CN220266295U - Suspension travelling mechanism for detecting U ribs of steel box girder - Google Patents

Abstract

The utility model discloses a suspension travelling mechanism for detecting a U rib of a steel box girder; comprises a driving component, a driven component and a mounting frame; the driving assembly and the driven assembly are arranged on the mounting frame and used for driving the mounting frame to walk along the guide rail suspended in the steel box girder side by side, the driving assembly is enclosed at the lower part of the inner guide rail, and the driven assembly is enclosed at the lower part of the outer guide rail. According to the utility model, the driving component and the driven component are respectively enclosed at the lower parts of the inner guide rail and the outer guide rail, so that the mounting frame is driven to walk on the guide rail, and the walking stability of the suspension walking mechanism can be improved; the mounting bracket can provide stable fixed force for the arm, and when the arm rotates, can avoid suspending running gear's rocking, avoid because suspending running gear's rocking and make the position that corresponds the U rib inaccurate and influence the detection to the U rib.

Description

Suspension travelling mechanism for detecting U ribs of steel box girder

Technical Field

The utility model relates to the technical field of steel box girder U rib detection, in particular to a suspension travelling mechanism for steel box girder U rib detection.

Background

The steel box girder is a common structural form of a large-span bridge. The steel box girder is formed by connecting a top plate, a bottom plate, a web plate, a diaphragm plate, a longitudinal diaphragm plate, U ribs and the like in a full welding mode. The advantages of light weight, high strength, good integrity and the like are widely applied to cable-stayed bridges, suspension bridges and continuous bridges. With the continuous development of bridge engineering industry, the girder often appears in bridge construction as a girder of a large-span bridge. The steel box girder has the problems of coating degradation, steel plate corrosion, fatigue cracking and other diseases caused by environmental erosion and repeated action of various loads in the use process. If not timely solved, the problems will cause the bridge components to fail, and if serious, the bridge will collapse.

In the prior art, when a guide rail is arranged in a steel box girder, a detection mechanism is driven by a suspension robot to detect the U rib, the suspension robot has poor walking stability, and when a mechanical arm rotates, the suspension robot is easy to shake to influence the detection of the U rib.

Disclosure of Invention

The utility model mainly solves the technical problem of providing a suspension travelling mechanism for detecting the U rib of a steel box girder, which solves the problems that the travelling stability of a suspension robot is poor, and the suspension robot is easy to shake and influence the detection of the U rib when a mechanical arm rotates.

In order to solve the technical problems, the utility model adopts a technical scheme that the utility model provides a suspension travelling mechanism for detecting the U rib of a steel box girder, which comprises a driving component, a driven component and a mounting frame; the driving assembly and the driven assembly are arranged on the mounting frame and used for driving the mounting frame to walk along the guide rail suspended in the steel box girder side by side, the driving assembly is enclosed at the lower part of the inner guide rail, and the driven assembly is enclosed at the lower part of the outer guide rail.

Preferably, the driving assembly and the driven assembly are both two, and the driving assembly and the driven assembly are arranged front and back.

Preferably, the driving assembly comprises a driving frame, a driving piece and a plurality of pairs of driving wheels which are vertically arranged, the driving frame is arranged at the upper end of the inner side of the mounting frame, the driving wheels are arranged on the driving frame, the plurality of pairs of driving wheels are enclosed at the lower part of the inner side guide rail, and the driving piece is connected with one driving wheel; the driven assembly comprises a driven frame and a plurality of pairs of driven wheels which are vertically arranged, the driven frame is connected with the mounting frame, the driven wheels are arranged on the driven frame, and the driven wheels are enclosed at the lower parts of the outer guide rails.

Preferably, the driven assembly further comprises an adjusting part, the adjusting part comprises a connecting rod and a supporting rod, the connecting rod is transversely arranged, the supporting rod is vertically arranged, the inner end of the connecting rod is rotationally connected to the lower portion of the mounting frame, the outer end of the connecting rod is connected with the lower end of the supporting rod, the driven frame is arranged at the upper end of the supporting rod, and the height of the supporting rod is matched with the height of the mounting frame.

Preferably, the suspension travelling mechanism further comprises a guide assembly, the guide assembly is correspondingly arranged on the driving assembly or the driven assembly, the guide assembly comprises two pairs of guide wheels which are vertically arranged, one pair of guide wheels is arranged at the front part of the driving assembly or the driven assembly, and the other pair of guide wheels is arranged at the rear part of the driving assembly or the driven assembly.

Preferably, the mounting frame further comprises a lifting adjusting assembly, and the lifting adjusting assembly is used for setting the mechanical arm and adjusting the upper position and the lower position of the mechanical arm.

Preferably, the lifting adjusting assembly comprises a fixing frame, a lifting frame, an adjusting power piece, an adjusting screw and an adjusting slide block, wherein the fixing frame is arranged on the fixing frame, one end of the adjusting screw is rotationally connected with the fixing frame, the other end of the adjusting screw is rotationally connected with the fixing frame, the adjusting slide block is in threaded connection with the adjusting screw, an output shaft of the adjusting power piece is connected with the adjusting screw, and the lifting frame is connected with the adjusting slide block.

Preferably, the fixing frame comprises two pairs of fixing legs vertically arranged and a pair of fixing beams arranged between the fixing legs, a fixing plate is arranged on the upper side of the center position of the fixing beams, the upper end of the adjusting screw is rotationally connected with the fixing plate, the lower part of the adjusting screw is rotationally connected with the installation underframe, and the lower end of the adjusting screw penetrates through the installation underframe and is connected with the output shaft of the adjusting power piece.

Preferably, the mounting frame comprises a mounting guide post, a linear bearing is arranged on the mounting guide post, the linear bearing can vertically move relative to the mounting guide post, lifting plates extend out of four corners of the lifting frame, and the lifting plates are fixedly connected with the corresponding linear bearings respectively.

Preferably, the adjusting slide block is extended inwards to form an extending plate, and the extending plate is connected to the middle part of the lifting frame.

The beneficial effects of the utility model are as follows: according to the utility model, the driving component and the driven component are respectively enclosed at the lower parts of the inner guide rail and the outer guide rail, so that the mounting frame is driven to walk on the guide rail, and the walking stability of the suspension walking mechanism can be improved; the mounting bracket can provide stable fixed force for the arm, and when the arm rotates, can avoid suspending running gear's rocking, avoid because suspending running gear's rocking and make the position that corresponds the U rib inaccurate and influence the detection to the U rib.

Drawings

FIG. 1 is a schematic view of the use of a steel box girder according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of an installed state according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of a structure according to an embodiment of the utility model;

FIG. 4 is a schematic diagram of a driving assembly according to an embodiment of the present utility model;

FIG. 5 is a schematic structural view of a driven assembly according to an embodiment of the present utility model;

FIG. 6 is a schematic view of a mounting bracket according to an embodiment of the utility model;

FIG. 7 is a schematic view of the structure of the bottom of the mounting bracket according to one embodiment of the utility model;

FIG. 8 is a schematic view of a mechanical arm according to an embodiment of the utility model;

FIG. 9 is a schematic view of the structure of an extension arm according to an embodiment of the present utility model;

FIG. 10 is a schematic view of the structure of the bottom of the extension arm according to one embodiment of the utility model;

fig. 11 is a schematic structural view of a mechanical sub-arm according to an embodiment of the present utility model.

Detailed Description

In order that the utility model may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

For the description of the present utility model, the labels "front", "rear", "up", "down", "left" and "right" shown in fig. 3 are used for non-limiting purposes to facilitate understanding of this embodiment and are not intended to limit the present utility model. Wherein, the front-back direction represents the longitudinal direction, the left-right direction represents the transverse direction, and the up-down direction represents the vertical direction.

Fig. 1-11 show an embodiment of the steel box girder U-rib detection device of the present utility model, which comprises a suspension travelling mechanism 1, a mechanical arm 2 and a detection mechanism 3, wherein the suspension travelling mechanism 1 can travel along a guide rail 4 suspended side by side in a steel box girder 5, the mechanical arm 2 is arranged on the suspension travelling mechanism 1 and is used for driving the detection mechanism 3 to move to a set position, and the detection mechanism 3 is arranged at the end part of the mechanical arm 2 and is used for detecting the U-rib in the steel box girder 5.

In the present utility model, the mechanical arm 2 is mounted by the suspension traveling mechanism 1, the detection mechanism 3 is mounted by the mechanical arm 2, and the suspension traveling mechanism 1 travels along the guide rail 4 suspended side by side in the steel box girder 5, and the U-rib is detected in the steel box girder 5, whereby the detection efficiency of the steel box girder 5 can be greatly improved.

Preferably, the cross section of the guide rail 4 is i-shaped, and two guide rails 4 are arranged side by side, namely an inner guide rail 41 and an outer guide rail 42. The suspension travelling mechanism 1 comprises a driving assembly 11, a driven assembly 12 and a mounting frame 13; the driving assembly 11 and the driven assembly 12 are arranged on the mounting frame 13 and used for driving the mounting frame 13 to walk along the guide rail 4, and the mechanical arm 2 is arranged on the mounting frame 13. The two driving assemblies 11 are arranged, the two driving assemblies 11 are arranged around the lower part of the inner guide rail 41, the two driven assemblies 12 are arranged around the two driven assemblies 12, and the two driven assemblies 12 are arranged around the lower part of the outer guide rail 42. The driving component 11 and the driven component 12 are respectively enclosed at the lower parts of the inner guide rail 41 and the outer guide rail 42, and drive the mounting frame 13 to walk on the guide rail 4, and the mounting frame 13 can provide stable fixing force for the mechanical arm 2, so that the walking stability of the suspension walking mechanism 1 can be improved. When the mechanical arm 2 rotates, the swinging of the suspension travelling mechanism 1 can be avoided, and the influence on the detection of the U ribs caused by the inaccuracy of the positions of the corresponding U ribs due to the swinging of the suspension travelling mechanism 1 is avoided.

Preferably, the driving assembly 11 includes a driving frame 111, a driving member 112, and a plurality of pairs of driving wheels 113 arranged vertically, the driving frame 111 is disposed at an upper end of the inner side of the mounting frame 13, the driving wheels 113 are disposed on the driving frame 111, the plurality of pairs of driving wheels 113 are enclosed at a lower portion of the inner rail 41, the driving member 112 is connected with one driving wheel 113 to drive the driving wheel 113 to rotate, and the other driving wheels 113 serve as follow-up driving wheels 113.

Preferably, the driving frame 111 includes a driving base 1111 disposed transversely, and driving side plates 1112 disposed vertically on two sides of the driving base 1111, and the driving wheels 113 are disposed in two pairs and are respectively located on the left and right sides of the inner rail 41. The inner rail 41 includes a lower leg portion and a middle waist portion, and one of the pair of driving wheels 113 is located on the upper side of the leg portion of the inner rail 41, the other driving wheel 113 is located on the lower side of the leg portion of the inner rail 41, and the leg portion of the inner rail 41 supports the upper driving wheel 113.

Preferably, the driving member 112 is disposed inside the inner driving side plate 1112, and the driving member 112 is connected to the driving wheel 113 at the upper portion of the inner side. By this means, the driving member 112 is arranged between the inner rail 41 and the outer rail 42, which can reduce the space occupied by the driving member 112 and avoid the collision of the driving member 112 with other mechanisms in the steel box girder 5.

Preferably, the driven assembly 12 includes a driven frame 121 and a plurality of pairs of driven wheels 122 arranged in a vertical arrangement, the driven frame 121 may be disposed at an outer upper end of the mounting frame 13, the driven wheels 122 are disposed on the driven frame 121, and the driven wheels 122 of the plurality of pairs are enclosed in a lower portion of the outer guide rail 42.

Preferably, the driven frame 121 includes a driven bottom plate 1211 disposed transversely, and driven side plates 1212 disposed vertically on both sides of the driven bottom plate 1211, and the driven wheels 122 are disposed in two pairs, respectively disposed on the left and right sides of the outer rail 42. Of the pair of driven wheels 122, one driven wheel 122 is located on the upper side of the leg of the outer rail 42, the other driven wheel 122 is located on the lower side of the leg of the outer rail 42, and the leg of the outer rail 42 supports the driven wheel 122 on the upper side.

Preferably, the driven component 12 further includes an adjusting member 123, the adjusting member 123 includes a connecting rod 1231 disposed transversely and a supporting rod 1232 disposed vertically, an inner end of the connecting rod 1231 is rotatably connected to a lower portion of the mounting frame 13, an outer end of the connecting rod 1231 is connected to a lower end of the supporting rod 1232, and the driven frame 121 is disposed at an upper end of the supporting rod 1232. The height of the support bar 1232 is adapted to the height of the mounting bracket 13 such that the driven assembly 12 and the driving assembly 11 are located on the same plane. When the suspension running mechanism 1 turns, the connection with the rotation of the mounting frame 13 through the connecting rod 1231 can avoid the clamping of the suspension running mechanism 1 during turning, and improve the fluency of the suspension running mechanism 1 during turning running. Through setting up of regulating part 123, can also improve the convenience when suspending running gear 1 installation, can install drive assembly 11 on inboard guide rail 41 earlier when the installation, when installing driven assembly 12, the rotation angle of connecting rod 1231 of convenient adjustment makes driven assembly 12 enclose the lower part of establishing at outside guide rail 42 that driven wheel 122 corresponds. The installation of the suspension travelling mechanism 1 is facilitated.

Further, the suspension walking mechanism 1 further comprises a guiding assembly 15, and the guiding assembly 15 is correspondingly arranged on the driving assembly 11 or the driven assembly 12 for guiding. The suspension running mechanism 1 is prevented from slipping off the guide rail 4.

Preferably, the guide assembly 15 includes two pairs of guide wheels 151 disposed vertically, one pair of guide wheels 151 disposed at the front of the driving assembly 11 or the driven assembly 12, and the other pair of guide wheels 151 disposed at the rear of the driving assembly 11 or the driven assembly 12. Of the pair of guide wheels 151, the left guide wheel 151 abuts against the outer side of the leg side of the guide rail 4, and the right guide wheel 151 abuts against the inner side of the leg side of the guide rail 4. This prevents the suspension travel mechanism 1 from slipping off the guide rail 4.

Preferably, the mounting frame 13 includes a mounting bottom frame 131, a plurality of mounting guide posts 132, and a mounting beam 133, wherein the lower ends of the mounting guide posts 132 are disposed at corners of the mounting bottom frame 131, and the mounting beam 133 is disposed at an upper end of the mounting guide posts 132.

The installation underframe 131 is square, and the installation guide pillar 132 is provided with four, is located the four angles department of installation underframe 131 respectively. The mounting beams 133 are provided in two, one mounting beam 133 is provided between the two right mounting posts 132, and the other mounting beam 133 is provided between the two left mounting posts 132.

The robot arm 2 may be directly provided on the mounting base frame 131.

Further, the mounting frame 13 includes a lifting adjustment assembly 14, the mechanical arm 2 is disposed on the lifting adjustment assembly 14, and the lifting adjustment assembly 14 is used for adjusting the up-down position of the mechanical arm 2. The lifting adjusting assembly 14 may be a telescopic rod or the like.

Preferably, the lifting adjusting assembly 14 comprises a fixing frame 141, a lifting frame 142, an adjusting power piece 143, an adjusting screw 144 and an adjusting slide block 145, the fixing frame 141 is arranged on the mounting base frame 131, the fixing frame 141 is used for setting the adjusting screw 144, one end of the adjusting screw 144 is rotationally connected with the fixing frame 141, the other end of the adjusting screw 144 is rotationally connected with the mounting base frame 131, the adjusting slide block 145 is in threaded connection with the adjusting screw 144, an output shaft of the adjusting power piece 143 is connected with the adjusting screw 144 and used for driving the adjusting screw 144 to rotate, and the adjusting screw 144 rotates to enable the adjusting slide block 145 to vertically move. The lifting frame 142 is connected with the adjusting slide block 145, the adjusting slide block 145 drives the lifting frame 142 to move vertically, and the mechanical arm 2 is arranged on the lifting frame 142. The up-down position of the mechanical arm 2 can be adjusted through the lifting adjusting assembly 14 so as to adapt to different detection positions.

Preferably, the fixing frame 141 includes two pairs of fixing legs 1411 vertically arranged, a fixing beam 1412 arranged between the pair of fixing legs 1411, a fixing plate 1413 arranged on the upper side of the center of the fixing beam 1412, a bearing rotatably connected with the fixing plate 1413 by the upper end of the adjusting screw 144, a bearing rotatably connected with the mounting bottom frame 131 by the lower part of the adjusting screw 144, a lower end of the adjusting screw 144 penetrating through the mounting bottom frame 131, a driving motor or a hydraulic motor for adjusting the power member 143, and an output shaft of the adjusting power member 143 connected with the lower end of the adjusting screw 144 by a synchronous belt or a gear.

Preferably, the mounting guide posts 132 are provided with linear bearings 146, the linear bearings 146 can move vertically relative to the mounting guide posts 132, lifting plates 1421 extend from four corners of the lifting frame 142, and the lifting plates 1421 are fixedly connected with the corresponding linear bearings 146, so that the lifting frame 142 can be guided by the mounting guide posts 132, and the lifting frame 142 can move vertically stably relative to the mounting guide posts 132.

Preferably, the adjusting slider 145 extends inward to form an extending plate 1451, and the extending plate 1451 is connected to the middle of the lifting frame 142, so that the width of the lifting frame 142 in the transverse direction can be reduced, and interference with the mounting bottom frame 131 can be avoided.

The mechanical arm 2 includes a support plate 21, an extension arm 22, a first sub-arm 23, a second sub-arm 24, a third sub-arm 25, a first rotating assembly 221 for driving the extension arm 22 to rotate, a first swinging assembly 231 for driving the first sub-arm 23 to swing, a second swinging assembly 241 for driving the second sub-arm 24 to swing, a second rotating assembly 243 for driving the third sub-arm 25 to rotate, a third swinging assembly 251 for driving the third sub-arm 24 to swing, and a third rotating assembly 253 disposed on the third sub-arm 25.

The end of the robot arm 2 adjacent to the support plate 21 is regarded as a head end, and the end distant from the support plate 21 is regarded as a tip end. The supporting plate 21 is arranged on the lifting frame 142, the first rotating assembly 221 is arranged on the supporting plate 21, the head end of the extension arm 22 is connected with the first rotating assembly 221, the first swinging assembly 231 is arranged at the tail end of the extension arm 22, the head end of the second sub-arm 23 is hinged with the second swinging assembly 241, the tail end of the second sub-arm 23 is provided with the second rotating assembly 243, the second rotating assembly 243 is connected with the third swinging assembly 251, the head end of the third sub-arm 25 is hinged with the third swinging assembly 251, the third rotating assembly 251 is arranged at the tail end of the third sub-arm 25, and the detection mechanism 3 is arranged at the tail end of the third sub-arm 25.

The first sub-arm 23 can be driven to rotate by the first rotating member, the second sub-arm 24 connected with the first sub-arm 23, and the third sub-arm 25 connected with the second sub-arm 24 can rotate, so that the U-shaped rib structure can be applied to U-shaped ribs at different positions. The first swing assembly 231 can drive the first sub-arm 23 to swing, the second swing assembly 241 can drive the second sub-arm 24 to swing, and the second rotating assembly 243 can drive the third sub-arm 25 to rotate. The third rotating assembly 253 can drive the detection mechanism 3 to rotate, so that the position of the detection mechanism 3 arranged at the tail end of the third sub-arm 25 can be conveniently adjusted.

The first rotating assembly 221 includes a first sub-fixing member 2211, a first sub-rotating member 2212 and a first sub-driving member 2213, the first sub-fixing member 2211 is fixedly disposed at an upper end of the supporting plate 21, the first sub-rotating member 2212 is disposed in the first sub-fixing member 2211, the first sub-rotating member 2212 is rotatably connected with the first sub-fixing member 2211 through a bearing, and the first sub-driving member 2213 is connected with the first sub-rotating member 2212, and is used for driving the first sub-rotating member 2212 to rotate relative to the first sub-fixing member 2211. The central shaft of the first sub-rotating member 2212 extends to the lower side of the first sub-fixing member 2211, and is connected to the first sub-driving member 2213 through a connection form of a turbine worm, and the first sub-driving member 2213 may be a motor.

The first end of the extension arm 22 is disposed on the first rotating member, the first swing assembly 231 is disposed at the end of the extension arm 22, the end of the extension arm 22 is provided with a first swing seat 232, and the first swing seat 232 is provided with the first swing assembly 231. The first swing seat 232 includes a first sub-board 2321, a first left side board 2322 and a first right side board 2323 on two sides of the first sub-board 2321, the first swing assembly 231 includes a first swing sub-component 2311 and a first swing driving component 2312, the first swing sub-component 2311 is rotationally connected between the first left side board 2322 and the first right side board 2323, the first swing driving component 2312 is disposed on the outer side of the first left side board 2322 or the first right side board 2323, and an output shaft of the first swing driving component 2312 is connected with the first swing sub-component 2311 to drive the first swing sub-component 2311 to swing relative to the first swing seat 232.

Hereinafter, the structures of the swing assembly and the swing seat are similar to those of the first swing assembly 231 and the first swing seat 232, and repeated reference numerals are not made in the drawings.

The first swing member 2311 is connected to the head end of the first sub-arm 23, the tail end of the first sub-arm 23 is connected to the second swing seat 242, and the second swing assembly 241 is disposed on the second swing seat 242. The output shaft of the second swing driving member drives the second swing member to swing relative to the second swing seat 242.

The second swing seat 242 is connected to the head end of the second sub-arm 24, and the end of the second sub-arm 24 is connected to a first rotating seat, and a second rotating assembly 243 is disposed on the first rotating seat. The output shaft of the second rotating assembly 243 penetrates through the first rotating seat to be connected with the third swinging seat 252, and the second rotating assembly 243 is used for driving the third swinging seat 252 to rotate.

Preferably, the second sub-arm 24 includes a second sub-arm fixing portion 244 and a second sub-arm hollow portion 245, the lower end of the second sub-arm fixing portion 244 is fixed on the second swing member, the upper end of the second sub-arm fixing portion 244 is connected with the upper end of the second sub-arm hollow portion 245, the second rotating assembly 243 is disposed in the second sub-arm hollow portion 245, the second rotating assembly 243 includes a second sub-driving member, the second sub-driving member is fixedly disposed in the second sub-arm hollow portion 245, and an output shaft of the second sub-driving member is connected with the third swing seat 252 for driving the third swing seat 252 to rotate relative to the second sub-arm 24.

Preferably, the third swinging seat 252 is provided with a third swinging assembly 251, the third swinging assembly 251 is connected with the tail end of the third sub-arm 25, the head end of the third sub-arm 25 is connected with the detection mechanism 3, the third sub-arm 25 includes a third sub-arm hollow portion 254, a third rotating assembly 253 is disposed in the third sub-arm hollow portion 254, the third rotating assembly 253 includes a third sub-driving member, the third sub-driving member is fixedly disposed in the third sub-arm hollow portion 254, and an output shaft of the third sub-driving member is connected with the detection mechanism 3 and is used for driving the detection mechanism 3 to rotate relative to the third sub-arm 25.

The detection mechanism 3 comprises a detection frame 31 and a plurality of laser radars arranged on the detection frame 31. The output shaft of the third sub-driving member is connected to the middle part of the rear side of the detection frame 31, and the laser radar is arranged in the middle part of the front side of the detection frame 31. And detecting the U rib by a laser radar.

Therefore, the utility model discloses a suspension travelling mechanism for detecting the U rib of the steel box girder, wherein a driving component and a driven component are respectively enclosed at the lower parts of an inner guide rail and an outer guide rail to drive a mounting frame to travel on the guide rails, so that the travelling stability of the suspension travelling mechanism can be improved; the mounting bracket can provide stable fixed force for the arm, and when the arm rotates, can avoid suspending running gear's rocking, avoid because suspending running gear's rocking and make the position that corresponds the U rib inaccurate and influence the detection to the U rib.

The foregoing is only illustrative of the present utility model and is not to be construed as limiting the scope of the utility model, and all equivalent structural changes made by the present utility model and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present utility model.

Claims (10)

1. The suspension travelling mechanism for detecting the U-shaped rib of the steel box girder is characterized by comprising a driving assembly, a driven assembly and a mounting frame; the driving assembly and the driven assembly are arranged on the mounting frame and used for driving the mounting frame to walk along the guide rail suspended in the steel box girder side by side, the driving assembly is enclosed at the lower part of the inner guide rail, and the driven assembly is enclosed at the lower part of the outer guide rail.

2. The suspension walking mechanism for detecting U-ribs of steel box girders according to claim 1, wherein two driving assemblies and two driven assemblies are arranged, and the two driving assemblies are arranged in front of each other and the two driven assemblies are arranged in front of each other.

3. The suspension travelling mechanism for detecting the U-shaped rib of the steel box girder according to claim 2, wherein the driving assembly comprises a driving frame, a driving piece and a plurality of pairs of driving wheels which are vertically arranged, the driving frame is arranged at the upper inner end of the mounting frame, the driving wheels are arranged on the driving frame, the pairs of driving wheels are enclosed at the lower part of an inner guide rail, and the driving piece is connected with one driving wheel; the driven assembly comprises a driven frame and a plurality of pairs of driven wheels which are vertically arranged, the driven frame is connected with the mounting frame, the driven wheels are arranged on the driven frame, and the driven wheels are enclosed at the lower parts of the outer guide rails.

4. A suspension travelling mechanism for detecting a steel box girder U rib according to claim 3, wherein the driven assembly further comprises an adjusting member, the adjusting member comprises a connecting rod arranged transversely and a supporting rod arranged vertically, the inner end of the connecting rod is rotatably connected to the lower portion of the mounting frame, the outer end of the connecting rod is connected to the lower end of the supporting rod, the driven frame is arranged at the upper end of the supporting rod, and the height of the supporting rod is matched with the height of the mounting frame.

5. The suspension travelling mechanism for detecting the U-ribs of the steel box girder according to claim 2, wherein the suspension travelling mechanism further comprises a guide assembly, the guide assembly is correspondingly arranged on the driving assembly or the driven assembly, the guide assembly comprises two pairs of guide wheels which are vertically arranged, one pair of guide wheels is arranged at the front part of the driving assembly or the driven assembly, and the other pair of guide wheels is arranged at the rear part of the driving assembly or the driven assembly.

6. The suspension walking mechanism for detecting the U-ribs of the steel box girder according to claim 1, wherein the mounting frame further comprises a lifting adjusting assembly, and the lifting adjusting assembly is used for arranging a mechanical arm and adjusting the upper position and the lower position of the mechanical arm.

7. The suspension walking mechanism for detecting the U-shaped rib of the steel box girder according to claim 6, wherein the lifting adjusting assembly comprises a fixing frame, a lifting frame, an adjusting power piece, an adjusting screw and an adjusting slide block, the fixing frame is arranged on the fixing frame, one end of the adjusting screw is rotationally connected with the fixing frame, the other end of the adjusting screw is rotationally connected with the fixing frame, the adjusting slide block is in threaded connection with the adjusting screw, an output shaft of the adjusting power piece is connected with the adjusting screw, and the lifting frame is connected with the adjusting slide block.

8. The suspension walking mechanism for detecting the U-shaped rib of the steel box girder according to claim 7, wherein the fixing frame comprises two pairs of fixing legs and a pair of fixing beams arranged between the fixing legs, a fixing plate is arranged on the upper side of the center position of the fixing beams, the upper end of the adjusting screw is rotationally connected with the fixing plate, the lower part of the adjusting screw is rotationally connected with the installation underframe, and the lower end of the adjusting screw penetrates through the installation underframe and is connected with an output shaft of the adjusting power piece.

9. The suspension walking mechanism for detecting the U-ribs of the steel box girder according to claim 8, wherein the mounting frame comprises a mounting guide post, a linear bearing is arranged on the mounting guide post and can vertically move relative to the mounting guide post, lifting plates extend out of four corners of the lifting frame, and the lifting plates are fixedly connected with the corresponding linear bearings respectively.

10. The suspension running mechanism for detecting the U-ribs of the steel box girder according to claim 9, wherein the adjusting slide block is internally extended with an extension plate, and the extension plate is connected to the middle part of the lifting frame.