An inspection vehicle for traveling on a space curved track

Abstract

The present invention relates to the technical field of building inspection and maintenance equipment, and more specifically, to an inspection vehicle for traveling on a spatial curved track. The inspection vehicle is mainly divided into a plurality of vehicle bodies to respectively carry different components of the inspection vehicle body, and two adjacent vehicle bodies are connected by ball joint connectors, which can be rotated arbitrarily to adapt to track conditions such as flipping and twisting, thereby ensuring the passing performance of the entire inspection vehicle body on the spatial curved track, allowing maintenance personnel and / or maintenance equipment to travel along the spatial curve, and solving the problem of difficult maintenance of some bridge components.

Description

Technical Field

[0001] The present invention relates to the technical field of building inspection and maintenance equipment, and in particular to an inspection vehicle for traveling on a spatial curved track. Background Art

[0002] With the improvement of living conditions and economic conditions, people's aesthetic level has also achieved leapfrog development. Specifically, in the field of bridges, bridges with spatial curved components are no longer rare. While performing their basic functions and meeting people's aesthetic needs, these components also pose a problem to the maintenance of bridges. In detail, in the traditional way, the main method is to use linear travel equipment such as construction elevators and hanging baskets to carry maintenance personnel and / or maintenance equipment to maintain bridges and their components. When facing bridges with spatial curved components, the travel coverage of these travel equipment is single, and it is difficult to completely cover the entire bridge, so it is not applicable. If a track system is built on the surface of the bridge component to form a travel device, the track system will extend in a spatial curve. The existing maintenance vehicles are basically of an integral style. When facing a spatial curved track, the passing performance is poor, and it is easy to get stuck, which is difficult to apply. Summary of the invention

[0003] The present invention aims to provide an inspection vehicle for traveling on a spatial curved track, which has good passing performance when facing the spatial curved track.

[0004] The embodiment of the present invention is achieved as follows:

[0005] An inspection vehicle for traveling on a spatial curved track, comprising:

[0006] The inspection vehicle body is mainly composed of a plurality of vehicle bodies arranged in sequence along the extension direction of the track and connected end to end, and two adjacent vehicle bodies are connected by a ball joint connector;

[0007] A running wheel system is arranged on the vehicle body, and the inspection vehicle body is installed on the track through the running wheel system; and

[0008] The driving device is arranged on one of the vehicle bodies and is used for driving the inspection vehicle body to move along the track.

[0009] Preferably, the number of the vehicle bodies is three, which are the trunk vehicle body, the car body and the driving vehicle body in order along the traveling direction of the inspection vehicle body; the running wheel system is respectively arranged on the trunk vehicle body and the driving vehicle body, and the driving device is arranged on the driving vehicle body.

[0010] Preferably, the car body is mainly composed of a second connecting frame, a passenger car and a first connecting frame which are fixedly connected in sequence along the traveling direction of the inspection vehicle body, the car body is connected to the tail car body through the second connecting frame, and the car body is connected to the driving car body through the first connecting frame, the first connecting frame and the second connecting frame are made of carbon steel, and the passenger car is made of aluminum alloy.

[0011] Preferably, the track includes a pair of main rails disposed on the left and right sides; the running wheel system includes two main wheel rail assemblies symmetrically arranged on the left and right sides and used to connect with the main rails on the corresponding sides;

[0012] The main wheel-rail assembly includes a load-bearing wheel rollingly supported on the main rail bar on the corresponding side, a first wheel seat rotatably connected to the load-bearing wheel, a first elastic member, a limiting wheel, and a second wheel seat rotatably connected to the limiting wheel;

[0013] The first wheel seat is fixedly connected to the vehicle body; the second wheel seat is slidably connected to the first wheel seat through a sliding structure, so that the second wheel seats in the main wheel-rail assemblies on both sides can move toward or away from each other;

[0014] The limiting wheels on both sides respectively roll and abut against the opposite sides of the left and right main rails, and the first elastic member applies elastic force to the second wheel seat so that the second wheel seats on both sides have a tendency to move toward each other.

[0015] Preferably, each group of the main wheel-rail assembly also includes a clamping wheel rotatably connected to the first wheel seat, and the clamping wheel and the load-bearing wheel are arranged on opposite sides of the main rail, and the gap between the clamping wheel and the load-bearing wheel forms a clamping gap for the main rail on the corresponding side to pass through.

[0016] Preferably, the track includes a pair of auxiliary rails extending parallel to the main rail and disposed on the left and right sides, the running wheel system includes two auxiliary wheel-rail assemblies symmetrically arranged on the left and right sides and used to connect to the auxiliary rails on the corresponding sides, and the inspection vehicle is arranged between the main rail and the auxiliary rail.

[0017] Preferably, the auxiliary wheel-rail assembly includes an auxiliary roller, a telescopic mechanism, and a second elastic member for causing the telescopic mechanism to have an elongation tendency;

[0018] One end of the telescopic mechanism along the telescopic direction is fixedly connected to the vehicle body, and the other end is rotatably connected to the auxiliary roller. The auxiliary roller is driven by the telescopic mechanism to roll and abut against the auxiliary rail. The telescopic mechanisms acting on different auxiliary rails are facing in the direction of the elastic force brought by the second elastic member transmitted to the vehicle body fixedly connected thereto.

[0019] Preferably, the driving device is a wire rope hoist fixedly connected to the vehicle body.

[0020] Preferably, a safety brake device is also provided on the vehicle body on which the driving device is provided, and the safety brake device includes a safety lock fixedly connected to the vehicle body, and a trigger hole of the mounting lock passes through a safety steel wire rope extending parallel to and fixed to the rail.

[0021] Preferably, the ball pair connector is a ball joint bearing, and in two adjacent vehicle bodies, one vehicle body is fixed to the inner ring of the ball joint bearing, while the other vehicle body is fixed to the outer ring of the ball joint bearing.

[0022] Due to the adoption of the above technical solution, the beneficial effects of the present invention include:

[0023] (1) The present invention splits the inspection vehicle body into several vehicle bodies to respectively carry different components of the inspection vehicle body. Adjacent vehicle bodies are connected by ball joint connectors and can be rotated arbitrarily to adapt to track conditions such as flipping and twisting, thereby ensuring the passing performance of the entire inspection vehicle body on the spatial curve track, allowing maintenance personnel and / or maintenance equipment to move along the spatial curve, thereby solving the problem of difficulty in maintaining some bridge components.

[0024] (2) The present invention also provides a limiting wheel, a second wheel seat and an elastic member on the basis of the load-bearing wheel, so that the limiting wheels in the main wheel-rail assemblies on both sides can realize the clamping and limiting of the main rail, so that the vehicle body can be firmly limited on the track, thereby improving the passing performance and safety of the inspection vehicle when facing the spatial curved track, and avoiding accidental derailment of the inspection vehicle when passing the spatial curved track.

[0025] (3) In order to further improve the safety of the inspection vehicle, the present invention also provides a clamping wheel so that the gap between the clamping wheel and the load-bearing wheel forms a clamping gap for the corresponding side main rail to pass through; this morphological structure can effectively prevent the inspection vehicle from falling off the track due to a change in the center of gravity when facing a road section that is close to vertical extension.

[0026] (4) The present invention is provided with an auxiliary wheel-rail assembly on the basis of the main wheel-rail assembly to cooperate with the auxiliary rail in the connecting track; when the inspection vehicle is running, the auxiliary wheel-rail assembly can effectively enhance the stability of the vehicle body and reduce the risk of the vehicle body tipping over backward when passing through a road section that is nearly vertical. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0028] Figures 1 to 3 This is a schematic diagram of the structure of Embodiment 1 provided by the present invention;

[0029] Figure 4 This is a schematic structural diagram of the tail compartment body in Example 1 provided by the present invention;

[0030] Figure 5 This is a schematic structural diagram of the tail compartment body in Embodiment 2 provided by the present invention;

[0031] Figure 6 and Figure 7 This is a schematic diagram of the structure of the car body in Example 1 provided by the present invention;

[0032] Figure 8 A schematic diagram of the coordination between the main wheel assembly, the main rail and the vehicle body in Example 1 provided by the present invention;

[0033] Fig. 9 This is a schematic structural diagram of the main wheel assembly in Example 1 provided by the present invention;

[0034] Fig.10 , Fig.11 and Fig.12 This is a schematic structural diagram of the main wheel assembly in Example 1 provided by the present invention;

[0035] Fig.13 A cross-sectional view of the driving vehicle body in the direction of travel in Example 1 provided by the present invention;

[0036] Fig.14 This is a schematic diagram of the coordination between the auxiliary roller assembly and the auxiliary rail in Example 1 provided by the present invention.

[0037] Fig.15 and Fig.16 This is a schematic diagram of the structure of the driving carriage in Embodiment 1 provided by the present invention;

[0038] Fig.17 This is a schematic structural diagram of the ball joint connector in Example 1 provided by the present invention.

[0039]

Specific symbols

[0040] 100-trunk body, 101-battery, 102-collector, 103-conductor wire, 104-electrical component compartment, 105-tool compartment;

[0041] 200-car body, 201-first connecting frame, 202-second connecting frame, 203-passenger car;

[0042] 300-driving car body, 301-wire rope hoist, 302-traction wire rope, 303-safety lock, 304-safety wire rope, 305-guide pulley block;

[0043] 400-main rail, 410-load bearing wheel, 420-first wheel seat, 430-first compression spring, 440-limiting wheel, 450-second wheel seat, 461-slide rail, 462-sliding block, 463-sliding rod, 464-sliding seat, 465-support plate, 466-stop flange, 470-clamping wheel;

[0044] 500-auxiliary rail, 501-auxiliary roller, 502-telescopic rod, 503-second compression spring, 504-limiting plate;

[0045] 600-rail holding brake;

[0046] 700-ball joint connector, 701-bearing inner ring, 702-bearing outer ring, 703-pin shaft. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Generally, the systems of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0050] In the description of the present invention, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, if the terms "first", "second" and the like appear in the description of the present invention, they are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0051] In addition, if the terms "horizontal" or "vertical" appear in the description of the present invention, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0052] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] Example 1

[0054] An inspection vehicle for traveling on a spatial curved track, comprising:

[0055] The inspection vehicle body is mainly composed of a plurality of vehicle bodies arranged in sequence along the extension direction of the track and connected end to end, and two adjacent vehicle bodies are connected by a ball joint connector 700;

[0056] A running wheel system is arranged on the vehicle body, and the inspection vehicle body is installed on the track through the running wheel system; and

[0057] The driving device is arranged on one of the vehicle bodies and is used for driving the inspection vehicle body to move along the track.

[0058] See also Figure 1 , Figure 2 and Figure 3 , a schematic diagram of the structure of the inspection vehicle provided in Example 1 when it cooperates with the spatial curved track.

[0059] This embodiment 1 arranges an inspection vehicle body for carrying maintenance personnel and / or maintenance equipment, and a running wheel system for installing the entire inspection vehicle body on a spatial curved track, so that the inspection vehicle body can move along the extension direction of the spatial curved track.

[0060] In a specific implementation, the spatial curved track extends along the surface of the component to be maintained, so that maintenance personnel and / or maintenance equipment can move along the surface of the component and perform maintenance during the movement.

[0061] In this embodiment 1, the entire inspection vehicle body is divided into several vehicle bodies to carry different components of the inspection vehicle body respectively. The adjacent vehicle bodies are connected by ball joint connectors 700 and can be rotated arbitrarily to adapt to road conditions such as flipping and twisting that occur in the spatial curved track, thereby ensuring the passing performance of the entire inspection vehicle on the spatial curved track.

[0062] In this embodiment 1, there are three car bodies for carrying different parts of the inspection vehicle, which are the tail car body 100, the car body 200 and the driving car body 300 in the direction of travel of the main body of the inspection vehicle; the running wheel system is respectively arranged on the tail car body 100 and the driving car body 300, and the driving device is arranged on the driving car body 300. This arrangement of the drive in front can effectively improve the stability of the entire inspection vehicle traveling on the track.

[0063] At the same time, for the inspection vehicle that is driven in front, it is preferred to integrate more important components such as a power supply device on the rear compartment body 100 to improve the safety of the entire inspection vehicle.

[0064] So, see Figure 4 , the structural diagram of the tail compartment body 100 in the present embodiment 1, which specifically uses a battery 101 as a power supply device to power the whole vehicle. The implementer can select a power supply device to power the whole vehicle according to the specific conditions of the maintenance site. Although the use of the battery 101 to power the whole vehicle has the advantage of low implementation cost, it is inconvenient to replace the battery 101 regularly.

[0065] So, see Figure 5 , a schematic diagram of the structure of the tail compartment body 100 in Embodiment 2; the main difference between it and Embodiment 1 is that the power supply device is a current collector 102, and the brushes of the current collector 102 are connected to the busbar 103 extending parallel to the track for power supply. In Embodiment 2, as the inspection vehicle body moves along the track, the brushes on the current collector 102 are always connected to the busbar 103, thereby providing power to the entire vehicle.

[0066] This embodiment 1 also optimizes the structure of the tail compartment body 100. Please refer to Figure 4In this embodiment 1, the tail compartment body 100 is mainly composed of an electrical component compartment 104 and a tool compartment 105 which are arranged in sequence and separated from each other along the traveling direction of the inspection vehicle body. The purpose of such arrangement is to prevent maintenance personnel from frequently taking out and taking in tools, which may affect the electrical components. In this embodiment 1, the battery 101 as a power supply device is also accommodated in the electrical component compartment 104. In this embodiment 1, a manual rail-holding brake 600 is also provided on the tail compartment body 100.

[0067] In this embodiment 1, the car body 200 is mainly used to carry maintenance personnel. In order to facilitate the maintenance personnel to control the start and stop of the whole vehicle and understand the parameters such as the vehicle speed, a controller and a display are arranged in the car body 200, and the signal output end of the controller is electrically connected to the control end of the drive device, and the signal output end of the controller is electrically connected to the signal input end of the display.

[0068] More importantly, as a track moving component, the weight and structural strength of the inspection vehicle are of great significance to the safety of the entire vehicle.

[0069] Therefore, the structure of the car body 200 is also optimized in this embodiment 1. Figure 6 and Figure 7 , a schematic structural diagram of the car body 200 in this embodiment 1, the car body 200 is mainly composed of a second connecting frame 202, a manned car 203 and a first connecting frame 201 which are fixedly connected in sequence along the traveling direction of the inspection vehicle body, the car body 200 is connected to the tail car body 100 through the second connecting frame 202, the car body 200 is connected to the driving car body 300 through the first connecting frame 201, the first connecting frame 201 and the second connecting frame 202 are made of carbon steel, and the manned car 203 is made of aluminum alloy.

[0070] The first connecting frame 201 and the second connecting frame 202 are made of high-strength carbon steel to effectively ensure the strength of the connection between the car body 200 and the tail car body 100 and the driving car body 300, while the manned car 203 specifically used for carrying maintenance personnel is made of lightweight aluminum alloy material, thereby effectively reducing the weight of the entire vehicle.

[0071] Furthermore, in order to ensure the stability of the inspection vehicle traveling on the spatial curved track, this embodiment 1 also proposes an optimized running wheel system.

[0072] Please refer to Figure 8 , Fig. 9 , Fig.11 and Fig.12In this embodiment 1, the track includes a pair of main rails 400 disposed on the left and right sides; the running wheel system includes two main wheel rail assemblies symmetrically arranged on the left and right sides and used to connect with the main rails 400 on the corresponding sides;

[0073] The main wheel-rail assembly includes a load-bearing wheel 410 rollingly supported on the main rail 400 on the corresponding side, a first wheel seat 420 rotatably connected to the load-bearing wheel 410, a first elastic member, a limiting wheel 440, and a second wheel seat 450 rotatably connected to the limiting wheel 440;

[0074] The first wheel seat 420 is fixedly connected to the vehicle body; the second wheel seat 450 is slidably connected to the first wheel seat 420 through a sliding structure, so that the second wheel seats 450 in the main wheel-rail assemblies on both sides can move toward or away from each other; the limiting wheels 440 on both sides roll and abut against the opposite sides of the left and right main rails 400, respectively, and the first elastic member applies an elastic force to the second wheel seat 450, so that the second wheel seats 450 on both sides have a tendency to move toward each other.

[0075] The vehicle body is mainly supported and placed on the main rail 400 by the load-bearing wheels 410. During the driving process of the inspection vehicle, the limiting wheels 440, driven by the first elastic member, always clamp the main rails 400 on both sides, so that the vehicle body can be firmly limited on the track. At the same time, since the limiting wheels 440 on both sides can move toward or away from each other, even if the main rails 400 on both sides are bent and twisted and the track gauge changes within a certain range, the limiting wheels 440 can still firmly act on the main rails 400 on the corresponding side to maintain the clamping limit.

[0076] In addition, in order to meet the requirement of covering bridge components, most sections of the space curve track are close to vertical extension. At this time, if the center of gravity of the inspection vehicle changes, it is easy to tip over backwards and cause a derailment accident. Therefore, please refer to Fig. 9 , Fig.10 As a preferred embodiment, in this embodiment 1, each group of the main wheel-rail assembly also includes a clamping wheel 470 rotatably connected to the first wheel seat 420, and the clamping wheel 470 and the load-bearing wheel 410 are disposed on opposite sides of the main rail 400, and the gap between the clamping wheel 470 and the load-bearing wheel 410 forms a clamping gap for the main rail 400 on the corresponding side to pass through.

[0077] After the clamping wheel 470 is used, when the inspection vehicle is traveling on these nearly vertical sections, even if it tilts backward due to a change in the center of gravity and the load-bearing wheel 410 loses contact with the main rail 400, the clamping wheel 470 can continue to contact the main rail 400 by replacing the load-bearing wheel 410 to avoid derailment accidents. The clamping wheel 470 cooperates with the limiting wheel 440 and the load-bearing wheel 410 to achieve a rough limit between the main rail 400 and the vehicle body, effectively improving the safety of the entire inspection vehicle.

[0078] See also Fig.12 In this embodiment 1, the sliding structure for connecting the first wheel seat 420 and the second wheel seat 450 includes a slide rail 461 arranged on the first wheel seat 420, and a slider 462 that slides with the slide rail 461 and is fixedly connected to the second wheel seat 450. The slide rail 461 and the slider 462 that cooperate with each other as the sliding mechanism have the advantages of low implementation cost and reliable structure. It can be understood that since the second wheel seats 450 disposed on the left and right sides can move toward or away from each other, the specific extension direction of the slide rail 461 is along the left and right direction.

[0079] Please see again Fig.12 In the present embodiment 1, the sliding structure further comprises a sliding rod 463 fixedly connected to the second wheel seat 450, and a sliding seat 464 passed through by the sliding rod 463 and slidably matched with the sliding rod 463, and the sliding seat 464 is fixedly connected to the first wheel seat 420. Similar to the above description, it can be understood that since the second wheel seats 450 disposed on the left and right sides can move toward or away from each other, the specific extension direction of the sliding rod 463 is along the left and right direction.

[0080] As long as any one of the slide rails 461 and sliders 462, or the slide rods 463 and the slide seats 464 is selected as the slide structure, the function of the second wheel seats 450 on the left and right sides being able to move toward or away from each other can be realized. In order to improve the sliding stability, the slide structure in the present embodiment 1 includes the above-mentioned slide rails 461, sliders 462, slide rods 463, and slide seats 464. In addition, in the present embodiment 1, a support plate 465 is provided between the slide seat 464 and the first wheel seat 420, and the support plate 465 is welded to the slide seat 464 and the first wheel seat 420 respectively, so as to realize the fixed connection between the slide seat 464 and the first wheel seat 420.

[0081] For more details, see Fig. 9 , Fig.11In the present embodiment 1, the structure for realizing the tendency of the first elastic member to drive the second wheel seats 450 on both sides to move toward each other is specifically as follows: the sliding rods 463 on both sides are formed with a stop flange 466 at one end close to each other, the first elastic member is sleeved on the sliding rod 463, and its two ends are respectively in contact with the stop flange 466 and the sliding seat 464. The first elastic member is specifically the first compression spring 430. It can be understood that since the two ends of the first compression spring 430 act on the stop flange 466 and the sliding seat 464 respectively, the stop flange 466, the first compression spring 430 and the sliding seat 464 are arranged in sequence along the sliding rods 463 on both sides from one end close to each other to one end away from each other.

[0082] As a preferred embodiment, in this embodiment 1, the track includes a pair of auxiliary rails 500 extending parallel to the main rail 400 and disposed on the left and right sides, the running wheel system includes two auxiliary wheel-rail assemblies symmetrically arranged on the left and right sides and used to be connected to the auxiliary rails 500 on the corresponding sides, and the inspection vehicle is arranged between the main rail 400 and the auxiliary rail 500.

[0083] The auxiliary wheel-rail assembly includes an auxiliary roller 501, a telescopic mechanism, and a second elastic member for making the telescopic mechanism have an elongation tendency;

[0084] One end of the telescopic mechanism along its telescopic direction is fixedly connected to the vehicle body, and the other end is rotatably connected to the auxiliary roller 501. Driven by the telescopic mechanism, the auxiliary roller 501 rolls against the auxiliary rail 500. The telescopic mechanisms acting on different auxiliary rails 500 are in the direction of the elastic force brought by the second elastic member transmitted to the vehicle body fixedly connected thereto.

[0085] See also Fig.13 , a cross-sectional view of the driving vehicle body 300 in a direction perpendicular to its traveling direction, in this embodiment 1, the auxiliary roller 501 acts on the auxiliary rail 500 through a telescopic mechanism, in addition to playing a basic guiding role, since the auxiliary rail 500 and the auxiliary roller 501 are in active contact, the auxiliary roller 501 borne by the auxiliary rail 500 will increase the corresponding pressure, and the rolling friction between the two will increase accordingly, thereby improving the running stability of the inspection vehicle. In addition, since the inspection vehicle is set between the main rail 400 and the auxiliary rail 500, the auxiliary rail 500 can also prevent the inspection vehicle from falling off the main rail 400.

[0086] For more details, see Fig.14In this embodiment 1, the telescopic mechanism is a telescopic rod 502, and a limiting plate 504 is formed at one end of the telescopic rod 502 in its telescopic direction, and a connecting seat for rotationally connecting with the auxiliary roller 501 is formed at the other end. The second elastic member is a second compression spring 503 that is sleeved on the telescopic rod 502 and whose two ends are respectively abutted against the limiting plate 504 and the connecting seat.

[0087] In other embodiments, the driving device is a roller acting on the track, and the roller drives the vehicle to move forward by relying on the friction between the roller and the track. Fig.15 and Fig.16 , a schematic structural diagram of a driving vehicle body 300; in the present embodiment 1, the driving device is a wire rope hoist 301 fixedly connected to the vehicle body; the wire rope hoist 301 rotates a winch to wind up a traction wire rope 302 fixedly connected to the outside of the inspection vehicle at one end, thereby enabling the entire vehicle to move.

[0088] Furthermore, when the track extends roughly vertically, the traction wire rope 302 in the wire rope hoist 301 bears a large load, and the traction wire rope 302 may break unexpectedly, and the whole vehicle has a certain risk of falling. Therefore, in order to ensure the safety of the whole vehicle, in this embodiment 1, a safety device is also provided on the vehicle body provided with the driving device, and the safety device includes a safety lock 303 fixedly connected to the vehicle body, and the trigger hole of the installation lock passes through a safety wire rope 304 extending parallel to the track and fixed.

[0089] Since the safety wire rope 304 extends in parallel with the track, it can be regarded as a kind of track. A sensor is provided in the trigger hole of the safety lock 303 to monitor the linear speed of the safety wire rope 304. When the linear speed is higher than the locking threshold of the safety lock 303, the safety lock 303 automatically locks and cuts off the safety wire rope 304, so that the vehicle body and the safety wire rope 304 are stationary, preventing the whole vehicle from falling. The structure and principle of the safety lock 303 belong to mature existing technologies, so they will not be repeated.

[0090] At the same time, since in this embodiment 1, not only the wire rope hoist 301 is used as the driving device, but also the safety lock 303 and the safety wire rope 304 are used as the installation device, if they are not guided, these wire ropes are easy to be entangled with each other or wear the vehicle body. Therefore, in this embodiment 1, the vehicle body provided with the driving device is also provided with a guide pulley group 305 for the wire rope in the wire rope hoist 301 (i.e., the traction wire rope 302) and / or the safety wire rope 304 to pass through, so as to guide these wire ropes and increase their service life.

[0091] Also, see Fig.17In this embodiment 1, the ball joint connector 700 is a ball joint bearing, which is mainly composed of a bearing inner ring 701 and a bearing outer ring 702 with spherical fit. The bearing inner ring 701 and the bearing outer ring 702 are respectively connected to different vehicle bodies.

[0092] Specifically, in this embodiment 1, a pin shaft 703 is fixedly formed on one of the vehicle bodies and penetrates into the inner hole of the bearing inner ring 701, and the other vehicle body connected to the above vehicle body is fixedly connected to the bearing outer ring 702. The implementer can select other ball joint connectors 700 according to their own needs.

[0093] In the present embodiment 1, the main rail 400 and the auxiliary rail 500 are both in the shape of a circular tube.

[0094] The above description is only the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An inspection vehicle for traveling on a spatial curved track, characterized in that: Includes: The inspection vehicle body is mainly composed of a plurality of vehicle bodies arranged in sequence along the extension direction of the track and connected end to end, and two adjacent vehicle bodies are connected by a ball joint connector; A running wheel system is arranged on the vehicle body, and the inspection vehicle body is installed on the track through the running wheel system; as well as A driving device, disposed on one of the vehicle bodies, for driving the inspection vehicle body to move along the track; The number of the vehicle bodies is three, and along the traveling direction of the inspection vehicle body, they are the tail compartment vehicle body, the car compartment vehicle body and the driving vehicle body in order; the running wheel system is respectively arranged on the tail compartment vehicle body and the driving vehicle body, and the driving device is arranged on the driving vehicle body; The track includes a pair of main rails disposed on the left and right sides; the running wheel system includes two main wheel rail assemblies symmetrically arranged on the left and right sides and used to connect with the main rails on the corresponding sides; The main wheel-rail assembly includes a load-bearing wheel rollingly supported on the main rail bar on the corresponding side, a first wheel seat rotatably connected to the load-bearing wheel, a first elastic member, a limiting wheel, and a second wheel seat rotatably connected to the limiting wheel; The first wheel seat is fixedly connected to the vehicle body; the second wheel seat is slidably connected to the first wheel seat through a sliding structure, so that the second wheel seats in the main wheel-rail assemblies on both sides can move toward or away from each other; The limiting wheels on both sides respectively roll and abut against the opposite sides of the left and right main rails, and the first elastic member applies elastic force to the second wheel seat, so that the second wheel seats on both sides have a tendency to move toward each other; The ball pair connection piece is a ball joint bearing. Among two adjacent car bodies, one car body is fixed to the inner ring of the ball joint bearing, and the other car body is fixed to the outer ring of the ball joint bearing.

2. An inspection vehicle for traveling on a spatial curved track according to claim 1, characterized in that: The car body is mainly composed of a second connecting frame, a manned car and a first connecting frame which are fixedly connected in sequence along the traveling direction of the inspection vehicle body. The car body is connected to the tail car body through the second connecting frame, and the car body is connected to the driving car body through the first connecting frame. The first connecting frame and the second connecting frame are made of carbon steel, and the manned car is made of aluminum alloy.

3. The inspection vehicle for traveling on a spatial curved track according to claim 1, characterized in that: Each group of the main wheel-rail assembly also includes a clamping wheel rotatably connected to the first wheel seat, and the clamping wheel and the load-bearing wheel are arranged on opposite sides of the main rail. The gap between the clamping wheel and the load-bearing wheel forms a clamping gap for the main rail on the corresponding side to pass through.

4. An inspection vehicle for traveling on a spatial curved track according to any one of claims 1 or 3, characterized in that: The track includes a pair of auxiliary rails extending in parallel with the main rail and disposed on the left and right sides; the travel wheel system includes two auxiliary wheel-rail assemblies symmetrically arranged on the left and right sides and used to be connected to the auxiliary rails on the corresponding sides; the inspection vehicle is disposed between the main rail and the auxiliary rail.

5. An inspection vehicle for traveling on a spatial curved track as claimed in claim 4, characterized in that: The auxiliary wheel-rail assembly includes an auxiliary roller, a telescopic mechanism, and a second elastic member used to make the telescopic mechanism have an elongation tendency; One end of the telescopic mechanism along the telescopic direction is fixedly connected to the vehicle body, and the other end is rotatably connected to the auxiliary roller. The auxiliary roller is driven by the telescopic mechanism to roll and abut against the auxiliary rail. The telescopic mechanisms acting on different auxiliary rails are facing in the direction of the elastic force brought by the second elastic member transmitted to the vehicle body fixedly connected thereto.

6. The inspection vehicle for traveling on a spatial curved track according to claim 1, characterized in that: The driving device is a wire rope hoist fixedly connected to the vehicle body.

7. An inspection vehicle for traveling on a spatial curved track according to claim 6, characterized in that: A safety brake device is also provided on the vehicle body provided with the driving device. The safety brake device includes a safety lock fixedly connected to the vehicle body. A safety steel wire rope extending parallel to and fixed to the track passes through a trigger hole of the safety lock.

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