A non-synchronous adaptive device for bridge inspection vehicles

Abstract

The present invention discloses an asynchronous adaptive device for a bridge inspection vehicle, comprising a first gantry, a second gantry and a truss, wherein the truss is connected to the support surface of the first gantry through a first hinge structure that can rotate in parallel, and is connected to the support surface of the second gantry through a second hinge structure that can rotate and move in parallel; an angular displacement sensor is provided at the first hinge structure to measure the relative angle change between the truss and the first gantry, and the drive controller adjusts the drive device according to the relative angle change to achieve left and right synchronous walking of the bridge inspection vehicle. The present invention can achieve relative rotation between the truss and the two gantries through the hinge shaft of the gantry and the truss, and can achieve movement of the truss and the gantry in the length direction of the truss through the long hinge hole, and can achieve stable fixation of the truss and the gantry through the plane support and hinge shaft connection between the gantry and the truss.

Description

Technical Field

[0001] The invention relates to the technical field of bridge safety detection, and in particular to an asynchronous self-adaptive device for a bridge inspection vehicle. Background Art

[0002] In order to meet the daily maintenance and full coverage of bridge operations, permanent bridge inspection vehicles (or bridge maintenance vehicles) are usually set up for bridge inspection during bridge construction. Commonly used bridge inspection vehicles are generally composed of a traveling device, i.e., a driving device (10), a truss (2), a gantry (1), etc., such as Figure 1 shown.

[0003] Generally, bridge inspection vehicles are composed of two or more sets of traveling devices, which are suspended on two parallel tracks arranged at the bottom of the bridge beam. The traveling devices drive the bridge inspection vehicle to move in a straight line along the track. Since the gauge of the parallel traveling track is large, the gauge error often occurs during the installation of the track. At the same time, when the traveling drive on both sides moves, the inspection vehicle often tilts horizontally to the left and right due to the asynchrony of the left and right traveling drives. When the track gauge changes, it will cause displacement between the drive device and the gantry or between the gantry and the truss; due to the asynchronous changes in the left and right travel, the bridge inspection vehicle will also tilt horizontally to the left and right, causing relative rotation angles and displacements between the drive and the gantry or between the gantry and the truss.

[0004] In order to adapt to the above changes, the main structural methods and main problems of the asynchronous adaptive device of bridge inspection vehicles in China are as follows:

[0005] 1. The gantry and truss are fixed by welding or bolts, and the gantry and travel drive device are hingedly suspended. The lateral gap reserved between the hinged ear plates and the elastic deformation of the truss are used to adapt to the relative rotation angle and displacement of the truss and the gantry when the bridge inspection vehicle is in an asynchronous state. Main problems: Long-term deformation of the truss will cause fatigue damage to the truss rods and welds, thus creating a safety hazard; at the same time, due to the limited elastic deformation of the truss, when the synchronization deviation of the left and right travel drives is large, the travel wheels will often get stuck and cannot work continuously. Since there is no asynchronous deviation detection device, the left and right travel synchronization function cannot be automatically realized.

[0006] 2. The truss is simply placed on the gantries at both ends. One end of the truss is hinged and fixed to the gantry, while the other end is not fixed. The lateral movement freedom of the gantry and the truss is released to adapt to the relative rotation angle and displacement of the truss and the gantry during the gauge error or asynchronous state. Main problems: Since the truss and the gantry are not fixed, the vibration of the bridge will cause the truss and the gantry to move relative to each other, and the gantry and the truss will be separated during typhoons or earthquakes, causing safety risks; at the same time, since there is no smooth sliding friction device between the bottom support of the gantry and the bottom plate of the truss, the contact surface will produce greater friction during relative displacement or rotation, which will damage the contact friction surface after long-term use. After the contact surface is rusted, the friction surface will often get stuck.

[0007] 3. The gantry is fixedly connected to the truss, and a slewing support and a sliding device are set between the gantry and the travel drive device. The free rotation of the slewing device and the free lateral sliding between the drive device and the gantry can adapt to the rotation angle and displacement of the truss and the gantry in the asynchronous state. Main problems: complex structure, high manufacturing cost and maintenance cost. Summary of the invention

[0008] In order to solve the above problems, the present invention proposes an asynchronous adaptive device for a bridge inspection vehicle, comprising a first gantry, a second gantry and a truss, wherein the truss is connected to the supporting surface of the first gantry through a first hinged structure that can rotate in parallel, and is connected to the supporting surface of the second gantry through a second hinged structure that can rotate and move in parallel; an angular displacement sensor is provided at the first hinged structure for measuring the relative angle change between the truss and the first gantry, and the drive controller adjusts the drive device according to the relative angle change to realize the left and right synchronous movement of the bridge inspection vehicle.

[0009] Furthermore, the first hinge structure includes a first hinge shaft arranged in the middle of the support surface of the first gantry, and a hinge circular hole arranged on the bottom surface of the truss support corresponding to the first hinge shaft.

[0010] Furthermore, a hinge sleeve is provided on the first hinge shaft.

[0011] Furthermore, the hinge sleeve comprises a self-lubricating copper sleeve.

[0012] Furthermore, the second hinged structure includes a second hinge shaft arranged in the middle of the supporting surface of the second gantry, and a long hinge hole arranged on the bottom surface of the truss support corresponding to the second hinge shaft.

[0013] Furthermore, a hinge sleeve is provided on the second hinge shaft.

[0014] Furthermore, the hinge sleeve comprises a self-lubricating copper sleeve.

[0015] Furthermore, the contact surfaces of the first gantry, the second gantry and the truss are all provided with wear-resistant components.

[0016] Furthermore, the wear-resistant component is composed of one or more of a polytetrafluoroethylene plate, a polyurethane plate, a stainless steel plate and a copper plate.

[0017] Furthermore, the angular displacement sensor includes an absolute angle encoder.

[0018] Furthermore, the driving device includes multiple sets of driving boxes, which are symmetrically arranged above the first gantry and the second gantry, and are connected and fixed to the first gantry and the second gantry by means of hinged suspension to adapt to the change of track slope and meet the connection stability between the driving device and the gantry.

[0019] The present invention can realize relative rotation between the truss and the two gantries through the hinge axis of the gantry and the truss, and can realize movement of the truss and the gantry in the length direction of the truss through the long hinge hole. Through the planar support and hinge axis connection between the gantry and the truss, the truss and the gantry can be stably fixed.

[0020] The beneficial effects of the present invention are:

[0021] 1. The connection and fixing method between the truss and the gantry is simple and reliable, and the installation is easy. During assembly, the hinge hole of the truss bottom plate is inserted into the hinge shaft of the gantry, and the safety cover plate above the hinge shaft is fixed before installation and use.

[0022] 2. Simple structure and low manufacturing cost. Since the sliding friction surface adopts wear-resistant components and the hinge sleeve adopts self-lubricating copper sleeve, it can be maintenance-free.

[0023] 3. When the bridge inspection vehicle is parked, in the event of strong winds, earthquakes or vibrations, the truss and gantry are reliably connected, making it safer to use.

[0024] 4. An angular displacement sensor is installed at the hinge position of the truss and the gantry. By measuring the angle change in real time, the drive controller automatically adjusts the travel speed of the left and right drive devices according to the angle size, thereby realizing the left and right synchronous travel of the bridge inspection vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the structure of the bridge inspection vehicle;

[0026] Figure 2 Working principle diagram of bridge inspection vehicle;

[0027] Figure 3 A schematic structural diagram of the asynchronous adaptive device for a bridge inspection vehicle of the present invention;

[0028] Figure 4 One of the partial structural schematic diagrams of the asynchronous adaptive device of the bridge inspection vehicle of the present invention;

[0029] Figure 5 The second partial structural diagram of the asynchronous adaptive device for the bridge inspection vehicle of the present invention;

[0030] Figure markings: 1-gantry, 101-first gantry, 102-second gantry, 2-truss, 301-first hinge shaft, 302-second hinge shaft, 4-hinge shaft sleeve, 5-wear-resistant component of gantry, 6-wear-resistant component of truss, 7-hinged circular hole, 8-long hinge hole, 9-angular displacement sensor, 10-driving device, 11-inspection vehicle track. DETAILED DESCRIPTION

[0031] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0032] like Figure 2 As shown in the figure, when the track gauge L1 or the left and right travel synchronization distance L2 of the bridge inspection vehicle changes, the spacing L3 between the two drive devices will change accordingly. Under the action of tension or track constraint, the left and right horizontal distances between the two drive devices and the gantry or the two gantries and the truss will have a displacement difference L4. When the left and right travel synchronization distance L2 changes, if the gantry and the drive device are fixed, the angle α1 of the truss relative to the gantry will change.

[0033] In order to adapt to the above asynchronous state changes of the bridge inspection vehicle when working, the present invention provides an asynchronous adaptive device for the bridge inspection vehicle, such as Figures 3 to 5 As shown, the truss 2 includes a first gantry 101, a second gantry 102 and a truss 2. The truss 2 is connected to the support surface of the first gantry 101 through a first hinge structure that can rotate in parallel, and is connected to the support surface of the second gantry 102 through a second hinge structure that can rotate and move in parallel. An angular displacement sensor 9 is provided at the first hinge structure to measure the relative angle change between the truss 2 and the first gantry 101, and the driving controller automatically adjusts the walking speed of the left and right driving devices 10 along the bridge-direction inspection vehicle track 11 according to the relative angle change, so as to realize the synchronous walking of the left and right driving devices 10.

[0034] like Figure 4As shown, the first hinge structure includes a first hinge shaft 301 arranged in the middle of the support surface of the first gantry 101, and a hinge circular hole 7 arranged on the support bottom surface of the truss 2 corresponding to the first hinge shaft 301.

[0035] like Figure 5 As shown, the second hinge structure includes a second hinge shaft 302 arranged in the middle of the support surface of the second gantry 102, and a long hinge hole 8 arranged on the support bottom surface of the truss 2 corresponding to the second hinge shaft 302.

[0036] Specifically, the first hinge shaft 301 and the second hinge shaft 302 are both provided with a hinge shaft sleeve 4. More specifically, the hinge shaft sleeve 4 can be a self-lubricating copper sleeve.

[0037] The working principle of the asynchronous adaptive device for bridge inspection vehicle of the present invention is as follows:

[0038] The truss 2 and the two gantries 1 can rotate relative to each other through the hinge axis between the gantry 1 and the truss 2, and the truss 2 and the gantry 1 can move in the length direction of the truss 2 through the long hinge hole 8. The truss 2 and the gantry 1 can be stably fixed through the planar support and hinge axis connection between the gantry 1 and the truss 2.

[0039] In a preferred embodiment of the present invention, the contact surfaces of the first gantry 101, the second gantry 102 and the truss 2 are both provided with wear-resistant components 5 (6). Specifically, the wear-resistant components 5 (6) are composed of one or more of polytetrafluoroethylene plates, polyurethane plates, stainless steel plates and copper plates.

[0040] In another preferred embodiment of the present invention, the angular displacement sensor 9 adopts an absolute angle encoder.

[0041] In another preferred embodiment of the present invention, the drive device 10 includes multiple sets of drive boxes, which can be specifically arranged as two sets of drive boxes or four sets of drive boxes. The drive boxes are symmetrically arranged above the first gantry 101 and the second gantry 102, and are connected and fixed to the first gantry 101 and the second gantry 102 by an articulated suspension method to adapt to changes in the track slope and meet the connection stability of the drive device 10 and the gantry 1.

[0042] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

[0043] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships usually placed when the present invention is used, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly stipulated and limited, the terms "setting", "installation" and "connection" 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 wired connection or a wireless connection.

Claims

1. An asynchronous adaptive device for a bridge inspection vehicle, characterized in that: The vehicle comprises a first gantry, a second gantry and a truss, wherein the truss is connected to the support surface of the first gantry through a first hinge structure that can rotate in parallel, and is connected to the support surface of the second gantry through a second hinge structure that can rotate and move in parallel; an angular displacement sensor is provided at the first hinge structure to measure the relative angle change between the truss and the first gantry, and a driving controller adjusts a driving device according to the relative angle change to realize left and right synchronous movement of the bridge inspection vehicle; The first hinge structure includes a first hinge shaft arranged in the middle of the support surface of the first gantry, and a hinge circular hole arranged on the bottom surface of the truss support corresponding to the first hinge shaft; The second hinge structure includes a second hinge shaft arranged in the middle of the support surface of the second gantry, and a long hinge hole arranged on the bottom surface of the truss support corresponding to the second hinge shaft; The contact surfaces of the first gantry, the second gantry and the truss are all provided with wear-resistant components; The driving device includes a plurality of driving boxes, which are symmetrically arranged above the first gantry and the second gantry, and are connected and fixed to the first gantry and the second gantry by means of hinged suspension.

2. The asynchronous adaptive device for a bridge inspection vehicle according to claim 1, characterized in that: A hinge sleeve is arranged on the first hinge shaft.

3. The asynchronous adaptive device for a bridge inspection vehicle according to claim 2, characterized in that: The hinge sleeve comprises a self-lubricating copper sleeve.

4. The asynchronous adaptive device for a bridge inspection vehicle according to claim 1, characterized in that: The second hinge shaft is provided with a hinge shaft sleeve.

5. The asynchronous adaptive device for a bridge inspection vehicle according to claim 4, characterized in that: The hinge sleeve comprises a self-lubricating copper sleeve.

6. The asynchronous adaptive device for a bridge inspection vehicle according to claim 1, characterized in that: The wear-resistant component is composed of one or more of a polytetrafluoroethylene plate, a polyurethane plate, a stainless steel plate and a copper plate.

7. The asynchronous self-adaptive device for a bridge inspection vehicle according to any one of claims 1 to 4, characterized in that: The angular displacement sensor includes an absolute angle encoder.

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