CN108221662A - A kind of steel truss arch top chord check car and its control system - Google Patents
A kind of steel truss arch top chord check car and its control system Download PDFInfo
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- CN108221662A CN108221662A CN201810190367.2A CN201810190367A CN108221662A CN 108221662 A CN108221662 A CN 108221662A CN 201810190367 A CN201810190367 A CN 201810190367A CN 108221662 A CN108221662 A CN 108221662A
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- steel truss
- top chord
- main couple
- check car
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 61
- 239000010959 steel Substances 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 230000009184 walking Effects 0.000 claims description 52
- 230000001360 synchronised effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 9
- 230000009194 climbing Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 9
- 238000007689 inspection Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
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- 238000007906 compression Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 240000009087 Crescentia cujete Species 0.000 description 1
- 235000005983 Crescentia cujete Nutrition 0.000 description 1
- 235000009797 Lagenaria vulgaris Nutrition 0.000 description 1
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 239000007787 solid 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
Abstract
A kind of control system of steel truss arch top chord check car, including:Angle detector is arranged on the main couple of steel truss arch top chord check car, for detecting the deflection angle of main couple with respect to the horizontal plane, obtains horizontal deflection angle;Rotation Controllers is connect with angle detector, for controlling the rotation of main couple rotating mechanism according to horizontal deflection angle, so that the deflection angle of main couple with respect to the horizontal plane levels off to or equal to zero.The control system can carry out leveling to steel truss arch top chord check car in time, automatically, cage where making testing staff remains the horizontality on opposite ground, so as to better ensure that the personal safety of testing staff, not only cost substantially reduces, but also can realize that heavy grade continuously and is quickly walked.
Description
Technical field
The present invention relates to bridge machinery and Bridge Testing Equipment technical field, wind up specifically, being related to a kind of steel truss arch
Check vehicle and its control system.
Background technology
With the fast development of China express railway, large-scale steel truss arched bridge beam is more and more, the maintenance requirement to bridge
Also it is higher and higher.When needing in operation on heavy grade track and parking checking, inspection personnel will begin on vehicle frame or in cage
It is under horizontality eventually and keeps balancing, if run-off the straight be easy to cause testing staff and falls, life security is on the hazard.
Application No. is 201120291098.2, entitled " climbing device for inspection vehicle for steel truss arch bridge " to disclose a kind of inspection vehicle climbing dress
It puts, including running mechanism, main couple structure and levelling gear, running mechanism includes walking frame and moving on walking frame
Force mechanisms, travelling wheel and pinch wheels, actuating unit drive travelling wheel by driving member, and the travelling wheel is mounted on the upper table of track
Face, the pinch wheels are mounted on the lower surface of track, are also equipped with making railway clamp in travelling wheel and pinch wheels in the pinch wheels
Between fastening spring.But existing top chord check car does not have automatic flat-adjustable function, and complicated integral structure generally, and tonnage is too
Greatly.
Invention content
To solve the above problems, the present invention provides a kind of control system of steel truss arch top chord check car, the control system
System includes:
Angle detector is arranged on the main couple of steel truss arch top chord check car, opposite for detecting the main couple
In the deflection angle of horizontal plane, horizontal deflection angle is obtained;
Rotation Controllers is connect with the angle detector, for controlling the steel truss according to the horizontal deflection angle
Encircle top chord check car main couple rotating mechanism rotation so that the deflection angle of the main couple with respect to the horizontal plane level off to or
Equal to zero.
According to one embodiment of present invention, the Rotation Controllers and the driving motor in the main couple rotating mechanism
Connection controls signal for generating corresponding driving motor according to the horizontal deflection angle, so as to by controlling the driving electricity
The operating status of machine controls the swing-around trajectory in the main couple rotating mechanism to rotate.
According to one embodiment of present invention, the control system further includes:
First operation portion is used to generate corresponding travel commands according to user's operation;
Traveling controller is connect with the walking mechanism of first operation portion and steel truss arch top chord check car, for root
The operating status of the walking mechanism is controlled according to the travel commands.
According to one embodiment of present invention, the control system further includes:
Correcting coding device is arranged on the walking structure and is connect with the traveling controller, for detecting difference
The operating status of walking structure simultaneously generates walking deviation signal;
The traveling controller is configured to control the operation shape of respectively different walking structure according to the walking deviation signal
State, so that different walking mechanism synchronous operations.
According to one embodiment of present invention, the traveling controller is integrated in same device with the Rotation Controllers
In.
According to one embodiment of present invention, the operating system further includes:
Second operation portion is used to generate corresponding lifting instruction according to user's operation;
Lifting controller is connect with the lifting motor of second operation portion and steel truss arch top chord check car, for root
The operating status of the lifting motor is controlled according to the lifting instruction, so as to fulfill the cage for steel truss arch top chord check car
Descending operation.
According to one embodiment of present invention, the traveling controller is integrated in same device with the lifting controller
In.
According to one embodiment of present invention, first operation portion and the second operation portion, which are integrated in, is arranged on steel truss arch
In the existing ground operation console of string inspection vehicle ground surface end and/or it is integrated in the pocket torch door operation console being arranged in the cage.
According to one embodiment of present invention, now the operation console is with realizing pressing for same function in pocket torch door operation console
Button has interlock function.
The present invention also provides a kind of steel truss to encircle top chord check car, has as above any one of them control system.
The control system provided by the present invention given can carry out leveling to steel truss arch top chord check car in time, automatically, make
Cage where testing staff remains the horizontality on opposite ground, so as to better ensure that the person peace of testing staff
Entirely, not only cost substantially reduces, but also can realize that heavy grade continuously and is quickly walked.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and is obtained in claim and attached drawing.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is required attached drawing in technology description to do simple introduction:
Fig. 1 shows the structure diagram of the top chord check car of the present invention;
Fig. 2 shows supporting rack, anti-deflection whee and the support wheel structure diagram of the main couple rotating mechanism in Fig. 1;
Fig. 3 shows the structure diagram when rotary drive assembly in Fig. 1 is connect with swing-around trajectory;
Fig. 4 shows the structure diagram of the Steel rope jointing apparatus structure in Fig. 3;
Fig. 5 shows the structure diagram of the rotary drive assembly in Fig. 3;
Fig. 6 shows the main structure diagram of one of embodiment of the walking mechanism in Fig. 1;
Fig. 7 shows the overlooking the structure diagram of the heavy grade climbing walking mechanism of Fig. 6;
Fig. 8 shows the left view structural representation of the heavy grade climbing walking mechanism of Fig. 6;
Fig. 9 shows the one of which concrete structure of the pressue device in Fig. 6;
Figure 10 shows the A-A sectional views of the pressue device in Fig. 9;
Figure 11 shows the B-B sectional views of the pressue device in Fig. 9;
Figure 12 shows the structure diagram of the control system of the top chord check car of the present invention.
Specific embodiment
Carry out the embodiment that the present invention will be described in detail below with reference to accompanying drawings and embodiments, how the present invention is applied whereby
Technological means solves technical problem, and the realization process for reaching technique effect can fully understand and implement according to this.It needs to illustrate
As long as not forming conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
The technical solution formed is within protection scope of the present invention.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is performed in system, although also, show logical order in flow charts, it in some cases, can be to be different from herein
Sequence perform shown or described step.
Inventor is during invention it is noted that being currently used for the inspection vehicle of steel truss arched bridge beam or not being related to leveling machine
Although structure or mentioning equipped with levelling gear, the concrete structure of undisclosed levelling gear and how leveling is carried out.In addition,
The problem of climbing walking mechanism of existing type is primarily present is:Hydraulic cylinder pushing tow step moving mechanism be between line-break
It walks, vibration is bigger, the speed of travel is slow, walking mechanism efficiency is low, of high cost;More rubber wheel group rows based on four-bar linkage
Though continuous walking can be realized by walking mechanism, cost is relatively lower, and universal climbing capacity is limited, and the gradient of creeping is no more than 36 °;It adopts
With the walking mechanism of pin gear mechanism driving, though such walking mechanism is climbed, range and climbing capacity are greatly improved, whole
Machine weight is too big, cost is too high.
For above deficiency, the present inventor is on long-term practical basis, it is proposed that on a kind of new steel truss arch
String checks vehicle and its control system, and pass through all kinds of test experiments, it was demonstrated that the control system can in time, automatically to steel truss
Encircle top chord check car and carry out leveling, the cage where making testing staff remains the horizontality on opposite ground, so as to more preferable
Ground ensures the personal safety of testing staff, and not only cost substantially reduces, but also can realize that heavy grade continuously and is quickly walked.Below
It is described in detail.
Fig. 1 shows the one of which embodiment of the top chord check car of the present invention.In this embodiment, steel truss of the invention
Arch top chord check car mainly includes:Multiple walking mechanisms 16, main couple rotating mechanism, main couple 11, cage 14 and control system.
Wherein, main couple rotating mechanism is connect by balancing stand 19 with the walking mechanism 16 of steel truss arch top chord check car.Main couple 11 is solid
Surely it is connected in main couple rotating mechanism.Cage 14 is connect with main couple 11, and control system is by detecting climbing for walking mechanism 16
Angle of slope adjusts the rotational angle of main couple rotating mechanism so that the cage 14 that main couple 11 is connected in climbing is always located
In the state with ground level.
In one embodiment, as shown in Figure 1, main couple 11 connects cage 14 by two electric blocks 13.Electronic calabash
Reed 13 is driven by lifting motor 10, and lifting motor 10 is connect with control system.Two lifting motors 10 pass through motor connecting base
It is connected to electric block one end.Alternatively, in a unshowned embodiment, two lifting motors 10 are located on electric block,
It is run on main couple 11 by motor-driven carrier.
In one embodiment, main couple rotating mechanism mainly includes:Swing-around trajectory 3, rotary drive assembly and rotation branch
Support component.Wherein, four angles of main couple 11 are fixedly connected on by connector 12 on swing-around trajectory 3.Rotary drive assembly leads to
Cross steel wire rope 5, Steel rope jointing apparatus structure 6 connect that swing-around trajectory 3 is driven to rotate with swing-around trajectory 3.Rotate support component connection
In the outside-supporting swing-around trajectory 3 of swing-around trajectory 3.
In one embodiment, as shown in Figure 3 and Figure 5, rotary drive assembly mainly includes:Driving motor 9, driving wheel 8
With driven wheel 7.Wherein, driving motor 9 connects driving wheel 8 with retarder by shaft coupling.Driving wheel 8 is connected by steel wire rope 5
Driven wheel 7.
In one embodiment, as shown in figures 1 and 3, it is equipped with wiring groove on driving wheel 8 and driven wheel 7.Steel wire rope
5 since driving wheel 8, (i.e. from a wiring of driving wheel 8 after at least two whole circles of winding between driving wheel 8 and driven wheel 7
Groove be wound into driven wheel 7 corresponding wiring groove arrive again driving wheel 8 wiring groove belong to winding one whole circle), steel wire rope 5
Both ends extend from driving wheel 8 and be wrapped on swing-around trajectory 3.Steel wire rope 5 after the respective rail around complete swing-around trajectory 3,
The both ends end of steel wire rope 5 is affixed to Steel rope jointing apparatus structure 6, Steel rope jointing apparatus respectively from the top of swing-around trajectory 3
Structure 6 is fixedly connected with swing-around trajectory 3.
In one embodiment, as shown in Figure 3 and Figure 4, Steel rope jointing apparatus structure 6 mainly includes:Link 6.1 and connection
Two tension assemblies at the both ends of steel wire rope 5.Wherein, link 6.1 is fixedly connected in swing-around trajectory 3.Tension assembly is main
Including:It is tensioned head 6.3 and steel wire rope connector 6.2.One end of tensioning head 6.3 is located at the outside of link 6.1, is tensioned head 6.3
The other end pass through link 6.1 and pass through locking nut 6.5 and elastic component 6.4 is connected to the inside of link 6.1.Steel wire rope
One end of connector 6.2 and tensioning head 6.3 are hinged, and the other end of steel wire rope connector 6.2 is fixed with one end of steel wire rope 5 to be connected
It connects.
In one embodiment, as depicted in figs. 1 and 2, rotation support component mainly includes:Rotary supporting wheel 1 and support
Frame 15.Wherein, rotary supporting wheel 1 is connect by multiple rotational support components with swing-around trajectory 3.Supporting rack 15 is fixedly connected on rotation
Turn the outside of support wheel 1, rotary supporting wheel 1 is supported and fixed when swing-around trajectory 3 rotates.
In one embodiment, as depicted in figs. 1 and 2, rotational support component mainly includes the first anti-deflection whee 4 and bogie wheel
2.Wherein, the first anti-deflection whee 4 has multiple, and the first anti-deflection whee 4 is mounted on rotary supporting wheel 1, and the first anti-deflection whee 4 is by two-by-two
Symmetric mode sets up the sideslip when the both sides of swing-around trajectory 3 are to prevent swing-around trajectory 3 from rotating separately.Bogie wheel 2 is connected to rotation support
Ensure the relative rotation of the two between wheel 1 and swing-around trajectory 3.Bogie wheel 2 mainly includes mounting base and friction ball, wherein mounting base
It is fixedly connected on rotary supporting wheel 1, friction ball is actively installed in mounting base and abuts swing-around trajectory 3.
In one embodiment, as shown in Fig. 2, the first anti-deflection whee 4 and bogie wheel 2 that are connected on rotary supporting wheel 1 are equal
There is multiple, and scattering device.In a preferred embodiment, multiple first anti-deflection whees 4 can connect in a manner of being evenly arranged
On rotary supporting wheel 1.Bogie wheel 2 is then that non-uniformly distributed mode is connected on rotary supporting wheel 1, under rotary supporting wheel 1
The quantity of the bogie wheel 2 of half-turn setting is more, few in the quantity of bogie wheel 2 that the upper half-turn of rotary supporting wheel 1 is set, with preferably
Meets the needs of load-bearing and stability of rotation.
Fig. 6 shows a kind of structure diagram of the one of which embodiment of heavy grade climbing walking mechanism of the present invention.
In this embodiment, heavy grade climbing walking mechanism mainly includes:Vehicle frame 20, adds 21, two wheels 22 and 23 of drive component
Pressure device 24 and 25 and the second anti-deflection whee 28 and 29.Wherein, vehicle frame 20 mainly includes equalizer bar 20.1 and bogie frame 20.2, drives
Dynamic component 21 is connected to the middle part of vehicle frame 20 and passes through on bogie frame 20.2 of the fasteners such as bolt or screw fixed to vehicle frame.Two
A wheel 22 and 23 is located at the left and right sides of drive component 21 and is connect with drive component 21.The wheel axis connection vehicle of wheel 22 and 23
The equalizer bar 20.1 of frame 20.Pressue device 24 and 25 corresponds to pressure when increasing climbing to wheel 22 and 23, pressue device respectively
24 with the wheel axis connection of the wheel 22 of respective side, the wheel axis connection of pressue device 25 and the wheel 23 of respective side.And left side plus
The link block 20.3 in the left side corresponding with vehicle frame 20 of pressure device 24 connects, the company on the right side corresponding with vehicle frame 20 of pressue device 25 on right side
Connect block connection.Mainly increase downward pressure to wheel 22 and 23 by pressue device 24 and 25 to act on increasing heavy grade climbing
When the frictional force that needs.
In one embodiment, as shown in Figure 6 to 8, by taking the pressue device in left side 24 as an example.Pressue device 24 mainly wraps
Include lever pressure-applying unit and press roll 24.1.Wherein, one end of lever pressure-applying unit is connect with the link block 20.3 in vehicle frame 20,
Wheel axis connection of the other end of lever pressure-applying unit through floor 26 Yu wheel 22.Press roll 24.1 is connected to lever pressure-applying unit
The other end (Fig. 6 is towards one end in vehicle frame 20) and the lower section for being connected to equalizer bar 20.1, act on lever pressure-applying unit
The active force of one end is loaded into wheel 22 into multiple after the pressurization conversion of lever pressure-applying unit through floor 26 and press roll 24.1
On.In figure, in the pressue device 24 on right side lever vacation pressure component the other end through floor 27 equally with the wheel axis connection of wheel 22.
In one embodiment, as shown in Figure 6 to 8, the pressurization conversion multiple of lever pressure-applying unit is preferably 8 times to 15
Times.Such structure setting so that only need to load smaller power in one end of lever pressure-applying unit with regard to press roll can be passed through
24.1 load on a larger active force to wheel 22.Moreover, because lever multiple is not excessively high, lever pressure-applying unit is not allowed
Fragile, in addition the conversion of strong lever, the volume of lever pressure-applying unit can be done smaller, be not take up too many space, be convenient for
It is also more attractive while installation, practical.
In one embodiment, as Fig. 9 to Figure 11 shows the one of which concrete structure of pressue device 24.Wherein, add
Pressure device 24 mainly includes:Pressure rod 24.2, pressing arm 24.3, eccentric shaft 24.4 and press roll 24.1.Wherein, pressure rod 24.2
For hex bolts structure, the link block 20.3 that the upper end is passed through in bogie frame 20.2 connects forcing elastic part 24.5, and adds
The end of compression bar 24.2 passes through 24.6 compression elastic piece 24.5 of locking nut.Pressing arm 24.3 be bending structure, pressing arm 24.3
One end be fixedly connected with the lower end of pressure rod 24.2, the other end of pressing arm 24.3, which is bent, is connected to eccentric shaft 24.4
On front end.The front end of eccentric shaft 24.4 is connect with the lower end of pressing arm 24.3, and the middle part of eccentric shaft 24.4 is connected by floor 26
The wheel shaft of wheel 22.As shown in figure 5, press roll 24.1 is connected to the rear end of eccentric shaft 24.4, and press roll 24.1 abuts upwards
In the lower section of equalizer bar 20.1.
In one embodiment, as shown in Figure 6 to 8, the longitudinal center line s1 of pressure rod 24.2 connects with eccentric shaft 24.4
The distance between the longitudinal center line s2 of one end of rib plate 26 s1s2 are the axial directions of one end that eccentric shaft 24.4 connects floor 26
12 times of the distance between center line s2 and the center line s3 of press roll 24.1 s2s3.Therefore, if to 24.5 place end of elastic component
Power one 10 kilograms or so default into after crossing lever conversion, is loaded into the active force of the 120 kg on wheel 22.
In one embodiment, as shown in fig. 7, drive component 21 mainly includes sequentially connected lifting motor 21.1, connection
Axis device 21.2 and retarder 21.3.Retarder 21.3 connects rack gear 21.4 by output flange, gear ring 21.4 and wheel 22 and
23 wheel hub connection.Thus, gear ring 21.4, wheel 22 and 23 is driven to rotate when lifting motor 21.1 rotates, wheel 22 and 23
Wheel shaft is fixed on motionless on vehicle frame 20.
In one embodiment, the outermost layer of wheel 22 and 23 is equipped with the rubber layer by special process processing, rubber layer
Friction can be increased and bear certain pressure.
In one embodiment, due to being equipped with pressue device 24 and 25, the second anti-deflection whee 28 and 29 and symmetrically arranged
Structure so that compact overall structure, weight substantially reduce, and the climbing height of walking mechanism of the invention is up to 46 °, of the invention
The speed of travel of walking mechanism can reach 5m/min.
In one embodiment, as shown in Figures 6 to 9, anti-bias mounting base 30 is connected separately on the outside of the both ends of vehicle frame 20,
The radial centre lines of each anti-bias mounting base 30 along vehicle frame are arranged with two the second anti-deflection whees 29 to prevent the walking of the present invention
Mechanism sideslip in walking or climbing.
In one embodiment, as shown in Figures 6 to 9, the second anti-deflection whee 29 by anti-off-axis and adjusting nut with it is anti-bias
Mounting base 30 connects, and can adjust the anti-bias predetermined amount of the second anti-deflection whee 29 by adjusting nut according to the situation of walking track.
Illustrate, the heavy grade in the present invention refers to being greater than or equal to 45 °, such as 46 ° of the gradient.Quick walking refers to
Be that the highest speed of travel can reach 5m/min.Continuous walking refers to not needing to be interrupted or stopping in climbing first being adjusted
It is overhauled again after whole or leveling, but can once be adjusted to the position needed.
In one embodiment of the invention, as shown in figure 12, control system preferably includes:1201 He of angle detector
Rotation Controllers.Wherein, angle detector is fixed on the main couple 11 in main couple rotating mechanism, can detect master
The deflection angle of truss 11 with respect to the horizontal plane, so as to obtain horizontal deflection angle.
Certainly, in other embodiments of the invention, angle detector 1201 can also be arranged on other rational positions, with
For detecting the deflection angle of main couple 11 with respect to the horizontal plane.For example, in one embodiment of the invention, angle detector
1201 can also be arranged on the main couple rotating mechanism of steel truss arch top chord check car, due to main couple 11 and main couple whirler
Can be relatively-stationary between structure, therefore angle detector 1201 is similary by the related angle for detecting main couple rotating mechanism
It can obtain the deflection angle of main couple 11 with respect to the horizontal plane.
Rotation Controllers 1202 is connect with angle detector 1201 and main couple rotating mechanism, can be detected according to angle
Instrument 1201 transmits next horizontal deflection angle main couple rotating mechanism to be controlled to rotate, so that main couple 11 is with respect to the horizontal plane
Deflection angle level off to or equal to zero, so also can so that main couple 11 always in horizontality and keeping balancing.
Specifically, in the present embodiment, Rotation Controllers 1202 is connect with the driving motor 9 in truss rotating mechanism.Work as steel
Braced arch top chord check car in operation on heavy grade track and during parking checking, check vehicle two walking mechanisms height there will be
Difference in height will also cause main couple rotating mechanism and main couple 11 angle of deviation with respect to the horizontal plane occur in this way.Angle is examined
Above-mentioned angle of deviation size can be detected by surveying instrument 1201, and by obtained horizontal angle of deviation data transmission to the rotation control being attached thereto
In device 1202 processed.
Rotation Controllers 1202 can generate corresponding driving motor control signal according to above-mentioned horizontal deflection angle and should
Driving motor control signal transmission is to driving motor 9, so as to main couple be controlled to revolve by controlling the operating status of driving motor 9
Swing-around trajectory rotation in rotation mechanism, so that the angle of deviation of main couple 11 with respect to the horizontal plane is equal to or levels off to again
Zero.
It should be pointed out that in the present embodiment, Rotation Controllers 1202 controls the side of driving motor according to horizontal deflection angle
Formula can be existing more mature close-loop control mode (such as PID control etc.), and the present invention is not to Rotation Controllers
The concrete mode of 1202 control driving motors 9 is defined.
It can be seen that using angle detector 1201 and Rotation Controllers 1202, on steel truss arch provided by the present invention
String checks that the control system of vehicle can detect the angle of deviation of main couple 11 with respect to the horizontal plane in real time, and there are during misalignment angle
By controlling the rotation of main couple rotating mechanism the angle of main couple 11 is adjusted, so that main couple 11 is with respect to the horizontal plane
The angle of deviation remains equal to zero or levels off to zero.
It may be noted that it is, in other embodiments of the invention, in order to ensure the standard of the above-mentioned angle of deviation detected
True property, the control system can also include additional angular transducer 17, and angular transducer 17 can be arranged on walking mechanism 16
On, to detect the deflection angle of 16 side of walking mechanism, and by the deflection angle data transmission to the Rotation Controllers 1202 being attached thereto.
And Rotation Controllers 1202 then can with comprehensive angle sensor 17 and angle detector 1201 the obtained deflection angle number of detection
According to controlling Rotation Controllers.
As shown in figure 12, in this embodiment, control system preferably further includes:First operation portion 1203 and walking control
Device 1204 processed.Wherein, the first operation portion 1203 is used to generate corresponding travel commands according to user's operation.Traveling controller 1204
Connect with the first operation portion 1203 and walking mechanism 16, can be transmitted according to the first operation portion 1203 come travel commands control
The operating status of walking mechanism 16 processed, so as to control steel truss arch top chord check car walking or stop.
In this embodiment, control system preferably further includes correcting coding device 1205.The inclined setting of encoder 1205 is expert at
It walks in structure 16 and is connect with traveling controller 1204, for detecting the operating status of different walking structures 16 and generating walking partially
Difference signal.Traveling controller 1204 can be transmitted according to correcting coding device 1205 come walking deviation signal control it is respectively different
The operating status of walking structure 16, so that different walking mechanism synchronous operations, it so also can be to avoid due to not going together
Walk mechanism 16 run asynchronous (such as stroke is different or speed is different) and caused by steel truss arch top chord check car traveling process it is disorderly
The problem of random.
As shown in figure 12, in this embodiment, control system preferably further includes:Second operation portion 1206 and elevating control
Device 1207.When user needs to control the cage 14 in main couple 11 to lift, user can carry out phase to the second operation portion 1206
It should operate (such as press the rising button in the second operation portion 1206 or decline button etc.).Second operation portion 1206 being capable of root
Corresponding lifting instruction is generated, and lifting instruction is transmitted to the lifting controller 1207 being attached thereto according to user's operation.
Lifting controller 1207 is connect with the lifting motor 10 of the second operation portion 1206 and steel truss arch top chord check car, energy
It is enough transmit the lifting come according to the second operation portion 1206 and instruct the operating status for controlling lifting motor 10, so as to fulfill for steel
The descending operation of the cage 14 of braced arch top chord check car.
In this embodiment, above-mentioned Rotation Controllers 1202, traveling controller 1204 and lifting controller 1207 are preferred
Ground is integrated in same device (such as PLC devices).Certainly, in other embodiments of the invention, according to actual needs, it is above-mentioned
Rotation Controllers 1202, traveling controller 1204 and lifting controller 1207 can be both partly integrated in same device,
Individual device can also be respectively adopted to realize, the present invention is not limited thereto.
For convenience for the control of steel truss arch top chord check car, in the embodiment, the first operation portion and the second operation portion
The existing ground operation console neutralization for being integrated in steel truss arch top chord check car ground surface end simultaneously is integrated in the pocket torch door being arranged in cage 14
In operation console.User can both control the operation shape of steel truss arch top chord check car by existing ground operation console in ground surface end in this way
State can also encircle the operating status of top chord check car by pocket torch door operation console in 14 internal control steel truss of cage.
And in order to avoid existing ground operation console conflicts with the operation of pocket torch door operation console, in this embodiment, existing operation console
Button with realizing same function in pocket torch door operation console have interlock function (i.e. synchronization can only by existing ground operation console and
Some in pocket torch door operation console controls to encircle top chord check car to steel truss).
Certainly, in other embodiments of the invention, according to actual needs, the first operation portion and the second operation portion can be with
Only it is integrated in the existing ground operation console of steel truss arch top chord check car ground surface end or is integrated in the pocket torch door behaviour being arranged in cage 14
Make in platform, meanwhile, the first operation portion and the second operation portion can also be separately positioned in different equipment, the present invention is not limited to
This.
In addition, in this embodiment, optionally, control system can also include air velocity transducer, and air velocity transducer can
Detect steel truss arch top chord check car local environment wind speed, and by the wind speed information be transmitted to preset connection controller (such as
Traveling controller).The controller can judge whether wind speed at this time is greater than or equal to default wind speed threshold value, wherein, if worked as
Preceding wind speed is greater than or equal to default wind speed threshold value, then also meaning that steel truss arch top chord check car is run under the wind speed at this time is
There are security risk, therefore traveling controller will stop the operation of walking mechanism at this time, also help to ensure dimension in this way
The personal safety of shield personnel and the safety of equipment itself.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein or processing step
Suddenly, the equivalent substitute for these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is used only for the purpose of describing specific embodiments, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, in the case of without departing substantially from the principle of the present invention and thought, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (10)
1. a kind of control system of steel truss arch top chord check car, which is characterized in that the control system includes:
Angle detector is arranged on the main couple of steel truss arch top chord check car, for detecting the main couple relative to water
The deflection angle of plane obtains horizontal deflection angle;
Rotation Controllers is connect with the angle detector, for the steel truss being controlled to encircle according to the horizontal deflection angle
String checks the main couple rotating mechanism rotation of vehicle, so that the deflection angle of the main couple with respect to the horizontal plane levels off to or is equal to
Zero.
2. control system as described in claim 1, which is characterized in that the Rotation Controllers and the main couple rotating mechanism
In driving motor connection, signal is controlled for generating corresponding driving motor according to the horizontal deflection angle, so as to pass through control
The operating status of the driving motor is made the swing-around trajectory in the main couple rotating mechanism to be controlled to rotate.
3. control system as claimed in claim 1 or 2, which is characterized in that the control system further includes:
First operation portion is used to generate corresponding travel commands according to user's operation;
Traveling controller is connect with the walking mechanism of first operation portion and steel truss arch top chord check car, for according to institute
State the operating status that travel commands control the walking mechanism.
4. control system as claimed in claim 3, which is characterized in that the control system further includes:
Correcting coding device is arranged on the walking structure and is connect with the traveling controller, for detecting different walkings
The operating status of structure simultaneously generates walking deviation signal;
The traveling controller is configured to control the operating status of respectively different walking structure according to the walking deviation signal, from
And cause different walking mechanism synchronous operations.
5. the control system as described in claim 3 or 4, which is characterized in that the traveling controller and the Rotation Controllers
It is integrated in same device.
6. the control system as described in any one of claim 3~5, which is characterized in that the operating system further includes:
Second operation portion is used to generate corresponding lifting instruction according to user's operation;
Lifting controller is connect with the lifting motor of second operation portion and steel truss arch top chord check car, for according to institute
The operating status that lifting instruction controls the lifting motor is stated, so as to fulfill the lifting of the cage for steel truss arch top chord check car
Operation.
7. control system as claimed in claim 6, which is characterized in that the traveling controller is integrated with the lifting controller
In same device.
8. control system as claimed in claims 6 or 7, which is characterized in that first operation portion and the second operation portion integrate
In the existing ground operation console for being arranged on steel truss arch top chord check car ground surface end and/or it is integrated in the flashlight being arranged in the cage
In door operation platform.
9. control system as claimed in claim 8, which is characterized in that now the operation console in pocket torch door operation console with realizing
The button of same function has interlock function.
10. a kind of steel truss encircles top chord check car, which is characterized in that has such as control system according to any one of claims 1 to 9
System.
Priority Applications (1)
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CN201810190367.2A CN108221662A (en) | 2018-03-08 | 2018-03-08 | A kind of steel truss arch top chord check car and its control system |
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CN201810190367.2A CN108221662A (en) | 2018-03-08 | 2018-03-08 | A kind of steel truss arch top chord check car and its control system |
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CN110241722A (en) * | 2019-06-12 | 2019-09-17 | 咸宁职业技术学院 | It is a kind of for detecting the inspection vehicle of arch bridge |
CN110241723A (en) * | 2019-06-12 | 2019-09-17 | 咸宁职业技术学院 | A kind of inspection vehicle of adjustable center of gravity |
CN114645510A (en) * | 2020-12-18 | 2022-06-21 | 山东省路桥集团有限公司 | Checking vehicle for cable-stayed bridge |
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CN203451998U (en) * | 2013-07-25 | 2014-02-26 | 湖北辉创重型工程有限公司 | Wind-up trolley for steel joist arch bridge maintenance |
CN107700353A (en) * | 2017-09-05 | 2018-02-16 | 重庆红岩建设机械制造有限责任公司 | A kind of bridge inspection vehicle and the method for controlling the inspection car automatic synchronization to walk |
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CN202787070U (en) * | 2012-09-14 | 2013-03-13 | 武桥重工集团股份有限公司 | Hanging basket of bridge steel truss detection truck |
CN203451998U (en) * | 2013-07-25 | 2014-02-26 | 湖北辉创重型工程有限公司 | Wind-up trolley for steel joist arch bridge maintenance |
CN103603270A (en) * | 2013-11-20 | 2014-02-26 | 武汉武桥交通装备技术有限公司 | Automatic leveling mechanism for arch bridge inspection cars |
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CN110241722A (en) * | 2019-06-12 | 2019-09-17 | 咸宁职业技术学院 | It is a kind of for detecting the inspection vehicle of arch bridge |
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CN114645510B (en) * | 2020-12-18 | 2023-07-18 | 山东省路桥集团有限公司 | Inspection vehicle for cable-stayed bridge |
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