Ultra-wideband auxiliary wheel inspection vehicle and method of use

Abstract

The application discloses an ultra-wideband auxiliary wheel inspection vehicle and a use method thereof, and relates to the field of bridge inspection vehicles. The inspection vehicle comprises a driving unit, a truss unit, an auxiliary inspection unit, an auxiliary stabilizing unit and an electric control unit. The driving unit is symmetrically arranged on the upper end of a bridge deck. The truss unit is connected with the driving unit and is arranged on the lower end of the bridge. The auxiliary inspection unit is arranged on the upper end of the truss unit. The auxiliary stabilizing unit is movably connected with the bottom end of the bridge and the truss unit. The electric control unit is in communication connection with the driving unit. The driven assembly and the parking assembly in the auxiliary stabilizing unit are movably connected with the bottom end of the bridge and the truss unit, so that the inspection vehicle is stably connected with the bottom end of the bridge in the parking state and the parking state, and the wind resistance and the shock resistance of the inspection vehicle are remarkably improved. In addition, in the moving process of the inspection vehicle, the contact between the driven assembly and the lower stabilizing plate of the bottom end of the bridge improves the structural safety of the inspection vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge inspection vehicles, and more particularly, relates to an ultra-wideband auxiliary wheel inspection vehicle and a method for using the same. Background Art

[0002] Bridge structures typically consist of foundations, lower support systems, upper load-bearing systems, and auxiliary facilities. In various bridge designs, the main girder, as a key component of the superstructure, plays a vital role. Its construction materials vary, including but not limited to prestressed reinforced concrete, steel, or composite structures. Over time, the main girder may experience varying degrees of degradation: for example, prestressed reinforced concrete main girder may develop surface cracks, while steel main girder may experience peeling of its anti-corrosion coating. To ensure the safety and reliability of bridges, regular inspection and maintenance are essential.

[0003] Among them, suspended bridge inspection vehicles are specially designed to be suspended from tracks at the bottom or side of bridge beams for bridge inspections. These vehicles are typically equipped with two longitudinal tracks. To reduce track spacing and optimize force distribution, the tracks are often located at the bottom of the main beam. However, for long-span bridges, especially those with steel main beams, inspection vehicle tracks at the bottom of the beam can significantly affect the bridge's wind resistance. In such cases, it is preferred to place the inspection vehicle tracks on both sides of the main beam's top surface, close to the bridge guardrails, to minimize interference with the main beam's aerodynamic shape and maintain good aerodynamic properties.

[0004] In the prior art, a Chinese patent application with document number CN218756981U discloses a mobile inspection system for the bottom of a bridge beam, which includes a track and an inspection vehicle; two longitudinal tracks are arranged, respectively, on the top surfaces of the two transverse ends of the main beam; the inspection vehicle includes an inspection vehicle vertical arm and an inspection vehicle cross arm; the inspection vehicle cross arm is located below the main beam and is arranged transversely; the inspection vehicle vertical arm is arranged above the two ends of the inspection vehicle cross arm and on the outside of the two transverse ends of the main beam, and a roller mounting frame extending inward is provided on the top of the inspection vehicle vertical arm, and a roller assembly is provided at the bottom of the roller mounting frame; the roller assembly is located on the track and moves longitudinally along the track.

[0005] In the inspection system of the above-mentioned patent, the basic structure of a suspended bridge inspection vehicle is applied, and the track for the inspection vehicle to move is set on the bridge deck. The rollers run above the track, thereby driving the inspection vehicle to move. Compared with the existing inspection equipment that sets the track at the bottom of the beam, there is no need to hang the rollers on the track, which greatly reduces the risks of construction and operation. In addition, the vertical arm and the horizontal arm of the inspection vehicle are connected respectively by diagonal braces to prevent the horizontal arm of the inspection vehicle from deflecting due to the large span. However, it still does not solve some problems existing in existing suspended bridge inspection vehicles, such as (1) when the inspection vehicle tracks are located on both sides of the top surface of the main beam, the track spacing reaches the maximum value. For ultra-wide main beams (such as some separated steel box beams, the bridge width can reach 50 meters), the safety of the traditional structure inspection vehicle will be greatly reduced when parking, running, and facing strong typhoons, resulting in the inability to ensure the structural safety of the inspection vehicle; (2) Although traditional inspection vehicles reduce the probability of deformation of the inspection vehicle by adding similar diagonal bracing structures, in the middle position of the ultra-wide main beam, the inspection vehicle may still undergo large deformation due to the vertical load and the large amplitude of the bridge, which in turn affects the safety and flexibility of the inspection vehicle, making it difficult to accurately reach the designated inspection position. In addition, when the vehicle needs to be parked due to strong winds or earthquakes, deformation and fracture may occur. Summary of the Invention

[0006] In response to the above defects or improvement needs of the prior art, the present invention provides an ultra-wideband auxiliary wheel inspection vehicle and a method for using the same, wherein the driven component and the parking component in the auxiliary stabilization unit are movably connected to the bottom end of the bridge and the truss unit respectively, so that the inspection vehicle is stably connected to the bottom end of the bridge in the parking state and the parking state, significantly improving the wind and earthquake resistance of the inspection vehicle; in addition, during the movement of the inspection vehicle, by movably contacting the driven component with the lower stabilization plate at the bottom end of the bridge, the problem of excessive deformation during the most unfavorable vertical load or excessive up and down amplitude during driving is further effectively solved, thereby improving the structural and operational safety of the inspection vehicle.

[0007] In order to achieve the above objectives, the present invention provides an ultra-wideband auxiliary wheel inspection vehicle, comprising: a drive unit, a truss unit, an auxiliary inspection unit, an auxiliary stabilization unit, and an electronic control unit, wherein:

[0008] The driving unit is symmetrically arranged on the upper end of the bridge deck to ensure that the inspection vehicle runs stably along the bridge direction;

[0009] The truss unit is connected to the drive unit and is integrally arranged at the lower end of the bridge to stably support other equipment and provide an inspection and construction site;

[0010] The auxiliary inspection unit is provided at the upper end of the truss unit and is used to provide a stable working platform;

[0011] The auxiliary stabilizing unit includes: a driven assembly and a parking assembly; the driven assembly is movably connected to the lower stabilizing plate at the bottom end of the bridge; the parking assembly is movably connected to the bottom end of the bridge and the truss unit respectively; the driven assembly includes: a gantry, a first support plate, a driven wheel assembly and a magnetic brake; the gantry is an aluminum alloy gantry including a bottom edge and two side edges; the two first support plates are respectively provided at the upper ends of the two side edges of the gantry; the driven wheel assembly includes a first roller bracket provided at the upper end of the first support plate and a third roller connected to the first roller bracket through a roller rotating shaft and a bearing; the magnetic brake includes two corresponding brake mounting brackets provided at the upper end of the first support plate, a first pin shaft passing through the slide slot through holes on the two brake mounting brackets and a manual permanent magnetic suction cup connected to the first pin shaft, and the manual permanent magnetic suction cup is respectively parallel to the two third rollers in the vertical direction, and the horizontal height of the third roller is lower than the manual permanent magnetic suction cup;

[0012] The electronic control unit is communicatively connected to the drive unit to control the state of the inspection vehicle. At the same time, by coordinating the connection between the driven component and the lower stabilizing plate, and the parking component and the bottom end of the bridge and the truss unit, the stability and safety of the inspection vehicle during inspection construction and parking are ensured.

[0013] Furthermore, the driving unit includes: a fixed guide rail, a driving box, a reduction motor, a brake, a synchronous walking detection device and a walking truss; the two fixed guide rails are symmetrically arranged at the upper end of the bridge deck outside the bridge guardrail; the two driving boxes are symmetrically arranged at the upper ends of the two fixed guide rails, and a plurality of first rollers in contact with the fixed guide rails are provided in the driving box; the reduction motor is arranged outside the driving box, and includes a motor and a reduction box connected to the motor, and the reduction box is connected to the first roller; the brake is arranged outside the driving box, one end of which is in movably contact with the fixed guide rail; the synchronous walking detection device is arranged inside the driving box, the upper end of which is connected to the driving box, the lower end of which is in contact with the fixed guide rail, and it is communicatively connected to the electronic control unit; one end of the walking truss is connected to the upper end of the driving box, and the other end extends to the outside of the bridge deck and is connected to the truss unit;

[0014] The synchronous walking detection device comprises an upper support frame, a lower support frame, a spring, a baffle, a second roller and an encoder; the upper support frame comprises an upper plate and two parallel first side plates arranged at the bottom end of the upper plate, and the upper plate is connected with the inner surface of the driving box; the lower support frame comprises a lower plate and two parallel second side plates arranged at the bottom end of the lower plate, and the second side plates are perpendicular to the first side plates in the vertical direction; the spring is arranged vertically, and the two ends of the spring are respectively connected with the bottom end of the upper plate and the upper end of the lower plate; the baffle is L-shaped as a whole, one end of each baffle is connected with the outer side of each first side plate, and the other end of each baffle is vertically bent and extends to the inside of the lower support frame; the second roller is arranged between the two second side plates through a roller shaft, and the roller shaft is rotatably connected with the two second side plates through bearings; the encoder is in communication connection with the electric control unit, and the encoder is arranged outside the second side plate through a mounting bracket and is connected with the roller shaft.

[0015] Further, the truss unit further comprises a vertical truss, an inclined truss, a main truss and a guardrail; the upper end of the vertical truss is connected with the bottom end of the walking truss, and a vertical ladder is arranged inside the vertical truss away from the bridge side; one end of the inclined truss is connected with the vertical truss, and the other end of the inclined truss is connected with one end of the main truss along the inclination of the bottom end of the bridge; the main truss is connected with two vertical trusses at two ends respectively, and is horizontally arranged below the bridge; the guardrail is arranged on both sides of the upper end of the inclined truss and the main truss.

[0016] The inclined truss mainly comprises a bottom plate, a ladder, and a plurality of main chords, crossbars, inclined web members and vertical rods arranged on both sides and the bottom end of the bottom plate and the ladder.

[0017] The main truss mainly comprises a bottom plate, and a plurality of main chords, crossbars, inclined web members and vertical rods arranged on both sides and the bottom end of the bottom plate.

[0018] Further, the auxiliary inspection unit comprises a lifting trolley track and a track type lifting platform; the lifting trolley track is laid on the upper end of the main truss; the track type lifting platform is in sliding connection with the lifting trolley track, and is in electrical and communication connection with the electric control unit.

[0019] Further, the driven assembly further comprises a first fixing member and a second fixing member; two first fixing members are arranged on the upper end of the bottom edge of the gantry, and are respectively connected with the main chords at the bottom end of the main truss; two second fixing members are respectively arranged on the inner sides of the two side edges of the gantry, and are respectively connected with the main chords at the upper end of the main truss.

[0020] Further, the first fixing member comprises a second support plate connected with the upper end of the bottom edge of the gantry and a plurality of first U-shaped clamps arranged on the second support plate.

[0021] The second fixing member includes: a first ear plate, a first ear plate seat and a second U-shaped clamp, wherein the two first ear plates are respectively arranged on both sides of the side of the door frame; the first ear plate seat includes two second ear plates respectively connected to the first ear plates, a first connecting web connecting the two second ear plates and two first connecting plates respectively connected to the ends of the two second ear plates; the two second U-shaped clamps are respectively arranged on the first connecting plate, and respectively correspond to the first U-shaped clamps below them.

[0022] Furthermore, the parking assembly includes: an adjusting rod, a second connecting plate, a third connecting plate, a tripod, a slot block and a third ear plate; one end of the adjusting rod is rotatably connected to a connecting seat provided at the bottom end of the bridge, and the other end is rotatably connected to the two second connecting plates through a pin shaft; the two second connecting plates are rotatably connected to the two adjusting rods and the two third connecting plates through pin shafts respectively; the two third connecting plates are connected to the two oblique sides of the tripod; the two oblique sides and the bottom side of the tripod are detachably connected to the two connecting seats provided on the bottom plate of the main truss through two second pin shafts respectively; the two slot blocks are sleeved on the outside of the bottom side of the tripod and are arranged opposite to each other; the third ear plate is provided on one side of the third connecting plate, and its bottom end is provided with a slot adapted to the guardrail.

[0023] Furthermore, the card slot block includes two parallel card plates, a card plate bottom plate provided at the bottom ends of the two card plates, a fourth connecting plate provided on the outside of the card plates, and an upper supporting plate provided at the upper ends of the card plates and the fourth connecting plates and connected to the fourth connecting plates, the card plates are provided with a card slot adapted to the second pin shaft on one side facing the second pin shaft, and the upper supporting plate is provided with a card slot adapted to the hypotenuse of the tripod on one side facing the second pin shaft;

[0024] The upper end of the card plate bottom plate and the lower end of the upper supporting plate are both provided with polytetrafluoroethylene sliding plates.

[0025] Furthermore, the electronic control unit includes: a power supply component, an electric control cabinet, an anemometer component and a warning component; the power supply component is arranged at the upper end of the main truss bottom plate, and includes a lithium battery pack and a charger for powering the lithium battery pack; the electric control cabinet is arranged on the inner side of the guardrail on one side of the main truss, and is electrically connected to the lithium battery pack; the anemometer component is arranged in the middle of the guardrail and is communicatively connected to the electric control cabinet; the warning component is communicatively connected to the electric control cabinet and is electrically connected to the lithium battery pack, and includes an LED light or a speaker.

[0026] Another aspect of the present invention provides a method for using an ultra-wideband training wheel inspection vehicle, which is implemented using the above-described inspection vehicle and includes the following steps:

[0027] S1: symmetrically lay fixed guide rails on the upper end of the bridge deck outside the bridge guardrail, pre-assemble the drive box and the walking truss, and then install them on the upper end of the fixed guide rails;

[0028] S2: Pre-install the auxiliary inspection unit and the electronic control unit on the main truss and the guardrail respectively, wherein the adjustment rod is pre-installed on the bottom end of the bridge through the connecting seat, and at the same time, the two corresponding adjustment rods are connected to the second connecting plate;

[0029] S3: Assemble the two vertical trusses, the two diagonal trusses, the main trusses, and the guardrails to form a truss unit, and then hoist it upward from the bottom of the bridge to complete the assembly with the two walking trusses; adjust the positions of the two driven components so that the driven wheel assembly and magnetic brake on each driven component are located on both sides of the corresponding lower stabilizing plate, thus completing the assembly of the inspection vehicle on the bridge;

[0030] S4: Check the positions of the two drive boxes to ensure symmetry along the bridge direction, and use the electric control cabinet to simultaneously control the reduction motors on the two drive boxes to move synchronously to perform bridge inspection. At this time, the manual permanent magnetic chuck is away from the lower stabilizing plate;

[0031] S5: When parking, the electric control cabinet controls the reduction motors on the two drive boxes to stop rotating and brakes the motors through a plurality of brakes. After the movement stops, the manual permanent magnetic suction cup is pressed against the lower stabilizing plate, and the handle is rotated to magnetically connect the manual permanent magnetic suction cup to the lower stabilizing plate. After that, the auxiliary inspection unit is used for inspection.

[0032] S6: Repeat steps S4 and S5 to inspect the bottom area of ​​the bridge. Afterwards, assemble multiple parking components through multiple adjusting rods and multiple second connecting plates, and park the inspection vehicle at the main tower or auxiliary pier to complete the daily inspection work.

[0033] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0034] 1. The inspection vehicle of the present invention is movably connected to the bottom of the bridge and the truss unit respectively through the driven component and the parking component in the auxiliary stabilization unit, so that the inspection vehicle is stably connected to the bottom of the bridge in the parking state and the parking state, which significantly improves the wind resistance and earthquake resistance of the inspection vehicle; in addition, during the movement of the inspection vehicle, by making active contact between the driven component and the lower stabilization plate at the bottom of the bridge, it further effectively solves the problem of excessive deformation under the most unfavorable vertical load or excessive up and down amplitude during driving, thereby improving the structural and operational safety of the inspection vehicle.

[0035] 2. The inspection vehicle of the present invention enables the truss unit to be stably arranged at the bottom end of the bridge through the two fixed guide rails, the two drive boxes and the two walking trusses; secondly, the operation of the drive unit is monitored by a synchronous walking detection device to ensure that the drive boxes on both sides move synchronously.

[0036] 3. The inspection vehicle of the present invention connects the two walking trusses and the oblique trusses respectively through the two vertical trusses, thereby ensuring the safe transfer of construction workers from the bridge deck to the bottom of the bridge and significantly reducing the distance; secondly, the oblique trusses, the main trusses and the guardrails provide a stable construction foundation to ensure construction safety; in addition, by closely fitting the oblique trusses and the main trusses to the bottom contour of the bridge, it can better adapt to the unique geometric shape of the bridge.

[0037] 4. The inspection vehicle of the present invention ensures the stability of the track-type lifting platform during operation by arranging the lifting trolley track at the upper end of the main truss and utilizing the horizontal characteristics of the main truss. Secondly, the track-type lifting platform allows construction workers to easily reach difficult-to-reach locations without having to build complex scaffolding or other temporary structures, significantly improving the safety of inspection construction and adapting to the inspection requirements of various bridge structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the three-dimensional structure of an inspection vehicle according to an embodiment of the present invention;

[0039] Figure 2 This is a front view of an inspection vehicle according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic structural diagram of Example A of the present invention;

[0041] Figure 4 A top view of an inspection vehicle according to an embodiment of the present invention;

[0042] Figure 5 Schematic diagram of the structure of a driving unit according to an embodiment of the present invention;

[0043] Figure 6 This is a schematic structural diagram of the assembly of the drive box and the fixed guide rail according to an embodiment of the present invention;

[0044] Figure 7 This is a structural diagram of the assembly of the reduction motor and the first roller according to an embodiment of the present invention;

[0045] Figure 8 This is a schematic structural diagram of a synchronous walking detection device according to an embodiment of the present invention;

[0046] Figure 9 This is a schematic structural diagram of the assembly of the driven assembly and the lower stabilizing plate according to an embodiment of the present invention;

[0047] Figure 10 This is a schematic structural diagram of Example B of the present invention;

[0048] Figure 11 This is a schematic structural diagram of Example C of the present invention;

[0049] Figure 12 Schematic diagram of the structure of Example D of the present invention;

[0050] Figure 13 This is a schematic structural diagram of Example E of the present invention;

[0051] Figure 14 This is a structural diagram of the assembly of the parking assembly and the main truss according to an embodiment of the present invention;

[0052] Figure 15 This is a structural diagram of Example F of the present invention;

[0053] Figure 16 This is a structural diagram of an electric control cabinet according to an embodiment of the present invention;

[0054] Figure 17 The figure is a flowchart of the steps of the method for using the inspection vehicle according to an embodiment of the present invention.

[0055] In all the drawings, the same reference numerals represent the same technical features, specifically: 1-fixed guide rail, 2-drive box, 21-first roller, 3-reduction motor, 4-brake, 5-synchronous walking detection device, 51-upper support frame, 52-lower support frame, 53-spring, 54-baffle, 55-second roller, 56-encoder, 6-walking truss, 7-vertical truss, 8-oblique truss, 9-main truss, 10-guardrail, 11-driven assembly, 111-gantry, 112-first fixing member, 1121-second support plate, 1122-first U-shaped clamp, 113-second fixing member, 1131-first ear plate, 1132-first ear plate seat, 11321-second ear plate, 11322-first connecting web, 11323-first connecting plate, 1133-second U-shaped clamp, 114-first support plate, 115- Driving wheel assembly, 1151-first roller bracket, 1152-third roller, 116-magnetic brake, 1161-brake mounting bracket, 1162-first pin, 1163-manual permanent magnetic suction cup, 12-parking assembly, 121-adjusting rod, 122-second connecting plate, 123-third connecting plate, 124-tripod, 1241-second pin, 125-slot block, 1251-card plate, 1252- Pallet base, 1253-fourth connecting plate, 1254-upper support plate, 126-third ear plate, 13-lower stabilizing plate, 14-power supply assembly, 141-lithium battery pack, 142-charger, 15-electric control cabinet, 151-processor, 152-communication bus, 153-user interface, 154-network interface, 155-memory, 16-anemometer assembly, -17 lifting trolley track, 18-track lifting platform. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0057] Example 1

[0058] like Figures 1 to 16As shown, embodiment 1 of the present invention provides an ultra-wideband auxiliary wheel inspection vehicle, comprising: a drive unit, a truss unit, an auxiliary inspection unit, an auxiliary stabilization unit, and an electronic control unit; the drive unit is symmetrically arranged at the upper end of the bridge deck; the truss unit is connected to the drive unit and is integrally arranged at the lower end of the bridge; the auxiliary inspection unit is arranged at the upper end of the truss unit; the auxiliary stabilization unit is movably connected to the bottom end of the bridge and the truss unit respectively; and the electronic control unit is in communication with the drive unit. During use, the inspection vehicle of the present invention is movably connected to the bottom end of the bridge and the truss unit respectively through the driven component 11 and the parking component 12 in the auxiliary stabilization unit, so that the inspection vehicle is stably connected to the bottom end of the bridge in the parking state and the parking state, significantly improving the wind and earthquake resistance of the inspection vehicle; in addition, during the movement of the inspection vehicle, by movably contacting the driven component 11 with the lower stabilization plate 13 at the bottom end of the bridge, it further effectively solves the problem of excessive deformation under the most unfavorable vertical load or excessive up and down amplitude during driving, thereby improving the structural and operational safety of the inspection vehicle.

[0059] Specifically, if Figures 1 to 8 As shown, the driving unit is symmetrically arranged at the upper end of the bridge deck to ensure that the inspection vehicle runs stably along the bridge direction. The driving unit includes: a fixed guide rail 1, a driving box 2, a reduction motor 3, a brake 4, a synchronous walking detection device 5 and a walking truss 6; the two fixed guide rails 1 are symmetrically arranged at the upper end of the bridge deck outside the bridge guardrail; the two driving boxes 2 are symmetrically arranged at the upper ends of the two fixed guide rails 1, and the driving box 2 is provided with a plurality of first rollers 21 in contact with the fixed guide rails 1; the reduction motor 3 is arranged on the outside of the driving box 2, and includes a motor and a reduction box connected to the motor, and the reduction box is connected to the first roller 21; the brake 4 is arranged on the outside of the driving box 2, one end of which is in active contact with the fixed guide rail 1; the synchronous walking detection device 5 is arranged inside the driving box 2, the upper end of which is connected to the driving box 2, the lower end of which is in contact with the fixed guide rail 1, and it is communicatively connected to the electronic control unit; one end of the walking truss 6 is connected to the upper end of the driving box 2, and the other end extends to the outside of the bridge deck and is connected to the truss unit. During use, the truss unit is stably arranged at the bottom of the bridge through the two fixed guide rails 1, the two drive boxes 2 and the two walking trusses 6; secondly, the operation of the drive unit is monitored by the synchronous walking detection device 5 to ensure that the drive boxes 2 on both sides move synchronously, thereby ensuring the structural safety of the inspection vehicle.

[0060] Preferably, the fixed guide rail 1 is an I-shaped steel rail.

[0061] Preferably, at least two reduction motors 3 are provided on the outside of one driving box 2 to ensure that the inspection vehicle has sufficient driving power and improve movement stability.

[0062] Preferably, at least two brakes 4 are provided on the outside of one driving box 2 to ensure the running stability of the inspection vehicle.

[0063] Preferably, the driving box 2 as a whole is an inverted concave groove to provide a sufficient horizontal support surface for connection with the walking truss 6 to ensure connection stability and safety of the inspection vehicle.

[0064] It can be understood that the first roller 21 is arranged inside the drive box 2 through the roller shaft, and the roller shaft is connected to the two side walls of the drive box 2 through bearings, so that the first roller 21 is in rolling contact with the fixed guide rail 1. At the same time, the reduction box of the reduction motor 3 is connected to the roller shaft and transmits the motor torque to the first roller 21, so that the first roller 21 rolls on the fixed guide rail 1 and drives the truss unit to move.

[0065] Furthermore, the synchronous walking detection device 5 includes: an upper support frame 51, a lower support frame 52, a spring 53, a baffle 54, a second roller 55 and an encoder 56; the upper support frame 51 includes an upper plate and two parallel first side plates provided at the bottom end of the upper plate, and the upper plate is connected to the inner surface of the driving box 2; the lower support frame 52 includes a lower plate and two parallel second side plates provided at the bottom end of the lower plate, and the second side plates are perpendicular to the first side plates in the vertical direction; the spring 53 is vertically arranged and its two ends are respectively It is connected to the bottom end of the upper plate and the upper end of the lower plate; the baffle 54 is L-shaped as a whole, with one end of the two baffles 54 connected to the outer sides of the two first side plates respectively, and the other ends are vertically bent and extended to the inside of the lower support frame 52; the second roller 55 is arranged between the two second side plates through a roller shaft, and the roller shaft is rotatably connected to the two second side plates through a bearing; the encoder 56 is connected to the electronic control unit for communication, and is arranged on the outer side of the second side plate through a mounting bracket and is connected to the roller shaft. It can be understood that the movement state of the inspection vehicle on the bridge deck is monitored by the synchronous walking detection device 5 inside the two symmetrical drive boxes 2, thereby regulating the reduction motor 3 and the brake 4. This monitoring mainly relies on the displacement data of the two synchronous walking detection devices 5 obtained by the encoder 56.

[0066] Preferably, slots corresponding to the first side plates are provided on both sides of the lower plate for cooperating with the baffle 54 to limit the upper support frame 51 .

[0067] Preferably, cylindrical projections are provided at the bottom end of the upper plate and the top end of the lower plate, and these projections are located within the spring 53 to assist in adjusting the direction of extension and contraction of the spring 53, ensuring vertical extension and contraction. It will be appreciated that the two projections are spaced a distance apart so that, during use, under the action of the spring 53, the second roller 55 remains in contact with the fixed guide rail 1, and the projections do not collide with each other.

[0068] Preferably, the walking truss 6 includes a bottom plate and a guardrail above the bottom plate, and a corresponding passage for personnel to enter and exit is provided at the connection between the walking truss 6 and the truss unit to ensure that personnel can enter the truss unit safely and smoothly.

[0069] Specifically, if Figures 1 to 4 As shown, the truss unit is connected to the drive unit and is integrally arranged at the lower end of the bridge to stably support other equipment and provide an inspection site. The truss unit includes: a vertical truss 7, an oblique truss 8, a main truss 9, and a guardrail 10. The upper end of the vertical truss 7 is connected to the lower end of the walking truss 6, and a vertical ladder is provided inside the vertical truss 7 on the side away from the bridge. One end of the oblique truss 8 is connected to the vertical truss 7, and the other end is connected to one end of the main truss 9 along the inclination of the bottom end of the bridge. The two ends of the main truss 9 are respectively connected to two of the vertical trusses 7 and are arranged horizontally below the bridge. The guardrail 10 is provided on both sides of the upper ends of the oblique truss 8 and the main truss 9. During use, the two walking trusses 6 and the oblique trusses 8 are respectively connected by the two vertical trusses 7 to ensure the safe transfer of construction workers from the bridge deck to the bottom of the bridge, and significantly reduce the distance length; secondly, the oblique trusses 8, the main trusses 9 and the guardrails 10 provide a stable construction foundation to ensure construction safety; in addition, by making the oblique trusses 8 and the main trusses 9 fit closely to the bottom contour of the bridge, they can better adapt to the unique geometric shape of the bridge and provide stronger support without adding extra weight, thereby reducing construction costs and improving economic benefits.

[0070] Preferably, the oblique truss 8 mainly includes a base plate, a step ladder, and a number of main chords, cross bars, diagonal webs and vertical bars arranged on both sides and the bottom end of the base plate and the step ladder, so as to enhance the stability of the oblique truss 8, thereby effectively preventing excessive swinging or tilting caused by factors such as wind or earthquake, and at the same time, optimizing the force flow path to avoid excessive stress concentration in certain areas.

[0071] Preferably, the main truss 9 mainly includes a base plate, and a plurality of main chords, cross bars, diagonal webs and vertical bars arranged on both sides and the bottom end of the base plate, so as to enhance the stability of the main truss 9, thereby effectively preventing excessive swinging or tilting caused by factors such as wind or earthquake, and at the same time, optimizing the force flow path to avoid excessive stress concentration in certain areas.

[0072] Preferably, a skirting board is provided on the inner side of the guardrail 10 near the bottom plate of the main truss 9 to improve safety and structural stability.

[0073] Specifically, if Figures 1 to 4 As shown, the auxiliary inspection unit is arranged at the upper end of the truss unit, and is used to provide a stable working platform and adapt to various environmental conditions. The auxiliary inspection unit includes: a lifting trolley track 17 and a track-type lifting platform 18; the lifting trolley track 17 is laid on the upper end of the main truss 9; the track-type lifting platform 18 is slidably connected to the lifting trolley track 17, and is electrically and communicatively connected to the electronic control unit. During use, by arranging the lifting trolley track 17 at the upper end of the main truss 9 and utilizing the horizontal characteristics of the main truss 9, the stability of the track-type lifting platform 18 during operation is ensured. Secondly, the track-type lifting platform 18 allows construction workers to easily reach difficult-to-reach locations without having to build complex scaffolding or other temporary structures, significantly improving the safety of inspection construction and adapting to the inspection requirements of various bridge structures.

[0074] It can be understood that the rail-type lifting platform 18 is provided with a handheld controller for controlling the movement and lifting of the rail-type lifting platform 18 on the lifting trolley track 11. The rail-type lifting platform 18 can be safely controlled by the controller to perform inspection operations. In addition, by connecting the rail-type lifting platform 18 to the electronic control unit and powering it and providing an emergency stop function through the electronic control unit, additional safety measures are provided to further ensure construction safety.

[0075] Specifically, if Figures 1 to 4 、 Figures 9 to 15As shown, the auxiliary stabilization unit is movably connected to the bottom of the bridge and the truss unit respectively, so as to ensure the stability and safety of the inspection vehicle when inspecting construction and parking. The auxiliary stabilization unit includes: a driven component 11 and a parking component 12; wherein, the driven component 11 is movably connected to the lower stabilization plate 13 at the bottom of the bridge, and includes: a gantry 111, a first fixing member 112, a second fixing member 113, a first support plate 114, a driven wheel assembly 115 and a magnetic brake 116; the gantry is an aluminum alloy gantry including a bottom edge and two side edges; the two first fixing members 112 are provided at the upper end of the bottom edge of the gantry 111, and are respectively connected to the main chord at the bottom end of the main truss 9; the two second fixing members 113 are respectively provided on the inner sides of the two side edges of the gantry 111, and are respectively connected to the main chord at the upper end of the main truss 9; the two first support members 113 are respectively provided on the inner sides of the two side edges of the gantry 111, and are respectively connected to the main chord at the upper end of the main truss 9; the two first support members 114 are respectively provided on the inner sides of the two side edges of the gantry 111 The plates 114 are respectively arranged at the upper ends of the two side edges of the door frame 111; the driven wheel assembly 115 includes a first roller bracket 1151 arranged at the upper end of the first support plate 114 and a third roller 1152 connected to the first roller bracket 1151 through a roller shaft and a bearing; the magnetic brake 116 includes two corresponding brake mounting frames 1161 arranged at the upper end of the first support plate 114, a first pin shaft 1162 passing through the slide slot holes on the two brake mounting frames 1161 and a manual permanent magnetic suction cup 1163 connected to the first pin shaft 1162, and the manual permanent magnetic suction cup 1163 is respectively parallel to the two third rollers 1152 in the vertical direction. The parking assembly 12 is movably connected to the bottom end of the bridge and the truss unit respectively, and includes: an adjusting rod 121, a second connecting plate 122, a third connecting plate 123, a tripod 124, a slot block 125 and a third ear plate 126; one end of the adjusting rod 121 is rotatably connected to the connecting seat provided at the bottom end of the bridge, and the other end is rotatably connected to the two second connecting plates 122 through a pin; the two second connecting plates 122 are rotatably connected to the two adjusting rods 121 and the two third connecting plates 123 through pins; the two third connecting plates 123 are connected to the two oblique sides of the tripod 124; the two oblique sides and the bottom side of the tripod 124 are detachably connected to the two connecting seats provided on the bottom plate of the main truss 9 through two second pins 1241; the two slot blocks 125 are sleeved on the outside of the bottom side of the tripod 124 and are arranged opposite to each other; the third ear plate 126 is provided on one side of the third connecting plate 123, and its bottom end is provided with a slot adapted to the guardrail 10.During use, by connecting the driven component 11 to the main truss 9 and connecting the magnetic brake 116 to the I-shaped lower stabilizing plate 13 at the bottom of the bridge when the inspection vehicle is parked, the load of the support unit is effectively dispersed and the vibration of the support unit is reduced; secondly, when the inspection vehicle is parked, by connecting the main truss 9 to the bottom of the bridge through the parking component 12, the wind and earthquake resistance of the support unit are significantly improved, thereby improving the structural safety of the inspection vehicle.

[0076] Preferably, ribs are provided at the corners of the bottom edge and side edges of the portal frame to enhance the structural stability of the portal frame.

[0077] Preferably, the first fixing member 112 includes a second support plate 1121 connected to the upper end of the bottom edge of the portal frame 111 and a plurality of first U-shaped clamps 1122 provided on the second support plate 1121, which are used to detachably and stably connect the main chord at the bottom end of the main truss 9 to adapt to different bridge structures.

[0078] Preferably, the second fixing member 113 includes: a first ear plate 1131, a first ear plate seat 1132 and a second U-shaped clamp 1133, wherein the two first ear plates 1131 are respectively arranged on both sides of the side of the portal 111; the first ear plate seat 1132 includes two second ear plates 11321 respectively connected to the first ear plates 1131, a first connecting web 11322 connecting the two second ear plates and two first connecting plates 11323 respectively connected to the ends of the two second ear plates; the two second U-shaped clamps 1133 are respectively arranged on the first connecting plate 11323, and respectively correspond to the first U-shaped clamp 1122 below it, so as to detachably and stably connect the main chord at the upper end of the main truss 9 to adapt to different bridge structures.

[0079] Preferably, rubber pads are provided on the inner sides of the first U-shaped clamp 1122 and the second U-shaped clamp 1133 to prevent slipping and enhance the connection stability with the main chord of the main truss 9 .

[0080] Preferably, a plurality of ribs are provided at the connection between the first support plate 114 and the side of the door frame 111 to enhance the structural stability of the driven assembly.

[0081] Preferably, a plurality of ribs are provided at the connection between the first roller bracket 1151 and the first support plate 114 to enhance the structural stability of the driven wheel assembly 115 .

[0082] Preferably, the two brake mounting frames 1161 are connected via a second web, and a plurality of ribs are provided at the connection between the second web and the first support plate 114 to enhance the structural stability of the magnetic brake 116 .

[0083] Preferably, the adjusting rod 121 is a screw adjusting rod, which is used to adjust the distance between the second connecting plate 122 and the third connecting plate 123 to adapt to different bridge structures.

[0084] Preferably, the second connecting plate 122 and the third connecting plate 123 are triangular connecting plates for stably connecting the bridge and the main truss 9 to ensure uniform distribution of the load.

[0085] Preferably, the slot block 125 includes two parallel card plates 1251, a card plate bottom plate 1252 arranged at the bottom ends of the two card plates 1251, a fourth connecting plate 1253 arranged on the outside of the card plates 1251, and an upper support plate 1254 arranged at the upper ends of the card plates 1251 and the fourth connecting plate 1253 and connected to the fourth connecting plate 1253. The card plate 1251 is provided with a slot adapted to the second pin shaft 1241 on the side facing the second pin shaft 1241, and the upper support plate 1254 is provided with a slot adapted to the hypotenuse of the tripod 124 on the side facing the second pin shaft 1241, so as to limit the shape of the tripod 124 through the slot block 125 during parking, thereby improving the connection stability of the tripod 124 and the connecting seat on the main truss 9.

[0086] Preferably, the upper end of the card base 1252 and the bottom end of the upper support plate 1254 are both provided with polytetrafluoroethylene slides, so that the slot block 125 clamps the bottom edge of the tripod 124 and reduces the friction with the bottom edge of the tripod 124, thereby improving the service life of the slot block 125.

[0087] It can be understood that before the inspection vehicle moves normally, the upper handle of the manual permanent magnetic suction cup 1163 is rotated, and the manual permanent magnetic suction cup 1163 is moved away from the lower stabilizing plate 13 through the first pin shaft 1162. At the same time, the third roller 1152 does not contact the lower stabilizing plate 13, thereby avoiding damage to the surface coating of the lower stabilizing plate 13 and avoiding interlocking with the brake 4, resulting in the brake not being released and causing damage to the equipment.

[0088] It can be understood that the horizontal height of the third roller 1152 is lower than that of the manual permanent magnetic suction cup 1163, so that when the inspection vehicle is operating normally and vibrates due to strong winds, earthquakes or other factors, or the vertical load is large, the third roller 1152 will roll and contact the lower stabilizing plate 13 before the manual permanent magnetic suction cup 1163, thereby dispersing the load and avoiding collision damage between the manual permanent magnetic suction cup 1163 and the lower stabilizing plate 13.

[0089] Preferably, the third roller 1152 is a nylon roller to increase its service life and reduce damage to the lower stabilizing plate 13 .

[0090] It can be understood that when the inspection vehicle is parked for inspection, the upper handle of the manual permanent magnetic suction cup 1163 can be rotated, and the manual permanent magnetic suction cup 1163 can be pressed against the lower stabilizing plate 13 through the first pin shaft 1162, so as to stabilize the inspection vehicle.

[0091] It should be noted that the two lower stabilizing plates 13 are parallel and arranged in the middle of the bottom end of the bridge along the bridge direction, which can effectively reduce or prevent bridge vibration caused by vortex-induced vibration, ensure that the bridge can remain stable under adverse conditions such as strong winds or turbulent water flow, avoid safety accidents caused by excessive vibration, and extend its service life.

[0092] It can be understood that after parking is completed, the second connecting plate 122 and the third connecting plate 123 are removed to separate the second connecting plate 122 from the third connecting plate 123, and then the adjusting rod 121 is adjusted to lift the second connecting plate 122. At the same time, by sliding the slot block 1125 and removing the second pin shaft 1241, the tripod 124 is separated from the connecting seat on the bottom plate of the main truss 9, so that the main truss 9 can pass normally for subsequent operations; secondly, the tripod 124 is mounted to the inner side of the guardrail 10 through the third ear plate 126 for subsequent reuse, thereby improving construction efficiency.

[0093] Specifically, if Figures 1 to 4 、 Figure 16As shown, the electronic control unit is communicatively connected to the drive unit to control the status of the inspection vehicle, improving the automation and intelligence level of the equipment. The electronic control unit includes: a power supply assembly 14, an electrical control cabinet 15, an anemometer assembly 16, and an alarm assembly. The power supply assembly 14 is located at the upper end of the bottom plate of the main truss 9 and includes a lithium battery pack 141 and a charger 142 for supplying power to the lithium battery pack 141. The electrical control cabinet 15 is located inside the guardrail 10 on one side of the main truss 9 and is electrically connected to the lithium battery pack 141. The anemometer assembly 16 is located in the middle of the guardrail 10 and is communicatively connected to the electrical control cabinet 15. The alarm assembly is communicatively connected to the electrical control cabinet 15 and is electrically connected to the lithium battery pack 141, and includes an LED light or a horn. During use, the inspection vehicle is powered by DC through the lithium battery pack 141 without an external independent inverter, which can significantly improve the energy utilization rate of the battery pack, improve the power supply stability, and reduce the failure rate caused by unstable power. Secondly, the electrical control cabinet 15 is connected to the anemometer component 16, the warning component and other unit components to achieve complete monitoring of the construction site, and can effectively adjust the operating status of the inspection vehicle according to changes in the on-site working environment, further improving the safety and efficiency of inspection construction.

[0094] Preferably, the lithium battery pack 141 is a 320V / 74A.h lithium iron phosphate battery pack, and the electrical control cabinet 15 is powered by a 24V DC power supply to ensure electrical safety. It will be appreciated that the charger 142 is connected to an external AC power source, converting the AC power into DC power and transmitting and storing it to the lithium battery pack 141 to ensure sufficient power.

[0095] It can be understood that the anemometer assembly 16 is used to detect the wind speed in the inspection vehicle area. When the measured ambient wind speed is greater than the allowable working wind speed setting value of the inspection vehicle of 15.8m / s, the electrical control cabinet 15 will automatically control the parking brake of the inspection vehicle and issue an alarm prompt. Operation can only be resumed after the measured ambient wind speed decreases to the set value.

[0096] In an optional embodiment, the electronic control unit also includes a pathfinding sensor, which is arranged on the front side of the drive box 2. When the pathfinding sensor detects that the fixed guide rail 1 in front is accidentally disconnected, the electronic control cabinet 15 controls the warning component to sound an alarm and force the inspection vehicle to stop running.

[0097] In an optional embodiment, the driving unit further comprises a camera assembly and a radar assembly. The camera assembly is arranged outside the walking truss 6 guardrail, and a camera window thereof is aligned with the driving box 2 area and is in communication connection with the electric control cabinet 15, so as to monitor the running direction of the inspection vehicle and whether there is an obstacle on the track to check the running safety of the inspection vehicle, and ensure the running safety of the inspection vehicle. At the same time, the monitoring video is transmitted to the electric control cabinet 15, so that the operator can view it in real time. The radar assembly is arranged at the upper end of the driving box 2 and is in communication connection with the electric control cabinet 15. The radar assembly automatically detects the obstacle in the running direction. When an obstacle in the running direction is detected, the position information of the inspection vehicle and the obstacle is sent to the electric control cabinet 15. After receiving the information, the electric control cabinet 15 controls the warning assembly to send an alarm information to prompt the operator to stop and brake, so as to ensure the running safety.

[0098] Preferably, the electric control cabinet 15 comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control of the running condition of the inspection vehicle is realized.

[0099] As shown in Figure 16 The electric control cabinet 15 in the embodiment can comprise a processor 151, a network interface 154 and a memory 155. In addition, the electric control cabinet 15 can further comprise a user interface 153 and at least one communication bus 152. The communication bus 152 is used to realize the connection and communication between the components. The user interface 153 can comprise a display, a keyboard and control buttons. The user interface 153 can further comprise a standard wired interface and a wireless interface. The network interface 154 can optionally comprise a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 155 can be a high-speed RAM memory or a non-volatile memory such as at least one disk memory. The memory 155 can optionally be at least one storage device located away from the aforementioned processor 151. As shown in Figure 3 The memory 155 as a computer readable storage medium can comprise an operating system, a network communication module, a user interface module and a device control application program.

[0100] It should be understood that in some feasible implementations, the processor 1001 may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. A general-purpose processor may be a microprocessor, or any conventional processor. The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0101] Example 2

[0102] like Figure 17 As shown, based on Example 1, Example 2 of the present invention provides a method for using an ultra-wideband training wheel inspection vehicle, including the following steps:

[0103] S1: A fixed guide rail 1 is symmetrically laid on the upper end of the bridge deck outside the bridge guardrail, and the drive box 2 and the walking truss 6 are pre-assembled and installed on the upper end of the fixed guide rail 1;

[0104] S2: Pre-install the auxiliary inspection unit and the electronic control unit on the main truss 9 and the guardrail 10 respectively. The adjustment rod 121 is pre-installed on the bottom end of the bridge through the connecting seat. At the same time, the two corresponding adjustment rods 121 are connected to the second connecting plate 122.

[0105] S3: Assemble the two vertical trusses 7, the two diagonal trusses 8, the main truss 9, and the guardrail 10 to form a truss unit, and then hoist it upward from the bottom of the bridge to complete the assembly with the two walking trusses 6; adjust the positions of the two driven components 11 so that the driven wheel assembly 115 and the magnetic brake 116 on each driven component 11 are located on both sides of the corresponding lower stabilizing plate 13, thus completing the assembly of the inspection vehicle on the bridge;

[0106] S4: Check the positions of the two drive boxes 2 to ensure symmetry along the bridge direction, and use the electric control cabinet 15 to simultaneously control the reduction motors 3 on the two drive boxes 2 to move synchronously to perform bridge inspection. At this time, the manual permanent magnetic chuck 1163 is away from the lower stabilizing plate 13;

[0107] S5: When parking, the electric control cabinet 15 controls the reduction motors 3 on the two drive boxes 2 to stop rotating and brakes the vehicle through the brakes 4. After the vehicle stops moving, the manual permanent magnetic chuck 1163 is pressed against the lower stabilizing plate 13, and the handle is rotated to magnetically connect the manual permanent magnetic chuck 1163 to the lower stabilizing plate 13. After that, the auxiliary inspection unit is used for inspection.

[0108] S6: Repeat steps S4 and S5 to inspect the bottom area of ​​the bridge. Afterwards, assemble the multiple parking components 12 through the multiple adjusting rods 121 and the multiple second connecting plates 122, and park the inspection vehicle at the main tower or auxiliary pier, thus completing the daily inspection work.

[0109] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0110] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0111] In this patent, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Those skilled in the art will readily understand that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An ultra-wideband training wheel inspection vehicle, characterized in that: include: Drive unit, truss unit, auxiliary inspection unit, auxiliary stabilization unit and electronic control unit, including: The driving unit is symmetrically arranged on the upper end of the bridge deck to ensure that the inspection vehicle runs stably along the bridge direction; The truss unit is connected to the drive unit and is integrally arranged at the lower end of the bridge to stably support other equipment and provide an inspection and construction site; The auxiliary inspection unit is provided at the upper end of the truss unit and is used to provide a stable working platform; The auxiliary stabilizing unit comprises: a driven component (11) and a parking component (12); the driven component (11) is movably connected to the lower stabilizing plate (13) at the bottom end of the bridge; the parking component (12) is movably connected to the bottom end of the bridge and the truss unit respectively; the driven component (11) comprises: a portal (111), a first support plate (114), a driven wheel assembly (115) and a magnetic brake (116); the portal (111) is an aluminum alloy portal including a bottom edge and two side edges; the two first support plates (114) are respectively arranged at the upper ends of the two side edges of the portal (111); the driven wheel assembly (115) comprises a first roller arranged at the upper end of the first support plate (114) A wheel bracket (1151) and a third roller (1152) connected to the first roller bracket (1151) via a roller shaft and a bearing; the magnetic brake (116) comprises two corresponding brake mounting brackets (1161) provided at the upper end of the first support plate (114), a first pin shaft (1162) passing through the slide slot through-holes on the two brake mounting brackets (1161), and a manual permanent magnetic suction cup (1163) connected to the first pin shaft (1162), and the manual permanent magnetic suction cup (1163) is respectively parallel to the two third rollers (1152) in the vertical direction, and the horizontal height of the third roller (1152) is lower than that of the manual permanent magnetic suction cup (1163); The electronic control unit is in communication with the drive unit to control the state of the inspection vehicle. At the same time, the stability and safety of the inspection vehicle during inspection construction and parking are ensured by coordinating the connection between the driven component (11) and the lower stabilizing plate (13), and the parking component (12) and the bottom end of the bridge and the truss unit.

2. The inspection vehicle according to claim 1, characterized in that: The driving unit comprises: a fixed guide rail (1), a driving box (2), a reduction motor (3), a brake (4), a synchronous walking detection device (5) and a walking truss (6); the two fixed guide rails (1) are symmetrically arranged at the upper end of the bridge deck outside the bridge guardrail; the two driving boxes (2) are symmetrically arranged at the upper ends of the two fixed guide rails (1), and the driving box (2) is provided with a plurality of first rollers (21) in contact with the fixed guide rails (1); the reduction motor (3) is arranged outside the driving box (2), and comprises a motor and a first roller (21) in contact with the motor. The reduction gearbox is connected to the first roller (21); the brake (4) is arranged outside the driving housing (2), and one end of the brake is in active contact with the fixed guide rail (1); the synchronous walking detection device (5) is arranged inside the driving housing (2), the upper end of the synchronous walking detection device (5) is connected to the driving housing (2), the lower end of the synchronous walking detection device (5) is in communication connection with the electronic control unit; one end of the walking truss (6) is connected to the upper end of the driving housing (2), and the other end of the walking truss (6) extends to the outside of the bridge deck and is connected to the truss unit; The synchronous walking detection device (5) comprises: an upper support frame (51), a lower support frame (52), a spring (53), a baffle (54), a second roller (55) and an encoder (56); the upper support frame (51) comprises an upper plate and two parallel first side plates arranged at the bottom end of the upper plate, and the upper plate is connected to the inner surface of the driving box (2); the lower support frame (52) comprises a lower plate and two parallel second side plates arranged at the bottom end of the lower plate, and the second side plates are perpendicular to the first side plates in the vertical direction; the spring (53) is arranged vertically and its The two ends are respectively connected to the bottom end of the upper plate and the upper end of the lower plate; the baffle (54) is L-shaped as a whole, one end of the two baffles (54) is respectively connected to the outer sides of the two first side plates, and the other ends are vertically bent and extended into the interior of the lower support frame (52); the second roller (55) is arranged between the two second side plates through a roller shaft, and the roller shaft is rotatably connected to the two second side plates through a bearing; the encoder (56) is communicatively connected to the electronic control unit, and is arranged on the outer side of the second side plate through a mounting bracket and is connected to the roller shaft.

3. The inspection vehicle according to claim 2, characterized in that: The truss unit further comprises: a vertical truss (7), an oblique truss (8), a main truss (9) and a guardrail (10); the upper end of the vertical truss (7) is connected to the lower end of the walking truss (6), and a vertical ladder is provided inside the vertical truss (7) on the side away from the bridge; one end of the oblique truss (8) is connected to the vertical truss (7), and the other end is connected to one end of the main truss (9) along the inclination of the bottom end of the bridge; the two ends of the main truss (9) are respectively connected to the two vertical trusses (7), and are horizontally arranged below the bridge; the guardrail (10) is provided on both sides of the upper ends of the oblique truss (8) and the main truss (9); The diagonal truss (8) mainly includes a base plate, a step ladder, and a plurality of main chords, cross bars, diagonal webs and vertical bars arranged on both sides and the bottom end of the base plate and the step ladder; The main truss (9) mainly comprises a bottom plate, and a plurality of main chords, cross bars, diagonal webs and vertical bars arranged on both sides and the bottom end of the bottom plate.

4. The inspection vehicle according to claim 3, characterized in that: The auxiliary inspection unit includes: a lifting trolley track (17) and a track-type lifting platform (18); the lifting trolley track (17) is laid on the upper end of the main truss (9); the track-type lifting platform (18) is slidably connected to the lifting trolley track (17) and is electrically and communicatively connected to the electric control unit.

5. The inspection vehicle according to claim 3, characterized in that: The driven assembly (11) further includes: a first fixing member (112) and a second fixing member (113); the two first fixing members (112) are arranged at the upper end of the bottom edge of the portal frame (111), and are respectively connected to the main chord rods at the bottom end of the main truss (9); the two second fixing members (113) are respectively arranged on the inner sides of both sides of the portal frame (111), and are respectively connected to the main chord rods at the upper end of the main truss (9).

6. The inspection vehicle according to claim 5, characterized in that: The first fixing member (112) comprises a second support plate (1121) connected to the upper end of the bottom edge of the door frame (111) and a plurality of first U-shaped clamps (1122) provided on the second support plate (1121); The second fixing member (113) includes: a first ear plate (1131), a first ear plate seat (1132) and a second U-shaped clamp (1133), wherein the two first ear plates (1131) are respectively arranged on both sides of the side of the door frame (111); the first ear plate seat (1132) includes two second ear plates (11321) respectively connected to the first ear plates (1131), a first connecting web (11322) connecting the two second ear plates and two first connecting plates (11323) respectively connected to the ends of the two second ear plates; the two second U-shaped clamps (1133) are respectively arranged on the first connecting plate (11323) and respectively correspond to the first U-shaped clamp (1122) below it.

7. The inspection vehicle according to claim 3, characterized in that: The parking assembly (12) comprises: an adjusting rod (121), a second connecting plate (122), a third connecting plate (123), a tripod (124), a slot block (125) and a third ear plate (126); one end of the adjusting rod (121) is rotatably connected to a connecting seat provided at the bottom end of the bridge, and the other end is rotatably connected to the two second connecting plates (122) via a pin; the two second connecting plates (122) are rotatably connected to the two adjusting rods (121) and the two third connecting plates (123) via pins. The two third connecting plates (123) are connected to the two oblique sides of the tripod (124); the two oblique sides and the bottom side of the tripod (124) are detachably connected to the two connecting seats provided on the bottom plate of the main truss (9) through two second pin shafts (1241); the two slot blocks (125) are sleeved on the outside of the bottom side of the tripod (124) and are arranged opposite to each other; the third ear plate (126) is provided on one side of the third connecting plate (123), and the bottom end thereof is provided with a slot adapted to the guardrail (10).

8. The inspection vehicle according to claim 7, characterized in that: The card slot block (125) comprises two parallel card plates (1251), a card plate bottom plate (1252) provided at the bottom ends of the two card plates (1251), a fourth connecting plate (1253) provided on the outside of the card plates (1251), and an upper supporting plate (1254) provided at the upper ends of the card plates (1251) and the fourth connecting plate (1253) and connected to the fourth connecting plate (1253), wherein a card slot adapted to the second pin shaft (1241) is provided on a side of the card plate (1251) facing the second pin shaft (1241), and a card slot adapted to the oblique side of the tripod (124) is provided on a side of the upper supporting plate (1254) facing the second pin shaft (1241); The upper end of the card base plate (1252) and the lower end of the upper supporting plate (1254) are both provided with polytetrafluoroethylene slide plates.

9. The inspection vehicle according to any one of claims 3 to 8, characterized in that: The electric control unit comprises: a power supply component (14), an electric control cabinet (15), an anemometer component (16) and an alarm component; the power supply component (14) is arranged at the upper end of the bottom plate of the main truss (9), and comprises a lithium battery pack (141) and a charger (142) for supplying power to the lithium battery pack (141); the electric control cabinet (15) is arranged on the inner side of the guardrail (10) on one side of the main truss (9), and is electrically connected to the lithium battery pack (141); the anemometer component (16) is arranged in the middle of the guardrail (10) and is communicatively connected to the electric control cabinet (15); the alarm component is communicatively connected to the electric control cabinet (15) and is electrically connected to the lithium battery pack (141), and comprises an LED light or a speaker.

10. A method for using an ultra-wideband training wheel inspection vehicle, implemented using the inspection vehicle according to claim 9, characterized in that: The steps include: S1: symmetrically laying fixed guide rails (1) on the upper end of the bridge deck outside the bridge deck guardrail, pre-assembling the drive box (2) and the walking truss (6) and then installing them on the upper end of the fixed guide rails (1); S2: pre-installing the auxiliary inspection unit and the electric control unit on the main truss (9) and the guardrail (10), respectively, wherein the adjustment rod (121) is pre-installed on the bottom end of the bridge through the connecting seat, and at the same time, the two corresponding adjustment rods (121) are connected to the second connecting plate (122); S3: Assembling two vertical trusses (7), two oblique trusses (8), the main truss (9) and the guardrail (10) to form a truss unit, and then hoisting it upward from the bottom of the bridge to complete the assembly with the two walking trusses (6); adjusting the positions of the two driven components (11) so that the driven wheel assembly (115) and the magnetic brake (116) on each driven component (11) are arranged on both sides of the corresponding lower stabilizing plate (13), thus completing the assembly of the inspection vehicle on the bridge; S4: Check the positions of the two drive boxes (2) to ensure symmetry along the bridge direction, and simultaneously control the reduction motors (3) on the two drive boxes (2) to move synchronously through the electric control cabinet (15) to perform bridge inspection. At this time, the manual permanent magnetic chuck (1163) is away from the lower stabilizing plate (13); S5: When parking, the electric control cabinet (15) controls the reduction motors (3) on the two drive boxes (2) to stop rotating and brakes the motors (3) through a plurality of brakes (4). After the movement stops, the manual permanent magnetic suction cup (1163) is pressed against the lower stabilizing plate (13), and the handle is rotated to magnetically connect the manual permanent magnetic suction cup (1163) to the lower stabilizing plate (13). Afterwards, the auxiliary inspection unit is used for inspection. S6: Repeat steps S4 and S5 to inspect the bottom area of ​​the bridge. Afterwards, assemble the plurality of parking assemblies (12) through the plurality of adjusting rods (121) and the plurality of second connecting plates (122), and park the inspection vehicle at the main tower or the auxiliary pier, thus completing the daily inspection operation.

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