CN211713681U - Roller device and suspension roller equipment using same - Google Patents

Abstract

The utility model discloses a gyro wheel device and use its roller equipment that suspends in midair. The roller device comprises a mounting frame, a plurality of driving assemblies and a plurality of limiting assemblies. The suspension roller equipment comprises a roller device and a clamping device, wherein the clamping device is connected with the roller device. The utility model provides a be applied to roller equipment suspends in midair of bridge, this equipment is realized promptly, remove, regulatory function by clamping device, roller device, telescoping device's interact, and the telescoping device makes the regulation between clamping device, the roller device, makes this equipment be applicable to the different bridge of multiple structure. In the equipment, the roller device is in driving connection with the guide rail/pipe fitting of the frame, so that the frame can be stably suspended and moved; the telescopic device is mainly responsible for the telescopic function and can also support the weight of the clamping device; the clamping device can realize the functions of opening, closing and clamping. The device has various application modes, such as transportation, self-walking and the like.

Description

Roller device and suspension roller equipment using same

Technical Field

The utility model relates to an automatic change mechanical equipment field, in particular to roller device and suspend roller equipment in midair.

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.

SUMMERY OF THE UTILITY MODEL

According to one aspect of the utility model, the roller device is provided, which comprises a mounting rack, a plurality of driving components and a plurality of limiting components, wherein the upper end surface of the mounting rack is provided with a mounting platform, the middle part of the mounting rack is provided with a clamping groove for connecting a guide rail/pipe fitting, a plurality of driving component arrays are arranged on the side surface of the mounting rack and pass through the clamping groove, and a plurality of limiting component arrays are arranged on the mounting rack and are positioned below the clamping groove; the plurality of limiting assemblies are in limiting fit with the guide rails/pipe fittings, and the plurality of driving assemblies can drive the guide rails/pipe fittings.

The utility model provides a can be applied to the gyro wheel device in the gyro wheel equipment that suspends in midair of bridge, this device carries out spacing cooperation with guide rail pipe fitting, can drive guide rail pipe fitting to make this device and guide rail pipe fitting take place relative motion.

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 mounting assembly includes a coupler, a second bearing set, and a rotating shaft, the rotating shaft is disposed on the mounting frame through the second bearing set, and the rotating shaft is in driving connection with the fifth driving member through the coupler.

Therefore, the mounting assembly is used for mounting the fifth driving piece, so that the fifth driving piece can be in driving connection with the first roller.

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 roller device and the guide rail/pipe fitting can be adjusted.

According to the utility model discloses a another aspect provides suspension roller equipment, including the gyro wheel device, still include clamping device, clamping device is connected with the gyro wheel device, and clamping device includes the tongs subassembly of backup pad, first driving piece and two subtend settings, is equipped with the slide rail on the terminal surface of backup pad, and two tongs subassemblies are all located on the slide rail through the slider, and the one end and one of them tongs subassembly of first driving piece are connected, and the other end and another one tongs subassembly of first driving piece are connected.

The utility model also provides a be applied to the gyro wheel equipment that suspends in midair of bridge, this equipment is realized promptly, remove, regulatory function by clamping device, roller device, telescoping device's interact, and the telescoping device makes the regulation between clamping device, the roller device, makes this equipment be applicable to the different bridge of multiple structure. In the equipment, the roller device is in driving connection with the guide rail/pipe fitting of the frame, so that the frame can be stably suspended and moved; the telescopic device is mainly responsible for the telescopic function and can also support the weight of the clamping device; the clamping device 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 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 connecting assembly includes a first bearing set, a mounting frame, a connecting plate, and a connecting shaft, the mounting frame is disposed on the connecting plate, the connecting plate is fixed on the first supporting arm, the second driving element is mounted on the mounting frame, the first bearing set is disposed between the mounting frame and the connecting plate, and the connecting shaft is disposed on the first bearing set and is in driving connection with the second driving element.

Therefore, the second driving piece is installed by the connecting piece and can be in driving connection with the clamping hand.

In some embodiments, the two ends of the supporting plate are provided with sensors, and the sensors at the two ends correspond to the two gripper assemblies respectively.

Therefore, in the opening and closing process of the clamping device, the sensor detects the distance in real time, and the opening and closing is stopped when reaching the specified position, namely the gripper assembly touches the touch sensor, and the pushing is automatically stopped.

In some embodiments, the suspension roller device further includes a telescopic device, the clamping device is connected to the roller device through the telescopic device, the telescopic device includes a box, a third driving member, a second supporting arm, and a swing assembly, a fixed end of the third driving member is disposed in the box, a driving end of the third driving member 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 member.

From this, the drive process of telescoping device is controlled by the third driving piece, and the second support arm of third driving piece drive carries out elevating movement to make swing assembly elevating movement, thereby drive clamping device 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 supporting plate.

Therefore, the swing assembly can drive the clamping device to swing, so that the clamping device can adapt to bridges with different angles.

Drawings

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

Fig. 2 is a schematic perspective view of a roller device in the suspension roller apparatus shown in fig. 1.

Fig. 3 is a perspective view illustrating a clamping device in the suspension roller device of fig. 1.

Fig. 4 is a schematic perspective view of a telescopic device in the suspension roller apparatus 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-rail, 12-beam, 2-suspension roller device, 21-clamping device, 211-support plate, 212-first drive piece, 213-gripper assembly, 214-slide block, 215-slide rail, 2131-first support arm, 2132-second drive piece, 2133-connecting piece, 21331-first bearing set, 21332-mounting frame, 21333-connecting plate, 21334-connecting shaft, 2134-clamping hand, 2135-connecting bracket, 2136-transition baffle, 22-telescopic device, 221-box body, 222-third drive piece, 223-second support arm, 2231-swinging groove, 224-swinging assembly, 2241-fourth drive piece, 2242-swinging block, 23-roller device, 231-a mounting frame, 2311-a clamping groove, 2312-a mounting platform, 2313-a support, 232-a driving component, 2321-a fifth driving component, 2322-a mounting component, 23221-a coupler, 23222-a second bearing group, 23223-a rotating shaft, 2323-a first roller, 233-a limiting component, 2331-a sixth driving component, 2332-a connecting rod, 2333-a second roller, 24-a storage battery, 3-a supporting device, 31-a supporting rod, 32-a seventh driving component, 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, including a clamping device 21, a telescoping device 22, and a roller device 23. The clamping device 21 is connected with the roller device 23 through the telescopic device 22, namely the clamping device 21 is arranged at the driving end of the telescopic device 22, and the fixed end of the telescopic device 22 is connected with one end of the roller device 23;

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

the expansion device 22 is configured to drive the clamp device 21 to ascend and descend;

the roller device 23 is configured to be connected to the rail 11/pipe 5 and to drive the suspension roller apparatus 2 into relative motion with the rail 11/pipe 5.

The utility model provides a can be applied to roller equipment 2 that suspends in midair of bridge, this equipment is realized promptly, remove, regulatory function by clamping device 21, roller device 23, telescoping device 22's interact, and the adjustment between clamping device 21, the roller device 23 is made to telescoping device 22, makes this equipment be applicable to the different bridge 0 of multiple structure. In the equipment, the roller device 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 telescopic device 22 is mainly responsible for the telescopic function and is also capable of supporting the weight of the clamping device 21; the clamping device 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.

With reference to fig. 1 and 2, the roller device 23 includes a mounting frame 231, a plurality of driving assemblies 232, and a plurality of limiting assemblies 233, wherein the upper end surface of the mounting frame 231 is provided with a mounting platform 2312 for mounting the telescopic device 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 roller device 23 is as follows: when the suspension roller equipment 2 is in a fixed state, namely the bridge 0 is clamped by the clamping device, the roller device 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 means are released, the roller means 23 drives itself to slide on the rail 11/pipe 5.

With reference to fig. 1 and 2, 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 23221, a second bearing set 23222 and a rotating shaft 23223, the rotating shaft 23223 is disposed on the mounting frame 231 through the second bearing set 23222, and the rotating shaft 23223 is drivingly connected to the fifth driving member 2321 through the coupling 23221. The fifth driving member 2321 is mounted by the mounting member 2322 so as to be drivingly connected to the first roller 2323.

Referring to fig. 1 and 2, 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 roller assembly 23 and the rail 11/pipe 5.

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

Referring to fig. 1 and 3, the clamping device 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 device 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.

Referring to fig. 1 to 3, sensors are disposed at both ends of the supporting plate 211, and the sensors at both ends correspond to the two gripper assemblies 213, respectively. The sensor detects the distance in real time during the opening and closing process of the clamping device 21, and the opening and closing is stopped when the specified position is reached, namely, the pushing is automatically stopped when the gripper assembly 213 touches the touch sensor.

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 3, the grip assembly 213 includes a first support arm 2131, a second drive member 2132, a connecting member 2133, and a catch 2134. The first driving member 212 may be a rotary cylinder, but is not limited to a rotary cylinder, and may be other driving members. The fixed end of the second driving element 2132 is arranged on one side surface of the first supporting arm 2131, the clamping hand 2134 is arranged on the other side surface of the first supporting arm 2131, and the clamping hand 2134 is connected with the driving end of the second driving element 2132 through a connecting element 2133; 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.

With reference to fig. 1 and 3, the connecting assembly 2133 includes a first bearing set 21331, a mounting frame 21332, a connecting plate 21333 and a connecting shaft 21334, the mounting frame 21332 is disposed on the connecting plate 21333, the connecting plate 21333 is fixed on the first supporting arm 2131, the second driving element 2132 is mounted on the mounting frame 21332, the first bearing set 21331 is disposed between the mounting frame 21332 and the connecting plate 21333, and the connecting shaft 21334 is disposed on the first bearing set 21331 and is drivingly connected to the second driving element 2132. The second driver 2132 is attached to the locking member 2133 so as to be drivingly connected to the locking member 2134.

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 4, the telescopic device 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 device 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 that the swinging assembly 224 performs the lifting motion, and the clamping device 21 performs the lifting motion.

Referring to fig. 1 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 device 22, and if a fault occurs, a worker can press the stop button.

Referring to fig. 1 and 4, the second support arm 223 is mainly subjected to a vertical pulling force and a gravity of the lower portion. Therefore, there is a certain requirement for the tensile strength of the second support arm 223, and Q235 steel is selected as the material of the second support arm 223 by comprehensive comparison. The Q235 steel has better comprehensive properties, such as better strength, plasticity and welding performance. In order to be connected to the third drive element 222 and to have a certain supporting effect, a base is provided for the second support arm 223, above which the entire second support arm 223 is connected. The base is convenient to support, and the maintenance and the disassembly are also very convenient.

Referring to fig. 1 and 4, the swing assembly 224 includes a fourth drive member 2241 and a swing block 2242. The fourth driving member 2241 may be a rotary cylinder, but is not limited to the rotary cylinder, and may be other driving members. A swing groove 2231 is formed in one end, away from the third driving piece 222, of the second supporting arm 223, a fourth driving piece 2241 is fixed on the outer wall of one side of the swing groove 2231, and a swing block 2242 is located in the swing groove 2231 and is in driving connection with the fourth driving piece 2241; 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 clamp 21. The swing assembly 224 can drive the clamping device 21 to swing, so that the clamping device 21 can adapt to bridges 0 with different angles.

The suspension roller equipment is applied as follows:

with reference to fig. 6-8, a bridge suspension walking system 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 the bridge are distributed in a square array.

With reference to fig. 6-8, the frame 1 and the suspension roller device 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. This is a preferred embodiment of the system, 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 element 32 is mounted on the frame 1 through the support rod 31, the third roller 33 is arranged at the driving end of the seventh driving element 32, and the third roller 33 is used for contacting with the side surface of the bridge 0, so that the stability of the system is improved.

Referring to fig. 6, the bridge suspension walking system 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 systems such as a welding robot and an anemoscope, and the working platforms may be various manned or unmanned platforms such as a rescue platform and a transportation platform.

In connection with fig. 6-9, to better illustrate the operation of the present system, the illustrated process distinguishes the eight suspended roller devices 2 in roman numerals. 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 system mainly carries out displacement in the following motion states (refer to fig. 9):

(1) the eight gripping devices 21 are now fully gripped, which is now in a stationary state, and the work apparatus or work platform 4 on the mounting frame 231 is ready for work.

(2) At this time, the clamping devices 21 of the first suspension roller device 2 and the fourth suspension roller device 2 are loosened, the telescopic devices 22 descend, and the rest clamping devices 21 all grasp the bridge 0. When the roller device 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 roller device 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 devices 21 of the sixth suspension roller device 2 and the seventh suspension roller device 2 are released, the telescopic device 22 drives the clamping devices 21 to descend, and the roller devices 23 drive the self to move forwards. And when the device moves to the foremost part of the rack 1 and is level with the fifth suspension roller device 2 and the eighth suspension roller device 2, the device stops moving.

(4) The number six suspension roller device 2 and the number seven suspension roller device 2 are re-gripped, and at this time, the eight gripping devices 21 are all gripped. All the roller devices 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 devices 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 devices 21 of the fifth suspension roller device 2 and the eighth suspension roller device 2 are loosened and moved 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 clamping, 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 system is started from a starting switch, in a 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 roller device 23 is detected, the sensing time is T1, and T1 is set to 2 s. When the movement starts, the first and fourth telescoping devices 22 are driven to ascend, the rest clamping devices 21 are still gripped, and the driving ascending time is T2-1 s; when the first clamping device 21 and the fourth clamping device 21 are released, the releasing time T3 is 1 s; then, the first and fourth expansion devices 22 start to drive to descend, and the driving descending time T4 is equal to 1 s; at this time, the roller device 23 starts to move, 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 designated position, driving the clamping device 21 to ascend, and setting the upper body time T6 as 1 s; when the first and fourth clamping devices 21 are gripped, the gripping time T7 is 1 s; finally, the clamping device 21 clamps, and the clamping time T8 is 1 s. The total action time of one movement of the two wheel set telescopic devices 22 is 18.98 s.

The total activation time T1 of the eight roller devices 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 system 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 equipment is applied in the second step:

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

The specific moving process of the system is as follows: a plurality of clamping devices 21 for the suspension roller equipment 2 of the bridge are clamped at the bottom of the bridge 0 and are distributed in a linear arrangement; the pipe fitting 5 is directly placed at the driving end of the roller device 23 for conveying, and the pipe fitting is conveyed below the bridge 0 under the action of the roller devices 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 roller device is characterized by comprising a mounting frame (231), a plurality of driving assemblies (232) and a plurality of limiting assemblies (233), wherein a mounting platform (2312) is arranged on the upper end face of the mounting frame (231), a clamping groove (2311) for connecting a guide rail (11)/pipe fitting (5) is formed in the middle of the mounting frame (231), the plurality of driving assemblies (232) are arranged on the side face of the mounting frame (231) in an array mode and penetrate through the clamping groove (2311), and the plurality of limiting assemblies (233) are arranged on the mounting frame (231) in an array mode and located below the clamping groove (2311); the limiting assemblies (233) are in limiting fit with the guide rail (11)/the pipe fitting (5), and the driving assemblies (232) can drive the guide rail (11)/the pipe fitting (5).

2. The roller device according to claim 1, wherein the driving assembly (232) comprises a fifth driving member (2321), a mounting member (2322) and a first roller (2323), the fifth driving member (2321) is disposed on one side of the mounting frame (231) through the mounting member (2322), the first roller (2323) is disposed 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).

3. The roller device according to claim 2, wherein the mounting assembly (2322) comprises a coupling (23221), a second bearing set (23222) and a rotating shaft (23223), the rotating shaft (23223) is disposed on the mounting frame (231) through the second bearing set (23222), and the rotating shaft (23223) is drivingly connected to the fifth driving member (2321) through the coupling (23221).

4. The roller device according to claim 3, wherein the limiting assembly (233) comprises a plurality of sixth driving members (2331), a connecting rod (2332) and a plurality of second rollers (2333), wherein 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.

5. Suspension roller equipment, comprising a roller device according to any one of claims 1 to 4, and further comprising a clamping device, wherein the clamping device is connected with the roller device, the clamping device comprises a support plate (211), a first driving member (212) and two opposite hand grip assemblies (213), a slide rail (215) is arranged on the 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).

6. The suspended roller device of claim 5, 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), the fixed end of the second driving member (2132) is mounted 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).

7. The suspension roller device according to claim 6, wherein the connecting assembly (2133) comprises a first bearing set (21331), a mounting frame (21332), a connecting plate (21333) and a connecting shaft (21334), the mounting frame (21332) is disposed on the connecting plate (21333), the connecting plate (21333) is fixed on the first support arm (2131), the second driving member (2132) is mounted on the mounting frame (21332), the first bearing set (21331) is disposed between the mounting frame (21332) and the connecting plate (21333), and the connecting shaft (21334) is disposed on the first bearing set (21331) and is drivingly connected with the second driving member (2132).

8. The overhead roller apparatus of claim 7, wherein the supporting plate (211) is provided at both ends thereof with sensors corresponding to the two gripper assemblies (213), respectively.

9. The suspended roller device of claim 5, further comprising a telescopic device, wherein the clamping device is connected with the roller device through the telescopic device, the telescopic device comprises a box body (221), a third driving member (222), a second supporting arm (223) and a swinging assembly (224), a fixed end of the third driving member (222) is arranged in the box body (221), a driving end of the third driving member (222) is connected with the second supporting arm (223), and the swinging assembly (224) is arranged at one end of the second supporting arm (223) far away from the third driving member (222).

10. The suspension roller device according to claim 9, wherein the swing assembly (224) comprises a fourth driving member (2241) and a swing block (2242), one end of the second supporting arm (223) far away from the third driving member (222) is provided with a swing groove (2231), the fourth driving member (2241) is fixed on one side of the outer wall 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 supporting plate (211).

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