Detection and maintenance vehicle in steel box girder bridge and maintenance system thereof

Abstract

The invention relates to a steel box girder bridge in-box detection maintenance vehicle and a maintenance system thereof, the steel box girder bridge in-box detection maintenance vehicle comprises a driving vehicle, a manned vehicle, a transport vehicle and a detection child-mother vehicle, the driving vehicle comprises a walking unit and an operation control unit, the walking unit is used for running along a track, and the operation control unit controls the walking unit to start and stop; the manned vehicle is connected with the driving vehicle, a manned cabin and a human body protection unit are arranged on the manned vehicle, and the human body protection unit is fixedly installed on the manned cabin; the transport vehicle is connected with the manned vehicle, and a loading cabin is arranged on the transport vehicle; the detection child-mother vehicle is connected with the transport vehicle, a mother vehicle body, a retractable unit and a detection child vehicle are arranged on the detection child-mother vehicle, one end of the retractable unit is connected with the mother vehicle body, the other end of the retractable unit is connected with the detection child vehicle, and the retractable unit is used for driving the detection child vehicle to leave the interior of the mother vehicle body or retract into the interior of the mother vehicle body. According to the invention, the detection and maintenance of the steel box girder bridge are completed by using the specific function of each vehicle in the vehicle group, and the detection and maintenance efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of bridge structure inspection and maintenance, and in particular to a steel box girder bridge box internal inspection and maintenance vehicle and a maintenance system thereof. Background Art

[0002] The completion of the Hong Kong-Zhuhai-Macao Bridge marks my country's official move from a major bridge country to a strong bridge country. In the new journey of building a strong bridge country, it is particularly important to develop new equipment, adopt new materials, use new technologies, and improve construction quality. As the number of bridge stocks gradually increases, one of the major changes is that the industry will gradually shift its focus from construction to inspection and maintenance. Compared with concrete structures, the durability of steel structures deserves more attention. The common defects of steel box girder bridges during operation mainly include:

[0003] (1) The main deterioration of steel box girder coatings include powdering, blistering, cracking, shedding, and rusting. Common corrosion forms of steel box girders include pitting, uniform corrosion, crevice corrosion, and stress corrosion. (2) The fatigue cracking of steel box girders mainly appears in the form of cracks, which first crack at the weakest part of the main beam. After the continuous accumulation of fatigue damage during the entire service process, the cracks continue to expand and cause component failure. (3) With the increase in traffic volume and the increase in heavy-loaded vehicles, the damaged parts of the steel box girder may cause excessive deflection of the overall structure of the beam or local deformation of the component. If the deformation of the steel box girder is too large, it is easy to cause local instability or fatigue cracking, causing cracking and debonding of the bridge deck pavement. (4) The main connection methods of steel box girder components are weld connection and bolt connection. The main defects include weld fatigue cracking, desoldering, and leaking; bolt rust, loosening, and slippage.

[0004] In addition to these common diseases, there are also other diseases. If manual methods are used for detection and maintenance, the efficiency will be very low and problems cannot be discovered in time. Often "minor diseases" can easily develop into "major diseases", causing immeasurable losses. Summary of the invention

[0005] The present application provides a steel box girder bridge box internal inspection and maintenance vehicle and a maintenance system thereof, which can solve the problem of low efficiency in the related art of using manual methods to inspect and maintain the steel box girder bridge box.

[0006] In the first aspect, an embodiment of the present application provides a steel box girder bridge box internal inspection and maintenance vehicle, which includes: a driving vehicle, a manned vehicle, a transport vehicle and an inspection mother-and-child vehicle, the driving vehicle includes a traveling unit and an operation control unit, the traveling unit is used to travel along a track, the operation control unit is connected to the traveling unit, and is used to control the start and stop of the traveling unit; the manned vehicle is connected to the driving vehicle, and the manned vehicle is provided with a manned cabin and a human body protection unit, and the human body protection unit is installed and fixed on the manned cabin; the transport vehicle is connected to the manned vehicle, and the transport vehicle is provided with a cargo cabin; the inspection mother-and-child vehicle is connected to the transport vehicle, and the inspection mother-and-child vehicle is provided with a mother vehicle body, a retractable unit and an inspection sub-vehicle, one end of the retractable unit is connected to the mother vehicle body, and the other end is connected to the inspection sub-vehicle, and is used to drive the inspection sub-vehicle to leave the interior of the mother vehicle body or to be recovered into the interior of the mother vehicle body.

[0007] In some embodiments, the human body protection unit includes: a head protection component and a human body fixing component, the head protection component is arranged on the manned cabin, the head protection component includes two side walls and a top wall, the top wall is fixedly connected between the two side walls to form a head accommodating cavity, and the inner walls of the side walls and the inner walls of the top wall are both provided with elastic parts; the human body fixing component is arranged on the manned cabin.

[0008] In some embodiments, the human body fixing component includes: a safety belt and a slot, one end of the safety belt is fixed to one end of the manned cabin, and the other end is fixedly connected to a plug; the slot is fixed to the other end of the manned cabin and plugged with the plug.

[0009] In some embodiments, the human body fixing component includes: a motor, a rotating shaft, a fixing frame and a control button, the motor is installed at one end of the manned cabin; the rotating shaft is fixed to the motor output shaft; one end of the fixing frame is sleeved on the rotating shaft, and the other end is movably connected to the other end of the manned cabin; the control button is installed on the manned cabin and connected to the motor.

[0010] In some embodiments, a monitoring camera is provided on the driving vehicle, and a screen and a control switch are provided inside the manned cabin, the screen is connected to the monitoring camera, and the control switch is connected to the operation control unit.

[0011] In some embodiments, the driving vehicle is provided with a power supply device, a first sound and light prompter and a communication device.

[0012] In some embodiments, the operation control unit includes a first photoelectric sensor, a first anti-collision ultrasonic wave and a first obstacle avoidance radar, and the photoelectric sensor, the anti-collision ultrasonic wave and the obstacle avoidance radar are all connected to the first sound and light prompter and the communication device.

[0013] In some embodiments, a second photoelectric sensor, a second anti-collision ultrasonic wave, and a second sound and light prompter are provided on the passenger vehicle, and the second photoelectric sensor and the second anti-collision ultrasonic wave are both connected to the second sound and light prompter.

[0014] In some embodiments, a plurality of partitions are spaced apart in the cargo compartment.

[0015] In a second aspect, an embodiment of the present application provides a steel box girder bridge box maintenance system, which includes: a steel box girder bridge box internal inspection and maintenance vehicle and a track as described above, wherein the steel box girder bridge box internal inspection and maintenance vehicle rolls on the track.

[0016] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0017] The embodiment of the present application provides a steel box girder bridge in-box inspection and maintenance vehicle and its maintenance system, wherein the drive vehicle provides driving force for the entire vehicle group, the manned vehicle can transport engineering and technical personnel to the designated location, so as to facilitate special inspection or maintenance and repair operations, and the transport vehicle can transport specific inspection tools or maintenance tools and materials to the designated location. After arriving at the specific location, the inspection robot in the inspection mother-child vehicle separates from the mother vehicle and moves laterally in the box to inspect any position on the top, bottom or belly of the box; the track can be designed according to the specific structural form and size of the steel box girder to provide longitudinal reciprocating support for the inspection and maintenance vehicle group. Therefore, the present application utilizes the specific functions of each vehicle in the vehicle group to complete the inspection and maintenance of the steel box girder bridge. Compared with the traditional manual method, it has the advantages of convenience, speed and automation, improves the inspection and maintenance efficiency, and ensures the safe operation of the bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of a maintenance system provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a driving vehicle provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of a passenger vehicle provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of a transport vehicle provided in an embodiment of the present application;

[0023] Figure 5A schematic diagram of detecting a mother-and-child vehicle provided in an embodiment of the present application.

[0024] In the figure: 1. driving vehicle; 10. walking unit; 11. operation control unit; 12. monitoring camera; 13. first sound and light prompter; 14. communication device; 2. manned vehicle; 20. manned cabin; 21. human body protection unit; 210. head protection component; 211. elastic member; 212. human body fixing component; 2120. safety belt; 2121. slot; 22. screen; 23. control switch; 24. second photoelectric sensor; 25. second anti-collision ultrasonic wave; 26. second sound and light prompter; 3. transport vehicle; 30. cargo cabin; 4. detection of mother-child vehicle; 40. mother vehicle body; 41. retractable unit; 42. detection of child vehicle; 5. track. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] See also Figures 1 to 5 The embodiment of the present application provides a steel box girder bridge box internal inspection and maintenance vehicle and a maintenance system thereof, which can solve the problem of low efficiency in the related art of using manual methods to inspect and maintain the steel box girder bridge box.

[0027] In the first aspect, the embodiment of the present application provides a steel box girder bridge box internal inspection and maintenance vehicle, which includes: a driving vehicle 1, a manned vehicle 2, a transport vehicle 3 and an inspection mother-and-child vehicle 4, the driving vehicle 1 includes a walking unit 10 and an operation control unit 11, the walking unit 10 is used to travel along a track 5, the operation control unit 11 is connected to the walking unit 10, and is used to control the start and stop of the walking unit 10; the manned vehicle 2 is connected to the driving vehicle 1, and the manned vehicle 2 is provided with a manned cabin 20 and a human body protection unit 21, the manned cabin 20 and the human body protection unit 21 are provided on the driving vehicle 1. The body protection unit 21 is installed and fixed on the manned cabin 20; the transport vehicle 3 is connected to the manned vehicle 2, and the transport vehicle 3 is provided with a cargo cabin 30; the detection mother-and-child vehicle 4 is connected to the transport vehicle 3, and the detection mother-and-child vehicle 4 is provided with a mother vehicle body 40, a retractable unit 41 and a detection child vehicle 42, one end of the retractable unit 41 is connected to the mother vehicle body 40, and the other end is used to grasp and release the detection child vehicle 42 through a grasping mechanism, and is used to drive the detection child vehicle 42 to leave the interior of the mother vehicle body 40 or to be recovered to the interior of the mother vehicle body 40.

[0028] In the present application, the driving vehicle 1 provides driving force for the entire vehicle group, the manned vehicle 2 can transport engineering and technical personnel to the designated location to facilitate special inspections or maintenance and repair operations, and the transport vehicle 3 can transport specific detection tools or maintenance tools and materials to the designated location. After arriving at the specific location, the detection sub-vehicle 42 in the detection mother-child vehicle 4 separates from the mother vehicle body 40 and moves laterally in the box to detect any position on the top, bottom and belly of the box; the track 5 can be designed according to the specific structural form and size of the steel box girder to provide longitudinal reciprocating support for the detection and maintenance vehicle group. Therefore, the present application utilizes the specific functions of each vehicle in the vehicle group to complete the detection and maintenance of the steel box girder bridge. Compared with the traditional manual method, it has the advantages of convenience, speed, and automation, improves the detection and maintenance efficiency, and ensures the safe operation of the bridge.

[0029] Among them, from front to back, the two vehicles are connected to each other, namely: driving vehicle 1, manned vehicle 2, transport vehicle 3, inspection mother-and-child vehicle 4, and together with the running track 5, they form a maintenance system. It can be used for permanent inspection and maintenance of large-span and extra-large-span bridges, and can also be used for temporary inspection and maintenance of small and medium-span bridges. The vehicle grouping can be flexibly configured according to needs.

[0030] The detection mother-child vehicle 4 is in the form of a mother-child vehicle, and the child vehicle is equipped with laser radar, three-dimensional close-up photography and other detection equipment. The child vehicle is placed on the mother vehicle and moves longitudinally in the track 5 system. After reaching the predetermined position, the child vehicle automatically separates from the mother vehicle and moves horizontally in the box, so as to facilitate convenient, automatic and complete detection of various positions in the box. When difficult problems are found in the detection process and manual confirmation or special inspection is required near the defect, when structural defects are found and manual maintenance and repair are required, the manned vehicle 2 and the transport vehicle 3 are used to transport engineering and technical personnel, tools and materials to the designated place to improve work efficiency.

[0031] It should be noted that, except for the driving vehicle 1 which needs to be arranged at the front position of the maintenance vehicle, the other manned vehicles 2, the transport vehicles 3 and the detection mother-and-child vehicles 4 can be arranged and combined in any manner.

[0032] On the basis of the above embodiments, in this embodiment, the travel unit 10 of the driving vehicle 1 is based on the rail track 5 and runs along the track 5 driven by the power wheel. A power supply device is also provided in the travel unit 10 to supply power to the power wheel. The power supply device can be a battery pack and can be replaced. The main frame bearing structure of the driving vehicle 1 is made of steel, the power wheel is a composite material, and the rest is made of aluminum alloy. A driving brake is also provided in the travel unit 10. In addition to the driving brake, there are also parking lock and rescue release brake to ensure the safety of driving.

[0033] In the operation control unit 11, a monitoring camera 12, a first sound and light prompter 13 and a communication device 14 are arranged on the driving vehicle 1. In addition, the operation control unit 11 includes a first photoelectric sensor, a first anti-collision ultrasonic wave and a first obstacle avoidance radar, and the photoelectric sensor, the anti-collision ultrasonic wave and the obstacle avoidance radar are all connected to the first sound and light prompter 13 and the communication device 14.

[0034] During the marshaling inspection, the passive wheel odometer installed on the driving vehicle 1 provides positioning, and the first photoelectric sensor, the first anti-collision ultrasonic wave, the first obstacle avoidance radar and the monitoring camera 12 sense the position of the internal partition plate of the steel box girder to avoid.

[0035] The operation control unit 11 is used to enable the maintenance vehicle to position, control travel and avoid obstacles in the steel box girder, store data, perform digital communication, Lora communication, and Wifi communication.

[0036] In this embodiment, the dimensions of the driving vehicle 1 are set to 0.8 m (length) × 0.7 m (width) × 0.55 m (height), a four-wheel mechanism is set at the bottom of the driving vehicle 1, and a hook mechanism is set at the rear to dock with the rear vehicle. The driving vehicle 1 provides driving force for the entire vehicle group, overcoming the friction force and horizontal force caused by the longitudinal slope when the vehicle group moves forward or backward.

[0037] On the basis of the above embodiment, in this embodiment, a walking module is provided at the bottom of the passenger vehicle 2, which is based on the steel rail track 5 and runs along the track 5 under the traction of the driving vehicle 1. The main frame bearing structure of the passenger vehicle 2 is made of steel, the wheels in the walking module are made of composite materials, and the remaining parts are made of aluminum alloy. In addition to the driving brake, the walking module is also provided with a parking brake and a rescue release brake.

[0038] The passenger vehicle 2 is provided with a passenger cabin 20 and a human body protection unit 21 .

[0039] Among them, the human body protection unit 21 includes: a head protection component 210 and a human body fixing component 212, the head protection component 210 is arranged on the manned cabin 20, the head protection component includes two side walls and a top wall, the top wall is fixedly connected between the two side walls to form a head accommodating cavity, and the inner walls of the side walls and the inner walls of the top wall are both provided with elastic components 211; wherein, the elastic component 211 can be a sponge, which is arranged around the inner wall of the head protection component.

[0040] The human body fixing component 212 is disposed on the manned cabin 20 .

[0041] Specifically, in some possible embodiments, the human body fixing component 212 includes: a safety belt 2120 and a slot 2121, wherein one end of the safety belt 2120 is fixed to the manned cabin 20, and the other end is fixedly connected to a plug; the slot 2121 is fixed to the other end of the manned cabin 20 and is plugged with the plug.

[0042] In this embodiment, the safety belt 2120 is fixed by connecting the plug and the slot 2121 to protect the staff on the manned cabin 20.

[0043] In other embodiments, the human body fixing component 212 includes: a motor, a rotating shaft, a fixing frame and a control button, wherein the motor is installed at one end of the manned cabin 20; the rotating shaft is fixed to the motor output shaft; one end of the fixing frame is sleeved on the rotating shaft, and the other end is movably connected to the other end of the manned cabin 20; the control button is installed on the manned cabin 20 and connected to the motor.

[0044] In this embodiment, by pressing the control button, the motor output shaft is driven to rotate forward or reverse, so that the motor drives the fixing frame to open and close through the rotating shaft. When the staff needs to be protected, the fixing frame is closed, and one end of the fixing frame is attached to the manned cabin 20. When the staff needs to leave the manned cabin 20, the fixing frame is opened. It should be noted that the control button needs to be set at a position that is convenient for the staff to touch when lying flat on the manned cabin 20.

[0045] The above embodiments are merely multiple possible implementations of the embodiments of the present application, and the embodiments of the present application are not limited thereto.

[0046] In addition, in order to ensure the comfort of the staff when they are inside the manned cabin 20, the manned cabin 20 is designed according to ergonomics, and soft packaging materials are used at the contact points with the human body.

[0047] The manned cabin 20 is provided with a screen 22 and a control switch 23, wherein the screen 22 is connected to the monitoring camera 12, and the control switch 23 is connected to the operation control unit 11. The surrounding environment when the maintenance vehicle is driving can be seen through the screen 22, which is convenient for the staff to operate, and the staff can control the operation of the driving vehicle 1 through the control switch 23.

[0048] Furthermore, the passenger vehicle 2 is provided with a second photoelectric sensor 24, a second anti-collision ultrasonic wave 25 and a second sound and light indicator 26. The second photoelectric sensor 24 and the second anti-collision ultrasonic wave 25 are both connected to the second sound and light indicator 26, which can enable the passenger vehicle 2 to sense and avoid the position of the internal partition plate of the steel box girder.

[0049] In this embodiment, the size of the manned vehicle 2 is set to 2 meters (length) x 0.7 meters (width) x 0.55 meters (height). The deadweight is 95kg, and the load is ≤100kg. According to the requirements of the marshaling inspection, a hook mechanism is set at the front of the manned vehicle 2 to dock with the drive vehicle 1. The manned vehicle 2 transports engineering and technical personnel to the designated location, which is convenient for carrying out special inspections or maintenance and repair operations.

[0050] On the basis of the above embodiment, in this embodiment, the transport vehicle 3 is also provided with a walking module: based on the steel rail track 5, it runs along the track 5 under the traction of the driving vehicle 1. The main frame bearing structure of the transport vehicle 3 is made of steel, the wheels in the walking module are made of composite materials, and the rest are made of aluminum alloy. In addition to the driving brake, the walking module has a parking brake and a rescue release brake.

[0051] The cabin on the transport vehicle 3 is provided with a plurality of partitions at intervals, so as to store maintenance tools and parts according to the needs of group maintenance.

[0052] In this embodiment, the dimensions of the transport vehicle 3 are 1 meter (length) × 0.55 meter (width) × 0.55 meter (height), with a deadweight of 50 kg and a load of ≤ 200 kg. According to the requirements of the marshaling test, the front coupling mechanism is docked with the manned vehicle 2.

[0053] On the basis of the above embodiment, in this embodiment, the size of the detection vehicle 4 is set to 1.5 meters (length) × 0.55 meters (width) × 0.55 meters (height). According to the requirements of the marshaling detection, the front coupling mechanism is docked with the driving vehicle 1. The transport vehicle 3 transports the specific detection tools or maintenance tools and materials to the designated location.

[0054] A walking module is also provided on the detection vehicle 4: based on the steel rail track 5, it runs along the track 5 under the traction of the driving vehicle 1. The main frame bearing structure on the detection vehicle 4 is made of steel, the wheels are made of composite materials, and the rest are made of aluminum alloy. In addition to the driving brake, the walking module is also provided with a parking brake and a rescue release brake.

[0055] In addition, the detection mother-and-child car 4 is also provided with a mother car body 40 and a retractable unit 41: during the marshaling inspection, the detection mother-and-child car 42 is retracted and released by the retractable unit 41 on the mother car body 40 to the internal compartment of the steel box girder to be inspected.

[0056] Among them, the detection sub-carriage 42 in the detection sub-carriage 4 is arranged in the mother car body 40. The detection sub-carriage 42 is a front and rear double swing arm crawler self-propelled robot, driven by a servo motor, powered by a replaceable battery, and the retractable unit 41 on the top is docked with the mother car body 40; the outer dimensions of the detection sub-carriage 42 are divided into: 1.15 meters (length) × 0.55 meters (width) × 0.245 meters (height) when stored in the mother car body 40; when working: 1.8 meters (length) × 0.55 meters (width) × 0.245 meters (height). Detection module, the detection module is an integrated dual-spectrum ball table, the visible light image acquisition resolution is ≥ 2 million, and the infrared temperature acquisition resolution is ≥ 100,000; the control module can perform front and rear double-arm control, front and rear walking control, single box beam internal positioning and navigation control (SLAM navigation based on 3D Lidar), horizontal posture control, dual-spectrum ball table movement and image acquisition control.

[0057] The specific actions of the detection sub-carriage 4 include: the group enters the box girder, the carrier cabin parks at the calibration point, the retractable unit 41 moves the detection sub-carriage 42 to the outside of the mother car body 40, the detection sub-carriage 42 descends to the bottom of the track 5 through the retractable unit 41, the detection sub-carriage 42 swings open, the detection sub-carriage 42 is rotated to be perpendicular to the U rib through the retractable unit 41, the detection sub-carriage 42 descends until the track contacts the U rib, the retractable unit 41 and the detection sub-carriage 42 are separated, the detection sub-carriage 42 starts to cruise across the U rib, and the integrated ball table collects pictures; the detection sub-carriage 42 is recovered to the inner action of the mother car body 40, which is the reverse motion of the above action.

[0058] In summary, the maintenance vehicle of the present application can carry people and cargo to the designated location through automatic driving, human driving, remote control driving, etc.; the drive vehicle 1 and the functional vehicle are equipped with high-definition cameras, and the monitoring center can view the driving process in real time; the transportation and inspection operations can be realized through automatic control mode and remote control mode, and the vehicle position can be located in real time; the inspection sub-vehicle 42 is carried in the form of a "mother-and-child" vehicle to perform automated inspections on the upper, lower and side surfaces of the steel box girder; the inspection sub-vehicle 42 system can be integrated with the structural safety monitoring platform, and the video data and disease identification information can be integrated and analyzed on the monitoring platform and the structural health monitoring system to assist in the safe operation and maintenance of the bridge structure.

[0059] In the second aspect, an embodiment of the present application provides a steel box girder bridge box maintenance system, which includes: a steel box girder bridge box internal inspection and maintenance vehicle and a track 5 provided in any of the above embodiments of the present application, wherein the steel box girder bridge box internal inspection and maintenance vehicle is rollingly connected to the track 5.

[0060] Among them, track 5 is made of 50mmx100mmx3mm hollow square tube, material Q345 (or materials required by the bridge); the total length is 2.439km. Track 5 is 50mm higher than the bottom surface of the waist-shaped channel, and longitudinal and transverse reinforcement ribs are placed between two tracks 5 to improve the strength of track 5. Track 5 is designed according to the specific structural form and size of the steel box girder to provide longitudinal reciprocating support for the inspection and maintenance vehicle group.

[0061] In this application, the driving vehicle 1 provides driving force for the entire vehicle group, the manned vehicle 2 can transport engineering and technical personnel to the designated location, which is convenient for carrying out special inspections or maintenance and repair operations, and the transport vehicle 3 can transport specific detection tools or maintenance tools and materials to the designated location. After arriving at the specific location, the detection vehicle 42 in the detection vehicle 4 is separated from the mother vehicle and moves laterally in the box to detect any position of the top, bottom and belly in the box; the track 5 can be designed according to the specific structural form and size of the steel box girder to provide longitudinal reciprocating support for the detection and maintenance vehicle group. Therefore, this application uses the specific functions of each vehicle in the vehicle group to complete the detection and maintenance of the steel box girder bridge. Compared with the traditional manual method, it has the advantages of convenience, speed, and automaticity, improves the detection and maintenance efficiency, and ensures the safety of bridge operation. The present invention can be used in the permanent detection and maintenance of large-span and extra-large-span bridges, and can also be used in the temporary detection and maintenance of small and medium-span bridges. The vehicle grouping can be flexibly configured according to needs.

[0062] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0063] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0064] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A steel box girder bridge in-box inspection and maintenance vehicle, characterized in that: It includes: A driving vehicle (1), the driving vehicle (1) comprising a traveling unit (10) and an operation control unit (11), the traveling unit (10) being used for traveling along a track (5), the operation control unit (11) being connected to the traveling unit (10) and being used for controlling the start and stop of the traveling unit (10); A manned vehicle (2), the manned vehicle (2) being connected to the driving vehicle (1), the manned vehicle (2) being provided with a manned cabin (20) and a human body protection unit (21), the human body protection unit (21) being mounted and fixed on the manned cabin (20); A transport vehicle (3), the transport vehicle (3) being connected to the manned vehicle (2), and the transport vehicle (3) being provided with a cargo compartment (30); A detection mother-and-child vehicle (4) is provided, wherein the detection mother-and-child vehicle (4) is connected to a transport vehicle (3); the detection mother-and-child vehicle (4) is provided with a mother vehicle body (40), a retractable unit (41) and a detection child vehicle (42); one end of the retractable unit (41) is connected to the mother vehicle body (40), and the other end is connected to the detection child vehicle (42), and is used to drive the detection child vehicle (42) to leave the interior of the mother vehicle body (40) or to be retracted into the interior of the mother vehicle body (40).

2. The steel box girder bridge in-box inspection and maintenance vehicle according to claim 1, characterized in that: The human body protection unit (21) comprises: A head protection component (210), the head protection component (210) being arranged on the manned cabin (20), the head protection component comprising two side walls and a top wall, the top wall being fixedly connected between the two side walls to form a head accommodating cavity, the inner walls of the side walls and the inner walls of the top wall being both provided with elastic components (211); A human body fixing component (212), wherein the human body fixing component (212) is arranged on the manned cabin (20).

3. The steel box girder bridge in-box inspection and maintenance vehicle as claimed in claim 2, characterized in that: The human body fixing component (212) comprises: A safety belt (2120), one end of the safety belt (2120) being fixed to one end of the manned cabin (20), and the other end of the safety belt (2120) being fixedly connected to a plug; A slot (2121) is fixed to the other end of the manned cabin (20) and is plugged into the plug.

4. The steel box girder bridge in-box inspection and maintenance vehicle as claimed in claim 2, characterized in that: The human body fixing component (212) comprises: A motor, the motor being mounted at one end of the manned cabin (20); A rotating shaft, wherein the rotating shaft is fixed to an output shaft of the motor; A fixing frame, one end of which is sleeved on the rotating shaft, and the other end of which is movably connected to the other end of the manned cabin (20); A control button is installed on the manned cabin (20) and is connected to the motor.

5. The steel box girder bridge in-box inspection and maintenance vehicle according to claim 1, characterized in that: The driving vehicle (1) is provided with a monitoring camera (12), and the manned cabin (20) is provided with a screen (22) and a control switch (23) inside, wherein the screen (22) is connected to the monitoring camera (12), and the control switch (23) is connected to the operation control unit (11).

6. The steel box girder bridge in-box inspection and maintenance vehicle according to claim 1, characterized in that: The driving vehicle (1) is provided with a power supply device, a first sound and light prompter (13) and a communication device (14).

7. The steel box girder bridge in-box inspection and maintenance vehicle as claimed in claim 6, characterized in that: The operation control unit (11) comprises a first photoelectric sensor, a first anti-collision ultrasonic wave and a first obstacle avoidance radar, and the photoelectric sensor, the anti-collision ultrasonic wave and the obstacle avoidance radar are all connected to a first sound and light prompter (13) and a communication device (14).

8. The steel box girder bridge in-box inspection and maintenance vehicle according to claim 1, characterized in that: Therefore, the passenger vehicle (2) is provided with a second photoelectric sensor (24), a second anti-collision ultrasonic wave (25) and a second sound and light prompter (26), and the second photoelectric sensor (24) and the second anti-collision ultrasonic wave (25) are both connected to the second sound and light prompter (26).

9. The steel box girder bridge in-box inspection and maintenance vehicle according to claim 1, characterized in that: A plurality of partitions are arranged at intervals in the cargo compartment (30).

10. A steel box girder bridge box maintenance system, characterized in that: It includes: The steel box girder bridge in-box inspection and maintenance vehicle as described in any one of claims 1 to 9; Track (5), the steel box girder bridge box internal inspection and maintenance vehicle rolls on the track (5).

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