Multifunctional unobstructed mobile bridge detection vehicle

Abstract

The utility model discloses a multifunctional unimpeded mobile bridge detection vehicle which comprises a detection vehicle body, an auxiliary vehicle body connected through a turnover support is arranged on the detection vehicle body, a mechanical arm is arranged on the auxiliary vehicle body, and a detection camera and a grouting repair gun are arranged at the tail end of the mechanical arm. An unimpeded movable reinforcing piece is further arranged between the mechanical arm and the beam bottom. The bridge detection robot is provided with the telescopic and foldable mechanical arm, the operation radius is large, and the bridge detection requirements of multiple lanes, large width and various beam types can be met; the mechanical arm is provided with an unimpeded double-negative-pressure suction cup, the stability of the mechanical arm can be enhanced under the condition that vehicle movement is not affected, the wind vibration influence of the long mechanical arm is reduced, and the detection shooting requirement and the simple repairing requirement are met.

Description

Technical Field

[0001] The utility model relates to the technical field of bridge detection equipment, in particular to a multi-functional unobstructed mobile bridge detection vehicle. Background Art

[0002] In order to ensure driving safety, after the bridge is built, it is necessary to regularly detect and repair the bearings, capping beams and cracks on the outer side of the bridge. The traditional truss-type detection vehicle is large in size and occupies one lane when traveling on the bridge deck, affecting traffic. The small detection vehicle equipped with an inspection arm solves the above problems. However, due to the increasing number of highway bridges with two-way six lanes or more, in order to achieve the purpose of comprehensive shooting, the inspection arm needs to have a sufficient working radius. However, the extended inspection arm has poor seismic resistance and cannot stably support the camera equipment and repair equipment. Summary of the Invention

[0003] In order to solve the above problems, the utility model provides a multi-functional unobstructed mobile bridge detection vehicle, and the following specific technical solutions can be adopted:

[0004] The multi-functional unobstructed mobile bridge detection vehicle of the utility model includes a detection vehicle body, an auxiliary vehicle body connected by a flipping bracket is arranged on the detection vehicle body, a robotic arm is arranged on the auxiliary vehicle body, a detection camera and a grouting repair gun are arranged at the end of the robotic arm, and an unobstructed mobile reinforcement is also arranged between the robotic arm and the beam bottom.

[0005] The unobstructed mobile reinforcement includes a guide shaft, the guide shaft is arranged on the robotic arm and driven to rotate by a micro motor, the guide shaft is arranged in a linear guide groove of a steering disc, the linear guide groove is perpendicular to the robotic arm, suction cup brackets are arranged at both ends of the linear guide groove, a telescopic locking pin is arranged between the suction cup bracket and the guide shaft, and a negative pressure suction cup rotatably connected thereto is arranged at the top of each suction cup bracket, and the negative pressure suction cup and the beam bottom are alternately adsorbed.

[0006] The negative pressure suction cup includes a suction cup body, an annular wheel seat is arranged inside the annular sealing strip of the suction cup body, and a plurality of universal wheels are arranged on the annular wheel seat.

[0007] The bottom of the detection vehicle body is provided with first walking wheels, and the flipping bracket is arranged on the top close to one side of the bridge guardrail; the side of the auxiliary vehicle body is connected to the flipping bracket, the bottom is provided with second walking wheels, and the top is connected to the robotic arm.

[0008] The robotic arm includes a multi-joint first folding arm hinged to the auxiliary vehicle body, a multi-joint telescopic arm is hinged to the end of the first folding arm, a second folding arm is hinged to the end of the telescopic arm, and the detection camera and the grouting repair gun are arranged at the end of the second folding arm.

[0009] The first folding arm is arranged on the side of the bridge, the telescopic arm and the second folding arm are arranged at the bottom of the bridge, and a hydraulic support arm hinged thereto is arranged between the first folding arm and the telescopic arm.

[0010] The multifunctional unobstructed mobile bridge inspection vehicle of the present utility model has a robotic arm that can be telescoped and folded, with a large working radius, capable of meeting the bridge inspection requirements for multi-lane, large-width, and various beam types; a non-blocking double negative pressure suction cup is arranged on the robotic arm, which can strengthen the stability of the robotic arm without affecting the movement of the vehicle, reduce the wind vibration influence of the longer robotic arm, and meet the inspection shooting requirements and simple repair requirements. Description of the Drawings

[0011] Figure 1 is a schematic structural view of the present utility model.

[0012] Figure 2 is Figure 1 a schematic connection structure view of the inspection vehicle body and the auxiliary vehicle body in

[0013] Figure 3 is Figure 1 a schematic structural view of the unobstructed mobile reinforcement member in

[0014] Figure 4 is Figure 3 a schematic structural view of the negative pressure suction cup in Detailed Embodiment

[0015] The embodiments of the present utility model will be described in detail below with reference to the drawings. These embodiments are implemented on the premise of the technical solution of the present utility model, and detailed implementation manners and specific working processes are given. However, the protection scope of the present utility model is not limited to the following embodiments.

[0016] As Figures 1-4 shown, the multifunctional unobstructed mobile bridge inspection vehicle of the present utility model includes an inspection vehicle body 1, an auxiliary vehicle body 3 connected to the inspection vehicle body 1 through a flipping bracket 2, a robotic arm is arranged on the auxiliary vehicle body 3, a detection camera 4 and a grouting repair gun 5 are arranged at the end of the robotic arm, and an unobstructed mobile reinforcement member 6 is further arranged between the robotic arm and the bottom surface of the bridge M.

[0017] Specifically, the detection vehicle body 1 is relatively small in volume. The first traveling wheels 11 are provided at the bottom thereof, and it travels along the edge of the road surface of the bridge M without occupying the normal traffic lane and without affecting normal traffic. The flipping bracket 2 is located at the top of the detection vehicle body 1 and close to one side of the guardrail of the bridge M. It includes a support 21 provided on the detection vehicle body 1 and a first connecting rod 22 provided on the side of the auxiliary vehicle body 3. The top of the first connecting rod 22 is hinged to the second connecting rod 23. A sliding block is provided at the bottom of the first connecting rod 22. The rod body of the second connecting rod 22 is fixedly connected to the support 21. The end of the second connecting rod 23 is hinged to the hydraulic arm 24, and the other end of the hydraulic arm 24 is hinged to the sliding block. The second traveling wheels 31 are provided at the bottom of the auxiliary vehicle body 3. In the non-detection state, the detection vehicle body 1 and the auxiliary vehicle body 3 travel side by side on the bridge surface, which is beneficial to maintaining the stability of the vehicle body. When detection is required, the length of the hydraulic arm 24 is adjusted to lift the auxiliary vehicle body 3 and flip it towards the guardrail of the bridge M. At this time, the second traveling wheels 31 are suspended.

[0018] A robotic arm is provided at the top of the auxiliary vehicle body 3. The robotic arm includes a multi-section first folding arm 71 hinged to the auxiliary vehicle body. The end of the first folding arm 71 is hinged to a multi-section telescopic arm 72. The end of the telescopic arm 72 is hinged to a second folding arm 73. A detection camera 4 and a grouting repair gun 5 connected by a universal joint are provided at the end of the second folding arm 73. In this embodiment, the first folding arm 71 has a two-section structure and is provided on the side of the bridge M. The telescopic arm 72 has a three-section structure, and both it and the second folding arm 73 are provided at the bottom of the bridge M. Between the above-mentioned first folding arm 71 and the auxiliary vehicle body 3, between adjacent segments of the first folding arm 71, between the first folding arm 71 and the telescopic arm 72, and between the telescopic arm 72 and the second folding arm 73, they are all connected by joint locks.

[0019] When the robotic arm is in the folded and retracted state, it is located on the side of the bridge M and is connected to the auxiliary vehicle body 3 through a first fixing buckle 81. When the robotic arm is in the unfolded state, in addition to being fastened by the first fixing buckle 81, a hydraulic support arm 82 hinged to both the first folding arm 71 and the telescopic arm 73 is also provided between the first folding arm 71 and the telescopic arm 73.

[0020] Since the bridge M is relatively wide and the horizontal section of the robotic arm is relatively long, in order to obtain good stability and ensure the shooting effect, a non-blocking movable reinforcement 6 is also provided between the robotic arm and the beam bottom.

[0021] The unobstructed mobile reinforcement member 6 includes a guide shaft 61 provided on the telescopic arm 72. The guide shaft 61 is driven by a micro-motor to rotate. The top of the guide shaft 61 passes through a linear guide groove 63 of the steering wheel plate 62. The linear guide groove 63 is perpendicular to the telescopic arm 72 (i.e., arranged along the traveling direction of the inspection vehicle body 1), and suction cup brackets 64 are provided at both ends of the linear guide groove 63. A telescopic locking pin is provided between the suction cup bracket 64 and the guide shaft 61. When the locking pin extends, the suction cup bracket 64 and the guide shaft 61 can be locked together to keep them relatively stationary; when the locking pin retracts, the suction cup bracket 64 is separated from the guide shaft 61 and they can move separately. A negative pressure suction cup 65 rotatably connected thereto is provided at the top of each of the above-mentioned suction cup brackets 64. When the two negative pressure suction cups 65 alternately adsorb to the bottom of the beam, certain support can be provided for the telescopic arm 72 and the second folding arm 73 without affecting the traveling of the inspection vehicle body 1.

[0022] The working process of the unobstructed mobile reinforcement member 6 is described in detail below. For the convenience of narration, the negative pressure suction cup 65 located on the front side of the traveling direction of the inspection vehicle body 1 is called the "front suction cup", and the other is the "rear suction cup". Since the traveling speed of the telescopic arm 72 is basically the same as that of the inspection vehicle body 1, therefore, the "traveling of the telescopic arm 72" is used instead of the "traveling of the inspection vehicle body 1".

[0023] When the telescopic arm 72 starts to travel, the front suction cup adsorbs to the bottom of the beam, the rear suction cup does not adsorb to the bottom of the beam, the guide shaft 61 is located at the rear end of the linear guide groove 63, and the guide shaft 61 and the rear suction cup bracket 64 are in an unlocked state; when the inspection vehicle body 1 starts, the telescopic arm 72 moves forward accordingly, and the guide shaft 61 moves forward along the linear guide groove 63 until it reaches the front end of the linear guide groove 63; at this time, the inspection vehicle body 1 pauses moving, the locking pin extends to lock the front suction cup bracket 64 and the guide shaft 61 together. After that, the micro-motor starts, the guide shaft 61 rotates, the steering wheel plate 62 rotates 180°, the linear guide groove 63 rotates accordingly, so that the guide shaft 61 is located at the rear end of the linear guide groove 63 again, and the original "front suction cup" and the original "rear suction cup" swap positions with each other, that is, the original "front suction cup" is located behind the original "rear suction cup". At this time, the original "rear suction cup" currently in the front is made to adsorb to the bottom of the beam, and the adsorption relationship between the original "front suction cup" currently in the rear and the bottom of the beam is released, that is, it returns to the initial traveling state; at this time, according to the above steps, a new round of "traveling of the inspection vehicle body 1" is carried out. During this process, due to the action of the unobstructed mobile reinforcement member 6, the wind vibration of the robotic arm is small, the stability is good, and a good shooting effect can be maintained.

[0024] Furthermore, in order to facilitate the movement of the negative pressure suction cup 65, the negative pressure suction cup 65 adopted in the present utility model includes a suction cup body. An annular wheel seat 652 is provided inside the annular sealing strip 651 of the suction cup body, and a plurality of universal wheels 653 are installed on the annular wheel seat 652.

[0025] In the present utility model, the detection camera 4 can comprehensively photograph the bridge and synchronously upload pictures during the photographing process. Diseases such as cracks are identified and rated through automatic image recognition technology in the cloud. When the crack level is relatively low, it is marked as a repairable crack. The robotic arm adjusts the angle of the grouting repair gun 5 under the instruction of the numerical control drive group to aim at and approach one side of the crack, and the internal crack repair material is extruded onto the crack. When the crack is on the side and concave surface of the small box girder, the grouting repair gun 5 can penetrate to ensure that photographing and repair operations can be carried out for all angles of the small box girder without dead angles for photographing and repair.

[0026] It should be noted that in the description of the present utility model, terms indicating orientation or positional relationships such as "front", "rear", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientation or positional relationships shown in the drawings. They are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

Claims

1. A multifunctional unobstructed mobile bridge inspection vehicle, characterized by: It includes an inspection vehicle body, on which an auxiliary vehicle body connected by a flip bracket is arranged, on which a mechanical arm is arranged, at the end of which an inspection camera and a grouting repair gun are arranged, and between which an unobstructed movable reinforcement piece is arranged.

2. The multifunctional non-obstruction mobile bridge inspection vehicle according to claim 1 is characterized in that: The unobstructed movable reinforcement includes a guide shaft, which is arranged on the mechanical arm and driven to rotate by a micro motor. The guide shaft is inserted into a linear guide groove of a steering disc, and the linear guide groove is perpendicular to the mechanical arm. Suction cup brackets are arranged at both ends of the linear guide groove. A telescopic locking pin is arranged between the suction cup bracket and the guide shaft. A negative pressure suction cup rotatably connected to the top of each suction cup bracket is arranged, and the negative pressure suction cup is alternately adsorbed with the bottom of the beam.

3. The multifunctional non-obstruction mobile bridge inspection vehicle according to claim 2 is characterized in that: The negative pressure suction cup comprises a suction cup body, an annular wheel seat is arranged inside the annular sealing strip of the suction cup body, and a plurality of universal wheels are arranged on the annular wheel seat.

4. The multifunctional non-obstruction mobile bridge inspection vehicle according to claim 1 is characterized in that: A first running wheel is arranged at the bottom of the inspection vehicle body, and the flip bracket is arranged at the top close to the bridge guardrail; the side of the auxiliary vehicle body is connected to the flip bracket, a second running wheel is arranged at the bottom, and the top is connected to the mechanical arm.

5. The multifunctional non-obstruction mobile bridge inspection vehicle according to claim 1 is characterized in that: The mechanical arm includes a multi-section first folding arm hingedly connected to the auxiliary vehicle body, the end of the first folding arm is hingedly connected to a multi-section telescopic arm, the end of the telescopic arm is hingedly connected to a second folding arm, and the end of the second folding arm is provided with the detection camera and the grouting repair gun.

6. The multifunctional non-obstruction movable bridge inspection vehicle according to claim 5 is characterized in that: The first folding arm is arranged on the side of the bridge, the telescopic arm and the second folding arm are arranged at the bottom of the bridge, and a hydraulic support arm hingedly connected to the first folding arm and the telescopic arm is arranged between them.

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