A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Stay cable detection robot
The invention relates to the technical field of bridge health monitoring, in particular to a stay cable detection robot. The detection robot comprises an outer frame, crawling supporting leg sets, a telescopic mechanism and a detection mechanism. The outer frame is arranged on the outer side of the stay cable in a sleeving mode. The two crawling supporting leg sets are arranged at the two ends of the outer frame respectively, each crawling supporting leg set comprises at least three crawling supporting legs, one end of each crawling supporting leg is rotationally connected with the end of the outer frame, and the other end of each crawling supporting leg is provided with a crawling wheel abutting against the corresponding stay cable. The two ends of each telescopic mechanism are connected with the outer frame and the crawling supporting leg correspondingly, and the angle of the crawling supporting leg is adjusted so that the pressure of the crawling wheels abutting against the crawling wheels can be adjusted. The detection mechanism is arranged on the outer frame and detects the damage position. The problem that in the prior art, when stay cables with different diameters are detected, the friction force between a crawling mechanism and the stay cables can only be adjusted through springs, the friction force is likely to be insufficient or too large, and the whole robot cannot crawl normally can be solved.
本发明涉及桥梁健康监测技术领域，具体涉及一种斜拉索检测机器人。该检测机器人包括：外框架、爬行支腿组、伸缩机构和检测机构。外框架套设在斜拉索的外侧；两组爬行支腿组分别设于外框架的两端，每组爬行支腿组均包括至少三个爬行支腿，每个爬行支腿的一端与外框架的端部转动连接，另一端设有抵持在斜拉索上的爬行轮；每个伸缩机构两端分别与外框架和爬行支腿连接，调整爬行支腿的角度，以调节爬行轮抵持在爬行轮上的压力；检测机构设于外框架上，检测损伤位置。能够解决现有技术中在对不同直径的斜拉索进行检测时，只能通过弹簧进行调节爬行机构与斜拉索之间的摩擦力，容易导致摩擦力不够，或者摩擦力过大，使整个机器人无法正常爬行的问题。
Stay cable detection robot
The invention relates to the technical field of bridge health monitoring, in particular to a stay cable detection robot. The detection robot comprises an outer frame, crawling supporting leg sets, a telescopic mechanism and a detection mechanism. The outer frame is arranged on the outer side of the stay cable in a sleeving mode. The two crawling supporting leg sets are arranged at the two ends of the outer frame respectively, each crawling supporting leg set comprises at least three crawling supporting legs, one end of each crawling supporting leg is rotationally connected with the end of the outer frame, and the other end of each crawling supporting leg is provided with a crawling wheel abutting against the corresponding stay cable. The two ends of each telescopic mechanism are connected with the outer frame and the crawling supporting leg correspondingly, and the angle of the crawling supporting leg is adjusted so that the pressure of the crawling wheels abutting against the crawling wheels can be adjusted. The detection mechanism is arranged on the outer frame and detects the damage position. The problem that in the prior art, when stay cables with different diameters are detected, the friction force between a crawling mechanism and the stay cables can only be adjusted through springs, the friction force is likely to be insufficient or too large, and the whole robot cannot crawl normally can be solved.
本发明涉及桥梁健康监测技术领域，具体涉及一种斜拉索检测机器人。该检测机器人包括：外框架、爬行支腿组、伸缩机构和检测机构。外框架套设在斜拉索的外侧；两组爬行支腿组分别设于外框架的两端，每组爬行支腿组均包括至少三个爬行支腿，每个爬行支腿的一端与外框架的端部转动连接，另一端设有抵持在斜拉索上的爬行轮；每个伸缩机构两端分别与外框架和爬行支腿连接，调整爬行支腿的角度，以调节爬行轮抵持在爬行轮上的压力；检测机构设于外框架上，检测损伤位置。能够解决现有技术中在对不同直径的斜拉索进行检测时，只能通过弹簧进行调节爬行机构与斜拉索之间的摩擦力，容易导致摩擦力不够，或者摩擦力过大，使整个机器人无法正常爬行的问题。
Stay cable detection robot
一种斜拉索检测机器人
WANG XIANG (author) / GAO TIAN (author) / CAI ZHENGDONG (author) / XU JINYU (author) / JING GUOQIANG (author) / WANG BO (author) / YI JIANJUN (author) / YAN HAN (author) / WANG ZIYU (author) / MA CHANGFEI (author)
2021-06-18
Patent
Electronic Resource
Chinese
Stay cable detection robot based on electromagnetism and Mecanum wheels
| European Patent Office | 2021