CN109468949A - A kind of control method of folding-jib both arms bridge inspection vehicle - Google Patents
A kind of control method of folding-jib both arms bridge inspection vehicle Download PDFInfo
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- CN109468949A CN109468949A CN201910033483.8A CN201910033483A CN109468949A CN 109468949 A CN109468949 A CN 109468949A CN 201910033483 A CN201910033483 A CN 201910033483A CN 109468949 A CN109468949 A CN 109468949A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000007689 inspection Methods 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 107
- 238000001514 detection method Methods 0.000 claims abstract description 59
- 230000010355 oscillation Effects 0.000 claims abstract 2
- 230000017105 transposition Effects 0.000 claims description 18
- 238000013461 design Methods 0.000 claims description 8
- 229910000679 solder Inorganic materials 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 1
- 238000009355 double cropping Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Structural Engineering (AREA)
- Jib Cranes (AREA)
- Bridges Or Land Bridges (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of control method of folding-jib both arms bridge inspection vehicle, the control method includes twofold arm expansion control method, twofold arm withdrawal control method, two horizontal arm angle control methods, telescopic arm control method；The expansion of twofold arm and withdrawal control method includes: that twofold arm is unfolded and is withdrawn by the first swing mechanism of driving, the second swing mechanism and first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder and the 6th hydraulic cylinder, hydraulic cylinder in telescopic arm；The two horizontal arm angle control methods include: the angle for driving the first telescopic arm and the stretching of the second telescopic arm or shrinkage to can control two principal arms；The telescopic arm control method includes: that can control the amplitude of oscillation of telescopic arm by the 4th swing mechanism of driving, the 5th swing mechanism, the movement of telescopic arm is controlled by driving ball-and-socket hinge device, the rotary motion for driving turntable control detection device drives the stroke hydraulic cylinder of telescopic arm to control the working radius of telescopic arm.
Description
Technical field
The present invention relates to detection vehicle engineering device technique fields, and in particular to a kind of controlling party of folding-jib both arms bridge inspection vehicle
Method.
Background technique
Bridge construction is important one of the infrastructure of country, and science of bridge building is the life of tie society and Development of Economy
Order line engineering.The fast development of bridge construction, huge capital investment, so that people are more next to the safety of bridge, durability
More pay attention to.Bridge will face the problem of entrance " aged stage " at the same time, it is therefore necessary to pay attention to bridge machinery, use is advanced
Bridge inspection vehicle can greatly improve the precision and working efficiency of bridge machinery.Bridge inspection vehicle is one for bridge machinery
Kind special purpose vehicle, working principle is that work brachiocylloosis is deep into bridge bottom by hydraulic system to detect bridge, by automobile bottom
Disk and working arm composition.
There are many people to design and improve bridge inspection vehicle on the market, realizes many functions, but there is also one
It is a little insufficient, such as:
Patent CN201891076U is a kind of intelligent with artificial dual-purpose bridge inspection vehicle, is improved bridge inspection vehicle, is increased
The Image Acquisition and analysis system for having added stabilizing mechanism and bridge appearance being scanned, analyze and is transmitted, wherein stabilizing mechanism
Can overturn-preventing, Image Acquisition can quickly and easily be scanned bridge with analysis system, realize automation and artificial detection
Two kinds of functions, but there is also some shortcomings, and single working efficiency is low, and truss secondary stress is big, and there are moments of flexure for node.
A kind of bridge inspection vehicle with double cropping industry exit passageway of patent CN207003244U, innovative point are to lead to safely
Road fixed mechanism lower end is connected with two exit passageways that can be turned down and can independently be unfolded with respect to it, is able to solve to be checked
The problem for surveying the operation simultaneously of bridge multiple spot, can be improved working efficiency, but there is also some shortcomings, worker examines on the secure channel
It is not high enough to survey degree of safety, two independent exit passageway deficient in stabilities.
A kind of bridge detecting device of patent CN207828780U, the detection device devise intelligent detection device, by bridge
Beam detection separately considers with bridge maintaining, is only used for bridge machinery, and testing staff is not necessarily to below bridge floor can be carried out detecting,
Maintenance program is determined after data to be tested Macro or mass analysis again, solves the worker-safety issues of bridge machinery, low cost, still
There is also some shortcomings, which uses single armed folding-jib, cannot detect two or more positions to be detected simultaneously, have simultaneously
A little dead-centre positions can't detect.
Therefore, there is act not flexible, unstable situation, especially folding-jib for bridge inspection vehicle currently on the market
Bridge inspection vehicle working arm is not sufficiently stable, and truss bridge detecting vehicle is at high cost, structure is complicated, and not using single armed working efficiency
Height, according to existing freedom degree, some dead-centre positions be can't detect, such as the bridge pier back side, bridge top structure dead-centre position etc.
Deng, under worker to bridge measurement be easy to produce security risk.
Summary of the invention
In order to overcome the above problem, the present invention pointedly proposes a kind of controlling party of folding-jib both arms bridge inspection vehicle
The scheme of method.
The technical solution adopted by the present invention to solve the technical problems is: a kind of control of folding-jib both arms bridge inspection vehicle
Method, the detection vehicle include detection vehicle 37, the first swing mechanism 1, the first cantilever crane 38, the second cantilever crane 39, transposition arm 10, inspection
Device 40 is surveyed, the side for being mounted on and leaning on near-car head above detection 37 chassis of vehicle is bolted in first swing mechanism 1,
First swing mechanism 1 can enable chassis place the cantilever crane of folding by near-car head, and cantilever crane does not generate with Overthrow preventing device dry
It relates to, first cantilever crane 38 includes the second swing mechanism 2, the first fulcrum bearing 4, first hydraulic cylinder 6, first level working arm 8, the
One slide rail 13, the 4th swing mechanism 15, third hydraulic cylinder 17, the first vertical working arm 19, the 5th hydraulic cylinder 21, the first ball
Winch structure 23, the first level-one telescopic arm 25, the first second level telescopic arm 26, the first three-level telescopic arm 27, wherein second revolution
Through solder design on the first swing mechanism 1, weld joint strength height, good airproof performance keep swing mechanism connection tight for mechanism 2
It is close, the stability for loosening and influencing bridge inspection vehicle is prevented, first fulcrum bearing 4 is mounted on the second swing mechanism by bolt
On 2, cantilever crane, at low cost, connection may be needed to change reliably by being connected by screw bolts when being beneficial for disassembly and assembly and repairing, and the first bearing
It is connected, and is connected using rolling bearing type revolute pair, rolling bearing by revolute pair between seat 4 and first level working arm 8
The friction of formula revolute pair is small, commutation is flexible, easy to maintain, is conducive to the flexible up and down of first level working arm 8 and swings, and described first
Slide rail 13 is bolted the inside that first level working arm 8 is arranged in, and the first vertical working arm 19 passes through the
Four swing mechanisms 15 are connect with first level working arm 8, and the first level-one telescopic arm 25 passes through with the first vertical working arm 19
Ball twists connection, and ball, which twists connection, can be such that the level-one telescopic arm any angle being connected in ball strand flexibly swings, and first second level is stretched
Flexible, the first three-level telescopic arm 27 and first is controlled between contracting arm 26 and the first level-one telescopic arm 25 by stroke hydraulic cylinder
It is controlled and is stretched by stroke hydraulic cylinder between second level telescopic arm 26；
Second cantilever crane 39 include third swing mechanism 3, the second fulcrum bearing 5, second hydraulic cylinder 7, the second horizontal operation arm 9,
Second slide rail 14, the 5th swing mechanism 16, the 4th hydraulic cylinder 18, the second vertical working arm 20, the 6th hydraulic cylinder 22, second
Ball winch structure 24, the second level-one telescopic arm 28, the second second level telescopic arm 29, the second three-level telescopic arm 30, wherein the third is returned
For rotation mechanism 3 through solder design on the first swing mechanism 1, weld joint strength height, good airproof performance keep swing mechanism connection tight
It is close, the stability for loosening and influencing bridge inspection vehicle is prevented, second fulcrum bearing 5 is mounted on third swing mechanism by bolt
On 3, cantilever crane, at low cost, connection may be needed to change reliably by being connected by screw bolts when being beneficial for disassembly and assembly and repairing, and the second bearing
It is connected, and is connected using rolling bearing type revolute pair, rolling bearing by revolute pair between seat 5 and the second horizontal operation arm 9
The friction of formula revolute pair is small, commutation is flexible, easy to maintain, is conducive to the flexible up and down of the second horizontal operation arm 9 and swings, and described second
Slide rail 14 is bolted the inside that first level working arm 9 is arranged in, and the second vertical working arm 20 passes through the
Five swing mechanisms 16 are connect with the second horizontal operation arm 9, and the second level-one telescopic arm 28 passes through with the second vertical working arm 20
Ball twists connection, and ball, which twists connection, can be such that the level-one telescopic arm any angle being connected in ball strand flexibly swings, and second second level is stretched
Flexible, the second three-level telescopic arm 30 and second is controlled between contracting arm 29 and the second level-one telescopic arm 28 by stroke hydraulic cylinder
It is controlled and is stretched by stroke hydraulic cylinder between second level telescopic arm 29；
The transposition arm 10 is made of the first telescopic arm 11 and the second telescopic arm 12, and the first telescopic arm 11 and the second telescopic arm 12
One end can be controlled by stroke hydraulic cylinder flexible, intersected between the first telescopic arm 11 and the second telescopic arm 12 by revolute pair and set
It sets, first be arranged on the inside of first level working arm 8 and the second horizontal operation arm 9 is arranged in four endpoints of the transposition arm 10
On slide rail 13 and the second slide rail 14, one of endpoint is fixed on slide rail, and excess-three endpoint can slide
Sliding in guide rail, therefore the second swing mechanism 2 and third swing mechanism 3 active drive, two horizontal operation arms form an angle,
Passively sliding adjusts the angle between two horizontal operation arms and generates constraint when both arms work at the same time the transposition arm 10, has
Conducive to the stability of both arms work, and being slidably connected can make two horizontal operation arm angle adjustment flexible；
The detection device (40) includes the first turntable 31, the second turntable 32, the first detection device 33, second detection device
34, first turntable 31 and the second turntable 32 are separately positioned on the first three-level telescopic arm 27 and the second three-level telescopic arm 30
End, turntable can make detection device 360 degree rotation, make detection device can be with complete detection, and first turntable 31
With the first detection device 33 and second detection device 34,33 He of the first detection device are respectively arranged on the second turntable 32
The first image collecting device 35 and the second image collecting device 36 are respectively equipped on second detection device 34；
The control method includes twofold arm expansion control method, twofold arm withdrawal control method, two horizontal arm angles
Control method, telescopic arm control method；
Control method is unfolded in the twofold arm
Step 1: the first swing mechanism 1 of driving is rotated by 90 ° the first cantilever crane 38 and the second cantilever crane 39 to bridge outside；
Step 2: driving first hydraulic cylinder 6 and second hydraulic cylinder 7 make to put on first level working arm 8 and the second horizontal operation arm 9；
Step 3: driving third hydraulic cylinder 17 and the 4th hydraulic cylinder 18 make the first vertical working arm 19 and the second vertical working arm 20
Rotation is extremely vertical with first level working arm 8 and the second horizontal operation arm 9；
Step 4: driving first hydraulic cylinder 6 and second hydraulic cylinder 7 make 9 bottom of first level working arm 8 and the second horizontal operation arm
To level；
Step 5: the 5th hydraulic cylinder 21 of driving and the 6th hydraulic cylinder 22 make the first level-one telescopic arm 25 and the second level-one telescopic arm 28
It is vertical with the first vertical working arm 19 and the second vertical working arm 20；
Step 6: the second swing mechanism 2 of driving and third swing mechanism 3 make the first vertical working arm 19 and the second vertical working arm
20 rotation 180 degrees；
Step 7: driving trip hydraulic cylinder stretches out the first second level telescopic arm 26 and the second second level telescopic arm 29；
Step 8: driving trip hydraulic cylinder stretches out the first three-level telescopic arm 27 and the second three-level telescopic arm 30；
The twofold arm withdraws control method
Step 1: the first telescopic arm 11 of driving and the second telescopic arm 12 keep first level working arm 8 and the second horizontal operation arm 9 flat
It goes and vertical with vehicular sideview；
Step 2: the first ball winch structure 23 of adjustment and the second ball winch structure 24 keep the first second level telescopic arm 26 and the second second level flexible
Arm 29 is vertical with the first vertical working arm 19 and the second vertical working arm 20；
Step 3: driving trip hydraulic cylinder withdraws the first three-level telescopic arm 27 and the second three-level telescopic arm 30；
Step 4: driving trip hydraulic cylinder withdraws the first second level telescopic arm 26 and the second second level telescopic arm 29；
Step 5: the second swing mechanism 2 of driving and third swing mechanism 3 make the first vertical working arm 19 and the second vertical working arm
20 rotation 180 degrees；
Step 6: the 5th hydraulic cylinder 21 of driving and the 6th hydraulic cylinder 22 make the first level-one telescopic arm 25 and the second level-one telescopic arm 28
It is parallel with the first vertical working arm 19 and the second vertical working arm 20；
Step 7: driving first hydraulic cylinder 6 and second hydraulic cylinder 7 make to put on first level working arm 8 and the second horizontal operation arm 9；
Step 8: driving third hydraulic cylinder 17 and the 4th hydraulic cylinder 18 make the first vertical working arm 19 and the second vertical working arm 20
Rotation is extremely parallel with first level working arm 8 and the second horizontal operation arm 9；
Step 9: driving first hydraulic cylinder 6 and second hydraulic cylinder 7 make 9 bottom of first level working arm 8 and the second horizontal operation arm
To level；
Step 10: the first swing mechanism 1 of driving is rotated by 90 ° the first cantilever crane 38 and the second cantilever crane 39 to tailstock direction；
The two horizontal arm angle control methods include: while the first telescopic arm 11 and the second telescopic arm 12 being driven to stretch out or receive
Contracting amount can control the identical angle change of two horizontal arms；Drive simultaneously the first telescopic arm 11 and the second telescopic arm 12 stretching or
Shrinkage can control the different angle changes of two horizontal arms；Only a telescopic arm of driving transposition arm 10 can control a level
The angle change of arm；
The telescopic arm control method includes: the pendulum for driving the 4th swing mechanism 15 and the 5th swing mechanism 16 control telescopic arm
Width；The first ball winch structure 23 and the second ball winch structure 24 is driven to control movement of the telescopic arm on direction in space respectively, driving the
One turntable 31 and the second turntable 32 control the rotary motion of the first detection device 33 and second detection device 34 respectively；Pass through
Drive the working radius of the stroke hydraulic cylinder independent control telescopic arm of telescopic arm.
Preferably, first swing mechanism 1, the second swing mechanism 2, third swing mechanism 3,15 and of the 4th swing mechanism
5th swing mechanism 16 is gear drive, keeps rotary motion more steady.
Preferably, first detection device 33 and second detection device 34 are fixed by screws in the first rotation respectively
On platform 31 and the second turntable 32, screw, which is fixed conveniently, disassembles and maintains equipment.
Preferably, the both ends sliding block and the first slide rail 13 of first telescopic arm 11 and the second telescopic arm 12 and
The connection of two slide rails 14.
Preferably, one end of first swing mechanism 1 is connect by welding with vehicle seat 37.
Preferably, one end of first swing mechanism 1 and one end of the second swing mechanism 2, third swing mechanism 3 are logical
Cross welded connecting.
Preferably, first slide rail 13 and the second slide rail 14 and first level telescopic arm 8 and the second water
Flat telescopic arm 9 passes through welded connecting.
The beneficial effects of the present invention are:
Detecting vehicle has two work cantilever cranes, solves the problems, such as single armed work operations low efficiency, two sons are housed on swing mechanism
Swing mechanism so that two working arms can work independently, and can detect two or more positions to be detected simultaneously, two working arms it
Between be provided with transposition arm, when two sub- swing mechanism active drives, two horizontal operation arms are at angle, transposition arm can be slided passively
Dynamic adjustment two-arm angle, can solve the problems, such as unstable when two working arms work at the same time, and telescopic arm and vertical arm are using ball strand
Connection, can reach the position for being difficult to detect and be detected, and telescopic arm end is provided with turntable, and detection device can 360 degree of rotations
Turn, and image capturing system is installed in detection device etc., it is convenient for detection device complete detection, improves working efficiency, use peace
It is complete convenient, and folding-jib bridge inspection vehicle is at low cost.
Note: above-mentioned design in no particular order, each all make the present invention compared with the prior art have difference and significantly into
Step.
Detailed description of the invention
Fig. 1 is that a kind of present invention folding-jib both arms bridge inspection vehicle is fully deployed schematic diagram.
Fig. 2 is a kind of two horizontal arms of folding-jib both arms bridge inspection vehicle of the present invention into angle schematic diagram.
Fig. 3 is a kind of single armed working drawing of folding-jib both arms bridge inspection vehicle of the present invention.
Fig. 4 is that a kind of folding-jib both arms bridge inspection vehicle of the present invention folds schematic diagram completely.
Fig. 5 is a kind of cantilever crane of folding-jib both arms bridge inspection vehicle of the present invention and body of a bridge vertical schematic view.
Fig. 6 is to put schematic diagram on a kind of horizontal operation arm of folding-jib both arms bridge inspection vehicle of the present invention.
Fig. 7, which is that a kind of vertical working arm of folding-jib both arms bridge inspection vehicle of the present invention is vertical with horizontal operation arm, to be illustrated
Figure.
Fig. 8 is a kind of horizontal operation arm bottom of folding-jib both arms bridge inspection vehicle of the present invention to level schematic diagram.
Fig. 9 is a kind of telescopic arm of folding-jib both arms bridge inspection vehicle of the present invention and vertical working arm vertical schematic view.
Figure 10 is that a kind of telescopic arm of folding-jib both arms bridge inspection vehicle of the present invention reaches bridge bottom schematic diagram.
Figure 11 is that a kind of second level telescopic arm of folding-jib both arms bridge inspection vehicle of the present invention stretches out schematic diagram.
Figure 12 is a kind of transposition arm of folding-jib both arms bridge inspection vehicle of the present invention, ball winch structure and image collecting device
Partial enlarged view.
In figure, appended drawing reference is as follows:
1, the first swing mechanism 2, the second swing mechanism 3, third swing mechanism 4, the first fulcrum bearing 5, the second fulcrum bearing 6, first
Hydraulic cylinder 7, second hydraulic cylinder 8, first level telescopic arm 9, the second horizontal extension arm 10, transposition arm 11, the first telescopic arm 12,
Two telescopic arms 13, the first slide rail 14, the second slide rail 15, the 4th swing mechanism 16, the 5th swing mechanism 17, third liquid
Cylinder pressure 18, the 4th hydraulic cylinder 19, the first vertical telescopic arm 20, the second vertical telescopic arm 21, the 5th hydraulic cylinder 22, the 6th hydraulic cylinder
23, the first ball winch structure 24, the second ball winch structure 25, the first level-one telescopic arm 26, the first second level telescopic arm 27, the first three-level are stretched
Contracting arm 28, the second level-one telescopic arm 29, the second second level telescopic arm 30, the second three-level telescopic arm 31, the rotation of the first turntable 32, second
Turntable 33, the first detection device 34, second detection device 35, the first image collecting device 36, the first image collecting device 37, inspection
Measuring car 38, the first cantilever crane 39, the second cantilever crane 40, detection device.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
It is as shown in the figure: a kind of control method of folding-jib both arms bridge inspection vehicle, the detection vehicle include detection vehicle 37,
First swing mechanism 1, the first cantilever crane 38, the second cantilever crane 39, transposition arm 10, detection device 40, first swing mechanism 1 pass through
It is bolted the side for being mounted on and leaning on near-car head above detection 37 chassis of vehicle, the first swing mechanism 1 can make vehicle by near-car head
Chassis can place the cantilever crane of folding, and cantilever crane does not generate interference with Overthrow preventing device, and first cantilever crane 38 includes the second revolution
Mechanism 2, the first fulcrum bearing 4, first hydraulic cylinder 6, first level working arm 8, the first slide rail 13, the 4th swing mechanism 15,
Third hydraulic cylinder 17, the first vertical working arm 19, the 5th hydraulic cylinder 21, the first ball winch structure 23, the first level-one telescopic arm 25,
One second level telescopic arm 26, the first three-level telescopic arm 27, wherein second swing mechanism 2 is by solder design in the first turn-around machine
On structure 1, weld joint strength height, good airproof performance are completely embedded swing mechanism, prevent from loosening and influencing the steady of bridge inspection vehicle
Qualitative, first fulcrum bearing 4 is mounted on the second swing mechanism 2 by bolt, be connected by screw bolts be beneficial for disassembly and assembly and
Cantilever crane, at low cost, connection may be needed to change when repairing reliably, and by turning between the first fulcrum bearing 4 and first level working arm 8
Dynamic pair connects, and is connected using rolling bearing type revolute pair, and the friction of rolling bearing type revolute pair is small, flexible, maintenance side of commutating
Just, be conducive to flexibly swinging up and down for first level working arm 8, setting is bolted the in first slide rail 13
The inside of one horizontal operation arm 8, the first vertical working arm 19 are connected by the 4th swing mechanism 15 with first level working arm 8
It connects, the first level-one telescopic arm 25 and the first vertical working arm 19 are twisted by ball and connected, and ball, which twists connection, can make to be connected to ball strand
On level-one telescopic arm any angle flexibly swing, pass through between the first second level telescopic arm 26 and the first level-one telescopic arm 25
Stroke hydraulic cylinder control is flexible, passes through stroke hydraulic cylinder control between the first three-level telescopic arm 27 and the first second level telescopic arm 26
System is flexible；
As shown in the figure: second cantilever crane 39 includes third swing mechanism 3, the second fulcrum bearing 5, the 7, second level of second hydraulic cylinder
Working arm 9, the second slide rail 14, the 5th swing mechanism 16, the 4th hydraulic cylinder 18, the second vertical working arm the 20, the 6th are hydraulic
Cylinder 22, the second ball winch structure 24, the second level-one telescopic arm 28, the second second level telescopic arm 29, the second three-level telescopic arm 30, wherein institute
Third swing mechanism 3 is stated through solder design on the first swing mechanism 1, weld joint strength height, good airproof performance make turn-around machine
Structure is completely embedded, and prevents the stability for loosening and influencing bridge inspection vehicle, and second fulcrum bearing 5 is mounted on third by bolt
On swing mechanism 3, cantilever crane, at low cost, connection may be needed to change reliably by being connected by screw bolts when being beneficial for disassembly and assembly and repairing, and
It is connected between second fulcrum bearing 5 and the second horizontal operation arm 9 by revolute pair, and is connected using rolling bearing type revolute pair,
The friction of rolling bearing type revolute pair is small, commutation is flexible, easy to maintain, is conducive to flexibly swinging up and down for the second horizontal operation arm 9,
The inside that first level working arm 9 is arranged in, the second vertical working arm is bolted in second slide rail 14
20 are connect by the 5th swing mechanism 16 with the second horizontal operation arm 9, the second level-one telescopic arm 28 and the second vertical work
Arm 20 is twisted by ball and is connected, and ball, which twists connection and can make to be connected to the level-one telescopic arm any angle that ball twists, flexibly to be swung, and described the
Flexible, the second three-level telescopic arm is controlled between two second level telescopic arms 29 and the second level-one telescopic arm 28 by stroke hydraulic cylinder
30 and second controlled by stroke hydraulic cylinder between second level telescopic arm 29 it is flexible；
As shown in the figure: the transposition arm 10 is made of the first telescopic arm 11 and the second telescopic arm 12, and the first telescopic arm 11 and
One end of two telescopic arms 12 can be controlled by stroke hydraulic cylinder stretches, by turning between the first telescopic arm 11 and the second telescopic arm 12
Dynamic secondary arranged in a crossed manner, four endpoints setting of the transposition arm 10 is in 9 inside of first level working arm 8 and the second horizontal operation arm
On the first slide rail 13 and the second slide rail 14 being arranged, one of endpoint is fixed on slide rail, excess-three end
Point can slide in slide rail, thus the second swing mechanism 2 and 3 active drive of third swing mechanism, two horizontal operation arms at
Certain angle, passively sliding adjusts the angle between two horizontal operation arms and the production when both arms work at the same time to the transposition arm 10
Raw constraint, is conducive to the stability of both arms work, and being slidably connected can make two horizontal operation arm angle adjustment flexible；
As shown in the figure: the detection device 40 includes the first turntable 31, the second turntable 32, the first detection device 33, second
Detection device 34, first turntable 31 and the second turntable 32 are separately positioned on the first three-level telescopic arm 27 and the second three-level
The end of telescopic arm 30, turntable can make detection device 360 degree rotation, make detection device can with complete detection, and described first
The first detection device 33 and second detection device 34, first detection are respectively arranged on turntable 31 and the second turntable 32
The first image collecting device 35 and the second image collecting device 36 are respectively equipped on device 33 and second detection device 34；
The control method includes twofold arm expansion control method, twofold arm withdrawal control method, two horizontal arm angles
Control method, telescopic arm control method；
Control method is unfolded in the twofold arm
Step 1: the first swing mechanism 1 of driving is rotated by 90 ° the first cantilever crane 38 and the second cantilever crane 39 to bridge outside；
Step 2: driving first hydraulic cylinder 6 and second hydraulic cylinder 7 make to put on first level working arm 8 and the second horizontal operation arm 9；
Step 3: driving third hydraulic cylinder 17 and the 4th hydraulic cylinder 18 make the first vertical working arm 19 and the second vertical working arm 20
Rotation is extremely vertical with first level working arm 8 and the second horizontal operation arm 9；
Step 4: driving first hydraulic cylinder 6 and second hydraulic cylinder 7 make 9 bottom of first level working arm 8 and the second horizontal operation arm
To level；
Step 5: the 5th hydraulic cylinder 21 of driving and the 6th hydraulic cylinder 22 make the first level-one telescopic arm 25 and the second level-one telescopic arm 28
It is vertical with the first vertical working arm 19 and the second vertical working arm 20；
Step 6: the second swing mechanism 2 of driving and third swing mechanism 3 make the first vertical working arm 19 and the second vertical working arm
20 rotation 180 degrees；
Step 7: driving trip hydraulic cylinder stretches out the first second level telescopic arm 26 and the second second level telescopic arm 29；
Step 8: driving trip hydraulic cylinder stretches out the first three-level telescopic arm 27 and the second three-level telescopic arm 30；
The twofold arm withdraws control method
Step 1: the first telescopic arm 11 of driving and the second telescopic arm 12 keep first level working arm 8 and the second horizontal operation arm 9 flat
It goes and vertical with vehicular sideview；
Step 2: the first ball winch structure 23 of adjustment and the second ball winch structure 24 keep the first second level telescopic arm 26 and the second second level flexible
Arm 29 is vertical with the first vertical working arm 19 and the second vertical working arm 20；
Step 3: driving trip hydraulic cylinder withdraws the first three-level telescopic arm 27 and the second three-level telescopic arm 30；
Step 4: driving trip hydraulic cylinder withdraws the first second level telescopic arm 26 and the second second level telescopic arm 29；
Step 5: the second swing mechanism 2 of driving and third swing mechanism 3 make the first vertical working arm 19 and the second vertical working arm
20 rotation 180 degrees；
Step 6: the 5th hydraulic cylinder 21 of driving and the 6th hydraulic cylinder 22 make the first level-one telescopic arm 25 and the second level-one telescopic arm 28
It is parallel with the first vertical working arm 19 and the second vertical working arm 20；
Step 7: driving first hydraulic cylinder 6 and second hydraulic cylinder 7 make to put on first level working arm 8 and the second horizontal operation arm 9；
Step 8: driving third hydraulic cylinder 17 and the 4th hydraulic cylinder 18 make the first vertical working arm 19 and the second vertical working arm 20
Rotation is extremely parallel with first level working arm 8 and the second horizontal operation arm 9；
Step 9: driving first hydraulic cylinder 6 and second hydraulic cylinder 7 make 9 bottom of first level working arm 8 and the second horizontal operation arm
To level；
Step 10: the first swing mechanism 1 of driving is rotated by 90 ° the first cantilever crane 38 and the second cantilever crane 39 to tailstock direction；
The two horizontal arm angle control methods include: while the first telescopic arm 11 and the second telescopic arm 12 being driven to stretch out or receive
Contracting amount can control the identical angle change of two horizontal arms；Drive simultaneously the first telescopic arm 11 and the second telescopic arm 12 stretching or
Shrinkage can control the different angle changes of two horizontal arms；Only a telescopic arm of driving transposition arm 10 can control a level
The angle change of arm；
The telescopic arm control method includes: the pendulum for driving the 4th swing mechanism 15 and the 5th swing mechanism 16 control telescopic arm
Width；The first ball winch structure 23 and the second ball winch structure 24 is driven to control movement of the telescopic arm on direction in space respectively, driving the
One turntable 31 and the second turntable 32 control the rotary motion of the first detection device 33 and second detection device 34 respectively；Pass through
Drive the working radius of the stroke hydraulic cylinder independent control telescopic arm of telescopic arm.
Above-listed detailed description is illustrating for possible embodiments of the present invention, and the embodiment is not to limit this hair
Bright the scope of the patents, all equivalence enforcements or change without departing from carried out by the present invention, is intended to be limited solely by the scope of the patents of this case.
Claims (7)
1. a kind of control method of folding-jib both arms bridge inspection vehicle, it is characterised in that: the detection vehicle includes detection vehicle
(37), the first swing mechanism (1), the first cantilever crane (38), the second cantilever crane (39), transposition arm (10), detection device (40), described
The side for being mounted on and leaning on near-car head above detection vehicle (37) chassis, first arm is bolted in single-revolution mechanism (1)
Frame (38) includes the second swing mechanism (2), the first fulcrum bearing (4), first hydraulic cylinder (6), first level working arm (8), first
Slide rail (13), the 4th swing mechanism (15), third hydraulic cylinder (17), the first vertical working arm (19), the 5th hydraulic cylinder
(21), the first ball winch structure (23), the first level-one telescopic arm (25), the first second level telescopic arm (26), the first three-level telescopic arm
(27), wherein second swing mechanism (2) passes through solder design on the first swing mechanism (1), first fulcrum bearing (4)
It is mounted on the second swing mechanism (2) by bolt, and by turning between the first fulcrum bearing (4) and first level working arm (8)
Setting is bolted in the inside of first level working arm (8) in dynamic secondary connection, first slide rail (13), and described the
One vertical working arm (19) is connect by the 4th swing mechanism (15) with first level working arm (8), and first level-one is flexible
Arm (25) and the first vertical working arm (19) are twisted by ball to be connected, the first second level telescopic arm (26) and the first level-one telescopic arm
(25) it is controlled and is stretched by stroke hydraulic cylinder between, between the first three-level telescopic arm (27) and the first second level telescopic arm (26)
It is flexible by stroke hydraulic cylinder control；
Second cantilever crane (39) includes third swing mechanism (3), the second fulcrum bearing (5), second hydraulic cylinder (7), the second level
Working arm (9), the second slide rail (14), the 5th swing mechanism (16), the 4th hydraulic cylinder (18), the second vertical working arm
(20), the 6th hydraulic cylinder (22), the second ball winch structure (24), the second level-one telescopic arm (28), the second second level telescopic arm (29),
Two three-level telescopic arms (30), wherein the third swing mechanism (3) passes through solder design on the first swing mechanism (1), it is described
Second fulcrum bearing (5) is mounted on third swing mechanism (3) by bolt, and the second fulcrum bearing (5) and the second horizontal operation arm
(9) it is connected between by revolute pair, second slide rail (14), which is bolted, to be arranged in first level working arm (9)
Inside, the second vertical working arm (20) is connect by the 5th swing mechanism (16) with the second horizontal operation arm (9), described
Second level-one telescopic arm (28) and the second vertical working arm (20) twist connection by ball, the second second level telescopic arm (29) and the
It is controlled and is stretched by stroke hydraulic cylinder between two level-one telescopic arms (28), the second three-level telescopic arm (30) and the second second level are stretched
It is controlled and is stretched by stroke hydraulic cylinder between contracting arm (29)；
The transposition arm (10) is made of the first telescopic arm (11) and the second telescopic arm (12), and the first telescopic arm (11) and second
One end of telescopic arm (12) can be controlled by stroke hydraulic cylinder stretches, and leads between the first telescopic arm (11) and the second telescopic arm (12)
Cross that revolute pair is arranged in a crossed manner, four endpoints of the transposition arm (10) are arranged in first level working arm (8) and the second horizontal work
Make on the first slide rail (13) and the second slide rail (14) that are arranged on the inside of arm (9), one of endpoint is fixed on sliding
Guide rail, excess-three endpoint can slide in slide rail；
The detection device (40) includes the first turntable (31), the second turntable (32), the first detection device (33), the second inspection
It surveys device (34), first turntable (31) and the second turntable (32) are separately positioned on the first three-level telescopic arm (27) and the
The end of two three-level telescopic arms (30), and the first inspection is respectively arranged on first turntable (31) and the second turntable (32)
Device (33) and second detection device (34) are surveyed, is respectively equipped on first detection device (33) and second detection device (34)
First image collecting device (35) and the second image collecting device (36)；
The control method includes twofold arm expansion control method, twofold arm withdrawal control method, two horizontal arm angles
Control method, telescopic arm control method；
Control method is unfolded in the twofold arm
Step 1: driving the first swing mechanism (1) is rotated by 90 ° the first cantilever crane (38) and the second cantilever crane (39) to bridge outside；
Step 2: driving first hydraulic cylinder (6) and second hydraulic cylinder (7) make first level working arm (8) and the second horizontal operation arm
(9) it is put on；
Step 3: driving third hydraulic cylinder (17) and the 4th hydraulic cylinder (18) make the first vertical working arm (19) and the second vertical work
It is extremely vertical with first level working arm (8) and second horizontal operation arm (9) to make arm (20) rotation；
Step 4: driving first hydraulic cylinder (6) and second hydraulic cylinder (7) make first level working arm (8) and the second horizontal operation arm
(9) bottom is to level；
Step 5: the 5th hydraulic cylinder (21) of driving and the 6th hydraulic cylinder (22) stretch the first level-one telescopic arm (25) and the second level-one
Contracting arm (28) is vertical with the first vertical working arm (19) and second vertical working arm (20)；
Step 6: driving the second swing mechanism (2) and third swing mechanism (3) make the first vertical working arm (19) and second vertically
Working arm (20) rotates 180 degree；
Step 7: driving trip hydraulic cylinder stretches out the first second level telescopic arm (26) and the second second level telescopic arm (29)；
Step 8: driving trip hydraulic cylinder stretches out the first three-level telescopic arm (27) and the second three-level telescopic arm (30)；
The twofold arm withdraws control method
Step 1: driving the first telescopic arm (11) and the second telescopic arm (12) make first level working arm (8) and the second horizontal operation
Arm (9) is parallel and vertical with vehicular sideview；
Step 2: the first ball winch structure (23) of adjustment and the second ball winch structure (24) make the first second level telescopic arm (26) and the two or two
Grade telescopic arm (29) is vertical with the first vertical working arm (19) and second vertical working arm (20)；
Step 3: driving trip hydraulic cylinder withdraws the first three-level telescopic arm (27) and the second three-level telescopic arm (30)；
Step 4: driving trip hydraulic cylinder withdraws the first second level telescopic arm (26) and the second second level telescopic arm (29)；
Step 5: driving the second swing mechanism (2) and third swing mechanism (3) make the first vertical working arm (19) and second vertically
Working arm (20) rotates 180 degree；
Step 6: the 5th hydraulic cylinder (21) of driving and the 6th hydraulic cylinder (22) stretch the first level-one telescopic arm (25) and the second level-one
Contracting arm (28) is parallel with the first vertical working arm (19) and second vertical working arm (20)；
Step 7: driving first hydraulic cylinder (6) and second hydraulic cylinder (7) make first level working arm (8) and the second horizontal operation arm
(9) it is put on；
Step 8: driving third hydraulic cylinder (17) and the 4th hydraulic cylinder (18) make the first vertical working arm (19) and the second vertical work
It is extremely parallel with first level working arm (8) and second horizontal operation arm (9) to make arm (20) rotation；
Step 9: driving first hydraulic cylinder (6) and second hydraulic cylinder (7) make first level working arm (8) and the second horizontal operation arm
(9) bottom is to level；
Step 10: driving the first swing mechanism (1) is rotated by 90 ° the first cantilever crane (38) and the second cantilever crane (39) to tailstock direction；
The two horizontal arm angle control methods include: while the first telescopic arm (11) and the second telescopic arm (12) being driven to stretch out
Or shrinkage can control the identical angle change of two horizontal arms；Driving the first telescopic arm (11) and the second telescopic arm (12) simultaneously
Stretching or shrinkage can control two horizontal arms different angle changes；Only a telescopic arm of driving transposition arm (10) is controllable
Make the angle change of a horizontal arm；
The telescopic arm control method includes: the 4th swing mechanism (15) of driving and the 5th swing mechanism (16) control telescopic arm
The amplitude of oscillation；The first ball winch structure (23) and the second ball winch structure (24) is driven to control fortune of the telescopic arm on direction in space respectively
It is dynamic, drive the first turntable (31) and the second turntable (32) to control the first detection device (33) and second detection device respectively
(34) rotary motion；By the working radius for driving the stroke hydraulic cylinder independent control telescopic arm of telescopic arm.
2. a kind of control method of folding-jib both arms bridge inspection vehicle according to claim l, it is characterised in that: described
Single-revolution mechanism (1), the second swing mechanism (2), third swing mechanism (3), the 4th swing mechanism (15) and the 5th swing mechanism
It (16) is gear drive.
3. a kind of control method of folding-jib both arms bridge inspection vehicle according to claim l, it is characterised in that: described
First detection device (33) and second detection device (34) are fixed by screws in the first turntable (31) and the second rotation respectively
On platform (32).
4. a kind of control method of folding-jib both arms bridge inspection vehicle according to claim l, it is characterised in that: described
The both ends sliding block and the first slide rail (13) and the second slide rail (14) of first telescopic arm (11) and the second telescopic arm (12)
Connection.
5. a kind of control method of folding-jib both arms bridge inspection vehicle according to claim l, it is characterised in that: described
One end of first swing mechanism (1) is connect by welding with vehicle seat (37).
6. a kind of control method of folding-jib both arms bridge inspection vehicle according to claim l, it is characterised in that: described
One end of first swing mechanism (1) and one end of the second swing mechanism (2), third swing mechanism (3) pass through welded connecting.
7. a kind of control method of folding-jib both arms bridge inspection vehicle according to claim l, it is characterised in that: described
First slide rail (13) and the second slide rail (14) pass through with first level telescopic arm (8) and the second horizontal extension arm (9)
It is welded to connect.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910033483.8A CN109468949B (en) | 2019-01-14 | 2019-01-14 | A kind of control method of folding-jib both arms bridge inspection vehicle |
| PCT/CN2019/106193 WO2020147324A1 (en) | 2019-01-14 | 2019-09-17 | Control methods of folding-arm type double-arm bridge inspection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910033483.8A CN109468949B (en) | 2019-01-14 | 2019-01-14 | A kind of control method of folding-jib both arms bridge inspection vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109468949A true CN109468949A (en) | 2019-03-15 |
| CN109468949B CN109468949B (en) | 2019-09-20 |
Family
ID=65678729
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910033483.8A Expired - Fee Related CN109468949B (en) | 2019-01-14 | 2019-01-14 | A kind of control method of folding-jib both arms bridge inspection vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109468949B (en) |
| WO (1) | WO2020147324A1 (en) |
Cited By (4)
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| CN110044561A (en) * | 2019-05-07 | 2019-07-23 | 宋鹏威 | A kind of bridge security detection device |
| WO2020147324A1 (en) * | 2019-01-14 | 2020-07-23 | 长沙理工大学 | Control methods of folding-arm type double-arm bridge inspection vehicle |
| CN111923084A (en) * | 2020-09-01 | 2020-11-13 | 惠州市恒泰富复合材料有限公司 | Bridge detects with flexible arm |
| CN113599749A (en) * | 2021-06-28 | 2021-11-05 | 福建侨龙应急装备股份有限公司 | Fluid conveying device |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020147324A1 (en) | 2020-07-23 |
| CN109468949B (en) | 2019-09-20 |
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