Bridge inspection vehicle capable of actively changing track gauge and control method

Abstract

The present application relates to the technical field of bridge inspection vehicle, and particularly discloses a bridge inspection vehicle capable of active track gauge changing and a control method, which comprises a driving system, a portal frame, a truss system, an active sliding device installed in one of the portal frames and used for controlling the truss system to move along the axial direction of the truss system, a slave sliding device installed on the other portal frame and used in cooperation with the active sliding device, an angular displacement sensor located at the connection between the portal frame and the corresponding driving system, and a control module connected with the angular displacement sensor, the active sliding device and the driving system. The control module is used for controlling the active sliding device to rotate forward or reversely, so as to ensure that the fixed truss is always located at the center position of the two portal frames. The angular displacement sensor is used for monitoring the included angle between the axial line of the fixed truss in the longitudinal direction and the track formed after the track gauge changing, and the driving system is controlled to adjust. Finally, the bridge inspection vehicle can effectively and synchronously walk on the track after the track gauge changing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge inspection vehicles, in particular to a bridge inspection vehicle capable of active track gauge walking and a control method. BACKGROUND

[0002] At present, bridge inspection vehicle equipment is increasingly frequently applied to large bridge maintenance, and is one of indispensable inspection equipment in the whole life cycle of the bridge. With the diversification of bridge structures, bridges gradually evolve from conventional structures to special structures, which are mainly related to railway bridge structures. At present, the bridge inspection vehicle is difficult to meet the use requirements, mainly in the following aspects:

[0003] 1. When the cross section of each point of the same bridge beam changes greatly, the track used by the bridge inspection vehicle under the beam also changes with the cross section of each point of the beam, resulting in great change of the horizontal track gauge.

[0004] 2. The existing bridge inspection vehicle structure is provided with a sliding device to adapt to the change of the center distance of the portal frame caused by the asynchronous left and right tracks of the bridge inspection vehicle, but only meets the track gauge change in a small range.

[0005] 3. When the left and right tracks have an included angle after the change of the track gauge, the existing bridge inspection vehicle is difficult to realize the synchronous walking of the left and right tracks.

[0006] 4. When the truss extends and retracts, the fixed truss does not consider dynamic and static partition, and personnel and the retractable truss are in the same area, which is easy to cause mechanical injury risk. SUMMARY

[0007] The technical problem to be solved by the present application is to provide a bridge inspection vehicle capable of active track gauge walking and a control method, which effectively realizes the normal synchronous walking of the bridge inspection vehicle on the track after the change of the track gauge.

[0008] The solution adopted by the present application to solve the technical problem is:

[0009] The bridge inspection vehicle capable of active track gauge walking comprises a driving system used in cooperation with a track system, two groups of portal frames corresponding to the track system and hinged to the driving system, a truss system sleeved in the portal frames, an active sliding device installed in one of the portal frames and used for controlling the axial movement of the truss system along the truss system, a slave sliding device installed on the other portal frame and used in cooperation with the active sliding device, an angle displacement sensor corresponding to the portal frame and located at the connection between the portal frame and the corresponding driving system, and a control module connected with the angle displacement sensor, the active sliding device and the driving system.

[0010] In some possible implementation manners,

[0011] The active sliding device comprises a sliding drive device mounted on one of the gantries, a sliding groove arranged on the gantry and arranged along the axis of the truss system, a sliding rail in driving connection with the sliding drive device and cooperated with the sliding groove, and a first distance monitoring device arranged on the sliding rail and used for measuring the axial displacement of the truss system.

[0012] In some possible implementation manners,

[0013] The slave sliding device comprises a sliding groove arranged on the other gantry and arranged along the axis of the truss system, and a sliding rail in sliding cooperation with the sliding groove and arranged along the axis of the truss system, and a second distance monitoring device arranged on the sliding rail and used for measuring the axial displacement of the truss system.

[0014] In some possible implementation manners,

[0015] Further comprising two groups of end point detection sensors arranged on the driving system respectively and connected with the control module.

[0016] In some possible implementation manners,

[0017] The truss system comprises a fixed truss sleeved in the two gantries and in sliding cooperation with the gantries, and an extendable truss mounted in the fixed truss and movable along the axis of the fixed truss, and a static space formed between the outer side of the extendable truss and the inner side of the fixed truss.

[0018] A control method of the bridge inspection vehicle capable of actively changing the track gauge and walking based on the above, characterized in that,

[0019] By simultaneously controlling the angle formed by the axis of the truss system and the two groups of tracks after changing the track gauge to be equal, and the distance between the geometric center of the truss system and the two groups of tracks after changing the track gauge to be equal, the walking of the bridge inspection vehicle from the normal track to the track after changing the track is realized.

[0020] In some possible implementation manners,

[0021] Specifically comprising the following steps:

[0022] Step S1: The driving system controls the bridge inspection vehicle to walk from the initial track to the track after changing the track:

[0023] The angle formed by the axis of the fixed truss and the two groups of tracks after changing the track is detected in real time by the two groups of angle displacement sensors and The distance between the geometric center of the truss system and the corresponding track after changing the track is detected in real time by the first distance monitoring device and the second distance monitoring device and respectively.

[0024] In the case of two groups of angles and equal, two groups of distances and equal, the driving system controls the bridge inspection vehicle to walk;

[0025] In the case of two groups of angles and unequal, the control module controls the gantry to make horizontal rotation in the vertical direction, controls two groups of driving systems to walk at different speeds, and makes two groups of angles and unequal; and equal;

[0026] Step S2: the bridge inspection vehicle continues to walk and walks to the end of the deformed track:

[0027] When the end detection sensor collides with the contact on the deformed track, the detection of the angles and stops, and the first distance monitoring device and the second distance monitoring device continue to detect and adjust the distances and ; wherein,

[0028] When the end detection sensors on the two groups of driving systems do not collide with the contacts on the deformed track at the same time, the axis of the fixed truss in the long direction will form an angle with the plane where the two contacts are located at this time, the driving system corresponding to the side where the contact collides is controlled to stop, and the other driving system continues to walk towards the side close to the corresponding contact, and finally makes the angle 0°;

[0029] When the end detection sensors on the two groups of driving systems collide with the contacts on the deformed track at the same time, the two groups of driving systems stop driving;

[0030] Step S3: the bridge inspection vehicle completes the work, walks from the deformed track to the initial track, and resets;

[0031] Adjust the angle to the initial state, and real-time monitor and control the two groups of angles and and the two groups of distances and equal, respectively, and drive the bridge inspection vehicle to walk from the deformed track to the initial track;

[0032] Step S4: the driving system controls the bridge inspection vehicle to walk to the side of the deformed track close to the initial track and walk towards the initial track.

[0033] In some possible implementations,

[0034] When the two sets of angles and When the values ​​are unequal, the control module controls the gantry to rotate horizontally along the vertical direction, and controls the two drive systems to travel at different speeds, forming two angles. Adjustment to make the included angles of the two sets equal.

[0035] In some possible implementations,

[0036] Two sets of distances and When the distances are unequal, the control module controls the active sliding device to move the fixed truss and adjust the two sets of distances. and This makes the two sets of distances and equal.

[0037] In some possible implementations, step S4 specifically refers to:

[0038] The drive system controls the bridge inspection vehicle to move to the side of the track after the track change that is closer to the initial track, and then moves back towards the initial track, with the two sets of angles... and and the two sets of distances and Real-time monitoring and control of the included angles of the two sets. and Equal and ,in, The angle formed between the axis of the fixed truss along its length and the two sets of normal tracks when the bridge inspection vehicle is traveling on the normal track.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0040] This invention controls the active sliding device to rotate forward or backward through a control module, thereby ensuring that the fixed truss is always in the center position of the two gantry frames; and monitors the angle formed by the axis of the fixed truss along its length and the two sets of track after track change in real time through an angular displacement sensor, and controls the drive system to make adjustments; thus, it can effectively control the bridge inspection vehicle to move synchronously on the track after track change.

[0041] This invention achieves dynamic and static separation by setting up a telescopic truss. When the telescopic truss extends or retracts, maintenance personnel are in a static space, effectively protecting their safety.

[0042] This invention has a simple structure and strong practicality. It can achieve synchronous movement on the track after the track change without making major adjustments to the bridge maintenance vehicle. Attached Figure Description

[0043] Figure 1 Structure diagram of the bridge inspection vehicle in the present application;

[0044] Figure 2 Structure diagram of the bridge inspection vehicle in the present application;

[0045] Figure 3 Structure diagram of the bridge inspection vehicle in the present application;

[0046] Figure 4 Structure diagram of the bridge inspection vehicle in the present application;

[0047] Figure 5 Structure diagram of the bridge inspection vehicle in the present application;

[0048] Figure 6 Structure diagram of the bridge inspection vehicle in the present application;

[0049] Figure 7 Structure diagram of the bridge inspection vehicle in the present application;

[0050] Figure 8 Structure diagram of the bridge inspection vehicle in the present application;

[0051] Figure 9 Structure diagram of the bridge inspection vehicle in the present application;

[0052] Figure 10 Structure diagram of the bridge inspection vehicle in the present application;

[0053] Figure 11 Structure diagram of the bridge inspection vehicle in the present application;

[0054] Figure 12 Structure diagram of the bridge inspection vehicle in the present application;

[0055] Figure 13 Structure diagram of the bridge inspection vehicle in the present application; Figure 2 Enlarged diagram of A in the present application;

[0056] Wherein: 1, driving system; 2, gantry; 3, truss system; 31, fixed truss; 311, telescopic area, 312, static space; 32, telescopic truss; 4, active sliding device; 41, slide rail; 42, sliding groove; 43, sliding drive device; 44, rack; 5, driven sliding device; 6, control module; 7, track system. DETAILED DESCRIPTION

[0057] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements. The "first", "second" and similar words mentioned in the present application do not represent any order, quantity or importance, but only distinguish different components. Similarly, "one" or "a" and the like do not represent a quantity limit, but represent the existence of at least one. In the present application, the "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. In the description of the examples of the present application, unless otherwise specified, the meaning of "multiple" is two or more. For example, multiple positioning columns refer to two or more positioning columns. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0058] The present application will be described in detail below.

[0059] It should be noted that in the present application, the track system 7 includes a normal track and a track after track changing, and the track after track changing has changed the track gauge relative to the normal track, as shown in the figure. Figure 4 The normal track is a left track and a right track arranged in parallel, and the track after track changing can be a 1# track, a 2# track, a 3# track, a 4# track, a 5# track, and a 6# track. The 1# track and the corresponding left track have changed by tilting to the left side by an angle A, the 2# track is coaxial with the left track, the 3# track and the corresponding left track have changed by tilting to the left side by an angle B, the 4# track and the corresponding right track have changed by tilting to the left side by an angle C, the 5# track is coaxial with the right track, and the 6# track and the corresponding right track have changed by tilting to the left side by an angle D. The angles A, B, C and D can be equal or different. The track after track changing can be composed of 1# track and 4# track, 1# track and 5# track, 1# track and 6# track, 2# track and 4# track, 2# track and 5# track, 2# track and 6# track, 3# track and 4# track, 3# track and 5# track, 3# track and 6# track.

[0060] As shown in the figure: Figures 1-13

[0061] ​A bridge inspection vehicle capable of actively changing track gauge, used in conjunction with a track system 7, includes a drive system 1 for driving the bridge inspection vehicle, two sets of gantry frames 2 corresponding to the track system and hinged to the drive system 1, a truss system 3 housed within the gantry frames 2, an active sliding device 4 installed within one set of gantry frames 2 for controlling the truss system 3 to move axially along the truss system 3, a secondary sliding device installed on the other set of gantry frames 2 and used in conjunction with the active sliding device 4, an angular displacement sensor corresponding to the gantry frame 2 and located at the connection between the gantry frame 2 and the corresponding drive system 1, two sets of endpoint detection sensors respectively installed on the drive system 1 and connected to a control module 6, and a control module 6 connected to the angular displacement sensor, the active sliding device 4, and the drive system 1.

[0062] During the track movement after the track change, two sets of angular displacement sensors monitor in real time the angle formed between the axis of the fixed truss 31 along its length and the two sets of tracks after the track change. and Meanwhile, the active sliding device 4 detects in real time the distance between the geometric center of the truss system 3 and the track behind the strain gauge. and The included angle information and distance information are transmitted to the control module 6, and the control module 6 determines the two sets of included angles. and Two sets of distances and Are they equal?

[0063] If the included angle and If they are not equal, the control module 6 will use frequency converters to control the speeds of the two drive systems, adjusting the included angle. and The two drive systems then move synchronously; simultaneously, the control module 6 controls the active sliding device 4 to move the fixed truss 31 along its axis to adjust the distance between the two systems. and This makes the two sets of distances and Equal; if the two sets of distances are equal; and The distances are not equal. Control module 6 controls the active sliding device 4 to move the fixed truss 31 to adjust the two sets of distances. and This makes the two sets of distances and Equal; thus enabling the bridge inspection vehicle to move normally on the track after the track change;

[0064] When the two sets of endpoint detection sensors collide and make contact with the contact points on the track after the track change, the position is reached, and the two sets of drive systems 1 stop driving;

[0065] When one set of endpoint detection sensors collides with the contact points on the track after the track change, while the other set of endpoint detection sensors does not collide with the contact points on the track after the track change, that is, the axial direction of the fixed truss 31 along its length will form an angle with the plane containing the two sets of contact points. When the collision occurs, the drive unit corresponding to the endpoint detection sensor stops driving, while another drive system 1 continues to move. At this time, the control module stops to ensure the included angle. and The two sets of drive systems 1 are equal, and frequency conversion control is applied to both sets of drive systems 1. At the same time, the control module 6 controls the active sliding device 4 to move the fixed truss 31 along its axis to adjust the distance between the two sets of drive systems 1. and This makes the distance between the two sets of distances and The results are equal; ultimately, the corresponding endpoint detection sensor of this system collides and contacts with the corresponding contact point on the track after the track change, stopping the drive.

[0066] Once the bridge inspection is completed, the bridge inspection vehicle will return to its normal track.

[0067] If both sets of endpoint detection sensors simultaneously collide with the contact points on the track after the track change, during the return trip, the two sets of drive systems 1 will be directly controlled to start and begin the return trip; during the return trip, the included angle between the two sets will be monitored in real time. and Two sets of distances and Equal is acceptable;

[0068] If one set of endpoint detection sensors first collides and contacts the contact points on the strain gauge track, and the other set only contacts after adjustment by the corresponding drive system 1, then the axial direction of the fixed truss 31 along its length will form an angle with the plane containing the two sets of contact points. On the return journey, the drive system 1 corresponding to the endpoint detection sensor that caused the subsequent collision is activated. At the same time, the control module 6 controls the active sliding device 4 to move the fixed truss 31 along its axis to adjust the two sets of distances. and This makes the two sets of distances and Equal; so that they form an included angle again. Subsequently, the two drive systems 1 synchronously control the bridge inspection vehicle to travel back, and during the return journey, the included angle between the two systems is monitored in real time. and Two sets of distances and Equal is acceptable;

[0069] In some possible implementation manners, in order to effectively realize that the truss system 3 can move along the axial direction of the long direction thereof;

[0070] As shown in Figure 3 , the active sliding device 4 comprises a sliding driving device 43 installed on one set of gantry frames 2, a sliding groove 42 arranged on the set of gantry frames 2 and arranged along the axial direction of the truss system 3, a sliding rail 41 in driving connection with the sliding driving device 43 and cooperatively used with the sliding groove 42, and a first distance monitoring device arranged on the sliding rail 41 and used for measuring the displacement of the truss system 3 along the axial direction thereof; the length direction of the sliding groove 42 is arranged along the axial direction of the truss system 3.

[0071] The sliding driving device 43 comprises a rack 44 installed on the sliding rail 41 and arranged along the length direction of the sliding rail 41, a gear in meshing connection with the rack 44, and a driving motor installed on the set of gantry frames 2 and coaxially connected with the gear.

[0072] As shown in Figure 13 , the sliding rail 41 is located in the sliding groove 42, the sliding rail 41 is in the shape of an I-beam and has two sets of C-shaped grooves arranged on the left and right sides along the axial direction of the fixed truss, and a pulley in sliding cooperation with the sliding rail 41 is arranged in the sliding groove 42; the pulley is located in the C-shaped groove.

[0073] When the fixed truss 31 is moved, the driving motor controls the rotation of the gear, so that the rack 44 in meshing connection with the gear moves, thereby driving the sliding rail 41 to move along the length direction thereof in the sliding groove 42, the sliding rail 41 is connected with the fixed truss 31, and thus the movement of the fixed truss 31 is realized;

[0074] In some possible implementation manners, in order to effectively realize that the truss system 3 can move along the axial direction of the long direction thereof;

[0075] The slave sliding device comprises a sliding groove 42 arranged on the other set of gantry frames 2 and arranged along the axial direction of the truss system 3, a sliding rail 41 in sliding cooperation with the sliding groove 42 and arranged along the axial direction of the truss system 3, and a second distance monitoring device arranged on the sliding rail 41 and used for measuring the displacement of the truss system 3 along the axial direction thereof.

[0076] The active sliding device 4 is different from the slave sliding device in that the active sliding device 4 is provided with the sliding driving device 43, the rack 44 and the gear to realize active driving; the slave sliding device can only move followingly.

[0077] In some possible implementation manners,

[0078] The truss system 3 comprises a fixed truss 31 sleeved in the two groups of portal frames 2 and slidingly matched with the portal frames 2, and a telescopic truss mounted in the fixed truss 31 and moving along the axial direction of the fixed truss 31, and a static space 312 is formed between the outer side of the telescopic truss and the inner side of the fixed truss 31.

[0079] By arranging the telescopic truss in the telescopic area 311 of the fixed truss 31, the personnel are separated from the telescopic truss during the telescopic process of the telescopic truss and do not move with the telescopic truss in the static space 312, so that the personnel are effectively prevented from being mechanically injured.

[0080] A control method of the bridge inspection vehicle capable of actively changing the track gauge and walking based on the above,

[0081] By simultaneously controlling the included angles between the axial direction of the truss system 3 and the two groups of deformed tracks to be equal and the distances between the geometric center of the truss system 3 and the two groups of deformed tracks to be equal, the walking of the bridge inspection vehicle on the normal track to the deformed track is realized.

[0082] In some possible embodiments, the following steps are specifically included:

[0083] Step S1: the driving system 1 controls the walking of the bridge inspection vehicle from the initial track to the deformed track:

[0084] The included angles between the axial direction of the fixed truss 31 and the two groups of deformed tracks are respectively detected in real time by the two groups of angle displacement sensors and The distances between the geometric center of the truss system 3 and the corresponding deformed tracks are respectively detected in real time by the first distance monitoring device and the second distance monitoring device and ;

[0085] When the two groups of included angles and are equal and the two groups of distances and are equal, the driving system 1 controls the walking of the bridge inspection vehicle;

[0086] When the two groups of included angles and are not equal, the control module 6 controls the portal frame 2 to be horizontally rotated along the vertical direction, controls the two groups of driving systems 1 to walk at different speeds, and adjusts the two groups of included angles so that the two groups of included angles are equal;

[0087] Step S2: the bridge inspection vehicle continues to walk and walks to the end of the deformed track:

[0088] When the end detection sensor collides with the contact on the post-rail, the included angle and stops being detected, and the first distance monitoring device and the second distance monitoring device continue to detect the distances and and adjust the distances and ; wherein,

[0089] When the end detection sensors on the two sets of driving systems 1 do not collide with the contacts on the post-rail at the same time, the axis of the fixed truss 31 in the long direction will form an included angle with the plane in which the two contacts are located, at this time, the control corresponding to the driving system 1 on the side of the contact collision is stopped, and the other driving system 1 continues to walk towards the side close to the corresponding contact, and finally makes the included angle 0°;

[0090] When the end detection sensors on the two sets of driving systems 1 collide with the contacts on the post-rail at the same time, the two sets of driving systems 1 stop driving;

[0091] Step S3: The bridge inspection vehicle works and walks from the post-rail to the initial rail, and is reset;

[0092] The included angles are adjusted to the initial state, and the two sets of included angles and and the two sets of distances and are monitored and controlled to be equal respectively, and the driving system 1 controls the bridge inspection vehicle to walk from the post-rail to the initial rail;

[0093] Step S4: The driving system 1 controls the bridge inspection vehicle to walk to the side of the post-rail close to the initial rail, and walks towards the initial rail.

[0094] In some possible embodiments,

[0095] When the two sets of included angles and are not equal, the control module 6 controls the gantry 2 to rotate horizontally in the vertical direction, controls the two sets of driving systems 1 to walk at different speeds, adjusts the two sets of included angles and , so that the two sets of included angles and are equal.

[0096] In some possible embodiments,

[0097] The two sets of distances and When the two distances are not equal, the control module 6 controls the active sliding device 4 to drive the fixed truss 31 to move, so as to adjust the two distances and to be equal. and .

[0098] In some possible embodiments, the step S4 specifically refers to:

[0099] When the driving system 1 controls the bridge inspection vehicle to walk to the side of the post-rail track close to the initial track and walk to the initial track, the two angles and and the two distances and are monitored in real time, and the two angles and are controlled to be equal and , wherein is the angle between the axis of the fixed truss 31 in the long direction and the two normal tracks when the bridge inspection vehicle walks on the normal track.

[0100] Embodiment 1:

[0101] When the driving system 1 drives the inspection bridge inspection vehicle to walk on the normal track, the angle displacement sensors arranged on the two driving systems 1 monitor the angle change of the bridge inspection vehicle when walking on the post-rail track, so as to realize synchronous walking on the post-rail track.

[0102] As shown in Figure 4 , Figure 5 , the bridge inspection vehicle 1# track and the 4# track form a post-rail track, and the two are arranged in parallel, and the 1# track and the 4# track are both to the left side.

[0103] The control module 6 receives the feedback signal of the angle displacement sensor, and the angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the 1# track and the 1# track is <90°, the angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the 4# track and the 4# track is >90°; at this time, the angle between the 1#, 4# track and the horizontal center line of the truss is < .

[0104] The control module 6 controls the bridge inspection vehicle to rotate horizontally and counterclockwise around the center of the left portal frame 2, that is, the driving system 1 corresponding to the 1# track is controlled to walk at a low speed, and the driving system 1 corresponding to the 4# track is controlled to walk at a high speed, slowly increases, slowly decreases, and when and When the two angles are equal, the two groups of drive systems 1 are converted into synchronous walking, that is, the synchronous walking of the bridge inspection vehicle is completed.

[0105] As shown in Figure 4 , Figure 6 , when the bridge inspection vehicle walks on the variable track formed by the 1# track and the 5# track;

[0106] The control module 6 receives the feedback signal of the angle displacement sensor. The angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the 1# track and the 1# track is <90°, and the angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the 5# track and the 5# track is =90°.

[0107] At this time, < , the control module 6 controls the whole bridge inspection vehicle to make a horizontal counterclockwise rotation around the center of the portal frame 2 corresponding to the 1# track, that is, the drive system 1 corresponding to the 1# track is controlled to walk at a low frequency, and the drive system 1 corresponding to the 5# track is controlled to walk at a high frequency, slowly increases, slowly decreases, and when and are equal, the two groups of drive systems 1 are converted into synchronous walking, that is, the synchronous walking of the bridge inspection vehicle is completed.

[0108] As shown in Figure 4 , Figure 7 , when the bridge inspection vehicle walks on the variable track formed by the 1# track and the 6# track; wherein the A angle and the D angle are equal.

[0109] The control module 6 receives the feedback signal of the angle displacement sensor. The angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the 1# track and the 1# track is <90°, the angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the 6# track and the 6# track is <90° and and are equal; the left and right high and low frequency conversion is converted into synchronous walking.

[0110] As shown in Figure 4 , Figure 8 , when the bridge inspection vehicle walks on the variable track formed by the 2# track and the 4# track;

[0111] The control module 6 receives the feedback signal of the angle displacement sensor. The angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the 2# track and the 2# track is =90°, and the angle between the truss at the center of the portal frame 2 corresponding to the 4# track and the track becomes >90°.

[0112] at this time < Control module 6 controls the bridge inspection vehicle to rotate horizontally counterclockwise around track #2, corresponding to the center of gantry #2. This means it controls drive system 1 (track #2) to move at low speed using frequency conversion, and drive system 1 (track #4) to move at high speed using frequency conversion. Slowly getting bigger, Slowly getting smaller, when and When they are equal, the two sets of drive systems 1 switch to synchronous movement, that is, the synchronous movement of the bridge inspection vehicle is completed;

[0113] like Figure 4 , Figure 9 As shown, the bridge inspection vehicle travels on the track formed by the change of track between track #2 and track #6;

[0114] Control module 6 receives feedback signals from the angular displacement sensor, and the angle between track #2 and the fixed truss 31 at the center of gantry 2 is [not specified]. =90°, the angle between the truss and the track at the center of gantry 2 corresponding to track #6 becomes 90°. <90°;

[0115] at this time > The bridge inspection vehicle is controlled to rotate horizontally clockwise around the center of gantry 2 corresponding to track #2. This means that drive system 1 (track #2) moves at high speed via frequency conversion, while drive system 1 (track #6) moves at low speed via frequency conversion. Slowly getting smaller Slowly grow bigger, when and When they are equal, the two sets of drive systems 1 switch to synchronous movement, that is, the synchronous movement of the bridge inspection vehicle is completed;

[0116] like Figure 4 , Figure 10 As shown, when the bridge inspection vehicle travels on the track formed by the track change between track #3 and track #4, angles B and C are equal.

[0117] Control module 6 receives feedback signals from the angular displacement sensor, and the angle formed between track #3 and the fixed truss 31 at the center of gantry 2. >90°, the angle formed by the fixed truss 31 at the center of the gantry 2 corresponding to track #4 and track #4. >90° and and Equal; simply convert the high and low frequencies on the left and right sides to synchronize walking.

[0118] like Figure 4 , Figure 11 As shown, the bridge inspection vehicle travels on tracks #3 and #5;

[0119] The control module 6 receives the angle displacement sensor feedback signal, the angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the No. 3 track and the No. 3 track > 90°, the angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the No. 5 track and the No. 5 track = 90°, at this time > , the control module 6 controls the whole bridge inspection vehicle to rotate horizontally clockwise around the center of the left portal frame 2, that is, controls the No. 3 track corresponding drive system 1 to run at variable frequency high speed, and the No. 5 track corresponding drive system 1 to run at variable frequency low speed, slowly becomes smaller, slowly becomes larger, when and are equal, the two groups of drive systems 1 are converted to synchronous walking, that is, the synchronous walking of the bridge inspection vehicle is completed.

[0120] As shown in Figure 4 , Figure 12 , when the bridge inspection vehicle walks on the variable track rear track formed by the No. 3 track and the No. 6 track, the B angle = the D angle;

[0121] The control module 6 receives the angle displacement sensor feedback signal, the angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the No. 3 track and the No. 3 track > 90°, the angle between the fixed truss 31 at the center of the portal frame 2 corresponding to the No. 6 track and the No. 5 track < 90°, at this time > , the control module 6 controls the whole bridge inspection vehicle to rotate horizontally clockwise around the center of the left portal frame 2, that is, controls the No. 3 track corresponding drive system 1 to run at variable frequency high speed, and the No. 5 track corresponding drive system 1 to run at variable frequency low speed, slowly becomes smaller, slowly becomes larger, when and are equal, the two groups of drive systems 1 are converted to synchronous walking, that is, the synchronous walking of the bridge inspection vehicle is completed.

[0122] During the variable track gauge driving, track angle adjustment and synchronous walking of the bridge inspection vehicle, the first distance monitoring device and the second distance monitoring device monitor the signal input, and the control module 6 sets the first distance monitoring device and the second distance monitoring device to the "0" position relative to the corresponding slide rail 41 at a certain position.

[0123] When the first distance monitoring device or the second distance monitoring device monitors that the relative slide rail 41 is in the "0" position, the fixed truss 31 moves towards the geometric center of the fixed truss 31, at this time the feedback signal in the control module 6 is -X; when the first distance monitoring device or the second distance monitoring device monitors that the relative slide rail 41 is in the "0" position, the fixed truss 31 moves away from the geometric center of the fixed truss 31, at this time the feedback signal in the control module 6 is +X; at the same time, the feedback signal is fed back to the control, so as to adjust the distance to be consistent, so as to achieve the purpose that the geometric center of the fixed truss 31 is in the center of the left and right gantry frames 2.

[0124] As shown in Figure 6 , Figure 8 , Figure 10 , Figure 11 shown, when the distance between the geometric center of the fixed truss 31 and the variable track after the track is smaller than the distance between the geometric center of the fixed truss 31 and the normal track; the bridge inspection vehicle walks on the variable track after the track formed by the 1# track and the 4# track, the 2# track and the 4# track, the 3# track and the 4# track, the 3# track and the 5# track, and the 3# track and the 6# track respectively;

[0125] During the adjustment and of the control module 6, when the distance between the variable track after the track becomes smaller, the slide rail 41 on the driven slide shift device 5 corresponding to the right track (4# track or 5# track or 6# track) starts to slide relative to the gantry frame 2 corresponding to the side track first, and slides by a distance X, the second distance monitoring device feeds back data, and the control module 6 receives the data -X, that is, the distance between the geometric center line of the fixed truss 31 and the gantry frame 2 corresponding to the left track is greater than the distance between the geometric center line of the fixed truss 31 and the gantry frame 2 corresponding to the left track, that is, > ;

[0126] The control module 6 controls the slide shift device 43 corresponding to the left track (2# track or 3# track) to reverse, so that the fixed truss 31 moves from the left track to the side close to the right track; slowly becomes smaller, slowly becomes larger, when = , that is, the distance between the geometric center of the fixed truss 31 and the center of the two groups of gantry frames 2 is equal, the action is stopped.

[0127] As shown in Figure 6 , Figure 7 , Figure 9 shown, when the distance between the geometric center of the fixed truss 31 and the variable track after the track is smaller than the distance between the geometric center of the fixed truss 31 and the normal track, the bridge inspection vehicle walks on the variable track after the track formed by the 1# track and the 5# track, the 1# track and the 6# track, and the 2# track and the 6# track;

[0128] In the control module 6 adjustment And When the track distance is large, the right track (5# track or 6# track) corresponding to the driven sliding device 5 on the slide rail 41 first slides relative to the gantry 2 on the side corresponding to the track, and slides X distance, the second distance monitoring device feedback data, control module 6 receives data-X, that is, the distance between the geometric center line of the fixed truss 31 and the gantry 2 corresponding to the left track is greater than the distance between the geometric center line of the fixed truss 31 and the gantry 2 corresponding to the left track, that is < When;

[0129] The control module 6 controls the right track (1# track or 1# track) corresponding to the sliding drive device 43 to rotate in the positive direction, so that the fixed truss 31 moves from the right track to the left track side; Slowly decrease, Slowly increase, when That is, the distance between the geometric center of the fixed truss 31 and the center of the two gantries 2 is equal, stop action.

[0130] As shown in Figure 5 , Figure 6 , Figure 8 , Figure 9 , Figure 11 , Figure 12 When the bridge inspection vehicle is walking in the variable track distance process, when the bridge inspection vehicle approaches the end of the bridge, there is an angle γ between the center line of the fixed truss 31 and the end of the track after the track change;

[0131] As shown in Figure 5 4# track, Figure 6 5# track, Figure 8 4# track, Figure 9 2# track, Figure 11 3# track, Figure 12 3# track, the above-mentioned track corresponding gantry 2 has walked to the end of the bridge, the corresponding end detection sensor on the driving system 1 contacts and collides with the contact point of the bridge end, the control module 6 receives the signal generated by the end detection sensor and stops the driving of the driving system 1 on the side, the angle displacement sensor corresponding to the side track stops feedback signal, and the first distance monitoring device or the second distance monitoring device corresponding to the side track continues to feedback signal, the control module 6 mechanically controls the driving system 1 corresponding to the other side track to continue to walk to the end, when its corresponding end detection sensor contacts and collides with the corresponding contact point of the bridge end, γ=0°, all driving systems 1 stop driving.

[0132] When the bridge inspection vehicle drives away from the end of the bridge, the work is completed, and it needs to walk to the normal track;​

[0133] The angle between the left and right tracks and the horizontal center of the fixed truss 31 is detected by a corresponding angular displacement sensor and ;

[0134] As shown in Figure 5 , Figure 6 , Figure 8 , > , the control module 6 controls the corresponding drive system 1 of the left track to reverse, when = , the control module 6 controls the corresponding drive system 1 of the left track to reverse, when > , the control module 6 controls the corresponding drive system 1 of the left track to reverse, when = , the control module 6 controls the corresponding drive system 1 of the left track to reverse, when

[0135] As shown in Figure 9 , Figure 10 , Figure 12 , < , the control module 6 controls the corresponding drive system 1 of the right track to reverse, when = , the control module 6 controls the corresponding drive system 1 of the right track to reverse, when

[0136] As shown in Figure 7 , Figure 10 , = , the control module 6 controls the corresponding drive system 1 of the right track to reverse, when

[0137] When the bridge inspection vehicle walks to the variable track, the track is close to the end of the normal track, the control two groups of angles and are equal and , wherein is the angle between the axis of the fixed truss 31 in the long direction and the two groups of normal tracks when the bridge inspection vehicle walks on the normal track.

[0138] The present application is not limited to the specific implementation methods described above. The present application extends to any new feature or any new combination disclosed in the specification, as well as any new method or process step or any new combination disclosed.

Claims

1. A bridge inspection vehicle capable of actively changing the track gauge, characterized in that, The application relates to a driving system matched with a track system, two groups of portal frames matched with the track system and hinged with the driving system, a truss system sleeved in the portal frames, an active sliding device installed in one group of the portal frames and used for controlling the truss system to move along the axial direction of the truss system, a passive sliding device installed on the other group of the portal frames and matched with the active sliding device, an angular displacement sensor matched with the portal frames and located at the connection between the portal frames and the corresponding driving system, and a control module connected with the angular displacement sensor, the active sliding device and the driving system.

2. The bridge inspection vehicle of claim 1, wherein, The active sliding device comprises a sliding driving device installed on one group of the portal frames, a sliding groove arranged on the portal frame and arranged along the axial direction of the truss system, a sliding rail in transmission connection with the sliding driving device and matched with the sliding groove, and a first distance monitoring device arranged on the sliding rail and used for measuring the axial displacement of the truss system; the length direction of the sliding groove is arranged along the axial direction of the truss system; and the sliding rail is installed at the bottom of the fixed truss.

3. The bridge inspection vehicle of claim 1, wherein, The passive sliding device comprises a sliding groove arranged on the other group of the portal frames and arranged along the axial direction of the truss system, a sliding rail in sliding connection with the sliding groove and arranged along the axial direction of the truss system, and a second distance monitoring device arranged on the sliding rail and used for measuring the axial displacement of the truss system; and the sliding rail is installed at the bottom of the fixed truss.

4. The bridge inspection vehicle of claim 1, wherein, Two groups of end point detection sensors arranged on the driving system and connected with the control module are further included.

5. The bridge inspection vehicle of claim 1, wherein, The truss system comprises a fixed truss sleeved in the two groups of portal frames and in sliding connection with the portal frames, and a telescopic truss installed in the fixed truss and moving along the axial direction of the fixed truss, and a static space is formed between the outer side of the telescopic truss and the inner side of the fixed truss.

6. A control method of the active variable-gauge track walking bridge inspection vehicle according to any one of claims 1-5, characterized in that, The bridge inspection vehicle is realized to walk on the normal track and the deformed track by simultaneously controlling the axial direction of the truss system and the included angle of the two groups of deformed tracks to be equal, and the distance between the geometric center of the truss system and the two groups of deformed tracks to be equal.

7. The control method of the bridge inspection vehicle capable of actively changing the track gauge walking according to claim 6, characterized in that, Specifically, the steps include: Step S1: the driving system controls the bridge inspection vehicle to walk from the initial track to the deformed track: Real-time detection of the angle between the axis of the fixed truss and the two sets of post-rail tracks by two sets of angle displacement sensors and Real-time detection of the distance between the geometric center of the truss system and the corresponding post-rail track by the first distance monitoring device and the second distance monitoring device and ; In the case of two groups of angles and equal, the driving system controls the bridge inspection vehicle to walk in the case of two groups of distances and equal; When the two groups of angles and are not equal, the control module controls the gantry to make horizontal rotation in the vertical direction, controls the two groups of driving systems to walk at different speeds, and performs two groups of angles and ; so that the two groups of angles and are equal; Step S2: the bridge inspection vehicle continues to walk and walks to the end of the deformed track: When the end detection sensor collides with the contact on the post-rail after the rail change, the included angle and The detection stops, the distance and Continue to detect and adjust the distance and ; wherein, When the end point detection sensors on the two sets of driving systems do not collide with the contacts on the track at the same time after the track change, the axis of the fixed truss in the long direction will form an angle with the plane in which the two sets of contacts are located At this time, the driving system corresponding to the side of the contact collision is controlled to stop, and the other set of driving systems continues to move towards the side close to the corresponding contact, so that the angle is 0°. When the two groups of end point detection sensors on the driving system and the contacts on the deformed track collide at the same time, the two groups of driving systems stop driving; Step S3: the bridge inspection vehicle is completed and walks from the deformed track to the initial track to reset; Adjusting the included angle to the initial state, the two sets of included angles and , and the two sets of distances and are monitored and controlled in real time, respectively equal, and the driving system controls the bridge inspection vehicle to walk from the changed track to the initial track. Step S4: the driving system controls the bridge inspection vehicle to walk to the side of the deformed track close to the initial track and walks to the initial track.

8. The control method of the bridge inspection vehicle capable of actively changing the track gauge walking according to claim 7, characterized in that, When the two groups of included angles and are not equal, the control module controls the gantry to make horizontal rotation in the vertical direction, controls the two groups of driving systems to walk at different speeds, and adjusts the two groups of included angles so that the two groups of included angles and are equal.

9. The control method of the bridge inspection vehicle capable of actively changing the track gauge walking according to claim 7, characterized in that, Two groups of distance And When not equal, the control module controls the active slip device to drive the fixed truss to move, adjust the distance between the two groups And So that the distance between the two groups And Equal.

10. The control method of the bridge inspection vehicle capable of actively changing the track gauge according to claim 7, characterized in that, The step S4 specifically refers to: The drive system controls the bridge inspection vehicle to move to the side of the track after the track change that is closer to the initial track, and then moves back towards the initial track, with the two sets of angles... and two sets of distances and Real-time monitoring and control of the included angles of the two sets. and Equal and ,in, The angle formed between the axis of the fixed truss along its length and the two sets of normal tracks when the bridge inspection vehicle is traveling on the normal track.

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