CN209741660U - free positioning intelligent beam bottom inspection maintenance vehicle - Google Patents
free positioning intelligent beam bottom inspection maintenance vehicle Download PDFInfo
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- CN209741660U CN209741660U CN201920233327.1U CN201920233327U CN209741660U CN 209741660 U CN209741660 U CN 209741660U CN 201920233327 U CN201920233327 U CN 201920233327U CN 209741660 U CN209741660 U CN 209741660U
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Abstract
the utility model discloses a free positioning intelligent beam bottom inspection maintenance vehicle, which comprises two guide rails, two walking mechanisms, a turntable, a truss, a telescopic arm structure and an electrical control system, wherein the two guide rails are arranged at the bottom of a bridge in parallel along a longitudinal bridge direction, the four walking mechanisms are symmetrically hung on the two guide rails in pairs and are respectively arranged at the two ends of the turntable, one of the turntable is arranged between the four walking mechanisms and the truss, the truss is arranged at the bottom of the turntable and horizontally rotates at an angle of 90 degrees relative to the guide rails under the rotation of the turntable, and the two telescopic arm structures are arranged at the two ends of the truss; the electric control system is arranged in the middle of the truss and is respectively electrically connected with the walking mechanism, the turntable and the telescopic arm structure and communicated with the walking mechanism, the turntable and the telescopic arm structure through hydraulic oil pipelines. The utility model discloses mainly adopt and maintain the rotatory mode of passing through the pier of car through hydraulic drive beam bottom inspection, realize the detection maintenance of multi-span continuous bridge, it has advantages such as adaptability is good, the degree of freedom is big, efficient, economic nature is good.
Description
Technical Field
the utility model relates to a bridge inspection car, concretely relates to intelligent bottom of a beam inspection maintenance car of free location.
Background
bridge construction is one of the national important infrastructures, and bridge engineering is life line engineering for harmonious development of the relationship society and the economy. With the increase of the service time of the bridge, due to the long-term influence of adverse factors such as environmental load effect, fatigue effect, corrosion effect and material aging on bridge facilities, the bridge structure inevitably generates various fatigue and damages such as natural aging, damage accumulation and the like, and the bridge needs to be timely and effectively detected and maintained for ensuring the normal use of the bridge.
The traditional beam bottom inspection vehicle is generally designed into a transverse beam structure according to the structural form of a bridge, and has the following defects: for a multi-span continuous bridge, the bridge tower and the pier cannot be spanned, and the detection and maintenance within the full-length range of the bridge can be realized only by arranging at least one inspection vehicle every span, so that the operation is complex and the economical efficiency is not high.
Therefore, in view of the above drawbacks, the designer of the present invention develops and designs a freely positioning intelligent vehicle for inspecting and maintaining the beam bottom by means of comprehensive research and design and by integrating the experience and achievement of long-term related industries.
SUMMERY OF THE UTILITY MODEL
an object of the utility model is to provide a car is maintained in intelligent beam-bottom inspection of free location, this car is maintained in beam-bottom inspection not only design safe and reliable, easy and simple to handle, can realize the detection maintenance of multi-span continuous bridge, has still solved traditional bridge check out test set adaptability poor effectively, the degree of freedom is little, shortcoming such as inefficiency, expense height.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a freely-positioned intelligent beam bottom inspection maintenance vehicle comprises two guide rails, walking mechanisms, rotary tables, trusses, telescopic arm structures and an electrical control system, wherein the two guide rails are arranged at the bottom of a bridge in parallel along the longitudinal bridge direction, the four walking mechanisms are symmetrically suspended on the two guide rails in pairs and are respectively arranged at two ends of the upper part of each rotary table, one rotary table is arranged between the four walking mechanisms and the trusses, the trusses are arranged at the bottom of each rotary table and can horizontally rotate at an angle of 90 degrees relative to the guide rails under the rotation of each rotary table, the two telescopic arm structures are arranged at two ends of each truss, and the electrical control system is arranged in the middle of each truss, is respectively electrically connected with the walking mechanisms, the rotary tables and the telescopic arm structures and is communicated with the truss through hydraulic oil pipelines; the electric control system controls the maintenance vehicle to realize the comprehensive detection of the damaged state of the bridge and the function of passing through the bridge pier by controlling the running of the running mechanism on the guide rail, the rotation of the rotary table and the folding and stretching movement of the telescopic arm structure.
in the technical scheme, each walking mechanism comprises four steel wheels, a motor, two hydraulic brakes, two guide wheel devices and a supporting seat;
The four steel wheels corresponding to each walking mechanism are symmetrically and fixedly arranged on two sides of the upper part of the corresponding supporting seat in pairs and are hung on one corresponding guide rail;
The motor corresponding to each walking mechanism is arranged on one side of the middle part of the supporting seat corresponding to the walking mechanism, and is meshed with steel wheel transmission gears arranged on two corresponding steel wheels through a motor transmission gear;
Two hydraulic brakes corresponding to each walking mechanism are symmetrically arranged on two sides of one end of the middle part of the supporting seat corresponding to the walking mechanism and are in braking, clamping and matching with two sides of one guide rail corresponding to the walking mechanism;
the two guide wheel devices corresponding to each walking mechanism are symmetrically arranged on two sides of the other end of the middle part of the corresponding supporting seat and are in guide rolling fit with two sides of one corresponding guide rail;
the lower part of the supporting seat corresponding to each walking mechanism is fixed on the turntable;
The motor and the hydraulic brake of each walking mechanism are also electrically connected with a PLC (programmable logic controller) cabinet in the electrical control system;
and each hydraulic brake is also communicated with a hydraulic oil pump in the electric control system through a hydraulic oil pipe.
in the technical scheme, each steel wheel is coated with a polyurethane layer.
in the technical scheme, the turntable comprises an upper turntable, a lower turntable, a conical ball assembly and two rotating oil cylinders;
the upper turntable is correspondingly connected and fixed with the bottoms of the four traveling mechanisms through bolts through two connecting seats I arranged at two ends of the upper turntable;
The lower rotary table is hung on the lower part of the upper rotary table and is correspondingly connected and fixed with the top of the truss through two connecting seats II arranged at the bottom of the lower rotary table through bolts;
the conical ball assembly is annularly embedded between the upper rotary table and the lower rotary table and comprises an annular slide way, a plurality of conical balls and a plurality of ball seats, the annular slide way is embedded at the upper part of the lower rotary table, the plurality of ball seats are annularly embedded at the lower part of the upper rotary table, each ball seat is internally provided with one conical ball, and each conical ball is in rolling contact with the annular slide way and the corresponding ball seat;
the two rotating oil cylinders are arranged between the upper rotary table and the lower rotary table, one end of each rotating oil cylinder is connected with an upper transverse connection through a pin shaft arranged on the upper rotary table, and the other end of each rotating oil cylinder is connected with a lower transverse connection arranged on the lower rotary table through a pin shaft;
The two rotary oil cylinders are also communicated with a hydraulic oil pump arranged in the electric control system through a hydraulic oil pipeline;
during operation, the upper rotary disc is fixed, and the lower rotary disc drives the truss and the upper rotary disc to rotate back and forth at a relative angle of 90 degrees in the horizontal direction under the telescopic motion of the two rotary oil cylinders.
In the technical scheme, the truss comprises a truss section I and two truss sections II, wherein the two truss sections II are symmetrically arranged at two ends of the truss section I and are respectively connected and fixed with the truss section I through bolts;
the top of the truss section I and two connecting seats II arranged at the bottom of the lower turntable are fixedly connected through bolts;
one end of each truss section II, which is far away from the truss section I, is fixedly connected with a hinge shaft seat, and each truss section II is connected with a hinge shaft of a corresponding telescopic arm structure through the hinge shaft seat;
the bottom of truss section I and truss section II all has laid the decorative pattern steel sheet of being convenient for personnel to pass, inspect and maintain.
In the technical scheme, the truss section I and the truss section II are both formed by welding profile steels.
In the technical scheme, each telescopic boom structure comprises a large boom, a telescopic boom I, a telescopic boom II and a hanging basket;
two ends of each large arm are respectively connected with the corresponding truss section II and the corresponding telescopic arm I through a hinge shaft;
one end of each telescopic arm II is nested in the corresponding telescopic arm I, and the other end of each telescopic arm II is connected with the corresponding hanging basket through a hinge shaft.
in the technical scheme, each telescopic arm structure further comprises a telescopic oil cylinder I, a telescopic oil cylinder II and a telescopic oil cylinder III;
one end of each telescopic oil cylinder I is hinged with the corresponding truss section II through a first oil cylinder seat, and the other end of each telescopic oil cylinder I is hinged with one end, close to the truss, of the corresponding large arm through a second oil cylinder seat;
One end of each telescopic oil cylinder II is hinged with one end, far away from the truss, of the corresponding large arm through a third oil cylinder seat, and the other end of each telescopic oil cylinder II is hinged with one end, far away from the truss, of the corresponding large arm and one end, close to the large arm, of the telescopic arm I through a connecting rod;
One end of each telescopic oil cylinder III is hinged with one end, close to the hanging basket, of the corresponding telescopic arm II through a fourth oil cylinder seat, and the other end of each telescopic oil cylinder III is hinged with the corresponding hanging basket through a fifth oil cylinder seat;
And each telescopic oil cylinder I, the telescopic oil cylinder II and the telescopic oil cylinder III are respectively communicated with a hydraulic oil pump in the electric control system through hydraulic oil pipes.
in the technical scheme, each hanging basket is also integrated with an intelligent detection robot, and each intelligent detection robot is electrically connected with a PLC (programmable logic controller) cabinet in an electric control system; the intelligent detection robot can quickly detect the damaged part of the bridge and give a diagnosis result, so that the influence of human factors is greatly reduced, and the detection result is more accurate.
among the above-mentioned technical scheme, electrical control system still includes hydraulic oil pump, hydraulic tank, generating set and a plurality of hydraulic solenoid valve, generating set is connected with PLC programmable controller cabinet electricity, PLC programmable controller cabinet is connected with hydraulic oil pump, every hydraulic solenoid valve and every intelligent detection robot electricity respectively, hydraulic oil pump all is provided with one on the hydraulic oil pipe that hydraulic oil pump and every hydraulic brake who walks the mechanism and the flexible hydro-cylinder I of every flexible arm structure, flexible hydro-cylinder II, the flexible hydro-cylinder III communicate through a plurality of hydraulic oil pipe with four hydraulic brake that walk the mechanism and the flexible hydro-cylinder I of every flexible arm structure, flexible hydro-cylinder II, the flexible hydro-cylinder III communicate respectively hydraulic oil pipe of hydraulic oil pump and every hydraulic brake who walks the mechanism and the flexible hydro-cylinder I of every flexible arm structure, flexible hydro.
compared with the prior art, the utility model provides a free location intelligent beam bottom inspection maintenance vehicle has following advantage and beneficial effect:
1. the purpose that the beam bottom inspection maintenance vehicle automatically passes through the bridge pier can be realized through the rotating motion of the turntable and the walking motion of the walking mechanism;
2. under the same condition, compared with the traditional method that a plurality of inspection maintenance vehicles are needed, the detection maintenance of the whole bridge of the same type can be completed by one freely-positioned intelligent bridge inspection maintenance vehicle, and the method is more economical and advanced and has high operation efficiency;
3. the device not only can realize the continuous inspection and maintenance of the beam bottom, but also can drive the hanging basket to be conveyed to a specified position through the rotation and the telescopic action of the telescopic arm structure, has flexible operation and high degree of freedom, and can realize the detection of two sides and the bottom of the bridge, thereby achieving the aim of comprehensive inspection and maintenance;
4. The intelligent detection robot is adopted to carry out all-weather rapid detection and maintenance operation on the bridge, so that the bridge inspection and maintenance operation is more intelligent, and the working efficiency is greatly improved;
5. The structure design is safe and reliable, the operation is simple and convenient, the detection and maintenance of the multi-span continuous bridge can be realized, and the problems of poor adaptability, small degree of freedom, low efficiency, high cost and the like of the traditional bridge detection equipment are effectively solved.
drawings
Fig. 1 is a schematic structural view of the intelligent beam bottom inspection and maintenance vehicle with free positioning in the utility model;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of the running gear of FIG. 2;
FIG. 4 is a schematic cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is a top view of the turntable of FIG. 2;
FIG. 6 is a schematic cross-sectional view taken along line B-B of FIG. 5;
FIG. 7 is an enlarged view at node X in FIG. 6;
FIG. 8 is an enlarged cross-sectional view of the tapered ball assembly of FIG. 7;
FIG. 9 is a front view of the truss of FIG. 1;
FIG. 10 is a schematic view of the connection of the truss to the telescopic arm structure of FIG. 1;
Fig. 11 is a schematic view of the intelligent beam bottom inspection and maintenance vehicle with free positioning in the working state of the utility model;
FIG. 12 is a schematic view of the freely positioning intelligent vehicle for inspecting and maintaining the bottom of a beam in a traveling state;
FIG. 13 is an enlarged view at node Y in FIG. 11;
FIG. 14 is a top view of the turntable of FIG. 12;
Description of reference numerals:
1. a guide rail;
2. A running mechanism; 2.1, steel wheels; 2.1a, a steel wheel transmission gear; 2.2, a motor; 2.3, a hydraulic brake; 2.4, a guide wheel device; 2.5, a supporting seat; 2.6, a motor transmission gear;
3. a turntable; 3.1, an upper turntable; 3.1a, upper cross-linking; 3.1b, a connecting seat I; 3.2, rotating the turntable downwards; 3.2a, lower cross-linking; 3.2b, a connecting seat II; 3.3, a tapered ball assembly; 3.3a, an annular slideway; 3.3b, tapered balls; 3.3c, ball seat; 3.4, rotating the oil cylinder;
4. A truss; 4.1, truss section I; 4.2, truss II; 4.3 hinge shaft seats;
5. A telescopic arm structure; 5.1, a big arm; 5.2, a telescopic arm I; 5.3, a telescopic arm II; 5.4, hanging baskets; 5.5, a telescopic oil cylinder I; 5.5a, a first oil cylinder seat; 5.5b, a second oil cylinder seat; 5.6, a telescopic oil cylinder II; 5.6a, a third oil cylinder seat; 5.7, a telescopic oil cylinder III; 5.7a, a fourth cylinder seat; 5.7b, a fifth oil cylinder seat; 5.8, connecting rods;
100. A bridge;
200. a bridge pier;
Detailed Description
the present invention will be described in detail with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and thus, the scope of the present invention can be defined more clearly and clearly.
As shown in fig. 1, the utility model provides a freely-positioned intelligent beam bottom inspection maintenance vehicle, which comprises a guide rail 1, a running mechanism 2, a turntable 3, a truss 4, a telescopic arm structure 5 and an electrical control system (not shown in the figure); as shown in fig. 1 and 2, two guide rails 1 are installed at the bottom of a bridge 100 in parallel along the longitudinal bridge direction, as shown in fig. 2, four walking mechanisms 2 are symmetrically hung on the two guide rails 1 in pairs and are respectively arranged at two ends of the upper part of a turntable 3 (i.e. two corresponding guide rails 1 are hung on and respectively arranged at two ends of the upper part of the turntable 3), one turntable 3 is arranged between the four walking mechanisms 2 and a truss 4, wherein the truss 4 is arranged at the bottom of the turntable 3, the truss 4 can horizontally rotate at an angle of 90 degrees relative to the guide rails 1 under the rotation of the turntable 3, the turntable 3 and the truss 4 can walk along the guide rails 1 under the driving of the walking mechanisms 2, so as to achieve the purpose of passing through a pier 200, and two telescopic arm structures 5 are arranged at two ends of the truss 4; the electric control system is arranged in the middle of the truss 4 and is respectively electrically connected with the walking mechanism 2, the rotary table 3 and the telescopic arm structure 5 and communicated with the walking mechanism through a hydraulic oil pipeline; the electric control system controls the maintenance vehicle to realize the comprehensive detection of the damaged state of the bridge and the function of passing through the bridge pier by controlling the running of the running mechanism 2 on the guide rail 1, the rotation of the rotary table 3 and the folding and stretching movement of the telescopic arm structure 5.
as shown in fig. 3 and 4, each running gear 2 comprises four steel wheels 2.1, a motor 2.2, two hydraulic brakes 2.3, two guide wheel devices 2.4 and a supporting seat 2.5;
the four steel wheels 2.1 corresponding to each walking mechanism 2 are fixed and divided in pairs at two sides of the upper part of the corresponding supporting seat 2.5 (namely, two steel wheels 2.1 are arranged at each side) and are hung on one corresponding guide rail 1;
the motor 2.2 corresponding to each walking mechanism 2 is arranged at one side of the middle part of the corresponding supporting seat 2.5 and is meshed with the steel wheel transmission gears 2.1a arranged on the two corresponding steel wheels 2.1 through a motor transmission gear 2.6;
two hydraulic brakes 2.3 corresponding to each walking mechanism 2 are symmetrically arranged on two sides of one end of the middle part of the corresponding supporting seat 2.5 and are in braking clamping fit with two sides of one corresponding guide rail 1;
two guide wheel devices 2.4 corresponding to each walking mechanism 2 are symmetrically arranged on two sides of the other end of the middle part of the corresponding supporting seat 2.5 and are in guiding rolling fit with two sides of a corresponding guide rail 1;
The lower part of a supporting seat 2.5 corresponding to each walking mechanism 2 is fixed on the turntable 3;
The motor 2.1 and the hydraulic brake 2.2 of each walking mechanism 2 are also electrically connected with a PLC (programmable logic controller) cabinet (not shown in the figure) in the electric control system;
each hydraulic brake 2.2 is also communicated with a hydraulic oil pump in the electric control system through a hydraulic oil pipe.
the hydraulic brake 2.3 is used for automatically clamping the guide rail 1 after the power failure of the motor 2.2 of the running mechanism 2, so as to realize the hydraulic braking of the running mechanism 2.
The guide wheel device 2.4 is used for limiting the walking direction of the walking mechanism 2 so as to prevent the beam bottom inspection maintenance vehicle from walking and deviating.
in order to enhance the climbing capability of the beam bottom inspection and maintenance vehicle and reduce the damage to the protective layer of the guide rail 1, a polyurethane layer is coated outside each steel wheel 2.1.
as shown in fig. 5 to 8, the turntable 3 includes an upper turntable 3.1, a lower turntable 3.2, a tapered ball assembly 3.3 and two rotating cylinders 3.4; wherein:
the upper rotary table 3.1 is correspondingly connected and fixed with the bottoms of the four traveling mechanisms 2 through bolts through two connecting seats I3.1 b arranged at the two ends of the upper rotary table;
the lower rotary table 3.2 is hung at the lower part of the upper rotary table 3.1 and is correspondingly connected and fixed with the top of the truss 4 through two connecting seats II 3.2b arranged at the bottom of the lower rotary table through bolts;
as shown in fig. 7, the conical ball assembly 3.3 is annularly embedded between the upper rotary table 3.1 and the lower rotary table 3.2; as shown in fig. 8, the tapered ball assembly 3.3 of the present invention includes an annular slide 3.3a, a plurality of tapered balls 3.3b and a plurality of ball seats 3.3c, the annular slide 3.3a is embedded on the upper portion of the lower turntable 3.2, the plurality of ball seats 3.3c are embedded on the lower portion of the upper turntable 3.1 in an annular shape, each ball seat 3.3c is provided with a tapered ball 3.3b, each tapered ball 3.3b is in rolling contact with the annular slide 3.3a and the corresponding ball seat 3.3 c;
As shown in fig. 6, two rotating cylinders 3.4 are both arranged between the upper rotary table 3.1 and the lower rotary table 3.2, and one end of each rotating cylinder is connected with an upper cross-link 3.1a arranged on the upper rotary table 3.1 through a pin shaft, and the other end of each rotating cylinder is connected with a lower cross-link 3.2a arranged on the lower rotary table 3.2 through a pin shaft;
the two rotary oil cylinders 3.4 are also communicated with a hydraulic oil pump arranged in the electric control system 6 through hydraulic oil pipelines;
during operation, the upper rotary table 3.1 is fixed, and the lower rotary table 3.2 drives the truss 4 and the upper rotary table 3.1 to rotate back and forth at a relative angle of 90 degrees in the horizontal direction under the telescopic motion of the two rotary oil cylinders 3.4.
as shown in fig. 9, the truss 4 includes a truss section i 4.1 and two truss sections ii 4.2, the two truss sections ii 4.2 are symmetrically disposed at two ends of the truss section i 4.1, and are respectively connected and fixed with the truss section i 4.1 through bolts; and each truss section II 4.2 can be subjected to length conversion according to the requirement of actual engineering.
the top of the truss section I4.1 is fixedly connected with two connecting seats II 3.2b arranged at the bottom of the lower rotary table 3.2 through bolts;
one end of each truss section II 4.2, which is far away from the truss section I4.1, is fixedly connected with a hinge shaft seat 4.3, and each truss section II 4.2 is connected with a corresponding telescopic arm structure 5 through the hinge shaft seat 4.3;
the bottom of truss section I4.1 and truss section II 4.2 has all been laid the decorative pattern steel sheet, and the personnel of not only being convenient for pass, inspection and maintenance have improved truss 4's overall stability simultaneously.
Truss section I4.1 and truss section II 4.2 of truss 4 all adopt the shaped steel welding to form, and its effect is: the device is used for bearing loads such as self weight, operators, maintenance inspection equipment and articles.
as shown in fig. 10, each telescopic boom structure 5 comprises a large boom 5.1, a telescopic boom i 5.2, a telescopic boom ii 5.3 and a basket 5.4;
two ends of each large arm 5.1 are respectively connected with the corresponding truss section II 4.2 and the corresponding telescopic arm I5.2 through a hinge shaft;
one end of each telescopic arm II 5.3 is nested in the corresponding telescopic arm I5.2, and the other end of each telescopic arm II is connected with the corresponding hanging basket 5.4 through a hinge shaft;
Wherein, big arm 5.1 can be rotary motion at the certain extent with flexible arm I5.2, and rotary motion can be done at the certain extent with flexible arm II 5.3 and hanging flower basket 5.4, can carry operation personnel and intellectual detection system robot on the hanging flower basket 5.4, and the hanging flower basket 5.4 can reach appointed detection bridge and detect the position under the rotation of flexible arm structure 5 and flexible action.
as shown in fig. 11, each telescopic boom structure 5 further includes a telescopic cylinder i 5.5, a telescopic cylinder ii 5.6, and a telescopic cylinder iii 5.7;
One end of each telescopic oil cylinder I5.5 is hinged with the corresponding truss section II 4.2 through a first oil cylinder seat 5.5a, and the other end of each telescopic oil cylinder I5.5 is hinged with one end, close to the truss 4, of the corresponding large arm 5.1 through a second oil cylinder seat 5.5 b;
One end of each telescopic oil cylinder II 5.6 is hinged with one end, far away from the truss 4, of the corresponding large arm 5.1 through a third oil cylinder seat 5.6a, and the other end of each telescopic oil cylinder II 5.6 is hinged with one end, far away from the truss 4, of the corresponding large arm 5.1 and one end, close to the large arm 5.1, of the telescopic arm I5.2 through a connecting rod 5.8;
as shown in fig. 13, one end of each telescopic cylinder iii 5.7 is hinged to the end of the corresponding telescopic arm ii 5.3 close to the nacelle 5.4 through a fourth cylinder base 5.7a, and the other end of each telescopic cylinder iii 5.7 is hinged to the corresponding nacelle 5.4 through a fifth cylinder base 5.7 b;
each telescopic oil cylinder I, the telescopic oil cylinder II and the telescopic oil cylinder III are respectively communicated with a hydraulic oil pump in the electric control system through hydraulic oil pipes.
each hanging basket 5.4 is also integrated with an intelligent detection robot (not shown in the figure), and each intelligent detection robot is electrically connected with a PLC (programmable logic controller) cabinet in the electric control system; the intelligent detection robot has the following functions: the damaged part of the bridge is quickly detected, and a diagnosis result is given, so that the influence of human factors is greatly reduced, and the detection result is more accurate.
The utility model discloses among the electrical control system of the intelligent beam bottom inspection maintenance car of free location, still include the hydraulic oil pump, the hydraulic tank, generating set and a plurality of hydraulic solenoid valve, generating set and PLC programmable controller cabinet electricity are connected, PLC programmable controller cabinet respectively with the hydraulic oil pump, every hydraulic solenoid valve and every intellectual detection system robot electricity are connected, the hydraulic oil pump respectively with four hydraulic brake 2.2 of walking mechanism 2 and the flexible hydro-cylinder I5.5 of two flexible arm structures 5, flexible hydro-cylinder II 5.6, flexible hydro-cylinder III 5.7 communicates through a plurality of hydraulic oil pipe, all be provided with a hydraulic solenoid valve on the hydraulic oil pump with hydraulic brake 2.2 of every walking mechanism 2 and the flexible hydro-cylinder I5.5 of every flexible arm structure 5.4, flexible hydro-cylinder II 5.6, flexible hydro-cylinder III 5.7 communicates respectively;
the PLC cabinet mainly controls the on-off of a hydraulic solenoid valve to provide hydraulic oil power for a hydraulic brake 2.2 of the walking mechanism 2, a telescopic oil cylinder I5.5, a telescopic oil cylinder II 5.6, a telescopic oil cylinder III 5.7 of the telescopic arm structure 5 and a rotating oil cylinder 3.4 of the rotary disc 3 so as to respectively drive the walking mechanism 2 to advance on the guide rail 1, drive the telescopic arm structure 5 to drive the hanging basket 5.4 to a specified bridge detection position and drive the rotary disc 3 to rotate to drive the truss 4 to rotate at an angle of 90 degrees relative to the bottom of the bridge 100, so that the purpose of passing through the bridge pier 200 is achieved, and an intelligent detection robot on the hanging basket 5.4 is controlled to complete corresponding bridge maintenance work.
the utility model provides a free location intelligent beam bottom inspection maintenance vehicle's work progress as follows:
(1) fixing a guide rail 1 at the bottom of a bridge 100, then suspending the upper end of each walking mechanism 2 on the corresponding guide rail 1 through a steel wheel 2.1, connecting the lower end of each walking mechanism 2 with an upper turntable 3.1 of a turntable 3 through a support seat 2.5 of each walking mechanism by bolts, then connecting a lower turntable 3.2 of the turntable 3 with the upper part of a truss section I4.1 of a truss 4 through bolts, finally hinging one end of each telescopic arm structure 5 with a corresponding truss section II 4.2 through a big arm 5.1 of each telescopic arm structure, and connecting the other end of each telescopic arm structure 5 with a corresponding hanging basket 5.4 through a telescopic arm II 5.3 of each telescopic arm structure;
(2) when bridge detection is needed, the truss 4 is driven to rotate to a position vertical to the guide rail 1 through the telescopic motion of the rotary oil cylinder 3.4 connected with the lower rotary disc 3.2, as shown in fig. 5, then the hanging basket 5.4 is conveyed to a specified position through the rotary motion of the large arm 5.1, the telescopic arm I5.2 and the telescopic motion of the telescopic arm II 5.3 of the telescopic arm structure 5, as shown in fig. 11, and finally the bottom surface and the side surface of the bridge 100 are detected and maintained through the intelligent detection robot on the hanging basket 5.4, so that the aim of comprehensively detecting the bridge is fulfilled;
(3) When the bridge pier needs to be passed through, the truss 4 is driven to rotate to the position horizontal to the guide rail 1 through the telescopic motion of the rotary oil cylinder 3.4 connected with the lower rotary disc 3.2, as shown in fig. 14, the large arm 5.1, the telescopic arm I5.2 and the hanging basket 5.4 are respectively retracted to the horizontal position through the telescopic oil cylinder I5.5, the telescopic oil cylinder II 5.6 and the telescopic oil cylinder III 5.7 of the telescopic arm structure 5, the telescopic arm II 5.3 is in the retracted position as shown in fig. 12, and then the traveling mechanism 2 is driven by the motor 2.2 to travel on the guide rail 1, so that the purpose of passing through the bridge pier 200 is achieved.
finally, the above description is only the embodiments of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. The utility model provides a car is maintained in intelligent beam bottom inspection of free location which characterized in that: the bridge comprises guide rails (1), two walking mechanisms (2), rotary tables (3), trusses (4), telescopic arm structures (5) and an electrical control system, wherein the two guide rails (1) are arranged at the bottom of a bridge (100) in parallel along the longitudinal bridge direction, the four walking mechanisms (2) are symmetrically hung on the two guide rails (1) in pairs and are respectively arranged at two ends of the upper part of the rotary tables (3), one rotary table (3) is arranged between the four walking mechanisms (2) and the trusses (4), the trusses (4) are arranged at the bottom of the rotary tables (3) and can horizontally rotate at an angle of 90 degrees relative to the guide rails (1) under the rotation of the rotary tables (3), and the two telescopic arm structures (5) are arranged at two ends of the trusses (4); the electric control system is arranged in the middle of the truss (4), and is respectively electrically connected with the walking mechanism (2), the rotary table (3) and the telescopic arm structure (5) and communicated with the walking mechanism through a hydraulic oil pipeline.
2. the free-positioning intelligent beam bottom inspection and maintenance vehicle as claimed in claim 1, wherein: each walking mechanism (2) comprises four steel wheels (2.1), a motor (2.2), two hydraulic brakes (2.3), two guide wheel devices (2.4) and a supporting seat (2.5);
Four steel wheels (2.1) corresponding to each walking mechanism (2) are symmetrically and fixedly arranged on two sides of the upper part of the corresponding supporting seat (2.5) in pairs and are hung on one corresponding guide rail (1);
the motor (2.2) corresponding to each walking mechanism (2) is arranged on one side of the middle part of the corresponding supporting seat (2.5), and is meshed with the steel wheel transmission gears (2.1a) arranged on the two steel wheels (2.1) corresponding to the motor transmission gears (2.6) for transmission;
two hydraulic brakes (2.3) corresponding to each walking mechanism (2) are symmetrically arranged on two sides of one end of the middle part of the corresponding supporting seat (2.5) and are in braking clamping fit with two sides of one corresponding guide rail (1);
two guide wheel devices (2.4) corresponding to each walking mechanism (2) are symmetrically arranged on two sides of the other end of the middle part of the corresponding supporting seat (2.5) and are in guide rolling fit with two sides of one corresponding guide rail (1);
The lower part of a supporting seat (2.5) corresponding to each walking mechanism (2) is fixed on the turntable (3);
The motor (2.2) and the hydraulic brake (2.3) of each walking mechanism (2) are also electrically connected with a PLC (programmable logic controller) cabinet in the electric control system;
Each hydraulic brake (2.3) is also communicated with a hydraulic oil pump in the electric control system through a hydraulic oil pipe.
3. The free-positioning intelligent beam bottom inspection and maintenance vehicle as claimed in claim 2, wherein: and a polyurethane layer is coated outside each steel wheel (2.1).
4. the free-positioning intelligent beam bottom inspection and maintenance vehicle as claimed in claim 2, wherein: the rotary table (3) comprises an upper rotary table (3.1), a lower rotary table (3.2), a conical ball assembly (3.3) and two rotating oil cylinders (3.4);
The upper turntable (3.1) is correspondingly connected and fixed with the bottoms of the four walking mechanisms (2) through bolts through two connecting seats I (3.1b) arranged at the two ends of the upper turntable;
the lower rotary table (3.2) is hung at the lower part of the upper rotary table (3.1) and is correspondingly connected and fixed with the top of the truss (4) through bolts through two connecting seats II (3.2b) arranged at the bottom of the lower rotary table;
the conical ball assembly (3.3) is annularly embedded between the upper rotary table (3.1) and the lower rotary table (3.2) and comprises an annular slide way (3.3a), a plurality of conical balls (3.3b) and a plurality of ball seats (3.3c), the annular slide way (3.3a) is embedded at the upper part of the lower rotary table (3.2), the plurality of ball seats (3.3c) are annularly embedded at the lower part of the upper rotary table (3.1), each ball seat (3.3c) is internally provided with a conical ball (3.3b), and each conical ball (3.3b) is in rolling contact with the annular slide way (3.3a) and the ball seat (3.3c) corresponding to the annular slide way;
The two rotating oil cylinders (3.4) are arranged between the upper turntable (3.1) and the lower turntable (3.2), one ends of the two rotating oil cylinders are connected with an upper transverse link (3.1a) arranged on the upper turntable (3.1) through a pin shaft, and the other ends of the two rotating oil cylinders are connected with a lower transverse link (3.2a) arranged on the lower turntable (3.2) through a pin shaft;
the two rotary oil cylinders (3.4) are also communicated with a hydraulic oil pump arranged in the electric control system (6) through a hydraulic oil pipeline;
during operation, the upper turntable (3.1) is fixed, and the lower turntable (3.2) drives the truss (4) and the upper turntable (3.1) to rotate back and forth at a relative angle of 90 degrees in the horizontal direction under the telescopic motion of the two rotating oil cylinders (3.4).
5. The free-positioning intelligent beam bottom inspection and maintenance vehicle of claim 4, characterized in that: the truss (4) comprises a truss section I (4.1) and two truss sections II (4.2), wherein the two truss sections II (4.2) are symmetrically arranged at two ends of the truss section I (4.1) respectively and are fixedly connected with the truss section I (4.1) through bolts;
The top of the truss section I (4.1) is fixedly connected with two connecting seats II (3.2b) arranged at the bottom of the lower turntable (3.2) through bolts;
one end of each truss section II (4.2) far away from the truss section I (4.1) is fixedly connected with a hinge shaft seat (4.3), and each truss section II (4.2) is connected with a corresponding telescopic arm structure (5) through the hinge shaft seat (4.3);
the bottom of the truss section I (4.1) and the bottom of the truss section II (4.2) are respectively paved with a pattern steel plate which is convenient for personnel to pass, check and maintain.
6. the free-positioning intelligent beam bottom inspection and maintenance vehicle of claim 5, characterized in that: the truss section I (4.1) and the truss section II (4.2) are both formed by welding profile steels.
7. The free-positioning intelligent beam bottom inspection and maintenance vehicle of claim 5, characterized in that: each telescopic arm structure (5) comprises a large arm (5.1), a telescopic arm I (5.2), a telescopic arm II (5.3) and a hanging basket (5.4);
Two ends of each large arm (5.1) are respectively connected with the corresponding truss section II (4.2) and the corresponding telescopic arm I (5.2) through a hinge shaft;
one end of each telescopic arm II (5.3) is nested in the corresponding telescopic arm I (5.2), and the other end of each telescopic arm II is connected with the corresponding hanging basket (5.4) through a hinge shaft.
8. the free-positioning intelligent beam bottom inspection and maintenance vehicle of claim 7, characterized in that: each telescopic arm structure (5) also comprises a telescopic oil cylinder I (5.5), a telescopic oil cylinder II (5.6) and a telescopic oil cylinder III (5.7);
one end of each telescopic oil cylinder I (5.5) is hinged with the corresponding truss section II (4.2) through a first oil cylinder seat (5.5a), and the other end of each telescopic oil cylinder I (5.5) is hinged with one end, close to the truss (4), of the corresponding large arm (5.1) through a second oil cylinder seat (5.5 b);
one end of each telescopic oil cylinder II (5.6) is hinged with one end, far away from the truss (4), of the corresponding large arm (5.1) through a third oil cylinder seat (5.6a), and the other end of each telescopic oil cylinder II (5.6) is hinged with one end, far away from the truss (4), of the corresponding large arm (5.1) and one end, close to the large arm (5.1), of the telescopic arm I (5.2) through a connecting rod (5.8);
one end of each telescopic oil cylinder III (5.7) is hinged with one end, close to the hanging basket (5.4), of the corresponding telescopic arm II (5.3) through a fourth oil cylinder seat (5.7a), and the other end of each telescopic oil cylinder III (5.7) is hinged with the corresponding hanging basket (5.4) through a fifth oil cylinder seat (5.7 b);
each telescopic oil cylinder I (5.5), each telescopic oil cylinder II (5.6) and each telescopic oil cylinder III (5.7) are respectively communicated with a hydraulic oil pump in the electric control system through a hydraulic oil pipe.
9. The free-positioning intelligent beam bottom inspection and maintenance vehicle of claim 8, characterized in that: and each hanging basket (5.4) is also integrated with an intelligent detection robot, and each intelligent detection robot is electrically connected with a PLC (programmable logic controller) cabinet in the electric control system.
10. the free-positioning intelligent beam bottom inspection and maintenance vehicle of claim 9, characterized in that: the electric control system also comprises a hydraulic oil pump, a hydraulic oil tank, a generator set and a plurality of hydraulic electromagnetic valves, the generator set is electrically connected with a PLC (programmable logic controller) cabinet, the PLC cabinet is respectively and electrically connected with the hydraulic oil pump, each hydraulic electromagnetic valve and each intelligent detection robot, the hydraulic oil pump is respectively communicated with the hydraulic brakes (2.3) of the four walking mechanisms (2) and the telescopic oil cylinders I (5.5), II (5.6) and III (5.7) of the two telescopic arm structures (5) through a plurality of hydraulic oil pipes, and the hydraulic oil pump is respectively communicated with a hydraulic brake (2.3) of each walking mechanism (2) and hydraulic oil pipes of a telescopic oil cylinder I (5.5), a telescopic oil cylinder II (5.6) and a telescopic oil cylinder III (5.7) of each telescopic arm structure (5) and is provided with one hydraulic electromagnetic valve.
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| CN201920233327.1U CN209741660U (en) | 2019-02-25 | 2019-02-25 | free positioning intelligent beam bottom inspection maintenance vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109722987A (en) * | 2019-02-25 | 2019-05-07 | 桥致通（武汉）技术有限公司 | A kind of free positioning intelligence beam bottom Inspection and maintenance vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109722987A (en) * | 2019-02-25 | 2019-05-07 | 桥致通（武汉）技术有限公司 | A kind of free positioning intelligence beam bottom Inspection and maintenance vehicle |
| CN109722987B (en) * | 2019-02-25 | 2024-04-26 | 桥致通（武汉）技术有限公司 | Free positioning intelligent beam bottom inspection maintenance vehicle |
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Inventor after: Cai Weidong Inventor after: Tang Liming Inventor after: Ren Yanlong Inventor after: Yan Xuekai Inventor after: Ning Pinghua Inventor after: Yang Yong Inventor after: Yue Xiaogang Inventor after: Hu Huiyong Inventor after: Zhao Jian Inventor after: Luo Shidong Inventor before: Luo Shidong Inventor before: Tang Liming |
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Effective date of registration: 20211025 Address after: 430070 No.4, 22 / F, unit C, block G1, phase II, block K1, Wuhan poly City, 1049 Tuanjie Avenue, Heping Street, Hongshan District, Wuhan City, Hubei Province Patentee after: QIAOZHITONG (WUHAN) TECHNOLOGY Co.,Ltd. Patentee after: HEBEI QIAOZHITONG TECHNOLOGY Co.,Ltd. Patentee after: China Railway Construction Bridge Engineering Bureau Group South Engineering Co.,Ltd. Patentee after: GUANGZHOU MUNICIPAL ENGINEERING DESIGN & RESEARCH INSTITUTE Co.,Ltd. Address before: 430070 No.4, 22 / F, unit C, block G1, phase II, block K1, Wuhan poly City, 1049 Tuanjie Avenue, Heping Street, Hongshan District, Wuhan City, Hubei Province Patentee before: QIAOZHITONG (WUHAN) TECHNOLOGY Co.,Ltd. Patentee before: HEBEI QIAOZHITONG TECHNOLOGY Co.,Ltd. |