CN108252212B - Steel truss arch winding inspection vehicle - Google Patents
Steel truss arch winding inspection vehicle Download PDFInfo
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- CN108252212B CN108252212B CN201810190406.9A CN201810190406A CN108252212B CN 108252212 B CN108252212 B CN 108252212B CN 201810190406 A CN201810190406 A CN 201810190406A CN 108252212 B CN108252212 B CN 108252212B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 42
- 239000010959 steel Substances 0.000 title claims abstract description 42
- 238000007689 inspection Methods 0.000 title claims abstract description 35
- 238000004804 winding Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 230000009194 climbing Effects 0.000 claims abstract description 33
- 239000000725 suspension Substances 0.000 claims abstract description 12
- 238000000429 assembly Methods 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a steel truss arch winding inspection vehicle, which comprises: a plurality of large-gradient climbing travelling mechanisms; the main truss rotating mechanism is connected to the travelling mechanism; the main truss is fixedly connected in the main truss rotating mechanism; the suspension cage is connected with the main truss through an electric hoist; and the controller is used for adjusting the synchronism of the plurality of travelling mechanisms, detecting the climbing angle of the travelling mechanisms during continuous travelling and adjusting the rotating angle of the main truss rotating mechanism so as to enable the suspension cage to be always in a state parallel to the ground. The inspection vehicle has an automatic leveling function, is suitable for continuous walking with a large gradient, and has low cost.
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.
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 inspection personnel need to run on the high-gradient track and stop for maintenance, the inspection personnel are always in a horizontal state on the frame or in the suspension cage and keep balance, if the inspection personnel incline, the inspection personnel are easy to fall off, and the 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
Aiming at part or all of the technical problems in the prior art, the invention provides a winding inspection vehicle which has an automatic leveling function, is suitable for continuous walking with a large gradient and has low cost.
In order to achieve the above object, the present invention provides a winding inspection vehicle having the following structure, comprising:
a plurality of large-gradient climbing travelling mechanisms;
The main truss rotating mechanism is connected to the travelling mechanism;
The main truss is fixedly connected in the main truss rotating mechanism;
the suspension cage is connected with the main truss through an electric hoist; and
And the controller is used for adjusting the synchronism of the plurality of travelling mechanisms, detecting the climbing angle of the travelling mechanisms during continuous travelling and adjusting the rotating angle of the main truss rotating mechanism so as to enable the suspension cage to be always in a state parallel to the ground.
According to the invention, the climbing angle of the travelling mechanism is continuously detected through the controller, and the rotation angle of the main truss rotating mechanism is timely adjusted according to the climbing angle, so that the main truss fixedly connected to the main truss rotating mechanism and the hanging cage connected with the main truss are always in a position horizontal to the ground. And because the angle is continuously detected and adjusted step by step, the change amplitude relative to the previous state is relatively small, the suspension cage and the like are not easy to shake, and the personal safety of detection personnel in the suspension cage can be better ensured. In addition, because the structure setting is more reasonable, adopt the heavy grade climbing running gear moreover, be applicable to heavy grade continuous walking, and with low costs.
In one embodiment, the main truss rotation mechanism includes:
The main truss is connected to the rotating rail;
the rotary driving assembly is connected with the rotary track through a steel wire rope and a steel wire rope connecting mechanism to drive the rotary track to rotate; and
And a rotation support assembly connected to an outer side of the rotation rail and supporting the rotation rail.
In one embodiment, the rotary drive assembly comprises:
A driving motor;
The driving wheel is connected with the driving motor; and
And the driven wheel is connected with the driving wheel through a steel wire rope.
In one embodiment, the driving wheel and the driven wheel are both provided with rope winding grooves, the steel wire rope starts from the driving wheel, after at least two whole circles of winding is performed between the driving wheel and the driven wheel, two ends of the steel wire rope extend from the driving wheel and are wound on the rotating track, two ends of the steel wire rope are connected with the steel wire rope connecting mechanism, and the steel wire rope connecting mechanism is fixedly connected with the rotating track.
In one embodiment, the wire rope connection means comprises:
The connecting frame is fixedly connected in the rotating track; and
Two tensioning assemblies connected with two ends of the steel wire rope; the tensioning assembly includes:
One end of the tensioning head is abutted against the outer side of the connecting frame, and the other end of the tensioning head penetrates through the connecting frame and is abutted against the inner side of the connecting frame through a locking nut and an elastic piece;
And one end of the steel wire rope connecting piece is hinged with the tensioning head, and the other end of the steel wire rope connecting piece is fixedly connected with one end of the steel wire rope.
In one embodiment, the rotary support assembly comprises:
A rotary support wheel connected with the rotary track through a rotary support assembly; and
The support frame is fixedly connected to the outer side of the rotary support wheel and supports and fixes the rotary support wheel when the rotary track rotates.
In one embodiment, the rotation support assembly comprises a first anti-deflection wheel and a bearing wheel, wherein the first anti-deflection wheel is installed on the rotation support wheel and positioned on two sides of the rotation track to prevent deflection when the rotation track rotates, and the bearing wheel is connected between the rotation support wheel and the rotation track to ensure relative rotation of the rotation support wheel and the rotation track.
In one embodiment, the first anti-deflection wheel and the supporting wheel are multiple and are separately arranged on the rotary supporting wheel, the supporting wheel comprises a mounting seat and wheels, the mounting seat is fixedly connected to the rotary supporting wheel, and the wheels are movably arranged on the mounting seat and are abutted to the rotary track.
In one embodiment, the main truss is connected with the suspension cage through two electric hoists, the electric hoists are driven by a first variable frequency motor, and the first variable frequency motor is connected with the controller; the two first variable frequency motors are arranged in a motor box, and the motor box is connected to the main truss.
In one embodiment, the controller comprises an angle detector and a Programmable Logic Controller (PLC), wherein the angle detector is arranged on the main truss, the detected angle information is transmitted to the programmable PLC, and the programmable PLC is connected with the rotary driving assembly and the first variable frequency motor.
In one embodiment, the number of the main truss rotating mechanisms is two, the main trusses are supported by the two main truss rotating mechanisms, each main truss rotating mechanism is connected with four traveling mechanisms through traveling connection assemblies, the four traveling mechanisms are divided into two groups, each group is connected with a photoelectric encoder to detect and control the synchronism of the traveling mechanisms, and the main trusses are provided with angle sensors.
In one embodiment, the inspection vehicle travels at a speed of 0.5m/min to 5m/min with a maximum ramp up to 46 °.
In one embodiment, the running gear 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
And the pressurizing device is connected with the wheel shaft of the wheel and the frame to increase the climbing pressure of the wheel.
In one embodiment, the carriage comprises a balance beam and a bogie frame, the drive assembly, the axle of the wheel and the pressurizing means being mounted 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 to the lower portion of the balance beam, and acting force acting on one end of the lever pressurizing assembly is applied to the wheel through the rib plate and the pressurizing wheel after pressurization conversion of the lever pressurizing assembly.
In one embodiment, the pressurizing device comprises:
The upper end of the pressurizing rod penetrates through a connecting block arranged in the trolley frame to be connected with the pressurizing elastic piece, and the end head of the pressurizing rod compresses the pressurizing elastic piece through a locking nut;
a pressurizing arm, one end of which is connected with the other end of the pressurizing rod;
One end of the eccentric shaft is connected with the other end of the pressurizing arm, and the middle of the eccentric shaft is connected with the wheel shaft of the wheel through a rib plate; and
And the pressurizing wheel is connected with the other end of the eccentric shaft and is abutted under the balance beam.
In one embodiment, the distance between the axial center line of the pressing lever and the axial center line of the one end of the eccentric shaft connecting rib is 12 times the distance between the axial center line of the one end of the eccentric shaft connecting rib and the center line of the pressing wheel.
In one embodiment, the driving assembly comprises a second variable frequency motor, a coupler and a speed reducer which are sequentially connected, wherein the speed reducer is connected with a gear ring through an output flange, and the gear ring is meshed with a gear ring on a hub of the wheel.
In one embodiment, the outermost layer of the wheel is provided with a treated rubber layer that increases friction and withstands a certain pressure.
In one embodiment, the outer sides of the two ends of the frame are respectively connected with an anti-deflection mounting seat, and each anti-deflection mounting seat is provided with two second anti-deflection wheels along the radial center line of the frame so as to prevent deflection.
Compared with the prior art, the invention has the advantages that:
According to the invention, the eight large-gradient climbing travelling mechanisms are arranged on one set of inspection vehicle, and the eight travelling mechanisms can uniformly bear the weight of the automatic leveling device comprising the main truss rotating mechanism and the main truss. And because each running mechanism is provided with the second deviation preventing wheel and the pressurizing device, the positive pressure during climbing can be increased, and the wheel deviation can be prevented, so that the running mechanism is suitable for continuous running with a large gradient. And because the automatic leveling device has a relatively simple structure, reasonable structural arrangement, smaller overall weight and volume and lower cost.
Drawings
Preferred embodiments of the present invention will be described in detail below with reference to the attached drawing figures, wherein:
FIG. 1 shows a schematic diagram of the working principle of the winding inspection vehicle of the present invention;
FIG. 2 shows a schematic structural view 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.
In the drawings, like parts are designated with like reference numerals. The figures are not drawn to scale.
Detailed Description
In order to make the technical solution and advantages of the present invention more apparent, exemplary embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. It will be apparent that the described embodiments are only some of the embodiments of the present invention and are not exhaustive of all embodiments. And embodiments of the invention and features of the embodiments may be combined with each other without conflict.
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.
In order to overcome the defects, the embodiment of the invention provides a large-gradient climbing travelling mechanism which has an automatic leveling function, is suitable for large-gradient continuous travelling and has lower cost.
The inventor of the invention provides a steel truss arch winding inspection vehicle on the basis of long-term practice, and various test experiments prove that the leveling device can timely and automatically level, 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 winding 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 controller. The main truss rotating mechanism is connected with a traveling mechanism 16 of the winding 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 controller 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 first variable frequency motor 10, and the first variable frequency motor 10 is connected with the controller. The two first variable frequency motors 10 are connected to the main truss 11 through motor connecting seats. Or in an embodiment not shown, two first variable frequency motors 10 are provided in a motor housing, which is connected to the main truss 11 by means of the motor housing.
In one embodiment, the controller basically includes an angle detector and a programmable PLC controller. The angle detector 17 is provided on the travelling mechanism 16 and the main truss 11. The angle detector 17 transmits the detected angle information to a programmable PLC controller connected to the rotary driving assembly driving the main truss rotary mechanism and the first variable frequency motor 10 driving the cage 14. The programmable PLC controller controls the rotation angle of the main truss rotation mechanism by controlling the start and stop of the rotation driving assembly, and controls the moving distance of the cage 14 by controlling the start and stop of the first variable frequency motor 10.
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 wheels, wherein the mounting seat is fixedly connected to the rotary supporting wheel 1, and the wheels are movably arranged on the mounting seat and are 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 diagram of one embodiment of a high-gradient 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 correspond to the pressure at the time of climbing up the slope to the wheels 22 and 23, respectively, the pressurizing means 24 on the left side being connected to the wheel axle of the wheel 22 on the left side, and the pressurizing means 25 on the right side being connected to the wheel axle of the wheel 23 on the right 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 left hand pressing means 24 mainly comprise 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.
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 pressurizing 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 to the end of the pressing elastic member 24.5, a force of 120 kg is applied to the wheel 22 after the lever conversion.
In one embodiment, as shown in fig. 7, the driving assembly 21 mainly includes a second variable frequency motor 21.1, a coupling 21.2 and a decelerator 21.3, which are sequentially connected. 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 second variable frequency motor 21.1 rotates to drive the gear ring 21.4 and the wheels 22 and 23 to rotate, and the axles of the wheels 22 and 23 are fixed on the frame 20 through the fastening assembly 27.
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 angle 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 18.
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 refers to the adjustment or leveling first without stopping intermittently or midway during climbing, but automatically and smoothly during walking.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all alterations and/or modifications that fall within the scope of the invention, and that are intended to be included within the scope of the invention.
Claims (13)
1. A steel truss arch winding inspection vehicle, comprising:
a plurality of large-gradient climbing travelling mechanisms;
The main truss rotating mechanism is connected to the travelling mechanism;
The main truss is fixedly connected in the main truss rotating mechanism;
the suspension cage is connected with the main truss through an electric hoist; and
The controller is used for adjusting the synchronism of the plurality of travelling mechanisms, detecting the climbing angle of the travelling mechanisms during continuous travelling and adjusting the rotation angle of the main truss rotating mechanism so as to enable the suspension cage to be always in a state parallel to the ground;
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 main truss rotation mechanism includes:
The main truss is connected to the rotating rail;
the rotary driving assembly is connected with the rotary track through a steel wire rope and a steel wire rope connecting mechanism to drive the rotary track to rotate; and
And the rotary support assembly is connected to the outer side of the rotary track to support the rotary track.
2. The inspection vehicle of claim 1, wherein the rotary drive assembly comprises:
A driving motor;
The driving wheel is connected with the driving motor; and
And the driven wheel is connected with the driving wheel through a steel wire rope.
3. The inspection vehicle according to claim 2, wherein rope winding grooves are formed in the driving wheel and the driven wheel, the steel wire rope starts from the driving wheel, after at least two complete turns are wound between the driving wheel and the driven wheel, two ends of the steel wire rope extend from the driving wheel and are wound on the rotating track, two end heads of the steel wire rope are connected with a steel wire rope connecting mechanism, and the steel wire rope connecting mechanism is fixedly connected with the rotating track.
4. A test car according to claim 3, wherein the wire rope connection mechanism comprises:
The connecting frame is fixedly connected in the rotating track; and
Two tensioning assemblies connected to two ends of the wire rope; the tensioning assembly includes:
one end of the tensioning head is positioned at the outer side of the connecting frame, and the other end of the tensioning head penetrates through the connecting frame and is abutted against the inner side of the connecting frame through a locking nut and an elastic piece;
And one end of the steel wire rope connecting piece is hinged with the tensioning head, and the other end of the steel wire rope connecting piece is fixedly connected with one end of the steel wire rope.
5. The inspection vehicle of claim 1, wherein the rotary support assembly comprises:
A rotary support wheel connected with the rotary track through a rotary support assembly; and
The support frame is fixedly connected to the outer side of the rotary support wheel and supports and fixes the rotary support wheel when the rotary track rotates.
6. The inspection vehicle of claim 5, wherein the rotational support assembly includes an anti-yaw wheel mounted on the rotational support wheel on either side of the rotational track to prevent yaw when the rotational track rotates, and a support wheel coupled between the rotational support wheel and the rotational track to ensure relative rotation of the two.
7. The inspection vehicle of claim 6, wherein the plurality of anti-yaw wheels and the plurality of support wheels are separately disposed on the rotating support wheel, the support wheels comprise mounting seats and wheels, the mounting seats are fixedly connected to the rotating support wheel, and the wheels are movably disposed on the mounting seats and abut against the rotating rail.
8. The inspection vehicle of any one of claims 1 to 7, wherein there are two main truss rotating mechanisms, the main truss is supported by the two main truss rotating mechanisms, each main truss rotating mechanism is connected with four traveling mechanisms through traveling connection assemblies, the four traveling mechanisms are divided into two groups, each group is connected with a photoelectric encoder to detect and control the synchronism of the traveling mechanisms, and an angle sensor is mounted on the main truss.
9. Inspection vehicle according to any of claims 1-7, characterized in that the inspection vehicle has a travel speed of 0.5 m/min-5 m/min, with a maximum climbing angle of up to 46 °.
10. The inspection vehicle of claim 1, wherein the pressurizing means comprises:
The upper end of the pressurizing rod penetrates through a connecting block arranged in the trolley frame to be connected with the pressurizing elastic piece, and the end head of the pressurizing rod compresses the pressurizing elastic piece through a locking nut;
a pressurizing arm, one end of which is connected with the other end of the pressurizing rod;
One end of the eccentric shaft is connected with the other end of the pressurizing arm, and the middle of the eccentric shaft is connected with the wheel shaft of the wheel through a rib plate; and
And the pressurizing wheel is connected with the other end of the eccentric shaft and is abutted under the balance beam.
11. The inspection vehicle according to claim 10, wherein a distance between an axial center line of the pressurizing rod and an axial center line of one end of the eccentric shaft connecting rib is 12 times a distance between an axial center line of one end of the eccentric shaft connecting rib and a center line of the pressurizing wheel.
12. The inspection vehicle of claim 11, wherein the drive assembly includes a second variable frequency motor, a coupling, and a reducer connected in sequence, the reducer having a gear ring connected by an output flange, the gear ring engaging a gear ring on a hub of the wheel.
13. The inspection vehicle according to any one of claims 1, 10 to 12, characterized in that the outermost layer of the wheel is provided with a treated rubber layer which increases friction and withstands a certain pressure;
The two outer sides of the two ends of the frame are respectively connected with an anti-deflection mounting seat, and each anti-deflection mounting seat is provided with two second anti-deflection wheels along the radial center line of the frame so as to prevent deflection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190406.9A CN108252212B (en) | 2018-03-08 | 2018-03-08 | Steel truss arch winding inspection vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190406.9A CN108252212B (en) | 2018-03-08 | 2018-03-08 | Steel truss arch winding inspection vehicle |
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| CN108252212A CN108252212A (en) | 2018-07-06 |
| CN108252212B true CN108252212B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810190406.9A Active CN108252212B (en) | 2018-03-08 | 2018-03-08 | Steel truss arch winding inspection vehicle |
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| CN (1) | CN108252212B (en) |
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| CN108252212A (en) | 2018-07-06 |
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