A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Outer pipe crawling robot facilitating cable-stayed bridge steel cable detection and crawling method thereof
The invention discloses an outer pipe crawling robot facilitating cable-stayed bridge steel cable detection. The middle portion of a double-end lead screw passes through a driving mechanism, and the two end portions of the double-end lead screw are provided with clamping assemblies in a threaded mode. Each clamping assembly comprises two clamping pressing assemblies oppositely installed on a leadscrew nut; each pressing assembly comprises a first connecting rod installed on the lead screw nut, the end portion of the first connecting rod is provided with a first steering engine, the middle portion of the second connecting rod is installed at the output end of the first steering engine, the middle portion of the third connecting rod is installed at the end portion of the second connecting rod, the two ends of the third connecting rod are provided with clamping wheels. The invention further discloses a crawling method of the outer pipe crawling robot facilitating cable-stayed bridge steel cable detection. By means of the connecting rod structure and the double-end lead screw, rotation of the lead screw is controlled, opening and closing of the clamping assemblies and the clamping wheels are matched, movement of the whole climbing device on the steel cable is achieved, the structure is simple, and the outer pipe crawling robot can climb on the steel cable effectively.
本发明公开了一种便于斜拉桥钢索检测的外管爬行机器人，其中，包括：双头丝杆中部穿过驱动机构，所述双头丝杆的两端部螺纹安装有夹紧组件，所述夹紧组件包括：丝杠螺母上相对安装有两压紧组件，所述压紧组件包括：第一连杆安装在所述丝杠螺母上，所述第一连杆端部安装有第一舵机，第二连杆的中部安装在所述第一舵机的输出端，第三连杆的中部安装在所述第二连杆的端部，所述第三连杆的两端安装有夹紧轮。还公开了一种便于斜拉桥钢索检测的外管爬行机器人的爬行方法。发明通过连杆结构及双头丝杆，通过控制丝杆的旋转，配合夹紧组件的开合，以及夹紧轮，实现整体在钢索上的移动，本发明结构简单，能够有效在钢索上攀爬。
Outer pipe crawling robot facilitating cable-stayed bridge steel cable detection and crawling method thereof
The invention discloses an outer pipe crawling robot facilitating cable-stayed bridge steel cable detection. The middle portion of a double-end lead screw passes through a driving mechanism, and the two end portions of the double-end lead screw are provided with clamping assemblies in a threaded mode. Each clamping assembly comprises two clamping pressing assemblies oppositely installed on a leadscrew nut; each pressing assembly comprises a first connecting rod installed on the lead screw nut, the end portion of the first connecting rod is provided with a first steering engine, the middle portion of the second connecting rod is installed at the output end of the first steering engine, the middle portion of the third connecting rod is installed at the end portion of the second connecting rod, the two ends of the third connecting rod are provided with clamping wheels. The invention further discloses a crawling method of the outer pipe crawling robot facilitating cable-stayed bridge steel cable detection. By means of the connecting rod structure and the double-end lead screw, rotation of the lead screw is controlled, opening and closing of the clamping assemblies and the clamping wheels are matched, movement of the whole climbing device on the steel cable is achieved, the structure is simple, and the outer pipe crawling robot can climb on the steel cable effectively.
本发明公开了一种便于斜拉桥钢索检测的外管爬行机器人，其中，包括：双头丝杆中部穿过驱动机构，所述双头丝杆的两端部螺纹安装有夹紧组件，所述夹紧组件包括：丝杠螺母上相对安装有两压紧组件，所述压紧组件包括：第一连杆安装在所述丝杠螺母上，所述第一连杆端部安装有第一舵机，第二连杆的中部安装在所述第一舵机的输出端，第三连杆的中部安装在所述第二连杆的端部，所述第三连杆的两端安装有夹紧轮。还公开了一种便于斜拉桥钢索检测的外管爬行机器人的爬行方法。发明通过连杆结构及双头丝杆，通过控制丝杆的旋转，配合夹紧组件的开合，以及夹紧轮，实现整体在钢索上的移动，本发明结构简单，能够有效在钢索上攀爬。
Outer pipe crawling robot facilitating cable-stayed bridge steel cable detection and crawling method thereof
便于斜拉桥钢索检测的外管爬行机器人及其爬行方法
WANG ANLAN (author)
2020-05-19
Patent
Electronic Resource
Chinese
IPC:
E01D
BRIDGES
,
Brücken
| European Patent Office | 2023