Bridge detection work system

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 [0001] The invention relates to the technical field of bridge detection, in particular to a bridge detection working system. Background technique [0002] The bridge comprehensive inspection operation vehicle is to install the detection head at the end of the boom of the bridge inspection vehicle, extend to the bottom or side of the bridge, collect the surface data of the bridge and transmit it to the computer for data analysis and image recognition detection, and diagnose bridge diseases. , there have been some achievements in the research on the multi-body system of the rigid mechanical arm of the bridge inspection vehicle at home and abroad. It is more intense, and the dynamic model is more complex. In order to realize the stable and high-precision trajectory tracking of the probe head, the influence of flexible deformation on the dynamic characteristics of the entire system cannot be ignored. Contents of the invention [0003] The invention overcomes t...

AI Technical Summary

Problems solved by technology

[0002] The bridge comprehensive inspection operation vehicle is to install the detection head at the end of the boom of the bridge inspection vehicle, extend to the bottom or side of the bridge, collect the surface data of the bridge and transmit it to the computer for data analysis and image recognition detection, and diagnose bridge diseases. , there have been some achievements in the research on the multi-body system of the rigid mechanical arm of the bridge inspection vehicle at home and abroad. It is more intense, and the dynamic model is more complicated. In order to realize the stable and high-precision trajectory tracking of the probe head, the influence of flexible deformation on the dynamic characteristics of the entire system cannot be ignored.

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