable pulley is matched with the side surface of cross slide way.
Further, the work travelling platform is equipped with the second motor and the first retarder, and second motor passes through
First retarder is connected with rotary table.
Further, the elevating mechanism includes third motor, the second retarder, crank, rocking bar, riser guide, lifting
Sliding block, riser guide are mounted vertically in the upper surface center of rotary table, and the third motor passes through the one of the second retarder and crank
End is connected, and the other end of crank is connected with one end of rocking bar, and the other end of rocking bar is connected with lifting slider, lifting slider
It is mounted on riser guide, the cross working arm is horizontally set on lifting slider.
Further, the upper surface of the cross working arm be equipped with walking sliding block, it is described walking sliding block lower surface with
The lower surface of cross working arm matches；
The lower surface of the cross working arm is equipped with rack gear, and the two sides of the walking sliding block are respectively equipped with vertical connection
The lower surface of part, the vertical connector and cross working arm is perpendicular, and the lower end of the vertical connector is lateral by one
Walking axle is connected, and is equipped with gear in the transverse direction walking axle, the wheel and rack matches；
The walking sliding block walks sliding block including the first walking sliding block, the second walking sliding block, third walking sliding block, fourth line,
The cutting mechanism setting is on the first walking sliding block, and the cleaning agency setting is on the second walking sliding block, the glue
The setting of band mechanism on third walking sliding block, walk on sliding block in fourth line by the filling mechanism setting.
Further, the cutting mechanism includes cutting machine, hydraulic cylinder, support, and it is sliding that the support is mounted on the first walking
On block, cutting machine is installed on the support, and on the support, the other end of hydraulic cylinder is connected with cutting machine for one end setting of hydraulic cylinder
It connects.
Further, the cleaning agency includes clean disk, the 4th motor and cleans pedestal, and the cleaning pedestal is mounted on
On second walking sliding block, clean disk, which is mounted on, to be cleaned on pedestal, and the 4th motor is connected with clean disk.
Further, the adhesive tape sticking mechanism includes automatic adhesive tape machine, idler wheel, motor, second hydraulic cylinder, sealing-tape machine bottom
Seat, rotating bar, the automatic adhesive tape machine are arranged on adhesive tape machine base, and automatic adhesive tape machine includes plastic emitting band portion, the plastic emitting band
Portion is provided with idler wheel, and the end of the idler wheel is provided with motor, and the lower surface of adhesive tape machine base and one end of rotating bar consolidate, turn
The other end of lever is mounted on third walking sliding block, and one end and the hand on third walking sliding block of the second hydraulic cylinder grab phase
Connection, the other end of second hydraulic cylinder are connected with rotating bar.
Further, device for casting includes Filling gun, pressure pump, third hydraulic cylinder, liquid case, and the pressure pump is mounted on
The side of four walking sliding blocks, one end of third hydraulic cylinder are mounted on the other side that fourth line walks sliding block, third hydraulic cylinder it is another
End be connected with Filling gun, Filling gun is connected with pressure pump by hose, pressure pump be arranged in it is hydraulic on travelling platform
Case is connected.
Compared with prior art, the present invention having the following technical effect that
1, present invention detection is integrated with maintenance, so that detection is matched with maintenance.
2, the present invention effectively reduces the structure size on bridge with device under bridge, to make in bridge machinery and maintenance
It is not take up bridge up-run lane when must detect with maintenance, reduces traffic negative effect；For mutilevel overpass, the present invention equally will not
Too big space under bridge is occupied, because without affecting to lower layer's bridge passage；
3, the present invention is cooperated by connecting rod, enables apparatus of the present invention voluntarily by lamppost, bridge cable, can be smooth
The bridge bottom surface of detection and maintenance bridge cable region does not need because lamppost, drag-line are hindered and frequently dismounted；
4, operating mechanism of the invention can stepless continuous laterally walking, rotation, lifting, it is ensured that the invention is suitable for difference
The detection and maintenance activity demand of the bridge and luffing bridge of width, the scope of application of expansion instrument；
5, the present invention replaces manual maintenance's method under bridge using mechanical arm, the effective guarantee safety of operating personnel and
The stability of equipment；
6, unmanned bridge machinery and maintenance activity can be achieved in the present invention, realizes full process automatization.
Detailed description of the invention
Fig. 1 is the overall structure diagram of apparatus of the present invention.
Fig. 2 is the partial structurtes enlarged diagram of Fig. 1.
Fig. 3 is the structural schematic diagram of lateral connection arm.
Fig. 4 is the connection schematic diagram of operating mechanism and cross slide way.
Fig. 5 is the structural schematic diagram of operating mechanism.
Fig. 6 is the structural schematic diagram of cutting mechanism.
Fig. 7 is the structural schematic diagram of cleaning agency.
Fig. 8 is the structural schematic diagram of adhesive tape sticking mechanism.
Fig. 9 is the structural schematic diagram of filling mechanism.
Figure 10 is the structural schematic diagram of orifice plate.
Figure 11 is the structural schematic diagram of connecting rod.
The meaning of each label in figure are as follows: 1- bridge, 2- drive vehicle, 3- lateral connection arm, 3-1- lateral connection head, 3-2-
First hole, the second orifice plate of 3-3-, 3-4- connecting rod, 3-4-1- fixed column, 3-4-2- limited post, the vertical linking arm of 4-, 5- are lateral
Guide rail, 6- work travelling platform, 7- rotary table, 8- elevating mechanism, 8-1- crank, 8-2- rocking bar, 8-3- riser guide, 8-4- lifting
Sliding block, 9- cross working arm, 10- cutting mechanism, 10-1- cutting machine, 10-2- support, 10-3- hydraulic cylinder, 11- scavenging machine
Structure, 11-1- clean disk, the 4th motor of 11-2-, 11-3- cleaning pedestal, 12- adhesive tape sticking mechanism, 12-1- automatic adhesive tape machine,
12-2- idler wheel, 12-3- motor, 12-4- adhesive tape machine base, 12-5- second hydraulic cylinder, 12-6- rotating bar, 13- filling mechanism,
13-1- Filling gun, 13-2- pressure pump, 13-3- third hydraulic cylinder, 13-4- liquid case, the walking sliding block of 14-1- first, 14-2- second
It walks sliding block, 14-3- third is walked sliding block, and 14-4- fourth line walks sliding block, 15-1 rack gear, 15-2- connector, 15-3- gear,
16-1- leading truck, 16-2- movable pulley.
Explanation is further explained in detail to particular content of the invention below in conjunction with attached drawing.
Specific embodiment
It should be noted that as shown in Figure 1, the longitudinal direction in the application refers to the traveling principal direction of vehicle on bridge, laterally
Refer to the width direction of bridge, it is horizontal and vertical to be mutually perpendicular to, vertically refer to perpendicular to it is horizontal and vertical be formed by it is flat
The direction in face.
Specific embodiments of the present invention are given below, it should be noted that the invention is not limited to implement in detail below
Example, all equivalent transformations made on the basis of the technical solutions of the present application each fall within protection scope of the present invention.
Embodiment 1:
As shown in Figure 1, 2, the present embodiment provides a kind of bridge detecting device, comprising: bridge floor walking mechanism, comprising: in bridge
It is longitudinally provided with driving vehicle 2 along direction of travel on the non-traffic lane of 1 two sides of beam, the driving vehicle 2 can be along non-traffic lane
Direction of travel walking；Clump weight, motor are both provided on driving vehicle 2, motor drives driving vehicle 2 to indulge along bridge and travels upwardly.
The specific structure of bridge floor walking mechanism in the present embodiment can be bridge disclosed in application number 2016100127105
The structure of face walking mechanism.
Bindiny mechanism, each driving vehicle 2 are connected with a bindiny mechanism respectively, and the bindiny mechanism includes lateral connection arm
3 and vertical linking arm 4, one end of the lateral connection arm 3 and driving vehicle 2 consolidate, and the other end of lateral connection arm 3 stretches out bridge
Outside and with one end of vertical linking arm 4 consolidate, the other end of vertical linking arm 4 is equipped with one can be in bridge bottom transverse
To the moving arm of movement；Of laterally opposite two pairs of moving arms form a pair of of cross slide way by the docking and disengaging of its opposed end
5；
The connection type of vertical linking arm 4 and moving arm can be public in application number 2016100127105 in the present embodiment
The structure opened.
Operating mechanism, comprising: the work travelling platform 6 of transverse shifting on cross slide way 5；
The present embodiment can be by being arranged four traveling wheels below work travelling platform, by traveling wheel in cross slide way
The transverse shifting of work travelling platform is realized in movement on 5.
The center of the work travelling platform 6 is equipped with bearing, and the bearing is equipped with can be around the rotary table 7 of bearing rotary, institute
The upper surface for stating rotary table 7 is equipped with the elevating mechanism 8 coaxial with rotary table 7, and the top of the elevating mechanism 8 is provided with cross work
Arm 9 is equipped with camera at the center of cross working arm, and cutting mechanism 10 is respectively equipped on the cross working arm 9, is cleaned
Mechanism 11, adhesive tape sticking mechanism 12 and filling mechanism 13, the cutting mechanism 10, cleaning agency 11,12 and of adhesive tape sticking mechanism
Filling mechanism 13 can be moved along cross working arm 9 respectively；In this way, four working arms of cross working arm 9 can be completed not
Same maintenance work, the camera at cross work arm center can pass the bridge image data of shooting, work back in real time
Degree of impairment and the position of helpdesk can be needed by being analyzed to identify bridge by making personnel, by the rotation of equipment, lifting and
The movement of maintenance unit on each working arm, realizes full automatic maintenance.
Work travelling platform 6 in the present embodiment is equipped with the second motor and the first retarder, and second motor passes through
First retarder is connected with rotary table 7, drives rotary table around bearing rotary by the second motor in this way.
The lateral connection arm 3 of the bindiny mechanism includes lateral connection head 3-1, the first orifice plate 3-2, the second orifice plate 3-3, connects
Extension bar 3-4, the driving vehicle 2 are connected by lateral connection head 3-1 with the first orifice plate 3-2, are connected on the vertical linking arm 4
There is the second orifice plate 3-3, the first orifice plate 3-2 is parallel with the second orifice plate 3-3, and along drive on the first orifice plate 3-2 and the second orifice plate 3-3
N number of connecting hole is respectively equipped on the direction of travel of motor-car 2, wherein N >=6, connecting hole and the second orifice plate 3- on the first orifice plate 3-2
Connecting hole on 3 is opposite one by one, and the connecting rod 3-4 is sequentially passed through on connecting hole and the second orifice plate 3-3 on the first orifice plate 3-2
Connecting hole realize the first orifice plate 3-2 and the second orifice plate 3-3 consolidation.
Such as Figure 10,11, the inside of the connecting hole is funnel-form, and the outside of connecting hole is cross recess.The connecting rod
One end be equipped with fixed column 3-4-1 and limited post 3-4-2, the fixed column 3-4-1 is matched with cross recess, the limited post
3-4-2 passes through the length of connecting hole for limiting connecting rod 3-4.
N in the present embodiment takes 12, and lateral connection head is connect with vertical linking arm by 12 connecting rods being evenly arranged
Together, the fixed column in connecting rod and the cross groove on the second orifice plate, which cooperate, fixes.As shown in figure 3, driving Chinese herbaceous peony into
Lamppost and bridge cable are encountered, position shown in Fig. 3, lamppost will be by the 1st, 2 connecting rod, by the 1st, 2 connecting rod into bridge
When layback, the limited post being pulled in connecting rod and the first orifice plate contact, stops pulling out, drive Chinese herbaceous peony into whole device avoids
The obstruction of direction of advance lamppost, while at least 3 connecting rods are in lateral connection both sides of head, guarantee device it is steady with it is good
Mechanical state.After the 1st, 2 connecting rod, the 1st, 2 connecting rod is released to bridge outside, by the second funnel with perforated disc shape hole
Guidance is inserted into the second orifice plate, and is rotatablely connected bar, makes the fixed column in connecting rod and the cross groove on the second orifice plate
Cooperation is fixed, and limited post can stop connecting rod to be forced further out at this time.
Other 10 connecting rods are same modes of operation, when encountering lamppost obstruction, pull out a company nearest apart from lamppost
When the orifice plate 4 at extension bar 5, the limited post 5-2 being pulled in connecting rod 5 and 3 end of lateral connection head contacts, stop pulling out, before driving vehicle 2
Into thus avoiding the obstruction of direction of advance lamppost, after the connecting rod 5, to connecting rod 5 is released on the outside of bridge, pass through
The guidance of 4 funnel-shaped apertures of orifice plate, is inserted into orifice plate 4, and be rotatablely connected bar 5, makes on the fixed column 5-1 and orifice plate 4 in connecting rod 5
Groove cooperate fix, limited post 5-2 can stop connecting rod 5 to be forced further out at this time.So circulation.
Embodiment 2
The two sides that the present embodiment provides rotary table 7 on the basis of embodiment 1 are set vertically respectively there are two leading truck 16-1,
The lower end of the leading truck 16-1 is equipped with a sliding eye, is equipped with movable pulley 16-2, the cunning by bolt on the sliding eye
Driving wheel 16-2 is matched with the side surface of cross slide way 5.The pressing force that directive wheel can be adjusted by bolt in this way, places working machine
Structure rollover.
Embodiment 3
Such as Fig. 5, the present embodiment provides lifting structure, including third motor, the second deceleration on the basis of embodiment 1
Device, crank 8-1, rocking bar 8-2, riser guide 8-3, lifting slider 8-4, riser guide 8-3 are mounted vertically in the upper surface of rotary table 7
Center, the third motor are connected by the second retarder with one end of crank 8-1, the other end and rocking bar 8-2 of crank 8-1
One end be connected, the other end of rocking bar 8-2 is connected with lifting slider 8-4, and lifting slider 8-4 is mounted on riser guide 8-3
On, the cross working arm 9 is horizontally set on lifting slider 8-4.
In the present embodiment, third motor and retarder are mounted on 7 marginal position of rotary table, so constitute crank block system,
Under the driving of third motor, lifting slider slides on riser guide, realizes the adjusting of height.
Embodiment 4
As shown in Figures 6 to 9, the present embodiment provide on the basis of embodiment 1 cutting mechanism 10, cleaning agency 11,
Adhesive tape sticking mechanism 12 and filling mechanism 13 are how to realize the structure moved respectively along cross working arm, the cross work
The upper surface for making arm 9 is equipped with walking sliding block, and the lower surface of the walking sliding block is matched with the lower surface of cross working arm 9；
The lower surface of the cross working arm 9 is equipped with rack gear 15-1, and the two sides of the walking sliding block are respectively equipped with vertically
Connector 15-2, the lower surface of the vertical connector 15-2 and cross working arm 9 are perpendicular, the vertical connector 15-2
Lower end be connected by a lateral walking axle, gear 15-3, the gear 15-3 and tooth are installed in the transverse direction walking axle
15-1 is matched；Hand is provided on the outside of walking sliding block to grab.
The walking sliding block includes the first walking sliding block 14-1, the second walking sliding block 14-2, third walking sliding block 14-3, the
Four walking sliding block 14-4, the cutting mechanism 10 setting is on the first walking sliding block 14-1, and the setting of cleaning agency 11 is the
On two walking sliding block 14-2, on third walking sliding block 14-3, the filling mechanism 13 is set for the setting of adhesive tape sticking mechanism 12
It sets and is walked on sliding block 14-4 in fourth line.
Embodiment 5
As shown in fig. 6, the present embodiment provides the specific structure of cutting mechanism, including cutting on the basis of embodiment 1
Machine 10-1, hydraulic cylinder 10-3, support 10-2, the support 10-2 are mounted on the first walking sliding block 14-1, cutting machine 10-1 peace
On support 10-2, one end of hydraulic cylinder 10-3 is arranged on support 10-2, the other end and cutting machine 10- of hydraulic cylinder 10-3
1 is connected.
Embodiment 6
As shown in fig. 7, the present embodiment provides the specific structure of cleaning agency on the basis of embodiment 1, including clean
Disk 11-1, the 4th motor 11-2 and pedestal 11-3 is cleaned, the cleaning pedestal 11-3 is mounted on the second walking sliding block 14-2, clearly
It sweeps disk 11-4 to be mounted on cleaning pedestal 11-3, the 4th motor 11-2 is connected with clean disk 11-1.
Embodiment 7
As shown in figure 8, the present embodiment provides the specific structure of adhesive tape sticking mechanism on the basis of embodiment 1, including
Automatic adhesive tape machine 12-1, idler wheel 12-2, motor 12-3, second hydraulic cylinder 12-5, adhesive tape machine base 12-4, rotating bar 12-6, institute
It states automatic adhesive tape machine 12-1 to be arranged on adhesive tape machine base 12-4, automatic adhesive tape machine 12-1 includes plastic emitting band portion, the plastic emitting band
Portion is provided with idler wheel 12-2, and the end of the idler wheel 12-2 is provided with motor 12-3, the lower surface of adhesive tape machine base 12-4 with turn
One end of lever 12-6 consolidates, and the other end of rotating bar 12-6 is mounted on third walking sliding block 14-3, the second hydraulic cylinder
One end of 12-5 is grabbed with the hand on third walking sliding block 14-3 to be connected, the other end and rotating bar 12-6 of second hydraulic cylinder 12-5
It is connected.
Embodiment 8
As shown in figure 9, the present embodiment provides the specific structure of filling mechanism, including perfusion on the basis of embodiment 1
Rifle 13-1, pressure pump 13-2, third hydraulic cylinder 13-3, liquid case 13-4, the pressure pump 13-2 are mounted on fourth line and walk sliding block 14-
4 side, one end of third hydraulic cylinder 13-3 are mounted on the other side that fourth line walks sliding block 14-4, and third hydraulic cylinder 13-3's is another
One end is connected with Filling gun 13-1, and Filling gun 13-1 is connected with pressure pump 13-2 by hose, pressure pump 13-2 and setting
Hydraulic fluid tank 13-4 on travelling platform 6 is connected.
Specific work process of the invention is as described below:
Video camera in riser guide upper end can pass the image data of real-time detection shooting back in real time.Drive Che Qiao
Along longitudinal movement on face, whole device longitudinal movement is driven；Work travelling platform transverse shifting on cross slide way；Rotary table is done
Rotary motion, cross working arm can rotate in the horizontal plane；Lifting slider can be driven in elevating mechanism with vertical sliding
Cross working arm, vertical lifting.Operating mechanism can run to any position under bridge as a result,.
(1) operating mechanism's row is to repairing position.Position and the depth in crack are determined by the image that video camera is shot.Work
Mechanism is moved to crack lower position, and lifting slider drives cross working arm to be increased to bridge bottom surface apart from height appropriate
Degree, operating mechanism reach the position for needing to repair.
(2) the rotten concrete near crack is cut, perfusion slot is outputed.Rotate the corresponding working arm of cutting mechanism to right
Answer position.Control first hydraulic cylinder raises cutting machine, contacts and cuts Bridge Crack rotten concrete nearby, control the first liquid
Cylinder pressure is flexible, to control depth of cut.
First walking sliding block can slide on cross working arm, to drive cutter device mobile, cutting machine is just cut
Perfusion slot is gone out.
(3) perfusion slot is cleaned.After cutting machine outputs perfusion slot, rotate the corresponding working arm of cleaning agency to corresponding position
It sets.Clean disk rotation cleans out inside perfusion slot and neighbouring waste material, prepares for next step Continuous pressing device for stereo-pattern and perfusion.
(4) Continuous pressing device for stereo-pattern forms filling cavity.After the completion of clean disk cleaning work, make the corresponding work of adhesive tape sticking mechanism
Arm is rotated to corresponding position.Under motor driving, idler wheel rotates and adhesive tape is driven to rotate with idler wheel.Second hydraulic cylinder is controlled,
Adhesive tape machine base is driven to raise, idler wheel is increased to be contacted with bridge bottom surface, and compresses bridge bottom surface, and third walking sliding block drives viscous
Device of taping is mobile, and motion track is identical as cutting machine motion profile, pastes adhesive tape on perfusion slot, obtains filling cavity.
When Continuous pressing device for stereo-pattern device is moved to crack end position, automatic adhesive tape machine automatically cuts off adhesive tape, leaves perfusing hole.
(5) bridge repairing liquid is perfused, repairs bridge.After the completion of Continuous pressing device for stereo-pattern operation, make the corresponding working arm of filling mechanism
It rotates to corresponding position.It controls third hydraulic cylinder piston rod to stretch out, until Filling gun is moved to appropriate location, Filling gun rotates rifle
Head, insertion fill mouth.The bridge repairing liquid in liquid case is contained in by feed hose suction pressure pump, pressure pump is forced through filling
Note rifle is filled into filling cavity, and perfusion is completed.
(6) crack grouting bridge repairing liquid is completed, the current repairing position of computer record, in case the later period needs.
Claims (9)
1. a kind of unmanned bridge machinery and maintenance unit, comprising:
Bridge floor walking mechanism, comprising: be longitudinally provided with driving vehicle along direction of travel on the non-traffic lane of bridge (1) two sides
(2), the driving vehicle (2) can be walked along the direction of travel of non-traffic lane；
Bindiny mechanism, each driving vehicle (2) are connected with a bindiny mechanism respectively, and the bindiny mechanism includes lateral connection arm
(3) it is connected with vertical linking arm (4), the lateral connection arm (3) with driving vehicle (2), the vertical linking arm (4) stretches out bridge
Beam is outer to be connected with cross slide way (5)；
Operating mechanism, comprising: the work travelling platform (6) of transverse shifting on cross slide way (5)；
It is characterized by: the lateral connection arm (3) of the bindiny mechanism include lateral connection head (3-1), the first orifice plate (3-2),
Second orifice plate (3-3), connecting rod (3-4), the driving vehicle (2) are connected by lateral connection head (3-1) with the first orifice plate (3-2)
It connecing, is connected with the second orifice plate (3-3) on the vertical linking arm (4), the first orifice plate (3-2) is parallel with the second orifice plate (3-3),
And first is respectively equipped with N number of connecting hole on orifice plate (3-2) and the second orifice plate (3-3) along the direction of travel of driving vehicle (2), first
The connecting hole on connecting hole and the second orifice plate (3-3) on orifice plate (3-2) is opposite one by one, and the connecting rod (3-4) sequentially passes through
Connecting hole on connecting hole and the second orifice plate (3-3) on first orifice plate (3-2) realizes the first orifice plate (3-2) and the second orifice plate
The consolidation of (3-3)；
The center of the work travelling platform (6) is equipped with bearing, and the bearing is equipped with can be around the rotary table (7) of bearing rotary, institute
The upper surface for stating rotary table (7) is equipped with the elevating mechanism (8) coaxial with rotary table (7), and the top of the elevating mechanism (8) is provided with ten
Font working arm (9) is equipped with camera at the center of cross working arm, is respectively equipped with and cuts on the cross working arm (9)
Cutting mill structure (10), cleaning agency (11), adhesive tape sticking mechanism (12) and filling mechanism (13), the cutting mechanism (10) clean
Mechanism (11), adhesive tape sticking mechanism (12) and filling mechanism (13) can be mobile along cross working arm (9) respectively.
2. unmanned bridge machinery as described in claim 1 and maintenance unit, it is characterised in that: the inside of the connecting hole is
Funnel-form, the outside of connecting hole are cross recess；
One end of the connecting rod is equipped with fixed column (3-4-1) and limited post (3-4-2), the fixed column (3-4-1) and cross
Groove matches, the limited post (3-4-2), and the length of connecting hole is passed through for limiting connecting rod (3-4).
3. unmanned bridge machinery as described in claim 1 and maintenance unit, it is characterised in that: the two sides of the rotary table (7)
It is set vertically respectively there are two leading truck (16-1), the lower end of the leading truck (16-1) is equipped with a sliding eye, on the sliding eye
It is equipped with movable pulley (16-2) by bolt, the movable pulley (16-2) matches with the side surface of cross slide way (5).
4. unmanned bridge machinery as described in claim 1 and maintenance unit, it is characterised in that: the work travelling platform
(6) it is equipped with the second motor and the first retarder, second motor is connected by the first retarder with rotary table (7).
5. unmanned bridge machinery as described in claim 1 and maintenance unit, it is characterised in that: the cross working arm
(9) upper surface is equipped with walking sliding block, and the lower surface of the walking sliding block is matched with the lower surface of cross working arm (9)；
The lower surface of the cross working arm (9) is equipped with rack gear (15-1), and the two sides of the walking sliding block are respectively equipped with vertically
Connector (15-2), the vertical connector (15-2) and the lower surface of cross working arm (9) are perpendicular, the vertical connection
The lower end of part (15-2) is connected by a lateral walking axle, is equipped with gear (15-3), the tooth in the transverse direction walking axle
Wheel (15-3) is matched with rack gear (15-1)；
The walking sliding block is walked sliding block (14-2) including the first walking sliding block (14-1), second, third is walked sliding block (14-3),
Fourth line is walked sliding block (14-4), and cutting mechanism (10) setting is in the first walking sliding block (14-1), the cleaning agency
(11) in the second walking sliding block (14-2), adhesive tape sticking mechanism (12) setting walks sliding block (14-3) in third for setting
On, filling mechanism (13) setting is walked on sliding block (14-4) in fourth line.
6. unmanned bridge machinery as claimed in claim 5 and maintenance unit, it is characterised in that: cutting mechanism (10) packet
Cutting machine (10-1), hydraulic cylinder (10-3), support (10-2) are included, the support (10-2) is mounted on the first walking sliding block (14-1)
On, cutting machine (10-1) is mounted on support (10-2), and one end of hydraulic cylinder (10-3) is arranged on support (10-2), hydraulic cylinder
The other end of (10-3) is connected with cutting machine (10-1).
7. unmanned bridge machinery as claimed in claim 5 and maintenance unit, it is characterised in that: cleaning agency (11) packet
It includes clean disk (11-1), the 4th motor (11-2) and cleans pedestal (11-3), the cleaning pedestal (11-3) is mounted on the second row
It walks on sliding block (14-2), clean disk (11-4), which is mounted on, to be cleaned on pedestal (11-3), the 4th motor (11-2) and clean disk (11-
1) it is connected.
8. unmanned bridge machinery as claimed in claim 5 and maintenance unit, it is characterised in that: the adhesive tape sticking mechanism
It (12) include automatic adhesive tape machine (12-1), idler wheel (12-2), motor (12-3), second hydraulic cylinder (12-5), adhesive tape machine base
(12-4), rotating bar (12-6), the automatic adhesive tape machine (12-1) are arranged on adhesive tape machine base (12-4), automatic adhesive tape machine
(12-1) includes plastic emitting band portion, and the plastic emitting band portion is provided with idler wheel (12-2), and the end of the idler wheel (12-2) is provided with horse
Up to (12-3), the lower surface of adhesive tape machine base (12-4) and the one end of rotating bar (12-6) are consolidated, rotating bar (12-6) it is another
End is mounted in third walking sliding block (14-3), on one end of the second hydraulic cylinder (12-5) and third walking sliding block (14-3)
Hand grab and be connected, the other end of second hydraulic cylinder (12-5) is connected with rotating bar (12-6).
9. unmanned bridge machinery as claimed in claim 5 and maintenance unit, it is characterised in that: device for casting (13) includes filling
Rifle (13-1), pressure pump (13-2), third hydraulic cylinder (13-3), liquid case (13-4) are infused, the pressure pump (13-2) is mounted on the
The side of four walkings sliding block (14-4), one end of third hydraulic cylinder (13-3) is mounted on fourth line and walks the another of sliding block (14-4)
The other end of side, third hydraulic cylinder (13-3) is connected with Filling gun (13-1), and Filling gun (13-1) and pressure pump (13-2) are logical
It crosses hose to be connected, pressure pump (13-2) is connected with the hydraulic fluid tank (13-4) being arranged on travelling platform (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711023236.7A CN108035248B (en) | 2017-10-27 | 2017-10-27 | A kind of unmanned bridge machinery and maintenance unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711023236.7A CN108035248B (en) | 2017-10-27 | 2017-10-27 | A kind of unmanned bridge machinery and maintenance unit |
Publications (2)
| Publication Number | Publication Date |
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| CN108035248A CN108035248A (en) | 2018-05-15 |
| CN108035248B true CN108035248B (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711023236.7A Expired - Fee Related CN108035248B (en) | 2017-10-27 | 2017-10-27 | A kind of unmanned bridge machinery and maintenance unit |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109778696A (en) * | 2019-03-26 | 2019-05-21 | 黑龙江交通职业技术学院 | A kind of bridge machinery maintenance device |
| CN110617801A (en) * | 2019-09-17 | 2019-12-27 | 韶关市涵润信息科技有限公司 | Building disease inspection device, building disease detection system and detection method thereof |
| CN112095461B (en) * | 2020-08-24 | 2021-12-10 | 盐城工学院 | Be used for bridge to detect and maintain reinforcement equipment |
| CN112942094B (en) * | 2021-01-27 | 2022-12-06 | 中铁二十一局集团第三工程有限公司 | A check out test set for bridge bottom |
| CN113565018A (en) * | 2021-09-07 | 2021-10-29 | 曾普 | Bridge construction operation platform |
| CN114323131B (en) * | 2021-12-23 | 2023-10-24 | 南京索安电子有限公司 | Train multiaspect scanning imaging inspection system |
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| KR20090126883A (en) * | 2008-06-05 | 2009-12-09 | 한양대학교 산학협력단 | Apparatus for inspecting bridge |
| CN103015314A (en) * | 2012-12-12 | 2013-04-03 | 中交四航工程研究院有限公司 | Bridge maintenance overhead working equipment lifting device |
| CN103898832A (en) * | 2012-12-28 | 2014-07-02 | 武汉二航路桥特种工程有限责任公司 | Bridge cable hanging anchoring end detection working platform |
| CN104831623A (en) * | 2015-04-15 | 2015-08-12 | 华北水利水电大学 | Self-running apparatus of pier-crossing suspension bracket |
| CN205822005U (en) * | 2016-07-15 | 2016-12-21 | 长沙学院 | A kind of smart bridge detection equipment |
| CN106702893A (en) * | 2015-08-05 | 2017-05-24 | 上海法赫桥梁隧道养护工程技术有限公司 | Bridge detection mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090126883A (en) * | 2008-06-05 | 2009-12-09 | 한양대학교 산학협력단 | Apparatus for inspecting bridge |
| CN103015314A (en) * | 2012-12-12 | 2013-04-03 | 中交四航工程研究院有限公司 | Bridge maintenance overhead working equipment lifting device |
| CN103898832A (en) * | 2012-12-28 | 2014-07-02 | 武汉二航路桥特种工程有限责任公司 | Bridge cable hanging anchoring end detection working platform |
| CN104831623A (en) * | 2015-04-15 | 2015-08-12 | 华北水利水电大学 | Self-running apparatus of pier-crossing suspension bracket |
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| CN205822005U (en) * | 2016-07-15 | 2016-12-21 | 长沙学院 | A kind of smart bridge detection equipment |
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| CN108035248A (en) | 2018-05-15 |
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