Multi-degree-of-freedom slewing range changing mechanism of arm support type bridge detection vehicle and working method

Abstract

The application discloses a multi-degree-of-freedom rotary variable-amplitude mechanism of an arm support type bridge detection vehicle and a working method thereof. The mechanism comprises a lifting arm body hinged at one end to the bridge detection vehicle, a connecting frame hinged at the other end of the lifting arm body, a first telescopic component with a telescopic end hinged to the bridge detection vehicle and a fixed end hinged to the lifting arm body, a second telescopic component with a fixed end hinged to the lifting arm body and a telescopic end hinged to the connecting frame, the first telescopic component drives the lifting arm body to rotate relative to the bridge detection vehicle when the first telescopic component is active, the second telescopic component drives the connecting frame to rotate relative to the lifting arm body when the second telescopic component is active, an oscillating oil cylinder is fixed to the connecting frame, the oscillating oil cylinder is fixed with a connecting seat, a working platform is hinged to the connecting seat, a third telescopic component is hinged between the connecting seat and the working platform, and the third telescopic component drives the working platform to rotate relative to the connecting seat when the third telescopic component is active. The mechanism can be used for omnibearing detection and maintenance of the inside of a bridge pier, a cable-stayed tower above a cable-stayed bridge and a cable.

Description

Technical Field

[0001] This invention relates to the field of bridge inspection technology, and more specifically to a multi-degree-of-freedom slewing mechanism and its working method for a boom-type bridge inspection vehicle. Background Technology

[0002] In recent decades, my country's bridge construction industry has developed rapidly, with a dramatic increase in the number of cable-stayed bridges. This has led to problems such as bridge aging and deteriorating service conditions, resulting in increasingly prominent bridge defects and a rise in safety accidents. Therefore, comprehensive and regular bridge inspections are essential. Currently, the most commonly used tool for inspecting and repairing the bottom of cable-stayed bridge beams and piers is the boom-type bridge inspection vehicle. Through the coordinated operation of its various components, it allows workers to reach different locations on the bridge, enabling efficient and safe bridge inspection work.

[0003] For cable-stayed bridges with small cable spacing, the boom-type bridge inspection vehicles currently on the market cannot achieve multi-degree-of-freedom rotation due to their luffing mechanism. This prevents them from passing through areas with small cable spacing on the cable-stayed bridge, thus hindering effective inspection of the inner side of the piers under the bridge and the inspection and maintenance of the towers and cables above the cable-stayed bridge.

[0004] In view of this, it is necessary to improve the shortcomings of the existing technology in order to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to disclose a multi-degree-of-freedom slewing mechanism and working method for a boom-type bridge inspection vehicle, which is mainly used for inspecting and maintaining cable-stayed bridges with small cable spacing, and for inspecting and maintaining the bridge piers and the towers and cables above the bridge.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A multi-degree-of-freedom slewing mechanism for a boom-type bridge inspection vehicle includes a lifting boom hinged at one end to the bridge inspection vehicle, a connecting frame hinged at the other end of the lifting boom, a first telescopic component hinged at one end to the bridge inspection vehicle and at the other end to the lifting boom, and a second telescopic component hinged at one end to the lifting boom and at the other end to the connecting frame. When the first telescopic component moves, it drives the lifting boom to rotate relative to the bridge inspection vehicle; when the second telescopic component moves, it drives the connecting frame to rotate relative to the lifting boom. A swing cylinder is fixed on the connecting frame, and a connecting seat is fixed to the swing cylinder. A working platform is hinged on the connecting seat. A third telescopic component is hinged between the connecting seat and the working platform. When the third telescopic component moves, it drives the working platform to rotate relative to the connecting seat.

[0008] As a further improvement of the present invention, the swing cylinder is divided into two parts: an inner ring and an outer ring. The swing cylinder is fixed to the connecting frame by the outer ring and fixed to the connecting seat by the inner ring. When the swing cylinder is driven, the inner ring rotates relative to the outer ring.

[0009] As a further improvement of the present invention, a hinge seat is fixed on the lifting arm, and a first telescopic component and a second telescopic component are respectively hinged to the hinge seat.

[0010] As a further improvement of the present invention, the bridge inspection vehicle is equipped with a telescopic arm, and the lifting arm body and the first telescopic component are respectively hinged to the telescopic arm.

[0011] As a further improvement of the present invention, the first telescopic component, the second telescopic component, and the third telescopic component are all one of the oil cylinder and the air cylinder.

[0012] As a further improvement of the present invention, the connecting frame is a horizontally arranged U-shaped structure, with the two ends of the opening of the U-shaped structure respectively hinged to the lifting arm body, a swing cylinder fixed at the bottom of the U-shaped structure, and a second telescopic component hinged to the side of the U-shaped structure.

[0013] As a further improvement of the present invention, the connecting seat is an F-shaped structure arranged in opposite directions, wherein the two transversely arranged crossbeams in the F-shaped structure are fixedly connected to the upper and lower bottoms of the inner ring of the swing cylinder, respectively.

[0014] A working method for a multi-degree-of-freedom slewing mechanism and working method of a boom-type bridge inspection vehicle includes the following steps:

[0015] Step 1: Drive the first telescopic component, and the lifting arm rotates relative to the telescopic arm, which can adjust the position and height of the work platform during operation;

[0016] Step 2: When the first telescopic component extends or retracts, the work platform will tilt. At this time, the second and third telescopic components are driven to keep the work platform horizontal during operation.

[0017] Step 3: When the work platform needs to change its angle in the horizontal direction, drive the swing cylinder so that the work platform can rotate horizontally.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] This invention features a first telescopic component for adjusting the angle between the lifting arm and the telescopic arm, a second telescopic component for maintaining the work platform in a horizontal position during operation, a slewing mechanism for horizontal rotation of the work platform, and a third telescopic component for horizontal tilting of the work platform. Through the coordination of the first, second, and third telescopic components and the swing cylinder, the work platform can perform slewing and leveling operations, enabling the vehicle to cross cable-stayed bridges with smaller gaps. This allows for faster and more efficient inspection and maintenance of the pylons and cables above cable-stayed bridges, as well as slewing operations around the piers below the bridge. It avoids blind spots in inspections that could lead to safety accidents, and allows for multiple uses with a single vehicle, reducing construction costs and improving work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the multi-degree-of-freedom slewing amplitude mechanism of a boom-type bridge inspection vehicle according to the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a boom-type bridge inspection vehicle according to the present invention;

[0022] Figure 3 This is a front view of the multi-degree-of-freedom slewing mechanism of a boom-type bridge inspection vehicle according to the present invention;

[0023] Figure 4 for Figure 3 A magnified schematic diagram of the structure at point A in the middle.

[0024] In the diagram: 1. Chassis; 2. Frame platform; 3. First slewing mechanism; 4. Main boom; 5. Second slewing mechanism; 6. Vertical boom; 7. Linkage assembly; 8. Telescopic boom; 9. Lifting boom; 10. Luffing slewing mechanism; 11. Working platform; 91. Lifting boom body; 92. First telescopic component; 101. Connecting frame; 102. Connecting seat; 103. Swing cylinder; 104. Second telescopic component; 105. Third telescopic component; 106. First slider; 107. Second slider. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not intended to limit the present invention. Equivalent changes or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0026] A multi-degree-of-freedom slewing mechanism for a boom-type bridge inspection vehicle, such as Figure 1As shown, it includes a lifting arm 9, a luffing and slewing mechanism 10, and a working platform 11. The lifting arm 9 includes a lifting arm body 91 and a first telescopic component 92. The luffing and slewing mechanism 10 includes a connecting frame 101, a connecting seat 102, a swing cylinder 103, a second telescopic component 104, a third telescopic component 105, a first slider 106, and a second slider 107.

[0027] One end of the lifting arm 91 is hinged to the connecting frame 101. The lifting arm 91 also includes a hinge seat. One end of the hinge seat is fixed to the lifting arm 91, and the other end of the hinge seat is provided with two hinge holes, one above the other. The fixed end of the first telescopic component 92 is hinged to the lower hinge hole by a pin, and the fixed end of the second telescopic component 104 is hinged to the upper hinge hole by a pin. The telescopic end of the second telescopic component 104 is hinged to the connecting frame 101. When the second telescopic component 104 telescopically moves, it can drive the connecting frame 101 to rotate relative to the lifting arm 91. A swing cylinder 103 is fixed on the connecting frame 101. The swing cylinder 103 includes an outer cylinder body and a movable shaft disposed inside the cylinder body (refer to the L20 series swing cylinder 103 for details). The movable shaft is disposed inside the cylinder body, and its upper and lower ends are located at the bottom and top of the cylinder body and can rotate relative to the cylinder body.

[0028] The swing cylinder 103 is fixed to the connecting frame 101 via a cylinder body and is fixedly connected to the connecting seat 102 via a movable shaft. When the swing cylinder 103 is driven, the movable shaft rotates within the cylinder body. Since the connecting seat 102 is fixed to the movable shaft, the connecting seat 102 also rotates relative to the cylinder body. The connecting seat 102 has an F-shaped structure arranged in opposite directions, including two horizontally parallel supports and a vertical bracket fixed perpendicularly to the two supports. The two horizontally parallel supports are fixedly connected to the upper and lower ends of the movable shaft in the swing cylinder 103, respectively.

[0029] A working platform 11 is hinged to the vertical support of the connecting seat 102, and a third telescopic component 105 is also hinged between the connecting seat 102 and the working platform 11. The fixed end of the third telescopic component 105 is hinged to one side of the vertical support of the connecting seat 102, and the telescopic end is hinged to the working platform 11. When the third telescopic component 105 extends or retracts, it can drive the working platform 11 to rotate relative to the connecting seat 102 to adjust the angle of the working platform 11.

[0030] like Figure 3 , Figure 4As shown, a first slider 106 and a second slider 107 are fixed to the inner and outer sides of the vertical support of the connecting seat 102, respectively. Fasteners are used to fix the first slider 106 and the second slider 107 to the vertical support of the connecting seat 102. A corresponding arc-shaped groove is provided on the working platform 11. The second slider 107 is slidably connected to the groove of the working platform 11. When the third telescopic component 105 extends or retracts, the working platform 11 rotates relative to the connecting seat 102, and the second slider 107 fixed to the outer side of the connecting seat 102 also slides along the groove on the working platform 11. By setting the first slider 106 and the second slider 107, the reliable connection between the working platform 11 and the connecting seat 102 and the stable and smooth rotation of the working platform 11 can be ensured. Furthermore, an adjusting shim or lubricating oil can be added to the contact surface between the second slider 107 and the groove to make the sliding contact between the second slider 107 and the groove more stable and safe.

[0031] like Figure 2 As shown, the boom-type bridge inspection vehicle is equipped with a telescopic boom 8. The other end of the lifting boom 91 is hinged to the telescopic boom 8. The telescopic end of the first telescopic component 92 is also hinged to the telescopic boom 8. When the first telescopic component 92 extends and retracts, it can drive the lifting boom 91 to rotate relative to the telescopic boom 8.

[0032] As a further improvement of the present invention, the first telescopic component 92, the second telescopic component 104, and the third telescopic component 105 are all one of the oil cylinder and the air cylinder.

[0033] As a further improvement of the present invention, the connecting frame 101 is a horizontally arranged U-shaped structure. The two ends of the opening of the U-shaped structure are respectively hinged to the lifting arm body 91. A swing cylinder 103 is fixed at the bottom opposite to the opening of the U-shaped structure. One side of the U-shaped structure is hinged to the telescopic end of the second telescopic component 104.

[0034] like Figure 2 As shown, Figure 2 This is a schematic diagram of a boom-type bridge inspection vehicle, including a chassis 1, a frame platform 2, a first slewing mechanism 3, a main boom 4, a second slewing mechanism 5, a vertical boom 6, a connecting rod assembly 7, a telescopic boom 8, a lifting boom 9, and a luffing slewing mechanism 10.

[0035] When in driving mode, the work platform 11 rotates to the inside of the boom-type bridge inspection vehicle under the action of the swing cylinder 103, ensuring that the work platform 11 has a better driving posture.

[0036] During operation, the telescopic boom 8 is driven to send the working platform 11 outside the body of the boom-type bridge inspection vehicle. The first telescopic component 92 is driven so that the lifting boom 91 and the telescopic boom 8 are in a vertical or acute angle position. At the same time, the second telescopic component 104 is driven so that the working platform 11 and the lifting boom 91 are in a vertical or acute angle position, which can pass through a smaller cable gap.

[0037] When inspecting and maintaining the bridge piers, cable towers, and cables, the work platform 11 can adjust the angle between itself and the lifting boom via the swing cylinder 103, enabling omnidirectional operation of the maintenance location. To avoid missing some inner areas, the third telescopic component 105 can be adjusted to drive the work platform 11 and the connecting seat 102 to rotate, causing an angle change between them. This allows for further inspection of the inner sides of the piers and cable towers, thus achieving omnidirectional inspection of the maintenance location.

[0038] During normal operation, in order to keep the connecting seat 102 in a horizontal position, the second telescopic component 104 can be adjusted to make the connecting seat 102 horizontal. At the same time, the working platform 11 and the connecting seat 102 can be kept in a horizontal position together, thereby avoiding safety accidents. Then, by adjusting the third telescopic component 105, the working platform 11 can be rotated laterally relative to the connecting seat 102 in a horizontal position. Through the cooperation of the swing cylinder 103 and the third telescopic component 105, all-round maintenance and inspection of the cable-stayed bridge can be achieved.

[0039] Furthermore, based on the multi-degree-of-freedom slewing mechanism of this boom-type bridge inspection vehicle, a working method can be proposed, which includes the following steps:

[0040] Step 1: Send the work platform out of the vehicle body of the inspection vehicle through the telescopic boom, drive the first telescopic component 92, and adjust the angle between the lifting boom 91 and the telescopic boom 8;

[0041] Step 2: When the first telescopic component 92 extends or retracts, the work platform 11 will tilt. At this time, the second telescopic component 104 is driven to keep the work platform 11 horizontal during operation.

[0042] Step 3: When the working platform 11 needs to change its angle in the horizontal direction, drive the swing cylinder 103 and the third telescopic component to make the working platform 11 change its angle in the horizontal direction.

[0043] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-degree-of-freedom slewing mechanism for a boom-type bridge inspection vehicle, characterized in that, The system includes a lifting boom hinged at one end to a bridge inspection vehicle, and a connecting frame hinged at the other end of the lifting boom. A first telescopic component has its telescopic end hinged to the bridge inspection vehicle and its fixed end hinged to the lifting boom. A second telescopic component has its fixed end hinged to the lifting boom and its telescopic end hinged to the connecting frame. When the first telescopic component moves, it drives the lifting boom to rotate relative to the bridge inspection vehicle. When the second telescopic component moves, it drives the connecting frame to rotate relative to the lifting boom. A swing cylinder is fixed to the connecting frame, and a connecting seat is fixed to the swing cylinder. A working platform is hinged to the connecting seat. A third telescopic component is hinged between the connecting seat and the working platform. When the third telescopic component moves, it drives the working platform to rotate relative to the connecting seat. The bridge inspection vehicle is equipped with a telescopic boom, with one end of the lifting boom and the telescopic end of the first telescopic component respectively hinged to the telescopic boom; The connecting frame is a horizontally arranged U-shaped structure. The two ends of the opening of the U-shaped structure are respectively hinged to the lifting arm. A swing cylinder is fixed at the bottom of the U-shaped structure, and the telescopic end of the second telescopic component is hinged to the side of the U-shaped structure. The connecting seat includes two parallel horizontal supports and a vertical support fixedly fixed to the two horizontal supports. The connecting seat is fixedly connected to the upper and lower ends of the movable shaft in the swing cylinder through the two horizontal supports. The working platform is hinged on the vertical support. A second slider is fixed on the outside of the vertical support of the connecting seat. A corresponding groove is provided on the working platform. The second slider is slidably connected to the groove.

2. The multi-degree-of-freedom slewing mechanism of a boom-type bridge inspection vehicle according to claim 1, characterized in that, The swing cylinder consists of a cylinder body and a movable shaft located inside the cylinder body. The swing cylinder is fixed to the connecting frame via the cylinder body and to the connecting seat via the movable shaft. When the swing cylinder is driven, the movable shaft rotates relative to the cylinder body.

3. The multi-degree-of-freedom slewing mechanism of a boom-type bridge inspection vehicle according to claim 2, characterized in that, A hinge seat is fixed on the lifting arm, and the fixed ends of the first telescopic component and the second telescopic component are respectively hinged to the hinge seat.

4. The multi-degree-of-freedom slewing mechanism of a boom-type bridge inspection vehicle according to claim 1, characterized in that, The first telescopic component, the second telescopic component, and the third telescopic component are all either hydraulic cylinders or pneumatic cylinders.

5. A method for operating a multi-degree-of-freedom slewing luffing mechanism of a boom-type bridge inspection vehicle, based on the multi-degree-of-freedom slewing luffing mechanism of a boom-type bridge inspection vehicle as described in claim 1, characterized in that... Includes the following steps: Step 1: Send the work platform out of the bridge inspection vehicle through the telescopic boom, drive the first telescopic component, and adjust the angle between the lifting boom and the telescopic boom. Step 2: When the first telescopic component extends or retracts, the work platform will tilt. At this time, the second telescopic component is driven to keep the work platform horizontal during operation. Step 3: When the work platform needs to change its angle in the horizontal direction, drive the swing cylinder and the third telescopic component to make the work platform change its angle in the horizontal direction.

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