CN104420417A - Bridge detection work system - Google Patents
Bridge detection work system Download PDFInfo
- Publication number
- CN104420417A CN104420417A CN201310402901.9A CN201310402901A CN104420417A CN 104420417 A CN104420417 A CN 104420417A CN 201310402901 A CN201310402901 A CN 201310402901A CN 104420417 A CN104420417 A CN 104420417A
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- Prior art keywords
- arm
- detection
- rotary motor
- bridge
- work system
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a bridge detection work system, comprising a vehicle body, a rotary motor, a movable arm, an auxiliary arm, a detection arm, an electric push rod and a detection head, wherein the vehicle body is located above a detected bridge body; the rotary motor is located on the vehicle body; one end of the movable arm is connected with the rotary motor; the other end of the movable arm is connected with the auxiliary arm; the auxiliary arm is connected with the detection arm; the detection arm is connected with the electric push rod; the detection head is arranged on the electric push rod; the detection head is located below the detected bridge body. According to the bridge detection work system provided by the invention, based on a flexible multi-body dynamics theory and Lagrange equation, a mechanical system dynamics device of a cantilever crane of a bridge detection vehicle with three arm sections is established; double closed loop control is implemented on the cantilever crane of the bridge detection vehicle; references are provided for track control on a work device of the bridge detection vehicle and the realization of stable and high-precision track following of a detection device.
Description
Technical field
The present invention relates to Bridge Inspection field, be specifically related to a kind of bridge machinery work system.
Background technology
Detecting head is installed at bridge inspection vehicle arm support tail end by bridge comprehensive detection working vehicle, spy reaches bridge bottom or side, be transferred to computer after gathering bridge surface data and carry out Data Analysis Services and image recognition detection, diagnosis bridge defect, at present, some achievements have been had both at home and abroad to the research of the multi-body system of bridge inspection vehicle Rigid Robot Manipulator, but, along with the extensive employing of multiple degrees of freedom long-armed light weight beam jib structure, make the power coupling between drive system flexible arm comparatively strong, kinetic model is also more complicated, for realizing the steady and high-precision track following of detecting head, the impact of plastic deformation on whole system dynamic characteristic can not be ignored.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, provide a kind of and detect the bridge machinery work system steady, precision is high.
Consider the problems referred to above of prior art, according to an aspect of the present invention, for solving above-mentioned technical problem, the present invention by the following technical solutions:
A kind of bridge machinery work system, comprise car body, rotary motor, swing arm, auxiliary arm, detection arm, electric pushrod and detecting head, described car body is positioned at above detected pontic, described rotary motor is positioned on described car body, described swing arm one end is connected with described rotary motor, the described swing arm other end is connected with described auxiliary arm, described auxiliary arm is connected with described detection arm again, described detection arm is connected with described electric pushrod again, described detecting head is arranged on described electric pushrod, and described detecting head is positioned at below described detected pontic.
In order to realize the present invention better, further technical scheme is:
According to one embodiment of the invention, also comprise piston rod, described piston rod one end is connected with car body, and the other end is connected with described swing arm.
According to one embodiment of the invention, also comprise boom cylinder, described boom cylinder one end is connected with described swing arm, and the described boom cylinder other end is connected with described auxiliary arm.
According to one embodiment of the invention, also comprise auxiliary arm oil cylinder, described auxiliary arm oil cylinder one end is connected with described auxiliary arm, and the described auxiliary arm oil cylinder other end is connected with described detection arm.
According to one embodiment of the invention, described detection arm is provided with detection arm rotary motor.
According to one embodiment of the invention, described detection arm rotary motor is hydraulic rotary motor.
According to one embodiment of the invention, described detection arm comprises first paragraph and second segment, and described second segment can stretch by first paragraph relatively.
According to one embodiment of the invention, also comprise detection arm telescopic oil cylinder, described detection arm telescopic oil cylinder one end is connected with the first paragraph of described detection arm, and the described detection arm telescopic oil cylinder other end is connected with the second segment of described detection arm.
The present invention can also be:
According to one embodiment of the invention, described rotary motor is hydraulic rotary motor.
Compared with prior art, one of beneficial effect of the present invention is:
Bridge machinery work system of the present invention, the machinery system dynamics device of the bridge inspection vehicle jib of three joint arms is established based on flexible multibody dynamics theory and Lagrange's equation, by numerical solution and binding kinetics simulation analysis software, demonstrate the differential equation of motion of the bridge inspection vehicle jib adopting method of flexible multi-body dynamics to set up, every dynamics of bridge inspection vehicle can be described exactly, by bridge inspection vehicle arm support tail end track and drive characteristic analysis, also show to consider that the impact of plastic deformation is very important to the bridge inspection vehicle boom system of the long-armed bar of lightweight, on this basis, double-closed-loop control is adopted to bridge inspection vehicle jib, for bridge inspection vehicle equipment TRAJECTORY CONTROL and realize the steady and high-precision track following of sniffer and provide reference.
Accompanying drawing explanation
In order to clearer explanation present specification embodiment or technical scheme of the prior art, below the accompanying drawing used required in the description to embodiment or prior art is briefly described, apparently, the accompanying drawing that the following describes is only the reference to some embodiments in present specification, for those skilled in the art, when not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 shows the structural representation of bridge machinery work system according to an embodiment of the invention.
Wherein, the name corresponding to the Reference numeral in accompanying drawing is called:
101-car body, 102-rotary motor, 103-swing arm, the auxiliary arm of 104-, 105-detection arm, 106-electric pushrod, 107-detecting head, 108-pontic, 109-piston rod, 110-boom cylinder, the auxiliary arm oil cylinder of 111-, 112-detection arm rotary motor, 113-first paragraph, 114-second segment, 115-detection arm telescopic oil cylinder.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Fig. 1 shows the structural representation of bridge machinery work system according to an embodiment of the invention.A kind of bridge machinery work system as shown in Figure 1, comprise car body 101, rotary motor 102, swing arm 103, auxiliary arm 104, detection arm 105, electric pushrod 106 and detecting head 107, described car body 101 is positioned at above detected pontic 108, described rotary motor 102 is positioned on described car body 101, described swing arm 103 one end is connected with described rotary motor 102, described swing arm 103 other end is connected with described auxiliary arm 104, described auxiliary arm 104 is connected with described detection arm 105 again, described detection arm 105 is connected with described electric pushrod 106 again, described detecting head 107 is arranged on described electric pushrod 106, described detecting head 107 is positioned at below described detected pontic 108.
Also comprise piston rod 109, described piston rod 109 one end is connected with car body 101, and the other end is connected with described swing arm 103.
Also comprise boom cylinder 110, described boom cylinder 110 one end is connected with described swing arm 103, and described boom cylinder 110 other end is connected with described auxiliary arm 104.
Also comprise auxiliary arm oil cylinder 111, described auxiliary arm oil cylinder 111 one end is connected with described auxiliary arm 104, and described auxiliary arm oil cylinder 111 other end is connected with described detection arm 105.
Described detection arm 105 is provided with detection arm rotary motor 112.
Described detection arm rotary motor 112 is hydraulic rotary motor.
Described detection arm 105 comprises first paragraph 113 and second segment 114, and described second segment 114 can stretch by first paragraph 113 relatively.
Also comprise detection arm telescopic oil cylinder 115, described detection arm telescopic oil cylinder 115 one end is connected with the first paragraph 113 of described detection arm 105, and described detection arm telescopic oil cylinder 115 other end is connected with the second segment 114 of described detection arm 105.
Described rotary motor 102 is hydraulic rotary motor.
With upper, because the length of beam is much larger than its cross-sectional width, i.e. negligible axial distortion, can be considered Euler2Bernoulli beam, if hydraulic cylinder is for being rigidly connected, flexible mechanical arm can be regarded as large overall motions and elastic deformation motion superposition among a small circle at horizontal in-plane moving.
Armed lever is modeled to flexible mechanical arm by the present embodiment, adopt the recursion column of flexible multibody dynamics, the flexible multibody dynamics equation of boom system of deriving based on Elasticity and Analytical Mechanics is analyzed the flexibility of armed lever and the flexibility of hydraulic cylinder respectively in conjunction with Lagrange's equation, and set up the flexible multibody dynamics equation of bridge inspection vehicle boom system, and carry out end orbit control by Dual-loop feedback control, numerical solution and emulation are carried out to it, for the control research of multi link hydraulic flexible manipulator lays the first stone.
In this manual, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiment, identical similar portion cross-reference between each embodiment.
Although with reference to multiple explanatory embodiment of the present invention, invention has been described here, but, should be appreciated that, those skilled in the art can design a lot of other amendment and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.
Claims (9)
1. a bridge machinery work system, it is characterized in that, comprise car body, rotary motor, swing arm, auxiliary arm, detection arm, electric pushrod and detecting head, described car body is positioned at above detected pontic, described rotary motor is positioned on described car body, described swing arm one end is connected with described rotary motor, the described swing arm other end is connected with described auxiliary arm, described auxiliary arm is connected with described detection arm again, described detection arm is connected with described electric pushrod again, described detecting head is arranged on described electric pushrod, and described detecting head is positioned at below described detected pontic.
2. bridge machinery work system according to claim 1, is characterized in that, also comprise piston rod, and described piston rod one end is connected with car body, and the other end is connected with described swing arm.
3. bridge machinery work system according to claim 1, is characterized in that, also comprise boom cylinder, and described boom cylinder one end is connected with described swing arm, and the described boom cylinder other end is connected with described auxiliary arm.
4. bridge machinery work system according to claim 1, is characterized in that, also comprises auxiliary arm oil cylinder, and described auxiliary arm oil cylinder one end is connected with described auxiliary arm, and the described auxiliary arm oil cylinder other end is connected with described detection arm.
5. bridge machinery work system according to claim 1, is characterized in that, described detection arm is provided with detection arm rotary motor.
6. bridge machinery work system according to claim 5, is characterized in that, described detection arm rotary motor is hydraulic rotary motor.
7. bridge machinery work system according to claim 1, is characterized in that, described detection arm comprises first paragraph and second segment, and described second segment can stretch by first paragraph relatively.
8. bridge machinery work system according to claim 7, it is characterized in that, also comprise detection arm telescopic oil cylinder, described detection arm telescopic oil cylinder one end is connected with the first paragraph of described detection arm, and the described detection arm telescopic oil cylinder other end is connected with the second segment of described detection arm.
9. bridge machinery work system according to claim 1, is characterized in that, described rotary motor is hydraulic rotary motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310402901.9A CN104420417A (en) | 2013-09-09 | 2013-09-09 | Bridge detection work system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310402901.9A CN104420417A (en) | 2013-09-09 | 2013-09-09 | Bridge detection work system |
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| Publication Number | Publication Date |
|---|---|
| CN104420417A true CN104420417A (en) | 2015-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310402901.9A Pending CN104420417A (en) | 2013-09-09 | 2013-09-09 | Bridge detection work system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104947585A (en) * | 2015-04-22 | 2015-09-30 | 湖南桥康智能科技有限公司 | Intelligent obstacle-avoiding control system of bridge detection robot |
| CN105113403A (en) * | 2015-09-18 | 2015-12-02 | 中铁大桥科学研究院有限公司 | Intelligent detecting equipment and method for bottom of bridge |
| CN107010557A (en) * | 2017-06-19 | 2017-08-04 | 荆门宁杰机电技术服务有限公司 | A kind of bridge Abseiling device |
| CN108716190A (en) * | 2018-06-29 | 2018-10-30 | 重庆三峡学院 | Vehicle-mounted adjustable heavy duty work platform for bridge strengthening repair |
| CN108999082A (en) * | 2018-07-17 | 2018-12-14 | 浙江海洋大学 | A kind of bridge inspection and maintenance platform |
| CN109468948A (en) * | 2019-01-14 | 2019-03-15 | 长沙理工大学 | A kind of folding-jib both arms bridge inspection vehicle |
| CN109629412A (en) * | 2019-01-10 | 2019-04-16 | 中铁工程机械研究设计院有限公司 | Intelligent bridge-checking vehicle |
| CN109973793A (en) * | 2019-04-15 | 2019-07-05 | 唐伟 | A kind of comprehensive bridge machinery machine |
| CN110219253A (en) * | 2019-06-06 | 2019-09-10 | 长安大学 | A kind of telescopic visualization Bridge Testing Equipment of vehicle-mounted folding |
| CN110904836A (en) * | 2019-12-12 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Long-arm robot for detecting surface of main beam of bridge |
| CN114542869A (en) * | 2022-02-17 | 2022-05-27 | 山东高速股份有限公司 | Bridge safety inspection equipment |
| CN114738624A (en) * | 2022-06-13 | 2022-07-12 | 辽宁省交通规划设计院有限责任公司 | Bridge detection device and detection method |
-
2013
- 2013-09-09 CN CN201310402901.9A patent/CN104420417A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104947585A (en) * | 2015-04-22 | 2015-09-30 | 湖南桥康智能科技有限公司 | Intelligent obstacle-avoiding control system of bridge detection robot |
| CN105113403A (en) * | 2015-09-18 | 2015-12-02 | 中铁大桥科学研究院有限公司 | Intelligent detecting equipment and method for bottom of bridge |
| CN105113403B (en) * | 2015-09-18 | 2017-03-01 | 中铁大桥科学研究院有限公司 | Bridge floor detection method based on intelligent detection equipment |
| CN107010557A (en) * | 2017-06-19 | 2017-08-04 | 荆门宁杰机电技术服务有限公司 | A kind of bridge Abseiling device |
| CN107010557B (en) * | 2017-06-19 | 2018-02-09 | 荆门宁杰机电技术服务有限公司 | A kind of bridge Abseiling device |
| CN108716190A (en) * | 2018-06-29 | 2018-10-30 | 重庆三峡学院 | Vehicle-mounted adjustable heavy duty work platform for bridge strengthening repair |
| CN108999082A (en) * | 2018-07-17 | 2018-12-14 | 浙江海洋大学 | A kind of bridge inspection and maintenance platform |
| CN109629412A (en) * | 2019-01-10 | 2019-04-16 | 中铁工程机械研究设计院有限公司 | Intelligent bridge-checking vehicle |
| CN109468948A (en) * | 2019-01-14 | 2019-03-15 | 长沙理工大学 | A kind of folding-jib both arms bridge inspection vehicle |
| US11320338B2 (en) | 2019-01-14 | 2022-05-03 | Changsha University Of Science And Technology | Bridge detecting vehicle with two foldable arms |
| CN109973793A (en) * | 2019-04-15 | 2019-07-05 | 唐伟 | A kind of comprehensive bridge machinery machine |
| CN110219253A (en) * | 2019-06-06 | 2019-09-10 | 长安大学 | A kind of telescopic visualization Bridge Testing Equipment of vehicle-mounted folding |
| CN110219253B (en) * | 2019-06-06 | 2020-09-01 | 长安大学 | Vehicle-mounted folding telescopic visual bridge detection device |
| CN110904836A (en) * | 2019-12-12 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Long-arm robot for detecting surface of main beam of bridge |
| CN114542869A (en) * | 2022-02-17 | 2022-05-27 | 山东高速股份有限公司 | Bridge safety inspection equipment |
| CN114738624A (en) * | 2022-06-13 | 2022-07-12 | 辽宁省交通规划设计院有限责任公司 | Bridge detection device and detection method |
| CN114738624B (en) * | 2022-06-13 | 2022-09-23 | 辽宁省交通规划设计院有限责任公司 | Bridge detection device and detection method |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150318 |
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| WD01 | Invention patent application deemed withdrawn after publication |