CN109591907A - A kind of bridge pier detection walking mechanism and traveling method - Google Patents
A kind of bridge pier detection walking mechanism and traveling method Download PDFInfo
- Publication number
- CN109591907A CN109591907A CN201910092501.XA CN201910092501A CN109591907A CN 109591907 A CN109591907 A CN 109591907A CN 201910092501 A CN201910092501 A CN 201910092501A CN 109591907 A CN109591907 A CN 109591907A
- Authority
- CN
- China
- Prior art keywords
- traction rope
- bridge pier
- tractor
- control unit
- rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
It include the tractor around bridge pier connected with traction rope the present invention provides a kind of bridge pier detection walking mechanism, tractor includes vehicle seat, the traveling wheel equipped with tyre pressure sensor, the driving mechanism for driving traveling wheel mobile, the traction rope control piece and control unit for controlling traction rope folding and unfolding, control unit and tyre pressure sensor, traction rope control piece, driving mechanism electrical connection, tyre pressure sensor sends pressure signal to control unit, control unit controls traction rope control piece, driving mechanism according to the size of pressure value, to guarantee that tractor can walk on bridge pier.The present invention also provides a kind of traveling methods of bridge pier detection walking mechanism, step is, tractor and traction rope are installed around bridge pier, traction rope control piece controls traction rope tightening, when the pressure value that tyre pressure sensor detects is in preset range, stop tightening traction rope, driving mechanism drives traveling wheel mobile.It is highly effective of the present invention, simple and convenient, have the characteristics that automation is high, detection is comprehensive.
Description
Technical field
The present invention relates to bridge automatic measurement technique fields, more particularly to a kind of bridge pier detection walking mechanism and walking
Method.
Background technique
With the rapid development of high-speed railway, ended for the end of the year 2018, China Railway High-speed revenue kilometres are up to 2.9 ten thousand public affairs
In, accounting for whole world total kilometrage is more than 2/3, becomes high-speed rail mileage longest, traffic density highest, networking in the world and runs scene most
Complicated country；And since the outlet of China's high-speed rail technology, global high-speed rail are also constantly being expanded, become current one
A main evolutionary path.In the process of construction of high-speed rail, in order to ensure the firm of high-speed rail roadbed, high-speed rail bridge obtains in high-speed rail
To a large amount of application, present high-speed rail bridge is mainly characterized by: the line is busy that road ratio is big for bridge, and multispan is overhead, long bridge, long-span bridge
Liang Duo；The Passenger dedicated railway Bridge of design speed per hour 300km, 350km all uses non-fragment orbit；Use span bridge with equal across arrangement
The whole hole simple prestressed concrete beam of 32 meters of two-wires be principal mode structure, on a small quantity configure 24 meters of simple supported box beams.Bridge is as high
The carrier of fast train operation track, to ensure that high-speed rail visitor is wanted with the safety of special line high-speed cruising, stationarity and ride comfort
It asks, it is necessary to have high ride, high stability and high reliability.The traffic accident as brought by bridge hidden danger, often vehicle
The serious accident that people dies is ruined, therefore constantly promotes the means and equipment of detection, the maintenance, maintenance of high-speed rail bridge, it appears is more aggravated
Will with it is urgent.
Existing detection mode includes:
(1) manual detection modes such as scaffold, bridge inspection vehicle are built.
The detection mode of most domestic bridge is to build scaffold, aerial work platform and bridge inspection vehicle et al. at present
Work detection mode.For general a lower height of highway bridge, can either be rowed the boat using simple scaffold is built, and
The mode manually detected is detected.If it is highly higher, needing by engineering machinery --- bridge inspection vehicle carries out people
Work detection；But manual detection mode has the following problems:
1. there are serious security risks
During such bridge machinery, if there is very big personal wind in detection vehicle staff once gone wrong
Danger.In order to guarantee the safety of worker, generally by the way of low-speed detection, which results in the low problems of working efficiency.
2. mobility is poor, detection means is backward
For the bridge on the water surface, then generally take the mode for setting up bracket on the ship on the water surface that bridge inspection is unfolded
Survey operation.The limited height that there are also some due to auxiliary tool, not readily portable close, operation are difficult to find than relatively hazardous
Suitable mode solves the problems, such as bridge machinery.
3. at high cost, time-consuming
Due to needing to set up scaffold in bridge machinery work, although scaffold can detecte the portion of most of key
Part, but the fund for setting up scaffold needs often accounts for about the 80% of bridge machinery total fund, and scaffold is from early period
Preparation of construction complete to complete to the end again to detect post-job dismounting to setting up, this whole cycle takes a long time, and leads to
Cross the bridge machinery operation that this mode is unfolded, guaranteed efficiency of having no idea.Although the large scale equipments such as bridge vehicle can guarantee to examine
Survey effect, but be not suitable for running check, first detection the vehicle amount of having it is few, furthermore buy and rent it is at high cost so that use
Rate is low.
4. interfering public transport, safety smaller
The bridge machinery operation that the mode of scaffold is still unfolded by bridge inspection vehicle is either set up, inherently to public affairs
Traffic circulation and Navigation in Navigable generate certain influence altogether.Since duty cycle is long, detection car test also needs to occupy when surveying
Road is very road closure, and navigation channel and road traffic is easily caused to block.In addition, it is contemplated that construction quality and detection environment etc., detection
There is also certain risk for operation.
5. detection range is small
Due to different bridge environments and the limitation for setting up the various aspects such as scaffold, current detection mode is difficult to tested
Effective detection is all carried out in all parts of the bridge of survey, can only carry out local detection, this prevents testing staff from comprehensive
The actual conditions for being detected bridge are understood, to influence the assessment of bridge quality and the maintenance work in later period.
(2) climbing robot
Some novel some detection methods are mostly detected using robot, to reduce cost and reduce danger
It is dangerous, to improve working efficiency.Wherein application more widely has climbing robot, unmanned plane etc..Climbing robot is section
The bio-robot that scholar is developed using gecko as research object not only can quickly be moved on ground, but also can also be adsorbed on
The difference normal plane such as vertical walls, ceiling surface is flexibly worked, it has ground mobile robot technology with adsorption technology
Machine combines.
All types of climbing robots have defect below:
1. absorption type robot requires absorption surface high
Since bridge machinery needs to detect the part of bridge bottom surface, it would be desirable to there are any load-bearing capacity and flexibility,
And climbing robot has certain requirement for concavity and convexity, the wall surface material etc. of wall surface, as vacuum suction method has not by wall
The advantages of plane materiel material limits, but when wall surface is rough and uneven in surface, it is easy to make sucker gas leakage, thus decline adsorption capacity, bearing capacity
It reduces；
2. the application environment of magnetic adsorption wall climbing robot requirement permeability magnetic material.
Magnetic suck method can be divided into electromagnet and two kinds of permanent magnet, and electromagnet formula maintains adsorption capacity to need electric power, but control compared with
It is convenient.Permanent magnet type is not influenced by powering off, safe and reliable in use, but control is more troublesome.Magnetic suck mode is to wall surface
The problem of convex-concave is adaptable, and adsorption capacity is much larger than vacuum suction mode, and vacuum leak is not present, but require the wall surface must to be
Permeability magnetic material, therefore seriously limit the application environment of climbing robot.
3. obstacle climbing ability is low, and operating rate is slow
Sucked type can cross over the obstacle of very little, but movement speed is slow；Wheel type movement speed is fast, control flexibly, but maintains
Certain adsorption capacity is more difficult；Crawler type is adaptable to wall surface, and the area that lands is big, but is not easy to turn.
(3) unmanned plane bridge machinery
With the continuous development of the technology of taking photo by plane, remote sensing technology, unmanned plane application more penetrates into all trades and professions.Nobody flies
Row device can divide many classifications, wherein unmanned multi-rotor aerocraft can be applied to highway bridge because structure is simple, relative low price
The fields such as detection, line data-logging.But its detection process is by very various influences: it can not be detected at beam body small space,
There are check frequencies, and cruising ability is general, and load-bearing capacity is small, cannot carry a large amount of detection devices, control difficulty is big, working environment
It is influenced by weather, detection process needs to consider sunshine direction, wind speed, weather conditions etc..
In conclusion there is an urgent need to a kind of high efficiency, low cost, simple and convenient, systematization solutions for bridge machinery.
According to the mission requirements of bridge machinery, and in view of problems faced possible in real work, this patent proposes a kind of efficient
It is practical, simply and easily bridge pier detection use walking mechanism and traveling method.
Summary of the invention
In order to solve the problems existing in the prior art, the present invention proposes a kind of highly effective, simply and easily bridge pier detection use
Walking mechanism and traveling method have the characteristics that high degree of automation, detection are comprehensive.
The present invention provides a kind of bridge pier detection walking mechanisms, lead including what is connected with traction rope around the several of bridge pier
Draw vehicle, the tractor includes vehicle seat, is mounted on saddle base and traveling wheel, the driving traveling wheel for being equipped with tyre pressure sensor are mobile
Driving mechanism, control traction rope folding and unfolding traction rope control piece and control unit, described control unit and tyre pressure sensor are led
Messenger control piece, driving mechanism electrical connection, the tyre pressure sensor send pressure signal to control unit, described control unit root
Traction rope control piece and driving mechanism are controlled according to the size of pressure value, to guarantee that tractor can walk on bridge pier.
Further, the invention also includes the steering mechanism of control traveling wheel moving direction, the steering mechanism and controls
Unit electrical connection.
Further, the invention also includes the support vehicles for surrounding and being bonded bridge pier, and vehicle is supported to pass through traction rope and tractor
Connection.
Further, the traction rope control piece includes the transmission axis connection of motor and motor and is wound with traction rope
Rotating cylinder and torque sensor, torque sensor and control unit electrical connection.
Further, the invention also includes the measuring units for detecting tractor motion state.
Further, the tractor at least 2, and it is symmetrical.
Further, the adjacent support vehicle is connected by connecting rope.
Further, the rotating cylinder has 2.
The present invention also provides a kind of traveling methods of bridge pier detection walking mechanism, include the following steps, by tractor
It is installed with traction rope around bridge pier, traction rope control piece controls traction rope tightening, at the pressure value that tyre pressure sensor detects
When in preset range, stop tightening traction rope, driving mechanism drives traveling wheel mobile.
Further, in the traveling method, the bridge pier detection walking mechanism further includes surrounding and being bonded bridge pier
Support vehicle, support vehicle connected with tractor by traction rope；When the driving mechanism driving traveling wheel movement, traction rope control
Part control traction rope puts rope, and traction rope puts the speed of rope and traveling wheel movement speed matches, to guarantee that tractor can be in bridge pier
Upper movement, when tractor horizontal position above and below to be measured, tractor stops movement, and traction rope control piece rope closing is drawn
Dynamic support vehicle is moved to horizontal position to be measured, then drives tractor reverse movement, while traction rope control piece controls traction rope
Rope closing, traction rope puts the speed of rope and traveling wheel movement speed matches, to guarantee that tractor can move on bridge pier.
The present invention compared with the existing technology, the advantage is that:
1, the present invention includes several tractors around bridge pier connected with traction rope, and tractor abuts bridge pier, traction rope
The active force for making tractor be supported on bridge pier wall surface is provided, is kept so tractor does not shift in same detection faces, simultaneously
The use of multiple tractors avoids injury of the rope to bridge pier wall surface；Tractor is equipped with the driving machine of driving traveling wheel movement
The traction rope control piece of structure and control traction rope folding and unfolding, driving mechanism provide the present invention power moved, traction rope control piece control
Active force when traction rope folding and unfolding processed and then control present invention fitting bridge pier wall surface, ensure that the present invention can be steady in bridge pier wall surface
Fixed moves freely, and reduces the error in measurement process, guarantees the stability of the device course of work, examines relative to existing bridge pier
Survey use walking mechanism, avoid in addition setting driving device is separately provided, without to bridge prefabrication or install additional truss-like cantilever,
The structures such as fixed mechanism, rail mechanism, hoist engine, nacelle device reduce the secondary damage because of installation monitoring device to bridge,
Structure is simple, easy to operate；Traveling wheel of the invention is equipped with tyre pressure sensor, and control unit can be fed back according to tyre pressure sensor
Pressure value control traction rope control piece controlled to the folding and unfolding of traction rope and to driving mechanism, guarantee driving mechanism generate
Driving force be greater than gravity and frictional force of the invention, guarantee the present invention always be bonded bridge pier wall surface, operational process stablize, automatically
Change degree is high.
2, tractor of the present invention includes the steering mechanism for controlling traveling wheel direction of advance, and steering mechanism and control unit connect
It connects, in the course of work of the present invention, the case where present invention can be moved according to tractor carries out steering operation, control to traveling wheel
The present invention carries out horizontal movement or vertical movement, can only carry out lifting detection compared to existing detection device, the present invention is also
Can be carried out horizontal detection, and detection process is easy to control, stability is strong, testing result more fully, reduce manual operation, save
About cost of labor.
3, the invention also includes the support vehicles for surrounding and being bonded bridge pier, and vehicle is supported to connect by traction rope with tractor,
It avoids avoiding rope in the case where the damaging of bridge pier wall surface, reduces production cost, ensure that temperature of the invention
Operation, support vehicle are equipped with the ball for converting moving direction freely and tangle structure, and support vehicle can become according to the moving direction of tractor
Change and converted, stable, detection is comprehensive.
4, traction rope control piece of the present invention include the transmission axis connection of motor and motor and be wound with the rotating cylinder of traction rope with
And torque sensor, torque sensor and control unit electrical connection, the torque sensor can detecte the torsion that traction rope is subject to
Square can not only carry out quantification treatment to the torque suffered by traction rope, but also can judge that the present invention is walking according to the variation of torque
In the process whether by barrier, so that control unit be made to control driving mechanism and the increasing of traction rope control piece according to change in torque
Or reduce operating power, and allow the present invention not limited by bridge pier wall surface material and bumps, it is adaptable.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is operation schematic diagram of the present invention.
Fig. 2 is 4 structural schematic diagram of component of the present invention.
Fig. 3 is enlarged diagram at A of the present invention.
Fig. 4 is enlarged diagram at B of the present invention.
Fig. 5 is control section annexation figure of the present invention
Fig. 6 is one control flow chart of the embodiment of the present invention.
Fig. 7 is two control flow chart of the embodiment of the present invention.
1 ground in the figure, Bridge 2 pier, 3 support vehicles, 4 tractors, 41 vehicle seats, 42 traction rope control pieces, 43 rotating cylinders, 44 survey
Measure unit, 45 control units, 46 traveling wheels, 47 steering mechanism, 48 tyre pressure sensors, 49 driving mechanisms, 5 traction ropes, 6 connections
Rope.
Specific embodiment
As shown in Figs 1-4, the present invention provides a kind of bridge pier detection walking mechanisms, enclose including what is connected with traction rope 5
Around several tractors 4 of bridge pier 2, the bridge pier 2 is mounted on ground 1, and the tractor 4 includes vehicle seat 41, is mounted on vehicle seat
41 bottoms and driving mechanism 49, the control receipts of traction rope 5 for being equipped with the traveling wheel 46 of tyre pressure sensor 48, driving traveling wheel 46 mobile
The traction rope control piece 42 and control unit 45 put, described control unit 45 and tyre pressure sensor 48, drive traction rope control piece 42
Motivation structure 49 is electrically connected, and the tyre pressure sensor 48 sends pressure signal to control unit 45, and described control unit 45 is according to pressure
The size control traction rope control piece 42 and driving mechanism 49 of force value, to guarantee that tractor 4 can walk on bridge pier 2.
The present invention includes 4 vehicle of several tractions around bridge pier 2 connected with traction rope 5, and tractor 4 abuts bridge pier 2, traction
Rope 5 provides the active force for making tractor 4 be supported on 2 wall surface of bridge pier, keeps so tractor 4 does not occur partially in same detection faces
It moves, while the use of multiple tractors 4 avoids injury of the rope to 2 wall surface of bridge pier；Tractor 4 is equipped with driving traveling wheel 46
The driving mechanism 49 of movement and the traction rope control piece 42 of control 5 folding and unfolding of traction rope, driving mechanism 49 provide what the present invention moved
Power, active force when traction rope control piece 42 controls 5 folding and unfolding of traction rope and then controls present invention fitting 2 wall surface of bridge pier, guarantees
The present invention can be moved freely 2 wall surface of bridge pier is stable, reduced the error in measurement process, guaranteed the device course of work
Stability avoids in addition setting and driving device is separately provided, without right relative to existing bridge pier detection walking mechanism
Bridge prefabrication installs the structures such as truss-like cantilever, fixed mechanism, rail mechanism, hoist engine, nacelle device additional, reduces because of installation
For monitoring device to the secondary damage of bridge, structure is simple, easy to operate；Traveling wheel 46 of the invention is equipped with tyre pressure sensor 48,
Control unit 45 can according to the pressure value control traction rope control piece 42 that tyre pressure sensor 48 is fed back to the folding and unfolding of traction rope 5 with
And driving mechanism 49 is controlled, guarantee that the driving force that driving mechanism 49 generates is greater than gravity and frictional force of the invention, protects
The card present invention is bonded bridge pier wall surface always, and operational process is stablized, high degree of automation.
The invention also includes the steering mechanism 47 of control 46 moving direction of traveling wheel, the steering mechanism 47 and control unit
45 electrical connections.
Steering mechanism 47 of the present invention is fixedly connected with driving mechanism 49, is equipped with traveling wheel on the transmission shaft of driving mechanism 49
46, keep structure of the invention design more reasonable, steering mechanism 47 is avoided to influence driving mechanism 49.
Tractor of the present invention includes the steering mechanism 47 for controlling 46 direction of advance of traveling wheel, steering mechanism 47 and control unit
45 connections in the course of work of the present invention, the case where present invention can be moved according to tractor 46, carry out steering behaviour to traveling wheel 46
Make, controls the present invention and carry out horizontal movement or vertical movement, lifting detection can only be carried out compared to existing detection device, this
Invention also can be carried out horizontal detection, and detection process is easy to control, stability is strong, testing result more fully, reduce artificial
Operation, has saved cost of labor.
The invention also includes the support vehicles 3 for surrounding and being bonded bridge pier 2, and vehicle 3 is supported to connect by traction rope 5 and tractor 4.
The present invention support vehicle 3 include include wheel, the mounting rack for installing wheel and the vehicle for connecting mounting rack
The connection type of frame, the mounting rack and vehicle frame is that ball tangles structure, and the ball structure that tangles includes that the hemisphere face that is located on vehicle frame is recessed
Slot and the sphere for being located at mounting rack end and matching with hemisphere face groove, the mounting rack have pooling feature, work as support
In 3 motion process of vehicle, pass through the pooling feature of mounting rack, it is possible to reduce friction of 2 wall surface of bridge pier to support vehicle 3 of the invention
Power.
The invention also includes the support vehicles 3 for surrounding and being bonded bridge pier 2, and vehicle 3 is supported to connect by traction rope 5 and tractor 4,
In the case where damaging, production cost is reduced to bridge pier wall surface avoiding avoiding rope, ensure that temperature of the invention
Degree operation, support vehicle 3 are equipped with the ball for converting moving direction freely and tangle structure, and support vehicle 3 can be according to the mobile side of tractor 4
It is converted to variation, stable, detection is comprehensive.
The traction rope control piece 42 includes the transmission axis connection of motor and motor and the rotating cylinder 43 for being wound with traction rope 5
And torque sensor, torque sensor and control unit 45 are electrically connected.
Traction rope control piece 42 of the present invention includes the transmission axis connection of motor and motor and the rotating cylinder for being wound with traction rope 5
43 and torque sensor, torque sensor and control unit 45 are electrically connected, the torque sensor can detecte traction rope 5 by
The torque arrived can not only carry out quantization detection to torque suffered by traction rope 5, but also can judge the present invention according to the variation of torque
In the process of walking whether by barrier, so that control unit 45 be made to control driving mechanism 49 and traction rope according to change in torque
Control piece 42 increases or reduces operating power, and the present invention is allowed not limited by 2 wall surface material of bridge pier and bumps, adaptable.
The invention also includes the measuring units 44 for detecting 4 motion state of tractor.
The measuring unit 44 include laser range sensor, Inertial Measurement Unit, water depth sensor, photoelectricity odometer or
At least one of satellite positioning receiving unit, laser ranging distance measuring sensor, for determining car body apart from ground or the water surface
Distance；Inertial Measurement Unit for measuring the motion state of car body, and then facilitates control unit 45 to control movement of the invention；
Water depth sensor, under water when the review of operations, for determining car body with a distance from the water surface；Photoelectricity odometer, for recording car body
Motion path and distance；Satellite positioning receiving unit, for collecting the satellite positioning information of detection bridge pier, the above measurement device is equal
Belong to the prior art, those skilled in the art can select commercial devices according to actual needs.
The tractor 4 at least 2, and it is symmetrical, make each section uniform force in the course of work of the present invention, favorably
In improving stability of the invention, guarantee fitting 2 wall surface of bridge pier.
The adjacent support vehicle 3 is connected by connecting rope 6, and staff of the invention can according to need in tractor
1 or multiple support vehicles 3 are set between 4, keep structure of the invention more compact, reduces cost.
The rotating cylinder 43 has 2, is conducive to respectively be wound the traction rope 5 of two sides, convenient individually control.
The tractor 4 is equipped with the high definition water-proof CCD camera for carrying out video monitoring, and guarantee can complete the above bridge pier of the water surface
Wall surface video monitoring can complete the following bridge pier wall surface video monitoring of the water surface again, be conducive to testing staff and more intuitively obtain detection
As a result, the 2 wall surface detection device of bridge pier in the present invention belongs to the prior art, those skilled in the art can select according to actual needs
Suitable 2 wall surface detection device of bridge pier is selected, the detection device of 2 wall surface of bridge pier includes but is not limited to high definition water-proof CCD camera.
The measuring unit 44 is locally supervised with for connecting the local monitoring terminals for transferring data to cloud calculating center
Control terminal has real function, is convenient for data processing and data are shown, convenient for detection, maintenance personnel carries out follow-up work.
The present invention also provides a kind of traveling methods of bridge pier detection walking mechanism, include the following steps, by tractor 4
It is installed with traction rope 5 around bridge pier 2, traction rope control piece 42 controls traction rope 5 and tightens, when the pressure that tyre pressure sensor 48 detects
When force value is in preset range, stop tightening traction rope 5, driving mechanism 49 drives traveling wheel 46 mobile.
The acquisition of the preset range of tyre pressure sensor 48 in the present invention, the driving force that need to only guarantee that driving mechanism 49 generates are big
The frictional force of the invention suffered by 2 wall surface of bridge pier is added in the gravity of invention itself, wherein the present invention is in 2 wall surface of bridge pier
Upper suffered frictional force is true by the coefficient of friction between the pressure detected of tyre pressure sensor 48 and 2 wall surface of bridge pier and traveling wheel 46
Fixed, those skilled in the art can be according to the traveling wheel tyre width of tractor, car body size, car body mass and wall material
It obtains, can also be obtained according to limited experiment number, belong to the conventional technical means of those skilled in the art.
In the traveling method, the bridge pier detection walking mechanism further includes the support vehicle for surrounding and being bonded bridge pier 2
3, support vehicle 3 is connected by traction rope 5 and tractor 4；When the driving mechanism 49 drives traveling wheel 46 mobile, traction rope control
Part 42 controls traction rope 5 and puts rope, and traction rope 5 puts the speed of rope and 46 movement speed of traveling wheel matches, to guarantee 4 energy of tractor
It is moved on bridge pier, when 4 horizontal position above and below to be measured of tractor, tractor 4 stops movement, traction rope control piece
42 rope closings pull support vehicle 3 to be moved to horizontal position to be measured, then tractor 4 are driven to move backward, while traction rope control piece
42 control 5 rope closings of traction rope, traction rope 5 puts the speed of rope and 46 movement speed of traveling wheel matches, to guarantee that tractor 4 can be
It is moved on bridge pier 2.
As shown in figure 5, control unit 45 of the present invention respectively with traction rope control piece 42, measuring unit 44, steering mechanism 47,
Tyre pressure sensor 48 and driving mechanism 49 are electrically connected, and tyre pressure sensor 48 is anti-by the pressure value between 2 wall surface of tractor 4 and bridge pier
Control unit of feeding 45, and then control unit 45 controls the start and stop of traction rope control piece 42 and driving mechanism 49；Measuring unit 44
It detects the motion state of tractor 4 and feeds back to control unit 45, the tractor 4 that control unit 45 is fed back according to measuring unit 44
Motion state judges whether that starting steering mechanism 47 carries out steering operation, while control unit 45 is according to 4 motion state of tractor
Judge whether tractor 4 is completed to be displaced, makes control unit 45 also and can control traction rope control piece 42 and the stopping of driving mechanism 49.
Embodiment one
As shown in fig. 6, detecting step of the present invention on bridge pier includes:
S01: tractor 4 and traction rope 5 are installed around bridge pier 2, traction rope control piece 42 controls traction rope 5 and tightens；
S02: tyre pressure sensor 48 detects the pressure value between 2 wall surface of tractor 4 and bridge pier, and pressure value information is fed back
To control unit 45, control unit 45 judges whether the pressure value that tyre pressure sensor 48 detects is in preset range, if
It is to go to step S03, continues to control 5 folding and unfolding of traction rope if not then traction rope control piece 42；
S03: control unit 45 controls driving mechanism 49 and starts, and controls traction rope control piece 42 and stop working, driving machine
Structure 49 drives traveling wheel 46 mobile；
S04: it in 46 moving process of traveling wheel, completes to acquire the data of 2 wall surface of bridge pier, control unit 45 persistently receives
The pressure value that tyre pressure sensor 48 detects, and judge whether the pressure value that tyre pressure sensor 48 detects is in preset range
It is interior, step S05 is gone to according to judging result；
S05: if the pressure value that tyre pressure sensor 48 detects is in preset range, driving mechanism 49 continues driving row
It is mobile to walk wheel 46, if the pressure value that tyre pressure sensor 48 detects is not in preset range, the control driving of control unit 45
Mechanism 49 stops, and collected data are uploaded to cloud computing center by the native monitoring terminal of real-time display and carry out data
Processing；
S06: the installation site of adjustment tractor 4 repeats step S01, S02, S03, S04 and S05, completes to entire bridge pier
2 detection.
Embodiment two
As shown in fig. 7, detecting step of the present invention on bridge pier includes:
S1: tractor 4 and support vehicle 3 are placed around bridge pier 2, and tractor 4 is symmetrical with 2 same level wall surface of bridge pier, are propped up
Vehicle 3 is supportted between tractor 4 and is connect by traction rope 5 with tractor 4, is connected between adjacent supports vehicle 3 by connecting rope 6
It connects, traction rope control piece 42 controls traction rope 5 and tightens, and tractor 4 is made gradually to be close to 2 wall surface of bridge pier with support vehicle 3；
S2: tyre pressure sensor 48 detects the pressure value between 2 wall surface of tractor 4 and bridge pier, and pressure value information is fed back
To control unit 45, control unit 45 judges whether the pressure value that tyre pressure sensor 48 detects is in preset range, if
It is to go to step S3, continues to control 5 folding and unfolding of traction rope if not then traction rope control piece 42；
S3: measuring unit 44 detects the movement state information of tractor 4, and by relative motion status information feedback to control
Unit 45, control unit 45 judge whether steering mechanism 47 carries out steering behaviour according to the movement state information that measuring unit 44 detects
Make, if it is go to step S4, if not then going to step S5；
S4: control unit 45 controls the operation that steering mechanism 47 carries out progress step S5 after steering operation；
S5: control unit 45 judges that the direction of motion of tractor 4 is according to the movement state information that measuring unit 44 detects
No is horizontal movement, and jumps to step S6 according to judging result；
S6: when the direction of motion of tractor 4 is horizontal movement, control unit 45 controls driving mechanism 49 and starts, and makes to lead
Draw vehicle 4 to move around bridge pier 2, and complete the data acquisition to 2 wall surface of bridge pier in the process, when the direction of motion of tractor 4 is
When vertical movement, control unit 45 controls driving mechanism 49 and traction rope control piece 42 starts, and driving mechanism 49 drives traveling wheel
46 is mobile, and traction rope control piece 42 controls traction rope 5 and puts rope, and traction rope 5 puts the 46 movement speed phase of speed and traveling wheel of rope
Match, to guarantee that tractor 4 can move on bridge pier, when 4 horizontal position above and below to be measured of tractor, tractor 4 stops
It only moves, 42 rope closing of traction rope control piece, pulls support vehicle 3 to be moved to horizontal position to be measured, then tractor 4 is driven reversely to move
It is dynamic, while traction rope control piece 42 controls 5 rope closing of traction rope, traction rope 5 puts the 46 movement speed phase of speed and traveling wheel of rope
Match, to guarantee that tractor 4 can move on bridge pier 2, re-moves horizontal position to be measured to tractor 4, tractor 4 stops moving
It is dynamic, complete vertically moving on bridge pier 2 of the invention；
S7: control unit 45 judges whether tractor 4 is completed according to the movement state information detected according to measuring unit 44
Displacement on bridge pier 2 if it is goes to step S8, if it is not, then repeating the subsequent step of step S2；
S8: 45 control driving mechanism 49 of control unit control and traction rope control piece 42 stop, and complete the survey of entire bridge pier 2
Collected data are uploaded to cloud computing center by the native monitoring terminal of real-time display and carry out data processing by amount.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent defines.
Claims (10)
1. a kind of bridge pier detection walking mechanism, which is characterized in that including connect with traction rope (5) surround bridge pier (2) if
Dry tractor (4), the tractor (4) include vehicle seat (41), are mounted on vehicle seat (41) bottom and are equipped with tyre pressure sensor (48)
Traveling wheel (46), the mobile driving mechanism (49) of driving traveling wheel (46), the traction rope control piece for controlling traction rope (5) folding and unfolding
(42) and control unit (45), described control unit (45) and tyre pressure sensor (48), traction rope control piece (42), driving mechanism
(49) it is electrically connected, the tyre pressure sensor (48) sends pressure signal and gives control unit (45), described control unit (45) basis
Size control traction rope control piece (42) of pressure value and driving mechanism (49), to guarantee that tractor (4) can be in bridge pier (2) uplink
It walks.
2. bridge pier detection walking mechanism as described in claim 1, which is characterized in that further include that control traveling wheel (46) is mobile
The steering mechanism (47) in direction, the steering mechanism (47) and control unit (45) electrical connection.
3. bridge pier detection walking mechanism as claimed in claim 1 or 2, which is characterized in that further include surrounding and being bonded bridge pier
(2) support vehicle (3), support vehicle (3) are connected by traction rope (5) and tractor (4).
4. bridge pier detection walking mechanism as claimed in claim 1 or 2, which is characterized in that the traction rope control piece (42)
Transmission axis connection including motor and motor and the rotating cylinder (43) and torque sensor for being wound with traction rope (5), torque sensing
Device and control unit (45) electrical connection.
5. bridge pier detection walking mechanism as claimed in claim 1 or 2, which is characterized in that further include for detecting tractor
(4) measuring unit (44) of motion state.
6. bridge pier detection walking mechanism as claimed in claim 3, which is characterized in that the tractor (4) at least 2,
And it is symmetrical.
7. bridge pier detection walking mechanism as claimed in claim 3, which is characterized in that the adjacent support vehicle (3) passes through
Connecting rope (6) connection.
8. bridge pier detection walking mechanism as claimed in claim 4, which is characterized in that the rotating cylinder (43) has 2.
9. such as the claim 1-8 described in any item bridge piers detection traveling method of walking mechanisms, which is characterized in that including with
Lower step installs tractor (4) and traction rope (5) around bridge pier (2), and traction rope control piece (42) controls traction rope (5) and receives
Tightly, when the pressure value that tyre pressure sensor (48) detects is in preset range, stop tightening traction rope (5), driving mechanism
(49) driving traveling wheel (46) is mobile.
10. traveling method as claimed in claim 9, which is characterized in that the bridge pier detection walking mechanism further includes surrounding
And it is bonded the support vehicle (3) of bridge pier (2), support vehicle (3) is connected by traction rope (5) and tractor (4)；The driving mechanism
(49) when driving traveling wheel (46) is mobile, rope is put in traction rope control piece (42) control traction rope (5), and traction rope (5) puts the speed of rope
Degree and traveling wheel (46) movement speed match, to guarantee that tractor (4) can move on bridge pier, to tractor (4) water to be measured
When prosposition sets above and below, tractor (4) stops movement, and traction rope control piece (42) rope closing pulls support vehicle (3) mobile
To horizontal position to be measured, tractor (4) reverse movement is then driven, while traction rope control piece (42) control traction rope (5) is received
Rope, traction rope (5) puts the speed of rope and traveling wheel (46) movement speed matches, to guarantee that tractor (4) can be on bridge pier (2)
It is mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910092501.XA CN109591907A (en) | 2019-01-30 | 2019-01-30 | A kind of bridge pier detection walking mechanism and traveling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910092501.XA CN109591907A (en) | 2019-01-30 | 2019-01-30 | A kind of bridge pier detection walking mechanism and traveling method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109591907A true CN109591907A (en) | 2019-04-09 |
Family
ID=65966968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910092501.XA Pending CN109591907A (en) | 2019-01-30 | 2019-01-30 | A kind of bridge pier detection walking mechanism and traveling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109591907A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217301A (en) * | 2019-06-22 | 2019-09-10 | 北京博清科技有限公司 | Walking robot |
| CN110842384A (en) * | 2019-11-13 | 2020-02-28 | 重庆交通建设(集团)有限责任公司 | On-site connection process of steel box girder |
| CN113068905A (en) * | 2021-04-27 | 2021-07-06 | 东莞市奇裕制鞋机械有限公司 | Three-dimensional automatic numerical control line of shoemaking |
| CN114892978A (en) * | 2022-03-24 | 2022-08-12 | 温州一建城建集团有限公司 | Civil engineering foundation mold construction process and fixing device thereof |
| CN115071924A (en) * | 2022-07-21 | 2022-09-20 | 江苏科技大学 | Bridge pier underwater detection device and working method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0821083A (en) * | 1994-07-07 | 1996-01-23 | Kawasaki Heavy Ind Ltd | Spherical tank internal scaffold device |
| CN101993020A (en) * | 2009-08-04 | 2011-03-30 | 通用电气公司 | Tower climbing and servicing device |
| JP2011161564A (en) * | 2010-02-09 | 2011-08-25 | Osaka Gas Co Ltd | In-pipe moving device |
| CN202657136U (en) * | 2012-05-05 | 2013-01-09 | 吕琼莹 | Electric wheel capable of climbing cylinder |
| US20130228397A1 (en) * | 2012-03-02 | 2013-09-05 | Tom D. Horn | Wind tower maintenance platforms and techniques |
| CN103640010A (en) * | 2013-11-25 | 2014-03-19 | 天津大学 | Multi-platform crawling type wind turbine tower drum operation robot |
| DE102014215346A1 (en) * | 2014-08-04 | 2016-02-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Support system for a measuring device for monitoring a hydraulic structure under water |
| CN206278171U (en) * | 2016-12-13 | 2017-06-27 | 保定市普朗特能源科技有限公司 | For the multi-functional tower automatic climbing device of wind power equipment |
| CN107128388A (en) * | 2017-05-23 | 2017-09-05 | 湖南沄耀中创科技有限公司 | A kind of crawler belt climb type wind tower cleaning detection robot of variset |
| JP2018126850A (en) * | 2017-02-10 | 2018-08-16 | 学校法人 中央大学 | Wall surface adsorption device and wall surface moving device |
| CN209492628U (en) * | 2019-01-30 | 2019-10-15 | 湖南达诺智能机器人科技有限公司 | Walking mechanism is used in a kind of detection of bridge pier |
-
2019
- 2019-01-30 CN CN201910092501.XA patent/CN109591907A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0821083A (en) * | 1994-07-07 | 1996-01-23 | Kawasaki Heavy Ind Ltd | Spherical tank internal scaffold device |
| CN101993020A (en) * | 2009-08-04 | 2011-03-30 | 通用电气公司 | Tower climbing and servicing device |
| JP2011161564A (en) * | 2010-02-09 | 2011-08-25 | Osaka Gas Co Ltd | In-pipe moving device |
| US20130228397A1 (en) * | 2012-03-02 | 2013-09-05 | Tom D. Horn | Wind tower maintenance platforms and techniques |
| CN202657136U (en) * | 2012-05-05 | 2013-01-09 | 吕琼莹 | Electric wheel capable of climbing cylinder |
| CN103640010A (en) * | 2013-11-25 | 2014-03-19 | 天津大学 | Multi-platform crawling type wind turbine tower drum operation robot |
| DE102014215346A1 (en) * | 2014-08-04 | 2016-02-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Support system for a measuring device for monitoring a hydraulic structure under water |
| CN206278171U (en) * | 2016-12-13 | 2017-06-27 | 保定市普朗特能源科技有限公司 | For the multi-functional tower automatic climbing device of wind power equipment |
| JP2018126850A (en) * | 2017-02-10 | 2018-08-16 | 学校法人 中央大学 | Wall surface adsorption device and wall surface moving device |
| CN107128388A (en) * | 2017-05-23 | 2017-09-05 | 湖南沄耀中创科技有限公司 | A kind of crawler belt climb type wind tower cleaning detection robot of variset |
| CN209492628U (en) * | 2019-01-30 | 2019-10-15 | 湖南达诺智能机器人科技有限公司 | Walking mechanism is used in a kind of detection of bridge pier |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217301A (en) * | 2019-06-22 | 2019-09-10 | 北京博清科技有限公司 | Walking robot |
| CN110842384A (en) * | 2019-11-13 | 2020-02-28 | 重庆交通建设(集团)有限责任公司 | On-site connection process of steel box girder |
| CN113068905A (en) * | 2021-04-27 | 2021-07-06 | 东莞市奇裕制鞋机械有限公司 | Three-dimensional automatic numerical control line of shoemaking |
| CN114892978A (en) * | 2022-03-24 | 2022-08-12 | 温州一建城建集团有限公司 | Civil engineering foundation mold construction process and fixing device thereof |
| CN115071924A (en) * | 2022-07-21 | 2022-09-20 | 江苏科技大学 | Bridge pier underwater detection device and working method thereof |
| CN115071924B (en) * | 2022-07-21 | 2024-01-19 | 江苏科技大学 | Bridge pier underwater detection device and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109591907A (en) | A kind of bridge pier detection walking mechanism and traveling method | |
| CN105128693B (en) | A kind of medium-and low-speed maglev train gap measurement system and method | |
| CN107816975B (en) | Automatic detection system for suspended empty rail bridge | |
| CN110111579A (en) | A kind of unattended highway automatic tour inspection system and application method | |
| CN106143530A (en) | Routing inspection trolley for suspension type monorail traffic system box track girder | |
| CN213262695U (en) | Small-size urban rail transit tunnel intelligence patrols and examines robot | |
| CN213259512U (en) | Flying adsorption robot for bridge deflection detection | |
| CN110926541A (en) | Straddle type monorail PC track beam detection device | |
| CN205930728U (en) | A patrol and examine dolly that is used for suspension type mono -rail transport system box track roof beam | |
| CN110733020A (en) | mining rail mounted ventilation monitoring robot | |
| CN209492628U (en) | Walking mechanism is used in a kind of detection of bridge pier | |
| CN209492532U (en) | Rail traffic detection vehicle | |
| CN114132358B (en) | Multi-platform intelligent track comprehensive detection system | |
| CN110641690A (en) | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle | |
| CN107843486A (en) | A kind of detection robot system based on benkelman beams deflectometer | |
| CN113276084A (en) | ROS intelligent vehicle | |
| CN207515778U (en) | Suspension type sky iron track bridge automatic checkout system | |
| CN113309574B (en) | Tunnel monitoring and locomotive unmanned driving system and method based on automatic cruise | |
| CN109131430A (en) | A kind of middle low speed magnetic suspension less important work robot | |
| CN113358658B (en) | Method for realizing automatic detection of defects of high-speed rail box girder | |
| CN113340239B (en) | Road surface vehicle-jumping detection device and method based on unmanned aerial vehicle | |
| CN213812376U (en) | Vehicle-mounted track detection system for operation vehicle | |
| CN115480241A (en) | Tunnel face advanced geological prediction robot system and method | |
| CN207798539U (en) | A kind of detection robot system based on benkelman beams deflectometer | |
| CN211033005U (en) | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |