CN108221662B - Steel truss arch winding inspection vehicle and control system thereof - Google Patents
Steel truss arch winding inspection vehicle and control system thereof Download PDFInfo
- Publication number
- CN108221662B CN108221662B CN201810190367.2A CN201810190367A CN108221662B CN 108221662 B CN108221662 B CN 108221662B CN 201810190367 A CN201810190367 A CN 201810190367A CN 108221662 B CN108221662 B CN 108221662B
- Authority
- CN
- China
- Prior art keywords
- control system
- wheel
- inspection vehicle
- controller
- steel truss
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 57
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 56
- 239000010959 steel Substances 0.000 title claims abstract description 56
- 238000004804 winding Methods 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 230000009194 climbing Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 abstract description 4
- 239000000725 suspension Substances 0.000 description 5
- 238000011065 in-situ storage Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
A control system for a steel truss arch winding inspection vehicle, comprising: the angle detector is arranged on the main truss of the steel truss arch upper chord inspection vehicle and is used for detecting the deflection angle of the main truss relative to the horizontal plane to obtain a horizontal deflection angle; and the rotation controller is connected with the angle detector and is used for controlling the rotation of the main truss rotation mechanism according to the horizontal deflection angle so that the deflection angle of the main truss relative to the horizontal plane is approximate to or equal to zero. The control system can timely and automatically level the steel truss arch winding inspection vehicle, so that the cage where the detection personnel are located always keeps a horizontal state relative to the ground, the personal safety of the detection personnel is better ensured, the cost is greatly reduced, and the continuous and rapid walking with a large gradient can be realized.
Description
Technical Field
The invention relates to the technical field of bridge detection and bridge detection equipment, in particular to a steel truss arch winding inspection vehicle and a control system thereof.
Background
Along with the rapid development of high-speed railways in China, large steel truss arch bridges are more and more, and the requirement on bridge overhaul is higher and higher. When the vehicle is required to run on a high-gradient track and stop for inspection, inspection staff is always in a horizontal state on a vehicle frame or in a suspension cage and is balanced, if the vehicle is inclined, the inspection staff is easy to fall off, and life safety is threatened. The application number is 201120291098.2, the name is "steel truss arch bridge inspection vehicle climbing device" discloses an inspection vehicle climbing device, and it includes running gear, main truss structure and levelling mechanism, and running gear includes running gear and installs power unit, running wheel and the pinch roller on the running gear, and power unit passes through the driving medium drive running wheel, the running wheel is installed at orbital upper surface, the pinch roller is installed at orbital lower surface, still install the clamping spring that makes the track clamp between running wheel and pinch roller on the pinch roller. However, the existing winding inspection vehicle generally does not have an automatic leveling function, and has a complex overall structure and too large tonnage.
Disclosure of Invention
In order to solve the problems, the invention provides a control system of a steel truss arch winding inspection vehicle, which comprises:
The angle detector is arranged on the main truss of the steel truss arch upper chord inspection vehicle and is used for detecting the deflection angle of the main truss relative to the horizontal plane to obtain a horizontal deflection angle;
And the rotation controller is connected with the angle detector and is used for controlling the main truss rotation mechanism of the steel truss arch winding inspection vehicle to rotate according to the horizontal deflection angle so that the deflection angle of the main truss relative to the horizontal plane is close to or equal to zero.
According to one embodiment of the invention, the rotation controller is connected with a driving motor in the main truss rotation mechanism and is used for generating a corresponding driving motor control signal according to the horizontal deflection angle so as to control the rotation of the rotation track in the main truss rotation mechanism by controlling the running state of the driving motor.
According to one embodiment of the invention, the control system further comprises:
A first operation unit for generating a corresponding travel instruction according to a user operation;
and the traveling controller is connected with the first operation part and the traveling mechanism of the steel truss arch winding inspection vehicle and is used for controlling the running state of the traveling mechanism according to the traveling instruction.
According to one embodiment of the invention, the control system further comprises:
The deviation correcting encoder is arranged on the travelling mechanism and connected with the travelling controller and is used for detecting the running states of different travelling mechanisms and generating travelling deviation signals;
The walking controller is configured to control the running states of different walking mechanisms according to the walking deviation signals, so that the different walking mechanisms run synchronously.
According to one embodiment of the invention, the walk controller is integrated in the same device as the rotation controller.
According to one embodiment of the invention, the control system further comprises:
a second operation part for generating a corresponding lifting instruction according to a user operation;
And the lifting controller is connected with the second operation part and the lifting motor of the steel truss arch winding inspection vehicle and is used for controlling the running state of the lifting motor according to the lifting instruction so as to realize the lifting operation of the lifting cage of the steel truss arch winding inspection vehicle.
According to one embodiment of the invention, the walking controller is integrated in the same device as the lifting controller.
According to one embodiment of the invention, the first and second operating parts are integrated in an in-situ console provided at the ground end of a steel truss upper chord inspection vehicle and/or in a torch door console provided in the cage.
According to one embodiment of the invention, the buttons in the local console and the flashlight door console for realizing the same function have an interlocking function.
The invention also provides a steel truss arch winding inspection vehicle, which is provided with the control system.
The control system provided by the invention can timely and automatically level the steel truss arch winding inspection vehicle, so that the cage where the inspection personnel are positioned always keeps a horizontal state relative to the ground, thereby better ensuring the personal safety of the inspection personnel, greatly reducing the cost and realizing continuous and rapid walking with a large gradient.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly explain the drawings required in the embodiments or the description of the prior art:
FIG. 1 shows a schematic structural view of the winding inspection vehicle of the present invention;
FIG. 2 shows a schematic diagram of the support frame, anti-yaw and support wheel configuration of the main truss rotation mechanism of FIG. 1;
FIG. 3 is a schematic view showing the structure of the rotary drive assembly of FIG. 1 when connected to a rotary track;
FIG. 4 is a schematic view showing the structure of the wire rope connection mechanism in FIG. 3;
FIG. 5 shows a schematic structural view of the rotary drive assembly of FIG. 3;
FIG. 6 shows a schematic front view of one embodiment of the running gear of FIG. 1;
FIG. 7 shows a schematic top view of the high grade climbing travel mechanism of FIG. 6;
FIG. 8 shows a schematic left-hand view of the high grade climbing travel mechanism of FIG. 6;
FIG. 9 shows one specific configuration of the pressurizing device of FIG. 6;
FIG. 10 shows a cross-sectional view of the pressurizing device of FIG. 9;
FIG. 11 shows a B-B cross-sectional view of the pressurizing device of FIG. 9;
fig. 12 is a schematic structural view showing a control system of the winding inspection vehicle of the present invention.
Detailed Description
The following will describe embodiments of the present invention in detail with reference to the drawings and examples, thereby solving the technical problems by applying technical means to the present invention, and realizing the technical effects can be fully understood and implemented accordingly. It should be noted that, as long as no conflict is formed, each embodiment of the present invention and each feature of each embodiment may be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.
In the following description, meanwhile, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details or in the specific manner described herein.
Additionally, the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that herein.
The inventor notes in the course of the invention that existing inspection vehicles for steel truss arch bridges either do not involve leveling mechanisms or, although mention is made of leveling mechanisms, do not disclose the specific structure of the leveling mechanism and how to level. In addition, the existing climbing travelling mechanism mainly has the following problems: the hydraulic cylinder pushing walking mechanism is intermittent walking, and has the advantages of larger vibration, low walking speed, low walking mechanism efficiency and high cost; although the multi-rubber-wheel-set traveling mechanism based on the hinge four-bar mechanism can realize continuous traveling, the cost is relatively low, but the common climbing capacity is limited, and the climbing gradient cannot exceed 36 degrees; the climbing range and climbing capacity of the walking mechanism driven by the pin gear mechanism are greatly improved, but the whole machine is too heavy and has too high cost.
Aiming at the defects, the inventor of the invention provides a novel steel truss arch winding inspection vehicle and a control system thereof on the basis of long-term practice, and various test experiments prove that the control system can timely and automatically level the steel truss arch winding inspection vehicle, so that a cage where a detector is positioned always keeps a horizontal state relative to the ground, the personal safety of the detector is better ensured, the cost is greatly reduced, and the large-gradient continuous and rapid walking can be realized. The following is a detailed description.
Fig. 1 shows one embodiment of the winding inspection vehicle of the present invention. In this embodiment, the steel truss arch upper chord inspection vehicle of the present invention mainly includes: a plurality of running gears 16, a main truss rotation mechanism, a main truss 11, a cage 14 and a control system. The main truss rotating mechanism is connected with a traveling mechanism 16 of the steel truss arch upper chord inspection vehicle through a balance frame 19. The main truss 11 is fixedly connected in the main truss rotation mechanism. The suspension cage 14 is connected with the main truss 11, and the control system adjusts the rotation angle of the main truss rotation mechanism by detecting the climbing angle of the travelling mechanism 16, so that the suspension cage 14 connected with the main truss 11 is always in a state of being horizontal to the ground during climbing.
In one embodiment, as shown in FIG. 1, the main truss 11 is connected to the cage 14 by two electric hoists 13. The electric hoist 13 is driven by the lifting motor 10, and the lifting motor 10 is connected with a control system. The two lifting motors 10 are connected to one end of the electric hoist through motor connecting seats. Or in an embodiment not shown, two lifting motors 10 are provided on the electric hoist, running on the main truss 11 by means of electric trolleys.
In one embodiment, the main truss rotation mechanism basically includes: a rotary track 3, a rotary drive assembly and a rotary support assembly. Wherein the four corners of the main girder 11 are fixedly connected to the rotation rail 3 through the connection members 12. The rotary driving component is connected with the rotary track 3 through a steel wire rope 5 and a steel wire rope connecting mechanism 6 to drive the rotary track 3 to rotate. The rotary support assembly is connected to the outside of the rotary rail 3 to support the rotary rail 3.
In one embodiment, as shown in fig. 3 and 5, the rotary drive assembly basically includes: a driving motor 9, a driving wheel 8 and a driven wheel 7. Wherein, driving motor 9 passes through shaft coupling and reduction gear and connects action wheel 8. The driving wheel 8 is connected with the driven wheel 7 through a steel wire rope 5.
In one embodiment, as shown in fig. 1 and 3, the driving wheel 8 and the driven wheel 7 are provided with rope winding grooves. The wire rope 5 starts from the driving wheel 8, and after at least two complete turns are wound between the driving wheel 8 and the driven wheel 7 (i.e. the wire rope is wound from one wire rope winding groove of the driving wheel 8 to the corresponding wire rope winding groove of the driven wheel 7 and then to the wire rope winding groove of the driving wheel 8 belongs to one complete turn), two ends of the wire rope 5 extend from the driving wheel 8 and are wound on the rotating track 3. After the steel wire rope 5 winds the corresponding track of the rotating track 3, the two end heads of the steel wire rope 5 are respectively connected and fixed to the steel wire rope connecting mechanism 6 from the upper part of the rotating track 3, and the steel wire rope connecting mechanism 6 is fixedly connected with the rotating track 3.
In one embodiment, as shown in fig. 3 and 4, the wire rope connection mechanism 6 mainly includes: a connecting frame 6.1 and two tensioning assemblies connecting the two ends of the wire rope 5. Wherein the connecting frame 6.1 is fixedly connected in the rotating track 3. The tensioning assembly mainly comprises: a tensioning head 6.3 and a wire rope connection 6.2. One end of the tensioning head 6.3 is located on the outer side of the connecting frame 6.1, and the other end of the tensioning head 6.3 penetrates through the connecting frame 6.1 and abuts against the inner side of the connecting frame 6.1 through the locking nut 6.5 and the elastic piece 6.4. One end of the steel wire rope connecting piece 6.2 is hinged with the tensioning head 6.3, and the other end of the steel wire rope connecting piece 6.2 is fixedly connected with one end of the steel wire rope 5.
In one embodiment, as shown in fig. 1 and 2, the rotary support assembly basically includes: the support wheel 1 and the support 15 are rotated. Wherein the rotary support wheel 1 is connected with the rotary track 3 through a plurality of rotary support assemblies. The supporting frame 15 is fixedly connected to the outer side of the rotary supporting wheel 1, and supports and fixes the rotary supporting wheel 1 when the rotary rail 3 rotates.
In one embodiment, as shown in fig. 1 and 2, the rotary support assembly basically includes a first anti-deflection wheel 4 and a bearing wheel 2. The first deviation preventing wheels 4 are multiple, the first deviation preventing wheels 4 are installed on the rotary supporting wheel 1, and the first deviation preventing wheels 4 are arranged on two sides of the rotary track 3 in a two-to-two symmetrical mode to prevent deviation when the rotary track 3 rotates. The supporting wheel 2 is connected between the rotary supporting wheel 1 and the rotary track 3 to ensure the relative rotation of the two. The supporting wheel 2 mainly comprises a mounting seat and a friction ball, wherein the mounting seat is fixedly connected to the rotary supporting wheel 1, and the friction ball is movably arranged on the mounting seat and is abutted against the rotary track 3.
In one embodiment, as shown in fig. 2, the first deviation preventing wheel 4 and the supporting wheel 2 connected to the rotation supporting wheel 1 are multiple and distributed. In a preferred embodiment, a plurality of first deflection preventing wheels 4 may be connected to the rotation supporting wheel 1 in a uniform arrangement. The supporting wheels 2 are connected to the rotating supporting wheels 1 in a non-uniform manner, the number of the supporting wheels 2 arranged at the lower half circle of the rotating supporting wheels 1 is large, and the number of the supporting wheels 2 arranged at the upper half circle of the rotating supporting wheels 1 is small, so that the requirements of bearing and stable rotation are better met.
Fig. 6 shows a schematic structural view of one embodiment of a high-grade climbing travelling mechanism of the invention. In this embodiment, the heavy-gradient climbing traveling mechanism mainly includes: the vehicle frame 20, the drive assembly 21, the two wheels 22 and 23, the pressurizing means 24 and 25, and the second anti-deflection wheels 28 and 29. The carriage 20 mainly comprises a balance beam 20.1 and a bogie frame 20.2, and a driving assembly 21 is connected to the middle part of the carriage 20 and fixed to the bogie frame 20.2 of the carriage by bolts or screws and other fasteners. Two wheels 22 and 23 are provided on both left and right sides of the drive assembly 21 and are connected to the drive assembly 21. The axles of the wheels 22 and 23 are connected to the balance beam 20.1 of the frame 20. The pressurizing means 24 and 25 respectively increase the pressure at the time of climbing to the wheels 22 and 23, the pressurizing means 24 is connected to the wheel shaft of the wheel 22 on the corresponding side, and the pressurizing means 25 is connected to the wheel shaft of the wheel 23 on the corresponding side. The left pressurizing device 24 is connected to the left connecting block 20.3 corresponding to the frame 20, and the right pressurizing device 25 is connected to the right connecting block corresponding to the frame 20. The frictional force required during high grade climbing is increased mainly by the downward pressure applied by the pressurizing means 24 and 25 to the wheels 22 and 23.
In one embodiment, as shown in fig. 6-8, a left side pressurizing device 24 is exemplified. The pressing device 24 mainly comprises a lever pressing assembly and a pressing wheel 24.1. One end of the lever pressing assembly is connected with a connecting block 20.3 in the frame 20, and the other end of the lever pressing assembly is connected with the wheel shaft of the wheel 22 through a rib 26. The pressure wheel 24.1 is connected to the other end of the lever pressure assembly (the end facing into the frame 20 in fig. 6) and abuts under the balance beam 20.1, and the force acting on the one end of the lever pressure assembly is converted by the pressure of the lever pressure assembly and then multiplied by the force is applied to the wheel 22 via the rib 26 and the pressure wheel 24.1. The other end of the lever dummy press assembly in the pressing device 24 on the right is likewise connected to the axle of the wheel 22 via a rib 27.
In one embodiment, as shown in fig. 6-8, the lever pressurization assembly preferably has a pressurization conversion factor of 8-15. The arrangement is such that only a small force needs to be applied to one end of the lever pressing assembly to apply a large force to the wheel 22 via the pressing wheel 24.1. Moreover, as the lever multiple is not too high, the lever pressurizing assembly is not easy to damage, and the volume of the lever pressurizing assembly can be smaller due to powerful lever conversion, so that the lever pressurizing assembly does not occupy too much space, and is more attractive and practical while being convenient to install.
In one embodiment, one specific configuration of the pressurizing device 24 is shown in fig. 9-11. The pressurizing device 24 mainly includes: a pressing lever 24.2, a pressing arm 24.3, an eccentric shaft 24.4 and a pressing wheel 24.1. The pressurizing rod 24.2 has a hexagonal bolt structure, the upper end of the pressurizing rod passes through a connecting block 20.3 arranged in the bogie frame 20.2 to be connected with the pressurizing elastic piece 24.5, and the end head of the pressurizing rod 24.2 compresses the elastic piece 24.5 through a locking nut 24.6. The pressing arm 24.3 has a bending structure, one end of the pressing arm 24.3 is fixedly connected with the lower end of the pressing rod 24.2, and the other end of the pressing arm 24.3 is bent down to be connected to the front end of the eccentric shaft 24.4. The front end of the eccentric shaft 24.4 is connected with the lower end of the pressing arm 24.3, and the middle part of the eccentric shaft 24.4 is connected with the wheel axle of the wheel 22 through a rib 26. As shown in fig. 5, the pressure wheel 24.1 is connected to the rear end of the eccentric shaft 24.4, and the pressure wheel 24.1 abuts upward below the balance beam 20.1.
In one embodiment, as shown in fig. 6 to 8, the distance s1s2 between the axial center line s1 of the pressurizing rod 24.2 and the axial center line s2 of the end of the eccentric shaft 24.4 connecting rib 26 is 12 times the distance s2s3 between the axial center line s2 of the end of the eccentric shaft 24.4 connecting rib 26 and the center line s3 of the pressurizing wheel 24.1. Therefore, if a force of about 10 kg is preset at the end of the elastic member 24.5, a force of 120 kg is applied to the wheel 22 after lever conversion.
In one embodiment, as shown in fig. 7, the drive assembly 21 mainly comprises a lift motor 21.1, a coupling 21.2 and a decelerator 21.3 connected in sequence. The gear wheel 21.4 is connected to the gear wheel 21.3 via an output flange, and the gear wheel 21.4 is connected to the hubs of the wheels 22 and 23. Thus, the lifting motor 21.1 rotates to drive the gear ring 21.4 and the wheels 22 and 23 to rotate, and the wheel shafts of the wheels 22 and 23 are fixed on the frame 20.
In one embodiment, the outermost layers of the wheels 22 and 23 are provided with specially processed rubber layers that increase friction and withstand certain stresses.
In one embodiment, the pressurizing devices 24 and 25, the second deviation preventing wheels 28 and 29 and the symmetrically arranged structures enable the whole structure to be compact, the weight to be greatly reduced, the climbing height of the traveling mechanism of the invention is up to 46 degrees, and the traveling speed of the traveling mechanism of the invention can be up to 5m/min.
In one embodiment, as shown in fig. 6 to 9, the outer sides of two ends of the frame 20 are respectively connected with an anti-deviation mounting seat 30, and each anti-deviation mounting seat 30 is symmetrically provided with two second anti-deviation wheels 29 along the radial center line of the frame so as to prevent the running mechanism of the invention from deviating when running or climbing a slope.
In one embodiment, as shown in fig. 6 to 9, the second deviation preventing wheel 29 is connected with the deviation preventing mounting seat 30 through a deviation preventing shaft and an adjusting nut, and the deviation preventing preset amount of the second deviation preventing wheel 29 can be adjusted through the adjusting nut according to the condition of the walking track.
By steep grade in the present invention is meant a grade greater than or equal to 45 deg., such as 46 deg.. Fast walking means that the highest walking speed can reach 5m/min. Continuous walking means that adjustment or leveling is carried out before maintenance is carried out without interruption or stopping when climbing a slope, and the device can be adjusted to a required position once.
In one embodiment of the present invention, as shown in FIG. 12, the control system preferably includes: an angle detector 1201 and a rotation controller. The angle detector is fixedly arranged on the main truss 11 in the main truss rotating mechanism, and can detect the deflection angle of the main truss 11 relative to the horizontal plane, so as to obtain the horizontal deflection angle.
Of course, in other embodiments of the present invention, the angle detector 1201 may be disposed at other reasonable locations for detecting the deflection angle of the main truss 11 relative to the horizontal. For example, in one embodiment of the present invention, the angle detector 1201 may also be disposed on the main truss rotation mechanism of the steel truss arch winding inspection vehicle, and since the main truss 11 and the main truss rotation mechanism may be relatively fixed, the angle detector 1201 may also obtain the deflection angle of the main truss 11 with respect to the horizontal plane by detecting the relative angle of the main truss rotation mechanism.
The rotation controller 1202 is connected to the angle detector 1201 and the main truss rotation mechanism, and is capable of controlling the rotation of the main truss rotation mechanism according to the horizontal deflection angle transmitted by the angle detector 1201, so that the deflection angle of the main truss 11 with respect to the horizontal plane approaches to or equals to zero, and thus the main truss 11 is always in a horizontal state and kept balanced.
Specifically, in the present embodiment, the rotation controller 1202 is connected to the drive motor 9 in the truss rotation mechanism. When the steel truss arch winding inspection vehicle runs on a high-gradient track and stops for inspection, the height of the two travelling mechanisms of the inspection vehicle is different, so that a deviation angle of the main truss rotating mechanism and the main truss 11 relative to the horizontal plane is formed. The angle detector 1201 can detect the magnitude of the above-described deviation angle and transmit the obtained horizontal deviation angle data to the rotation controller 1202 connected thereto.
The rotation controller 1202 can generate a corresponding driving motor control signal according to the horizontal deflection angle and transmit the driving motor control signal to the driving motor 9, so as to control the rotation of the rotation track in the main truss rotation mechanism by controlling the running state of the driving motor 9, and further, the deflection angle of the main truss 11 relative to the horizontal plane is re-equal to or approaches zero.
It should be noted that, in this embodiment, the manner in which the rotation controller 1202 controls the driving motor according to the horizontal deflection angle may be a conventional relatively mature closed-loop control manner (for example, PID control, etc.), and the specific manner in which the rotation controller 1202 controls the driving motor 9 is not limited in the present invention.
It can be seen that, by using the angle detector 1201 and the rotation controller 1202, the control system of the steel truss arch winding inspection vehicle provided by the invention can detect the deviation angle of the main truss 11 relative to the horizontal plane in real time, and adjust the angle of the main truss 11 by controlling the rotation of the main truss rotation mechanism when the deviation angle exists, so that the deviation angle of the main truss 11 relative to the horizontal plane is kept to be equal to or close to zero.
It should be noted that in other embodiments of the present invention, to ensure the accuracy of the detected deviation angle, the control system may further include an additional angle sensor 17, and the angle sensor 17 may be provided on the running gear 16 to detect the deviation angle of the running gear 16 side and transmit the deviation angle data to the rotation controller 1202 connected thereto. The rotation controller 1202 may control the rotation controller by integrating the deflection angle data detected by the angle sensor 17 and the angle detector 1201.
As shown in fig. 12, in this embodiment, the control system preferably further includes: the first operation unit 1203 and the travel controller 1204. The first operation unit 1203 is configured to generate a corresponding travel instruction according to a user operation. The traveling controller 1204 is connected to the first operation unit 1203 and the traveling mechanism 16, and is capable of controlling the traveling state of the traveling mechanism 16 in accordance with the traveling command transmitted from the first operation unit 1203, thereby controlling the traveling or stopping of the steel truss arch boarding inspection vehicle.
In this embodiment, the control system preferably further includes a deskew encoder 1205. A bias encoder 1205 is provided on the travel mechanism 16 and is connected to the travel controller 1204 for detecting the operating conditions of the different travel mechanisms 16 and generating a travel deviation signal. The running controller 1204 can control the running states of the different running mechanisms 16 according to the running deviation signals transmitted by the deviation correcting encoder 1205, so that the different running mechanisms run synchronously, and the problem of disturbance in the running process of the steel truss arch winding inspection vehicle caused by the fact that the running of the different running mechanisms 16 is not synchronous (for example, the running of different running paths or the running of different speeds) can be avoided.
As shown in fig. 12, in this embodiment, the control system preferably further includes: a second operation unit 1206 and a lift controller 1207. When the user needs to control the lifting of the cage 14 in the main truss 11, the user may perform a corresponding operation on the second operation unit 1206 (for example, press the up button or the down button in the second operation unit 1206). The second operation unit 1206 can generate a corresponding lifting instruction according to a user operation, and transmit the lifting instruction to the lifting controller 1207 connected thereto.
The lift controller 1207 is connected to the second operation unit 1206 and the lift motor 10 of the steel truss arch winding inspection vehicle, and is capable of controlling the operation state of the lift motor 10 according to the lift command transmitted from the second operation unit 1206, thereby realizing the lift operation of the suspension cage 14 of the steel truss arch winding inspection vehicle.
In this embodiment, the rotation controller 1202, the walking controller 1204, and the elevation controller 1207 described above are preferably integrated in the same device (e.g., a PLC device). Of course, in other embodiments of the present invention, the rotation controller 1202, the walking controller 1204 and the lifting controller 1207 may be partially integrated into the same device or may be implemented by separate devices according to actual needs, and the present invention is not limited thereto.
To facilitate control of the steel truss arch upper chord inspection vehicle, in this embodiment, the first and second operating sections are integrated simultaneously in an in-situ console at the ground end of the steel truss arch upper chord inspection vehicle and in a manual door console provided in the cage 14. Thus, a user can control the running state of the steel truss arch winding inspection vehicle at the ground end through the on-site operation table, and can control the running state of the steel truss arch winding inspection vehicle inside the suspension cage 14 through the electric torch operation table.
In order to avoid the operation conflict between the local operation table and the electric torch operation table, in this embodiment, the buttons for realizing the same function in the local operation table and the electric torch operation table have an interlocking function (namely, the steel truss arch winding inspection vehicle can only be controlled by one of the local operation table and the electric torch operation table at the same time).
Of course, in other embodiments of the present invention, the first and second operating portions may be integrated only in the in-situ console of the ground end of the steel truss upper chord inspection vehicle or in a torch door console provided in the cage 14, and the first and second operating portions may be provided in different devices, respectively, as the present invention is not limited thereto.
Furthermore, in this embodiment, the control system may optionally further include a wind speed sensor capable of detecting a wind speed of the environment in which the steel truss camber inspection vehicle is located and transmitting the wind speed information to a preset connected controller (e.g., a walk controller). The controller can judge whether the wind speed at the moment is greater than or equal to a preset wind speed threshold value, wherein if the current wind speed is greater than or equal to the preset wind speed threshold value, the situation that the steel truss arch winding inspection vehicle runs at the wind speed at the moment is indicated to have potential safety hazards is indicated, so that the running controller stops running of the running mechanism at the moment, and personal safety of maintenance personnel and safety of equipment are guaranteed.
It is to be understood that the disclosed embodiments are not limited to the specific structures or process steps disclosed herein, but are intended to extend to equivalents of these features as would be understood by one of ordinary skill in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
While the above examples are intended to illustrate the principles of the invention in one or more applications, it will be apparent to those skilled in the art that various modifications in form, use and details of implementation may be made without departing from the principles and concepts of the invention. Accordingly, the invention is defined by the appended claims.
Claims (10)
1. A control system of a steel truss arch winding inspection vehicle is characterized in that,
The steel truss arch winding inspection vehicle comprises a travelling mechanism, wherein the travelling mechanism comprises:
A frame;
A drive assembly coupled to the frame;
the two wheels are arranged on two sides of the driving assembly and connected with the driving assembly, and the wheel shafts of the wheels are connected with the frame; and
The pressurizing device is connected with the wheel axle of the wheel and the frame to increase the climbing pressure of the wheel;
The frame comprises a balance beam and a bogie frame, and the driving assembly, the wheel axle of the wheel and the pressurizing device are all arranged on the balance beam; the pressurizing device comprises a lever pressurizing assembly and a pressurizing wheel, one end of the lever pressurizing assembly is connected with the frame, the other end of the lever pressurizing assembly is connected with a wheel shaft of the wheel through a rib plate, the pressurizing wheel is connected with the other end of the lever pressurizing assembly and is abutted below the balance beam, and acting force acting on one end of the lever pressurizing assembly is loaded onto the wheel through the rib plate and the pressurizing wheel after being pressurized and converted by the lever pressurizing assembly;
the control system includes:
The angle detector is arranged on the main truss of the steel truss arch upper chord inspection vehicle and is used for detecting the deflection angle of the main truss relative to the horizontal plane to obtain a horizontal deflection angle;
And the rotation controller is connected with the angle detector and is used for controlling the main truss rotation mechanism of the steel truss arch winding inspection vehicle to rotate according to the horizontal deflection angle so that the deflection angle of the main truss relative to the horizontal plane is close to or equal to zero.
2. The control system of claim 1, wherein the rotation controller is coupled to a drive motor in the main truss rotation mechanism for generating a corresponding drive motor control signal according to the horizontal deflection angle, thereby controlling rotation of the rotation rail in the main truss rotation mechanism by controlling an operation state of the drive motor.
3. The control system of claim 1, wherein the control system further comprises:
A first operation unit for generating a corresponding travel instruction according to a user operation;
and the traveling controller is connected with the first operation part and the traveling mechanism of the steel truss arch winding inspection vehicle and is used for controlling the running state of the traveling mechanism according to the traveling instruction.
4. The control system of claim 3, wherein the control system further comprises:
The deviation correcting encoder is arranged on the travelling mechanism and connected with the travelling controller and is used for detecting the running states of different travelling mechanisms and generating travelling deviation signals;
The walking controller is configured to control the running states of different walking mechanisms according to the walking deviation signals, so that the different walking mechanisms run synchronously.
5. A control system as claimed in claim 3, wherein the walk controller is integrated in the same device as the rotation controller.
6. The control system according to any one of claims 3 to 5, characterized in that the control system further comprises:
a second operation part for generating a corresponding lifting instruction according to a user operation;
And the lifting controller is connected with the second operation part and the lifting motor of the steel truss arch winding inspection vehicle and is used for controlling the running state of the lifting motor according to the lifting instruction so as to realize the lifting operation of the lifting cage of the steel truss arch winding inspection vehicle.
7. The control system of claim 6, wherein the walk controller is integrated in the same device as the lift controller.
8. The control system of claim 6, wherein the first and second operating portions are integrated in a field console provided at a ground end of a steel truss upper chord inspection vehicle and/or in a torch door console provided in the cage.
9. The control system of claim 8, wherein the on-site console and a button in the torch door console that performs the same function have an interlocking function.
10. A steel truss arch winding inspection vehicle characterized by having a control system as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190367.2A CN108221662B (en) | 2018-03-08 | 2018-03-08 | Steel truss arch winding inspection vehicle and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190367.2A CN108221662B (en) | 2018-03-08 | 2018-03-08 | Steel truss arch winding inspection vehicle and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108221662A CN108221662A (en) | 2018-06-29 |
| CN108221662B true CN108221662B (en) | 2024-05-28 |
Family
ID=62667124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810190367.2A Active CN108221662B (en) | 2018-03-08 | 2018-03-08 | Steel truss arch winding inspection vehicle and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108221662B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110241723B (en) * | 2019-06-12 | 2021-02-19 | 咸宁职业技术学院 | Inspection vehicle with adjustable gravity center |
| CN110241722B (en) * | 2019-06-12 | 2021-04-27 | 咸宁职业技术学院 | A inspection car for detecting arched bridge roof beam |
| 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 |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010054382A (en) * | 1999-12-06 | 2001-07-02 | 전태수 | a travelling equipment for bridge inspection vehicle installed at arch type bridge |
| US6269904B1 (en) * | 1998-02-27 | 2001-08-07 | Fps Investments, Llc | Truss style trolley beam for a fall protection system |
| KR20100003434A (en) * | 2008-07-01 | 2010-01-11 | 이연철 | Movable carrier for repairing and maintaining of arch type structure |
| KR20120074466A (en) * | 2010-12-28 | 2012-07-06 | 이연철 | Moving inspection vehicle for an arch type bridge structure |
| CN102704392A (en) * | 2012-06-25 | 2012-10-03 | 武桥重工集团股份有限公司 | Automatic levelling mechanism of climbing inspection vehicle |
| 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 |
| 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 |
| CN208280010U (en) * | 2018-03-08 | 2018-12-25 | 湖北三六重工有限公司 | A kind of steel truss arch top chord check car and its control system |
-
2018
- 2018-03-08 CN CN201810190367.2A patent/CN108221662B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6269904B1 (en) * | 1998-02-27 | 2001-08-07 | Fps Investments, Llc | Truss style trolley beam for a fall protection system |
| KR20010054382A (en) * | 1999-12-06 | 2001-07-02 | 전태수 | a travelling equipment for bridge inspection vehicle installed at arch type bridge |
| KR20100003434A (en) * | 2008-07-01 | 2010-01-11 | 이연철 | Movable carrier for repairing and maintaining of arch type structure |
| KR20120074466A (en) * | 2010-12-28 | 2012-07-06 | 이연철 | Moving inspection vehicle for an arch type bridge structure |
| CN102704392A (en) * | 2012-06-25 | 2012-10-03 | 武桥重工集团股份有限公司 | Automatic levelling mechanism of climbing inspection vehicle |
| 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 |
| 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 |
| CN208280010U (en) * | 2018-03-08 | 2018-12-25 | 湖北三六重工有限公司 | A kind of steel truss arch top chord check car and its control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108221662A (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108221662B (en) | Steel truss arch winding inspection vehicle and control system thereof | |
| CN113202020A (en) | Arch rib maintenance vehicle suitable for box type arch rib inspection | |
| CN213011645U (en) | Lifting mechanism of double-beam portal crane | |
| CN105329825A (en) | Eccentric load adjusting mechanism and method for parallel suspended platform | |
| CN114148880A (en) | Unmanned automatic steel coil carrying crane | |
| CN103663165A (en) | Intelligentized four-lifting-point auto-compensation balance large lifting assembling device | |
| CN102864740B (en) | Total-length traveling rotary pile-passing beam bottom inspection vehicle system | |
| CN203667839U (en) | Four-suspension-centre automatic offset balanced large-scale hoist assembly equipment | |
| CN107628063B (en) | Running surface overturning correction type switch transposition switch mechanism of suspension type monorail traffic system | |
| CN108760340A (en) | Chassis dynamometer with vehicle centering body | |
| CN219567358U (en) | Double-lifting-point crane | |
| CN107724193B (en) | Turning correction type turnout for running surface of suspension type monorail traffic system | |
| CN111764613A (en) | High-altitude equipment installation device in rail traveling area of rail transit engineering and construction method | |
| CN208280010U (en) | A kind of steel truss arch top chord check car and its control system | |
| CN108252212B (en) | Steel truss arch winding inspection vehicle | |
| CN108342989A (en) | A kind of auxiliary support apparatus and bridge rotating system | |
| CN219054392U (en) | Mining inspection robot | |
| CN110042760A (en) | One kind can be with the mobile deck unit erection gantry of load | |
| CN202913346U (en) | Full-length pier-passing bridge bottom inspection car with travelling mechanism and rotating device | |
| CN212475929U (en) | Safety braking double-beam crane | |
| CN211110681U (en) | Flexible landing leg of double-beam portal crane | |
| CN2613513Y (en) | Detector for concrete bridge | |
| CN110241723B (en) | Inspection vehicle with adjustable gravity center | |
| CN203903900U (en) | Lift used for heavy workpiece conveying | |
| CN208568305U (en) | Chassis dynamometer with vehicle centering body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |