CN211596399U - Suspension roller device for bridge and walking equipment and conveying equipment applying same - Google Patents

Abstract

The utility model discloses a suspension roller device for bridge and use its walking equipment, conveying equipment. The suspension roller device comprises a clamping mechanism, a telescopic mechanism and a driving mechanism, wherein the clamping mechanism is arranged at the driving end of the telescopic mechanism, and the driving end of the telescopic mechanism is connected with one end of the driving mechanism. The bridge suspension walking equipment and the bridge suspension conveying equipment both comprise a plurality of suspension roller devices for the bridge. The utility model is suitable for bridges with different structures, and can realize full-automatic work; the utility model has complete functions, unique motion mode, less influence by the limitation of the bottom structure of the bridge, theoretically, the walking stroke of the device is only limited by the length of the bridge; the utility model discloses can use in batches, in now or all having good development prospect in the future.

Description

Suspension roller device for bridge and walking equipment and conveying equipment applying same

Technical Field

The utility model relates to an automatic change mechanical equipment field, in particular to a roller device, bridge suspend in midair walking equipment and bridge suspend conveying equipment in midair for bridge suspends.

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.

SUMMERY OF THE UTILITY MODEL

According to one aspect of the utility model, a suspension roller device for a bridge is provided, which comprises a clamping mechanism, a telescopic mechanism and a driving mechanism, wherein the clamping mechanism is arranged at the driving end of the telescopic mechanism, and the driving end of the telescopic mechanism is connected with one end of the driving mechanism;

the clamping mechanism is configured to secure or float the suspended suspension roller arrangement;

the telescopic mechanism is configured to drive the clamping mechanism to lift;

the drive mechanism is configured to couple to the rail/tube and drive relative movement between the suspended hanger roller assembly and the rail/tube.

The utility model provides a can be applied to roller device suspends in midair of bridge, this device is realized promptly, remove, regulatory function by clamping mechanism, actuating mechanism, telescopic machanism's interact, and telescopic machanism makes the regulation between clamping mechanism, the actuating mechanism, makes this device be applicable to the different bridge of multiple structure. In the device, the driving mechanism is in driving connection with the guide rail/pipe fitting 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 device has various application modes, such as transportation, self-walking and the like.

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 the guide rail/pipe fitting 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 rails/pipe fittings, and the plurality of limiting assemblies are in limiting fit with the guide rails/pipe fittings.

Thus, the driving process of the driving mechanism is as follows: when the suspension roller device is in a fixed state, namely the clamping device clamps the bridge, the driving mechanism drives the guide rail/pipe fitting, and the guide rail/pipe fitting moves forward and backward; when the suspension roller device is in a floating state, i.e. the clamping device is released, the driving mechanism drives itself to slide on the rail/pipe.

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 located in the clamping groove and is in driving connection with the fifth driving member, and the first roller is in fit connection with the guide rail/pipe.

Therefore, the fifth driving piece drives the first roller to rotate, so that the first roller and the guide rail/pipe fitting are displaced relatively.

In some embodiments, the limiting assembly includes a plurality of sixth driving members, a connecting rod, and a plurality of second rollers, fixed ends of the plurality of sixth driving members are disposed 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/pipe fitting in a matching manner.

Therefore, the sixth driving piece drives the second roller to lift, and the friction force between the driving mechanism and the guide rail/pipe fitting can be adjusted.

According to the utility model discloses an aspect still provides the bridge suspends walking equipment in midair, including a plurality of gyro wheel devices that suspend in midair that are used for the bridge, still include the frame, be equipped with a plurality of guide rails/pipe fittings in the frame, a plurality of one end that suspend in midair gyro wheel device respectively with a plurality of guide rails/pipe fittings sliding fit, a plurality of gyro wheel device square array that suspend in midair that are used for the bridge distribute.

The equipment mainly comprises a rack and a plurality of suspension roller devices, the equipment realizes grasping and moving functions through the interaction of a plurality of clamping mechanisms and a plurality of driving mechanisms, and the 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, a driving mechanism is in driving connection with a guide rail/pipe fitting of a 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 part of clamping mechanisms of the suspension roller devices tightly grasp a bridge and fix the equipment; the clamping mechanism of the other part of the suspension roller device is loosened, and the driving mechanism of the other part of the suspension roller device works to enable the whole equipment to walk on the guide rail/pipe fitting, and the other part of the suspension roller device is clamped to fix the bridge after completing displacement of one section; the driving mechanisms of all the suspension roller devices drive the rack, and the rack and the suspension roller devices realize relative displacement; the clamping mechanism of the part of the suspension roller device which is fixed is loosened, and the driving mechanism works to complete the displacement on the guide rail/pipe fitting; the equipment alternately and circularly works in sequence, so that the whole equipment realizes the walking function.

According to the utility model discloses an aspect still provides the bridge and suspends conveying equipment in midair, including a plurality of roller device that suspend in midair that are used for the bridge, a plurality of clamping mechanism that are used for the roller device that suspends in midair of bridge press from both sides tightly in the bridge bottom, and a plurality of roller device linear arrangement that suspend in midair that are used for the bridge distribute.

The equipment mainly comprises a plurality of suspension roller devices, the equipment realizes grasping and moving functions through the interaction of a plurality of clamping mechanisms and a plurality of driving mechanisms, and the telescopic mechanisms are used for adjusting the clamping mechanisms and the driving mechanisms, so that the equipment is suitable for bridges with different structures. In the equipment, a driving mechanism is in driving connection with a guide rail/pipe fitting of a 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 concrete moving process of the device is that a plurality of clamping mechanisms of the suspension roller devices for the bridge are clamped at the bottom of the bridge and are linearly arranged and distributed. The pipe fitting is directly placed at the driving end of the driving mechanism to be conveyed, and the pipe fitting is conveyed below the bridge under the action of the driving mechanisms, so that the road surface traffic of the bridge cannot be occupied.

Drawings

Fig. 1 is a schematic perspective view illustrating a suspension roller device according to an embodiment of the invention in fig. 1.

Fig. 2 is a perspective view illustrating a clamping mechanism of the suspension roller device shown in fig. 1.

Fig. 3 is a schematic perspective view of a telescopic mechanism in the suspension roller device shown in fig. 1.

Fig. 4 is a schematic perspective view of a driving mechanism in the suspension roller device shown in fig. 1.

Fig. 5 shows an application of the suspension roller device of the present invention: the three-dimensional structure schematic diagram of the bridge suspension walking equipment.

Fig. 6 is a schematic top view of the bridge-suspension traveling apparatus shown in fig. 5.

Fig. 7 is a side view schematically showing a state of the bridge-suspension walking apparatus shown in fig. 5.

Fig. 8 is a side view schematically showing another state of the bridge-suspension walking apparatus shown in fig. 5.

Fig. 9 is a control flowchart of the bridge-suspension traveling apparatus shown in fig. 5.

Fig. 10 is a sequence view of moving parts of the bridge-suspension walking device shown in fig. 5.

Fig. 11 shows a second application of the suspension roller device of the present invention: the bridge suspension transportation equipment is in a schematic three-dimensional structure.

Reference numbers in the figures: 0-bridge, 1-frame, 11-guide rail, 12-beam, 2-suspension roller device, 21-clamping mechanism, 211-supporting plate, 212-first driving piece, 213-gripper assembly, 214-sliding block, 215-sliding rail, 2131-first supporting arm, 2132-second driving piece, 2133-connecting piece, 2134-clamping hand, 2135-connecting bracket, 2136-transition baffle, 22-telescopic mechanism, 221-box body, 222-third driving piece, 223-second supporting arm, 2231-swinging groove, 224-swinging assembly, 2241-fourth driving piece, 2242-swinging block, 23-driving mechanism, 231-mounting frame, 2311-clamping groove, 2312-mounting platform, 2313-supporting column, 232-driving assembly, 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, 4-a working instrument or a working platform and 5-a pipe fitting.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1 schematically shows a suspension roller device 2 for a bridge according to an embodiment of the present invention, which includes a clamping mechanism 21, a telescopic mechanism 22 and a driving mechanism 23, wherein the clamping mechanism 21 is disposed at a driving end of the telescopic mechanism 22, and a driving end of the telescopic mechanism 22 is connected to one end of the driving mechanism 23;

the clamping mechanism 21 is configured to fix or float the suspension roller device 2;

the telescopic mechanism 22 is configured to drive the clamp mechanism 21 to ascend and descend;

the drive mechanism 23 is arranged in connection with the rail 11/tube 5 and drives the suspension trolley device 2 and the rail 11/tube 5 in a relative movement.

The utility model provides a can be applied to roller device 2 that suspends in midair of bridge, this device is realized promptly, remove, regulatory function by clamping mechanism 21, actuating mechanism 23, telescopic machanism 22's interact, and telescopic machanism 22 makes the regulation between clamping mechanism 21, the actuating mechanism 23, makes this device be applicable to the different bridge 0 of multiple structure. In the device, the driving mechanism 23 is in driving connection with the guide rail 11/pipe fitting 5 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 device has various application modes, such as transportation, self-walking and the like.

Referring to fig. 1 and 2, 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. 1 and 2, the gripper assembly 213 includes a first support arm 2131, a second driving member 2132, a connecting member 2133, and a locking arm 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. 1 and 3, 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. 1 and 3, 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. 1 and 3, 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; the swing groove 2231 is internally provided with an anti-collision pad, 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. 1 and 4, the driving mechanism 23 includes 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 portion of the mounting frame 231 is provided with a slot 2311 for connecting the guide rail 11/the pipe 5, the plurality of driving assemblies 232 are arranged on the side surface of the mounting frame 231 and penetrate through the slot 2311, and the plurality of limiting assemblies 233 are arranged on the mounting frame 231 and below the slot 2311; the driving assemblies 232 are in driving fit with the guide rail 11/pipe fitting 5, and the limiting assemblies 233 are in limiting fit with the guide rail 11/pipe fitting 5.

The driving process of the present driving mechanism 23 is as follows: when the suspension roller device 2 is in a fixed state, namely the clamping device clamps the bridge 0, the driving mechanism 23 drives the guide rail 11/the pipe fitting 5, and the guide rail 11/the pipe fitting 5 moves forward and backward; when the suspension roller device 2 is in a floating state, i.e. the gripping device is released, the driving mechanism 23 drives itself to slide on the guide rail 11/pipe 5.

With reference to fig. 1 and 4, 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 tube 5. The fifth driving member 2321 drives the first roller 2323 to rotate, so that the guide rail 11/pipe 5 is displaced relatively. The mounting assembly 2322 includes a coupling, a shaft, a bearing, a bolt, etc.

Referring to fig. 1 and 4, 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 disposed on the two support posts 2313 of the mounting frame 231, the driving ends of the two sixth driving members 2331 are both 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/pipe fitting 5 in a matching manner. The sixth driving member 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/pipe 5.

With reference to fig. 1 and 4, the hanging roller device 2 further includes a battery 24, and the battery 24 is disposed on the mounting platform 2312.

The suspension roller device is applied as follows:

with reference to fig. 6-8, a bridge suspension walking device is provided, which includes a plurality of suspension roller devices 2 for a bridge, and further includes a frame 1, wherein the frame 1 is provided with a plurality of guide rails 11, one end of each of the plurality of suspension roller devices 2 is slidably engaged with the plurality of guide rails 11, and the plurality of suspension roller devices 2 for a bridge are distributed in a square array.

With reference to fig. 6-8, the frame 1 and the suspension roller assemblies 2 are distributed as follows: four guide rails 11 are arranged on the rack 1, three beams 12 are further arranged on the rack 1, the three beams 12 are located at two ends and a middle end of each guide rail 11 and are vertically distributed with the guide rails 11, the four guide rails 11 are distributed in parallel, eight suspension roller devices 2 are arranged, and each guide rail 11 is in driving connection with the two suspension roller 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. 6-8, 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. 6, the bridge suspension walking device may further include one or more working instruments or working platforms 4, the working instruments or working platforms 4 are disposed on the frame 1, the working instruments may be various automatic or manual working devices such as welding robots and anemometers, and the working platforms may be various manned or unmanned platforms such as rescue platforms and transportation platforms.

In order to better illustrate the operation of the present apparatus/system, the illustrated process distinguishes the eight suspension roller assemblies 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 suspension roller device 2 and the fourth suspension roller device 2 are released, the telescopic mechanism 22 descends, and the rest clamping mechanisms 21 all grasp the bridge 0. When the driving mechanism 23 is started, the first suspension roller device 2 and the fourth suspension roller device 2 start to move forward and move to the middle position, and the first suspension roller device 2 and the fourth suspension roller device 2 are flush with the second suspension roller device 2 and the third suspension roller device 2, the driving mechanism 23 stops working.

(3) The first suspension roller device 2 and the fourth suspension roller device 2 grasp the bridge 0 again, at this time, the clamping mechanisms 21 of the sixth suspension roller device 2 and the seventh suspension roller device 2 are released, the telescopic mechanism 22 drives the clamping mechanisms 21 to descend, and the driving mechanism 23 drives the first suspension roller device 2 and the fourth suspension roller device 2 to move forwards. When the suspension roller device moves to the foremost part of the frame 1 and is level with the fifth suspension roller device 2 and the eighth suspension roller device 2, the movement is stopped.

(4) The sixth suspension roller device 2 and the seventh suspension roller device 2 are re-gripped, and at this time, all eight gripping mechanisms 21 are gripped. 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 suspension roller devices 2 move to the rear end of the frame 1, the movement is stopped. At the moment, the five-eight suspension roller device 2 is in the middle position of the frame 1.

(5) The clamping mechanisms 21 of the second suspension roller device 2 and the third suspension roller device 2 are loosened and moved to the middle position of the frame 1. And then re-grasping.

(6) The clamping mechanism 21 of the fifth suspension roller device 2 and the eighth suspension roller device 2 is released and moves forwards, when the fifth suspension roller device and the eighth suspension roller device 2 move to the foremost end of the frame 1 to stop moving and to repeat grasping, 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 suspension roller device is applied to the following two aspects:

with reference to fig. 11, the second application provides a bridge suspension conveying apparatus, which includes a plurality of suspension roller devices 2 for a bridge, a plurality of clamping mechanisms 21 of the suspension roller devices 2 for the bridge are clamped at the bottom of the bridge 0, and the plurality of suspension roller devices 2 for the bridge are arranged in a straight line. The number of the suspension roller devices 2 is distributed according to the length of the bridge 0, and if the bridge 0 is long, a large number of suspension roller devices 2 are distributed, and the pipe 5 can be prevented from being conveyed 23 on the driving mechanisms of the suspension roller devices 2 for the bridge.

The specific moving process of the equipment is as follows: a plurality of clamping mechanisms 21 of the suspension roller devices 2 for the bridge are clamped at the bottom of the bridge 0 and are linearly arranged and distributed; the pipe fitting 5 is directly placed at the driving end of the driving mechanism 23 for conveying, and the pipe fitting is conveyed below the bridge 0 under the action of the driving mechanisms 23, so that the road surface traffic of the bridge 0 cannot be occupied.

What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.

Claims (10)

1. The suspension roller device for the bridge is characterized by comprising a clamping mechanism (21), a telescopic mechanism (22) and a driving mechanism (23), wherein the clamping mechanism (21) is arranged at the driving end of the telescopic mechanism (22), and the driving end of the telescopic mechanism (22) is connected with one end of the driving mechanism (23);

the clamping mechanism (21) is configured to fix or float the suspended suspension roller arrangement (2);

the telescopic mechanism (22) is configured to drive the clamping mechanism (21) to lift;

the driving mechanism (23) is configured to be connected with the guide rail (11)/the pipe (5) and drive the suspension roller device (2) and the guide rail (11)/the pipe (5) to perform relative movement.

2. The suspension roller device for the bridge 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 of the hand grip assemblies (213), and the other end of the first driving member (212) is connected with the other hand grip assembly (213).

3. The suspension roller device for the bridge, 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 suspension roller device for bridge 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 component (224), a fixed end of the third driving member (222) is disposed in the box body (221), a driving end of the third driving member (222) is connected to the second supporting arm (223), and the swing component (224) is disposed on an end of the second supporting arm (223) far from the third driving member (222).

5. The suspension roller device for the bridge, according to claim 4, characterized in that the swing assembly (224) includes a fourth driving member (2241) and a swing block (2242), the 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 suspension roller device for the bridge, 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)/the pipe (5), a plurality of driving assemblies (232) are arranged on the side surface of the mounting frame (231) in an array manner and pass through the clamping groove (2311), and a plurality of limiting assemblies (233) are arranged on the mounting frame (231) in an array manner and are positioned below the clamping groove (2311); the driving assemblies (232) are in driving fit with the guide rail (11)/the pipe fitting (5), and the limiting assemblies (233) are in limiting fit with the guide rail (11)/the pipe fitting (5).

7. The suspension roller device for bridge 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 at one side of the mounting frame (231) through the mounting member (2322), the first roller (2323) is located in the slot (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)/the pipe (5).

8. The suspension roller device for a bridge 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)/the pipe (5) in a matching manner.

9. The bridge suspension walking equipment comprises a plurality of suspension roller devices (2) for the bridge according to any one of claims 1 to 8, and is characterized by further comprising a rack (1), wherein the rack (1) is provided with a plurality of guide rails (11)/pipe fittings (5), one ends of the suspension roller devices (2) are respectively in sliding fit with the guide rails (11)/pipe fittings (5), and the suspension roller devices (2) for the bridge are distributed in a square array manner.

10. Bridge suspension conveyor equipment, comprising a plurality of suspension roller devices (2) for bridges according to any one of claims 1 to 8, wherein a plurality of clamping mechanisms (21) of the suspension roller devices (2) for bridges are clamped at the bottom of the bridge, and a plurality of suspension roller devices (2) for bridges are arranged in a straight line.

Images