CN111119044A - Bridge suspends walking equipment in midair and uses its bridge work system - Google Patents
Bridge suspends walking equipment in midair and uses its bridge work system Download PDFInfo
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- CN111119044A CN111119044A CN202010018403.4A CN202010018403A CN111119044A CN 111119044 A CN111119044 A CN 111119044A CN 202010018403 A CN202010018403 A CN 202010018403A CN 111119044 A CN111119044 A CN 111119044A
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- 230000007246 mechanism Effects 0.000 claims abstract description 134
- 239000000725 suspension Substances 0.000 claims abstract description 27
- 230000008093 supporting effect Effects 0.000 claims description 33
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- 238000000429 assembly Methods 0.000 claims description 31
- 238000011161 development Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000007689 inspection Methods 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241001272996 Polyphylla fullo Species 0.000 description 1
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- 230000003064 anti-oxidating effect Effects 0.000 description 1
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- 230000008878 coupling Effects 0.000 description 1
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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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Abstract
The invention discloses bridge suspension walking equipment and a bridge working system using the same. The bridge suspension travelling device comprises a rack and a plurality of travelling devices, wherein the rack is provided with a plurality of guide rails, one ends of the travelling devices are respectively in sliding fit with the guide rails, and each travelling device comprises a clamping mechanism, a telescopic mechanism and a driving mechanism. The bridge working system comprises bridge suspension walking equipment and further comprises a working instrument or a working platform. The invention provides equipment which can be applied to a bridge and can walk at the bottom of the bridge, the equipment mainly comprises a rack and a plurality of walking devices, and the equipment is suitable for bridges with different structures and can realize full-automatic work; the equipment has complete functions and unique motion mode, is slightly influenced by the limitation of the bottom structure of the bridge, and theoretically, the walking stroke of the equipment is only limited by the length of the bridge; the device can be used in batch and has excellent development prospect at present or in the future.
Description
Technical Field
The invention relates to the field of automatic mechanical equipment, in particular to bridge suspension walking equipment and a bridge working system.
Background
Currently, the bridge inspection equipment is roughly of the following types: miniature bridge floor intellectual detection system telecar, the bridge of hoist formula detect and maintenance equipment, detect rescue car, unmanned aerial vehicle of speedily carrying out rescue work at the bottom of the bridge and patrol and examine the robot. These four applications are currently common.
The large-scale bridge inspection tour check out test set who is applied to the bridge bottom at present still is less, and current bridge inspection tour robot all adopts following structure: and erecting a track and a suspension device on the bridge floor, wherein the track and the suspension device extend to the bottom of the bridge, and the suspension device can automatically move on the track.
The support mode of the inspection equipment is stable, the operation of the bridge inspection robot is stable when the bridge inspection robot is used at the bottom of the bridge, the positioning is accurate, and the bridge inspection robot cannot slide. However, the transverse span of the bridge can be increased by the scheme, and special gaps need to be reserved on two sides of the bridge to erect the rails, so that the bearing capacity of the bridge can be increased, equipment is complex, and the method can only be applied to special bridges. The equipment is relatively high in cost, is equivalent to heavy equipment, and has certain risks due to the fact that the two sides of the bridge are stressed greatly.
Disclosure of Invention
According to one aspect of the invention, bridge suspension walking equipment is provided, and comprises a rack and a plurality of walking devices, wherein the rack is provided with a plurality of guide rails, one ends of the plurality of walking devices are respectively matched with the plurality of guide rails in a sliding manner, each walking device comprises a clamping mechanism, a telescopic mechanism and a driving mechanism, the clamping mechanism is connected with the driving mechanism through the telescopic mechanism, and the driving mechanism is in driving connection with the guide rails;
the clamping mechanism is configured to fix or float the walking device;
the telescopic mechanism is configured to drive the clamping mechanism to lift;
the driving mechanism is configured to drive the traveling device and the guide rail to move relatively.
The invention provides equipment which can be applied to bridges and can walk at the bottom of the bridges, the equipment mainly comprises a rack and a plurality of walking devices, the equipment realizes grasping and moving functions through the interaction of a plurality of clamping mechanisms and a plurality of driving mechanisms, and a telescopic mechanism is used for adjusting the clamping mechanisms and the driving mechanisms, so that the equipment is suitable for bridges with different structures. In the equipment, the driving mechanism is in driving connection with the guide rail of the rack, so that the rack can be stably suspended and moved; the telescopic mechanism is mainly responsible for the telescopic function and can also support the weight of the clamping mechanism; the clamping mechanism can realize the functions of opening, closing and clamping. The specific moving process of the equipment is that a clamping mechanism of a part of the walking devices grasps the bridge and fixes the equipment; the clamping mechanism of the other part of the traveling device is loosened, the driving mechanism of the other part of the traveling device works to enable the whole equipment to travel on the guide rail, and the other part of the traveling device grips the bridge to realize fixation after one-section displacement; the driving mechanisms of all the traveling devices drive the rack, and the rack and the traveling devices realize relative displacement; the clamping mechanism of the part of the traveling device which starts to be fixed is loosened, and the driving mechanism works to finish displacement on the guide rail; the equipment alternately and circularly works in sequence, so that the whole equipment realizes the walking function.
In some embodiments, the clamping mechanism includes a supporting plate, a first driving member, and two gripper assemblies disposed opposite to each other, a sliding rail is disposed on an end surface of the supporting plate, the two gripper assemblies are disposed on the sliding rail through a sliding block, one end of the first driving member is connected to one of the gripper assemblies, and the other end of the first driving member is connected to the other gripper assembly.
Therefore, the clamping of the bridge by the clamping mechanism is driven and controlled by the second driving piece, and the second driving piece drives the two gripper assemblies to get close to or get away from each other so as to clamp or loosen the bridge.
In some embodiments, the gripper assembly includes a first supporting arm, a second driving member, a connecting member, and a clamping arm, wherein a fixed end of the second driving member is mounted on one side surface of the first supporting arm, the clamping arm is located on the other side surface of the first supporting arm, and the clamping arm is connected with a driving end of the second driving member through the connecting member.
Therefore, in the gripper assembly, the second driving piece can drive the clamping hand to rotate, so that the gripper assembly can adapt to bridges designed at different angles.
In some embodiments, the telescopic mechanism includes a box, a third driving element, a second supporting arm, and a swing assembly, a fixed end of the third driving element is disposed in the box, a driving end of the third driving element is connected to the second supporting arm, and the swing assembly is disposed at an end of the second supporting arm away from the third driving element.
From this, telescopic machanism's drive process is controlled by the third driving piece, and the second support arm of third driving piece drive carries out elevating movement to make swing subassembly elevating movement, thereby drive clamping mechanism and carry out elevating movement.
In some embodiments, the swing assembly comprises a fourth driving part and a swing block, the end of the second supporting arm far away from the third driving part is provided with a swing groove, the fourth driving part is fixed on the outer wall of one side of the swing groove, the swing block is positioned in the swing groove and is in driving connection with the fourth driving part, and the swing block is connected with the clamping mechanism.
Therefore, the swing assembly can drive the clamping mechanism to swing, so that the clamping mechanism can adapt to bridges of different angles.
In some embodiments, the driving mechanism comprises a mounting frame, a plurality of driving assemblies and a plurality of limiting assemblies, wherein a mounting platform for mounting the telescopic mechanism is arranged on the upper end surface of the mounting frame, a clamping groove for connecting a guide rail is formed in the middle of the mounting frame, the plurality of driving assemblies are arranged on the side surface of the mounting frame and penetrate through the clamping groove, and the plurality of limiting assemblies are arranged on the mounting frame and below the clamping groove; the plurality of driving assemblies are in driving fit with the guide rail, and the plurality of limiting assemblies are in limiting fit with the guide rail.
Thus, the driving process of the driving mechanism is as follows: when the traveling device is in a fixed state, the clamping device clamps the bridge, the driving mechanism drives the guide rail, and the guide rail moves forwards and backwards; when the traveling device is in a floating state, namely when the clamping device is loosened, the driving mechanism drives the traveling device to slide on the guide rail.
In some embodiments, the driving assembly includes a fifth driving member, a mounting member, and a first roller, the fifth driving member is disposed on one side of the mounting frame through the mounting member, the first roller is disposed in the slot and is in driving connection with the fifth driving member, and the first roller is in matching connection with the guide rail.
Therefore, the fifth driving piece drives the first roller to rotate, so that the fifth driving piece and the guide rail are displaced relatively.
In some embodiments, the limiting assembly comprises a plurality of sixth driving members, a connecting rod and a plurality of second rollers, the fixed ends of the plurality of sixth driving members are arranged on the mounting frame, the driving ends of the plurality of sixth driving members are all connected with the connecting rod, the plurality of second rollers are arrayed on the connecting rod, and the second rollers are connected with the guide rail in a matching manner.
Therefore, the sixth driving piece drives the second roller to ascend and descend, and the friction force between the driving mechanism and the guide rail can be adjusted.
In some embodiments, the rack is provided with four guide rails, the rack is further provided with a cross beam, the cross beam is located at two ends of the guide rails and is perpendicular to the guide rails, the four guide rails are parallel to each other, eight traveling devices are arranged, and each guide rail is in driving connection with two traveling devices.
Thus, this is a preferred embodiment of the present apparatus, but is not limited to other quantities. In other embodiments, the appropriate setting can be performed according to the size of the strong beam.
According to one aspect of the invention, a bridge working system is provided, which comprises bridge suspension walking equipment and a working instrument or a working platform, wherein the working instrument or the working platform is arranged on a frame.
Therefore, the working instrument can be various automatic or manual working equipment such as a welding robot, an anemograph and the like, and the working platform can be various manned or unmanned platforms such as a rescue platform and a transportation platform.
The invention has the following specific beneficial effects: the invention provides equipment which can be applied to a bridge and can walk at the bottom of the bridge. The device is a brand new design and can realize full-automatic work; the equipment has complete functions and unique motion mode, is slightly influenced by the limitation of the bottom structure of the bridge, and theoretically, the walking stroke of the equipment is only limited by the length of the bridge; the device can be used in batch and has excellent development prospect at present or in the future.
Drawings
Fig. 1 is a schematic perspective view of a bridge suspension walking device according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of a walking device in the bridge suspension walking equipment shown in fig. 1.
Fig. 3 is a schematic perspective view of a clamping mechanism in the walking device shown in fig. 2.
Fig. 4 is a schematic perspective view of the telescoping mechanism in the walking device shown in fig. 2.
Fig. 5 is a schematic perspective view of a driving mechanism in the walking device shown in fig. 2.
Fig. 6 is a schematic top view of the bridge-suspension traveling apparatus shown in fig. 1.
Fig. 7 is a side view schematically showing a state of the bridge-suspension traveling apparatus shown in fig. 1.
Fig. 8 is a side view schematically showing another state of the bridge-suspension walking apparatus shown in fig. 1.
Fig. 9 is a control flowchart of the present apparatus.
Fig. 10 is a sequence diagram of the moving parts of the apparatus.
Reference numbers in the figures: 0-bridge, 1-frame, 11-guide rail, 12-beam, 2-walking device, 21-clamping mechanism, 211-supporting plate, 212-first driving piece, 213-gripper component, 214-sliding block, 215-sliding rail, 2131-first supporting arm, 2132-second driving piece, 2133-connecting piece, 2134-clamping hand, 2135-connecting support, 2136-transition baffle, 22-telescopic mechanism, 221-box body, 222-third driving piece, 223-second supporting arm, 2231-swinging groove, 224-swinging component, 2241-fourth driving piece, 2242-swinging block, 23-driving mechanism, 231-mounting frame, 2311-clamping groove, 2312-mounting platform, 2313-supporting column, 232-driving component, 2321-a fifth driving piece, 2322-a mounting assembly, 2323-a first roller, 233-a limiting assembly, 2331-a sixth driving piece, 2332-a connecting rod, 2333-a second roller, 24-a storage battery, 3-a supporting device, 31-a supporting rod, 32-a seventh driving piece, 33-a third roller and 4-a working instrument or a working platform.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 schematically shows bridge suspension walking equipment according to an embodiment of the invention, which includes a frame 1 and a plurality of walking devices 2, wherein the frame 1 is provided with a plurality of guide rails 11, one ends of the plurality of walking devices 2 are respectively slidably matched with the plurality of guide rails 11, each walking device 2 includes a clamping mechanism 21, a telescopic mechanism 22 and a driving mechanism 23, the clamping mechanism 21 is connected with the driving mechanism 23 through the telescopic mechanism 22, and the driving mechanism 23 is in driving connection with the guide rails 11;
the clamping mechanism 21 is configured to fix or float the running gear 2;
the telescopic mechanism 22 is configured to drive the clamp mechanism 21 to ascend and descend;
the drive mechanism 23 is configured to drive the traveling device 2 and the guide rail 11 to move relative to each other.
The invention provides equipment which can be applied to a bridge 0 and can walk at the bottom of the bridge 0, the equipment mainly comprises a frame 1 and a plurality of walking devices 2, the equipment realizes grasping and moving functions through the interaction of a plurality of clamping mechanisms 21 and a plurality of driving mechanisms 23, and a telescopic mechanism 22 is used for adjusting the clamping mechanisms 21 and the driving mechanisms 23, so that the equipment is suitable for bridges 0 with different structures. In the device, a driving mechanism 23 is in driving connection with the guide rail 11 of the frame 1, so that the frame 1 can be stably suspended and moved; the telescoping mechanism 22 mainly takes charge of the telescoping function and can also support the weight of the clamping mechanism 21; the clamping mechanism 21 can perform the functions of opening and closing and clamping. The specific moving process of the equipment is that a clamping mechanism 21 of one part of the walking device 2 grasps the bridge 0 to fix the equipment; the clamping mechanism 21 of the other part of the traveling devices 2 is loosened, the driving mechanism 23 of the other part of the traveling devices 2 works to enable the whole equipment to travel on the guide rail 11, and the other part of the traveling devices 2 tightly grasp the bridge 0 to realize fixation after completing displacement of one section; the driving mechanisms 23 of all the traveling devices 2 drive the rack 1, and the rack 1 and the traveling devices 2 realize relative displacement; the clamping mechanism 21 of the part of the traveling device 2 which starts to be fixed is released, and the driving mechanism 23 of the part of the traveling device works to complete the displacement on the guide rail 11; the equipment alternately and circularly works in sequence, so that the whole equipment realizes the walking function.
Referring to fig. 2 and 3, the clamping mechanism 21 includes a support plate 211, a first driving member 212, and two gripper assemblies 213 disposed opposite to each other. The end face of the supporting plate 211 is provided with two sliding rails 215 which are distributed in parallel, and the two gripper assemblies 213 are arranged on the two sliding rails 215 through two sliding blocks 214; one end of the first driving member 212 is hinged with one of the gripper units 213, and the other end of the first driving member 212 is hinged with the other gripper unit 213; the first driving member 212 may be a telescopic cylinder, but is not limited to a telescopic cylinder, and may be other driving members. The clamping of the bridge 0 by the clamping mechanism 21 is driven and controlled by the second driving element 2132, and the second driving element 2132 drives the two gripper assemblies 213 to move close to or away from each other to clamp or release the bridge 0.
The supporting plate 211 is provided with a limiting device and a sensor, the sensor detects the distance in real time in the opening and closing process of the clamping mechanism 21, and the opening and closing operation stops when the clamping mechanism reaches a specified position.
The first driving member 212 pushes the gripper assembly 213 to move. A standard cylinder with a self-locking function, model SULB-50X 25S, was selected as the first drive element 212 by comparative analysis. In order to better install the cylinder, matched double-lug rings and matched single-lug rings are selected for use. When the first actuating member 212 is pushed, the pushing is automatically stopped when the gripper assembly 213 hits the touch sensor.
With reference to fig. 2 and 3, the grip assembly 213 includes a first support arm 2131, a second drive member 2132, a connecting member 2133, and a catch 2134. The first driving member 212 may be a rotary cylinder, but is not limited to a rotary cylinder, and may be other driving members. The fixed end of the second driving element 2132 is arranged on one side surface of the first supporting arm 2131, the clamping hand 2134 is arranged on the other side surface of the first supporting arm 2131, and the clamping hand 2134 is connected with the driving end of the second driving element 2132 through a connecting element 2133; the connector 2133 includes a plurality of bearings, bearing caps, shafts, snap keys, and other hardware. In the hand grip assembly 213, the second driving member 2132 can drive the clamping hand 2134 to rotate, so that the hand grip assembly 213 can adapt to bridges 0 designed at different angles.
The second driving piece 2132 selects a rotary air cylinder, the control precision is high, and a model HRQ20 air cylinder is selected as the second driving piece 2132, and the strength of the air cylinder is very high due to the fact that an aluminum alloy is adopted as a cylinder body of the air cylinder. The whole cylinder has good sealing performance, and the surface has good abrasion resistance and corrosion resistance by adopting anti-oxidation treatment. In order to mount the rotary cylinder, a connecting bracket 2135 and a transition baffle 2136 which are specially designed for the second driving piece 2132 are used for connecting and fixing the second driving piece 2132 and the clamping hand 2134.
Referring to fig. 2 and 4, the telescopic mechanism 22 includes a housing 221, a third driving member 222, a second supporting arm 223, and a swing assembly 224. The third driving member 222 may be an electric cylinder, but is not limited to the electric cylinder, and may be other driving members. The fixed end of the third driving element 222 is disposed in the case 221, the driving end of the third driving element 222 is connected to the second supporting arm 223, and the swing component 224 is disposed on one end of the second supporting arm 223 far from the third driving element 222. The driving process of the telescopic mechanism 22 is controlled by the third driving element 222, and the third driving element 222 drives the second supporting arm 223 to perform the lifting motion, so as to make the swinging assembly 224 perform the lifting motion, and thus drive the clamping mechanism 21 to perform the lifting motion.
Referring to fig. 2 and 4, a cover is provided on the top of the case 221 and can be opened. Because the whole equipment is in a suspended state, the box cover mainly bears the force in the vertical direction, and therefore, hook structures are designed around the box cover, and better fixation is facilitated. The camera is mounted on the top of the case 221, and can detect the ascending and descending of the telescopic mechanism 22, and if a fault occurs, the operator can press the stop button.
Referring to fig. 2 and 4, the second support arm 223 is mainly subjected to a vertical pulling force and a gravity of the lower portion. Therefore, there is a certain requirement for the tensile strength of the second support arm 223, and Q235 steel is selected as the material of the second support arm 223 by comprehensive comparison. The Q235 steel has better comprehensive properties, such as better strength, plasticity and welding performance. In order to be connected to the third drive element 222 and to have a certain supporting effect, a base is provided for the second support arm 223, above which the entire second support arm 223 is connected. The base is convenient to support, and the maintenance and the disassembly are also very convenient.
Referring to fig. 2 and 4, the swing assembly 224 includes a fourth drive member 2241 and a swing block 2242. The fourth driving member 2241 may be a rotary cylinder, but is not limited to the rotary cylinder, and may be other driving members. A swing groove 2231 is formed in one end, away from the third driving piece 222, of the second supporting arm 223, a fourth driving piece 2241 is fixed on the outer wall of one side of the swing groove 2231, and a swing block 2242 is located in the swing groove 2231 and is in driving connection with the fourth driving piece 2241; an anti-collision pad is arranged in the swing groove 2231, the swing groove 2231 has a limiting function, and the rotation angle is 15 degrees; swing block 2242 is connected to clamping mechanism 21. The swing assembly 224 can drive the clamping mechanism 21 to swing, so that the clamping mechanism 21 can adapt to bridges 0 with different angles.
With reference to fig. 2 and 5, the driving mechanism 23 includes a mounting frame 231, a plurality of driving assemblies 232, and a plurality of limiting assemblies 233, a mounting platform 2312 for mounting the telescopic mechanism 22 is disposed on an upper end surface of the mounting frame 231, a slot 2311 for connecting the guide rail 11 is disposed in a middle portion of the mounting frame 231, the plurality of driving assemblies 232 are arranged on a side surface of the mounting frame 231 and pass through the slot 2311, and the plurality of limiting assemblies 233 are arranged on the mounting frame 231 and located below the slot 2311; the driving assemblies 232 are in driving fit with the guide rail 11, and the limiting assemblies 233 are in limiting fit with the guide rail 11.
The driving process of the present driving mechanism 23 is as follows: when the traveling device 2 is in a fixed state, namely the bridge 0 is clamped by the clamping device, the driving mechanism 23 drives the guide rail 11, and the guide rail 11 moves forward and backward; when the running gear 2 is in a floating state, i.e. when the clamping device is released, the driving mechanism 23 drives itself to slide on the guide rail 11.
With reference to fig. 2 and 5, the driving assembly 232 includes a fifth driving member 2321, a mounting member 2322 and a first roller 2323. The fifth driving member 2321 may be a servo motor, but is not limited to the servo motor, and may also be another driving member. In this embodiment, two driving assemblies 232 are provided, and two driving assemblies 232 are arrayed on one side of the mounting frame 231. The fifth driving member 2321 is disposed at one side of the mounting frame 231 through the mounting member 2322, the first roller 2323 is disposed in the engaging slot 2311 and is drivingly connected to the fifth driving member 2321 through the connecting rod 2332, and the first roller 2323 is cooperatively connected to the guide rail 11. The fifth driving member 2321 drives the first roller 2323 to rotate, so as to be displaced relative to the guide rail 11. The mounting assembly 2322 includes a coupling, a shaft, a bearing, a bolt, etc.
Referring to fig. 2 and 5, the spacing assembly 233 includes a plurality of sixth driving members 2331, a connecting rod 2332, and a plurality of second rollers 2333. In this embodiment, there are two limiting assemblies 233, and each limiting assembly 233 includes two sixth driving members 2331 and two second rollers 2333. The lower end of the mounting frame 231 is provided with four posts 2313, and the bottom of the mounting frame is provided with a supporting beam for supporting the whole mounting frame 231, and the four posts 2313 are divided into two groups for respectively fixing the two limiting assemblies 233. The fixed ends of the two sixth driving members 2331 are respectively arranged on the two support posts 2313 of the mounting frame 231, the driving ends of the two sixth driving members 2331 are connected with the connecting rod 2332, the two second rollers 2333 are arrayed on the connecting rod 2332, and the second rollers 2333 are connected with the guide rail 11 in a matching manner. The sixth driver 2331 drives the second roller 2333 to move up and down, and can adjust the frictional force between the driving mechanism 23 and the rail 11.
With reference to fig. 2 and 5, the walking device 2 further includes a battery 24, and the battery 24 is disposed on the mounting platform 2312.
The frame 1 and the walking device 2 are distributed:
with reference to fig. 1, 6 and 7, four guide rails 11 are arranged on the frame 1, three beams 12 are further arranged on the frame 1, the three beams 12 are located at two ends and a middle end of the guide rails 11 and are vertically distributed with the guide rails 11, the four guide rails 11 are distributed in parallel, eight traveling devices 2 are arranged, and each guide rail 11 is in driving connection with the two traveling devices 2 respectively. This is a preferred embodiment of the apparatus, but is not limited to other quantities. In other embodiments, the appropriate setting can be performed according to the size of the strong beam.
Referring to fig. 1, 6 and 7, a plurality of supporting devices 3 are further disposed on one side of the frame 1, and each supporting device 3 includes a supporting rod 31, a seventh driving member 32 and a third roller 33. The seventh driving member 32 may be a telescopic cylinder, but is not limited to a telescopic cylinder, and may also be another driving member. The fixed end of the seventh driving piece 32 is installed on the rack 1 through the supporting rod 31, the third roller 33 is arranged at the driving end of the seventh driving piece 32, and the third roller 33 is used for contacting with the side face of the bridge 0, so that the stability of the equipment is improved.
With reference to fig. 1, another embodiment of the present disclosure further provides a bridge working system, which includes the above bridge suspension walking device, and further includes a working instrument or working platform 4, where the working instrument or working platform 4 is disposed on the frame 1. The working instrument can be various automatic or manual working equipment such as a welding robot, an anemograph and the like, and the working platform can be various manned or unmanned platforms such as a rescue platform and a transportation platform.
In order to better illustrate the operation of the present apparatus/system, the present illustration distinguishes eight walkers 2 by roman numerals in conjunction with fig. 6-9. Referring to fig. 6, the first, fourth, fifth and eighth wheel sets are respectively distributed at the front and rear ends of the frame 1, and the second, third, sixth and seventh wheel sets are arranged at the middle position of the frame 1. The device mainly carries out displacement in the following motion states (refer to fig. 9):
(1) the eight gripping mechanisms 21 are now fully gripped, and are now in a rest position, and the work apparatus or work platform 4 on the mounting frame 231 is ready for operation.
(2) At this time, the clamping mechanisms 21 of the first traveling device 2 and the fourth traveling device 2 are loosened, the telescopic mechanism 22 descends, and the rest clamping mechanisms 21 all grasp the bridge 0. The driving mechanism 23 is started, the first walking device 2 and the fourth walking device 2 start to move forwards and move to the middle position, and when the first walking device 2 and the fourth walking device 2 are flush with the second walking device 2 and the third walking device 2, the driving mechanism 23 stops working.
(3) The first walking device 2 and the fourth walking device 2 grasp the bridge 0 again, at this time, the clamping mechanisms 21 of the sixth walking device 2 and the seventh walking device 2 are released, the telescopic mechanism 22 drives the clamping mechanisms 21 to descend, and the driving mechanism 23 drives the first walking device 2 and the fourth walking device 2 to move forwards. When the mobile robot moves to the foremost part of the frame 1 and is flush with the No. five walking devices 2 and the No. eight walking devices 2, the mobile robot stops moving.
(4) The sixth running gear 2 and the seventh running gear 2 are re-gripped, and all eight gripping mechanisms 21 are gripped at this time. All the driving mechanisms 23 are driven to rotate reversely, and the machine frame 1 is driven to move forwards through friction force. When the first to fourth traveling devices 2 move to the rear end of the frame 1, the movement is stopped. At the moment, the traveling devices 2 from the fifth to the eighth are positioned in the middle of the frame 1.
(5) The second traveling device 2 and the third traveling device 2 are released from the clamping mechanism 21 and moved to the middle position of the frame 1. And then re-grasping.
(6) The clamping mechanism 21 of the fifth traveling device 2 and the eighth traveling device 2 is released and moves forwards, when the fifth traveling device 2 and the eighth traveling device 2 move to the foremost end of the frame 1, the fifth traveling device and the eighth traveling device stop moving and repeat grasping, and at the moment, one cycle of movement is completed, and the eight wheel sets return to the initial positions.
The time required to complete a set of tasks can be analyzed from the moving parts sequence chart (see fig. 10). The whole movement process of the device is started from a starting switch, under the default state, the first wheel set, the fourth wheel set, the fifth wheel set and the eighth wheel set are respectively distributed at the front end and the rear end of the rack 1, and the second wheel set, the third wheel set, the sixth wheel set and the seventh wheel set are arranged in the middle of the rack 1. When the movement starts, the position of the first roller 2323 of each driving mechanism 23 is detected, the sensing time is T1, and T1 is set to 2 s. When the movement starts, the first and fourth telescoping mechanisms 22 are driven to ascend, the rest clamping mechanisms 21 are still gripped, and the driving ascending time is T2-1 s; when the first clamping mechanism 21 and the fourth clamping mechanism 21 are released, the releasing time T3 is 1 s; then, the first and fourth telescoping mechanisms 22 start to drive to descend, and the driving descending time T4 is equal to 1 s; at this time, the driving mechanism 23 starts driving, the moving time is T5, the moving speed of the wheel set is 0.2m/s, the span is 2.895m, the length of the wheel set is 0.3m, and T5 is calculated to be 12.98 s. Moving to a specified position, driving the clamping mechanism 21 to ascend, and setting the upper body time T6 as 1 s; when the first clamping mechanism 21 and the fourth clamping mechanism 21 are clamped, the clamping time T7 is 1 s; finally, the clamping mechanism 21 clamps, and the clamping time T8 is 1 s. The total action time of one movement of the two wheel set telescopic mechanisms 22 is 18.98 s.
The total operating time T1 of the eight drive mechanisms 23 is 4T 75.92 s.
The travel time of the gantry 1 was T16, the travel speed of the gantry 1 was 0.2m/s, the span was 2.895m, the wheel set length was 0.3m, and T16 was calculated to be 12.98 s.
The total time T of the complete movement of the bridge suspension walking equipment is T1+ T1+ T16 is 90.9 s. After one set of actions is finished, the initial program is returned to and the reciprocating execution is continued.
The invention provides equipment which can be applied to a bridge and can walk at the bottom of the bridge. The device is a brand new design and can realize full-automatic work; the equipment has complete functions and unique motion mode, is slightly influenced by the limitation of the bottom structure of the bridge, and theoretically, the walking stroke of the equipment is only limited by the length of the bridge; the device can be used in batch and has excellent development prospect at present or in the future.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. The bridge suspension walking equipment is characterized by comprising a rack (1) and a plurality of walking devices (2), wherein the rack (1) is provided with a plurality of guide rails (11), one ends of the walking devices (2) are respectively in slidable fit with the guide rails (11), each walking device (2) comprises a clamping mechanism (21), a telescopic mechanism (22) and a driving mechanism (23), the clamping mechanism (21) is connected with the driving mechanism (23) through the telescopic mechanism (22), and the driving mechanism (23) is in driving connection with the guide rails (11);
the clamping mechanism (21) is configured to fix or float the running gear (2);
the telescopic mechanism (22) is configured to drive the clamping mechanism (21) to lift;
the driving mechanism (23) is configured to drive the traveling device (2) and the guide rail (11) to perform relative movement.
2. The bridge suspension walking device according to claim 1, wherein the clamping mechanism (21) comprises a support plate (211), a first driving member (212) and two opposite hand grip assemblies (213), a slide rail (215) is arranged on an end surface of the support plate (211), the two hand grip assemblies (213) are arranged on the slide rail (215) through a slide block (214), one end of the first driving member (212) is connected with one hand grip assembly (213), and the other end of the first driving member (212) is connected with the other hand grip assembly (213).
3. The bridge suspension walking device according to claim 2, wherein the gripper assembly (213) comprises a first support arm (2131), a second driving member (2132), a connecting member (2133) and a clamping hand (2134), wherein the fixed end of the second driving member (2132) is installed on one side surface of the first support arm (2131), the clamping hand (2134) is located on the other side surface of the first support arm (2131), and the clamping hand (2134) is connected with the driving end of the second driving member (2132) through the connecting member (2133).
4. The bridge suspension walking device according to claim 1, wherein the telescopic mechanism (22) comprises a box body (221), a third driving member (222), a second supporting arm (223) and a swing assembly (224), a fixed end of the third driving member (222) is arranged in the box body (221), a driving end of the third driving member (222) is connected with the second supporting arm (223), and the swing assembly (224) is arranged at one end of the second supporting arm (223) far away from the third driving member (222).
5. The bridge suspension walking device according to claim 4, wherein the swing assembly (224) comprises a fourth driving member (2241) and a swing block (2242), one end of the second supporting arm (223) far away from the third driving member (222) is provided with a swing groove (2231), the fourth driving member (2241) is fixed on the outer wall of one side of the swing groove (2231), the swing block (2242) is located in the swing groove (2231) and is in driving connection with the fourth driving member (2241), and the swing block (2242) is connected with the clamping mechanism (21).
6. The bridge suspension walking device according to claim 1, wherein the driving mechanism (23) comprises a mounting frame (231), a plurality of driving assemblies (232) and a plurality of limiting assemblies (233), the upper end surface of the mounting frame (231) is provided with a mounting platform (2312) for mounting the telescopic mechanism (22), the middle part of the mounting frame (231) is provided with a clamping groove (2311) for connecting the guide rail (11), a plurality of driving assemblies (232) are arranged on the side surface of the mounting frame (231) in an array mode and penetrate through the clamping groove (2311), and a plurality of limiting assemblies (233) are arranged on the mounting frame (231) in an array mode and are located below the clamping groove (2311); the driving assemblies (232) are in driving fit with the guide rail (11), and the limiting assemblies (233) are in limiting fit with the guide rail (11).
7. The bridge suspension walking device according to claim 6, wherein the driving assembly (232) comprises a fifth driving member (2321), a mounting member (2322) and a first roller (2323), the fifth driving member (2321) is disposed on one side of the mounting frame (231) through the mounting member (2322), the first roller (2323) is located in the clamping groove (2311) and is in driving connection with the fifth driving member (2321), and the first roller (2323) is in matching connection with the guide rail (11).
8. The bridge suspension walking device according to claim 6, wherein the limiting assembly (233) comprises a plurality of sixth driving members (2331), a connecting rod (2332) and a plurality of second rollers (2333), the fixed ends of the plurality of sixth driving members (2331) are arranged on the mounting frame (231), the driving ends of the plurality of sixth driving members (2331) are connected with the connecting rod (2332), the plurality of second rollers (2333) are arrayed on the connecting rod (2332), and the second rollers (2333) are connected with the guide rail (11) in a matching manner.
9. The bridge suspension walking device according to any one of claims 1-8, wherein four guide rails (11) are arranged on the frame (1), the four guide rails (11) are distributed in parallel, eight walking devices (2) are arranged, and each guide rail (11) is in driving connection with two walking devices (2).
10. Bridge work system, comprising a bridge suspension walking device according to claim 9, further comprising a working instrument or working platform (4), said working instrument or working platform (4) being arranged on the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010018403.4A CN111119044A (en) | 2020-01-08 | 2020-01-08 | Bridge suspends walking equipment in midair and uses its bridge work system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010018403.4A CN111119044A (en) | 2020-01-08 | 2020-01-08 | Bridge suspends walking equipment in midair and uses its bridge work system |
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| Publication Number | Publication Date |
|---|---|
| CN111119044A true CN111119044A (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010018403.4A Pending CN111119044A (en) | 2020-01-08 | 2020-01-08 | Bridge suspends walking equipment in midair and uses its bridge work system |
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| Country | Link |
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| CN (1) | CN111119044A (en) |
Cited By (1)
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