Study On The Arm Structure And Hydraulic System Of Intelligent Bridge_detection Vehicle

As the universal methods in the world to detection the defects of bridges, detecting with manual work cannot perform well to the defects in the position where is hardly to be arrived. The detection vehicle with carrying arm has its inherent limitations such as the complex mechanical structure, the oversize working space, the fatalness to the worker on the arm and the lower productivity. Furthermore, it cannot be applied to the complex bridges such as cable-stayed bridge. The application of automatic detecting techniques, which not only lengthens the longevity of bridges remarkably and reduces the safety hidden trouble effectively, but also possesses remarkable social and economic benefits. Therefore, it is deemed of great importance to study the technique and develop equipments for detecting the defects on the bottom of bridges.The intelligent bridge detection vehicle is composed of carrying vehicle, arms, camera equipment, marking equipment, computer and emitter. The system has seven functions including of conveyance (vehicle), carrier of inspecting apparatus (arms), image recognition (camera), obstacle avoidance, cleanout, marking, wireless (wire) communication. The arms' structure and the corresponding hydraulic pressure have been designed. There are the contents studied on this paper as follow.(1) The arm structures of the intelligent detection vehicle are devised based on the foregone parameters and the Pro/E model is established.The blueprint of the intelligent bridge detection vehicle is studied and the optimization scheme is verified.(2) The maths model of arm structure is established;The interface between Pro/E and ADAMS is achieved on the base of MECHANISH/Pro, the intelligent bridge detection vehicle and the Pro/E models of the arm structures can be imported to ADAMS/View environment simultaneously one-off, which is in preparation for the kinematics and dynamical emulation experiments. The working arm structure is analyzed on static based on ADAMS, a series of experiment data is obtained from the analysis of the force of the oil pool, which is used to look for the maximum force of oil pool through curvefitting based on the least square multiple. The feasibility and practicability of the working arm structure is proved finally.(3) According to the requirement of detecting the defects on the bottom of bridges, the arms' motion of the intelligent bridge detection vehicle is analyzed to make certain the order of outspread and the structure principle chart. According to the working range and journey demand, the journey and velocity of all parts of the arms of the intelligent bridge detection vehicle are analyzed to decide the drive format, parameters and the control strategies of all drive parts, and the hydraulic pressure is established finally. The hydraulic pressure emulation model of the working arm is set up, and a great deal of the corresponding emulation experiments of hydraulic pressure model turns out to be that the feasibility and the consistent of the requirements of the route layout have been satisfied.