Self-propelled, self-steering semi-trailer bridge inspection vehicle and method

Abstract

The present invention relates to a self-propelled, self-steering semi-trailer bridge inspection vehicle and method, belonging to the technical field of highway and urban road bridge inspection and bridge defect repair. The technical solution is as follows: a vertical support lower rotation (2) is mounted on a rotating disk at the bottom of a vertical support frame (3), and the vertical support lower rotation (2) can realize the rotational movement of the vertical support frame (3); a platform (1) is hinged to the vertical support lower rotation; a semi-trailer chassis (9) is provided with a semi-trailer chassis air path system (16) and a support steering device (18) at the front end; a chassis air suspension airbag (15) and a self-propelled device (17) are provided at the tire (35) of the semi-trailer chassis (9), and the semi-trailer chassis air path system is connected to the chassis air suspension airbag. The present invention is a special vehicle for bridge inspection, bridge repair and bridge maintenance. The tractor and trailer can be used separately. During operation, the vehicle integrates inspection, travel and steering, saving energy, being beneficial to environmental protection, and saving bridge inspection and maintenance costs.

Description

Technical Field

[0001] The invention relates to a self-propelled, self-steering semi-trailer bridge inspection vehicle and method, belonging to the technical field of highway and urban road bridge inspection and bridge damage repair. Background Art

[0002] With my country's economic development and the demands of social progress, a large number of roads and bridges will enter the inspection, repair, and maintenance phase. Consequently, the demand for bridge inspection, repair, and maintenance equipment is rapidly increasing. Currently, the equipment on the market is limited to complete bridge inspection vehicles, which consume a lot of power and require a large number of personnel. For example, Chinese patent CN 202320383160.3, titled "A Bridge Inspection Vehicle Travel Mechanism and Bridge Inspection Vehicle," has been released. To meet customer needs, we have developed a self-propelled, self-steering semi-trailer bridge inspection vehicle. Its advantages include the ability to use the tractor and trailer separately, low power consumption, energy conservation, environmental benefits, and reduced bridge inspection and maintenance costs. It is particularly suitable for large-scale bridge inspection and maintenance projects. Summary of the Invention

[0003] The purpose of the present invention is to provide a self-propelled, self-steering semi-trailer bridge inspection vehicle and method. The tractor and trailer can be used separately, and the vehicle integrates inspection, travel and steering during operation. The vehicle has a reasonable structure, is easy to use, saves energy, is beneficial to environmental protection, saves bridge inspection and maintenance costs, and solves the above-mentioned technical problems existing in the existing technology.

[0004] The technical solution of the present invention is:

[0005] A self-propelled, self-steering semi-trailer bridge inspection vehicle, which is detachable from a tractor; the semi-trailer bridge inspection vehicle comprises a semi-trailer chassis and a platform arranged on the semi-trailer chassis, a vertical support lower rotation, a vertical support frame, a flipping bracket, a rotating table assembly, a lower cross bracket, a vertical support frame slide rail, an upper cross bracket, a semi-trailer chassis air system, a self-propelled device and a supporting steering device; the rotating table assembly is installed on a rotating disk on the semi-trailer chassis, which can realize the rotation movement of the semi-trailer chassis; one side of the flip bracket is hinged to the rotating table assembly; one end of the lower cross bracket and the upper cross bracket are both connected to the flip bracket The other side is hinged, and the other ends of the lower cross bracket and the upper cross bracket are hinged to the vertical support frame slide rail; the vertical support frame is installed on the vertical support frame slide rail and can slide on the vertical support frame slide rail; the vertical support lower rotation is installed on the rotating disk at the bottom of the vertical support frame, and the vertical support lower rotation can realize the rotational movement of the vertical support frame; the platform is hinged to the vertical support lower rotation; the front end of the semi-trailer chassis is provided with a semi-trailer chassis air path system and a supporting steering device; the tires of the semi-trailer chassis are provided with a chassis air suspension airbag and a self-propelled device, the self-propelled device is installed on the chassis air suspension airbag, and the semi-trailer chassis air path system is connected to the chassis air suspension airbag.

[0006] Furthermore, a semi-trailer chassis support leg is provided at the front end of the semi-trailer chassis, and the semi-trailer chassis support leg is located in front of the supporting steering device.

[0007] Furthermore, the semi-trailer chassis is provided with an operating room, a counterweight box, an engine, a hydraulic system and an electrical system. The operating room is installed between the rotation and the platform under the vertical support. A hydraulic system control valve is installed in the operating room for operating the bridge detection movement under the semi-trailer bridge; the counterweight box is installed at the front end of the rotating platform assembly for balancing the center of gravity of the bridge detection semi-trailer during operation; the engine is installed at the right front end of the semi-trailer chassis, which provides power for the hydraulic system; the hydraulic system includes: a hydraulic pump, a hydraulic motor, a hydraulic valve, a hydraulic oil tank, a hydraulic pipeline, etc., which provide power for various movements of the bridge detection semi-trailer; the electrical system is installed in the electrical box at the left rear of the semi-trailer chassis, and is provided with power wiring, terminal blocks, fuses and other electrical components to provide power for the hydraulic valves in the hydraulic system.

[0008] Furthermore, the self-propelled device is powered by an engine and a hydraulic system, so that the bridge inspection semi-trailer can move; the supporting steering device is powered by an engine and a hydraulic system, so that the bridge inspection semi-trailer can turn.

[0009] Furthermore, the self-propelled device includes a pressure wheel, a transmission chain, a speed reducer, a hydraulic motor, and a drive shaft. The hydraulic system powers the hydraulic motor, and the output end of the hydraulic motor is connected to the speed reducer. The output shafts on both sides of the speed reducer are connected to two drive shafts arranged in front and behind via a transmission chain. Pressure wheels are installed at the ends of the output shafts and the ends of the drive shafts, and each pressure wheel is matched to a tire on the semi-trailer chassis. The semi-trailer chassis pneumatic system controls the release of the chassis air suspension airbags, lowering the self-propelled device. The pressure wheels press against the tires, and the hydraulic motor drives the pressure wheels to rotate, which in turn drives the tires to rotate, achieving self-propelled bridge inspection semi-trailer.

[0010] Furthermore, the supporting steering device includes a supporting steering wheel, a steering wheel axle, a steering tie rod, a steering cylinder, a telescopic mechanism, a hinge shaft, a steering wheel frame and a wheel axle; the steering wheel axle is arranged on the semi-trailer chassis through the telescopic mechanism, and steering wheel frames are respectively provided at both ends of the steering wheel axle through the hinge shaft, and both steering wheel frames are rotatable, and the bottom of the steering wheel frame is provided with a supporting steering wheel through the wheel axle; a hinged steering tie rod is provided between the two steering wheel frames, and the steering tie rod between the two steering wheel frames is located on one side of the steering wheel axle; the steering wheel axle is arranged in parallel with the steering tie rod, and together with the two steering wheel frames, constitutes a four-bar linkage mechanism; a steering cylinder is provided between each steering wheel frame and the steering wheel axle, and the steering cylinders of the two steering wheel frames are respectively located on both sides of the steering wheel axle; the steering cylinder drives the two steering wheel frames to rotate in the same direction to complete the steering of the supporting steering device.

[0011] Furthermore, the telescopic mechanism includes a cylinder for supporting the lifting and lowering of the steering wheel, an outer sleeve and a telescopic inner sleeve. The outer sleeve and the telescopic inner sleeve constitute a telescopic sleeve. The outer sleeve is fixed on the semi-trailer chassis. The interior of the telescopic inner sleeve is provided with a cylinder for supporting the lifting and lowering of the steering wheel. The lever of the cylinder for supporting the lifting and lowering of the steering wheel is connected to the steering wheel axle to drive the steering wheel axle to rise and fall.

[0012] A self-propelled, self-steering semi-trailer bridge inspection vehicle and method, wherein a tractor is used to tow the semi-trailer bridge inspection vehicle to a bridge inspection or maintenance location, and the tractor is separated from the semi-trailer bridge inspection vehicle; the semi-trailer chassis air system is operated to deflate the chassis air suspension airbag, causing the entire vehicle frame to descend, and the pressure wheel in the self-propelled device to contact the tire of the semi-trailer bridge inspection vehicle;

[0013] Drive the vertical support frame to rotate along the vertical support until it is perpendicular to the platform; drive the lower cross support and the upper cross support to extend in a direction parallel to the platform until the flip support is perpendicular to the platform; drive the rotating table assembly to rotate until it is parallel to the platform and the semi-trailer chassis is parallel to the platform; control the lower cross support and the upper cross support to move up and down along the vertical support frame slide rails, place the semi-trailer chassis on the bridge to be inspected, and the semi-trailer chassis can move left and right along the driving rotating table assembly to complete the inspection or maintenance of the bridge;

[0014] When the semi-trailer bridge inspection vehicle needs to move, the hydraulic motor in the self-propelled device rotates, the hydraulic motor drives the reducer, the reducer drives the transmission shaft, and at the same time the transmission chain drives the transmission shafts on both sides. The rotation of the transmission shaft drives the pressure wheel on the shaft to rotate, and the pressure wheel drives the tire of the semi-trailer bridge inspection vehicle to rotate, thereby realizing the movement of the semi-trailer bridge inspection vehicle;

[0015] When the semi-trailer bridge inspection vehicle needs to turn, the steering cylinder in the supporting steering device moves in a telescopic manner, driving the supporting steering wheels on both sides to rotate. The steering rod drives the supporting steering wheels on both sides to rotate simultaneously in the same direction, thus realizing the steering of the semi-trailer bridge inspection vehicle.

[0016] When finishing work, the reverse operation is performed and the semi-trailer bridge inspection vehicle returns from the working state to the transportation state.

[0017] The beneficial effects of the present invention are as follows: the self-propelled, self-steering semi-trailer bridge inspection vehicle of the present invention is a special vehicle for bridge inspection, bridge repair and bridge maintenance. The tractor and trailer can be used separately, and it integrates inspection, travel and steering during operation. It has a reasonable structure, is easy to use, saves energy, is beneficial to environmental protection, saves bridge inspection and maintenance costs, can meet customer needs, and is particularly suitable for large-scale bridge inspection, repair and maintenance projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of an embodiment of the present invention;

[0019] Figure 2 yes Figure 1 Rear view;

[0020] Figure 3 This is a schematic diagram of transportation according to an embodiment of the present invention;

[0021] Figure 4 It is a rear view of the present invention when in operation;

[0022] Figure 5 1 is a schematic top view of the self-propelled device of the present invention;

[0023] Figure 6 Schematic diagram of the self-propelled device of the present invention;

[0024] Figure 7 It is a schematic diagram of the supporting steering device of the present invention;

[0025] Figure 8 It is a schematic top view of the supporting steering device of the present invention;

[0026] In the figure: platform 1, vertical support lower rotation 2, vertical support frame 3, tilting bracket 4, rotating table assembly 5, lower cross bracket 6, vertical support frame slide rail 7, upper cross bracket 8, semi-trailer chassis 9, operator's room 10, counterweight box 11, electrical system 12, hydraulic system 13, engine 14, chassis air suspension airbag 15, semi-trailer chassis air circuit system 16, self-propelled device 17, supporting steering device 18, semi-trailer chassis support leg 19, bridge 20, pressure wheel 21, transmission chain 22, reducer 23, hydraulic motor 24, drive shaft 25, tractor 26, supporting steering wheel 27, steering wheel axle 28, steering tie rod 29, steering cylinder 30, supporting steering wheel lifting and lowering cylinder 31, outer sleeve 32, telescopic inner sleeve 33, rotating disk 34, tire 35, output shaft 36, hinge shaft 37, steering wheel frame 38, axle 39. DETAILED DESCRIPTION

[0027] The present invention will be further described below through embodiments with reference to the accompanying drawings.

[0028] A self-propelled, self-steering semi-trailer bridge inspection vehicle, which is detachable from a tractor 26; the semi-trailer bridge inspection vehicle comprises a semi-trailer chassis 9 and a platform 1, a vertical support lower rotation 2, a vertical support frame 3, a flipping bracket 4, a rotating table assembly 5, a lower cross bracket 6, a vertical support frame slide rail 7, an upper cross bracket 8, a semi-trailer chassis air system 16, a self-propelled device 17 and a supporting steering device 18; the rotating table assembly 5 is installed on a rotating disk 34 on the semi-trailer chassis 9, which can realize the rotation movement of the semi-trailer chassis 9; one side of the flipping bracket 4 is hinged to the rotating table assembly 5; one end of the lower cross bracket 6 and the upper cross bracket 8 are both hinged to the other side of the flipping bracket 4, and the other ends of the lower cross bracket 6 and the upper cross bracket 8 are hinged to the other side of the flipping bracket 4. One end is hinged to the vertical support frame slide rail 7; the vertical support frame 3 is installed on the vertical support frame slide rail 7 and can slide on the vertical support frame slide rail 7; the vertical support lower rotation 2 is mounted on the rotating disk at the bottom of the vertical support frame 3, and the vertical support lower rotation 2 can realize the rotational movement of the vertical support frame 3; the platform 1 is hinged to the vertical support lower rotation 2; the front end of the semi-trailer chassis 9 is provided with a semi-trailer chassis air path system 16 and a support steering device 18; the tire 35 of the semi-trailer chassis 9 is provided with a chassis air suspension airbag 15 and a self-propelled device 17, the self-propelled device 17 is installed on the chassis air suspension airbag 15, and the semi-trailer chassis air path system 16 is connected to the chassis air suspension airbag 15.

[0029] A semitrailer chassis leg 19 is provided at the front end of the semitrailer chassis 9 , and the semitrailer chassis leg 19 is located in front of the supporting steering device 18 .

[0030] The semi-trailer chassis 9 is provided with an operating room 10, a counterweight box 11, an engine 14, a hydraulic system 13 and an electrical system 12. The operating room 10 is installed between the rotation 2 and the platform 1 under the vertical support. The operating room 10 is installed with a hydraulic system control valve for operating the bridge detection semi-trailer under the bridge; the counterweight box 11 is installed at the front end of the rotating table assembly 5, which is used to balance the center of gravity during the bridge detection semi-trailer operation; the engine 14 is installed at the right front end of the semi-trailer chassis 9, which provides power for the hydraulic system; the hydraulic system 13 includes: a hydraulic pump, a hydraulic motor, a hydraulic valve, a hydraulic oil tank, a hydraulic pipeline, etc., which provide power for various actions of the bridge detection semi-trailer; the electrical system 12 is installed in the left rear electrical box of the semi-trailer chassis 9, and is provided with power wiring, terminal blocks, fuses and other electrical components to provide power for the hydraulic valves in the hydraulic system.

[0031] The self-propelled device 17 is powered by the engine 14 and the hydraulic system 13, so that the bridge inspection semi-trailer can move; the supporting steering device 18 is powered by the engine 14 and the hydraulic system 13, so that the bridge inspection semi-trailer can turn.

[0032] The self-propelled device 17 includes a pressure wheel 21, a transmission chain 22, a reducer 23, a hydraulic motor 24 and a drive shaft 25. The hydraulic system 13 provides power for the hydraulic motor 24. The output end of the hydraulic motor 24 is connected to the reducer 23. The output shafts 36 on both sides of the reducer 23 are respectively connected to the two drive shafts 25 arranged in front and behind through the transmission chain 22. The ends of the output shafts 36 and the ends of the drive shafts 25 are both provided with pressure wheels 21. Each pressure wheel 21 matches a tire 35 of the semi-trailer chassis 9. The semi-trailer chassis air circuit system 16 controls the release of the chassis air suspension airbag 15, the self-propelled device 17 is lowered, the pressure wheel 21 is pressed against the tire 35, the hydraulic motor 24 drives the pressure wheel 21 to rotate, and the pressure wheel 21 drives the tire 35 to rotate, thereby realizing the self-propelled bridge inspection semi-trailer.

[0033] The supporting steering device 18 includes a supporting steering wheel 27, a steering wheel shaft 28, a steering tie rod 29, a steering oil cylinder 30, a telescopic mechanism, a hinge shaft 37, a steering wheel frame 38 and a wheel shaft 39; the steering wheel shaft 28 is arranged on the semi-trailer chassis 9 through the telescopic mechanism, and the two ends of the steering wheel shaft 28 are respectively provided with steering wheel frames 38 through the hinge shaft 37, and the two steering wheel frames 38 are both rotatable. The bottom of the steering wheel frame 38 is provided with a wheel shaft 39 to support the steering wheel 27; there is an articulated The steering rod 29, the steering rod 29 between the two steering wheel frames 38 is located on one side of the steering wheel axle 28; the steering wheel axle 28 and the steering rod 29 are arranged in parallel, and together with the two steering wheel frames 38 form a four-bar linkage; a steering cylinder 30 is provided between each steering wheel frame 38 and the steering wheel axle 28, and the steering cylinders 30 of the two steering wheel frames 38 are respectively located on both sides of the steering wheel axle 28; the steering cylinder 30 drives the two steering wheel frames 38 to rotate in the same direction, completing the steering of the supporting steering device 18.

[0034] The telescopic mechanism includes a cylinder 31 supporting the lifting and lowering of the steering wheel, an outer sleeve 32 and a telescopic inner sleeve 33. The outer sleeve 32 and the telescopic inner sleeve 33 constitute a telescopic sleeve. The outer sleeve 32 is fixed to the semi-trailer chassis 9. The interior of the telescopic inner sleeve 33 is provided with a cylinder 31 supporting the lifting and lowering of the steering wheel. The lever of the cylinder 31 supporting the lifting and lowering of the steering wheel is connected to the steering wheel shaft 28 to drive the steering wheel shaft 28 to rise and fall.

[0035] A self-propelled, self-steering semi-trailer bridge inspection vehicle and method, wherein a tractor 26 is used to tow the semi-trailer bridge inspection vehicle to a bridge 20 inspection or maintenance location, and the tractor 26 is separated from the semi-trailer bridge inspection vehicle; the semi-trailer chassis air system 16 is operated to deflate the chassis air suspension airbag 15, causing the entire vehicle frame to descend, and the pressure wheel 21 in the self-propelled device 17 to contact the tire of the semi-trailer bridge inspection vehicle;

[0036] Drive the vertical support frame 3 to rotate along the vertical support lower rotation 2 to a position perpendicular to the platform 1; drive the lower cross support 6 and the upper cross support 8 to extend in a direction parallel to the platform 1 until the flip support 4 is perpendicular to the platform 1; drive the rotating table assembly 5 to rotate until it is parallel to the platform 1, and the semi-trailer chassis 9 is parallel to the platform 1; control the lower cross support 6 and the upper cross support 8 to move up and down along the vertical support frame slide rail 7, and place the semi-trailer chassis 9 on the bridge 20 to be inspected. The semi-trailer chassis 9 can move left and right along the driving rotating table assembly 5 to complete the inspection or maintenance of the bridge 20;

[0037] When the semi-hook bridge inspection vehicle needs to move, the hydraulic motor 24 in the self-propelled device 17 rotates, the hydraulic motor 24 drives the reducer 23, the reducer 23 drives the transmission shaft 25, and at the same time the transmission chain drives the transmission shafts on both sides. The rotation of the transmission shaft drives the pressure wheel 21 on the shaft to rotate, and the pressure wheel 21 drives the tire 35 of the semi-hook bridge inspection vehicle to rotate, thereby realizing the movement of the semi-hook bridge inspection vehicle;

[0038] When the semi-trailer bridge inspection vehicle needs to turn, the steering cylinder 30 in the supporting steering device 18 is telescopically moved to drive the supporting steering wheels 27 on both sides to rotate, and the steering rod 29 drives the supporting steering wheels on both sides to rotate simultaneously in the same direction, thereby realizing the steering of the semi-trailer bridge inspection vehicle;

[0039] When finishing work, the reverse operation is performed and the semi-trailer bridge inspection vehicle returns from the working state to the transportation state.

[0040] In the embodiment, when the bridge 20 needs to be inspected or repaired and maintained, the construction department uses the tractor 26 to tow the semi-trailer bridge inspection vehicle to the designated location;

[0041] Step 1: Lower the semi-trailer chassis legs 19 to support the front end of the semi-trailer bridge inspection vehicle;

[0042] Step 2: Separate the tractor 26 from the semi-trailer bridge inspection vehicle, and drive the tractor 26 away from the work site;

[0043] Step 3: Start the engine 14 to provide power to the hydraulic system 13, and the hydraulic system 13 starts to work;

[0044] Step 4: Operate the semi-trailer chassis air system 16 to deflate the chassis air suspension airbag 15, causing the entire frame to descend. At this time, the pressure wheel 21 in the self-propelled device 17 contacts the tire of the semi-trailer bridge inspection vehicle;

[0045] Step 5: Operate the hydraulic system 13 to lower the support steering device 18 so that the support steering wheel 27 is in contact with the ground;

[0046] Step 6: Fold up the semi-trailer chassis legs 19;

[0047] Step 7: Operate the hydraulic system 13 to drive the vertical support frame 3 to rotate along the vertical support lower rotation 2 to a position perpendicular to the platform 1; drive the lower cross support 6 and the upper cross support 8 to extend in a direction parallel to the platform 1 until the flip support 4 is perpendicular to the platform 1; drive the rotating table assembly 5 to rotate to be parallel to the platform 1, and the semi-trailer chassis 9 is parallel to the platform 1; control the lower cross support 6 and the upper cross support 8 to move up and down along the vertical support frame slide rail 7, and place the semi-trailer chassis 9 on the bridge 20 to be inspected. The semi-trailer chassis 9 can move left and right along the driving rotating table assembly 5 to complete the inspection of the bridge 20, so that the semi-trailer bridge inspection vehicle reaches the working state ( Figure 4 );

[0048] Step 8: When the semi-trailer bridge inspection vehicle needs to move, first operate the semi-trailer chassis air circuit system 16 to release the chassis brake of the semi-trailer bridge inspection vehicle. At this time, the self-propelled device 17 can be used to realize the forward and backward movement of the semi-trailer bridge inspection vehicle.

[0049] Operate the hydraulic system 13 to rotate the hydraulic motor 24 in the self-propelled device 17. The hydraulic motor 24 drives the reducer 23. The reducer 23 drives the transmission shaft 25. At the same time, the transmission chain drives the transmission shafts on both sides. The rotation of the transmission shaft drives the pressure wheel 21 on the shaft to rotate. The pressure wheel 21 drives the tire 35 of the semi-hook bridge inspection vehicle to rotate, thereby realizing the movement of the semi-hook bridge inspection vehicle.

[0050] Step 9: When the semi-trailer bridge inspection vehicle needs to turn, the steering cylinder 30 in the supporting steering device 18 is telescopically moved to drive the supporting steering wheels 27 on both sides to rotate, and the steering rod 29 drives the supporting steering wheels on both sides to rotate simultaneously in the same direction, thereby realizing the steering of the semi-trailer bridge inspection vehicle;

[0051] When it is time to finish work, the semi-trailer bridge inspection vehicle can be retracted through a series of reverse operations, and then returned from the working state to the transport state.

Claims

1. A self-propelled, self-steering semi-trailer bridge inspection vehicle, characterized by: The semi-trailer bridge inspection vehicle is separable from the tractor (26); the semi-trailer bridge inspection vehicle comprises a semi-trailer chassis (9) and a platform (1) arranged on the semi-trailer chassis (9), a vertical support lower rotation (2), a vertical support frame (3), a flip support (4), a rotating platform assembly (5), a lower cross support (6), a vertical support frame slide rail (7), an upper cross support (8), a semi-trailer chassis air system (16), a self-propelled device (17) and a supporting steering device (18); the rotating platform assembly (5 ) is mounted on a rotating disk (34) on a semi-trailer chassis (9) to achieve rotational movement of the semi-trailer chassis (9); one side of the flip bracket (4) is hinged to the rotating platform assembly (5); one end of the lower cross bracket (6) and the upper cross bracket (8) are hinged to the other side of the flip bracket (4), and the other ends of the lower cross bracket (6) and the upper cross bracket (8) are hinged to the vertical support frame slide rail (7); the vertical support frame (3) is mounted on the vertical support frame slide rail (7) and can slide on the vertical support frame slide rail (7); The vertical support lower rotation (2) is mounted on a rotating disk at the bottom of the vertical support frame (3), and the vertical support lower rotation (2) can realize the rotational movement of the vertical support frame (3); the platform (1) is hinged to the vertical support lower rotation (2); the front end of the semi-trailer chassis (9) is provided with a semi-trailer chassis air path system (16) and a support steering device (18); the tire (35) of the semi-trailer chassis (9) is provided with a chassis air suspension airbag (15) and a self-propelled device (17), the self-propelled device (17) is mounted on the upper side of the chassis air suspension airbag (15), and the semi-trailer chassis air path system (16) is connected to the chassis air suspension airbag (15); The self-propelled device (17) comprises a pressure wheel (21), a transmission chain (22), a reducer (23), a hydraulic motor (24) and a transmission shaft (25). The hydraulic system (13) provides power for the hydraulic motor (24). The output end of the hydraulic motor (24) is connected to the reducer (23). The output shafts (36) on both sides of the reducer (23) are respectively connected to the two transmission shafts (25) arranged in front and behind through the transmission chain (22). The ends of the output shafts (36) and the ends of the transmission shafts (25) are both provided with pressure wheels (21). Each pressure wheel (21) matches a tire (35) of the semi-trailer chassis (9).

2. The self-propelled, self-steering semi-trailer bridge inspection vehicle according to claim 1, characterized in that: The front end of the semitrailer chassis (9) is provided with a semitrailer chassis support leg (19), and the semitrailer chassis support leg (19) is located in front of the supporting steering device (18).

3. The self-propelled, self-steering semi-trailer bridge inspection vehicle according to claim 1 or 2, characterized in that: The semi-trailer chassis (9) is provided with an operating room (10), a counterweight box (11), an engine (14), a hydraulic system (13) and an electrical system (12). The operating room (10) is installed between the vertical support lower rotation (2) and the platform (1). A hydraulic system control valve is installed in the operating room (10) for operating the movement under the bridge detection semi-trailer; the counterweight box (11) is installed at the front end of the rotating platform assembly (5) for balancing the center of gravity of the bridge detection semi-trailer during operation; the engine (14) is installed at the right front end of the semi-trailer chassis (9) and provides power for the hydraulic system; the hydraulic system (13) provides power for various movements of the bridge detection semi-trailer; the electrical system (12) is installed in the electrical box at the left rear of the semi-trailer chassis (9) and provides power for the hydraulic valve in the hydraulic system.

4. The self-propelled, self-steering semi-trailer bridge inspection vehicle according to claim 1 or 2, characterized in that: The supporting steering device (18) comprises a supporting steering wheel (27), a steering wheel shaft (28), a steering tie rod (29), a steering oil cylinder (30), a telescopic mechanism, a hinge shaft (37), a steering wheel frame (38) and a wheel shaft (39); the steering wheel shaft (28) is arranged on the semi-trailer chassis (9) through the telescopic mechanism, and the two ends of the steering wheel shaft (28) are respectively provided with steering wheel frames (38) through the hinge shaft (37), and the two steering wheel frames (38) are both rotatable. The bottom of the steering wheel frame (38) is provided with a supporting steering wheel (27) through the wheel shaft (39); a hinge is provided between the two steering wheel frames (38). The steering tie rod (29) is connected to the steering wheel frame (38), and the steering tie rod (29) between the two steering wheel frames (38) is located on one side of the steering wheel shaft (28); the steering wheel shaft (28) and the steering tie rod (29) are arranged in parallel, and together with the two steering wheel frames (38) form a four-bar linkage; a steering oil cylinder (30) is provided between each steering wheel frame (38) and the steering wheel shaft (28), and the steering oil cylinders (30) of the two steering wheel frames (38) are respectively located on both sides of the steering wheel shaft (28); the steering oil cylinder (30) drives the two steering wheel frames (38) to rotate in the same direction, thereby completing the steering of the supporting steering device (18).

5. The self-propelled, self-steering semi-trailer bridge inspection vehicle according to claim 4, characterized in that: The telescopic mechanism comprises a steering wheel lifting and lowering oil cylinder (31), an outer sleeve (32) and a telescopic inner sleeve (33). The outer sleeve (32) and the telescopic inner sleeve (33) constitute a telescopic sleeve. The outer sleeve (32) is fixed on the semi-trailer chassis (9). The steering wheel lifting and lowering oil cylinder (31) is arranged inside the telescopic inner sleeve (33). The lever of the steering wheel lifting and lowering oil cylinder (31) is connected to the steering wheel shaft (28) to drive the steering wheel shaft (28) to rise and fall.

6. A method for using the self-propelled, self-steering semi-trailer bridge inspection vehicle according to any one of claims 4 to 5, characterized in that: The semi-trailer bridge inspection vehicle is towed by a tractor (26) to a bridge (20) inspection or maintenance location, and the tractor (26) is separated from the semi-trailer bridge inspection vehicle; the semi-trailer chassis air system (16) is operated to deflate the chassis air suspension airbag (15), causing the entire vehicle frame to descend, and the pressure wheel (21) in the self-propelled device (17) to contact the tire of the semi-trailer bridge inspection vehicle; The vertical support frame (3) is driven to rotate along the vertical support lower rotation (2) to a position perpendicular to the platform (1); the lower horizontal support (6) and the upper horizontal support (8) are driven to extend in a direction parallel to the platform (1) until the flip support (4) is perpendicular to the platform (1); the rotating table assembly (5) is driven to rotate to be parallel to the platform (1), and the semi-trailer chassis (9) is parallel to the platform (1); the lower horizontal support (6) and the upper horizontal support (8) are controlled to move up and down along the vertical support frame slide rail (7), and the semi-trailer chassis (9) is placed on the bridge (20) to be inspected. The semi-trailer chassis (9) can move left and right along the driving rotating table assembly (5) to complete the inspection or maintenance of the bridge (20); When the semi-hook bridge inspection vehicle needs to move, the hydraulic motor (24) in the self-propelled device (17) is rotated, the hydraulic motor (24) drives the reducer (23), the reducer (23) drives the transmission shaft (25), and at the same time, the transmission chain drives the transmission shafts on both sides. The rotation of the transmission shaft drives the pressure wheel (21) on the shaft to rotate, and the pressure wheel (21) drives the tire (35) of the semi-hook bridge inspection vehicle to rotate, thereby realizing the movement of the semi-hook bridge inspection vehicle; When the semi-hook bridge inspection vehicle needs to be turned, the steering oil cylinder (30) in the supporting steering device (18) is telescopically moved to drive the supporting steering wheels (27) on both sides to rotate, and the steering rod (29) drives the supporting steering wheels on both sides to rotate simultaneously in the same direction, thereby realizing the steering of the semi-hook bridge inspection vehicle; When finishing work, the reverse operation is performed and the semi-trailer bridge inspection vehicle returns from the working state to the transportation state.

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