EP0134311A2 - Dispositif pour l'inspection des parties inférieures des ponts - Google Patents

Dispositif pour l'inspection des parties inférieures des ponts Download PDF

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Publication number
EP0134311A2
EP0134311A2 EP83113012A EP83113012A EP0134311A2 EP 0134311 A2 EP0134311 A2 EP 0134311A2 EP 83113012 A EP83113012 A EP 83113012A EP 83113012 A EP83113012 A EP 83113012A EP 0134311 A2 EP0134311 A2 EP 0134311A2
Authority
EP
European Patent Office
Prior art keywords
bridge
chassis
tower
platform
descent
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP83113012A
Other languages
German (de)
English (en)
Other versions
EP0134311A3 (fr
Inventor
Peter Cramer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0134311A2 publication Critical patent/EP0134311A2/fr
Publication of EP0134311A3 publication Critical patent/EP0134311A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00—Structural or constructional details of bridges
    • E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
    • E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges

Definitions

  • the invention relates to a bridge underside device according to the preamble of claim 1.
  • Bridge underside devices are required for bridges without a built-in working platform, in order to inspect the bridge sides and structural parts that cannot be seen from the bridge plate and to carry out maintenance and maintenance work based on the results of the inspections.
  • these devices are of concrete bridge decks, that is mainly required for road and highway bridges that need against the original expectation of the maintenance and repair and therefore not Availability checked in most cases from the beginning built platforms - gen Therefore, this bridge inspection equipment transportable units, which in are. are able to replace the otherwise required scaffolding or the To enable the construction of auxiliary scaffolding on the work platform.
  • the descent tower enables entry and exit from the work platform from the bridge slab.
  • the work platform hangs on the descent tower at a distance from the underside of the bridge slab and, if necessary, the box girder that is usual for motorway concrete bridges.
  • each bridge field can be driven along its full length with the working platform swung in.
  • the working platform on the bridge pillars is usually swung out and swung in again after driving over a bridge pillar with the cap wagon.
  • the cap trolley does not need to be moved on the pillars.
  • the trolley carriage chassis runs on the bridge and absorbs the various loads and moments acting on the descent tower and the work platform.
  • two portals are used, each attached to one end of the cap carriage.
  • the Carrier and support rollers can be subjected to relatively high loads because the bridge parapet has concrete surfaces that can withstand high surface pressures without damage.
  • the invention is based on a known bridge underside device (DE-OS 31 24 183.2, Fig.4-7).
  • the so-called curb of the bridge is used as one of the running surfaces for support rollers; in general, however, such a bridge is also provided with a guardrail, a railing and an official passage between the curb and the railing, which is also used as a pedestrian path. t can be provided.
  • the underside of the bridge is also used as a track for several support rollers, the roadway is generally not blocked in the working position.
  • the assembly and disassembly is associated with considerable effort, in addition to considerable difficulties that may arise from the external circumstances. For example, they are triggered and exacerbated by the weather when the bridge in question crosses a valley at a considerable height and then, among other things, corresponding wind loads occur.
  • the assembly and disassembly of the known bridge viewing device therefore requires the use of a crane which, after the cap carriage has been erected, is used to remove and install the descent tower with the work platform.
  • the use of a mobile crane often requires the full blocking of the directional lane for the assembly and disassembly of the underside bridge device and also leads to dangerous situations. These arise on the one hand from the possibility of aggravating external circumstances, as explained above, and on the other hand from the fact that relatively large numbers of staff have to carry out the work at times without security.
  • the invention has for its object to provide the possibility in a bridge underside device of the type initially known as known, without the help of an assembly crane to establish the working or transport condition and to reduce the space requirement of the device on the bridge to the extent that, depending on Design of the bridge the multi-purpose and holding lane or the parapet-side lane is not required or only the outer, ie parapet-side edge strip is required during the period of use of the device.
  • the mutual coordination of a built-in lifting device and a cross-shifting device utilizing the portals enables the device, which is initially set up on the multi-purpose old track, for example, which does not exceed the maximum width permitted for the transport state, to be displaced in the direction of the bridge edge before the descent tower and the working platform is brought into its working positions.
  • the air space above the guide devices described at the outset is thus utilized and the at least part of the standing track taken up by the device in the transport state is cleared when the device is in the working position.
  • a device width of a maximum of 2.5 m depending on the bridge construction, it may be sufficient to use an edge strip of approx.1.3 m during the period of use of the device, so that e.g. With the widths of multipurpose and holding tracks, which are usually approx. 3 m, most of them remain free. It is generally not necessary to block a directional lane if there is a multi-purpose and stop lane.
  • the invention has the advantage that it stops taking the Transport position and the working position without external help enables, because the necessary cross-transfers of the chassis together with the descent tower and the work platform are carried out with the help of the lifting device and the cross-shifting device, which are built into the device and are inexpensive due to the use of the portals.
  • the device is first fully supported before the trolley carriage chassis is lifted and offset. The device remains fully supported with the lifting device on the side of the road even when the chassis is retightened in the working position. This completely avoids dangerous situations.
  • the retraction of the undercarriage can also only be carried out when the descent tower and the work platform have reached their working position.
  • the saving of a footprint for the cap wagon on the surfaces of the bridge used for traffic possible by the invention also enables designs of the device that do not require a separate vehicle, for example a flatbed trailer, for its transport. Because the stability of the cap trolley does not fundamentally depend on the height it is at work position of the device. Preferably, therefore, the cap wagon is in turn a road vehicle with the features of claim 2, which is lifted with its axes over the guardrails.
  • These embodiments of the invention have the advantage that the device is no longer loaded and unloaded at the point of use and at the point of deployment, without this resulting in a special transport in the sense of the traffic regulations.
  • the trailer built according to these features can be spent in about a quarter of an hour by an operator in the working position of the device, so that the start of the until the working platform is ready, the blocking of a directional lane or the multi-purpose and standing lane are practically insignificant.
  • this also applies to the reverse process, in which the device is returned from its working position to the transport state.
  • the height of the chassis in the working position of the device can be further reduced with the features of claim 3.
  • Such embodiments of the invention can also use known constructions of so-called lift axles.
  • the design of the lifting device can largely make use of the portal supports, for example by designing them as telescopes.
  • Such configurations of the device allow the features of claim 4. This is the A uf Prior ceremonies at the side of the road to relieve the chassis, which therefore after moving the cap carriage in the direction of the bridge edge or in the production of the transport state in the opposite direction can be tightened or advanced.
  • the invention also enables greater stability of the bridge viewing device on the bridge plate, which is basically independent of whether the device is erected with an assembly crane and how large its space requirement on the bridge plate is. Therefore, the features described below and reproduced for the first time in claim 7 can be realized independently. However, they can also be advantageously realized with a device according to one or more of the claims preceding claim 7, which have been described above.
  • the invention presupposes, as known, a bridge viewing device according to the preamble of claim 7 (DE-OS 31 24 183.2, Fig. 4-7).
  • the working platform protrudes far beyond the bridge cross section at right angles to the direction of the bridge until the Tower is set. Only then can the stage be swung in under the bridge plate by actuating the turntable.
  • This initial state is extremely dangerous, because the load moment emanating from the work platform and transmitted via the descent tower to the elevated frame initially threatens to tip the frame outwards over the bridge edge and is reversed when the slewing ring is actuated.
  • the stability of the device is therefore at great risk.
  • further supports In order to master the dangers arising from this, in addition to the elevation of the frame, further supports must be provided, which transfer the load moment and significantly increase the technical effort, which inevitably creates additional risks when installing the device.
  • the invention has for its object to assemble and disassemble the device by minimizing the load moments from the work platform and transmitted from the descent tower at various intermediate , which the working platform must take up during assembly and also during inspection of the bridge plate.
  • the descent tower can be spent with the work platform folded into the vertical position directly at the edge of the bridge.
  • the work platform then lies in turn with one of its sides directly on the edge of the bridge and only projects outwards at a fraction of the width of its work platform transversely to the bridge direction.
  • the load moment resulting from this is very low and is generally not able to tilt the frame via its elevation on the bridge edge. It is therefore easy to intercept.
  • the work platform is then swiveled under the bridge plate with the help of the slewing ring, whereby the work platform is rotated over the short arch and therefore no load moments can arise from a position of the work platform oriented transversely outwards.
  • the frame can be moved and the span between adjacent bridge pillars has been passed through, the work platform is extended by moving the slewing ring, i.e. pivoted such that the projecting side of the work platform is under the bridge cap.
  • the load moment transverse to the pressure is also not reversed and only a tilting moment of the frame about its transverse axis is generated, which can also generally be intercepted with the portal supports.
  • the invention therefore has the advantage that it manages with relatively little effort to bring about the stability of the frame and is therefore special which is suitable for light superstructures of vehicles which transport the bridge viewing device according to the invention.
  • the improved stability of the bridge viewing device according to the invention is also an improvement in occupational safety, in particular if the work platform on the bridge pillars has to be swung down and is loaded with all kinds of additional devices.
  • Preferably and according to the feature of claim 8 is achieved with weight-saving scaffolding of the descent tower and the work platform that the descent tower, preferably has a square floor plan, a significantly smaller cross-section, i.e. a cross-section sufficient for climbing through and transporting material to the work platform, while the work platform is considerably wider than the tower cross-section in order to ensure the necessary freedom of movement on the work platform and that required for work on the To be able to accommodate the required equipment.
  • a trailer chassis 2 has a front axle assembly 3, which is pivoted upwards with the aid of a yoke 4 which can be raised and lowered relative to the driving gesture.
  • trailing rear axle unit 5 of the trailer in turn sits on a yoke 6 which can be raised and lowered relative to the chassis 2 and is in its raised position.
  • the usual guiding and impact device 9 runs. It is already on the horizontal top 10 of the bridge armor and consists of raised guardrails of sheet metal profile with a central bead 11.
  • a portal 12 is attached to the chassis 2.
  • the horizontal gantry beams 15, which end in the two-armed gantry support 16, run on two parallel crossbeams 14 of the chassis.
  • This accordingly has two vertical stems 17 and 18, which are extended and establish the connection with a crawler track 19, which runs directly next to the guardrails on the multi-purpose and holding track 8 provided with the road surface, and one not shown has hydraulic drive motor.
  • 2 supports 20 and 21 are located on the road side of the chassis, with which the chassis 2 can stand up on this side and can be raised and lowered. 13, the supports are retracted. They are part of a lifting device, which also includes the extendable handles 17 and 18. This lifting device is placed on the opposite, i.e. Parapet-side chassis side supplemented by the extended portal supports 22 on which a group of wheels or rollers 23 is mounted.
  • These portal supports 22 belong to a portal 24 arranged behind the steerable axle assembly 3, the horizontal portal support of which is supported and guided in a cross member 25 of the chassis 2.
  • On the stationary part 26 of the portal supports there is a further vertical support 27 on which a guide roller 28 (FIG.
  • the vertical portal support 27 is seated on a cantilever arm 32 which can be extended and retracted in the direction of the traverse.
  • a second portal of the described embodiment is attached to the chassis frame 2 in front of the trailing axle assembly 5.
  • each portal 24 is supplemented with an extendable and retractable additional support roller 54 which runs in the recess in the bead of the profile 10 of the guardrail.
  • a platform 55 is attached, which serves as a base for an operator who controls the device.
  • the support rail is stationary.
  • the extendable and retractable parts are driven by hydraulic thrust piston gears and can be controlled centrally by an operator.
  • the chassis 2 forms the trailer chassis when the axles 3, 5 are extended or lowered.
  • the rollers 23 In the working position of the device shown in FIG. 13, in which it is supported and movable as well on the chassis 19 described and the rollers 23 : n guide rollers 28 and 54 and 55 is guided, on the other hand, it forms a cap carriage, which transfers the forces and moments of the construction of the chassis 2 on the bridge.
  • FIG. 12 The working position of the structure is shown in Fig. 12. Its individual parts can be seen in particular from the illustration in FIGS. 10 and 11.
  • the support 36 of a guide frame 37 for a descent tower 38 is displaced on a movable part of a turntable 56 of the chassis 2 with a rocker 35.
  • the support 36 can be moved with a hydraulic multiple cylinder 39 from the horizontal parallel position to the slewing ring 56 in the transport position of the device into the vertical position, which is assumed in the working position of the device.
  • the descent tower 38 can be displaced in the guide frame 37 with the aid of a thrust piston gear 40 and thus moved up and down.
  • the distance of the working platform 42 from the underside of the bridge can be adjusted. It sits at the free end of the descent tower on a rotating mechanism 4l, which is used to fasten the tower-side end of the work platform 42 and to rotate the work platform about the axis of the tower, which is indicated by the arrow 43 in FIG. 11.
  • a swivel mechanism formed by a further piston gear 44 serves, according to the arrow 45 of FIG. 10, to move the working platform from its transport position, in which it is arranged on the descent tower 38 parallel to the construction thereof, into the working position in which it is essentially runs perpendicular to the tower construction.
  • the work platform 42 can therefore be swiveled under the bridge in the area of the bridge fields between successive bridge pillars or can also be swung out when the cap carriage is passed over the bridge pillars.
  • the work platform 42 in turn can be extended with a section 42 'which can be extended and retracted, which results from the illustration in FIG. 12.
  • the bridge underside device 1 is approached as a trailer on the directional road 57 of the bridge, which on this site should be inspected and repaired if necessary. Since the device does not exceed the maximum width permitted for truck trailers, it does not take up more space on Lane 8 than normal. In addition, the device is expediently provided between two bridge piers and thus over a bridge field, which is shown in FIG. 1.
  • the cantilever arms 32 are then moved into the position of FIG. 3, in which the guide or guide rollers 28 seated on the vertical supports 27 are supported on the track 29 of the bridge 30.
  • the traverses 14 and 25 of the chassis 2 are now moved on the associated portal supports by reversing the portal drives in the direction of the parapet.
  • the chassis moves in the direction of arrow 62 of FIG. 6 over the guardrail and approaches the vertical portal support 22 to a distance which essentially corresponds to the transport position.
  • the chassis 2 releases the greater part of the multi-purpose and standing track.
  • the chassis 2 is raised using the supports 20, 21 extended in the direction of the arrow 63.
  • the chassis 19 is initially left in its initial position and used as a counterweight for the execution of the further work steps, which are shown in FIGS. 8 to 11. These show how the chassis is put into the working position.
  • the descent tower with the work platform folded down is first pivoted into its vertical position by pivoting out the support 36 according to arrow 64 according to FIG. 8 and according to arrow 64 'according to FIG. 9. As soon as he has reached it, the descent tower with the working platform folded down will follow the direction of arrow 65 9 shifted downwards, whereby the desired height of the work platform is set.
  • the work platform 42 with the retracted extension is first folded down from the ascent tower 38 into the horizontal according to the direction of the arrow 45, which is shown in FIG. 10.
  • the working platform 42 is then pivoted under the bridge in accordance with the illustration in FIG. 11.
  • the standing and multi-purpose track is largely cleared because the chassis 19 assumes the transport position according to FIG. 1 at the end of this process.
  • the cap trolley is made mobile.
  • the elevation of the chassis 2 is canceled by retracting the movable parts of the supports 20 and 21 after the stems 17 and 18 of the chassis 19 have been extended.
  • the guide rollers 54 are brought into their driving position by the machine operator from the platform 55, as a result of which the cap carriage is guided safely.
  • FIG. 14 a side of the roadway is shown in a broken-away representation, the box girder being identified by 80 and the bridge cap by 81.
  • the frame 84 which is raised on four extendable handles 82, 83 at its four corners, has a platform 85 with parallel multiple-piston piston drives 88, 89 articulated on brackets 86, 87, which are articulated on a guide frame 90, which is connected to a hinge 91 with a horizontal hinge axis 92 is articulated.
  • the descent tower designated 93 is movable in the guide frame, i.e. in the pivoted position relative to the platform 85 of the frame 84 according to FIG. 14 up and down.
  • a slewing ring 94 is installed in the lower part of the swung down descent tower 93, the details of which can be seen from the detailed illustration in FIG. 16.
  • the race 96 is installed in the upper tower frame 95, which forms the non-rotatable part of the slewing ring.
  • Rollers 98 which are fastened to the rotatable ring section 99 of the turntable, are supported in upper and lower guideways 97 of the running wheel.
  • the ring section has a central manhole 100 through which the slewing ring can be climbed and one gets into the lower rotatable frame section 101 of the descent tower. This section is flanged to the flange 102 of the rotatable part 99.
  • the rotatable part carries a toothed ring 104 below the frame section 95, in which a pinion 105 of an electric geared motor 106 meshes.
  • the cross section of the tower scaffold is square and oriented such that the cross-sectional side 107 runs parallel to the free edge 108 of the cap 81.
  • a multiple thrust piston mechanism 111 which on the one hand on the side 112 of a work platform generally designated 113 and on the other hand on the rotatable part 101 of the Tower scaffold is articulated, the work platform 113 from its in Fig. 14th Fold the position parallel to the descent tower 93 into the position according to FIG. 15, in which the work platform 113 runs horizontally and parallel to the direction of the bridge.
  • the work platform In contrast to the descent tower, the work platform has a rectangular cross-section, of which a shorter side 114 runs parallel to side 107 and thus to cap edge 108, while the subsequent longer cross-sectional side 115 is oriented transversely to the direction of the bridge. Since this cross-sectional side 115 is longer than the corresponding cross-sectional side 109 of the tower cross-section, the working platform is cantilevered both in the position according to FIG. 14 and in the position according to FIG. 15 with its remaining width exceeding the length of the cross-sectional side 109, that at 116 in FIG. 15 is drawn in front of the tower cross section. This cross-sectional side 115 defines the width of the working platform 117, which makes up the essential part of the working platform 113. For the rest, the work platform 117 with bridge railings 118 and 119 secured on its long side and other railings 120 and 121 on its transverse sides.
  • the working platform 113 is moved in the direction of the arrow 103, that is to say by the shorter arc into the position according to FIG. 17, which is done by pivoting the turntable around the tower axis. At the end of this movement, the working platform 113 runs transversely to the direction of the bridge.
  • the work platform 113 is equipped with an extendable, i.e. to extend telescopically mounted section 124 and on this section 124 has a scaffolding tower 125 which can be folded over onto platform 117 and which enables the inspection of the inner bridge cap 126.
  • Another tower 125 ' which can also be folded down onto the platform 117, enables the underside 127 of the cap 81 to be inspected in the position of the work platform 124 shown in FIG. 17.
  • the working platform 113 is pivoted further in the direction of the arrow 103 according to FIG. 16, so that it is now parallel to the bridge direction with the remaining width 116 of its platform 117 projecting inwards. Since the tower frame 93 is movable and adjustable in the guide frame 90 in the direction of the double arrow 122 of FIG. 16, the work platform 113 can be raised so far under the cap 81 that the underside of the work platform 117 can be inspected and possibly processed.
EP83113012A 1983-09-07 1983-12-23 Dispositif pour l'inspection des parties inférieures des ponts Withdrawn EP0134311A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19833332227 DE3332227C2 (de) 1983-09-07 1983-09-07 Brückenuntersichtgerät
DE3332227 1983-09-07

Publications (2)

Publication Number Publication Date
EP0134311A2 true EP0134311A2 (fr) 1985-03-20
EP0134311A3 EP0134311A3 (fr) 1985-11-27

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ID=6208427

Family Applications (1)

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EP83113012A Withdrawn EP0134311A3 (fr) 1983-09-07 1983-12-23 Dispositif pour l'inspection des parties inférieures des ponts

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EP (1) EP0134311A3 (fr)
DE (1) DE3332227C2 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1990008228A1 (fr) * 1989-01-23 1990-07-26 Alfons Moog Vehicule, notamment chassis de dispositif de controle a pont
AU700430B2 (en) * 1996-02-27 1999-01-07 Ian Ibrahim Erection of bridge signs
CN104894965A (zh) * 2014-10-18 2015-09-09 合肥佳瑞林电子技术有限公司 一种新型具有移动功能的桥梁安全检测器
CN110468703A (zh) * 2019-07-25 2019-11-19 成都市新筑路桥机械股份有限公司 一种适用于变坡度行走的桥检车门架系统
CN110904836A (zh) * 2019-12-12 2020-03-24 中国科学院沈阳自动化研究所 一种桥梁主梁表面检测长臂机器人
DE202021106002U1 (de) 2021-03-17 2022-06-20 Jaqueline Hagedorn Kappenwagen
CN114922062A (zh) * 2022-05-13 2022-08-19 中铁桥隧技术有限公司 一种具有裂缝测量功能的移动式桥梁检测装置

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US3124213A (en) * 1964-03-10 Rolling bridge scaffold carriage
US4074790A (en) * 1976-02-27 1978-02-21 Daciano Colbachini Vehicle-borne inspection and maintenance apparatus
FR2438711A1 (fr) * 1978-10-12 1980-05-09 Pechiney Aluminium Echafaudage de visite repliable
DE3124183A1 (de) * 1981-06-19 1982-12-30 Peter 5970 Plettenberg Cramer "einrichtung zum befahren der unterseite von bruecken"
DE8225810U1 (de) * 1982-09-14 1983-03-24 Moog, Alfons, 7774 Deggenhausertal Einrichtung zur Inspektion der Unterseite von Brücken
DE3305384A1 (de) * 1982-09-14 1984-03-15 Alfons 7774 Deggenhausertal Moog Einrichtung zur inspektion der unterseite von bruecken

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Publication number Priority date Publication date Assignee Title
US3124213A (en) * 1964-03-10 Rolling bridge scaffold carriage
US4074790A (en) * 1976-02-27 1978-02-21 Daciano Colbachini Vehicle-borne inspection and maintenance apparatus
FR2438711A1 (fr) * 1978-10-12 1980-05-09 Pechiney Aluminium Echafaudage de visite repliable
DE3124183A1 (de) * 1981-06-19 1982-12-30 Peter 5970 Plettenberg Cramer "einrichtung zum befahren der unterseite von bruecken"
DE8225810U1 (de) * 1982-09-14 1983-03-24 Moog, Alfons, 7774 Deggenhausertal Einrichtung zur Inspektion der Unterseite von Brücken
DE3305384A1 (de) * 1982-09-14 1984-03-15 Alfons 7774 Deggenhausertal Moog Einrichtung zur inspektion der unterseite von bruecken

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BETON- UND STAHLBETONBAU, 64. Jahrgang, Nr. 1, Januar 1969, Seiten XXIX,XXX, Verlag Wilhelm Ernst und Sohn, Berlin, DE; "Fahrger}st f}r die Unterhaltung hoher Autobahnbr}cken" *

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1990008228A1 (fr) * 1989-01-23 1990-07-26 Alfons Moog Vehicule, notamment chassis de dispositif de controle a pont
US5167295A (en) * 1989-01-23 1992-12-01 Alfons Moog Vehicle, in particular a chassis of a bridge-underside inspection apparatus
AU700430B2 (en) * 1996-02-27 1999-01-07 Ian Ibrahim Erection of bridge signs
CN104894965A (zh) * 2014-10-18 2015-09-09 合肥佳瑞林电子技术有限公司 一种新型具有移动功能的桥梁安全检测器
CN110468703A (zh) * 2019-07-25 2019-11-19 成都市新筑路桥机械股份有限公司 一种适用于变坡度行走的桥检车门架系统
CN110468703B (zh) * 2019-07-25 2024-03-01 成都市新筑交通科技有限公司 一种适用于变坡度行走的桥检车门架系统
CN110904836A (zh) * 2019-12-12 2020-03-24 中国科学院沈阳自动化研究所 一种桥梁主梁表面检测长臂机器人
DE202021106002U1 (de) 2021-03-17 2022-06-20 Jaqueline Hagedorn Kappenwagen
CN114922062A (zh) * 2022-05-13 2022-08-19 中铁桥隧技术有限公司 一种具有裂缝测量功能的移动式桥梁检测装置
CN114922062B (zh) * 2022-05-13 2023-07-07 中铁桥隧技术有限公司 一种具有裂缝测量功能的移动式桥梁检测装置

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Publication number Publication date
DE3332227C2 (de) 1985-07-25
DE3332227A1 (de) 1985-04-04
EP0134311A3 (fr) 1985-11-27

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