CN109837834A - Arch bridge video check vehicle and arch bridge video check vehicle and track fit structure - Google Patents
Arch bridge video check vehicle and arch bridge video check vehicle and track fit structure Download PDFInfo
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- CN109837834A CN109837834A CN201910036588.9A CN201910036588A CN109837834A CN 109837834 A CN109837834 A CN 109837834A CN 201910036588 A CN201910036588 A CN 201910036588A CN 109837834 A CN109837834 A CN 109837834A
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- arch bridge
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Abstract
The present invention relates to bridge inspection technical fields, and in particular to arch bridge video check vehicle, comprising: main car body is provided with camera shooting mechanism；The walking mechanism walked along the bridge top row of arch bridge, to drive the main car body to be moved；Levelling mechanism is mounted between the walking mechanism and the main car body, is flexibly connected with the main car body, during walking mechanism kinematic, adjusts main car body in real time, and the main car body is made to keep vertical.The present invention also provides arch bridge video check vehicles and track fit structure.Arch bridge video check vehicle provided by the invention can remotely operate, is highly-safe, high degree of automation, easy to operate, labor intensity is small and applied widely.
Description
Technical field
The present invention relates to bridge inspection technical fields, and in particular to arch bridge video check vehicle and arch bridge video check vehicle
With track fit structure.
Background technique
Arch bridge is the widely used bridge type of highway in China railway, and moulding is grand, and span capability is big, prolonged resistance to
With.As volume of transport increases substantially, rate of traffic flow and vehicle load are increasing, propose more to the safety of bridge
High requirement.The management of bridge and curing quilt refer to a new height, that is, build, manage, maintenance three lays equal stress on.Reinforce bridge
The inspection of beam routine servicing, maintenance, make every effort to make full use of, prolong its service life, and are not to meet the needs of communications and transportation development
Carry out bridge management and uses indispensable part.Therefore, become essential specifically for the equipment of bridge maintenance inspection to set
It applies.
Arch bridge is because of its different shapes, so special maintenance of equipment must be used, could carry out to its arch-shaped steel frame complete
The careful inspection in face.Domestic arch bridge main arch ring maintenance mode widely used at this stage, one is manual inspections, by presetting column
The mode of bar climbing, structure is relatively easy, although cost is relatively low, there are inconvenient, large labor intensities, working efficiency
The disadvantages of low, poor safety performance；Another kind is the big type checking vehicle walked on arch bridge, bulky, and operator is necessary
It onboard operates, there are biggish security risks for long-time high altitude operation.
Summary of the invention
Therefore, the technical problem to be solved in the present invention is that the medium-and-large-sized inspection vehicle of the prior art is overcome to walk on arch bridge,
It is bulky, and operator is needed onboard to operate, long-time high altitude operation haves the defects that biggish security risk, thus
There is provided it is a kind of can remotely operate, is highly-safe, high degree of automation, easy to operate, labor intensity is small and applied widely
Arch bridge video check vehicle and arch bridge video check vehicle and track fit structure.
In order to solve the above-mentioned technical problems, the present invention provides a kind of arch bridge video check vehicles, comprising:
Main car body is provided with camera shooting mechanism；
The walking mechanism walked along the bridge top row of arch bridge, to drive the main car body to be moved；
Levelling mechanism is mounted between the walking mechanism and the main car body, is flexibly connected, is expert at the main car body
During walking mechanism kinematic, main car body is adjusted in real time, and the main car body is made to keep vertical.
Further, the main car body includes foldable arm rack and equipped in first telescopic rod at the foldable arm rack both ends and
Two telescopic rods, when the video check vehicle is in inspection state, the foldable arm rack is in deployed position, the video check vehicle
When in non-inspection state, the foldable arm rack is in retracted position.
Further, the support for being maintained at opening state for limiting the foldable arm rack is additionally provided on the main car body
Bar, when the foldable arm rack is in deployed position, the support rod is linearly；When the foldable arm rack is in retracted position,
The support rod, which synchronizes, to be folded.
Further, the support rod includes at least two relatively turnable sub- support rods, the two neighboring sub- support
Through-hole is correspondingly arranged on bar, in the open state, connector is also cross each through-hole, to limit phase for the foldable arm rack
The rotation of adjacent two sub- support rods.
Further, the clutch walked for the bridge top row along arch bridge is provided in the bottom of the walking mechanism.
Further, be equipped with inside the walking mechanism driving mechanism for driving it to walk along the bridge top row of arch bridge and with row
Walk that mechanism is affixed, for controlling the camera shooting mechanism, walking mechanism and the electric cabinet of levelling mechanism.
The present invention also provides a kind of arch bridge video check vehicles and track fit structure, comprising: track, in the track
Middle part is equipped with chain；The arch bridge video check vehicle, including walking mechanism, the walking mechanism include: walking roller box,
The inside of the walking roller box is equipped with the sprocket wheel for driving the main car body to walk along the extending direction of chain.
Further, the chain is fixed on the track by hold-down support.
Further, the track passes through the walking mechanism, and the lower surface of the clutch and the track offsets.
It further, further include that orientation is set, for assisting sprocket wheel to walk on the track for setting in the walking roller box
Traveling wheel, the track is folded between the traveling wheel and the clutch.
Further, multiple magnet bases are equipped at predetermined intervals between the track and arch bridge.
Further, the passage space of the promising clutch walking is reserved on the magnet base.
Further, the magnet base is " several " font.
Technical solution of the present invention has the advantages that
1. arch bridge video check vehicle provided by the invention has vehicle and keeps away using the Telescopic rod structure of foldable arm rack
Hinder function, substantially increases inspection efficiency, guarantee to check the positions such as the arch ring of arch bridge and stull comprehensively；Pass through leveling
Mechanism adjusts main car body in real time, so that the main car body is kept vertical, to check arch bridge；It is arranged on main car body
It images mechanism to be used to carry out video shooting inspection to components such as the appearance of arch bridge and connection bolts, to reach to bridge defect
Early discovery, the purpose early safeguarded, and can realize long-range control are got on the bus operation without personnel, and intelligence degree height passes through camera shooting
The video that head is passed back can check the actual conditions of arch bridge repeatedly, can also carry out playing back and carry out analysis inspection to image；
The present invention is suitable for the unmanned Inspection of most arch bridge, the video passed back by camera can check repeatedly, play back,
Check image is analyzed, provides the foundation of bridge inspection and maintenance for maintenance, engineering department；Check device of the invention avoids personnel's height
Idle job, with high security, good economy performance, examination scope all standing, can real-time Transmission, recordable, traceable, check device
The characteristics of light-weight, easy disassembling, easy to carry, flexible operation.
2. arch bridge video check vehicle provided by the invention is additionally provided with for limiting the folding arm on the main car body
Frame is maintained at the support rod of opening state, and when the foldable arm rack is in deployed position, the support rod is linearly；The folding
When folded cantilever crane is in retracted position, the support rod, which synchronizes, to be folded.It is in the open mode in foldable arm rack, support rod
Foldable arm rack is support, prevents video check vehicle in the process of moving, foldable arm rack stretches back and forth, to influence video check
The Checking on effect of vehicle, while avoiding the generation of the case where damage for leading to inspection vehicle since foldable arm rack amplitude of fluctuation is excessive.
3. the present invention also provides arch bridge video check vehicle and track fit structure, track is laid on arch bridge, just
In walking of the video check vehicle on arch bridge, while also saving material resources；Using the Telescopic rod structure of foldable arm rack, make vehicle
With barrier avoiding function, inspection efficiency is substantially increased, guarantees to check the positions such as the arch ring of arch bridge and crossbeam comprehensively；It is logical
It crosses levelling mechanism and adjusts main car body in real time, so that the main car body is kept vertical, to check arch bridge；Pass through camera
The video passed back can check the actual conditions of arch bridge repeatedly, can also carry out playing back and carry out analysis inspection to image；This
Invention, is suitable for the unmanned Inspection of most arch bridge, and the video passed back by camera can be checked repeatedly, be played back, dividing
Check image is analysed, provides the foundation of bridge inspection and maintenance for maintenance, engineering department；Check device of the invention avoids personal height
Operation, with high security, good economy performance, examination scope all standing, can real-time Transmission, recordable, traceable, check device weight
The characteristics of amount is light, easy disassembling, easy to carry, flexible operation.
4. arch bridge video check vehicle provided by the invention and track fit structure, are pressed between the track and arch bridge
Predetermined space is equipped with multiple magnet bases.Be arranged magnet base purpose be in order to by track installation on arch bridge, it is easy for installation and
It is easy to disassemble.
5. arch bridge video check vehicle provided by the invention and track fit structure, reserved on the magnet base promising described
The passage space of clutch walking.This passage space during walking, smoothly passes through track, avoids leaning on convenient for clutch
It collides between backgear and the magnet base that rail base is set, to influence the inspection progress of inspection vehicle.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the perspective view of arch bridge video check vehicle and track fit structure provided by the invention；
Fig. 2 is the perspective view of Fig. 1 main car body compact state；
Fig. 3 is that Fig. 1 is installed to the direction across bridge schematic diagram on arch bridge；
Fig. 4 is that Fig. 1 is installed to the suitable bridge on arch bridge to schematic diagram；
Description of symbols:
1- main car body；2- levelling mechanism；3- walking mechanism；31- walking roller box；32- traveling wheel；
33- clutch；4- driving mechanism；5- chain；6- track；
7- images mechanism；The first camera of 71-；72- second camera；73- third camera；8- electric cabinet；
9- magnet base；10- hold-down support；11- foldable arm rack；12- the first telescopic rod the second telescopic rod of 13-；
14- support rod；15- support plate；16- connecting plate；20- arch rib；
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
A kind of specific embodiment of arch bridge video check vehicle as shown in Figs 1-4, comprising: main car body 1 is set thereon
It is equipped with camera shooting mechanism 7；The walking mechanism 3 walked along the bridge top row of arch bridge, to drive the main car body 1 to be moved；Leveling
Mechanism 2 is mounted between the walking mechanism 3 and the main car body 1, is flexibly connected with the main car body 1, in walking mechanism 3
During movement, main car body 1 is adjusted in real time, the main car body 1 is made to keep vertical.
Walking mechanism 3 is walked along the arch rib 20 of arch bridge, and levelling mechanism 2 is provided in walking mechanism 3, in leveling machine
Main car body 1 is provided on structure 2, hinged between main car body 1 and levelling mechanism 2, this connection type can make walking mechanism 3 transport
In capable process, the balance of main car body 1 is adjusted at any time, main car body 1 is made to keep vertical state in real time, convenient for being arranged in main car body
The image that camera shooting mechanism 7 on 1 is taken be always it is vertical, convenient for viewing；Between certain main car body 1 and levelling mechanism 2 also
It can be other connection types, such as clamping etc..
In the present embodiment, it is equipped with support plate 15 in the bottom of main car body 1, foldable arm rack 11 is arranged in support plate 15, with
Support plate 15 is affixed, is equipped with connecting plate 16 in the bottom of support plate 15, and the connecting plate 16 with 3 top of walking mechanism is arranged in leads to
The connecting shaft crossed inside levelling mechanism 2 is hinged, and the top of levelling mechanism 2 is fixedly connected with support plate 15, in the upper of support plate 15
Surface or lower surface are equipped with angular transducer, incude the angle of video check vehicle in the process of walking by angular transducer and become
Change, when angle changes, drives levelling mechanism 2 to rotate by the connecting shaft inside levelling mechanism 2, thus real-time main car body
1 keeps vertical state, guarantees the balance of video check vehicle.
Specifically, levelling mechanism 2 is internally provided with motor, and the output end of motor is connected with support plate 15, motor and angle
Degree sensor is connected, and when angular transducer detection angles change, angular transducer signals to motor, motor band
Dynamic support plate 15 rotates.
The main car body 1 includes foldable arm rack 11 and equipped in first telescopic rod 12 at 11 both ends of foldable arm rack and the
Two telescopic rods 13, when the video check vehicle is in inspection state, the foldable arm rack 11 is in deployed position, the video inspection
When looking into vehicle and being in non-inspection state, the foldable arm rack 11 is in retracted position.It is additionally provided on the main car body 1 for limiting
The foldable arm rack 11 is maintained at the support rod 14 of opening state, when the foldable arm rack 11 is in deployed position, the support
Bar 14 is linearly；When the foldable arm rack 11 is in retracted position, the support rod 14, which synchronizes, to be folded.The support rod
14 include at least two relatively turnable sub- support rods, is provided with shaft, the two neighboring son between two root support rods
Be correspondingly arranged on through-hole on support rod, the foldable arm rack 11 in the open state, connector also cross each through-hole, with
Limit the rotation of adjacent two sub- support rods.
When video check vehicle is in inspection state, foldable arm rack 11 opens, and is consolidated foldable arm rack 11 using support rod 14
It is scheduled on suitable location, support rod 14 is symmetricly set on the two sides of foldable arm rack 11, and in the present embodiment, support rod 14 is mutually right
Claim four of setting, then the arch rib of arch bridge 20 is checked, wherein support rod 14 is two sons for allowing to relatively rotate
The junction of support rod, two sub- support rods is provided with through-hole, when foldable arm rack 11 is in open configuration, two sub- support rods
14 support foldable arm rack 11 in straight line, are fixed two sub- support rods 14 with connector, siding stopping support rod is regarding
Frequency checks that vehicle rotates in the process of movement, and the state constantly opened and tightened is in so as to cause foldable arm rack 11, from
And damage main car body 1；In the present embodiment, connector is inserted pin when needing to be opened foldable arm rack 11 using pin
Enter to inside through-hole, pin limits the rotation of sub- support rod together with shaft at this time.By the foldable arm rack of main car body 1
11 are set as folding mechanism, convenient in off working state, foldable arm rack 11 is packed up, convenient for storage and carry.Video camera
Structure 7 includes the first camera 71 that 1 top of main car body is arranged in, and the second camera being separately positioned on the first telescopic rod 12
72, and the third camera 73 being arranged on the second telescopic rod 13；The number of certain camera can be multiple.Camera is can
Adaptive and holding horizontality, camera have holder, and camera has optical zoom, night vision, stabilization, water proof and dust proof ip67
Rank.It is designed with pushing handle telescopic control mechanism in first telescopic rod 12 and 13 top of the second telescopic rod, can be needed certainly according to checking
By stretching；Not only it had been able to satisfy the function of crossing 20 crossbeam of arch rib, but also video detection range can be expanded, has been also convenient for turning for video check vehicle
Field handling work.
The clutch 33 walked for the bridge top row along arch bridge is provided in the bottom of the walking mechanism 3.In the row
Walk to be equipped with the driving mechanism 4 for driving it to walk along the bridge top row of arch bridge and affixed with walking mechanism 3 inside mechanism 3, for controlling
The electric cabinet 8 of the camera shooting mechanism 7, walking mechanism 3 and levelling mechanism 2.It is equipped with driving mechanism 4 in the inside of walking mechanism 3,
Driving mechanism 4 drives walking mechanism 3 to walk along the arch rib 20 of arch bridge；Driving mechanism 4 is servo motor in the present embodiment, is watched
Taking motor has many advantages, such as electrodeless variable-speed, and it is steady to play braking；Certainly, driving mechanism 4 or motor etc..Clutch 33 is pair
The multiple of 3 bottom of walking structure are arranged in title, in the present embodiment, the number of the clutch 33 of 3 bottom of walking mechanism are arranged in
It is four；It is again provided with clutch 33 in 8 bottom of electric cabinet, the number that the clutch 33 of 8 bottom of electric cabinet is arranged in is same
It is four；It is electrically connected between electric cabinet 8 and camera shooting mechanism 7, walking mechanism 3 and levelling mechanism 2, in the operation of video check vehicle
In the process, operator remotely operates and controls to video check vehicle by controlling software, the transmission system inside electric cabinet 8
System can be by the computer of the realtime video transmission of shooting to receiving end, and operator can be directly observed bridge rib 20 on ground
Actual conditions, be not necessarily to connecting line；It is equipped with built-in storage card in electric cabinet 8, the video of recording is stored into storage card,
It checks, play back repeatedly convenient for operator, analyzing and check image.In electric cabinet 8 be equipped with lithium battery, be video check vehicle into
Row power supply, lithium battery have light-weight, and self discharge is small, and the advantages that have extended cycle life.
A kind of specific embodiment of arch bridge video check vehicle provided by the invention and track fit structure, comprising:
Track 6 is equipped with chain 5 at the middle part of the track 6；The arch bridge video check vehicle, including walking mechanism, the walking
Mechanism includes: walking roller box 31, is equipped in the inside of the walking roller box 31 for driving the prolonging along chain 5 of main car body 1
Stretch the sprocket wheel of direction walking.The chain 5 is fixed on the track 6 by hold-down support 10.
Track 6 is installed on the bridge rib 20 of arch bridge, the middle part of track 6 is provided with chain 5, chain 5 passes through fixation
Support 10 is mounted on track 6, is provided with sprocket wheel in roller box 31 of walking, engaged transmission between sprocket wheel and chain 5, to drive view
Frequency checks vehicle along the extending direction inspection of track 6.
The track 6 passes through the walking mechanism 3, and the lower surface of the clutch 33 and the track 6 offsets.Described
It further include that 6 top position of track, the traveling wheel 32 for assisting sprocket wheel to walk, the track are set in walking roller box 31
6 are folded between the traveling wheel 32 and the clutch 33.
Traveling wheel 32 is symmetrical arranged the top of track 6, the two sides of chain 5, and the bottom of walking roller box 31 is arranged in clutch 33
Portion, track 6 are clipped between clutch 33 and traveling wheel 32, before video check vehicle is checked, have been pre-adjusted clutch 33
The distance between track 6, prevents the possibility turned on one's side during video check vehicle is in traveling, in walking roller box 31
Portion is additionally provided with the speed reducer with self-locking function, in the case where preventing the electric system in electric cabinet 8 from failing, the feelings of car slipping occurs
Condition.
It is equipped with multiple magnet bases 9 at predetermined intervals between the track 6 and arch bridge.It is reserved on the magnet base 9
For the passage space of the clutch 33 walking.The magnet base 9 is " several " font (not shown), when video check vehicle
When moving to magnet base 9, clutch 33 passes through from the two sides of " several " font magnet base 9.The purpose that magnet base 9 is arranged is to incite somebody to action
Track 6 is mounted on the bridge rib 20 of arch bridge, easy for installation and easy to disassemble.This passage space and magnet base 9 are " several " font,
Clutch 33 is easy for during walking, smoothly passes through track 6, avoid clutch 33 and is arranged in 6 bottom of track
Magnet base 9 between collide, to influence the inspection progress of video check vehicle.Certain magnet base 9 or other shapes
Shape, magnet base 9 are symmetricly set on the two sides of track 6, also can be set in the centre of track 6, in order to passing through for clutch 33.
Particular exam method: then the adsorption magnetic force seat 9 at predetermined intervals on the bridge rib 20 of arch bridge is laid with track 6, presses
Predetermined space arranges chain support 10 on track 6, and chain 5 is mounted on chain support 10, arch bridge video check vehicle
It is placed on track 6 with the cooperation of chain 5, regulates the distance between clutch 33 and track 6, prevent video check vehicle from turning on one's side,
Before carrying out bridge inspection, foldable arm rack 11 is expanded to suitable position, is through to through-hole on support rod 14 with connector, really
First telescopic rod 12 and the second telescopic rod 13, are then extend out to required length by the stability for protecting main car body 1, video check vehicle
Traveling wheel 32 is contacted with track 6, by 5 engaged transmission of drive sprocket and chain of driving mechanism 4, to realize video check vehicle
The top of the arch rib 20 of arch bridge is walked, and is controlled camera shooting mechanism 7 by electric cabinet 8, can be started to check；In video check trolley
When running to close to the crossbeam of arch rib 20, the first telescopic rod 12 or the second telescopic rod 13 are retracted into more than horizontal depth of beam, so as to
It is entire to check that trolley passes through crossbeam, the first telescopic rod 12 or the second telescopic rod 13 are then elongated to longest position again, after
It is continuous to carry out video check operation；After side arch rib 20 checks, the first telescopic rod 12 and the second telescopic rod 13 are retracted into
Then most short position unclamps the connector of support rod 14, can pack up foldable arm rack 11, then vehicle is dismounted to the other side and is encircleed
On circle, continue Inspection, until completing the inspection vehicle operation of full-bridge, finally vehicle disassembly is saved.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (13)
1. arch bridge video check vehicle characterized by comprising
Main car body (1) is provided with camera shooting mechanism (7)；
The walking mechanism (3) walked along the bridge top row of arch bridge, to drive the main car body (1) to be moved；
Levelling mechanism (2) is mounted between the walking mechanism (3) and the main car body (1), with the main car body (1) activity
Connection adjusts main car body (1) in real time during walking mechanism (3) move, and the main car body (1) is made to keep vertical.
2. arch bridge video check vehicle according to claim 1, which is characterized in that the main car body (1) includes folding arm
Frame (11) and it is equipped with the first telescopic rod (12) and the second telescopic rod (13) at the foldable arm rack (11) both ends, the video is examined
When looking into vehicle and being in inspection state, the foldable arm rack (11) is in deployed position, and the video check vehicle is in non-inspection state
When, the foldable arm rack (11) is in retracted position.
3. arch bridge video check vehicle according to claim 2, which is characterized in that be additionally provided on the main car body (1)
The support rod (14) for being maintained at opening state for limiting the foldable arm rack (11), the foldable arm rack (11), which is in, opens position
When setting, the support rod (14) is linearly；When the foldable arm rack (11) is in retracted position, the support rod (14) is synchronous
It is folded.
4. arch bridge video check vehicle according to claim 3, which is characterized in that the support rod (14) includes at least two
The relatively turnable sub- support rod of root is correspondingly arranged on through-hole, the foldable arm rack (11) on the two neighboring sub- support rod
In the open state, connector is also cross each through-hole, to limit the rotation of adjacent two sub- support rods.
5. arch bridge video check vehicle according to claim 1, which is characterized in that in the bottom of the walking mechanism (3)
It is provided with the clutch (33) walked for the bridge top row along arch bridge.
6. arch bridge video check vehicle according to claim 5, which is characterized in that set inside the walking mechanism (3)
There is its driving mechanism (4) for walking along the bridge top row of arch bridge of driving and affixed with walking mechanism (3), for controlling the video camera
The electric cabinet (8) of structure (7), walking mechanism (3) and levelling mechanism (2).
7. arch bridge video check vehicle and track fit structure characterized by comprising
Track (6) is equipped with chain (5) at the middle part of the track (6)；
Any arch bridge video check vehicle of claim 1-6, including walking mechanism, the walking mechanism include:
It walks roller box (31), is equipped in the inside of walking roller box (31) for driving the main car body (1) along chain (5)
The sprocket wheel of extending direction walking.
8. arch bridge video check vehicle according to claim 7 and track fit structure, which is characterized in that the chain
(5) it is fixed on the track (6) by hold-down support (10).
9. arch bridge video check vehicle according to claim 7 and track fit structure, which is characterized in that the track
(6) walking mechanism (3) are passed through, the clutch (33) and the lower surface of the track (6) offset.
10. arch bridge video check vehicle according to claim 9 and track fit structure, which is characterized in that in the row
Walking further includes setting in roller box (31) in the track (6) top position, the traveling wheel (32) for assisting sprocket wheel to walk, described
Track (6) is folded between the traveling wheel (32) and the clutch (33).
11. arch bridge video check vehicle according to claim 7 and track fit structure, which is characterized in that in the rail
Multiple magnet bases (9) are equipped at predetermined intervals between road (6) and arch bridge.
12. arch bridge video check vehicle according to claim 11 and track fit structure, which is characterized in that the magnetic force
The passage space of the promising clutch (33) walking is reserved on seat (9).
13. arch bridge video check vehicle according to claim 12 and track fit structure, which is characterized in that the magnetic
Power seat (9) is " several " font.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910036588.9A CN109837834A (en) | 2019-01-15 | 2019-01-15 | Arch bridge video check vehicle and arch bridge video check vehicle and track fit structure |
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| CN201910036588.9A CN109837834A (en) | 2019-01-15 | 2019-01-15 | Arch bridge video check vehicle and arch bridge video check vehicle and track fit structure |
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| CN112711057A (en) * | 2020-12-22 | 2021-04-27 | 武汉第二船舶设计研究所(中国船舶重工集团公司第七一九研究所) | Movable rapid-unfolding channel type vehicle monitoring device |
| CN113026553A (en) * | 2021-03-15 | 2021-06-25 | 李世春 | Suspension bridge main cable mobile video acquisition system based on electromagnetic attraction |
| CN113026554A (en) * | 2021-04-30 | 2021-06-25 | 南通理工学院 | Surface cross type all-dimensional detection robot for high-speed rail bridge |
| US11320338B2 (en) * | 2019-01-14 | 2022-05-03 | Changsha University Of Science And Technology | Bridge detecting vehicle with two foldable arms |
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