Control method of folding arm type dual-arm bridge detecting vehicle

Abstract

The invention discloses a control method of a folding arm type dual-arm bridge detecting vehicle. The control method includes the dual-folding-arm unfolding control method, the dual-folding-arm folding control method, the two-horizontal-arm included angle control method, and the telescopic arm control method. The dual-folding-arm unfolding control method and the dual-folding-arm folding control method include the step of driving a first rotating mechanism, a second rotating mechanism, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a fourth hydraulic cylinder, a fifth hydraulic cylinder, a sixth hydraulic cylinder and telescopic arm hydraulic cylinders so as to fold and unfold the dual folding arms. The two-horizontal-arm included angle control method includes the steps of driving the folding or unfolding amount of a first telescopic arm and the second telescopic arm so as to control the angles of two main arms. The telescopic arm control method includes the steps of controlling the swing amplitude of the telescopic arms by driving a fourth rotating mechanism and a fifth rotating mechanism, controlling the movements of the telescopic arms by driving ball hinge mechanisms, controlling the rotation movements of detecting devices by driving rotating tables, and controlling the working radius of the telescopic arms by driving stroke hydraulic cylinders of the telescopic arms.

Description

technical field [0001] The invention relates to the technical field of inspection vehicle devices, in particular to a control method for a folding-arm double-arm bridge inspection vehicle. Background technique [0002] Bridge construction is one of the important infrastructures of the country, and bridge engineering is the lifeline project related to the coordinated development of society and economy. With the rapid development of bridge construction and huge capital investment, people pay more and more attention to the safety and durability of bridges. At the same time, the bridge will face the problem of entering the "aging stage", so we must pay attention to bridge inspection. The use of advanced bridge inspection vehicles can greatly improve the accuracy and work efficiency of bridge inspection. The bridge inspection vehicle is a special vehicle for bridge inspection. Its working principle is that the hydraulic system bends the working arm deep into the bottom of the br...

AI Technical Summary

Problems solved by technology

[0004] Patent CN201891076U is an intelligent and manual dual-purpose bridge inspection vehicle. The bridge inspection vehicle has been improved, and a stabilization mechanism and an image acquisition and analysis system for scanning, analyzing and transmitting the appearance of the bridge have been added. The stabilization mechanism can prevent overturning. The image acquisition and analysis system can quickly and conveniently scan the bridge, realizing both automatic and manual detection functions, but there are still some shortcomings, such as low efficiency of single-arm action, large secondary stress of truss, and bending moment at nodes

[0005] Patent CN207003244U is a bridge inspection vehicle with dual-operation safety passages. Its innovative point is that the lower end of the safety passage fixing mechanism is connected with two safety passages that can be folded relative to it and can be unfolded independently, which can solve the problem of multi-point simultaneous operation of the bridge to be inspected. It can improve work efficiency, but there are also some shortcomings. The safety degree of workers in the safety channel is not high enough, and the two independent safety channels lack stability.

[0006] Patent CN207828780U is a bridge detection device. The detection device is designed with an intelligent detection device. The bridge detection and bridge maintenance are considered separately. It is only used for bridge detection. The detection personnel can perform detection without going below the bridge deck, and the data to be detected can be summarized and analyzed. Afterwards, the maintenance plan is determined, which solves the problem of worker safety in bridge inspection. The cost is low, but there are still some shortcomings. location not detected

[0007] Therefore, the current bridge inspection vehicles on the market have inflexible and unstable movements, especially the working arm of the folding arm bridge inspection vehicle is not stable enough, and the truss bridge inspection vehicle has high cost and complex structure, and the single-arm work efficiency Not high, according to the existing degrees of freedom, some dead point positions cannot be detected, such as the back of the bridge pier, the dead point position of the bridge top structure, etc., and it is easy to cause safety hazards for workers to measure under the bridge

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