crown arch inspection car

Abstract

The present application relates to the technical field of bridge inspection, and particularly relates to an intelligent stringing arch inspection vehicle and a manual stringing arch inspection vehicle. The intelligent stringing arch inspection vehicle comprises a walking mechanism, an image collector, an image processor, a receiving terminal and a control terminal. The manual stringing arch inspection vehicle comprises a walking mechanism, a support frame, a main truss, a leveling mechanism, a working platform and a control terminal. The leveling mechanism comprises an electric push rod, an inclination sensor and a controller. The stringing arch inspection vehicle provided by the present application does not need to lay I-beam rail tracks, reduces the difficulty and cost of maintaining the inspection vehicle itself, saves relevant manpower and time, and reduces the cost. The movement of the inspection vehicle and the movement of each component are remotely controlled by the control terminal, without the need for manual direct control in high altitude, which reduces the workload of manual operation and reduces the risk of manual operation in high altitude.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge inspection, and in particular to an upper chord climbing arch inspection vehicle. BACKGROUND

[0002] For the daily inspection of steel truss arch bridges, the following method is generally adopted: first, I-beam tracks are laid on the steel beams on the left and right sides of the bridge width direction, the I-beam tracks cover the full length of the bridge, and then the inspection vehicle is installed on the I-beam tracks to perform climbing walking operation. This method has the following defects: first, because the structure of the I-beam track and the walking mechanism of the inspection vehicle are mutually embedded, it is difficult to disassemble, so the inspection vehicle needs to be placed on the bridge all year round, and the idle time is long in the open air, and the maintenance of the inspection vehicle itself is also difficult; second, because the I-beam track needs to cover the full range of the bridge, it takes time and effort to lay, and the cost is high; third, the walking and braking of such inspection vehicles generally need to be operated manually, and there is still a certain degree of operation difficulty and high-altitude operation risk. SUMMARY

[0003] In order to overcome the technical defects of the existing inspection vehicle for steel truss arch bridges and the I-beam track, which are difficult to disassemble, the I-beam track is time-consuming and laborious to lay, the cost is high, and there is a certain degree of operation difficulty and high-altitude operation risk, the present application provides an intelligent upper chord climbing arch inspection vehicle and a manual upper chord climbing arch inspection vehicle.

[0004] The intelligent upper chord climbing arch inspection vehicle provided by the present application comprises:

[0005] A walking mechanism comprising a chassis and a track mounted on the chassis, the track being adapted to walk on the upper surface of the bridge steel beam;

[0006] An image collector located on the chassis, the image collector being adapted to capture bridge steel beam image information;

[0007] An image processor in communication connection with the image collector, the image processor being adapted to receive the bridge steel beam image information captured by the image collector and analyze steel beam defects to generate a defect report;

[0008] A receiving terminal in communication connection with the image processor, the receiving terminal being adapted to receive the defect report generated by the image processor;

[0009] A control terminal in communication connection with the walking mechanism and the image collector.

[0010] Optionally, four tracks in a rectangular distribution are arranged on the chassis.

[0011] Optionally, the walking mechanism further comprises:

[0012] The guide reverse hook is provided with two groups and is installed on the chassis, and the two groups of guide reverse hooks are respectively located on the left and right sides of the walking mechanism.

[0013] The artificial upper chord climbing arch inspection vehicle provided by the application comprises:

[0014] The walking mechanism is provided with two sets and is adapted to walk on the upper surfaces of the steel beams on the left and right sides of the bridge, and the walking mechanism comprises a chassis and a track belt installed on the chassis, and the track belt is adapted to walk on the upper surfaces of the steel beams of the bridge.

[0015] The support frame is provided with two and is fixed on the chassis of the two sets of walking mechanisms;

[0016] The main truss is transversely arranged on the two support frames and is outwardly extended at both ends of the corresponding support frame, the main truss is hinged to the support frame and the hinge shaft is arranged in the left and right directions;

[0017] The leveling mechanism is provided with two sets and is respectively arranged corresponding to the two support frames, the leveling mechanism comprises an electric push rod, an inclination sensor and a controller, the housing of the electric push rod is hinged to the support frame and the hinge shaft is arranged in the left and right directions, the movable rod end of the electric push rod is hinged to the main truss and the hinge shaft is arranged in the left and right directions, the electric push rod is hinged to different parts of the main truss, the inclination sensor is arranged on the main truss, the controller is in communication connection with the inclination sensor and the electric push rod, and the controller is adapted to control the action of the electric push rod according to the inclination signal feedback of the inclination sensor to maintain the main truss in a horizontal state;

[0018] The work platform is installed on the main truss, and the work platform comprises an end basket and an intermediate basket, the end basket is located on the outside of the corresponding support frame, and the intermediate basket is located between the two support frames.

[0019] The control terminal is in communication connection with the walking mechanism and the work platform.

[0020] Optionally, the intermediate basket comprises:

[0021] The gantry is installed on the main truss and can be driven to move along the main truss.

[0022] The basket body is installed on the gantry.

[0023] Optionally, the support frame is hinged to the middle position of the top of the main truss, and the electric push rod is hinged to one side of the main truss in the front and back directions.

[0024] Optionally, the walking mechanism further comprises:

[0025] The guide reverse hook is provided with two groups and is mounted on the chassis, and the two groups of guide reverse hooks are respectively located on the left and right sides of the walking mechanism, and the guide reverse hook has a working state of slidingly clamping under the overhanging part of the steel beam top plate and a non-working state of being separated from the overhanging part of the steel beam top plate.

[0026] Optionally, the support frame is detachably fixed on the corresponding chassis, and the artificial stringing arch inspection vehicle further comprises:

[0027] An image collector is located on the chassis, and the image collector is adapted to capture bridge steel beam image information;

[0028] An image processor is in communication connection with the image collector, and the image processor is adapted to receive the bridge steel beam image information captured by the image collector and analyze steel beam defects to generate a defect report;

[0029] A receiving terminal is in communication connection with the image processor, and the receiving terminal is adapted to receive the defect report generated by the image processor;

[0030] The control terminal is also in communication connection with the image collector.

[0031] The technical scheme provided by the present application has the following advantages compared with the prior art:

[0032] 1) The intelligent stringing arch inspection vehicle and the artificial stringing arch inspection vehicle provided by the present application both adopt a track-type walking mechanism directly supported on the upper surface of the bridge steel beam, without the need to lay I-beam tracks. When disassembled, the inspection vehicle and the bridge steel beam do not have the problem of mutual embedding, so the whole can be directly lifted onto a transport vehicle and then transported to an indoor storage, reducing the difficulty and cost of maintaining the inspection vehicle itself, and also saving the laying of existing I-beam tracks, saving relevant manpower and time, and reducing costs;

[0033] 2) The intelligent stringing arch inspection vehicle and the artificial stringing arch inspection vehicle provided by the present application, the movement of the inspection vehicle and the movement of each component are all remotely controlled by a control terminal, without the need for manual control in the air, reducing the amount of manual work and the risk of manual work in the air. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0036] Figure 1 Fig. 1 shows a schematic view of the transverse bridge structure of the inspection vehicle in Embodiment 1 of the present application;

[0037] Figure 2 Fig. 2 shows a schematic view of the longitudinal bridge structure of the inspection vehicle in Embodiment 1 of the present application;

[0038] Figure 3 Fig. 3 shows a schematic view of the transverse bridge structure of the inspection vehicle in Embodiment 2 of the present application;

[0039] Figure 4 Fig. 4 shows a schematic view of the longitudinal bridge structure of the inspection vehicle in Embodiment 2 of the present application; Figure 3 Fig. 5 shows a sectional view of A-A in Fig. 4;

[0040] Figure 5 Fig. 6 shows a sectional view of B-B in Fig. 4. Figure 3

[0041] Fig. 7 shows a schematic view of the inspection vehicle in Embodiment 3 of the present application;

[0042] 1, walking mechanism; 11, chassis; 12, track; 13, guide counter hook; 2, image collector; 3, support frame; 4, friction rail; 5, main truss; 6, leveling mechanism; 61, electric push rod; 7, operation platform; 71, end basket; 72, middle basket; 721, gantry; 722, basket body. Embodiment

[0043] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the following will further describe the solutions of the present application. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0044] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein; obviously, the embodiments in the description are only a part of the embodiments of the present application, not all the embodiments.

[0045] The specific embodiments of the present application will be described in detail below with reference to the drawings. Embodiment

[0046] With reference to Figure 1 and Figure 2 , the present embodiment provides an intelligent stringing arch inspection vehicle, which comprises a walking mechanism 1, an image collector 2, an image processor, a receiving terminal and a control terminal.​

[0047] The walking mechanism 1 comprises a chassis 11 and a track 12 mounted on the chassis 11, and the track 12 is suitable for walking on the upper surface of the steel beam of the bridge.

[0048] The walking mechanism 1 comprises a chassis 11 and a track 12 mounted on the chassis 11, and the track 12 is suitable for walking on the upper surface of the steel beam of the bridge.

[0049] Specifically, the chassis 11 is provided with four tracks 12 distributed in a rectangular shape, that is, two opposite tracks 12 on the left and right constitute a group, and two groups are arranged in front and back, and the front and back ends of the chassis 11 are connected with the two groups of tracks 12. This walking mechanism 1 is more stable, has a high safety factor, and has strong climbing ability. In other embodiments, the tracks 12 can also be arranged in only one group on the left and right, and the chassis 11 is located directly above the track 12; or three or more groups can be arranged.

[0050] Specifically, the track 12 adopts a rubber-covered surface, which can improve the friction of the track 12 and improve the walking stability and climbing ability. In other embodiments, the surface of the track 12 can also cancel the rubber; or flexible silica gel or the like can be used instead of rubber.

[0051] In order to further improve the friction between the track 12 and the steel beam, a friction coating can also be provided on the upper surface of the steel beam corresponding to the area of the track 12, or the upper surface of the steel beam can be roughened or other processed to form a friction track 4. The rubber and the friction track 4 cooperate to generate a large friction force, so that the inspection vehicle has a climbing ability of 0 to 28°, thereby meeting the climbing needs of the inspection vehicle.

[0052] Further, the walking mechanism 1 further comprises a guide anti-hook member 13, the guide anti-hook member 13 is provided with two groups and is mounted on the chassis 11, and the two groups of guide anti-hook members 13 are respectively located on the left and right sides of the walking mechanism 1. The guide anti-hook member 13 has a working state of slidingly clamping below the overhanging part of the steel beam top plate and a non-working state of being separated from below the overhanging part of the steel beam top plate.

[0053] It should be noted that the steel beam of some existing steel truss arch bridges is a box girder structure welded by a top plate, a web plate and a bottom plate, and the left and right ends of the top plate are overhanging on the web plate of the steel beam to form an overhanging part. The above improved structure is suitable for this steel beam structure.

[0054] Specifically, the guide anti-hook member 13 can be provided with the following structure to have the working state and the non-working state: first, the guide anti-hook member 13 is fixed on the chassis 11 by bolts to switch to the working state, and the guide anti-hook member 13 is removed from the chassis 11 to switch to the non-working state; second, the guide anti-hook member 13 is rotatably installed on the chassis 11 and is provided with a locking member, and the guide anti-hook member 13 is switched between the working state and the non-working state by rotating.

[0055] The guiding anti-hooking member 13 can guide and prevent deviation, and can also hook and place the steel beam to ensure safe and reliable walking.

[0056] The image collector 2:

[0057] The image collector 2 is located on the chassis 11, and is adapted to capture the image information of the bridge steel beam.

[0058] Specifically, the image collector 2 is a high-definition camera, which can generate video information by rotating freely to check the paint, bolts and welds on the surface of the steel beam. In other embodiments, the image collector 2 can also be a camera to generate picture information.

[0059] The image processor:

[0060] The image processor is in communication connection with the image collector 2, and is adapted to receive the image information of the bridge steel beam captured by the image collector 2 and analyze the defects of the steel beam to generate a defect report.

[0061] Specifically, the image processor can be integrated in the image collector 2 and connected with the image collector 2 by wire, or can be independently arranged and remotely connected with the image collector 2 by wireless.

[0062] The receiving terminal:

[0063] The receiving terminal is in communication connection with the image processor, and is adapted to receive the defect report generated by the image processor.

[0064] Specifically, the receiving terminal is a computer, a mobile phone or other devices with receiving function arranged outside the inspection vehicle.

[0065] The control terminal:

[0066] The control terminal is in communication connection with the walking mechanism 1 and the image collector 2.

[0067] Specifically, the control terminal is a mobile phone, a computer, a remote controller or other devices with control function arranged outside the inspection vehicle.

[0068] It is easy to understand that the control terminal is mainly used to control the whole machine walking and image collection of the inspection vehicle.

[0069] The intelligent arch-climbing inspection vehicle provided in this embodiment uses a tracked 12-type walking mechanism 1 directly supported on the upper surface of the bridge steel beam, eliminating the need for laying I-beam rails. During dismantling, since the inspection vehicle and the bridge steel beam are not interlocked, the entire vehicle can be lifted onto a transport vehicle and then transferred indoors for storage. This reduces the difficulty and cost of maintaining the inspection vehicle itself, while also eliminating the need for laying existing I-beam rails, saving manpower and time, and reducing costs. The movement of the inspection vehicle and the actions of each component are all remotely controlled via a control terminal, eliminating the need for direct manual control at height, reducing manual labor and the risks associated with manual high-altitude operations. Furthermore, personnel can control the inspection vehicle from below the bridge using the control terminal, further reducing manual labor and improving the efficiency of bridge inspections. Example

[0070] Reference Figures 3 to 5 This embodiment provides a manual arch-climbing inspection vehicle, including a walking mechanism 1, a support frame 3, a main truss 5, a leveling structure, a working platform 7, and a control terminal.

[0071] Walking mechanism 1:

[0072] The traveling mechanism 1 has two sets of tracks, each suitable for traveling on the upper surface of the steel beams on the left and right sides of the bridge. The traveling mechanism 1 includes a chassis 11 and tracks 12 mounted on the chassis 11. The tracks 12 are suitable for traveling on the upper surface of the bridge steel beams.

[0073] It should be noted that the single walking structure in this embodiment is the same as the walking mechanism 1 in embodiment 1. The relevant structure and improvement scheme will not be described here.

[0074] Support frame 3:

[0075] Two support frames 3 are provided and are respectively fixed on the chassis 11 of the two sets of walking mechanisms 1.

[0076] Specifically, the support frame 3 consists of a horizontal bar and two symmetrically arranged diagonal bars, the lower ends of which are inclined outward and fixed to the chassis 11. In other embodiments, the support frame 3 can also be replaced by a vertical bar; it can also be a box structure, with the lower surface of the box structure fixed to the chassis 11.

[0077] It is easy to understand that the support frame 3 can increase the installation height of the main truss 5 to meet the space requirements for the installation of the main truss 5.

[0078] Specifically, the support frame 3 can be fixed to the chassis 11 by non-removable means such as welding, or by detachable means such as bolts.

[0079] Main Truss 5:

[0080] The main truss 5 is arranged across the two support frames 3 and extends out of the corresponding support frame 3 at both ends, and is hinged to the support frame 3 with the hinge axis arranged in the left-right direction.

[0081] It is easy to understand that the purpose of the main truss 5 extending out of the support frame 3 at both ends is to be able to install the end hanging basket 71 to enable personnel to perform maintenance on the outer side surface of the steel beam.

[0082] Specifically, the support frame 3 is hinged to the middle position of the top of the main truss 5, which is more stable in force. In other embodiments, the support frame 3 can also be hinged to the middle position of the middle of the main truss 5, and can also maintain stability with the cooperation of the electric push rod 61.

[0083] Leveling structure:

[0084] The leveling mechanism 6 is provided with two sets and is arranged corresponding to the two support frames 3, and the leveling mechanism 6 includes an electric push rod 61, an inclination sensor and a controller. The shell of the electric push rod 61 is hinged to the support frame 3 with the hinge axis arranged in the left-right direction, and the movable rod end of the electric push rod 61 is hinged to the main truss 5 with the hinge axis arranged in the left-right direction. The electric push rod 61 is hinged to different parts of the main truss 5 with the support frame 3, the inclination sensor is arranged on the main truss 5, and the controller is in communication connection with the inclination sensor and the electric push rod 61. The controller is adapted to control the action of the electric push rod 61 according to the inclination signal feedback of the inclination sensor to maintain the main truss 5 in a horizontal state.

[0085] Specifically, the electric push rod 61 is hinged to one side of the main truss 5 in the front-back direction, and the support frame 3 is hinged to the middle position of the top of the main truss 5. In other embodiments, the electric push rod 61 can also be hinged to the bottom or other positions of the main truss 5, as long as the hinged position of the support frame 3 is different. In this way, the electric push rod 61 can drive the main truss 5 to rotate by extension and contraction to maintain its horizontal position.

[0086] Work platform 7:

[0087] The work platform 7 is installed on the main truss 5, and the work platform 7 includes an end hanging basket 71 and a middle hanging basket 72. The end hanging basket 71 is located on the outer side corresponding to the support frame 3, and the middle hanging basket 72 is located between the two support frames 3.

[0088] It is easy to understand that the work platform 7 is divided into the end hanging basket 71 and the middle hanging basket 72 because the support frame 3 blocks the two kinds of hanging baskets and cannot be shared. The end hanging basket 71 is mainly used for maintenance of the outer side surface of the steel beam, and the middle hanging basket 72 is mainly used for maintenance of the intermediate structure such as the bridge cross and the inner side surface of the steel beam.

[0089] Specifically, the intermediate basket 72 comprises a portal frame 721 and a basket body 722, the portal frame 721 is installed on the main truss 5 and can be driven to move along the main truss 5, and the basket body 722 is installed on the portal frame 721. More specifically, the portal frame 721 can be driven to move along the main truss 5 by a gear and rack structure, or can be driven to move along the main truss 5 by a steel wire rope structure.

[0090] The intermediate basket 72 can move along the length direction of the main truss 5 to follow the portal frame 721, so that the staff can perform full-range maintenance on the intermediate structure such as the cross beam of the bridge on the basket body 722. In other embodiments, the intermediate basket 72 can also be provided in multiple numbers and distributed on the main truss 5 region between the two support frames 3 along the length direction of the main truss 5.

[0091] It is easy to understand that the basket is an operation platform that can be lifted, and the operator standing on the basket can perform maintenance on the bridge at different heights.

[0092] The control terminal:

[0093] The control terminal is in communication connection with the traveling mechanism 1 and the work platform 7.

[0094] Specifically, the control terminal is a device with a control function such as a mobile phone, a computer, a remote controller, etc. which is independently provided outside the inspection vehicle.

[0095] It is easy to understand that the control terminal is mainly used to control the overall traveling of the inspection vehicle, the lifting of the basket, etc.

[0096] The intelligent stringing and arch climbing inspection vehicle provided in the embodiment directly supports the upper surface of the bridge steel beam by using the traveling mechanism 1 in the form of a track 12, does not need to lay the I-beam track, and can be directly lifted as a whole to the transport vehicle when disassembled, and then transported to the indoor storage, thereby reducing the difficulty and cost of maintenance of the inspection vehicle itself, and also saving the laying of the existing I-beam track, saving relevant manpower and time, and reducing the cost. The movement of the inspection vehicle and the movement of each component are all remotely controlled by the control terminal, without the need for manual control in the high altitude, thereby reducing the amount of manual work and the risk of manual work in the high altitude. In addition, the operator standing on the work platform 7 can not only inspect the bridge, but also maintain the bridge. Embodiment

[0097] Reference Figures 1 to 5 The embodiment provides an artificial stringing and arch climbing inspection vehicle, the support frame 3 needs to be detachably fixed on the chassis 11, and is provided with the image collector 2, the image processor, and the receiving terminal described in the embodiment 1.

[0098] The artificial stringing arch inspection vehicle not only has the function of artificial maintenance, but also can be used as an intelligent stringing arch inspection vehicle after the support frame 3 is removed, so as to switch between the machine intelligent inspection and the artificial maintenance according to actual needs, and the use flexibility is higher.

[0099] The above is only a specific embodiment of the present application, which enables those skilled in the art to understand or implement the present application. Although the foregoing embodiments are described in detail, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced equivalently, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments, and they should be covered in the protection scope of the claims.

Claims

1. An artificial stringing arch inspection car, characterized by, The utility model relates to a kind of artificial stringing arch inspection vehicle, including: Walking mechanism (1), it is equipped with two sets and is respectively suitable for walking on the steel beam upper surface of bridge left and right sides, the walking mechanism (1) includes chassis (11) and track (12) installed on chassis (11), the track (12) is suitable for walking on the steel beam upper surface of bridge; Support frame (3), it is equipped with two and is respectively fixed in the chassis (11) of two sets of walking mechanism (1); Main truss (5), it is across in two support frames (3) and both ends are all outside in corresponding support frame (3), the main truss (5) is hinged with the support frame (3) and hinged axle left and right direction arrangement; Leveling mechanism (6), it is equipped with two sets and is respectively corresponding two support frames (3) setting, the leveling mechanism (6) includes electric push rod (61), inclination sensor and controller, the shell of electric push rod (61) is hinged on the support frame (3) and hinged axle left and right direction arrangement, the movable rod end of electric push rod (61) is hinged on the main truss (5) and hinged axle left and right direction arrangement, electric push rod (61) is hinged with support frame (3) in different parts of the main truss (5), the inclination sensor is set on the main truss (5), the controller is all connected with the inclination sensor and electric push rod (61), the controller is suitable for according to the inclination signal feedback of the inclination sensor controls electric push rod (61) action to make the main truss (5) maintain in horizontal state; Work platform (7), it is installed on the main truss (5), the work platform (7) includes end basket (71) and intermediate basket (72), the end basket (71) is located outside corresponding support frame (3), the intermediate basket (72) is located between two support frames (3); Control terminal, it is connected with the walking mechanism (1) and work platform (7); The walking mechanism (1) further includes guide reverse hook piece (13), the guide reverse hook piece (13) is equipped with two groups and all is installed on the chassis (11), two groups of guide reverse hook piece (13) are respectively located in the left and right sides of the walking mechanism (1), the guide reverse hook piece (13) has the working state of slidingly clamped in the lower of steel beam roof deck overhanging part and the non-working state of being separated from the lower of steel beam roof deck overhanging part; The support frame (3) can be detachably fixed on the corresponding chassis (11), and the artificial stringing arch inspection vehicle further comprises: Image collector (2), it is located on the chassis (11), the image collector (2) is suitable for capturing bridge steel beam image information; Image processor, it is connected with the image collector (2), the image processor is suitable for receiving the bridge steel beam image information captured by the image collector (2) and analyzing steel beam defect to generate defect report; Receiving terminal, it is connected with the image processor, the receiving terminal is suitable for receiving the defect report generated by the image processor; The control terminal is further connected with the image collector (2).

2. The artificial crown-prime climbing arch inspection vehicle according to claim 1, characterized in that, The intermediate basket (72) comprises: Portal frame (721), it is installed on the main truss (5) and can be driven to move along the main truss (5). A hanging basket body (722) is installed on the portal frame (721).

3. The artificial upper chorded arch inspection car of claim 1, wherein, The support frame (3) is hinged to a middle position of the top of the main truss (5), and the electric push rod (61) is hinged to one side of the main truss (5) in the front-rear direction.

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