桥梁检测车的研究与开发
摘要
随着公路交通的发展,公路桥梁的数量也迅速增加,一方面给经济发展创造了良好的运输条件,另一方面,随着时间的推移桥梁“老龄”化问题已摆在人们的面前,由于桥梁隐患所带来的交通事故,往往是车毁人亡的恶性事故,因而对桥梁进行定期检修、寿命及承载能力的预测研究自然成了一个很重要的课题。
而我国经济和交通建设的飞速发展,桥梁维护单位对桥梁检测车的需求也在迅速增加。桥梁检测作业车就是为了适应社会的发展和科学的进步,适应当今市场经济和新形势的新要求而研制的。桥梁检测作业车不仅可以对桥梁损坏时进行快速修复,保证道路桥梁长期使用过程中的安全可靠,还可以铺设桥梁底部的电力、通讯电缆等设施,同时,也有定期维护和检修的功能。
桥梁检测车是用于桥梁检测维护的专用大型设备,由二类汽车底盘加装专用工作装置和控制系统组成。为桥梁检测人员在检测过程中提供作业平台的专用汽车。将作业平台装备在汽车底盘上,可以随时移动位置能安全、快速、高效地让作业人员进入作业位置。由于桥梁检车作业车的方便和高效,目前已成为国外经济发达城市桥梁维护的标配设备。
未来10年内,我国公路及桥梁建设仍将保持较快的发展速度,在我国,桥梁检测维修车尚处于研发初级阶段,基本上以引进为主,所以预计我国今后大型桥梁检测车等在内的道路养护检测机械车将具有十分广阔的市场。
因此,桥梁检测车的研究与开发工作具有十分重要的意义。本文以国外某种实用型的桥梁检测车为原型,为其进行桁架结构设计,研究和探讨桥梁检测车的开发及应用。研究内容如下:(1)根据桥梁检测车的基本给定参数及相关资料,确定桥梁检测车的总体方案和桁架机构的方案;(2)建立桥梁检测车桁架结构CATIA实体模型;并对桁架结构的各部件结构进行了探讨;对桁架动作进行分析,确立桁架展开顺序表和结构原理图;(3)拟定桥梁检测车的液压原理图,对各机构液压系统进行分析,并探讨了液压系统主要执行元件的选择,从而设计出桥梁检测车液压系统;(4)应用CATIA软件对桥梁检测车桁架机构进行虚拟装配和运动学仿真研究,验证设计的合理性;(5)讨论ADAMS机械运动学仿真软件在桁架机构中的应用及ADAMS仿真模型的建立,为桁架结构的仿真分析作准备。
Along with development of highway traffic,the amount of bridges increases rapidly,one side it creates favorable transportation condition for economy development,on the other side, many bridges become aged by time so that many traffic accidents happened due to the aged problem.Thus,examining and repairing on bridges become a very important task.
National economy and traffic construction develop at very fast speed,requirement for bridge-inspection vehicle mushroom by bridge maintenance department,bridge-inspection vehicle is prepared to fit development of society and science advancement,at the same time,it adapt current market economy and new situation.Bridge-inspection vehicle cant not only repair bridges' damage but also assure bridges on the safe side,still it can be used to pave establishment such as electric power and communication cable.etc under bridge bottom.at one time,it has termly maintenance and overhaul functions.
Bridge-inspection vehicle is a special large-scale equipment for bridge measure and maintenance,it's make up of automobile chassis special device and control system it offers Platform Units to workers at any moment to move to suitable position rapidly and safely.
In the fowling decade,highway and bridge construct will still keep rapid develop speed.in our country.R&D on bridge-inspection vehicles are still in primary phase, bridge-inspection vehicles mostly are imported,therefore,bridge-inspection vehicles have a very wide market.
Therefore,R&D on bridge-inspection vehicle have very important meaning.This text make research and study on bridge-inspection vehicle,refer to an overseas antetype vehicle, the major contents as follows:
(1)bases on bridge-inspection vehicle given parameter and related documents,make sure collectivity project and the arm frame;
(2)modeling CATIA entity for the arm frame of bridge-inspection vehicle,also analyze the movement,spread order and configuration theory drawings;
(3)study out hydraulic pressure theory chart for bridge-inspection vehicle,analyze hydraulic pressure on framework and discuss how to select action action components;
(4)use CATIA software to make dummy assemble about arm frame parts and validate design rationality;
(5)discuss application of mechanism kinematics emulation software ADAMS on the Platform Units,and how to build model in ADAMS in order to make preparation for emulation.
而我国经济和交通建设的飞速发展,桥梁维护单位对桥梁检测车的需求也在迅速增加。桥梁检测作业车就是为了适应社会的发展和科学的进步,适应当今市场经济和新形势的新要求而研制的。桥梁检测作业车不仅可以对桥梁损坏时进行快速修复,保证道路桥梁长期使用过程中的安全可靠,还可以铺设桥梁底部的电力、通讯电缆等设施,同时,也有定期维护和检修的功能。
桥梁检测车是用于桥梁检测维护的专用大型设备,由二类汽车底盘加装专用工作装置和控制系统组成。为桥梁检测人员在检测过程中提供作业平台的专用汽车。将作业平台装备在汽车底盘上,可以随时移动位置能安全、快速、高效地让作业人员进入作业位置。由于桥梁检车作业车的方便和高效,目前已成为国外经济发达城市桥梁维护的标配设备。
未来10年内,我国公路及桥梁建设仍将保持较快的发展速度,在我国,桥梁检测维修车尚处于研发初级阶段,基本上以引进为主,所以预计我国今后大型桥梁检测车等在内的道路养护检测机械车将具有十分广阔的市场。
因此,桥梁检测车的研究与开发工作具有十分重要的意义。本文以国外某种实用型的桥梁检测车为原型,为其进行桁架结构设计,研究和探讨桥梁检测车的开发及应用。研究内容如下:(1)根据桥梁检测车的基本给定参数及相关资料,确定桥梁检测车的总体方案和桁架机构的方案;(2)建立桥梁检测车桁架结构CATIA实体模型;并对桁架结构的各部件结构进行了探讨;对桁架动作进行分析,确立桁架展开顺序表和结构原理图;(3)拟定桥梁检测车的液压原理图,对各机构液压系统进行分析,并探讨了液压系统主要执行元件的选择,从而设计出桥梁检测车液压系统;(4)应用CATIA软件对桥梁检测车桁架机构进行虚拟装配和运动学仿真研究,验证设计的合理性;(5)讨论ADAMS机械运动学仿真软件在桁架机构中的应用及ADAMS仿真模型的建立,为桁架结构的仿真分析作准备。
Along with development of highway traffic,the amount of bridges increases rapidly,one side it creates favorable transportation condition for economy development,on the other side, many bridges become aged by time so that many traffic accidents happened due to the aged problem.Thus,examining and repairing on bridges become a very important task.
National economy and traffic construction develop at very fast speed,requirement for bridge-inspection vehicle mushroom by bridge maintenance department,bridge-inspection vehicle is prepared to fit development of society and science advancement,at the same time,it adapt current market economy and new situation.Bridge-inspection vehicle cant not only repair bridges' damage but also assure bridges on the safe side,still it can be used to pave establishment such as electric power and communication cable.etc under bridge bottom.at one time,it has termly maintenance and overhaul functions.
Bridge-inspection vehicle is a special large-scale equipment for bridge measure and maintenance,it's make up of automobile chassis special device and control system it offers Platform Units to workers at any moment to move to suitable position rapidly and safely.
In the fowling decade,highway and bridge construct will still keep rapid develop speed.in our country.R&D on bridge-inspection vehicles are still in primary phase, bridge-inspection vehicles mostly are imported,therefore,bridge-inspection vehicles have a very wide market.
Therefore,R&D on bridge-inspection vehicle have very important meaning.This text make research and study on bridge-inspection vehicle,refer to an overseas antetype vehicle, the major contents as follows:
(1)bases on bridge-inspection vehicle given parameter and related documents,make sure collectivity project and the arm frame;
(2)modeling CATIA entity for the arm frame of bridge-inspection vehicle,also analyze the movement,spread order and configuration theory drawings;
(3)study out hydraulic pressure theory chart for bridge-inspection vehicle,analyze hydraulic pressure on framework and discuss how to select action action components;
(4)use CATIA software to make dummy assemble about arm frame parts and validate design rationality;
(5)discuss application of mechanism kinematics emulation software ADAMS on the Platform Units,and how to build model in ADAMS in order to make preparation for emulation.
引文
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[3]邹大鹏.智能视频桥梁检测车工作臂避障系统的研究:[硕士学位论文].广州:广东工业大学,2005
[4]朱海涛.桥梁工程实用测量[M].北京:中国铁道出版社,2000
[5]舒安.智能桥梁检测车臂架结构及液压系统的研究:[硕士学位论文].广州:广东工业大学,2006.
[6]邓锡添,吴百海,肖体兵等.桥梁检测车工作臂运动学模型的研究[J],机电工程技术.2006,35(11).67-69
[7]厉军.QJIO型自行式桥梁检测作业车[J].工程机械,1999(06).4-6
[8]王遐,新品发布:徐工18米桁架式桥梁检测车试车成功,中国公路.2006(24).105-105
[9]虹.新型桥梁检测车,专用汽车.2005(1).26-26
[10]英帆.Aspen Aerials桥梁检测车[J].商用汽车,2003(09).46-47
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[16]Najib Metni,Tarek Hamel,A UAV for bridge inspection:Visual servoing control Law with orientation limits,Automation in Construction 17(2007) 3-10
[17]LIU Shi-Ca,TAN Da-Long,LIU Guang-Jun.Formation Control of Mobile Robots with Active Obstacle Avoidance,Acta Automatica sinica,2007,529-535
[18]吴社强,杜愎刚编著.通用特种车辆与装卸机械使用维修[M].北京:国防工业出版社,2006.5,13-75
[19]冯晋祥主编.专用汽车[M],北京.机械工业出版社,2008,05
[20]张岭.徐工桥梁检测车填补国内空白[J],中国公路,2003(9).52-52
[21]廖柯,邱敏秀,杨华勇等.多级同步伸缩液压缸的设计与研究[J],液压与气动 1994(02).9-11
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[23]李震,杨春连.中大吨位汽车起重机的伸缩机构[J],建筑机械,2005(04).90-91
[24]孙桓,陈作模.机械原理[M].北京:高等教育出版社,2000
[25]王凡,吴百海,肖体兵.智能桥梁检测车臂架电液比例控制的研究[J],流体传动与控制,2008(4).23-25
[26]孔德文等编著.液压挖掘机[M],北京:化学工业出版社,2006.10
[27]杨文生等.液压与气压传动[M],电子工业出版社,2007
[28]厉军.QJIO型自行式桥梁检测作业车液压传动系统[J],液压与气动,1999(01)
[29]何晓光.桥梁检测车作业装置电液控制系统[J],江苏建材,2002(3).39-41
[30]杨晓乾,田瑶.基于某桥梁检测车设计缺陷的改进方案[J],筑路机械与施工机械化.2008.11. 67-68,71
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[33]杨侃.QJ20型桥梁检测车[J],筑路机械与施工机械化,1999,16(6).18-19
[34]舒安,吴百海,肖体兵等.多自由度超长臂小型智能桥梁检测车臂架结构的探讨[J],机电工程术,2006,35(10).40-41,98
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[2]王凡.智能桥梁检测车臂架系统的研究:[硕士学位论文].广州:广东工业大学,2008
[3]邹大鹏.智能视频桥梁检测车工作臂避障系统的研究:[硕士学位论文].广州:广东工业大学,2005
[4]朱海涛.桥梁工程实用测量[M].北京:中国铁道出版社,2000
[5]舒安.智能桥梁检测车臂架结构及液压系统的研究:[硕士学位论文].广州:广东工业大学,2006.
[6]邓锡添,吴百海,肖体兵等.桥梁检测车工作臂运动学模型的研究[J],机电工程技术.2006,35(11).67-69
[7]厉军.QJIO型自行式桥梁检测作业车[J].工程机械,1999(06).4-6
[8]王遐,新品发布:徐工18米桁架式桥梁检测车试车成功,中国公路.2006(24).105-105
[9]虹.新型桥梁检测车,专用汽车.2005(1).26-26
[10]英帆.Aspen Aerials桥梁检测车[J].商用汽车,2003(09).46-47
[11]崔文毅,潘夏表.桥梁检测车在桥梁检测中的应用[J],筑路机械与施工机械化.2006(12).42-44
[12]邓锡添.智能视频桥梁检测车探测机构轨迹规划的研究:[硕士学位论文].广州:广东工业大学,2006
[13]刘胜民.桥梁检测车,商用汽车[J],2003(9).44-45
[14]Xing-Jian Jing."Behavior dynamics based motion planning of mobile robots in uncertain dynamic environments",Robotics and Autonomous Systems 53(2005)99-123
[15]George Sithole,George Vosselman."Bridge detection in airborne laser scanner data",ISPRS Journal of Photogrammetry & Remote Sensing 61(2006) 33-46
[16]Najib Metni,Tarek Hamel,A UAV for bridge inspection:Visual servoing control Law with orientation limits,Automation in Construction 17(2007) 3-10
[17]LIU Shi-Ca,TAN Da-Long,LIU Guang-Jun.Formation Control of Mobile Robots with Active Obstacle Avoidance,Acta Automatica sinica,2007,529-535
[18]吴社强,杜愎刚编著.通用特种车辆与装卸机械使用维修[M].北京:国防工业出版社,2006.5,13-75
[19]冯晋祥主编.专用汽车[M],北京.机械工业出版社,2008,05
[20]张岭.徐工桥梁检测车填补国内空白[J],中国公路,2003(9).52-52
[21]廖柯,邱敏秀,杨华勇等.多级同步伸缩液压缸的设计与研究[J],液压与气动 1994(02).9-11
[22]奚永新,徐兵等.三级同步液压缸设计与仿真研究[J],液压与气动,2004.07.49-51
[23]李震,杨春连.中大吨位汽车起重机的伸缩机构[J],建筑机械,2005(04).90-91
[24]孙桓,陈作模.机械原理[M].北京:高等教育出版社,2000
[25]王凡,吴百海,肖体兵.智能桥梁检测车臂架电液比例控制的研究[J],流体传动与控制,2008(4).23-25
[26]孔德文等编著.液压挖掘机[M],北京:化学工业出版社,2006.10
[27]杨文生等.液压与气压传动[M],电子工业出版社,2007
[28]厉军.QJIO型自行式桥梁检测作业车液压传动系统[J],液压与气动,1999(01)
[29]何晓光.桥梁检测车作业装置电液控制系统[J],江苏建材,2002(3).39-41
[30]杨晓乾,田瑶.基于某桥梁检测车设计缺陷的改进方案[J],筑路机械与施工机械化.2008.11. 67-68,71
[31]岳军宁.德国牧歌(MOOG)MBI 125-1.5/S型桥梁检测车[J],江苏交通科技,1997(5).34-35
[32]郭贵平,杨文明.MOOG桥梁检测车[J].筑路机械与施工机械化,2000,17(3).13-14
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