CN110241723A - A kind of inspection vehicle of adjustable center of gravity - Google Patents
A kind of inspection vehicle of adjustable center of gravity Download PDFInfo
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- CN110241723A CN110241723A CN201910507398.0A CN201910507398A CN110241723A CN 110241723 A CN110241723 A CN 110241723A CN 201910507398 A CN201910507398 A CN 201910507398A CN 110241723 A CN110241723 A CN 110241723A
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- truss
- sub
- check device
- rotating mechanism
- bridge
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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)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a kind of inspection vehicle of adjustable center of gravity, check that vehicle includes: multiple walking mechanisms, rotating mechanism, the first sub- truss, the second sub- truss and check device；Rotating mechanism is connect with walking mechanism, and the first sub- truss and the second sub- truss are arranged in rotating mechanism, and check device is arranged on the first sub- truss, wherein the second sub- truss is arranged on the first sub- truss；Check device on the first sub- truss for moving, to detect to bridge；During carrying out bridge machinery, the second sub- truss is moved along the direction far from check device, and the second sub- truss and check device cooperate, and guarantees to check the center of gravity of vehicle position in its center.The present invention eliminates the force unbalance problem due to caused by check device evolution by mobile second sub- truss, second sub- truss and check device cooperate, the center of gravity position in its center for guaranteeing to check vehicle, so that the stress balance of bridge two sides, reduces the damage to bridge.
Description
Technical field
The invention belongs to Bridge Inspection fields, more particularly, to a kind of inspection vehicle of adjustable center of gravity.
Background technique
With the fast development that China's high-speed transit is transported, large-scale arch bridge is more and more, wants to the maintenance of bridge
Ask also higher and higher.When needing operation and parking maintenance on heavy grade track, inspection personnel will be in always in vehicle frame
Horizontality simultaneously keeps balancing, if run-off the straight be easy to cause testing staff to fall, life security is on the hazard.
When detecting to bridge, testing staff unilateral can be detected, that is, first the side of bridge is detected,
The other side of bridge is detected again.In the detection process, testing staff and the corresponding weight of detection device can be applied to bridge
Certain side of beam, leads to the force unbalance of bridge, is easy to damage bridge, influences the service life of bridge.
In consideration of it, overcoming defect present in the prior art is the art urgent problem to be solved.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of inspection vehicle of adjustable center of gravity,
Its object is to eliminate the force unbalance problem due to caused by check device evolution by mobile second sub- truss, the
Two sub- truss and check device cooperate, and guarantee to check the center of gravity of vehicle position in its center so that bridge two sides by
Dynamic balance reduces the damage to bridge.
To achieve the above object, according to one aspect of the present invention, a kind of inspection vehicle of adjustable center of gravity is provided, it is described
Check that vehicle includes: multiple walking mechanisms 1, rotating mechanism 2, main couple 30, check device 6 and clump weight 7；
The rotating mechanism 2 is connect with the walking mechanism 1, and the main couple 30 is arranged in the rotating mechanism 2, institute
It states clump weight 7 and the check device 6 is arranged on the main couple 30；
The check device 6 on the main couple 30 for moving, to be detected to bridge, the clump weight 7 with
The main couple 30 is flexibly connected；
The walking mechanism 1 is for driving the inspection vehicle to walk along arch bridge；
When the walking mechanism 1 is walked along arch bridge, the rotating mechanism 2 is for driving the main couple 30 to revolve
Turn, to guarantee that the center of gravity of the main couple 30 being capable of plummet the earth；
When the check device 6 detects bridge, the moving direction of the clump weight 7 and the check device 6
On the contrary, the clump weight 7 cooperates with the check device 6, to guarantee the center of gravity for checking vehicle position therebetween.
Preferably, the number of the rotating mechanism 2 is two, and two rotating mechanisms 2 support the main couple 30, Mei Gexuan
There are four walking mechanisms 1 for connection on rotation mechanism 2, and it is two groups that four walking mechanisms 1, which are divided to,；
The inspection vehicle further includes pressure sensor 8, and the rotating mechanism 2 includes support frame 24, the walking mechanism 1 with
Support frame as described above 24 connects, and the pressure sensor 8 is arranged on support frame 24, and the pressure sensor 8 is adjacent to the branch
Support 24 and the point of interface of the walking mechanism 1 are arranged；
The pressure sensor 8 for detecting the pressure being applied in walking mechanism 1, with the determination clump weight 7 whether
Movement is in place.
To achieve the above object, other side according to the invention provides a kind of inspection vehicle of adjustable center of gravity, institute
It states and checks that vehicle includes: multiple walking mechanisms 1, rotating mechanism 2, the first sub- truss 31, the second sub- truss 32 and check device 6；
The rotating mechanism 2 is connect with the walking mechanism 1, and the first sub- truss 31 and the second sub- truss 32 are set
It sets in the rotating mechanism 2, the check device 6 is arranged on the described first sub- truss 31, wherein the second sub- truss
32 are arranged on the described first sub- truss 31；
The check device 6 on the described first sub- truss 31 for moving, to detect to bridge；
The walking mechanism 1 is for driving the inspection vehicle to walk along arch bridge；
When the walking mechanism 1 is walked along arch bridge, the rotating mechanism 2 is for driving the described first sub- truss
31 and the second sub- truss 32 rotate, to guarantee the described first sub- truss 31 and the corresponding center of gravity energy of the second sub- truss 32
Enough plummet the earth；
During carrying out bridge machinery, the second sub- truss 32 is moved along the direction far from the check device 6, institute
It states the second sub- truss 32 to cooperate with the check device 6, guarantees the center of gravity for checking vehicle position in its center.
Preferably, it is flexibly connected between the described first sub- truss 31 and the described second sub- truss 32；
The second motor 34 is provided on the first sub- truss 31, second motor 34 is for driving the described second sub- purlin
Frame 32 is moved along the direction far from the check device 6.
Preferably, second gear 36, second motor 34 and second tooth are provided on the described first sub- truss 31
36 connection of wheel；
The second track 321 is provided on the second sub- truss 32, wherein is provided on second track 321 and institute
State the tooth socket that second gear 36 matches；
Second motor 34 for driving the second gear 36 to rotate, the second gear 36 during rotation,
The second gear 36 cooperates with the tooth socket on second track 321, and the described second sub- truss 32 is driven to move.
Preferably, it is provided with sliding rail 312 on the described first sub- truss 31, is provided with sliding block on the second sub- truss 32
322；
The sliding rail 312 intercouples with the sliding block 322, under the action of the second motor 34, second son
Truss 32 is moved relative to the described first sub- truss 31.
Preferably, the number of the rotating mechanism 2 is two, and two rotating mechanisms 2 support the described first sub- truss 31, often
There are four walking mechanisms 1 for connection on a rotating mechanism 2, and it is two groups that four walking mechanisms 1, which are divided to,；
The inspection vehicle further includes pressure sensor 8, and the rotating mechanism 2 includes support frame 24, the walking mechanism 1 with
Support frame as described above 24 connects, and the pressure sensor 8 is arranged on support frame 24, and the pressure sensor 8 is adjacent to the branch
Support 24 and the point of interface of the walking mechanism 1 are arranged；
The pressure sensor 8 is for detecting the pressure being applied in walking mechanism 1, with the sub- truss 32 of determination described second
Whether move in place.
Preferably, the rotating mechanism 2 includes rotary supporting wheel 21, swing-around trajectory 22 and rotary drive assembly 23, described
Rotary supporting wheel 21 is connect with the walking mechanism 1, and the swing-around trajectory 22 is arranged in the rotary supporting wheel 21, the rotation
Transition road 22 is connect with the rotary drive assembly 23, and the first sub- truss 31 is fixedly connected with the swing-around trajectory 22；
The rotary drive assembly 23 is for driving the swing-around trajectory 22 to rotate along the rotary supporting wheel 21, to protect
The center of gravity for demonstrate,proving the described first sub- truss 31 being capable of plummet the earth.
Preferably, the rotary drive assembly 23 includes: driving motor 231, driving wheel 232 and driven wheel 233；
The driving motor 231 is connect with the driving wheel 232, and the driven wheel 233 passes through wirerope 4 and the active
232 connection of wheel, the both ends of the wirerope 4 are extended from the driving wheel 232 and are wrapped on the swing-around trajectory 22；
The driving motor 231 is for driving the driving wheel 232 and the driven wheel 233 to rotate, to pass through the steel
Cord 4 drives the swing-around trajectory 22 to rotate.
Preferably, the inspection vehicle further includes traction mechanism 5, and the traction mechanism 5 includes connection frame 51, tensioning 52 and of head
Interconnecting piece 53；
The connection frame 51 is fixedly connected in the swing-around trajectory 22, and one end of the tensioning head 52 is connected to the company
The outside of frame 51 is connect, the other end passes through the connection frame 51 and is connected to the connection by locking nut 54 and elastic component 55
The inside of frame 51；
One end of the interconnecting piece 53 and the tensioning head 52 are hinged, and one end of the other end and the wirerope 4 is fixed
Connection.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have following beneficial to effect
Fruit: the present invention provides a kind of inspection vehicle of adjustable center of gravity, checks that vehicle includes: multiple walking mechanisms, rotating mechanism, the first sub- purlin
Frame, the second sub- truss and check device；Rotating mechanism is connect with walking mechanism, and the first sub- truss and the second sub- truss setting are being revolved
In rotation mechanism, check device is arranged on the first sub- truss, wherein the second sub- truss is arranged on the first sub- truss；Check dress
It sets for being moved on the first sub- truss, to be detected to bridge；Walking mechanism checks vehicle along arch bridge for driving
Walking；When walking mechanism is walked along arch bridge, rotating mechanism is rotated for the first sub- truss of driving and the second sub- truss,
To guarantee that the first sub- truss and the corresponding center of gravity of the second sub- truss being capable of plummet the earth；During carrying out bridge machinery, second
Sub- truss is moved along the direction far from check device, and the second sub- truss and check device cooperate, and guarantees the center of gravity for checking vehicle
Position in its center.
Inspection vehicle of the invention eliminates the stress due to caused by check device evolution by mobile second sub- truss
Imbalance problem, the second sub- truss and check device cooperate, and guarantee to check the center of gravity of vehicle position in its center, so that
The stress balance of bridge two sides reduces the damage to bridge.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of side structure schematic view for checking vehicle provided in an embodiment of the present invention；
Fig. 2 is another side structure schematic view for checking vehicle provided in an embodiment of the present invention；
Fig. 3 is that the structure between a kind of the first sub- truss and the second sub- truss for checking vehicle provided in an embodiment of the present invention is shown
It is intended to；
Fig. 4 is the structure between another the first sub- truss and the second sub- truss for checking vehicle provided in an embodiment of the present invention
Schematic diagram；
Fig. 5 is a kind of structural schematic diagram of first sub- truss provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of a kind of first sub- truss and the second sub- truss provided in an embodiment of the present invention；
Fig. 7 is another structural schematic diagram for checking vehicle provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of rotating mechanism provided in an embodiment of the present invention；
Fig. 9 is the structure between a kind of wirerope provided in an embodiment of the present invention, swing-around trajectory and rotary drive assembly
Schematic diagram；
Figure 10 is a kind of structural schematic diagram of rotary drive assembly provided in an embodiment of the present invention；
Figure 11 is a kind of structural schematic diagram of traction mechanism provided in an embodiment of the present invention；
Figure 12 is a kind of structural schematic diagram of walking mechanism provided in an embodiment of the present invention；
Figure 13 is a kind of circuit topological structure schematic diagram for checking vehicle provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom" etc. refer to
The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention rather than
It is required that the present invention must be constructed and operated in a specific orientation, therefore it is not construed as limitation of the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
Embodiment 1:
Currently, during detecting bridge, testing staff and the corresponding weight of detection device can be applied to certain of bridge
Side leads to the force unbalance of bridge, is easy to damage bridge, influences the service life of bridge.
To solve foregoing problems, the present embodiment provides a kind of inspection vehicles of adjustable center of gravity, which includes clump weight,
The force unbalance problem due to caused by check device evolution is eliminated by clump weight.
Refering to fig. 1, the inspection vehicle of the present embodiment includes: multiple walking mechanisms 1, rotating mechanism 2, main couple 30, checks dress
Set 6 and clump weight 7；The rotating mechanism 2 is connect with the walking mechanism 1, and the main couple 30 is arranged in the rotating mechanism 2
Interior, the clump weight 7 and the check device 6 are arranged on the main couple 30.
Under concrete application scene, the check device 6 on the main couple 30 for moving, to examine to bridge
It surveys, the clump weight 7 is flexibly connected with the main couple 30；The walking mechanism 1 is for driving the inspection vehicle along arch bridge
Bridge walking.
When the walking mechanism 1 is walked along arch bridge, the rotating mechanism 2 is for driving the main couple 30 to revolve
Turn, to guarantee that the center of gravity of the main couple 30 being capable of plummet the earth；It is described when the check device 6 detects bridge
Clump weight 7 and the moving direction of the check device 6 are on the contrary, the clump weight 7 and the check device 6 cooperate, to protect
Demonstrate,prove the center of gravity for checking vehicle position therebetween.
In the present embodiment, the number of the rotating mechanism 2 is two, and two rotating mechanisms 2 support the main couple 30,
There are four walking mechanisms 1 for connection on each rotating mechanism 2, and it is two groups that four walking mechanisms 1, which are divided to,.Under practical application scene, when
The center of gravity of vehicle is checked not at middle position, be applied to pressure in each side walking mechanism 1 can difference, in order to guarantee to examine
The center of gravity for looking into vehicle is located therein position (middle position herein is generally referred to along the interposition on bridge width direction
Set), in a preferred embodiment, the inspection vehicle further includes pressure sensor 8, and the rotating mechanism 2 includes support frame 24, institute
It states walking mechanism 1 to connect with support frame as described above 24, the pressure sensor 8 is arranged on support frame 24, and the pressure sensing
Device 8 is arranged adjacent to support frame as described above 24 and the point of interface of the walking mechanism 1.
The pressure sensor 8 for detecting the pressure being applied in walking mechanism 1, with the determination clump weight 7 whether
Movement is in place.Wherein, when the difference between the pressure value of pressure sensor 8 for being located at two sides (along the width direction of bridge) is small
When preset threshold, show that clump weight 7 is mobile in place；When the pressure sensor 8 for being located at two sides (along the width direction of bridge)
Pressure value between difference when being not less than preset threshold, clump weight 7 is mobile to the lesser side of pressure value, to guarantee to check
The center of gravity of vehicle is located therein position.
In the present embodiment, the injustice of the stress due to caused by 6 evolution of check device is balanced by self-balanced upper rotary 7
Weighing apparatus problem, clump weight 7 and check device 6 cooperate, and guarantee to check the center of gravity of vehicle position in its center, so that bridge two
The stress balance of side reduces the damage to bridge.
The walking mechanism 1 of the inspection vehicle of the present embodiment and the structure of rotating mechanism 2 are identical as following embodiments 2, are detailed in down
Text description, details are not described herein.
Embodiment 2:
Aforementioned schemes can solve in checking process, the unbalanced problem of bridge force-bearing, but increase clump weight, can increase
Add the weight for checking vehicle, virtually increase the pressure being applied on bridge, when checking that car weight amount is excessive, bridge can also be made
At damage.
In order to solve foregoing problems, the present embodiment is based on embodiment 1 and proposes a kind of preferred embodiment, do not increasing considerably
While checking car weight amount, solve in checking process, the unbalanced technical problem of bridge force-bearing.
Referring to Fig.2, the inspection vehicle of the present embodiment includes: multiple walking mechanisms 1, rotating mechanism 2, the first sub- truss 31,
Two sub- truss 32 and check device 6；The rotating mechanism 2 is connect with the walking mechanism 1, the first sub- truss 31 and described
Second sub- truss 32 is arranged in the rotating mechanism 2, and the check device 6 is arranged on the described first sub- truss 31, wherein
The second sub- truss 32 is arranged on the described first sub- truss 31.
In actual use, the check device 6 on the described first sub- truss 31 for moving, to examine to bridge
It surveys；The walking mechanism 1 is for driving the inspection vehicle to walk along arch bridge；In the walking mechanism 1 along arch bridge bridge
When beam is walked, the rotating mechanism 2 is for driving the described first sub- truss 31 and the second sub- truss 32 to rotate, to guarantee
It states the first sub- truss 31 and the corresponding center of gravity of the second sub- truss 32 being capable of plummet the earth.
During carrying out bridge machinery, the second sub- truss 32 moves (such as along the direction far from the check device 6
Shown in Fig. 4), the second sub- truss 32 cooperates with the check device 6, guarantees the center of gravity for checking vehicle in its center
Position.
Specifically, under original state, the first sub- truss 31 and the second sub- truss 32 are mutually aligned (such as Fig. 3 institute
Show), check device 6 is in an intermediate position, and when checking bridge, the first sub- truss 31 is fixed, and described
Two sub- truss 32 are moved along the direction opposite with 6 moving direction of check device, for example, check device 6 is moved to the left, then second
Sub- truss 32 moves right；Check device 6 moves right, then the second sub- truss 32 is moved to the left, and guarantees the weight for checking vehicle
Heart position in its center.
Inspection vehicle of the invention balances the stress due to caused by 6 evolution of check device by mobile second sub- truss
Imbalance problem, the second sub- truss and check device 6 cooperate, and guarantee to check the center of gravity of vehicle position in its center, to make
The stress balance of bridge two sides is obtained, the damage to bridge is reduced.
Fig. 3 and Fig. 4 are further regarded to, is flexibly connected between the first sub- truss 31 and the described second sub- truss 32,
, it should be noted that the first sub- truss 31 divides for two large divisions, a portion is located at the upside of the second sub- truss 32, another portion for this
For quartile in the downside of the second sub- truss 32, there are some differences for the structure of the sub- truss 31 of two parts first, but can understand
Illustrate the basis of the scheme of the present embodiment, in order to simplify label, in the present embodiment, not to two parts of the first sub- truss 31
Carry out label distinction.It is provided with the second motor 34 on the first sub- truss 31, second motor 34 is for driving described the
Two sub- truss 32 are moved along the direction far from the check device 6.
In the alternative, second gear 36, second motor 34 and institute are provided on the described first sub- truss 31
State the connection of second gear 36, wherein the second motor 34 is fixed on the described first sub- truss 31, in the first sub- truss 31 and second
After the corresponding center of gravity plummet the earth of sub- truss 32, second motor 34 is for driving the described second sub- truss 32, so that described
Second sub- truss 32 cooperates with check device 6, guarantees the center of gravity for checking vehicle in middle position, so that bridge two sides stress is equal
It is even.
Under practical application scene, the second track 321 is provided on the second sub- truss 32, wherein second rail
The tooth socket to match with the second gear 36 is provided on road 321.
In actual use, second motor 34 is for driving the second gear 36 to rotate, the second gear 36
During rotation, the second gear 36 cooperates with the tooth socket on second track 321, drives the second sub- purlin
Frame 32 moves.
In the present embodiment, as shown in figure 5, the first sub- truss 31 for being located at upside includes the first support arm 301 and second
Support arm 302, first support arm 301 and second support arm 302 abut the second sub- truss 32, to guarantee to move in dislocation
During dynamic, there is stable stress supporting point between the first sub- truss 31 and the second sub- truss 32, guarantees stability.
In addition, having between the first support arm 301 and the second support arm 302 for the first sub- truss 31 positioned at upside
One accommodating space 303, second gear 36 are contained in corresponding accommodating space 303, and the first support arm 301 and the second support arm
There is a movable mouth 304, the length of movable mouth 304 is not less than the length of the second track 312, to guarantee the second son between 302
Truss 32 can move in a certain range.In the alternative, as shown in fig. 6, being arranged on the first sub- truss 31
There is sliding rail 312, is provided with sliding block 322 on the second sub- truss 32；The sliding rail 312 intercouples with the sliding block 322,
Under the action of second motor 34, the second sub- truss 32 is moved relative to the described first sub- truss 31.It is sliding in Fig. 6
Rail 312 and sliding block 322 are correspondingly arranged at the marginal position of sub- truss, and the number for the sliding rail 312 being arranged on the first sub- truss 31 is
Two, the number of the sliding block 322 on the second sub- truss 32 is two pairs.In other alternative-embodiments, sliding rail 312 and sliding block
322 are correspondingly arranged at the middle position of sub- truss, and the number for the sliding rail 312 being arranged on the first sub- truss 31 is one, the second son
The number for the sliding block 322 being arranged on truss 32 is a pair, does not do illustrate herein.
In the present embodiment, the number of the rotating mechanism 2 is two, and two rotating mechanisms 2 support the main couple 30,
There are four walking mechanisms 1 for connection on each rotating mechanism 2, and it is two groups that four walking mechanisms 1, which are divided to,.Under practical application scene, when
The center of gravity of vehicle is checked not at middle position, be applied to pressure in each side walking mechanism 1 can difference, in order to guarantee to examine
The center of gravity for looking into vehicle is located therein position (middle position herein is generally referred to along the interposition on bridge width direction
Set), in a preferred embodiment, the inspection vehicle further includes pressure sensor 8, and the rotating mechanism 2 includes support frame 24, institute
It states walking mechanism 1 to connect with support frame as described above 24, the pressure sensor 8 is arranged on support frame 24, and the pressure sensing
Device 8 is arranged adjacent to support frame as described above 24 and the point of interface of the walking mechanism 1.
The pressure sensor 8 is for detecting the pressure being applied in walking mechanism 1, with the sub- truss 32 of determination described second
Whether move in place.Wherein, when the difference between the pressure value of pressure sensor 8 for being located at two sides (along the width direction of bridge)
It is different when being less than preset threshold, show that the second sub- truss 32 is mobile in place；When the pressure for being located at two sides (along the width direction of bridge)
When difference between the pressure value of force snesor 8 is not less than preset threshold, by the second sub- truss 32 to the lesser side of pressure value
It is mobile, to guarantee to check that the center of gravity of vehicle is located therein position.
In conjunction with Fig. 7 and Fig. 8, in the present embodiment, the rotating mechanism 2 includes rotary supporting wheel 21,22 and of swing-around trajectory
Rotary drive assembly 23, the rotary supporting wheel 21 are connect with the walking mechanism 1, and the swing-around trajectory 22 is arranged in the rotation
Turn in support wheel 21, the swing-around trajectory 22 is connect with the rotary drive assembly 23, the main couple 30 and the rotation rail
Road 22 is fixedly connected.
Wherein, the rotary drive assembly 23 is for driving the swing-around trajectory 22 to revolve along the rotary supporting wheel 21
Turn, to guarantee that the center of gravity of the main couple 30 being capable of plummet the earth.
Specifically, the rotary drive assembly 23 includes: driving motor 231, driving wheel 232 and driven wheel 233；The drive
Dynamic motor 231 is connect with the driving wheel 232, and the driven wheel 233 is connect by wirerope 4 with the driving wheel 232, described
Extend from the driving wheel 232 and be wrapped on the swing-around trajectory 22 in the both ends of wirerope 4.
Wherein, the driving motor 231 is for driving the driving wheel 232 and the driven wheel 233 to rotate, to pass through
Stating wirerope 4 drives the swing-around trajectory 22 to rotate.
In the present embodiment, the inspection vehicle further includes traction mechanism 5, and the traction mechanism 5 includes connection frame 51, tensioning
First 52 and interconnecting piece 53；The connection frame 51 is fixedly connected in the swing-around trajectory 22, and one end of the tensioning head 52 abuts
In the outside of the connection frame 51, the other end passes through the connection frame 51 and is connected to by locking nut 54 and elastic component 55
The inside of the connection frame 51；One end of the interconnecting piece 53 and the tensioning head 52 are hinged, the other end and the wirerope 4
One end be fixedly connected.
In the present embodiment, the walking mechanism 1 includes: vehicle frame 11, driving device 12 and wheel 13；The driving device
12 are connected on the vehicle frame 11, and the wheel 13 is arranged in the side of the driving device 12, and with the driving device 12
Connection；The wheel shaft of the wheel 13 is connect with the vehicle frame 11.
The walking mechanism 1 further includes pressurizing device 14, the wheel shaft of the pressurizing device 14 and the wheel 13 and described
Vehicle frame 11 connects, to increase the climbing capacity of the wheel 13.
In a preferred embodiment, the number of the rotating mechanism 2 is two, and two rotating mechanisms 2 support the main truss
Frame 30, there are four walking mechanisms 1 for connection on each rotating mechanism 2；It is two groups that four walking mechanisms 1, which are divided to, and every group is respectively connected with light
Photoelectric coder, to detect and control the synchronism of walking mechanism 1；Angular transducer is installed on the main couple 30, to adjust
The rotation angle of rotating mechanism 2.
It is aforementioned to essentially describe the structure for checking vehicle, it is briefly described as follows the course of work for checking vehicle.
In conjunction with Figure 13, check that vehicle further includes controller and pressure sensor 8, controller respectively with pressure sensor 8, walking
Mechanism 1, rotating mechanism 2 are connected with angular transducer, wherein pressure sensor 8 is for detecting the pressure feelings being applied on bridge
Condition.
In actual use, controller is used to drive multiple 1 rows of walking mechanism according to the photoelectric encoder in walking mechanism 1
It walks, to guarantee synchronism；Testing result control rotating mechanism 2 of the controller for receiving angle sensor rotates, to guarantee the
The center of gravity of one sub- truss 31 and the second sub- truss 32 can plummet the earth, to guarantee the balance of inspection personnel.Pressure sensor 8
It is sent to controller for detecting the pressure condition being applied on bridge, and by pressure condition, controller is used for according to pressure feelings
Condition controls moving direction and the shift position of the second sub- truss 32, to guarantee that the pressure for being applied to bridge two sides is of substantially equal, subtracts
Few damage to bridge.
Inspection vehicle of the invention balances the stress due to caused by 6 evolution of check device by mobile second sub- truss
Imbalance problem, the second sub- truss and check device 6 cooperate, and guarantee to check the center of gravity of vehicle position in its center, to make
The stress balance of bridge two sides is obtained, the damage to bridge is reduced.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of inspection vehicle of adjustable center of gravity, which is characterized in that the inspection vehicle includes: multiple walking mechanisms (1), whirler
Structure (2), main couple (30), check device (6) and clump weight (7)；
The rotating mechanism (2) connect with the walking mechanism (1), and the main couple (30) is arranged in the rotating mechanism (2)
Interior, the clump weight (7) and the check device (6) are arranged on the main couple (30)；
The check device (6) on the main couple (30) for moving, to be detected to bridge, the clump weight (7)
It is flexibly connected with the main couple (30)；
The walking mechanism (1) is for driving the inspection vehicle to walk along arch bridge；
When the walking mechanism (1) is walked along arch bridge, the rotating mechanism (2) is for driving the main couple (30)
Rotation, to guarantee that the center of gravity of the main couple (30) being capable of plummet the earth；
When the check device (6) detects bridge, the mobile side of the clump weight (7) and the check device (6)
To on the contrary, the clump weight (7) and the check device (6) cooperate, to guarantee the center of gravity for checking vehicle therebetween
Position.
2. inspection vehicle according to claim 1, which is characterized in that the number of the rotating mechanism (2) is two, two rotations
Rotation mechanism (2) supports the main couple (30), and there are four walking mechanism (1), four vehicle with walking machine for connection on each rotating mechanism (2)
Structure (1) is divided into two groups；
The inspection vehicle further includes pressure sensor (8), and the rotating mechanism (2) includes support frame (24), the walking mechanism
(1) it is connect with support frame as described above (24), the pressure sensor (8) is arranged on support frame (24), and the pressure sensor
(8) point of interface of neighbouring support frame as described above (24) and the walking mechanism (1) is arranged；
The pressure sensor (8) is used to detect the pressure being applied on walking mechanism (1), is with the determination clump weight (7)
No movement is in place.
3. a kind of inspection vehicle of adjustable center of gravity, which is characterized in that the inspection vehicle includes: multiple walking mechanisms (1), whirler
Structure (2), the first sub- truss (31), the second sub- truss (32) and check device (6)；
The rotating mechanism (2) connect with the walking mechanism (1), the first sub- truss (31) and the second sub- truss
(32) setting is in the rotating mechanism (2), and the check device (6) is arranged on the described first sub- truss (31), wherein institute
The second sub- truss (32) is stated to be arranged on the described first sub- truss (31)；
The check device (6) on the described first sub- truss (31) for moving, to detect to bridge；
The walking mechanism (1) is for driving the inspection vehicle to walk along arch bridge；
When the walking mechanism (1) is walked along arch bridge, the rotating mechanism (2) is for driving the described first sub- truss
(31) it is rotated with the second sub- truss (32), to guarantee that the described first sub- truss (31) and the second sub- truss (32) are corresponding
Center of gravity can plummet the earth；
During carrying out bridge machinery, the second sub- truss (32) is mobile along the direction far from the check device (6), institute
It states the second sub- truss (32) and the check device (6) cooperates, guarantee the center of gravity for checking vehicle position in its center.
4. inspection vehicle according to claim 3, which is characterized in that the first sub- truss (31) and the described second sub- truss
(32) it is flexibly connected between；
It is provided with the second motor (34) on the first sub- truss (31), second motor (34) is for driving second son
Truss (32) is mobile along the direction far from the check device (6).
5. inspection vehicle according to claim 4, which is characterized in that be provided with second gear on the first sub- truss (31)
(36), second motor (34) connect with the second gear (36)；
Be provided with the second track (321) on the second sub- truss (32), wherein be provided on second track (321) with
The tooth socket that the second gear (36) matches；
Second motor (34) is for driving the second gear (36) to rotate, and the second gear (36) is in rotation process
In, the tooth socket on the second gear (36) and second track (321) cooperates, and drives the second sub- truss (32)
Movement.
6. inspection vehicle according to claim 5, which is characterized in that be provided with sliding rail on the first sub- truss (31)
(312), sliding block (322) are provided on the described second sub- truss (32)；
The sliding rail (312) intercouples with the sliding block (322), under the action of the second motor (34), described second
Sub- truss (32) is relative to the described first sub- truss (31) movement.
7. according to the described in any item inspection vehicles of claim 3~6, which is characterized in that the number of the rotating mechanism (2) is two
A, two rotating mechanisms (2) support the first sub- truss (31), and there are four walking mechanisms for connection on each rotating mechanism (2)
(1), four walking mechanisms (1) are divided into two groups；
The inspection vehicle further includes pressure sensor (8), and the rotating mechanism (2) includes support frame (24), the walking mechanism
(1) it is connect with support frame as described above (24), the pressure sensor (8) is arranged on support frame (24), and the pressure sensor
(8) point of interface of neighbouring support frame as described above (24) and the walking mechanism (1) is arranged；
The pressure sensor (8) is for detecting the pressure being applied on walking mechanism (1), with the sub- truss of determination described second
(32) whether move in place.
8. according to the described in any item inspection vehicles of claim 3~6, which is characterized in that the rotating mechanism (2) includes rotation branch
Support wheel (21), swing-around trajectory (22) and rotary drive assembly (23), the rotary supporting wheel (21) and the walking mechanism (1) are even
It connects, in the rotary supporting wheel (21), the swing-around trajectory (22) and the rotation are driven for swing-around trajectory (22) setting
Component (23) connection, the first sub- truss (31) are fixedly connected with the swing-around trajectory (22)；
The rotary drive assembly (23) is used to that the swing-around trajectory (22) to be driven to rotate along the rotary supporting wheel (21), with
Guarantee that the center of gravity of the described first sub- truss (31) being capable of plummet the earth.
9. inspection vehicle according to claim 8, which is characterized in that the rotary drive assembly (23) includes: driving motor
(231), driving wheel (232) and driven wheel (233)；
The driving motor (231) connect with the driving wheel (232), the driven wheel (233) by wirerope (4) with it is described
Driving wheel (232) connection, the both ends of the wirerope (4) extend from the driving wheel (232) and are wrapped in the rotation rail
On road (22)；
The driving motor (231) is for driving the driving wheel (232) and the driven wheel (233) to rotate, by described
Wirerope (4) drives swing-around trajectory (22) rotation.
10. inspection vehicle according to claim 8, which is characterized in that the inspection vehicle further includes traction mechanism (5), described
Traction mechanism (5) includes connection frame (51), tensioning head (52) and interconnecting piece (53)；
The connection frame (51) is fixedly connected in the swing-around trajectory (22), and one end of tensioning head (52) is connected to described
The outside of connection frame (51), the other end pass through the connection frame (51) and are abutted by locking nut (54) and elastic component (55)
In the inside of the connection frame (51)；
Hingedly, one end of the other end and the wirerope (4) is solid for one end of the interconnecting piece (53) and the tensioning head (52)
Fixed connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910507398.0A CN110241723B (en) | 2019-06-12 | 2019-06-12 | Inspection vehicle with adjustable gravity center |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507398.0A CN110241723B (en) | 2019-06-12 | 2019-06-12 | Inspection vehicle with adjustable gravity center |
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| CN110241723B CN110241723B (en) | 2021-02-19 |
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Cited By (1)
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|---|---|---|---|---|
| CN115674202A (en) * | 2022-11-01 | 2023-02-03 | 东北大学 | Method, device and system for correcting pose of robot |
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| CN110241723B (en) | 2021-02-19 |
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