Connecting arm, bridge detection vehicle modular operation platform and application method of bridge detection vehicle modular operation platform

Abstract

The invention relates to the technical field of connecting arms, and provides a connecting arm, a bridge detection vehicle modular operation platform and an application method thereof.The connecting arm comprises a driving section, a telescopic section, a carrying section, an angle detection assembly and a posture detection assembly, and the driving section is rotationally connected with one end of the telescopic section; the carrying section is detachably connected with the other end of the telescopic section, two butt joint point positions are arranged between the carrying section and the telescopic section, the two butt joint point positions are vacant, and the two butt joint point positions are connected at the same time or in a staggered mode; the angle detection assembly is used for detecting the relative angle between the driving section and the carrier and the relative angle between the telescopic section and the driving section; the posture detection assembly is used for detecting the form of the telescopic section. The connecting arm is divided into the driving section, the telescopic section and the carrying section, so that obstacles can be crossed without folding the connecting arm during operation, and the operation efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of connecting arms, and in particular to a connecting arm, a modular operating platform of a bridge inspection vehicle and an application method thereof. Background Art

[0002] The connecting arm is a common mechanical equipment, which is widely used in lifting equipment, maintenance equipment and various types of automated processing equipment. The connecting arm is usually used for fixing at one end and for loading at the other end, thereby extending the distance. It is mostly used in engineering equipment.

[0003] The existing invention patent application with application publication number CN118359129 discloses a telescopic arm, comprising a sleeved outer arm and an inner arm, an extended hydraulic cylinder assembly, a hydraulic cylinder stroke amplification assembly and an oil pipe stroke amplification assembly.

[0004] As shown in the above technical solution, a telescopic arm is mentioned, which is a type of connecting arm. The above telescopic arm is a single-arm structure, which is the conventional structure of the existing connecting arm. Considering the working environment, the single-arm structure is sufficient to meet the application requirements of most scenarios. However, there are several obstacles in some working environments. If the connecting arm is folded to avoid obstacles and then the posture of the telescopic arm is adjusted to resume the operation, the working efficiency will be affected. Based on this, a connecting arm that can avoid obstacles is needed. Summary of the Invention

[0005] In view of this, the present invention proposes a connecting arm that can cross obstacles, thereby effectively ensuring work efficiency, a modular operating platform for a bridge inspection vehicle and its application method, so as to solve the problem that the existing connecting arm is a single-arm structure and does not have an obstacle avoidance function.

[0006] The technical solution of the present invention is achieved as follows: In one aspect, the present invention provides a connecting arm, comprising a driving section, a telescopic section, a carrying section, an angle detection component, and a posture detection component, wherein: The driving section is rotatably connected to one end of the telescopic section; The other end of the carrying section and the telescopic section are detachably connected, and there are two docking points between the carrying section and the telescopic section, with a space between the two docking points. The two docking points can be connected simultaneously or alternately. The angle detection component is used to detect the relative angle between the driving section and the carrier, as well as the relative angle between the telescopic section and the driving section; The posture detection component is used to detect the shape of the telescopic segment.

[0007] On the basis of the above technical solution, preferably, the angle detection component includes a light sensing module and a laser, wherein: Two light sensing modules are provided, one of which is fixed relative to the carrier and surrounds the rotation axis of the driving section, and the other light sensing module is provided on the driving section and surrounds the rotation axis of the telescopic section; There are three lasers, one of which is arranged on the driving section and corresponds to the light sensing module fixed relatively to the carrier, and the other two lasers are arranged on the telescopic section and both correspond to the light sensing modules on the driving section.

[0008] On the basis of the above technical solution, preferably, two posture detection components are provided on the telescopic section, and the posture detection components are bidirectional lasers, one end of the bidirectional laser corresponds to the laser provided on the telescopic section, and the other end corresponds to the telescopic part of the telescopic section; The laser on the telescopic section is provided with a laser target, and the laser target corresponds to the bidirectional laser.

[0009] On the basis of the above technical solution, preferably, the driving section includes a rotating seat, a hinge support, a first connecting section, a first hydraulic cylinder and a turntable, wherein, The rotating seat is arranged on the carrier, and a light sensing module is arranged on the rotating seat; The hinge support is arranged on the rotating seat; One end of the first connecting section is hinged to the hinge support; One end of the first hydraulic cylinder is hinged to the rotating seat, and the other end is hinged to the first connecting section; The turntable is arranged on the other end of the first connecting section, and the movable end of the turntable is connected to the telescopic section.

[0010] On the basis of the above technical solution, preferably, the telescopic section includes a first connecting seat, a second connecting section, a telescopic rod and a second hydraulic cylinder, wherein: One end of the first connecting seat is connected to the turntable, and the other end is connected to the second connecting section; Two telescopic rods are provided, one end of the telescopic rod is slidably engaged with the second connecting section, and the other end is inserted into the carrying section to form a docking point; The second hydraulic cylinder is arranged corresponding to the telescopic rod. One end of the second hydraulic cylinder is hinged to the second connecting section, and the other end is connected to the telescopic rod.

[0011] On the basis of the above technical solution, preferably, the telescopic section further includes a third hydraulic cylinder, a positioning cylinder, a support block and a fourth hydraulic cylinder, wherein, Four third hydraulic cylinders are provided on the second connecting section, and the four third hydraulic cylinders are respectively provided on both sides of the telescopic rod; There are four positioning cylinders on the carrying section, corresponding to the third hydraulic cylinder, and the movable end of the third hydraulic cylinder is inserted into the positioning cylinder; The support block is arranged on the carrying section, and a side of the support block away from the carrying section is a curved surface; The fourth hydraulic cylinder is arranged on the second connecting section, and the movable end of the fourth hydraulic cylinder abuts against the supporting block.

[0012] On the basis of the above technical solution, preferably, the carrying section includes a third connecting section, a connecting frame, a second connecting seat, a driving member, a positioning shaft and a fifth hydraulic cylinder, wherein, The third connecting section is provided with two corresponding telescopic rods, and the third connecting section is sleeved on the telescopic rod; The connecting frame is connected to the two third connecting sections; The second connecting seat is connected to the two third connecting sections and is connected to the working component; The driving member is arranged between the two third connecting segments and connected to the third connecting segments; The positioning shaft is arranged on the movable end of the driving member and is plugged into the telescopic rod and the third connecting section; One end of the fifth hydraulic cylinder is hinged to the second connecting seat, and the other end is hinged to the working component.

[0013] On the other hand, the present invention provides a modular operating platform for a bridge inspection vehicle, comprising the above-mentioned connecting arm, a movable arm, a rotating frame, a carrying platform and a sixth hydraulic cylinder, wherein: The movable arm is connected to the carrying section via a hinge support, and the movable arm and the hinge support are slidably matched; The rotating frame is rotatably connected to the movable arm; The carrying platform is hinged to the rotating frame; One end of the sixth hydraulic cylinder is hinged to the rotating frame, and the other end is hinged to the carrying platform; The driving section or the telescopic section is provided with a power module and a hydraulic station, and the carrying section or the movable arm or the rotating frame or the carrying platform is provided with a power module and a hydraulic station.

[0014] On the basis of the above technical solution, preferably, a pedestrian bridge is further included, and the pedestrian bridge includes a bridge deck, a telescopic board, an outer fence, and an inner fence, wherein: One end of the bridge deck is connected to the telescopic section, and the other end is connected to the carrying section. The bridge deck is divided into two sections, and the two sections of the bridge deck are connected by a telescopic plate, and the telescopic plates correspond to the docking points; The outer fence is set on the bridge deck, and the outer fence is provided with elastic sections corresponding to the docking points; The inner fence has a plurality of longitudinal bars and a plurality of transverse bars, and one end of the longitudinal bar is rotatably connected to the bridge deck; The cross bar is rotatably connected to the plurality of longitudinal bars, and elastic sections are also provided at corresponding docking points of the cross bar, and the elastic sections have unidirectional flexibility.

[0015] In another aspect, the present invention provides a method for applying the modular operating platform of the bridge inspection vehicle, comprising the following steps: S1. Use the driving section to adjust the posture of the connecting arm so that the connecting arm extends to the outside of the bridge; S2. Adjust the telescopic section so that one of the docking points of the telescopic section and the carrying section is separated; S3. Use the carrier to move the connecting arm until the bridge cable is between the telescopic section and the carrying section and in the empty area between the two docking points; S4. Re-docking the previously separated docking points to connect the telescopic section and the carrying section; S5. Adjust the telescopic section so that the telescopic section is separated from another docking point of the carrying section; S6. The connecting arm is driven to move again by the carrier until the connecting arm completely crosses the bridge cable; S7. Re-docking the separated docking points to achieve the connection between the telescopic section and the carrying section.

[0016] The connecting arm, the modular operating platform of the bridge inspection vehicle and the application method thereof of the present invention have the following beneficial effects compared with the prior art: (1) By setting the connecting arm into three parts, namely the driving section, the telescopic section and the carrying section, and having two docking points between the carrying section and the telescopic section, one of the connection points can be selectively disconnected, and the obstacle can be moved between the two docking points. Then, the connection points can be connected and the other connection point can be disconnected. The connecting arm can then cross the obstacle, thus having an obstacle avoidance function. This eliminates the need to retract the connecting arm during operation, effectively improving operation efficiency. At the same time, by setting an angle detection component and a posture detection component, the relative position of the driving section and the telescopic section, as well as the shape of the telescopic section, can be detected in real time, thereby avoiding structural interference problems and reliability problems, thereby ensuring performance. (2) The angle detection component includes a light sensing module and a laser, which are respectively arranged on the carrier, the driving section and the telescopic section. In this way, the relative position of the connecting arm driving section and the carrier, as well as the relative position of the telescopic section and the driving section, can be detected by relying on the detection of the laser and the light sensing module, so as to facilitate the subsequent position adjustment of the telescopic section and the carrying section to achieve obstacle avoidance; the posture detection component uses a bidirectional laser, which cooperates with the laser in the angle detection component to realize the structural detection of the telescopic section, thereby avoiding the deformation problem affecting normal use and further improving the application reliability; (3) In the telescopic section structure, the second hydraulic cylinder drives the telescopic arm to dock with the carrying section, and a third hydraulic cylinder is provided to dock with the positioning cylinder on the carrying section. In this way, when avoiding obstacles, the telescopic arm and the third hydraulic cylinder can be staggered with the carrying section, which effectively improves the application reliability and ensures the safety of use; (4) A fourth hydraulic cylinder and a support block are provided in the telescopic section structure. Before the telescopic arm and the carrying section are docked, the movable end of the fourth hydraulic cylinder can first abut against the support block to eliminate the slight deformation of the carrying section caused by its own weight, so that the telescopic arm and the carrying section can be docked and the telescopic arm can be inserted into the carrying section, thereby ensuring good docking accuracy; (5) A walking bridge is provided on the connecting arm, and the walking bridge is composed of an outer fence of a fixed structure and an inner fence of a variable structure. In this way, when the carrying platform is folded, the outer fence does not need to be deformed, but is located between the carrying platform and the movable arm. The inner fence is composed of a longitudinal rod and a transverse rod connected by rotation, and it will be folded and stored to avoid structural interference. At the same time, the bridge board for walking is composed of a telescopic board, so that the telescopic board can be stored to avoid interference. The outer fence and the inner fence are both provided with an elastic section with unidirectional flexibility, so that obstacles can pass directly and interference can be avoided, thereby ensuring the obstacle avoidance ability of the telescopic section. (6) The application method of the modular operating platform of this bridge inspection vehicle can ensure that the movable arm and the carrying platform can achieve the obstacle avoidance function in the unfolded state, which can effectively improve the working efficiency, facilitate the progress of construction work, and have good working capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a perspective view of a connecting arm of the present invention; Figure 2 An exploded view of the connecting arm of the present invention; Figure 3 is a perspective view of a driving section of a connecting arm of the present invention; Figure 4 A perspective view of the connection structure between the telescopic arm and the carrying section of the connecting arm of the present invention; Figure 5 is a perspective view of the carrying section of the connecting arm of the present invention; Figure 6 It is a front view of the telescopic section of the connecting arm of the present invention; Figure 7 A perspective view of the disassembled structure of the telescopic arm and the carrying section of the connecting arm of the present invention; Figure 8 This is a structural diagram of the connection between the third hydraulic cylinder and the positioning cylinder of the connecting arm of the present invention; Figure 9A perspective view of the modular operating platform of the bridge inspection vehicle of the present invention; Figure 10 For the present invention Figure 9 A magnified view of the structure at point A; Figure 11 This is a front view of the modular operating platform of the bridge inspection vehicle of the present invention; Figure 12 A side view of the modular operating platform of the bridge inspection vehicle of the present invention; Figure 13 A perspective view of the folded structure of the modular operating platform of the bridge inspection vehicle of the present invention; Figure 14 This is a front view of the folded structure of the modular operating platform of the bridge inspection vehicle of the present invention; In the figure: 1. driving section; 11. rotating base; 12. hinge support; 13. first connecting section; 14. first hydraulic cylinder; 15. turntable; 2. telescopic section; 21. first connecting base; 22. second connecting section; 23. telescopic rod; 24. second hydraulic cylinder; 25. third hydraulic cylinder; 26. positioning cylinder; 27. support block; 28. fourth hydraulic cylinder; 3. carrying section; 31. third connecting section; 32. connecting frame; 33. second connecting base; 34 , driving part; 35, positioning axis; 36, fifth hydraulic cylinder; 4, angle detection component; 41, light sensing module; 42, laser; 5, posture detection component; 6, movable arm; 7, rotating frame; 8, carrying platform; 9, sixth hydraulic cylinder; 10, walking bridge; 1001, bridge plate; 1002, telescopic plate; 1003, outer fence; 10031, elastic section; 1004, inner fence; 10041, longitudinal bar; 10042, cross bar. DETAILED DESCRIPTION

[0019] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] like Figures 1 to 8 As shown, the connecting arm of the present invention includes a driving section 1, a telescopic section 2, a carrying section 3, an angle detection component 4 and a posture detection component 5; The modular operating platform of the bridge inspection vehicle of the present invention includes the above-mentioned connecting arm, a movable arm 6 , a rotating frame 7 , a carrying platform 8 , a sixth hydraulic cylinder 9 and a walking bridge 10 .

[0021] like Figures 1 to 5As shown, the driving section 1 is rotatably connected to one end of the telescopic section 2; the carrying section 3 is detachably connected to the other end of the telescopic section 2, and there are two docking points between the carrying section 3 and the telescopic section 2, with a space between the two docking points. The two docking points are connected simultaneously or alternately; the angle detection component 4 is used to detect the relative angle between the driving section 1 and the carrier, and the relative angle between the telescopic section 2 and the driving section 1; the posture detection component 5 is used to detect the shape of the telescopic section 2; As in the above structure, the driving section 1 is used to adjust the positions of the telescopic section 2 and the carrying section 3, thereby sending the carrying section 3 into the working position; The telescopic section 2 and the carrying section 3 have two docking points. In the initial state, the telescopic section 2 and the carrying section 3 are connected simultaneously through the two docking points. When it is necessary to bypass an obstacle, one of the connection points is selectively disconnected first, and the telescopic arm is moved at this time so that the obstacle is in the vacant part between the two docking points. The disconnected connection point is then reconnected and repositioned, and then the other connection point is disconnected. The telescopic arm is moved again to cross the obstacle and realize the obstacle avoidance function. This makes it unnecessary to retract the connecting arm during operation, which can effectively improve the working efficiency. In order to ensure the safety and reliability of the operation, an angle detection component 4 is provided, which can monitor the relative position of the driving section 1 and the carrier in real time, and detect the position of the telescopic section 2 and the carrying section 3 relative to the driving section 1, so as to prevent the problem of structural deviation causing impact damage. At the same time, it can determine whether the shape of the telescopic section 2 is deformed, thereby ensuring the structural accuracy of the telescopic arm itself, thereby avoiding structural interference problems and reliability problems, and ensuring performance.

[0022] like Figure 1 and Figure 11 As shown, the angle detection assembly 4 includes a light sensing module 41 and a laser 42. Two light sensing modules 41 are provided, one of which is fixed relative to the carrier and surrounds the rotation axis of the driving section 1, and the other light sensing module 41 is provided on the driving section 1 and surrounds the rotation axis of the telescopic section 2. Three lasers 42 are provided, one of which is provided on the driving section 1 and corresponds to the light sensing module 41 fixed relative to the carrier, and the other two lasers 42 are provided on the telescopic section 2 and both correspond to the light sensing module 41 on the driving section 1. As in the above structure, the driving section 1 is configured as a rotatable structure to adjust the orientation of the telescopic arm, and a laser 42 is provided on the driving section 1. Accordingly, a light sensing module 41 is provided which is fixed relative to the carrier. The light sensing module 41 is configured as a ring-shaped structure. Thus, when the driving section 1 rotates, the laser light emitted by the laser 42 will illuminate different positions of the light sensing module 41, thereby determining the specific angle of the driving section 1 relative to the carrier, thereby facilitating subsequent adjustment work. The driving section 1 is also provided with a ring-shaped light sensing module 41, and the telescopic section 2 is provided with two lasers 42 that cooperate with the light sensing module 41. In the specific arrangement, the two lasers 42 each correspond to a docking point. When the telescopic section 2 rotates, the relative angle of the telescopic section 2 with respect to the driving section 1 can be detected to realize the monitoring function. Specifically, since the two lasers 42 correspond to the docking points, the position change of the light sensing module 41 on the driving section 1 can be used to detect the posture of the telescopic section 2. This ensures that the deformation of the telescopic section 2 during separation and docking of the docking points, as well as the change in its relative position with the driving section 1, are within a controllable range, thereby ensuring the stability of the application. Specifically, the light sensing module 41 adopts a laser target, or adopts a plurality of photosensitive elements, and coordinates of the photosensitive elements are encoded.

[0023] like Figure 1 As shown, two posture detection components 5 are provided on the telescopic section 2. The posture detection components 5 are bidirectional lasers. One end of the bidirectional laser corresponds to the laser 42 provided on the telescopic section 2, and the other end corresponds to the telescopic portion of the telescopic section 2. The laser 42 on the telescopic section 2 is provided with a laser target, and the laser target corresponds to the bidirectional laser. As shown in the above structure, the posture detection component 5 is used to detect the shape of the telescopic section 2. When it is deployed, the posture detection component 5 uses a bidirectional laser, one end of which corresponds to the telescopic part of the telescopic section 2, that is, the part forming the docking point. By judging the distance, it is determined whether the docking point is in the docked state or the separated state; The other end of the bidirectional laser corresponds to the laser 42 on the telescopic section 2. When specifically deployed, a laser target is set on the laser 42 to correspond to the bidirectional laser. The bidirectional laser and the laser 42 are arranged at the two ends of the telescopic section 2 relative to each other. In this way, when in use, the change in the laser point position can be used to determine whether the telescopic section 2 itself is deformed, thereby avoiding safety problems caused by deformation errors and ensuring the reliability of the application. Specifically, the bidirectional laser integrates two lasers to form bidirectional light output, and ensures the relative position stability of the two lasers through components such as a connecting frame.

[0024] like Figure 3 As shown, the driving section 1 includes a rotating base 11, a hinge support 12, a first connecting section 13, a first hydraulic cylinder 14 and a turntable 15, wherein the rotating base 11 is arranged on a carrier and a light sensing module 41 is arranged on the rotating base 11; the hinge support 12 is arranged on the rotating base 11; one end of the first connecting section 13 is hinged to the hinge support 12; one end of the first hydraulic cylinder 14 is hinged to the rotating base 11, and the other end is hinged to the first connecting section 13; the turntable 15 is arranged on the other end of the first connecting section 13, and the movable end of the turntable 15 is connected to the telescopic section 2; As shown in the above structure, the driving section 1 is used to adjust the orientation and pitch angle of the telescopic section 2 and the carrying section 3; In specific applications, the rotating base 11 is used to connect to the base or mobile carrier, and the light sensing element used to detect the specific angle of the driving section 1 relative to the carrier can be directly set on the fixed part of the rotating base 11, or can be set on the base or mobile carrier; During operation, when the movable end of the first hydraulic cylinder 14 extends, the first connecting section 13 is lifted, and the first connecting section 13 rotates about the axis of the hinge support 12, thereby achieving a pitching action; and when the rotating base 11 rotates, the overall direction of the driving section 1 can be adjusted, thereby ensuring the convenience of application; Among them, the turntable 15 is used to drive the telescopic section 2 and the carrying section 3 to rotate, thereby adjusting the posture, which is conducive to realizing the obstacle avoidance function; when the width and height of the telescopic section 2 are different, selectively rotating the telescopic section 2 is conducive to its passing through a smaller space, thereby ensuring the convenience of application.

[0025] like Figure 4 As shown, the telescopic section 2 includes a first connecting base 21, a second connecting section 22, a telescopic rod 23 and a second hydraulic cylinder 24, wherein one end of the first connecting base 21 is connected to the turntable 15, and the other end is connected to the second connecting section 22; two telescopic rods 23 are provided, one end of the telescopic rod 23 is slidably engaged with the second connecting section 22, and the other end is inserted into the carrying section 3 to form a docking point; the second hydraulic cylinder 24 is provided corresponding to the telescopic rod 23, one end of the second hydraulic cylinder 24 is hinged to the second connecting section 22, and the other end is connected to the telescopic rod 23; As in the above structure, the telescopic section 2 plays an obstacle avoidance role, and the driving section 1 and the carrying section 3 are fixed structures; Among them, when obstacle avoidance is required, one of the second hydraulic cylinders 24 drives one telescopic rod 23 to move, so that the telescopic rod 23 is separated from the carrying section 3. As the connecting arm moves as a whole, the obstacle will move to the vacant area between the two telescopic rods 23. At this time, the telescopic rod 23 is docked with the carrying section 3, and then the other telescopic rod 23 is separated from the carrying section 3. As the connecting arm moves, the obstacle is moved out, and then the carrying section 3 of the telescopic rod 23 that has been separated later can be docked, thereby realizing the obstacle avoidance function; The setting of this structure enables the connecting arm to move to avoid obstacles without leaving the work station, which can effectively improve work efficiency; Specifically, the movable end of the second hydraulic cylinder 24 is connected to the telescopic rod 23 via a connecting plate or a hinge support, and one light outlet of the posture detection component 5 corresponds to the connecting plate or the hinge support to realize the distance detection; The first connecting base 21 is used to connect the turntable 15, and the second connecting section 22 is an installation base for installing the telescopic rod 23, the second hydraulic cylinder 24 and the posture detection component 5. Specifically, the first connecting seat 21 and the second connecting section 22 are connected via a flange. When the laser target corresponding to the posture detection component 5 is arranged, the laser target is made to cross the connecting flange, so that the laser emitted by the posture detection component 5 can be detected.

[0026] like Figure 4 As shown, the telescopic section 2 further includes a third hydraulic cylinder 25, a positioning cylinder 26, a supporting block 27 and a fourth hydraulic cylinder 28, wherein four third hydraulic cylinders 25 are provided on the second connecting section 22, and the four third hydraulic cylinders 25 are respectively provided on both sides of the telescopic rod 23; four positioning cylinders 26 are provided on the carrying section 3, corresponding to the third hydraulic cylinders 25, and the movable end of the third hydraulic cylinder 25 is inserted into the positioning cylinder 26; the supporting block 27 is provided on the carrying section 3, and the side of the supporting block 27 away from the carrying section 3 is an arc surface; the fourth hydraulic cylinder 28 is provided on the second connecting section 22, and the movable end of the fourth hydraulic cylinder 28 abuts against the supporting block 27; As described above, the telescopic section 2 is further provided with a safety assembly, which is composed of a third hydraulic cylinder 25, a positioning cylinder 26, a support block 27 and a fourth hydraulic cylinder 28; In the initial state, the overall structure of the telescopic section 2 is as follows Figure 4 、 Figure 5 and Figure 6 As shown in , when obstacle avoidance is required, Figure 7 As shown, at this time, the third hydraulic cylinder 25 on one side of the telescopic rod 23 is separated from the corresponding positioning cylinder 26, and then the telescopic rod 23 is separated from the carrying section 3; then the movable end of the fourth hydraulic cylinder 28 is separated from the support block 27, thereby releasing the support and positioning of the carrying section 3, and then the connecting arm moves as a whole, so that the obstacle is placed between the telescopic rod 23 and the carrying section 3; Afterwards, Figure 8 As shown, the separated third hydraulic cylinder 25 is docked and positioned with the positioning cylinder 26 again, and then the third hydraulic cylinder 25 on the other side is separated from the positioning cylinder 26, so that the obstacle is moved to the control area between the two telescopic rods 23. At this time, the telescopic rods 23 are docked with the carrying section 3 again, and the separated third hydraulic cylinder 25 is docked with the positioning cylinder 26 again. Finally, repeat the above steps at the docking point on the other side of the connecting arm to allow the connecting arm to cross the obstacle as a whole, thereby improving work efficiency. The support block 27 is provided on the carrying section 3, and the fourth hydraulic cylinder 28 uses its movable end to support the support block 27, exerting a lifting force on the carrying section 3 to prevent the connection point from being separated for a long time and causing deformation. Specifically, the telescopic section 2 is set as short as possible to ensure the rigidity of the overall structure.

[0027] like Figure 5 As shown, the carrying section 3 includes a third connecting section 31, a connecting frame 32, a second connecting seat 33, a driving member 34, a positioning shaft 35 and a fifth hydraulic cylinder 36, wherein two third connecting sections 31 are provided corresponding to the telescopic rod 23, and the third connecting sections 31 are sleeved on the telescopic rod 23; the connecting frame 32 is connected to the two third connecting sections 31; the second connecting seat 33 is connected to the two third connecting sections 31 and connected to the working component; the driving member 34 is provided between the two third connecting sections 31 and connected to the third connecting sections 31; the positioning shaft 35 is provided on the movable end of the driving member 34 and is plugged into the telescopic rod 23 and the third connecting section 31; one end of the fifth hydraulic cylinder 36 is hinged to the second connecting seat 33, and the other end is hinged to the working component; As described above, the third connecting section 31 is used to connect the telescopic rod 23 to form a connection point; The connecting frame 32 is used to reinforce the two third connecting sections 31 to ensure structural strength. The second connecting seat 33 is used to install a working component, such as a manipulator for performing a specific task, or a working platform for manual operation; The driving member 34 and the positioning shaft 35 are used to ensure a stable connection between the telescopic rod 23 and the third connecting section 31. Specifically, when the telescopic rod 23 is to be separated from the third connecting section 31, the driving member 34 drives the telescopic rod 23 to move to one side so that the telescopic rod 23 and the third connecting section 31 to be separated are not restricted. After the telescopic rod 23 and the third connecting section 31 are connected, the positioning shaft 35 is reinserted into the telescopic rod 23 and the third connecting section 31, thereby serving as a positioning pin. Specifically, the driving member 34 may be a component that can achieve linear displacement, such as an oil cylinder; The fifth hydraulic cylinder 36 is used to connect the working component, thereby pushing the working component to move and realize position adjustment of the working component.

[0028] Specifically, the connecting arm is used in industrial robots and various lifting equipment and testing equipment, especially in small space working environments such as bridge maintenance, shipboard and offshore platforms.

[0029] The modular operating platform of the bridge inspection vehicle of the present invention comprises a movable arm 6, a rotating frame 7, a carrying platform 8, a sixth hydraulic cylinder 9 and a walking bridge 10; like Figures 9 to 11As shown, the movable arm 6 is connected to the carrying section 3 through a hinge support, and the movable arm 6 and the hinge support are slidably matched; the rotating frame 7 is rotatably connected to the movable arm 6; the carrying platform 8 is hinged to the rotating frame 7; one end of the sixth hydraulic cylinder 9 is hinged to the rotating frame 7, and the other end is hinged to the carrying platform 8; a power module and a hydraulic station are provided on the driving section 1 or the telescopic section 2, and a power module and a hydraulic station are provided on the carrying section 3, the movable arm 6, the rotating frame 7, or the carrying platform 8; As shown in the above structure, the movable arm 6 is connected to the carrying section 3 via a hinge support, and the hinge support is connected to the movable end of the fifth hydraulic cylinder 36. In this way, under the action of the fifth hydraulic cylinder 36, the movable arm 6 can be adjusted in pitch to form two states: deployed or retracted. The movable arm 6 and the hinge support are matched in a sliding manner, so that the movable arm 6 can slide and move, thereby driving the carrying platform 8 to move and adjust; Specifically, the movable arm 6 can be driven by a driving member such as a hydraulic cylinder to move, and the driving member is relatively fixed to the hinge support; The rotating frame 7 is used to connect the carrying platform 8 and the movable arm 6, so that the carrying platform 8 can be rotated by the rotating frame 7 to achieve angle adjustment; specifically, the rotating frame 7 can adopt an existing hollow rotary platform, or a rotating structure composed of a gear ring gear; Among them, the carrying platform 8 is used for carrying personnel to facilitate the maintenance of the bridge by the staff; Among them, since the connecting arm is configured as an obstacle avoidance structure, the relevant oil circuits and circuit components cannot be docked and separated. Therefore, a power module and a hydraulic station are provided on the driving section 1 or the telescopic section 2, and a power module and a hydraulic station are provided on the carrying section 3 or the movable arm 6 or the rotating frame 7 or the carrying platform 8.

[0030] In some embodiments, in specific applications, the obstacle is a bridge cable. When the bridge cables have a large inclination and are densely arranged, the turntable 15 drives the telescopic section 2 and the rear component to rotate synchronously. At this time, the telescopic section 2 will tilt, making it easier to pass through the inclined space.

[0031] like Figure 9 and Figure 10As shown, the pedestrian bridge 10 includes a bridge deck 1001, a telescopic board 1002, an outer fence 1003, and an inner fence 1004, wherein one end of the bridge deck 1001 is connected to the telescopic section 2, and the other end is connected to the carrying section 3. The bridge deck 1001 is divided into two sections, and the two sections of the bridge deck 1001 are connected by the telescopic board 1002, and the telescopic board 1002 corresponds to the docking point; the outer fence 1003 is set on the bridge deck 1001, and the outer fence 1003 is provided with an elastic section 10031 corresponding to the docking point; the inner fence 1004 has a plurality of longitudinal rods 10041 and a plurality of transverse rods 10042, one end of the longitudinal rod 10041 is rotatably connected to the bridge deck 1001; the transverse rod 10042 is rotatably connected to the plurality of longitudinal rods 10041, and the transverse rod 10042 is also provided with an elastic section 10031 corresponding to the docking point, and the elastic section 10031 has unidirectional flexibility; As described above, the footbridge 10 is used for walking, which can prevent the components on the telescopic section 2 from affecting the walking of the staff, thereby ensuring safety. The bridge deck 1001 of the pedestrian bridge 10 is a walking surface for people to walk on, while the outer fence 1003 and the inner fence 1004 play a role in safety protection. In order to avoid interference, the bridge deck 1001 is set into two sections and covered by telescopic plates 1002 at the corresponding connection points. When people walk, the two telescopic plates 1002 are connected. When obstacle avoidance is required, the two telescopic plates 1002 are relatively separated to avoid interference. Specifically, the telescopic plate 1002 can also be connected to the bridge plate 1001 by a hinge to facilitate folding; Among them, the outer fence 1003 is a fixed structure, and the inner fence 1004 is a variable structure. In this way, when the carrying platform is folded, the outer fence 1003 does not need to be deformed, but is located between the carrying platform 8 and the movable arm 6. The inner fence 1004 is composed of a longitudinal rod 10041 and a transverse rod 10042 connected by rotation. It can be folded and stored, has a good folding effect, and can avoid interference problems when the movable arm 6 is laid flat; Specifically, the inner fence 1004 can be driven by components such as a hydraulic cylinder and an electric push rod. Both the outer fence 1003 and the inner fence 1004 are provided with elastic sections 10031 having unidirectional flexibility, which correspond to the docking points. This allows obstacles to directly push open the elastic sections 10031 and pass through, and also avoids interference, thereby ensuring the obstacle avoidance capability of the telescopic section 2. Specifically, the unidirectional flexibility of the elastic section 10031 means that it can only bend in one direction. In this way, when it contacts an obstacle, the obstacle can push the two elastic sections 10031 apart, thereby allowing it to pass through. Specifically, it can adopt a drag chain-like structure to achieve the unidirectional bending function. There are many such structures and they will not be described in detail. In some embodiments, only the outer fence 1003 and the inner fence 1004 of the two-section structure are set, and the position where the elastic section 10031 is arranged is left vacant. At this time, good operating standards must be ensured to avoid falling while walking and ensure operational safety.

[0032] The application method of the modular operating platform of the bridge inspection vehicle of the present invention comprises the following steps: S1: Use driving section 1 to adjust the posture of the connecting arm so that the connecting arm extends to the outside of the bridge; S2. Adjust the telescopic section 2 so that one of the docking points of the telescopic section 2 and the carrying section 3 is separated; S3. Use the carrier to drive the connecting arm to move until the bridge cable is between the telescopic section 2 and the carrying section 3, and is located in the empty area between the two docking points; S4, re-docking the previously separated docking points to connect the telescopic section 2 and the carrying section 3; S5. Adjust the telescopic section 2 so that the other docking point of the telescopic section 2 and the carrying section 3 is separated; S6. The connecting arm is driven to move again by the carrier until the connecting arm completely crosses the bridge cable; S7, re-docking the separated docking points to achieve the connection between the telescopic section 2 and the carrying section 3.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A connecting arm, characterized in that: It comprises a driving section (1), a telescopic section (2), a carrying section (3), an angle detection component (4) and a posture detection component (5), wherein: The driving section (1) is rotatably connected to one end of the telescopic section (2); The carrying section (3) is detachably connected to the other end of the telescopic section (2), and there are two docking points between the carrying section (3) and the telescopic section (2), with a space between the two docking points. The two docking points are connected simultaneously or alternately. The angle detection component (4) is used to detect the relative angle between the driving section (1) and the carrier, and the relative angle between the telescopic section (2) and the driving section (1); The posture detection component (5) is used to detect the shape of the telescopic section (2).

2. The connecting arm according to claim 1, wherein: The angle detection component (4) includes a light sensing module (41) and a laser (42), wherein: Two light sensing modules (41) are provided, one of the light sensing modules (41) is fixed relative to the carrier and surrounds the rotation axis of the driving section (1), and the other light sensing module (41) is provided on the driving section (1) and surrounds the rotation axis of the telescopic section (2); Three lasers (42) are provided, one of which is provided on the driving section (1) and corresponds to the light sensing module (41) fixed relative to the carrier, and the other two lasers (42) are provided on the telescopic section (2) and both correspond to the light sensing module (41) on the driving section (1).

3. The connecting arm according to claim 2, wherein: Two posture detection components (5) are provided on the telescopic section (2). The posture detection components (5) are bidirectional lasers, one end of the bidirectional laser corresponds to the laser (42) provided on the telescopic section (2), and the other end corresponds to the telescopic portion of the telescopic section (2); The laser (42) on the telescopic section (2) is provided with a laser target, and the laser target corresponds to the bidirectional laser.

4. The connecting arm according to claim 3, wherein: The driving section (1) comprises a rotating seat (11), a hinge support (12), a first connecting section (13), a first hydraulic cylinder (14) and a turntable (15), wherein: The rotating seat (11) is arranged on the carrier, and the light sensing module (41) is arranged on the rotating seat (11); The hinge support (12) is arranged on the rotating seat (11); One end of the first connecting section (13) is hinged to the hinge support (12); One end of the first hydraulic cylinder (14) is hinged to the rotating seat (11), and the other end is hinged to the first connecting section (13); The turntable (15) is arranged on the other end of the first connecting section (13), and the movable end of the turntable (15) is connected to the telescopic section (2).

5. The connecting arm according to claim 4, wherein: The telescopic section (2) comprises a first connecting seat (21), a second connecting section (22), a telescopic rod (23) and a second hydraulic cylinder (24), wherein: One end of the first connecting seat (21) is connected to the turntable (15), and the other end is connected to the second connecting section (22); Two telescopic rods (23) are provided, one end of the telescopic rod (23) is slidably engaged with the second connecting section (22), and the other end is inserted into the carrying section (3) to form the docking point; The second hydraulic cylinder (24) is arranged corresponding to the telescopic rod (23), one end of the second hydraulic cylinder (24) is hinged to the second connecting section (22), and the other end is connected to the telescopic rod (23).

6. The connecting arm according to claim 5, wherein: The telescopic section (2) further comprises a third hydraulic cylinder (25), a positioning cylinder (26), a support block (27) and a fourth hydraulic cylinder (28), wherein: Four third hydraulic cylinders (25) are provided on the second connecting section (22), and the four third hydraulic cylinders (25) are respectively provided on both sides of the telescopic rod (23); Four positioning cylinders (26) are provided on the carrying section (3) and correspond to the third hydraulic cylinders (25), and the movable ends of the third hydraulic cylinders (25) are inserted into the positioning cylinders (26); The support block (27) is arranged on the carrying section (3), and a surface of the support block (27) away from the carrying section (3) is an arc surface; The fourth hydraulic cylinder (28) is arranged on the second connecting section (22), and the movable end of the fourth hydraulic cylinder (28) abuts against the supporting block (27).

7. The connecting arm according to claim 5, wherein: The carrying section (3) includes a third connecting section (31), a connecting frame (32), a second connecting seat (33), a driving member (34), a positioning shaft (35) and a fifth hydraulic cylinder (36), wherein: Two third connecting sections (31) are provided corresponding to the telescopic rods (23), and the third connecting sections (31) are sleeved on the telescopic rods (23); The connecting frame (32) is connected to the two third connecting sections (31); The second connecting seat (33) is connected to the two third connecting sections (31) and is connected to the working component; The driving member (34) is arranged between the two third connecting segments (31) and is connected to the third connecting segments (31); The positioning shaft (35) is arranged on the movable end of the driving member (34) and is plugged into the telescopic rod (23) and the third connecting section (31); One end of the fifth hydraulic cylinder (36) is hinged to the second connecting seat (33), and the other end is hinged to the working component.

8. A modular operating platform for a bridge inspection vehicle, comprising the connecting arm according to any one of claims 1 to 6, characterized in that: It also includes a movable arm (6), a rotating frame (7), a carrying platform (8) and a sixth hydraulic cylinder (9), wherein: The movable arm (6) is connected to the carrying section (3) via a hinge support, and the movable arm (6) is in sliding cooperation with the hinge support; The rotating frame (7) is rotatably connected to the movable arm (6); The carrying platform (8) is hinged to the rotating frame (7); One end of the sixth hydraulic cylinder (9) is hinged to the rotating frame (7), and the other end is hinged to the carrying platform (8); The driving section (1) or the telescopic section (2) is provided with a power module and a hydraulic station, and the carrying section (3) or the movable arm (6) or the rotating frame (7) or the carrying platform (8) is provided with a power module and a hydraulic station.

9. The modular operating platform for a bridge inspection vehicle according to claim 8, characterized in that: It also includes a pedestrian bridge (10), the pedestrian bridge (10) including a bridge plate (1001), a telescopic plate (1002), an outer fence (1003), and an inner fence (1004), wherein: One end of the bridge plate (1001) is connected to the telescopic section (2), and the other end is connected to the carrying section (3). The bridge plate (1001) is divided into two sections. The two sections of the bridge plate (1001) are connected via the telescopic plate (1002), and the telescopic plate (1002) corresponds to the docking point. The outer fence (1003) is provided on the bridge deck (1001), and the outer fence (1003) is provided with an elastic section (10031) corresponding to the docking point; The inner fence (1004) has a plurality of longitudinal rods (10041) and a plurality of transverse rods (10042), and one end of the longitudinal rod (10041) is rotatably connected to the bridge plate (1001); The crossbar (10042) is rotatably connected to the plurality of longitudinal bars (10041), and the crossbar (10042) is also provided with an elastic section (10031) corresponding to the docking point, and the elastic section (10031) has unidirectional flexibility.

10. A method for applying the modular operating platform of a bridge inspection vehicle according to claim 9, characterized in that: The following steps are involved: S1, adjusting the posture of the connecting arm with the driving section (1) so that the connecting arm extends to the outside of the bridge; S2, adjusting the telescopic section (2) so that the telescopic section (2) and one of the docking points of the carrying section (3) are separated; S3, driving the connecting arm to move by means of a carrier until the bridge cable is located between the telescopic section (2) and the carrying section (3), and in an empty area between the two docking points; S4, re-docking the previously separated docking points to achieve the connection between the telescopic section (2) and the carrying section (3); S5, adjusting the telescopic section (2) so that the telescopic section (2) is separated from the other docking point of the carrying section (3); S6. The connecting arm is driven to move again by the carrier until the connecting arm completely crosses the bridge cable; S7, re-docking the docking points that were separated later, so as to realize the connection between the telescopic section (2) and the carrying section (3).

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