WO2020147323A1 - 一种折臂式双臂桥梁检测车 - Google Patents

一种折臂式双臂桥梁检测车 Download PDF

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Publication number
WO2020147323A1
WO2020147323A1 PCT/CN2019/106192 CN2019106192W WO2020147323A1 WO 2020147323 A1 WO2020147323 A1 WO 2020147323A1 CN 2019106192 W CN2019106192 W CN 2019106192W WO 2020147323 A1 WO2020147323 A1 WO 2020147323A1
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WIPO (PCT)
Prior art keywords
arm
telescopic arm
stage telescopic
hydraulic cylinder
inspection vehicle
Prior art date
Application number
PCT/CN2019/106192
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English (en)
French (fr)
Inventor
陈敏惠
尹来容
何天赞
周荡
姜岸委
Original Assignee
长沙理工大学
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Application filed by 长沙理工大学 filed Critical 长沙理工大学
Priority to US16/904,533 priority Critical patent/US11320338B2/en
Publication of WO2020147323A1 publication Critical patent/WO2020147323A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D33/00—Superstructures for load-carrying vehicles
    • B62D33/02—Platforms; Open load compartments
    • B62D33/0207—Connections of movable or detachable racks or stanchions to platforms
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G01M11/08—Testing mechanical properties
    • G01M11/081—Testing mechanical properties by using a contact-less detection method, i.e. with a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0008—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of bridges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/54—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
    • B60P1/5404—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a fixed base
    • B60P1/5423—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a fixed base attached to the loading platform or similar
    • B60P1/5433—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a fixed base attached to the loading platform or similar and having the first pivot on a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/14—Vehicles adapted to transport, to carry or to comprise special loads or objects the object being a workshop for servicing, for maintenance, or for carrying workmen during work

Definitions

  • the invention relates to a folding arm type double-arm bridge inspection vehicle, which belongs to the technical field of bridge inspection equipment.
  • Bridge construction is one of the country's important infrastructure constructions, and bridge construction is a lifeline project related to the coordinated development of society and economy.
  • the rapid development of bridge construction and huge capital investment have made people pay more and more attention to the safety and durability of bridges.
  • bridges will face the problem of entering the "ageing stage”. Therefore, we must pay attention to bridge inspection.
  • the use of advanced bridge inspection vehicles can greatly improve the accuracy and efficiency of bridge inspection.
  • the bridge inspection vehicle is a special vehicle used for bridge inspection.
  • the working principle is that the hydraulic system is used to bend the working arm to the bottom of the bridge to inspect the bridge. It is composed of a vehicle chassis and a working arm.
  • Patent CN201891076U is an intelligent and manual bridge inspection vehicle.
  • the bridge inspection vehicle is improved by adding a stabilizing mechanism and an image acquisition and analysis system for scanning, analyzing and transmitting the appearance of the bridge.
  • the stabilizing mechanism can prevent overturning.
  • the image acquisition and analysis system can scan the bridge quickly and conveniently, and realizes two functions of automation and manual detection, but there are some shortcomings.
  • the single-arm action is inefficient, and the secondary stress of the truss is large, and the node has a bending moment.
  • Patent CN207003244U is a bridge inspection vehicle with dual-operation safety channels. Its innovation is that the lower end of the safety channel fixing mechanism is connected with two safety channels that can be folded and independently expanded, which can solve the simultaneous operation of multiple points of the bridge to be tested. The problem can improve work efficiency, but there are also some shortcomings. The safety of workers on the safe passage is not high enough, and the two independent safe passages lack stability.
  • Patent CN207828780U is a bridge detection device.
  • the detection device is designed with an intelligent detection device, which separates bridge detection and bridge maintenance. It is only used for bridge detection. Inspectors can perform detection without going below the bridge deck. The data to be tested can be summarized and analyzed. After that, the maintenance plan is determined, which solves the worker safety problem of bridge inspection. The cost is low, but there are some shortcomings.
  • the inspection vehicle adopts a single-arm folding arm type, which cannot detect two or more positions to be inspected at the same time, and there are some dead spots. The location cannot be detected.
  • the current bridge inspection vehicles on the market are inflexible and unstable.
  • the working arms of the folding arm bridge inspection vehicles are not stable enough.
  • the truss bridge inspection vehicles are costly, complex in structure, and use single-arm work efficiency. It is not high.
  • some dead-point positions cannot be detected, such as the dead-point positions on the back of bridge piers and the top structure of the bridge, etc. Workers are prone to safety hazards when measuring under the bridge.
  • the present invention specifically proposes a solution for a folding-arm double-arm bridge inspection vehicle.
  • a folding arm double-arm bridge inspection vehicle the inspection vehicle includes a detection vehicle 37, a first turning mechanism 1, a first boom 38, and a second boom 39
  • the cross arm 10 the detection device 40, the first slewing mechanism 1 is installed on the side of the chassis of the detection vehicle 37 near the front of the vehicle through bolt connection, and the first slewing mechanism 1 is close to the front of the vehicle so that the chassis of the vehicle can be placed on the folding arm frame,
  • the boom does not interfere with the anti-overturning device.
  • the first boom 38 includes a second turning mechanism 2, a first support base 4, a first hydraulic cylinder 6, a first horizontal working arm 8, a first sliding guide 13, and a first Four-slewing mechanism 15, third hydraulic cylinder 17, first vertical working arm 19, fifth hydraulic cylinder 21, first ball twisting mechanism 23, first-stage telescopic arm 25, first-stage telescopic arm 26, first The three-stage telescopic arm 27, wherein the second slewing mechanism 2 is connected to the first slewing mechanism 1 through a welded seam.
  • the welded seam has high connection strength and good sealing performance, which makes the slewing mechanism tightly connected and prevents loosening and affecting the bridge inspection vehicle
  • the first support base 4 is installed on the second slewing mechanism 2 by bolts, and the bolt connection is beneficial to disassembly and assembly and the boom may need to be replaced when repairing, the cost is low, the connection is reliable, and the first support base 4 It is connected with the first horizontal working arm 8 through a rotating pair, and is connected with a rolling bearing type rotating pair.
  • the rolling bearing type rotating pair has low friction, flexible reversing, and convenient maintenance, which is beneficial to the flexible swing of the first horizontal working arm 8.
  • the first sliding guide rail 13 is arranged on the inner side of the first horizontal working arm 8 through bolt connection, and the first vertical working arm 19 is connected to the first horizontal working arm 8 through the fourth turning mechanism 15.
  • the first stage The telescopic arm 25 and the first vertical working arm are connected by a ball twist.
  • the ball twist connection allows the first-stage telescopic arm 25 connected to the ball-strand to flexibly swing at any angle.
  • the first second-stage telescopic arm 26 and the first The first-stage telescopic arm 25 is controlled by a stroke hydraulic cylinder to expand and contract, and the first third-stage telescopic arm 27 and the first second-stage telescopic arm 26 are controlled by a stroke hydraulic cylinder to expand and contract.
  • the second boom 39 includes a third slewing mechanism 3, a second support base 5, a second hydraulic cylinder 7, a second horizontal working arm 9, a second sliding guide 14, a fifth slewing mechanism 16, and a fourth hydraulic cylinder 18.
  • the three-slewing mechanism 3 is arranged on the first rotating mechanism 1 through a welded seam connection.
  • the welded seam has high strength and good sealing performance, so that the rotating mechanism is tightly connected, and prevents loosening and affecting the stability of the bridge inspection vehicle.
  • the bolt connection is beneficial to the replacement of the boom during disassembly and repair, low cost, reliable connection, and the second support base 5 and the second horizontal working arm 9 pass between
  • the rotation pair is connected, and the rolling bearing type rotation pair connection is adopted.
  • the rolling bearing type rotation pair has low friction, flexible commutation and convenient maintenance, which is beneficial to the flexible swing of the second horizontal working arm 9 up and down.
  • the second sliding guide rail 14 is connected by bolts.
  • the second vertical working arm 20 is connected to the second horizontal working arm 9 through the fifth turning mechanism 16, and the second-stage telescopic arm 28 is connected to the second vertical working arm.
  • the ball stranding connection can make the second-stage telescopic arm 28 connected to the ball-strand flexibly swing at any angle, and the stroke between the second-stage telescopic arm 29 and the second-stage telescopic arm 28
  • the hydraulic cylinder controls the expansion and contraction.
  • the second three-stage telescopic arm 30 and the second two-stage telescopic arm 29 are controlled by a stroke hydraulic cylinder.
  • the cross arm 10 is composed of a first telescopic arm 11 and a second telescopic arm 12, and one end of the first telescopic arm 11 and the second telescopic arm 12 can be controlled by a stroke hydraulic cylinder to expand and contract.
  • the arms 12 are arranged to be crossed by rotating pairs, and the four end points of the cross arm 10 are arranged on the first sliding guide 13 and the second sliding guide 14 arranged inside the first horizontal working arm 8 and the second horizontal working arm 9, One of the end points is fixed to the sliding rail, and the other three end points can slide in the sliding rail.
  • the second turning mechanism 2 and the third turning mechanism 3 actively drive two horizontal working arms to form a certain angle
  • the cross arm 10 passively slides Adjusting the angle between the two horizontal working arms and generating constraints when the two arms work at the same time is conducive to the stability of the working arms, and the sliding connection can make the angle adjustment of the two horizontal working arms flexible.
  • the detecting device includes a first rotating table 31, a second rotating table 32, a first detecting device 33, and a second detecting device 34.
  • the first rotating table 31 and the second rotating table 32 are respectively arranged in the first three stages of telescopic At the end of the arm 27 and the second three-stage telescopic arm 30, the rotating table can rotate the detecting device 360 degrees, so that the detecting device can fully detect, and the first rotating table 31 and the second rotating table 32 are respectively provided with first The detection device 33 and the second detection device 34.
  • the first detection device 33 and the second detection device 34 are respectively provided with a first image acquisition device 35 and a second image acquisition device 36.
  • the first support base 4 and the second support base 5 are connected to the first horizontal working arm 8 and the second horizontal working arm 9 respectively through a rotating pair, and the rotating pair adopts a rolling bearing type rotating pair.
  • the second turning mechanism 2 and the third turning mechanism 3 are driven to rotate by hydraulic cylinders.
  • the first telescopic arm 11 and the second telescopic arm 12 are driven to expand and contract by a stroke hydraulic cylinder.
  • two ends of the first telescopic arm 11 and the second telescopic arm 12 are respectively provided with connecting sliding blocks, and the sliding blocks can slide in the sliding guide rail.
  • the fourth slewing mechanism 15 and the fifth slewing mechanism 16 are connected to the first vertical working arm 19 and the second vertical working arm 20 respectively through a rotating pair, and the rotating pair is a rolling bearing type rotating pair.
  • the first vertical working arm 19 and the second vertical working arm 20 are driven to swing by hydraulic cylinders.
  • the first ball twisting mechanism 23 and the second ball twisting mechanism 24 both consist of a ball seat and a ball head that can rotate in the ball seat.
  • the first-stage telescopic arm 25 and the second-stage telescopic arm 28 are non-movable bodies, and the first-stage telescopic arm 26, the second-stage telescopic arm 29, the first-stage telescopic arm 27, and the
  • the second and third-stage telescopic arms 30 are all movable bodies, and the above-mentioned movable bodies are all installed in the above-mentioned immovable bodies, and the movable bodies are driven to extend or retract by a stroke cylinder.
  • the first rotating table 31 and the second rotating table 32 are driven to rotate by hydraulic cylinders.
  • the inspection vehicle has two working booms to solve the problem of low efficiency of single-arm operations.
  • Two sub-slewing mechanisms are installed on the slewing mechanism, so that the two working arms can work independently, and can simultaneously detect two or more positions to be tested.
  • a cross arm is set between the working arms.
  • the cross arm can passively slide to adjust the angle of the two arms, which can solve the problem of instability when the two working arms work at the same time.
  • the telescopic arm and the vertical arm are connected by a ball twist, which can be extended to a position that is difficult to detect for detection.
  • the end of the telescopic arm is equipped with a rotating table, the detection device can be rotated 360 degrees, and the detection device is equipped with an image acquisition system, etc.
  • the detection device comprehensively detects, improves work efficiency, is safe and convenient to use, and the cost of the folding arm bridge inspection vehicle is low.
  • Fig. 1 is a schematic diagram of the expansion of a folding-arm double-arm bridge inspection vehicle of the present invention.
  • Figure 2 is a schematic diagram of the angle between two horizontal arms of a folding arm double-arm bridge inspection vehicle of the present invention.
  • Fig. 3 is a single-arm working diagram of a folding-arm double-arm bridge inspection vehicle of the present invention.
  • Fig. 4 is a folding schematic diagram of a folding-arm double-arm bridge inspection vehicle of the present invention.
  • FIG. 5 is a partial enlarged view of the cross arm, a partial enlarged view of the ball twisting mechanism, and a partial enlarged view of the image acquisition device of the folding arm double-arm bridge inspection vehicle of the present invention.
  • the second horizontal working arm 10 the cross arm 11, the first telescopic arm 12, the second telescopic arm 13, the first sliding guide 14, the second sliding guide 15, the fourth turning mechanism 16, the fifth turning mechanism 17, the third Hydraulic cylinder 18, fourth hydraulic cylinder 19, first vertical working arm 20, second vertical working arm 21, fifth hydraulic cylinder 22, sixth hydraulic cylinder 23, first ball twisting mechanism 24, second ball twisting mechanism 25.
  • a folding arm double-arm bridge inspection vehicle the inspection vehicle includes a detection vehicle 37, a first slewing mechanism 1, a first boom 38, a second boom 39, a cross arm 10, and a detection device 40
  • the first slewing mechanism 1 is installed on the side of the chassis of the detection vehicle 37 near the front of the vehicle through bolt connection.
  • the first slewing mechanism 1 is close to the front of the vehicle so that the chassis can be placed on the folding arm frame, and the arm frame is not generated with the anti-overturning device.
  • the first boom 38 includes a second slewing mechanism 2, a first support base 4, a first hydraulic cylinder 6, a first horizontal working arm 8, a first sliding guide 13, a fourth slewing mechanism 15, a third hydraulic Cylinder 17, first vertical working arm 19, fifth hydraulic cylinder 21, first ball twisting mechanism 23, first-stage telescopic arm 25, first-stage telescopic arm 26, first-stage telescopic arm 27, among which
  • the second slewing mechanism 2 is connected to the first slewing mechanism 1 by welding seams.
  • the welding seam has high connection strength and good sealing performance, so that the slewing mechanism is tightly connected to prevent loosening and affect the stability of the bridge inspection vehicle.
  • the first support The seat 4 is installed on the second slewing mechanism 2 by bolts, and the bolt connection is beneficial for disassembly and repair, which may need to replace the boom, low cost, reliable connection, and between the first support seat 4 and the first horizontal working arm 8.
  • the rolling bearing type rotation pair has low friction, flexible commutation, and convenient maintenance, which is beneficial to the flexible swing of the first horizontal working arm 8 up and down.
  • the first sliding guide rail 13 is connected by bolts It is arranged on the inner side of the first horizontal working arm 8.
  • the first vertical working arm 19 is connected to the first horizontal working arm 8 through the fourth turning mechanism 15, and the first-stage telescopic arm 25 is connected to the first vertical working arm.
  • the arms are connected by a ball twist.
  • the ball twist connection allows the first-stage telescopic arm 25 connected to the ball-strand to flexibly swing at any angle.
  • the first-stage telescopic arm 26 and the first-stage telescopic arm 25 pass through a stroke
  • the hydraulic cylinder controls expansion and contraction, and the first three-stage telescopic arm 27 and the first two-stage telescopic arm 26 are controlled by a stroke hydraulic cylinder.
  • the second boom 39 includes a third rotating mechanism 3, a second supporting seat 5, a second hydraulic cylinder 7, a second horizontal working arm 9, a second sliding guide 14, and a fifth rotating mechanism 16,
  • the fourth hydraulic cylinder 18, the second vertical working arm 20, the sixth hydraulic cylinder 22, the second ball twisting mechanism 24, the second first-stage telescopic arm 28, the second second-stage telescopic arm 29, the second third-stage telescopic arm 30
  • the third revolving mechanism 3 is connected to the first revolving mechanism 1 through a weld, and the weld has high connection strength and good sealing, which makes the revolving mechanism tightly connected to prevent loosening and affect the stability of the bridge inspection vehicle.
  • the second support base 5 is installed on the third slewing mechanism 3 by bolts, and the bolt connection is beneficial for disassembly and repair, which may need to replace the boom, low cost, reliable connection, and the second support base 5 and the second horizontal working arm 9 is connected by a rotating pair, and is connected by a rolling bearing type rotating pair.
  • the rolling bearing type rotating pair has low friction, flexible reversing and convenient maintenance, which is beneficial to the flexible swing of the second horizontal working arm 9 up and down.
  • the second sliding guide 14 It is arranged on the inner side of the first horizontal working arm 9 by bolt connection, the second vertical working arm 20 is connected to the second horizontal working arm 9 through the fifth turning mechanism 16, and the second-stage telescopic arm 28 is connected to the second horizontal working arm.
  • the vertical working arm 20 is connected by a ball twist.
  • the ball twist connection can flexibly swing the primary telescopic arm connected to the ball strand at any angle.
  • the second secondary telescopic arm 29 and the second primary telescopic arm 28 pass between The stroke hydraulic cylinder controls the expansion and contraction, and the second three-stage telescopic arm 30 and the second two-stage telescopic arm 29 are controlled by the stroke hydraulic cylinder.
  • the cross arm 10 is composed of a first telescopic arm 11 and a second telescopic arm 12, and one end of the first telescopic arm 11 and the second telescopic arm 12 can be controlled by a stroke hydraulic cylinder.
  • 11 and the second telescopic arm 12 are arranged crosswise by a rotating pair, and the four end points of the cross arm 10 are arranged on the first sliding guide rail 13 and the second sliding rail 13 and the second inner side of the first horizontal working arm 8 and the second horizontal working arm 9.
  • the sliding rail 14 one of the end points is fixed to the sliding rail, and the other three end points can slide in the sliding rail. Therefore, the second turning mechanism 2 and the third turning mechanism 3 actively drive the two horizontal working arms to form a certain angle.
  • the cross arm 10 passively slidingly adjusts the included angle between the two horizontal working arms and generates constraints when the two arms work at the same time, which is beneficial to the stability of the two-arm work, and the sliding connection enables flexible adjustment of the angle of the two horizontal working arms.
  • the detection device includes a first rotation table 31, a second rotation table 32, a first detection device 33, and a second detection device 34.
  • the first rotation table 31 and the second rotation table 32 are respectively arranged on
  • the rotating table can rotate the detection device 360 degrees, so that the detection device can fully detect, and the first rotating table 31 and the second rotating table 32 are
  • a first detection device 33 and a second detection device 34 are respectively provided, and the first detection device 33 and the second detection device 34 are respectively provided with a first image acquisition device 35 and a second image acquisition device 36.

Abstract

本发明公开了一种折臂式双臂桥梁检测车，所述检测车包括检测车辆、回转机构、支承座、水平工作臂、竖直工作臂、伸缩臂，其中两条水平工作臂一端设置在回转机构上，另一端分别连接两条竖直工作臂，且两条水平工作臂之间连接有交叉臂，两条竖直工作臂与两条伸缩臂之间通过球绞连接，两条伸缩臂末端分别设有检测装置。本发明具有两条工作臂，解决单臂作业工作效率低的问题，旋转机构上装有两个子旋转机构，使得两条工作臂可单独工作，还可调整双臂的工作角度，两条工作臂之间设置有交叉臂，解决两条工作臂同时工作时不稳定的问题，伸缩臂与竖直臂采用球绞连接，可伸到难以检测到的位置进行检测，伸缩臂末端设置旋转台，便于检测装置全面检测。

Description

一种折臂式双臂桥梁检测车 技术领域
本发明涉及一种折臂式双臂桥梁检测车，属于桥梁检测设备技术领域。
背景技术
桥梁建设是国家重要的基础建设之一，桥梁工程是关系社会和经济协调发展的生命线工程。桥梁建设的快速发展，巨大的资金投入，使得人们对桥梁的安全性、耐久性越来越重视。与此同时桥梁将会面临进入“老龄阶段”的问题，因此必须重视桥梁检测，采用先进的桥梁检测车可大大的提高桥梁检测的精度和工作效率。桥梁检测车是用于桥梁检测的一种专用汽车，工作原理是由液压系统将工作臂弯曲深入到桥底对桥梁进行检测，由汽车底盘和工作臂组成。
市面上有很多人对桥梁检测车进行了设计与改进，实现了很多功能，但也存在一些不足，如：
专利CN201891076U一种智能化与人工两用桥梁检测车，对桥梁检测车进行了改进，增加了稳定机构和对桥梁外观进行扫描、分析和传输的图像采集与分析系统，其中稳定机构可防倾覆，图像采集与分析系统可快速便捷地对桥梁进行扫描，实现了自动化和人工检测两种功能，但也存在一些不足，单臂动作工作效率低，且桁架次应力大，节点存在弯矩。
专利CN207003244U一种具有双作业安全通道的桥梁检测车,其创新点在于安全通道固定机构下端连接有两条可相对其翻折并且可独立展开的的安全通道,能够解决待检测桥梁多点同时作业的难题,可提高工作效率,但是也存在一些不足,工人在安全通道上检测安全度不够高,两条独立的安全通道缺乏稳定性。
专利CN207828780U一种桥梁检测装置,该检测装置设计了智能的检测装置,将桥梁检测与桥梁维修分开考虑,仅用于桥梁检测,检测人员无需到桥面以下就可以进行检测,待检测数据汇总分析之后再确定维修方案,解决了桥梁检测的工人安全问题,造价低,但是也存在一些不足,该检测车采用单臂折臂式,不能同时检测两个或多个待检测位置,同时有些死点位置检测不到。
因此,目前市场上的桥梁检测车存在着动作不灵活、不稳定的情况，特别是折臂式桥梁检测车工作臂不够稳定，桁架式桥梁检测车成本高、结构复杂，且采用单臂工作效率不高，根据已有的自由度有些死点位置检测不到，比如桥墩背面、桥梁顶部结构死点位置等等，工人到桥下测量容易产生安全隐患。
发明内容
为了克服上述问题，本发明针对性地提出了一种折臂式双臂桥梁检测车的方案。
本发明解决其技术问题所采用的技术方案是：一种折臂式双臂桥梁检测车，所述检测车包括检测车辆37、第一回转机构1、第一臂架38、第二臂架39、交叉臂10、检测装置40，所述第一回转机构1通过螺栓连接安装在检测车辆37底盘上面靠近车头的一侧，第一回转机构1靠近车头可以使车底盘能够放置折叠的臂架，臂架不与防倾覆装置产生干涉，所述第一臂架38包括第二回转机构2、第一支承座4、第一液压缸6、第一水平工作臂8、第一滑动导轨13、第四回转机构15、第三液压缸17、第一竖直工作臂19、第五液压缸21、第一球绞机构23、第一一级伸缩臂25、第一二级伸缩臂26、第一三级伸缩臂27，其中所述第二回转机构2通过焊缝连接设置在第一回转机构1上，焊缝连接强度高、密封性好，使回转机构连接紧密，防止松动而影响桥 梁检测车的稳定性，所述第一支承座4通过螺栓安装在第二回转机构2上，采用螺栓连接有利于拆装以及修理时可能需更换臂架、成本低、连接可靠，且第一支承座4与第一水平工作臂8之间通过转动副连接，并且采用滚动轴承式转动副连接，滚动轴承式转动副摩擦小、换向灵活、维护方便，有利于第一水平工作臂8的上下灵活摆动，所述第一滑动导轨13通过螺栓连接设置在第一水平工作臂8的内侧，所述第一竖直工作臂19通过第四回转机构15与第一水平工作臂8连接,所述第一一级伸缩臂25与第一竖直工作臂通过球绞连接，球绞连接可使连接在球绞上的第一一级伸缩臂25任意角度灵活摆动，所述第一二级伸缩臂26和第一一级伸缩臂25之间通过行程液压缸控制伸缩，所述第一三级伸缩臂27和第一二级伸缩臂26之间通过行程液压缸控制伸缩。
所述第二臂架39包括第三回转机构3、第二支承座5、第二液压缸7、第二水平工作臂9、第二滑动导轨14、第五回转机构16、第四液压缸18、第二竖直工作臂20、第六液压缸22、第二球绞机构24、第二一级伸缩臂28、第二二级伸缩臂29、第二三级伸缩臂30，其中所述第三回转机构3通过焊缝连接设置在第一回转机构1上，焊缝连接强度高、密封性好，使回转机构连接紧密，防止松动而影响桥梁检测车的稳定性，所述第二支承座5通过螺栓安装在第三回转机构3上，采用螺栓连接有利于拆装以及修理时可能需更换臂架、成本低、连接可靠，且第二支承座5与第二水平工作臂9之间通过转动副连接，并且采用滚动轴承式转动副连接，滚动轴承式转动副摩擦小、换向灵活、维护方便，有利于第二水平工作臂9的上下灵活摆动，所述第二滑动导轨14通过螺栓连接设置在第一水平工作臂9的内侧，所述第二竖直工作臂20通过第五回转机构16与第二水平工作臂9连接,所述第二一级伸缩臂28与 第二竖直工作臂20通过球绞连接,球绞连接可使连接在球绞上的第二一级伸缩臂28任意角度灵活摆动，所述第二二级伸缩臂29和第二一级伸缩臂28之间通过行程液压缸控制伸缩，所述第二三级伸缩臂30和第二二级伸缩臂29之间通过行程液压缸控制伸缩。
所述交叉臂10由第一伸缩臂11和第二伸缩臂12构成，且第一伸缩臂11和第二伸缩臂12的一端可通过行程液压缸控制伸缩，第一伸缩臂11和第二伸缩臂12之间通过转动副交叉设置，所述交叉臂10的四个端点设置在第一水平工作臂8和第二水平工作臂9内侧设置的第一滑动导轨13和第二滑动导轨14上，其中一个端点固定于滑动导轨,其余三个端点可在滑动导轨内滑动，因此第二回转机构2和第三回转机构3主动驱动两条水平工作臂成一定夹角，所述交叉臂10被动滑动调整两条水平工作臂之间的夹角且在双臂同时工作时产生约束，有利于双臂工作的稳定性，且滑动连接可使两条水平工作臂角度调整灵活。
所述检测装置包括第一旋转台31、第二旋转台32、第一检测装置33、第二检测装置34，所述第一旋转台31和第二旋转台32分别设置在第一三级伸缩臂27和第二三级伸缩臂30的末端,旋转台可使检测装置360度旋转，使检测装置可以全面检测，且所述第一旋转台31和第二旋转台32上分别设置有第一检测装置33和第二检测装置34，所述第一检测装置33和第二检测装置34上分别设有第一图像采集装置35和第二图像采集装置36。
优选的，所述第一支承座4和第二支承座5与第一水平工作臂8和第二水平工作臂9分别通过转动副连接，所述转动副采用滚动轴承式转动副。
优选的，所述第二回转机构2和第三回转机构3通过液压缸驱动旋转。
优选的，所述第一伸缩臂11和第二伸缩臂12通过行程液压缸驱动伸缩。
优选的，所述第一伸缩臂11和第二伸缩臂12两端分别设置有连接滑块，所述滑块可在滑动导轨内滑行。
优选的，所述第四回转机构15和第五回转机构16与第一竖直工作臂19和第二竖直工作臂20分别通过转动副连接，所述转动副为滚动轴承式转动副。
优选的，所述第一竖直工作臂19和第二竖直工作臂20由液压缸驱动摆动。
优选的，所述第一球绞机构23和第二球绞机构24都由球座部和可在球座部内转动的球头部组成。
优选的，所述第一一级伸缩臂25和第二一级伸缩臂28为不可移动体，第一二级伸缩臂26、第二二级伸缩臂29、第一三级伸缩臂27、第二三级伸缩臂30均为移动体，且上述移动体均安装在上述不可移动体内，由行程油缸驱动移动体伸出或缩回。
优选的，所述第一旋转台31和第二旋转台32通过液压缸驱动旋转。
本发明的有益效果是：
检测车具有两条工作臂架,解决单臂作业工作效率低的问题,回转机构上装有两个子回转机构,使得两条工作臂可单独工作,可同时检测两个或多个待检测位置,两条工作臂之间设置有交叉臂,在两个子回转机构主动驱动两条水平工作臂成夹角时，交叉臂可被动滑动调整两臂角度，可解决两条工作臂同时工作时不稳定的问题,伸缩臂与竖直臂采用球绞连接,可伸到难以检测到的位置进行检测,伸缩臂末端设置有旋转台,检测装置可360度旋转，且检测装置上安装有图像采集系统等，便于检测装置全面检测,提高工作效率,使用 安全方便，且折臂式桥梁检测车成本低。
注：上述设计不分先后，每一条都使得本发明相对现有技术具有区别和显著的进步。
附图说明
图1是本发明一种折臂式双臂桥梁检测车的展开示意图。
图2是本发明一种折臂式双臂桥梁检测车的两水平臂成夹角示意图。
图3是本发明一种折臂式双臂桥梁检测车的单臂工作图。
图4是本发明一种折臂式双臂桥梁检测车的折叠示意图。
图5是本发明一种折臂式双臂桥梁检测车的交叉臂局部放大图、球绞机构局部放大图、图像采集装置局部放大图。
附图标记
图中，附图标记如下：
1、第一回转机构2、第二回转机构3、第三回转机构4、第一支承座5、第二支承座6、第一液压缸7、第二液压缸8、第一水平工作臂9、第二水平工作臂10、交叉臂11、第一伸缩臂12、第二伸缩臂13、第一滑动导轨14、第二滑动导轨15、第四回转机构16、第五回转机构17、第三液压缸18、第四液压缸19、第一竖直工作臂20、第二竖直工作臂21、第五液压缸22、第六液压缸23、第一球绞机构24、第二球绞机构25、第一一级伸缩臂26、第一二级伸缩臂27、第一三级伸缩臂28、第二一级伸缩臂29、第二二级伸缩臂30、第二三级伸缩臂31、第一旋转台32、第二旋转台33、第一检测装置34、 第二检测装置35、第一图像采集装置36、第二图像采集装置37、检测车辆38、第一臂架39、第二臂架40、检测装置。
具体实施方式
下面结合附图和实施例对本发明进一步说明。
如图所示：一种折臂式双臂桥梁检测车，所述检测车包括检测车辆37、第一回转机构1、第一臂架38、第二臂架39、交叉臂10、检测装置40，所述第一回转机构1通过螺栓连接安装在检测车辆37底盘上面靠近车头的一侧，第一回转机构1靠近车头可以使车底盘能够放置折叠的臂架，臂架不与防倾覆装置产生干涉，所述第一臂架38包括第二回转机构2、第一支承座4、第一液压缸6、第一水平工作臂8、第一滑动导轨13、第四回转机构15、第三液压缸17、第一竖直工作臂19、第五液压缸21、第一球绞机构23、第一一级伸缩臂25、第一二级伸缩臂26、第一三级伸缩臂27，其中所述第二回转机构2通过焊缝连接在第一回转机构1上，焊缝连接强度高、密封性好，使回转机构连接紧密，防止松动而影响桥梁检测车的稳定性，所述第一支承座4通过螺栓安装在第二回转机构2上，采用螺栓连接有利于拆装以及修理时可能需更换臂架、成本低、连接可靠，且第一支承座4与第一水平工作臂8之间通过转动副连接，并且采用滚动轴承式转动副连接，滚动轴承式转动副摩擦小、换向灵活、维护方便，有利于第一水平工作臂8的上下灵活摆动，所述第一滑动导轨13通过螺栓连接设置在第一水平工作臂8的内侧，所述第一竖直工作臂19通过第四回转机构15与第一水平工作臂8连接,所述第一一级 伸缩臂25与第一竖直工作臂通过球绞连接，球绞连接可使连接在球绞上的第一一级伸缩臂25任意角度灵活摆动，所述第一二级伸缩臂26和第一一级伸缩臂25之间通过行程液压缸控制伸缩，所述第一三级伸缩臂27和第一二级伸缩臂26之间通过行程液压缸控制伸缩。
如图所示：所述第二臂架39包括第三回转机构3、第二支承座5、第二液压缸7、第二水平工作臂9、第二滑动导轨14、第五回转机构16、第四液压缸18、第二竖直工作臂20、第六液压缸22、第二球绞机构24、第二一级伸缩臂28、第二二级伸缩臂29、第二三级伸缩臂30，其中所述第三回转机构3通过焊缝连接在第一回转机构1上，焊缝连接强度高、密封性好，使回转机构连接紧密，防止松动而影响桥梁检测车的稳定性，所述第二支承座5通过螺栓安装在第三回转机构3上，采用螺栓连接有利于拆装以及修理时可能需更换臂架、成本低、连接可靠，且第二支承座5与第二水平工作臂9之间通过转动副连接，并且采用滚动轴承式转动副连接，滚动轴承式转动副摩擦小、换向灵活、维护方便，有利于第二水平工作臂9的上下灵活摆动，所述第二滑动导轨14通过螺栓连接设置在第一水平工作臂9的内侧，所述第二竖直工作臂20通过第五回转机构16与第二水平工作臂9连接,所述第二一级伸缩臂28与第二竖直工作臂20通过球绞连接,球绞连接可使连接在球绞上的一级伸缩臂任意角度灵活摆动，所述第二二级伸缩臂29和第二一级伸缩臂28之间通过行程液压缸控制伸缩，所述第二三级伸缩臂30和第二二级伸缩臂29之间通过行程液压缸控制伸缩。
如图所示：所述交叉臂10由第一伸缩臂11和第二伸缩臂12构成，且第一伸缩臂11和第二伸缩臂12的一端可通过行程液压缸控制伸缩，第一伸缩 臂11和第二伸缩臂12之间通过转动副交叉设置，所述交叉臂10的四个端点设置在第一水平工作臂8和第二水平工作臂9内侧设置的第一滑动导轨13和第二滑动导轨14上，其中一个端点固定于滑动导轨,其余三个端点可在滑动导轨内滑动，因此第二回转机构2和第三回转机构3主动驱动两条水平工作臂成一定夹角，所述交叉臂10被动滑动调整两条水平工作臂之间的夹角且在双臂同时工作时产生约束，有利于双臂工作的稳定性，且滑动连接可使两条水平工作臂角度调整灵活。
如图所示：所述检测装置包括第一旋转台31、第二旋转台32、第一检测装置33、第二检测装置34，所述第一旋转台31和第二旋转台32分别设置在第一三级伸缩臂27和第二三级伸缩臂30的末端,旋转台可使检测装置360度旋转，使检测装置可以全面检测，且所述第一旋转台31和第二旋转台32上分别设置有第一检测装置33和第二检测装置34，所述第一检测装置33和第二检测装置34上分别设有第一图像采集装置35和第二图像采集装置36。
上列详细说明是针对本发明可行实施例的具体说明，该实施例并非用以限制本发明的专利范围，凡未脱离本发明所为的等效实施或变更，均应包含于本案的专利范围中。

Claims (10)

  1. 一种折臂式双臂桥梁检测车，其特征在于：所述检测车包括检测车辆(37)、第一回转机构(1)、第一臂架(38)、第二臂架(39)、交叉臂(10)、检测装置(40)，所述第一回转机构(1)通过螺栓连接安装在检测车辆(37)底盘上面靠近车头的一侧，所述第一臂架(38)包括第二回转机构(2)、第一支承座(4)、第一液压缸(6)、第一水平工作臂(8)、第一滑动导轨(13)、第四回转机构(15)、第三液压缸(17)、第一竖直工作臂(19)、第五液压缸(21)、第一球绞机构(23)、第一一级伸缩臂(25)、第一二级伸缩臂(26)、第一三级伸缩臂(27)，其中所述第二回转机构(2)通过焊缝连接设置在第一回转机构(1)上，所述第一支承座(4)通过螺栓安装在第二回转机构(2)上，且第一支承座(4)与第一水平工作臂(8)之间通过转动副连接，所述第一滑动导轨(13)通过螺栓连接设置在第一水平工作臂(8)的内侧，所述第一竖直工作臂(19)通过第四回转机构(15)与第一水平工作臂(8)连接,所述第一一级伸缩臂(25)与第一竖直工作臂(19)通过球绞连接，所述第一二级伸缩臂(26)和第一一级伸缩臂(25)之间通过行程液压缸控制伸缩，所述第一三级伸缩臂(27)和第一二级伸缩臂(26)之间通过行程液压缸控制伸缩；
    所述第二臂架(39)包括第三回转机构(3)、第二支承座(5)、第二液压缸(7)、第二水平工作臂(9)、第二滑动导轨(14)、第五回转机构(16)、第四液压缸(18)、第二竖直工作臂(20)、第六液压缸(22)、第二球绞机构(24)、第二一级伸缩臂(28)、第二二级伸缩臂(29)、第二三级伸缩臂(30)，其中所述第三回转机构(3)通过焊缝连接设置在第一回转机构(1)上，所述第二支承座(5)通过螺栓安装在第三回转机构(3) 上，且第二支承座(5)与第二水平工作臂(9)之间通过转动副连接，所述第二滑动导轨(14)通过螺栓连接设置在第一水平工作臂(9)的内侧，所述第二竖直工作臂(20)通过第五回转机构(16)与第二水平工作臂(9)连接,所述第二一级伸缩臂(28)与第二竖直工作臂(20)通过球绞连接,所述第二二级伸缩臂(29)和第二一级伸缩臂(28)之间通过行程液压缸控制伸缩，所述第二三级伸缩臂(30)和第二二级伸缩臂(29)之间通过行程液压缸控制伸缩；
    所述交叉臂(10)由第一伸缩臂(11)和第二伸缩臂(12)构成，且第一伸缩臂(11)和第二伸缩臂(12)的一端可通过行程液压缸控制伸缩，第一伸缩臂(11)和第二伸缩臂(12)之间通过转动副交叉设置，所述交叉臂(10)的四个端点设置在第一水平工作臂(8)和第二水平工作臂(9)内侧设置的第一滑动导轨(13)和第二滑动导轨(14)上，其中一个端点固定于滑动导轨,其余三个端点可在滑动导轨内滑动；
    所述检测装置(40)包括第一旋转台(31)、第二旋转台(32)、第一检测装置(33)、第二检测装置(34)，所述第一旋转台(31)和第二旋转台(32)分别设置在第一三级伸缩臂(27)和第二三级伸缩臂(30)的末端,且所述第一旋转台(31)和第二旋转台(32)上分别设置有第一检测装置(33)和第二检测装置(34)，所述第一检测装置(33)和第二检测装置(34)上分别设有第一图像采集装置(35)和第二图像采集装置(36)。
  2. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第一支承座(4)和第二支承座(5)与第一水平工作臂(8)和第二水平工作臂(9)分别通过转动副连接，所述转动副采用滚动轴承式转动副。
  3. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第二回转机构(2)和第三回转机构(3)通过液压缸驱动旋转。
  4. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第一伸缩臂(11)和第二伸缩臂(12)通过行程液压缸驱动伸缩。
  5. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第一伸缩臂(11)和第二伸缩臂(12)两端分别设置有连接滑块，所述滑块可在滑动导轨内滑行。
  6. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第四回转机构(15)和第五回转机构(16)与第一竖直工作臂(19)和第二竖直工作臂(20)分别通过转动副连接，所述转动副为滚动轴承式转动副。
  7. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第一竖直工作臂(19)和第二竖直工作臂(20)由液压缸驱动摆动。
  8. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第一球绞机构(23)和第二球绞机构(24)都由球座部和可在球座部内转动的球头部组成。
  9. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第一一级伸缩臂(25)和第二一级伸缩臂(28)为不可移动体，第一二级伸缩臂(26)、第二二级伸缩臂(29)、第一三级伸缩臂(27)、第二三级伸缩臂(30)均为移动体，且上述移动体均安装在上述不可移动体内，由行程油缸驱动移动体伸出或缩回。
  10. 根据权利要求1所述的一种折臂式双臂桥梁检测车，其特征在于：所述第一旋转台(31)和第二旋转台(32)通过液压缸驱动旋转。
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