Long-arm telescopic device

Abstract

The invention discloses a long-arm telescopic device which comprises a plurality of sections of telescopic arms, a walking guide rail, a rotating arm device and a supporting device. The multiple sections of telescopic arms are sequentially nested and stretch out and draw back, and the walking guide rail is arranged on the outer walls of the multiple sections of telescopic arms and stretches out and draws back synchronously along with the multiple sections of telescopic arms. The folding arm device is arranged at the tail end of the long arm telescopic device, and the folding arm device can be folded, can be in butt joint with the tail end of the walking guide rail in a spreading state and can extend in the same direction with the tail end of the walking guide rail; the supporting device is installed at the tail end of the long-arm telescopic device and used for extending to make contact with the ground to support the long-arm telescopic device. The long arm telescopic device can adapt to the internal detection of the wide steel box girder bridge, and can provide stable support for detection equipment at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge detection, and in particular to a long-arm telescopic device. Background Art

[0002] Steel box girder bridges are the mainstream structure of modern long-span bridges. Detecting hidden defects such as corrosion and weld cracking in their internal enclosed spaces has long been a technical challenge. Furthermore, due to the wide width of existing steel box girder bridges, long-arm telescopic devices are widely used for internal inspection of wide steel box girder bridges. However, existing long-arm telescopic devices have the following problems when conducting internal inspections of wide steel box girder bridges: 1. Insufficient structural and functional integration: Traditional telescopic devices often design the telescopic mechanism, travel rails and other related components as independent modules, resulting in asynchronous movement of the travel rails and telescopic arms, and track docking errors; 2. Limited operating range: Even if the existing long-arm telescopic device can be extended or retracted, the dimensions of its telescopic structure are pre-set and fixed, which makes it impossible to cross obstacles such as the internal partitions of the box girder during use. This leads to the existence of some blind spots in the inspection. If an extension device is temporarily added, repetitive work such as repositioning and reinstallation will be added, which will extend the inspection period or inaccurate the inspection data. 3. Limited stability: Since the existing long-arm telescopic device has a large lateral extension, the long-arm telescopic device will have insufficient rigidity and large deflection, which will affect the operation of the carrier trolley; at the same time, since the long-arm telescopic device has a large lateral extension, the long-arm telescopic device will shake slightly after extension, which will also affect the data collection of the detection equipment; in addition, since the long-arm telescopic device has a large unilateral extension, the walking device at the bottom of the installed long-arm telescopic device may cause tilting or derailment. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a long-arm telescopic device that can adapt to the internal inspection of wide steel box girder bridges and provide stable support for the inspection equipment.

[0004] In order to achieve the above-mentioned object, the present invention is implemented through the following technical solutions: a long arm telescopic device, comprising a multi-section telescopic arm, a walking guide rail, a folding arm device and a supporting device; The multiple sections of the telescopic arms are nested in sequence and can be extended and retracted, and the walking guide rails are arranged on the outer walls of the multiple sections of the telescopic arms and extend and retract synchronously with the multiple sections of the telescopic arms; The folding arm device is arranged on the telescopic arm at the end, and the folding arm device can be folded and can dock with the end of the walking guide rail in the spread state and extend in the same direction; The support device is installed on the telescopic arm at the end, and the support device is used to extend and touch the bottom to form support.

[0005] Furthermore, the multi-section telescopic arm includes a reference arm and at least one extension arm. The first section of the extension arm and the reference arm are telescoped through a synchronous belt power module, and the adjacent extension arms are connected through a pull rope structure module so that the remaining extension arms can be telescoped synchronously with the first section of the extension arm.

[0006] Furthermore, it also includes an auxiliary guide member, which is installed on the telescopic arm and is slidably clamped with the adjacent inner section of the telescopic arm to guide the telescopic arm of the next level when it is extended and retracted.

[0007] Furthermore, the supporting device includes a lifting assembly and a supporting member. The lifting assembly is installed on the telescopic arm at the end and is used to drive the supporting member to descend and touch the bottom to form support.

[0008] Furthermore, the support member includes a mounting frame and a universal wheel, the mounting frame is connected to the lifting assembly, and the universal wheel is installed at the bottom of the mounting frame.

[0009] Furthermore, the lifting assembly includes a guide rail fixing plate, a lifting power source, a guide rail, a sliding member and a lower fixed seat. The guide rail fixing plate is fixed on the telescopic arm at the end. The lifting power source is fixed on the guide rail fixing plate to drive the sliding member to move. The guide rail is fixed on the guide rail fixing plate to provide vertical guidance for the sliding member. The support member is connected to the sliding member through the lower fixed seat.

[0010] Furthermore, the supporting device also includes an elastic buffer, and the supporting member is connected to the lifting assembly through the elastic buffer.

[0011] Furthermore, the folding arm device includes a rocker arm assembly and a spreading drive component. The spreading drive component is arranged on the telescopic arm at the end, and is used to drive the rocker arm assembly to swing to achieve spreading or folding. The rocker arm assembly can dock with the end of the walking guide rail in the spreading state and extend in the same direction.

[0012] Furthermore, the telescopic arm is a truss structure.

[0013] Furthermore, the telescopic arm, the travel guide rail and the folding arm device are made of carbon fiber material.

[0014] Beneficial effects of the present invention: The above-mentioned long arm telescopic device has the following beneficial effects: 1. Structural integration and synchronous control: By integrating the travel guide rail into the outer wall of the telescopic arm and realizing synchronous extension and retraction, the track docking error problem caused by the modular design of traditional devices is solved, ensuring that the running trajectory of relevant detection during the extension and retraction process is accurate and continuous.

[0015] 2. Improved ability to cross obstacles: The coordinated design of the folding arm device and the multi-section telescopic arm enables the device to cross obstacles such as the internal partitions of the box girder when extended, and can be quickly retracted in the folded state to adjust the working range, which can significantly reduce the detection blind area and avoid the repeated disassembly and assembly problem caused by the fixed size of traditional devices.

[0016] 3. Active support enhances stability: The end support device forms a multi-point force structure by touching the bottom to form support, which effectively suppresses the deflection deformation and shaking after the long arm is extended. It not only ensures the smooth operation of the detection equipment, but also improves the accuracy of the data collection of the detection equipment. At the same time, it reduces the risk of tilting, derailment, etc. caused by unilateral force on the walking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the specific embodiments. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0018] Figure 1 Schematic diagram of a telescopic arm device according to one embodiment of the invention (Figure a is a schematic diagram of the telescopic arm device in a retracted state, and Figure b is a schematic diagram of the telescopic arm device in an extended state) Figure 2 for Figure 1 The shown diagram is a partial perspective view of a multi-section telescopic arm of a long arm telescopic device; Figure 3 for Figure 1 The schematic diagram of the synchronous belt power module in the multi-section telescopic arm of the long arm telescopic device shown; Figure 4 for Figure 1 A schematic diagram of a pull rope structure module in a long arm telescopic device shown; Figure 5 for Figure 1 Schematic diagram of the auxiliary guide member in the bridge box girder internal inspection robot shown; Figure 6 for Figure 1 A schematic diagram of the folding arm device in the long arm telescopic device shown; Figure 7 for Figure 1 Schematic diagram of the spreading drive member in the long arm telescopic device shown; Figure 8 for Figure 1 A schematic diagram of a state in which the folding arm device of the long arm telescopic device is rotated and unfolded; Figure 9 for Figure 1 A side schematic diagram of the support device in the long arm telescopic device shown; Reference numerals: 300, long arm telescopic device; 310, multi-section telescopic arm; 320, synchronous belt power module; 321 belt connector; 322, synchronous belt; 323, two synchronous pulleys; 330, pull rope structure module; 331, wire rope; 332, fixed pulley assembly; 333, hook; 340, walking guide rail; 350, folding arm device; 351, rocker assembly; 3511, limit block; 3512, guide rail rod; 3513, guide rod connection 1; 3514, support rod 1; 3515, guide rod connection 2; 3516, support rod 2; 3517, carbon rod connection seat 2; 352, Spreading drive member; 3521, connecting seat; 3522, power motor; 3523, worm shaft; 3524, worm; 3525, worm gear; 3526, carbon rod connecting seat 1; 3527, worm gear shaft; 360, supporting device; 361, lifting assembly; 3611, guide rail fixing plate; 3612, lifting power source; 3613, sliding member; 3614, lower fixing seat; 362, supporting member; 3621, mounting frame; 3622, universal wheel; 363, elastic buffer member; 370, auxiliary guide member; 371, swing arm seat 1; 372, swing arm seat 2; 373, roller; DETAILED DESCRIPTION

[0019] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0020] See Figures 1 to 9 This embodiment provides a long arm telescopic device 300, comprising a multi-section telescopic arm 310, a travel guide rail 340, a folding arm device 350, and a support device 360. The multi-section telescopic arms 310 are nested in sequence and can be extended and retracted. The travel guide rail 340 is arranged on the outer wall of the multi-section telescopic arm 310 and is synchronously extended and retracted with the multi-section telescopic arm 310. The folding arm device 350 is arranged on the end of the telescopic arm 310. The folding arm device 350 can be folded and, in the extended state, can dock with the end of the travel guide rail 340 and extend in the same direction. The support device 360 is installed on the end of the telescopic arm 310. The support device 360 is used to extend to the bottom to provide support for the long arm telescopic device 300.

[0021] This telescopic arm device 300 can be used to carry testing equipment to inspect the interior of a steel box girder bridge. Specifically, the telescopic arm device 300 is installed on equipment that can travel within a steel box girder bridge, such as a traveling device located on a track within the bridge. When testing is required, the multi-section telescopic arm 310 is first driven to extend, at which point the travel guide rail 340 is synchronously extended, allowing the testing equipment to travel along the travel guide rail 340. Simultaneously with the extension of the multi-section telescopic arm 310, the support device 360 extends and bottoms out to support the telescopic arm device 300. Finally, the folding arm device 350 unfolds and docks with the end of the travel guide rail 340. The testing equipment can then travel along the travel guide rail 340 and conduct testing.

[0022] In this way, since the multi-section telescopic arm 310 and the walking guide rail 340 are extended and retracted synchronously, asynchronous extension and retraction can be prevented; through the auxiliary extension of the folding arm device 350, the detection range can be expanded and the blind spots can be reduced, and the situation where obstacles cannot be crossed can be reduced; at the same time, the support device 360 supports the tail, which can reduce the deformation and shaking problems of the multi-section telescopic arm 310 and prevent the long arm telescopic device 300 from tipping over.

[0023] See Figures 2 to 6 Specifically, the multi-section telescopic arm 310 includes a reference arm and at least one extension arm. The first extension arm and the reference arm are telescoped through a synchronous belt power module 320, and the adjacent extension arms are connected through a pull rope structure module 330 so that the remaining extension arms can be telescoped synchronously with the first extension arm.

[0024] See also Figures 3 and 4 Specifically, the synchronous belt power module 320 includes a belt rotating motor, a belt connector 321, a synchronous belt 322 and two synchronous pulleys 323. The two synchronous pulleys 323 are rotatably fixed at the head and tail ends of the reference arm respectively. The belt rotating motor is used to drive one of the synchronous pulleys 323 to rotate. The synchronous belt 322 is connected between the two synchronous pulleys 323. The belt connector 324 is used to connect the synchronous belt 322 to the first section extension arm.

[0025] When the belt rotating motor is started, it drives the synchronous belt 322 to move, which can drive the second telescopic arm to extend or retract.

[0026] Specifically, the cable pull structure module 330 includes a wire rope 331, a fixed pulley assembly 332, and a hook 333. For each of the three adjacent telescopic arms, the front and rear extension arms are each provided with a hook 333. The fixed pulley assembly 332 is located on the middle telescopic arm. After the wire rope 331 passes around the fixed pulley assembly 332, its ends are connected to the two hooks 333 respectively.

[0027] In specific implementation, the multi-section telescopic arm 310 and the walking guide rail 340 can be preferably set as a truss structure, and the material can preferably be carbon fiber material, which can significantly reduce the weight of the device and reduce the deformation, shaking and tipping of the long-stroke device.

[0028] See Figure 5 As a more preferred embodiment, the long arm telescopic device also includes an auxiliary guide member 370, which is installed on the telescopic arm and is slidably clamped with the adjacent inner section telescopic arm to guide the next level telescopic arm when it is telescoped.

[0029] Specifically, the auxiliary guide member 370 includes a swing arm seat 1 371, a swing arm seat 2 372, and rollers 373. The swing arm seat 2 372 is fixed to the end of the telescopic arm. The middle portion of the swing arm seat 1 371 is hinged to one end of the swing arm seat 2 372. There are six rollers 373, which are arranged in pairs at both ends of the swing arm seat 1 371 and the other end of the swing arm seat 2 372. Each of the six rollers 373 is in rolling connection with the corresponding telescopic arm and provides a flexible clamping force.

[0030] During the movement of the telescopic arm, the clamping of the six rollers 373 can provide a clamping force for the telescopic arm and realize a guiding function, thereby ensuring the smooth operation of the telescopic arm.

[0031] See Figures 6 to 8 In this embodiment, as a preferred implementation, the device further includes a folding arm assembly 350. Specifically, the folding arm assembly 350 includes a swing arm assembly 351 and a spreading driver 352. The spreading driver 352 is disposed on the end of the telescopic arm 310 and is used to drive the swing arm assembly 351 to swing 180 degrees to achieve spreading and retracting. In the spread state, the swing arm assembly 351 can dock with the end of the travel guide rail 340 and extend in the same direction.

[0032] In a specific implementation, the spreading driving member 352 can be any mechanism that can drive the rocking rod assembly 351 to swing, such as a worm gear rotating power assembly. The specific structure of the worm gear rotating power assembly is as follows: Please refer to Figure 9The worm gear rotation power assembly includes a connecting base 3521, a power motor 3522, a worm shaft 3523, a worm 3524, a worm wheel 3525, a carbon rod connecting base 1 3526, and a worm wheel shaft 3527. The connecting base 3521 is fixed to the telescopic arm at the end, the power motor 3522 is mounted on the connecting base 3521, the worm shaft 3523 is coaxially fixed to the power output shaft of the power motor 3522, the worm 3524 is sleeved and fixed on the worm shaft 3523, the worm wheel shaft 3527 is rotatably mounted on the connecting base 3521, the worm wheel 3525 is mounted on the worm shaft 3523, and the carbon rod connecting base 1 3526 is fixed to the top of the worm wheel shaft 3527. The rocker assembly 351 is mounted on the carbon rod connecting base 1 3526.

[0033] When the folding mechanism needs to be unfolded or folded, the power of the power motor 3522 is transmitted to the worm shaft 3523, which then transmits the power to the worm gear 3523 through the worm 3524. The worm gear 3523 transmits the power to the worm shaft 3527. The worm shaft 3527 transmits the power to the carbon rod connector 3526, thereby achieving the docking or folding of the rocker assembly 351 and the end of the travel guide rail 340.

[0034] The rocker assembly 351 includes a stopper 3511, a guide rod 3512, a guide rod connector 1 3513, a support rod 1 3514, a guide rod connector 2 3515, a support rod 2 3516, and a carbon rod connector 2 3517. One end of the guide rod 3512 is secured to the stopper 3511 via rivets and high-strength AB glue. The middle of the guide rod 3512 is connected to the support rod 1 3514 via the guide rod connector 1 3513. The other end of the support rod 1 3514 is connected to the support rod 2 3516 via the guide rod connector 2 3515. The carbon rod connector 2 3517 is connected to both the support rod 2 3516 and the end of the guide rod 3512. The carbon rod connector 2 3517 is also connected to the carbon rod connector 1 3526. The guide rod 3512 can be used to detect the movement of the device. During use, when the rotary power motor 3522 rotates, the guide rail rod 3512 can be folded or unfolded.

[0035] See Figure 9 In this embodiment, the support device 360 includes a lifting assembly 361 and a support member 362. The lifting assembly 361 is installed on the telescopic arm 310 at the end, and is used to drive the support member 362 to descend and touch the bottom to form a support.

[0036] Specifically, the lifting assembly 361 includes a guide rail fixing plate 3611, a lifting power source 3612, a guide rail, a sliding member 3613, and a lower fixing base 3614. The guide rail fixing plate 3611 is fixed to the end of the telescopic arm 310. The lifting power source 3612 is fixed to the guide rail fixing plate 3611 and is used to drive the vertical movement of the sliding member 3613. The guide rail is fixed to the guide rail fixing plate 3611 to provide vertical guidance for the sliding member 3613. The support member 362 is connected to the sliding member 3613 via the lower fixing base 3614.

[0037] When in use, the lifting power source 3612 is started, which can drive the support member 362 to move up and down, and drive the support member 362 to touch the bottom to form support.

[0038] As a preferred embodiment, the support device 360 further includes an elastic buffer 363, through which the support member 362 is connected to the lifting assembly 361. The elastic buffer 363 can not only provide a shock-absorbing effect for the support member 362, but also can more flexibly adapt to the bottom conditions of the steel box girder bridge.

[0039] In this embodiment, the support member 362 includes a mounting frame 3621 and a universal wheel 3622. The mounting frame 3621 is connected to the lifting assembly 361, and the universal wheel 3622 is installed at the bottom of the mounting frame 3621. The universal wheel 3622 can roll within a certain range to adapt to uneven bottom surfaces.

[0040] The usage of the long arm telescopic device 300 is as follows: During use, the synchronous belt power module 320 first drives the multi-section telescopic arm 310 to extend, and the travel guide rail 340 extends synchronously. As the multi-section telescopic arm extends, the lifting assembly 361 drives the support member 362 to descend to form a support. Then, the spreading drive member 352 drives the rocker assembly 351 in its spread state to dock with the end of the travel guide rail 340 and extend in the same direction. The relevant testing equipment can then travel on the travel guide rail 340 and rocker assembly 351. If the testing path needs to be changed, the folding arm device 350 is first folded, followed by the support device 360 and the multi-section telescopic arm 310. The travel direction and extension angle of the entire long arm telescopic device 300 are then adjusted. After the adjustment is completed, the test can be resumed according to the above method.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A long arm telescopic device, characterized in that: It includes a multi-section telescopic arm, a walking guide rail, a folding arm device and a supporting device; The multiple sections of the telescopic arms are nested in sequence and can be extended and retracted, and the walking guide rails are arranged on the outer walls of the multiple sections of the telescopic arms and extend and retract synchronously with the multiple sections of the telescopic arms; The folding arm device is arranged on the telescopic arm at the end, and the folding arm device can be folded and can dock with the end of the walking guide rail in the spread state and extend in the same direction; The supporting device is installed on the telescopic arm at the end, and the supporting device is used to extend and touch the bottom to form support.

2. The long arm telescopic device according to claim 1, characterized in that: The multi-section telescopic arm includes a reference arm and at least one extension arm. The first section of the extension arm and the reference arm are telescoped through a synchronous belt power module, and the adjacent extension arms are connected through a pull rope structure module so that the remaining extension arms can be telescoped synchronously with the first section of the extension arm.

3. The long arm telescopic device according to claim 2, characterized in that: It also includes an auxiliary guide member, which is installed on the telescopic arm and is slidably clamped with the adjacent inner section of the telescopic arm to guide the telescopic arm of the next level when it is extended or retracted.

4. The long arm telescopic device according to claim 1, characterized in that: The support device includes a lifting assembly and a support member. The lifting assembly is installed on the telescopic arm at the end and is used to drive the support member to descend and touch the bottom to form support.

5. The long arm telescopic device according to claim 4, characterized in that: The support member includes a mounting frame and a universal wheel. The mounting frame is connected to the lifting assembly, and the universal wheel is installed at the bottom of the mounting frame.

6. The long arm telescopic device according to claim 4, characterized in that: The lifting assembly includes a guide rail fixing plate, a lifting power source, a guide rail, a sliding member and a lower fixed seat. The guide rail fixing plate is fixed to the telescopic arm at the end. The lifting power source is fixed to the guide rail fixing plate to drive the sliding member to move. The guide rail is fixed to the guide rail fixing plate to provide vertical guidance for the sliding member. The support member is connected to the sliding member through the lower fixed seat.

7. The long arm telescopic device according to claim 4, characterized in that: The supporting device further includes an elastic buffer, and the supporting member is connected to the lifting assembly via the elastic buffer.

8. The long arm telescopic device according to claim 1, characterized in that: The folding arm device includes a rocker assembly and a spreading drive component. The spreading drive component is arranged on the telescopic arm at the end, and is used to drive the rocker assembly to swing to achieve spreading or folding. The rocker assembly can dock with the end of the walking guide rail in the spreading state and extend in the same direction.

9. The long arm telescopic device according to claim 1, characterized in that: The telescopic arm is a truss structure.

10. The long arm telescopic device according to claim 1, characterized in that: The telescopic arm, the walking guide rail and the folding arm device are made of carbon fiber material.

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