CN111350127B - Self-walking bridge detection trolley - Google Patents
Self-walking bridge detection trolley Download PDFInfo
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- CN111350127B CN111350127B CN202010176047.9A CN202010176047A CN111350127B CN 111350127 B CN111350127 B CN 111350127B CN 202010176047 A CN202010176047 A CN 202010176047A CN 111350127 B CN111350127 B CN 111350127B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- Bridges Or Land Bridges (AREA)
Abstract
The invention relates to the technical field of bridge detection equipment, and particularly discloses a self-walking bridge detection trolley which comprises a trolley body and a data acquisition device, wherein an industrial personal computer is arranged on the trolley body, two walking wheel sets are arranged on the trolley body, each walking wheel set comprises a motor I, a motor II, a connecting plate, a ball screw pair and a claw seat, the motor I is fixedly arranged on the trolley body, the output end of the motor I is fixedly connected with a lead screw of the ball screw pair, a nut of the ball screw pair is fixedly connected with the motor II through the connecting plate, the output end of the motor II is fixedly connected with the claw seat, a connecting rod is arranged on the claw seat, a claw and a pressing plate for grabbing a vertical rod of a bridge railing are arranged on the connecting rod, and a pressure sensor; the data acquisition device stores acquired data to the industrial personal computer, and the industrial personal computer controls the traveling wheel set to move. The clamping jaws and the pressing plates can grasp the vertical rods of the bridge railings, the vertical rods are used as walking surfaces, and the vehicle body can move along the length direction of the bridge, so that the bridge can be detected.
Description
Technical Field
The invention relates to the technical field of bridge detection equipment, and particularly discloses a self-walking bridge detection trolley.
Background
Regular detection of the bridge is helpful for knowing the service state of the bridge, and reasonable maintenance schemes are formulated to help ensure the safety of the bridge within the service life. At present, a bridge detection method mainly comprises a scaffold, a hanging basket and a bridge detection vehicle, the operation efficiency of detecting the bridge by building the scaffold is low, the hanging basket is adopted to be matched with a plurality of groups of personnel when detecting the bridge, the labor cost is high, high safety risks exist, and therefore the bridge detection vehicle is a good choice for detecting the bridge. Bridge inspect vehicle divide into vehicular and from walking, and vehicular bridge inspect vehicle is that the van carries on flexible detection mechanism, occupies the bridge lane, has the problem that hinders the traffic, utilizes walking wheel to walk on the horizontal pole (handrail face) of bridge railing from walking bridge inspect vehicle usually, avoids occupying the bridge lane. However, the horizontal pole of bridge railing is not smooth-going, and a lot of bridge railings all are equipped with stand or general post for the handrail face is uneven, and the walking wheel of self-propelled bridge inspection car is difficult to stride across stand or general post, and bridge inspection operation meets the obstacle. Therefore, a new self-walking bridge inspection vehicle based on bridge railings is needed.
Disclosure of Invention
The invention aims to provide a self-walking bridge detection trolley to solve the problem of how to walk smoothly on a railing with an upright post.
In order to achieve the purpose, the basic scheme of the invention is as follows: a self-walking bridge detection trolley comprises a trolley body and a data acquisition device, wherein an industrial personal computer is fixedly mounted on the trolley body, two walking wheel sets are mounted on the side wall of the trolley body, each walking wheel set comprises a motor I, a motor II, a connecting plate, a ball screw pair and a claw seat, the motor I in one walking wheel set is a forward and reverse rotating motor, the motor I is fixedly mounted on the side wall of the trolley body, the output end of the motor I is fixedly connected with a lead screw of the ball screw pair, a nut of the ball screw pair is fixedly connected with the connecting plate, one end of the connecting plate, far away from the nut, is fixedly connected with the motor II, the output end of the motor II is fixedly connected with the bottom surface of the claw seat, connecting rods are arranged on the circumferential side wall of the claw seat, one end of the connecting rods, far away from the claw seat, is provided with a claw for grabbing a vertical rod of a railing, an electric telescopic rod I is arranged on the supporting rod, the electric telescopic rod penetrates through the circle center of the clamping jaw along the extension line in the length direction, and a pressing plate is fixedly connected with the telescopic end of the electric telescopic rod I; the automobile body fixedly connected with horizontal plate, the bottom surface fixedly connected with installation pole of horizontal plate, data acquisition device fixed mounting is in the bottom of installation pole, and data acquisition device will gather data store extremely the industrial computer, the industrial computer still controls walking wheelset and removes.
The working principle and the beneficial effects of the basic scheme are as follows: in this scheme, the montant of bridge railing is grabbed to jack catch and clamp plate of a walking wheelset in two walking wheelsets, the montant is loosened to jack catch and clamp plate of another walking wheelset, I drive lead screw of motor in this walking wheelset rotates, the nut drives II removals of motor through even board, thereby make the jack catch seat remove, jack catch in this walking wheelset leaves the montant and removes to next montant department along the length direction of bridge, industrial control machine control should walk motor II in the wheelset and rotate, make the jack catch in this walking wheelset grab corresponding montant, and grasp the montant by clamp plate and jack catch, realize this walking wheelset and grasp the montant of next department again after walking. The industrial personal computer controls the front travelling wheel set to move according to the mode and tightly grips the corresponding vertical rod after the travelling wheel set moves, the industrial personal computer controls the motor I of the stepping motor to rotate in the opposite direction, and the ball screw pair is used for pulling the vehicle body to move, so that the vehicle body moves. In the process, whether the clamping jaw grasps the vertical rod or not is determined by the pressure sensor on the clamping jaw, otherwise, the industrial personal computer controls the motor II to drive the clamping jaw seat to rotate until the clamping jaw of the walking wheel set grasps the vertical rod, and then the other walking wheel set is controlled to move. Like this by the removal of two walking wheelsets of industrial computer control, then can use the montant of bridge railing as the walking face, realize that the automobile body moves smoothly along bridge length direction to realize the detection operation of data acquisition device to the bridge bottom surface.
Optionally, the mounting rod is an electric telescopic rod II, and the electric telescopic rod II is controlled by the industrial personal computer.
When the installation pole was electric telescopic handle II, can make data acquisition device move in vertical direction to gather the data of bridge lateral wall and bottom surface.
Optionally, the bottom fixedly connected with of installation pole is by industrial control machine controlled motor III, and motor III's output fixedly connected with mounting panel, data acquisition device fixed mounting is on the mounting panel.
The industrial control machine controls the motor III to drive the mounting plate to rotate, so that the data acquisition device is driven to rotate, the mounting angle of the data acquisition device is adjusted, and more data are acquired.
Optionally, a rubber layer is fixedly connected to the inner side walls of the clamping jaws and the pressure plate, and the rubber layer covers the pressure sensor.
The friction coefficient between the rubber layer and the vertical rod of the bridge railing is larger than that between the pressing plate, the clamping jaw and the vertical rod of the bridge railing, and the friction force between the detection trolley and the vertical rod of the bridge railing can be increased by the rubber layer.
Optionally, a plurality of rubber protrusions are integrally formed on the rubber layer.
The rubber bulge can increase the contact area between the rubber layer and the vertical rod, so that the friction force between the vertical rod of the detection trolley and the bridge railing is further increased.
Optionally, the pawl is integrally formed with the link.
Compare in the jack catch welding on the connecting rod, jack catch and connecting rod integrated into one piece are more firm.
Optionally, the number of the connecting rods is three, and the three connecting rods are uniformly distributed on the circumferential side wall of the jaw seat.
The quantity of connecting rod is three, avoids connecting rod quantity to receive the influence of the montant of bridge railing when more in the removal in-process.
Optionally, the jaw is in a semi-circular arc shape, and a locking plate is integrally formed at one end, far away from the connecting rod, of the jaw.
When the jack catch is the semicircle, the area of contact of jack catch and montant is bigger, and the lockplate of jack catch tip can cooperate jack catch, clamp plate to grasp the montant better.
Optionally, the vehicle body is fixedly connected with a transverse plate, a plurality of support rods are arranged below the transverse plate, each support rod comprises an inner rod and an outer rod, the inner rod is vertically and slidably connected inside the outer rod, a vertically arranged damping spring is arranged inside the outer rod, the top end of the damping spring abuts against the top wall inside the outer rod, and the bottom end of the damping spring abuts against the top end of the inner rod; the top end of the outer rod is fixedly connected with the bottom surface of the transverse plate, and the bottom end of the inner rod is provided with a roller.
The bracing piece that diaphragm below set up can support the weight of automobile body, shares the weight of the automobile body that the jack catch bore to make the removal of automobile body more stable. Because the support rod comprises the inner rod and the outer rod and the damping spring is designed, when the bridge floor (outside the bridge railing) is uneven, the vibration of the vehicle body is reduced.
Optionally, the platen is arcuate.
When the clamp plate is arc, the contact area between the clamp plate and the vertical rod of the bridge railing is increased, and the clamp plate is more favorable for being matched with the clamping jaw to clamp the vertical rod.
Drawings
FIG. 1 is a schematic structural view of a self-propelled bridge inspection trolley according to a first embodiment of the invention;
FIG. 2 is a top view of the travel wheel assembly of FIG. 1;
FIG. 3 is a schematic structural view of a second embodiment of the self-propelled bridge inspection trolley of the invention;
FIG. 4 is a schematic structural view of the support rod of FIG. 3;
FIG. 5 is a schematic structural diagram of a third embodiment of the self-propelled bridge inspection trolley of the invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: automobile body 1, data acquisition device 2, industrial computer 3, motor I4, motor II 5, even board 6, lead screw 7, nut 8, mount pad 9, jack catch seat 10, connecting rod 11, jack catch 12, lockplate 13, branch 14, electric telescopic handle I15, clamp plate 16, horizontal plate 17, installation pole 18, motor III 19, mounting panel 20, diaphragm 21, bracing piece 22, outer pole 221, interior pole 222, damping spring 23, gyro wheel 24, remote controller 25, LAN control station 26, surveillance center 27, montant 28, bridge longitudinal section 29.
Example one
This embodiment is substantially as shown in fig. 1 and 2: from walking bridge detection dolly, including automobile body 1 and data acquisition device 2, fixed mounting has industrial computer 3 on the automobile body 1, two walking wheelsets are installed to the lateral wall of automobile body 1, two walking wheelsets are walking wheelset an and walking wheelset b (in figure 1, walking wheelset a is located the top, walking wheelset b is located the below) respectively, every walking wheelset includes motor I4, motor II 5, even board 6, ball is vice and jack catch seat 10, wherein I4 of motor in the walking wheelset b is the motor that just reverses.
Motor I4 fixed mounting is in the lateral wall of automobile body 1, and the output of motor I4 and the 7 fixed connection of lead screw 7 of ball screw pair, the coaxial fixedly connected with bearing of one end that motor I4 was kept away from to lead screw 7, and the lateral wall fixed mounting of automobile body 1 has mount pad 9, and bearing fixed mounting is on mount pad 9 to make the one end that motor I4 was kept away from to lead screw 7 obtain the support. Nut 8 and even 6 fixed connection of board of ball screw pair, even 6 one ends and II 5 fixed connection of motor of keeping away from nut 8 of board, the output of II 5 of motor and the bottom surface fixed connection of jaw seat 10.
The circumference lateral wall of jack catch seat 10 is equipped with three connecting rods 11, three connecting rods 11 evenly distributed are in the circumference of jack catch seat 10, and the one end integrated into one piece that jack catch seat 10 was kept away from to connecting rod 11 has the jack catch 12 that is used for grabbing bridge railing's montant 28, and in this embodiment, jack catch 12 is half-circular arc, and the inside wall fixed mounting of jack catch 12 has pressure sensor, and the one end integrated into one piece that connecting rod 11 was kept away from to jack catch 12 has lockplate 13, and lockplate 13 sets up along the tangential direction of jack catch 12. Connecting rod 11 fixedly connected with branch 14, fixedly connected with electric telescopic handle I15 on branch 14, the centre of a circle of jack catch 12 is passed along the ascending extension line of length direction to electric telescopic handle I15, electric telescopic handle I15's flexible end fixedly connected with clamp plate 16, clamp plate 16 is the arc, clamp plate 16 and jack catch 12's inside wall fixedly connected with rubber layer, rubber layer cover pressure sensor on the jack catch 12, integrated into one piece has a plurality of rubber archs on the rubber layer.
Lateral wall fixedly connected with horizontal plate 17 of automobile body 1, the bottom surface fixedly connected with installation pole 18 of horizontal plate 17, installation pole 18 is electric telescopic handle II, the bottom fixedly connected with of installation pole 18 is by the motor III 19 of industrial computer 3 control, the output fixedly connected with mounting panel 20 of motor III 19, 2 fixed mounting of data acquisition device are on mounting panel 20, data storage to industrial computer 3 that data acquisition device 2 will gather, industrial computer 3 still controls the walking wheelset and removes. In this embodiment, the data acquisition device 2 is an acquisition device that takes a camera or a video camera and a sensor as main components and can acquire the image, video, vibration frequency, stress, and displacement change information of the detected object.
The specific implementation process is as follows: before use, the distance value between the vertical center lines of two adjacent vertical rods 28 needs to be measured in advance, and the distance value is input into the industrial personal computer 3, so that the walking wheel set walks in a direction perpendicular to the longitudinal section 29 of the bridge and extends along the bridge deck, and the distance of each walking wheel set is a multiple of the distance value under the control of the industrial personal computer 3.
At first, jack catch 12 in walking wheel group a and the walking wheel group b grasps the montant 28 of bridge railing, and clamp plate 16 on the electric telescopic handle I15 supports tightly with montant 28 to grasp the montant 28 of bridge railing, fix automobile body 1 on the bridge railing. Industrial computer 3 control electric telescopic handle II drives motor III 19, mounting panel 20 and data acquisition device 2 and moves down, and the III 19 drive mounting panel 20 of motor of controlling again rotates, adjusts data acquisition device 2's angle in the testing process to better, gather bridge detection data more comprehensively, and store the data of gathering to industrial computer 3.
Subsequently, the industrial personal computer 3 controls the electric telescopic rod I15 in the walking wheel set a to drive the pressing plate 16 to return, the pressing plate 16 does not support tightly the vertical rod 28 any more, the industrial personal computer 3 controls the motor I4 in the walking wheel set a to drive the screw rod 7 to rotate, at the moment, the walking wheel set b grasps the vertical rod 28 of the bridge railing, therefore, the nut 8 in the walking wheel set a drives the connecting plate 6, the motor II 5 moves, the jaw 12 in the walking wheel set a leaves the vertical rod 28, and the jaw seat 10 is followed to move to the next vertical rod 28 along the length direction of the bridge. Then, the industrial personal computer 3 controls the motor ii 5 in the traveling wheel group a to rotate, so that the jaw seat 10 in the traveling wheel group a rotates, and thus a certain jaw 12 in the jaw seat 10 catches the vertical rod 28, a signal that the jaw 12 catches the vertical rod 28 is transmitted to the industrial personal computer 3 by a pressure sensor on the jaw 12, the industrial personal computer 3 controls the motor ii 5 in the traveling wheel group a to stop working, and controls the electric telescopic rod i 15 in the traveling wheel group a to drive the pressing plate 16 to move, so that the pressing plate 16 abuts against the vertical rod 28, and the pressing plate 16, the jaw 12 and the locking plate 13 on the jaw 12 in the traveling wheel group a grip the vertical rod 28 again, that is, the traveling wheel group a grips the new vertical rod 28 again.
Then, the industrial personal computer 3 controls the walking wheel set b to loosen the vertical rod 28 and move to the next vertical rod 28 and grasp the vertical rod 28 according to the above manner, specifically, the electric telescopic rod i 15 in the walking wheel set b of the industrial personal computer 3 drives the pressing plate 16 to return, the pressing plate 16 does not support the vertical rod 28, the industrial personal computer 3 controls the motor i 4 in the walking wheel set b to drive the lead screw 7 to rotate forward, at the moment, the walking wheel set a grasps the vertical rod 28 of the bridge railing, therefore, the nut 8 in the walking wheel set b drives the connecting plate 6 and the motor ii 5 to move, the claw 12 in the walking wheel set b leaves the vertical rod 28, and the claw seat 10 is moved to the next vertical rod 28 along the length direction of the bridge. Then, the industrial personal computer 3 controls the motor ii 5 in the traveling wheel group b to rotate, so that the jaw seat 10 in the traveling wheel group b rotates, and thus a certain jaw 12 in the jaw seat 10 catches the vertical rod 28, a signal that the jaw 12 catches the vertical rod 28 is transmitted to the industrial personal computer 3 by a pressure sensor on the jaw 12, the industrial personal computer 3 controls the motor ii 5 in the traveling wheel group b to stop working, and controls the electric telescopic rod i 15 in the traveling wheel group b to drive the pressing plate 16 to move, so that the pressing plate 16 is tightly abutted to the vertical rod 28, and the pressing plate 16, the jaw 12 and the locking plate 13 on the jaw 12 in the traveling wheel group b re-grasp the vertical rod 28, that is, the traveling wheel group b re-grasps a new vertical rod 28.
At this moment, walking wheel group a and walking wheelset b all grasp montant 28, then I4 antiport of motor in the industrial computer 3 control walking wheelset b, 7 antiport of lead screw in the walking wheelset b, and the nut 8 in the walking wheelset b is fixed, then the pulling automobile body 1 removes, thereby realize automobile body 1 along bridge length direction's smooth-going removal, so that data acquisition device 2 moves along bridge length direction, thereby realize the detection to the side and the bottom surface of bridge.
Example two
The difference between the present embodiment and the first embodiment is: as shown in fig. 3 and 4, the vehicle body 1 is fixedly connected with a transverse plate 21, a plurality of support rods 22 are arranged below the transverse plate 21, each support rod 22 comprises an inner rod 222 and an outer rod 221, the inner rod 222 is vertically and slidably connected inside the outer rod 221, a vertically arranged damping spring 23 is arranged inside the outer rod 221, the top end of the damping spring 23 abuts against the top wall inside the outer rod 221, and the bottom end of the damping spring 23 abuts against the top end of the inner rod 222. The top end of the outer rod 221 is fixedly connected with the bottom surface of the transverse plate 21, and the bottom end of the inner rod 222 is provided with the roller 24.
In this embodiment, the support rod 22 disposed below the vehicle body 1 can support the weight of the vehicle body 1 and share the weight of the vehicle body 1 borne by the claws 12, so that the movement of the vehicle body 1 is more stable, and the support rod 22 includes the inner rod 222 and the outer rod 221, and the damping spring 23 is designed to reduce the vibration of the vehicle body 1 when the bridge deck (outside the bridge rails) is uneven.
EXAMPLE III
The present embodiment is different from the second embodiment in that: as shown in fig. 5, the self-propelled bridge detection trolley further includes a remote controller 25, a local area network control station 26, and a monitoring center 27, wherein the remote controller 25 operates and controls the detection trolley on site, the local area network control station 26 implements on-site work and remote power charging control based on a local area network wireless router, and the remote monitoring center 27 implements remote wireless mobile control by transmitting an operation instruction to the detection trolley and feeding back working state information based on, for example, a GPRS or 4G network operation platform, and transmits data in the industrial personal computer 3 to the monitoring center 27 to implement remote data transmission.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the present invention.
Claims (10)
1. From walking bridge detection dolly, including automobile body and data acquisition device, fixed mounting has industrial computer, its characterized in that on the automobile body: two walking wheel sets are mounted on the side wall of the vehicle body, each walking wheel set comprises a motor I, a motor II, a connecting plate, a ball screw pair and a jaw seat, wherein the motor I in one walking wheel set is a forward and reverse rotating motor, the motor I is fixedly mounted on the side wall of the vehicle body, the output end of the motor I is fixedly connected with a screw rod of the ball screw pair, a nut of the ball screw pair is fixedly connected with the connecting plate, one end, away from the nut, of the connecting plate is fixedly connected with the motor II, the output end of the motor II is fixedly connected with the bottom surface of the jaw seat, the circumferential side wall of the jaw seat is provided with a plurality of connecting rods, one end, away from the jaw seat, of each connecting rod is provided with a jaw for grabbing a vertical rod of a bridge railing, the inner side wall of each jaw is fixedly provided with a pressure sensor, each connecting rod is fixedly connected with a supporting, the telescopic end of the electric telescopic rod I is fixedly connected with a pressing plate; the automobile body fixedly connected with horizontal plate, the bottom surface fixedly connected with installation pole of horizontal plate, data acquisition device fixed mounting is in the bottom of installation pole, and data acquisition device will gather data store extremely the industrial computer, the industrial computer still controls walking wheelset and removes.
2. The self-propelled bridge inspection trolley of claim 1, wherein: the mounting rod is an electric telescopic rod II, and the electric telescopic rod II is controlled by the industrial control machine.
3. The self-propelled bridge inspection trolley of claim 2, wherein: the bottom fixedly connected with of installation pole is by industrial control machine controlled motor III, motor III's output fixedly connected with mounting panel, data acquisition device fixed mounting is on the mounting panel.
4. The self-propelled bridge inspection trolley according to claim 1 or 3, wherein: the inner side walls of the clamping jaws and the pressing plate are fixedly connected with rubber layers, and the rubber layers cover the pressure sensors.
5. The self-propelled bridge inspection trolley of claim 4, wherein: a plurality of rubber bulges are integrally formed on the rubber layer.
6. The self-propelled bridge inspection trolley of claim 1, wherein: the clamping jaw and the connecting rod are integrally formed.
7. The self-propelled bridge inspection trolley according to claim 1 or 6, wherein: the number of the connecting rods is three, and the three connecting rods are uniformly distributed on the circumferential side wall of the clamping jaw seat.
8. The self-propelled bridge inspection trolley of claim 1, wherein: the jack catch is semi-circular arc, and the one end integrated into one piece that the connecting rod was kept away from to the jack catch has the lockplate.
9. The self-propelled bridge inspection trolley of claim 8, wherein: a plurality of support rods are arranged below the trolley body, each support rod comprises an inner rod and an outer rod, the inner rod is vertically connected inside the outer rod in a sliding mode, a vertically arranged damping spring is arranged inside the outer rod, the top end of the damping spring abuts against the top wall inside the outer rod, and the bottom end of the damping spring abuts against the top end of the inner rod; the top of outer pole and the bottom surface fixed connection of automobile body, the gyro wheel is installed to the bottom of interior pole.
10. The self-propelled bridge inspection trolley of claim 1, wherein: the pressing plate is arc-shaped.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010176047.9A CN111350127B (en) | 2020-03-13 | 2020-03-13 | Self-walking bridge detection trolley |
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| CN202010176047.9A CN111350127B (en) | 2020-03-13 | 2020-03-13 | Self-walking bridge detection trolley |
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| CN112040125B (en) * | 2020-08-29 | 2021-08-06 | 贵州宏科泰电子有限公司 | Vehicle-mounted camera |
| CN112903488B (en) * | 2021-01-26 | 2022-08-16 | 常州市恒正交通工程试验检测中心有限公司 | Bridge detects uses supporting equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6227330B1 (en) * | 1999-07-15 | 2001-05-08 | Mark A. Preusser | Support structure for suspending a work surface below a girder |
| CN2641113Y (en) * | 2003-06-07 | 2004-09-15 | 青岛铁路工务机电技术公司 | Steel cable and double wire bridge type repairing trolly for concrete up beam |
| PL235194B1 (en) * | 2015-08-10 | 2020-06-01 | Escort Spolka Z Ograniczona Odpowiedzialnoscia | A set for mounting a measuring device, preferably the sonar, for monitoring the bottom relief features around the bridge piers, method for mounting of the measuring device by means of such a set and the suspension gear for mounting of the measuring device |
| CN206956547U (en) * | 2017-06-20 | 2018-02-02 | 江苏燕宁工程咨询有限公司 | Bridge maintenance suspension type workbench |
| CN209722733U (en) * | 2019-04-04 | 2019-12-03 | 张宇 | A kind of civil engineering bridge machinery mechanism |
| CN110820554B (en) * | 2019-11-26 | 2022-02-08 | 广东保顺检测鉴定有限公司 | A outer hanging self-walking crane for bridge detects |
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