A connecting arm, bridge detection vehicle modular operation platform and application method thereof

Abstract

The application relates to the technical field of connecting arms, and discloses a connecting arm, a bridge detection vehicle modular operation platform and an application method thereof, which comprise a driving section, an extension section, a carrying section, an angle detection assembly and a posture detection assembly, wherein the driving section is rotationally connected with one end of the extension section; the carrying section is detachably connected with the other end of the extension section, and the carrying section and the extension section have two butt joint positions therebetween, the two butt joint positions are left empty, and the two butt joint positions are simultaneously connected or staggeredly connected; the angle detection assembly is used for detecting the relative angle between the driving section and a carrier and the relative angle between the extension section and the driving section; and the posture detection assembly is used for detecting the shape of the extension section. The connecting arm is arranged as the driving section, the extension section and the carrying section, 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 application relates to the technical field of connecting arms, in particular to a connecting arm, a bridge detection vehicle modular operation platform and an application method thereof. BACKGROUND

[0002] The connecting arm is a common mechanical device, which is widely used in hoisting equipment, maintenance equipment and various automatic processing equipment. The connecting arm is usually fixed at one end for use, and the other end is used for load use to extend the distance, which is often used in engineering equipment.

[0003] The existing patent application with the application publication number CN118359129 discloses a telescopic arm, which comprises a sleeve-connected outer arm and inner arm, an expansion hydraulic cylinder assembly, a hydraulic cylinder stroke amplification assembly and an oil pipe stroke amplification assembly.

[0004] As the above technical solution, it refers to a telescopic arm, which is one of the connecting arms. The telescopic arm is a single-arm structure, which is a conventional structure of the existing connecting arm. Considering the working environment, the single-arm structure can meet the application requirements of most scenes, but there are some obstacles in some working environments. If the connecting arm is retracted to avoid obstacles and then the posture of the telescopic arm is adjusted for rework, the work efficiency will be affected. Therefore, a connecting arm capable of avoiding obstacles is needed. SUMMARY

[0005] Therefore, the present application provides a connecting arm, a bridge detection vehicle modular operation platform and an application method thereof, which can cross obstacles to effectively ensure work efficiency, 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 application is as follows:

[0007] On the one hand, the present application provides a connecting arm, which comprises a driving section, a telescopic section, a carrying section, an angle detection assembly and a posture detection assembly, wherein,

[0008] The driving section is rotatably connected to one end of the telescopic section;

[0009] The carrying section is detachably connected to the other end of the telescopic section, and the carrying section and the telescopic section have two docking points between them. The two docking points are empty, and the two docking points are connected simultaneously or staggered.

[0010] The angle detection assembly is used to detect the relative angle between the driving section and the carrier, and the relative angle between the telescopic section and the driving section;

[0011] The posture detection assembly is used to detect the form of the telescopic section.

[0012] On the basis of the above technical scheme, preferably, the angle detection assembly comprises a light sensing module and a laser, wherein,

[0013] The light sensing module is provided with two, one of which is fixed relative to the carrier and surrounds the rotation axis of the driving section, and the other is provided on the driving section and surrounds the rotation axis of the telescopic section;

[0014] The laser is provided with three, one of which is provided on the driving section and corresponds to the light sensing module fixed relative to the carrier, and the other two are provided on the telescopic section and correspond to the light sensing module on the driving section.

[0015] On the basis of the above technical scheme, preferably, the attitude detection assembly is provided with two on the telescopic section, and the attitude detection assembly is a bidirectional laser, one end of the bidirectional laser corresponding to the laser provided on the telescopic section, and the other end corresponding to the telescopic part of the telescopic section;

[0016] The laser on the telescopic section is provided with a laser target, and the laser target corresponds to the bidirectional laser.

[0017] On the basis of the above technical scheme, preferably, the driving section comprises a rotating seat, a hinged support, a first connecting section, a first hydraulic cylinder and a rotary table, wherein,

[0018] The rotating seat is provided on the carrier, and the rotating seat is provided with a light sensing module;

[0019] The hinged support is provided on the rotating seat;

[0020] One end of the first connecting section is hinged to the hinged support;

[0021] One end of the first hydraulic cylinder is hinged to the rotating seat, and the other end is hinged to the first connecting section;

[0022] The rotary table is provided on the other end of the first connecting section, and the movable end of the rotary table is connected to the telescopic section.

[0023] On the basis of the above technical scheme, preferably, the telescopic section comprises a first connecting seat, a second connecting section, a telescopic rod and a second hydraulic cylinder, wherein,

[0024] One end of the first connecting seat is connected to the rotary table, and the other end is connected to the second connecting section;

[0025] The telescopic rod is provided with two, one end of the telescopic rod is slidingly matched with the second connecting section, and the other end is inserted into the mounting section to form a butt joint point;

[0026] The second hydraulic cylinder is provided 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.

[0027] On the basis of the above technical scheme, preferably, the telescopic section further comprises a third hydraulic cylinder, a positioning cylinder, a supporting block and a fourth hydraulic cylinder, wherein,

[0028] The third hydraulic cylinder is provided with four on the second connecting section, and the four third hydraulic cylinders are arranged on both sides of the telescopic rod;

[0029] The positioning cylinder is provided with four on the mounting section, and corresponds to the third hydraulic cylinder, and the movable end of the third hydraulic cylinder is inserted into the positioning cylinder;

[0030] The supporting block is arranged on the mounting section, and the side of the supporting block away from the mounting section is an arc surface;

[0031] 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.

[0032] On the basis of the above technical scheme, preferably, the mounting section comprises a third connecting section, a connecting frame, a second connecting seat, a driving piece, a positioning shaft and a fifth hydraulic cylinder, wherein,

[0033] The third connecting section is provided with two corresponding to the telescopic rod, and the third connecting section is sleeved with the telescopic rod;

[0034] The connecting frame is connected with the two third connecting sections;

[0035] The second connecting seat is connected with the two third connecting sections, and connects the working part;

[0036] The driving piece is arranged between the two third connecting sections, and is connected with the third connecting section;

[0037] The positioning shaft is arranged on the movable end of the driving piece, and is inserted with the telescopic rod and the third connecting section;

[0038] One end of the fifth hydraulic cylinder is hinged with the second connecting seat, and the other end is hinged with the working part.

[0039] On the other hand, the present application provides a bridge detection vehicle modular operation platform, comprising the connecting arm, further comprising a movable arm, a rotating frame, a mounting platform and a sixth hydraulic cylinder, wherein,

[0040] The movable arm is connected with the mounting section through the hinge support, and the movable arm is in sliding fit with the hinge support;

[0041] The rotating frame is rotationally connected with the movable arm;

[0042] The mounting platform is hinged with the rotating frame;

[0043] One end of the sixth hydraulic cylinder is hinged with the rotating frame, and the other end is hinged with the mounting platform;

[0044] The power module and the hydraulic station are arranged on the driving section or the telescopic section, and the power module and the hydraulic station are arranged on the mounting section or the movable arm or the rotating frame or the mounting platform.

[0045] On the basis of the above technical scheme, preferably, the bridge further comprises a bridge deck, a telescopic plate, an outer fence and an inner fence, wherein,

[0046] One end of the bridge deck is connected with the telescopic section, and the other end is connected with the mounting section, the bridge deck is two sections, the two sections of the bridge deck are connected through the telescopic plate, and the telescopic plate corresponds to the abutment point;

[0047] The outer fence is arranged on the bridge deck, and the outer fence corresponds to the abutment point and is provided with an elastic section;

[0048] The inner fence has a plurality of longitudinal rods and a plurality of transverse rods, one end of the longitudinal rod is rotatably connected with the bridge deck;

[0049] The transverse rod is rotatably connected with the plurality of longitudinal rods, and the transverse rod also corresponds to the abutment point and is provided with an elastic section, and the elastic section has one-way flexibility.

[0050] In still another aspect, the application provides an application method of the bridge detection vehicle modular operation platform, comprising the following steps:

[0051] S1, adjusting the posture of the connecting arm by the driving section, so that the connecting arm extends to the outside of the bridge;

[0052] S2, adjusting the telescopic section, so that the telescopic section is separated from one abutment point of the mounting section;

[0053] S3, moving the connecting arm by the carrier until the bridge cable is located between the telescopic section and the mounting section and in the empty area between the two abutment points;

[0054] S4, re-abutting the previously separated abutment points to realize the connection between the telescopic section and the mounting section;

[0055] S5, adjusting the telescopic section, so that the telescopic section is separated from the other abutment point of the mounting section;

[0056] S6, moving the connecting arm by the carrier again until the connecting arm completely crosses the bridge cable;

[0057] S7, re-abutting the abutment points separated later to realize the connection between the telescopic section and the mounting section.

[0058] The connecting arm, the bridge detection vehicle modular operation platform and the application method thereof have the following beneficial effects:

[0059] (1) By setting the connecting arm as three parts of driving section, telescopic section and carrying section, and having two butt joint positions between the carrying section and the telescopic section, one of the connecting positions can be selectively disconnected, and the obstacle is moved between the two butt joint positions, then the connecting position is connected and the other connecting position is disconnected, so the connecting arm can cross the obstacle, thereby having the obstacle avoidance function, which does not need to fold the connecting arm during operation, and can effectively improve the operation efficiency; meanwhile, by setting the angle detection assembly and the posture detection assembly, the relative position of the driving section and the telescopic section and the form of the telescopic section can be detected in real time, so that the structural interference problem and the reliability problem can be avoided, to ensure the use performance;

[0060] (2) The angle detection assembly includes a light sensing module and a laser, and is arranged on the carrier, the driving section and the telescopic section respectively, so that the relative position of the connecting arm driving section and the carrier and the relative position of the telescopic section and the driving section can be detected by the detection of the laser and the light sensing module, which is convenient for subsequent position adjustment of the telescopic section and the carrying section to realize obstacle avoidance; the posture detection assembly adopts a bidirectional laser, which cooperates with the laser in the angle detection assembly, so that the structure detection of the telescopic section can be realized, thereby avoiding the deformation problem affecting normal use, and further improving the application reliability;

[0061] (3) In the telescopic section structure, the telescopic arm and the carrying section are connected by the second hydraulic cylinder, and the third hydraulic cylinder is arranged to connect with the positioning cylinder on the carrying section, so that the telescopic arm and the third hydraulic cylinder can be staggered with the carrying section during obstacle avoidance, which effectively improves the application reliability and ensures the use safety;

[0062] (4) In the telescopic section structure, the fourth hydraulic cylinder and the supporting block are arranged, so that before the telescopic arm and the carrying section are connected, the movable end of the fourth hydraulic cylinder can first abut against the supporting block to eliminate the slight deformation of the carrying section due to its own weight, so that the telescopic arm and the carrying section are connected, and the telescopic arm can be inserted into the carrying section, so as to ensure good connection precision;

[0063] (5) The connecting arm is provided with a bridge, and the bridge is composed of a fixed structure of outer fence and a variable structure of inner fence, so that 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, and the inner fence is folded and stored by adopting the rotating connection of longitudinal rods and transverse rods, so as to avoid structural interference; meanwhile, the bridge plate for walking is composed of telescopic plates, so that the telescopic plates can be stored to avoid interference, and the outer fence and the inner fence are both provided with elastic sections with one-way flexibility, so that the obstacle can pass directly and interference can be avoided, thereby ensuring the obstacle avoidance ability of the telescopic section;

[0064] (6) The modular operation platform application method of the bridge detection vehicle can ensure that the movable arm and the carrying platform realize the obstacle avoidance function in the unfolded state, thereby effectively improving the operation efficiency and facilitating the construction work, and has good operation ability. BRIEF DESCRIPTION OF DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, below the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0066] Figure 1 It is a perspective view of the connecting arm of the present application;

[0067] Figure 2 It is an exploded view of the connecting arm of the present application;

[0068] Figure 3 It is a perspective view of the driving section of the connecting arm of the present application;

[0069] Figure 4 It is a perspective view of the telescopic arm and the carrying section connection structure of the connecting arm of the present application;

[0070] Figure 5 It is a perspective view of the carrying section of the connecting arm of the present application;

[0071] Figure 6 It is a front view of the telescopic section of the connecting arm of the present application;

[0072] Figure 7 It is a perspective view of the telescopic arm and the carrying section split structure of the connecting arm of the present application;

[0073] Figure 8 It is a connection structure diagram of the third hydraulic cylinder and the positioning cylinder of the connecting arm of the present application;

[0074] Figure 9 It is a perspective view of the bridge detection vehicle modular operation platform of the present application;

[0075] Figure 10 It is a perspective view of the Figure 9 A point structure of the present application is enlarged;

[0076] Figure 11 It is a front view of the bridge detection vehicle modular operation platform of the present application;

[0077] Figure 12 It is a side view of the bridge detection vehicle modular operation platform of the present application;

[0078] Figure 13This is a perspective view of the folded structure of the modular operating platform for the bridge inspection vehicle of the present invention.

[0079] Figure 14 This is a front view of the folded structure of the modular operating platform for the bridge inspection vehicle of the present invention;

[0080] In the diagram: 1. Drive section; 11. Rotary seat; 12. Hinge support; 13. First connecting section; 14. First hydraulic cylinder; 15. Rotary table; 2. Telescopic section; 21. First connecting seat; 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. Mounting section; 31. Third connecting section; 32. Connecting frame; 33. Second connecting seat; 34. 1. Drive component; 35. Positioning shaft; 36. Fifth hydraulic cylinder; 4. Angle detection component; 41. Light sensing module; 42. Laser; 5. Attitude detection component; 6. Movable arm; 7. Rotating frame; 8. Mounting platform; 9. Sixth hydraulic cylinder; 10. Traveling bridge; 1001. Bridge plate; 1002. Telescopic plate; 1003. Outer fence; 10031. Elastic section; 1004. Inner fence; 10041. Longitudinal bar; 10042. Crossbar. Detailed Implementation

[0081] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0082] like Figures 1-8 As shown, the connecting arm of the present invention includes a driving section 1, a telescopic section 2, a mounting section 3, an angle detection component 4, and an attitude detection component 5;

[0083] The modular operating platform for the bridge inspection vehicle of the present invention includes the aforementioned connecting arm, as well as a movable arm 6, a rotating frame 7, a mounting platform 8, a sixth hydraulic cylinder 9, and a traveling bridge 10.

[0084] like Figures 1-5 As shown, the drive section 1 is rotatably connected to one end of the telescopic section 2; the mounting section 3 is detachably connected to the other end of the telescopic section 2, and there are two docking points between the mounting section 3 and the telescopic section 2, with the space between the two docking points being empty. The two docking points can be connected simultaneously or staggered; the angle detection component 4 is used to detect the relative angle between the drive section 1 and the carrier, as well as the relative angle between the telescopic section 2 and the drive section 1; the attitude detection component 5 is used to detect the shape of the telescopic section 2.

[0085] As the above structure, the driving section 1 is used for adjusting the positions of the telescopic section 2 and the carrying section 3, so as to send the carrying section 3 into the working position;

[0086] Wherein, the telescopic section 2 and the carrying section 3 have two docking point positions, in the initial state, the telescopic section 2 and the carrying section 3 are connected through the two docking point positions at the same time, and when it is needed to bypass the obstacle, one of the connection point positions is selectively disconnected, at this time, the telescopic arm is moved so that the obstacle is in the empty part between the two docking point positions, and then the disconnected connection point position is reconnected and positioned, and then the other connection point position is disconnected, and the telescopic arm is moved again, so that the obstacle can be crossed, and the obstacle avoidance function is realized, which makes the telescopic arm not need to be retracted when working, and the working efficiency can be effectively improved;

[0087] In order to ensure the safety and reliability of the work, the angle detection assembly 4 is arranged, 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 collision damage caused by structural deviation, and determine whether the telescopic section 2 is deformed, so as to ensure the structural precision of the telescopic arm itself, so as to avoid the problems of structural interference and reliability, and ensure the use performance.

[0088] As shown in Figure 1 and Figure 11 , the angle detection assembly 4 includes a light sensing module 41 and a laser 42, wherein the light sensing module 41 is provided with two, one of which is fixed relative to the carrier and surrounds the rotation axis of the driving section 1, and the other is arranged on the driving section 1 and surrounds the rotation axis of the telescopic section 2; the laser 42 is provided with three, one of which is arranged on the driving section 1 and corresponds to the light sensing module 41 fixed relative to the carrier, and the other two are arranged on the telescopic section 2 and correspond to the light sensing module 41 on the driving section 1;

[0089] As the above structure, the driving section 1 is arranged as a rotatable structure to adjust the orientation of the telescopic arm, and the driving section 1 is provided with a laser 42, and correspondingly, a light sensing module 41 fixed relative to the carrier is arranged, and the light sensing module 41 is arranged in an annular shape, so that when the driving section 1 rotates, the laser emitted by the laser 42 will irradiate different positions of the light sensing module 41, so as to determine the specific angle of the driving section 1 relative to the carrier, and facilitate the subsequent adjustment work;

[0090] Wherein, the driving section 1 is also provided with an annular light sensing module 41, and the telescopic section 2 is provided with two lasers 42 matched with the light sensing module 41, and when arranged, the two lasers 42 each correspond to one docking point position, which can detect the relative angle of the telescopic section 2 relative to the driving section 1 when the telescopic section 2 rotates, and realize the monitoring function.

[0091] Specifically, since the two lasers 42 correspond to the docking point, the position change of the light sensing module 41 on the driving section 1 can be irradiated by the two lasers 42, so as to realize the posture detection of the telescopic section 2, ensure that the relative position change of the telescopic section 2 and the driving section 1 is within a controllable range when the docking point is separated and docked, and thus the stability of the application is ensured.

[0092] Specifically, the light sensing module 41 adopts a laser target or a plurality of light sensitive elements, and the light sensitive elements are coordinate coded.

[0093] As shown in the above structure, the posture detection assembly 5 is used for the form detection of the telescopic section 2, and when it is laid out, the posture detection assembly 5 selects a bidirectional laser, one end of which corresponds to the telescopic part of the telescopic section 2, i.e. the part forming the docking point, and the docking point is determined to be in a docking state or a separated state by judging the distance. Figure 1 As shown in the above structure, the posture detection assembly 5 is used for the form detection of the telescopic section 2, and when it is laid out, the posture detection assembly 5 selects a bidirectional laser, one end of which corresponds to the telescopic part of the telescopic section 2, i.e. the part forming the docking point, and the docking point is determined to be in a docking state or a separated state by judging the distance.

[0094] The other end of the bidirectional laser corresponds to the laser 42 on the telescopic section 2, and when it is specifically laid out, the laser 42 is provided with a laser target to correspond to the bidirectional laser. The bidirectional laser and the laser 42 are relatively laid out at the two ends of the telescopic section 2, so that when it is applied, the change of the laser point can be used to judge whether the telescopic section 2 is deformed or not, so as to avoid safety problems caused by deformation errors, and thus the reliability of the application is ensured.

[0095] Specifically, the bidirectional laser is integrated by two lasers to form bidirectional light emission, and the relative position of the two lasers is ensured to be stable by connecting frames and other components.

[0096] As shown in the above structure, the driving section 1 includes a rotating seat 11, a hinged support 12, a first connecting section 13, a first hydraulic cylinder 14 and a rotary table 15. The rotating seat 11 is arranged on a carrier, and the light sensing module 41 is arranged on the rotating seat 11. The hinged support 12 is arranged on the rotating seat 11. One end of the first connecting section 13 is hinged to the hinged 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 rotary table 15 is arranged on the other end of the first connecting section 13, and the movable end of the rotary table 15 is connected to the telescopic section 2.

[0097] Figure 3 As shown in the above structure, the driving section 1 includes a rotating seat 11, a hinged support 12, a first connecting section 13, a first hydraulic cylinder 14 and a rotary table 15. The rotating seat 11 is arranged on a carrier, and the light sensing module 41 is arranged on the rotating seat 11. The hinged support 12 is arranged on the rotating seat 11. One end of the first connecting section 13 is hinged to the hinged 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 rotary table 15 is arranged on the other end of the first connecting section 13, and the movable end of the rotary table 15 is connected to the telescopic section 2.

[0098] ​As described above, the drive section 1 is used to adjust the orientation and pitch angle of the telescopic section 2 and the mounting section 3;

[0099] In practical applications, the rotating base 11 is used to connect to the base or a mobile carrier. The photosensitive element used to detect the specific angle of the drive section 1 relative to the carrier can be directly set on the fixed part of the rotating base 11 or on the base or mobile carrier.

[0100] When the first hydraulic cylinder 14 extends, it can lift the first connecting section 13. The first connecting section 13 rotates around the pivot point of the hinge support 12, thereby realizing the pitching action. When the rotating seat 11 rotates, the overall orientation of the drive section 1 can be adjusted, thereby ensuring the convenience of application.

[0101] The rotary table 15 is used to drive the telescopic section 2 and the carrying section 3 to rotate, thereby adjusting their posture and facilitating obstacle avoidance. When the width and height of the telescopic section 2 are different, selectively rotating the telescopic section 2 helps it pass through smaller spaces, thus ensuring the convenience of application.

[0102] like Figure 4 As shown, the telescopic section 2 includes a first connecting seat 21, a second connecting section 22, a telescopic rod 23, and a second hydraulic cylinder 24. One end of the first connecting seat 21 is connected to the rotary table 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 mounting 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.

[0103] As described above, the telescopic section 2 serves as an obstacle avoidance mechanism, while the drive section 1 and the mounting section 3 are fixed structures.

[0104] When obstacle avoidance is required, one of the second hydraulic cylinders 24 drives a telescopic rod 23 to move, causing the telescopic rod 23 to separate from the mounting section 3. As the connecting arm moves as a whole, the obstacle will move to the empty area between the two telescopic rods 23. At this time, the telescopic rod 23 is then docked with the mounting section 3. Then, the other telescopic rod 23 is separated from the mounting section 3. As the connecting arm moves, the obstacle moves out. Then, the telescopic rod 23 that was separated later is docked with the mounting section 3. This achieves the obstacle avoidance function.

[0105] This structure allows the connecting arm to move without leaving the workstation, effectively improving work efficiency.

[0106] Specifically, the movable end of the second hydraulic cylinder 24 is connected to the telescopic rod 23 through a connecting plate or a hinge support, and one light outlet of the attitude detection assembly 5 corresponds to the connecting plate or the hinge support to realize distance detection.

[0107] The first connecting seat 21 is used for connection of the rotary table 15, and the second connecting section 22 is a mounting base used for mounting the telescopic rod 23, the second hydraulic cylinder 24 and the attitude detection assembly 5.

[0108] Specifically, the first connecting seat 21 and the second connecting section 22 are connected through flanges, and when the laser target corresponding to the attitude detection assembly 5 is arranged, the laser target crosses the connecting flanges, so that the laser emitted by the attitude detection assembly 5 can be detected.

[0109] As shown in Figure 4 , the telescopic section 2 further includes a third hydraulic cylinder 25, a positioning cylinder 26, a block 27 and a fourth hydraulic cylinder 28. The third hydraulic cylinder 25 is provided with four on the second connecting section 22, and the four third hydraulic cylinders 25 are arranged on both sides of the telescopic rod 23. The positioning cylinder 26 is provided with four on the mounting section 3 and corresponds to the third hydraulic cylinder 25, and the movable end of the third hydraulic cylinder 25 is inserted into the positioning cylinder 26. The block 27 is arranged on the mounting section 3, and the side of the block 27 away from the mounting 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 block 27.

[0110] As described above, further, the telescopic section 2 is further provided with a safety guarantee assembly, which is composed of the third hydraulic cylinder 25, the positioning cylinder 26, the block 27 and the fourth hydraulic cylinder 28.

[0111] In the initial state, the overall structure of the telescopic section 2 is as shown in Figure 4 , Figure 5 and Figure 6 . When it is necessary to avoid obstacles, 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 mounting section 3, as shown in Figure 7 . Subsequently, the movable end of the fourth hydraulic cylinder 28 is separated from the block 27, so that the abutting positioning of the mounting section 3 is released, and then the whole connecting arm moves, so that the obstacle is located between the telescopic rod 23 and the mounting section 3.

[0112] Subsequently, as shown in Figure 8 , the separated third hydraulic cylinder 25 is repositioned with the positioning cylinder 26, and then the third hydraulic cylinder 25 on the other side is separated from the positioning cylinder 26, so that the obstacle moves to the control area between the two telescopic rods 23. At this time, the telescopic rod 23 is repositioned with the mounting section 3, and the separated third hydraulic cylinder 25 is repositioned with the positioning cylinder 26.

[0113] The docking point on the other side of the connecting arm is repeated to make the connecting arm cross the obstacle, thereby improving work efficiency;

[0114] The fourth hydraulic cylinder 28 is arranged to bear the supporting block 27 through the movable end to apply a lifting force to the mounting section 3, so that the connecting point is not deformed for a long time.

[0115] Specifically, the telescopic section 2 is as short as possible to ensure the rigidity of the overall structure.

[0116] As shown in Figure 5 The mounting 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. The third connecting section 31 is provided with two third connecting sections 31 corresponding to the telescopic rod 23, and the third connecting section 31 is sleeved with the telescopic rod 23. The connecting frame 32 is connected with the two third connecting sections 31. The second connecting seat 33 is connected with the two third connecting sections 31 and connects the working component. The driving member 34 is arranged between the two third connecting sections 31 and connected with the third connecting section 31. The positioning shaft 35 is arranged on the movable end of the driving member 34 and is inserted with the telescopic rod 23 and the third connecting section 31. One end of the fifth hydraulic cylinder 36 is hinged with the second connecting seat 33, and the other end is hinged with the working component.

[0117] As described above, the third connecting section 31 is used to connect the telescopic rod 23 to form the connecting point.

[0118] The connecting frame 32 is used to structurally reinforce the two third connecting sections 31, thereby ensuring the structural strength.

[0119] The second connecting seat 33 is used to mount the working component, such as a mechanical hand for performing specific tasks, or a working platform for manual operation.

[0120] The driving member 34 and the positioning shaft 35 are used to ensure the stability of the 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 to be separated from the third connecting section 31 is not limited. After the telescopic rod 23 is connected with the third connecting section 31, the positioning shaft 35 is inserted into the telescopic rod 23 and the third connecting section 31, thereby playing the role of a positioning pin.

[0121] Specifically, the driving member 34 can be an oil cylinder or other component that can realize linear displacement.

[0122] The fifth hydraulic cylinder 36 is used to connect the working component, thereby driving the working component to move and realize the position adjustment of the working component.

[0123] Specifically, this connecting arm is used in industrial robots and various lifting and testing equipment, especially in small-space operating environments such as bridge maintenance, shipboard and offshore platforms.

[0124] The modular operating platform for the bridge inspection vehicle of the present invention comprises a movable arm 6, a rotating frame 7, a mounting platform 8, a sixth hydraulic cylinder 9, and a traveling bridge 10.

[0125] like Figures 9-11 As shown, the movable arm 6 is connected to the mounting section 3 via a hinge support, and the movable arm 6 and the hinge support are in sliding fit; the rotating frame 7 is rotatably connected to the movable arm 6; the mounting 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 mounting platform 8; a power module and a hydraulic station are provided on the drive section 1 or the telescopic section 2, and a power module and a hydraulic station are provided on the mounting section 3, the movable arm 6, the rotating frame 7, or the mounting platform 8.

[0126] As described above, the movable arm 6 is connected to the mounting section 3 via a hinge support, and the hinge support is connected to the movable end of the fifth hydraulic cylinder 36. Thus, under the action of the fifth hydraulic cylinder 36, the movable arm 6 can be adjusted to pitch, forming either an extended or retracted state.

[0127] The movable arm 6 and the hinge support are engaged in a sliding manner, so that the movable arm 6 can slide and move, thereby driving the mounting platform 8 to move and adjust.

[0128] Specifically, the movable arm 6 can be driven by hydraulic cylinders or other driving components, and the driving components are fixed relative to the hinge support;

[0129] The rotating frame 7 is used to connect the platform 8 and the movable arm 6, so that the platform 8 can be rotated by the rotating frame 7, thereby achieving angle adjustment; specifically, the rotating frame 7 can adopt an existing hollow rotary platform, or a rotating structure composed of a gear ring;

[0130] Among them, the platform 8 is used for carrying personnel to facilitate the maintenance of the bridge by staff;

[0131] Since the connecting arm is designed as an obstacle avoidance structure, the relevant oil circuit and circuit components cannot be docked or separated. Therefore, a power module and hydraulic station are installed on the drive section 1 or the telescopic section 2, and a power module and hydraulic station are installed on the mounting section 3, the movable arm 6, the rotating frame 7, or the mounting platform 8.

[0132] In some embodiments, when the obstacle is a bridge cable, and the bridge cable has a large inclination and is densely arranged, the telescopic section 2 and the rear component are rotated synchronously by the turntable 15. At this time, the telescopic section 2 will tilt, making it convenient to pass through the inclined space.

[0133] As Figure 9 and Figure 10 shown, the walkway 10 comprises a bridge plate 1001, an expansion plate 1002, an outer fence 1003, and an inner fence 1004, wherein one end of the bridge plate 1001 is connected to the expansion section 2, the other end is connected to the mounting section 3, the bridge plate 1001 is two sections, the two sections of the bridge plate 1001 are connected through the expansion plate 1002, and the expansion plate 1002 corresponds to the docking point; the outer fence 1003 is arranged on the bridge plate 1001, and the outer fence 1003 corresponds to the docking point and is provided with an elastic section 10031; 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 plate 1001; the transverse rod 10042 is rotatably connected to the plurality of longitudinal rods 10041, and the transverse rod 10042 also corresponds to the docking point and is provided with an elastic section 10031, and the elastic section 10031 has one-way flexibility;

[0134] As the above structure, the walkway 10 is used for personnel walking, which can avoid the influence of the components on the expansion section 2 on the walking of the workers, and ensure safety;

[0135] Among them, the bridge plate 1001 of the walkway 10 is a walking surface for personnel walking, and the outer fence 1003 and the inner fence 1004 play a safety protection role. In order to avoid interference, the bridge plate 1001 is provided in two sections, and the expansion plate 1002 is arranged at the corresponding connection point position. When personnel walk, the two expansion plates 1002 are docked, and when it is necessary to avoid obstacles, the two expansion plates 1002 are relatively separated, so as to avoid interference;

[0136] Specifically, the expansion plate 1002 can also be connected to the bridge plate 1001 through a hinge, which is convenient for folding;

[0137] Among them, the outer fence 1003 is a fixed structure, and the inner fence 1004 is a variable structure. In this way, when the mounting platform is folded, the outer fence 1003 does not need to be deformed, but is located between the mounting platform 8 and the movable arm 6, and the inner fence 1004 is composed of the rotatably connected longitudinal rod 10041 and the transverse rod 10042, which can be folded and stored, has good folding effect, and can avoid interference when the movable arm 6 is placed flat;

[0138] Specifically, the inner fence 1004 can be driven by a hydraulic cylinder, an electric push rod or the like; wherein the outer fence 1003 and the inner fence 1004 are both provided with an elastic section 10031 having one-way flexibility, which corresponds to the docking point. In this way, the obstacle can directly push open the elastic section 10031 and pass through, which can avoid interference, so as to ensure the obstacle avoidance ability of the expansion section 2;

[0139] Specifically, the one-way flexibility of the elastic section 10031 means that it can only bend in one direction, so that when contacting an obstacle, the obstacle can push open the two elastic sections 10031, thereby realizing passing; specifically, it can adopt a structure similar to a drag chain to realize the one-way bending function, and such structures are more, which will not be repeated here.

[0140] In some embodiments, only the outer fence 1003 and the inner fence 1004 of the two-section structure are arranged, and the position of the elastic section 10031 is left empty, at which time good work specifications need to be ensured to avoid falling when walking and ensure work safety.

[0141] The application method of the bridge detection vehicle modular operation platform of the present application comprises the following steps:

[0142] S1, adjust the posture of the connecting arm with the driving section 1 to extend the connecting arm to the outside of the bridge;

[0143] S2, adjust the telescopic section 2 to separate the two butt joint points of the telescopic section 2 and the carrying section 3;

[0144] S3, move the connecting arm by the carrier until the bridge cable is between the telescopic section 2 and the carrying section 3 and in the empty area between the two butt joint points;

[0145] S4, butt joint the previously separated butt joint points again to connect the telescopic section 2 and the carrying section 3;

[0146] S5, adjust the telescopic section 2 to separate the other butt joint points of the telescopic section 2 and the carrying section 3;

[0147] S6, move the connecting arm again by the carrier until the connecting arm completely crosses the bridge cable;

[0148] S7, butt joint the previously separated butt joint points again to connect the telescopic section 2 and the carrying section 3.

[0149] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A connecting arm, characterized in that: It includes a drive section (1), a telescopic section (2), a mounting section (3), an angle detection component (4), and an attitude detection component (5), wherein, The drive section (1) is rotatably connected to one end of the telescopic section (2); The mounting section (3) is detachably connected to the other end of the telescopic section (2), and there are two docking points between the mounting section (3) and the telescopic section (2). The two docking points are empty between them, and the two docking points are connected simultaneously or alternately. The angle detection component (4) is used to detect the relative angle between the drive segment (1) and the carrier, and the relative angle between the telescopic segment (2) and the drive segment (1); The attitude detection component (5) is used to detect the shape of the telescopic segment (2); The angle detection component (4) includes a light sensing module (41) and a laser (42). There are two light sensing modules (41), one of which is fixed relative to the carrier and surrounds the rotation axis of the drive section (1), and the other is located on the drive section (1) and surrounds the rotation axis of the telescopic section (2). There are three lasers (42), one of which is located on the drive section (1) and corresponds to the light sensing module (41) fixed relative to the carrier, and the other two are located on the telescopic section (2) and each corresponds to the light sensing module (41) on the drive section (1). Two attitude detection components (5) are provided on the telescopic section (2). The attitude detection component (5) is a bidirectional laser. 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 part 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. The drive section (1) includes a rotating seat (11), a hinge support (12), a first connecting section (13), a first hydraulic cylinder (14), and a rotary table (15). The rotating seat (11) is mounted on the carrier and the photosensitive module (41) is mounted on the rotating seat (11). The hinge support (12) is mounted 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 rotary table (15) is mounted on the other end of the first connecting section (13), and the movable end of the rotary table (15) is connected to the telescopic section (2). The telescopic section (2) includes a first connecting seat (21), a second connecting section (22), a telescopic rod (23), and a second hydraulic cylinder (24). One end of the first connecting seat (21) is connected to the rotary table (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 mounting section (3) to form the 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). The mounting section (3) includes a third connecting section (31), a connecting frame (32), a second connecting seat (33), a driving component (34), a positioning shaft (35), and a fifth hydraulic cylinder (36). The third connecting section (31) has two sections corresponding to the telescopic rod (23), and the third connecting section (31) fits onto 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 connects to the working component. The driving component (34) is located between the two third connecting sections (31) and connected to the third connecting sections (31). The positioning shaft (35) is located on the movable end of the driving component (34) and is inserted 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.

2. The connecting arm as described in claim 1, characterized in that: The telescopic section (2) also includes 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 located on both sides of the telescopic rod (23); Four positioning cylinders (26) are provided on the mounting section (3) and correspond to the third hydraulic cylinder (25), and the movable end of the third hydraulic cylinder (25) is inserted into the positioning cylinder (26); The support block (27) is disposed on the mounting section (3), and the side of the support block (27) away from the mounting section (3) is an arc surface; The fourth hydraulic cylinder (28) is disposed on the second connecting section (22), and the movable end of the fourth hydraulic cylinder (28) abuts against the support block (27).

3. A modular operating platform for a bridge inspection vehicle, comprising the connecting arm as described in claim 1 or 2, characterized in that: It also includes a movable arm (6), a rotating frame (7), a mounting platform (8), and a sixth hydraulic cylinder (9), among which, The movable arm (6) is connected to the mounting section (3) via a hinge support, and the movable arm (6) slides in cooperation with the hinge support; The rotating frame (7) is rotatably connected to the movable arm (6); The mounting 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 mounting platform (8); A power module and a hydraulic station are provided on the drive section (1) or the telescopic section (2), and a power module and a hydraulic station are provided on the mounting section (3), the movable arm (6), the rotating frame (7), or the mounting platform (8).

4. The modular operating platform for bridge inspection vehicles as described in claim 3, characterized in that: It also includes a pedestrian bridge (10), which includes a bridge deck (1001), a telescopic deck (1002), an outer railing (1003), and an inner railing (1004), wherein, One end of the bridge plate (1001) is connected to the telescopic section (2), and the other end is connected to the mounting section (3). The bridge plate (1001) consists of two sections, which are connected by the telescopic plate (1002), and the telescopic plate (1002) corresponds to the docking point. The outer fence (1003) is installed on the bridge plate (1001), and the outer fence (1003) is provided with an elastic section (10031) corresponding to the docking point. The inner fence (1004) has multiple vertical bars (10041) and multiple horizontal bars (10042), one end of the vertical bar (10041) being rotatably connected to the bridge plate (1001); The crossbar (10042) is rotatably connected to multiple longitudinal bars (10041), and the crossbar (10042) is also provided with an elastic segment (10031) corresponding to the docking point, the elastic segment (10031) having unidirectional flexibility.

5. An application method of the modular operating platform for bridge inspection vehicles as described in claim 4, characterized in that, Includes the following steps: S1. Adjust the posture of the connecting arm with the drive section (1) so that the connecting arm extends to the outside of the bridge; S2. Adjust the telescopic section (2) so that the telescopic section (2) is separated from one of the docking points of the mounting section (3); S3. Move the connecting arm by means of a vehicle until the bridge cable is between the telescopic section (2) and the mounting section (3) and is located in the empty area between the two docking points; S4. Reconnect the previously separated docking points to achieve the connection between the telescopic section (2) and the mounting section (3); S5. Adjust the telescopic section (2) to separate the telescopic section (2) from the other docking point of the mounting section (3); S6. Move the connecting arm again using the vehicle until the connecting arm completely crosses the bridge cable; S7. The docking points that were separated at the end will be re-docked to realize the connection between the telescopic section (2) and the mounting section (3).

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