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A platform for research: civil engineering, architecture and urbanism
Robot for nondestructive testing of main cable of suspension bridge
The invention discloses a robot for nondestructive detection of a main cable of a suspension bridge. The robot comprises a detection mechanism and a walking mechanism; the detection mechanism comprises a detection arm and a detection system, the detection system comprises detection elements, and at least part of the detection elements are arranged on the detection arm; the detection arm conformally surrounds the outer circle of the main cable of the suspension bridge and is used by the detection elements to obtain detection parameters of the main cable of the suspension bridge, and the detection arm can swing in a single-degree-of-freedom mode in the direction close to and away from the main cable of the suspension bridge and is used for avoiding a suspender (cable) connecting mechanism and a suspender (cable) on the main cable of the suspension bridge in the advancing process. According to the invention, detection parameters of the suspension cable are obtained in the climbing and advancing process, the robot can swing to be away from the main cable of the suspension bridge when encountering the suspender (cable) connecting mechanism and the suspender (cable) on the main cable of the suspension bridge, the suspender (cable) connecting mechanism and the suspender (cable) are avoided, and therefore obstacles on the suspension cable can be quickly crossed, the problem that the obstacle crossing ability and the movement speed of an existing robot contradict with each other is solved, the detection efficiency is improved, and meanwhile the manufacturing cost is low.
本发明公开了一种用于悬索桥主缆无损检测的机器人，包括检测机构和行走机构；检测机构包括检测臂和检测系统，检测系统包括检测元件，至少部分检测元件设置于所述检测臂；检测臂适形环包于悬索桥主缆外圆用于检测元件获取悬索桥主缆的检测参数，且检测臂可在接近和远离悬索桥主缆的方向上单自由度摆动用于在行进中避开悬索桥主缆上的吊杆(索)连接机构和吊杆(索)；本发明在攀爬行进过程中获取悬索的检测参数，在遇到悬索桥主缆上的吊杆(索)连接机构和吊杆(索)时可摆动远离悬索桥主缆，避开吊杆(索)连接机构和吊杆(索)，从而能够快速的越过悬索上的障碍，解决现有机器人的越障能力和运动速度相互矛盾的问题，提高检测效率，同时，造价较低。
Robot for nondestructive testing of main cable of suspension bridge
The invention discloses a robot for nondestructive detection of a main cable of a suspension bridge. The robot comprises a detection mechanism and a walking mechanism; the detection mechanism comprises a detection arm and a detection system, the detection system comprises detection elements, and at least part of the detection elements are arranged on the detection arm; the detection arm conformally surrounds the outer circle of the main cable of the suspension bridge and is used by the detection elements to obtain detection parameters of the main cable of the suspension bridge, and the detection arm can swing in a single-degree-of-freedom mode in the direction close to and away from the main cable of the suspension bridge and is used for avoiding a suspender (cable) connecting mechanism and a suspender (cable) on the main cable of the suspension bridge in the advancing process. According to the invention, detection parameters of the suspension cable are obtained in the climbing and advancing process, the robot can swing to be away from the main cable of the suspension bridge when encountering the suspender (cable) connecting mechanism and the suspender (cable) on the main cable of the suspension bridge, the suspender (cable) connecting mechanism and the suspender (cable) are avoided, and therefore obstacles on the suspension cable can be quickly crossed, the problem that the obstacle crossing ability and the movement speed of an existing robot contradict with each other is solved, the detection efficiency is improved, and meanwhile the manufacturing cost is low.
本发明公开了一种用于悬索桥主缆无损检测的机器人，包括检测机构和行走机构；检测机构包括检测臂和检测系统，检测系统包括检测元件，至少部分检测元件设置于所述检测臂；检测臂适形环包于悬索桥主缆外圆用于检测元件获取悬索桥主缆的检测参数，且检测臂可在接近和远离悬索桥主缆的方向上单自由度摆动用于在行进中避开悬索桥主缆上的吊杆(索)连接机构和吊杆(索)；本发明在攀爬行进过程中获取悬索的检测参数，在遇到悬索桥主缆上的吊杆(索)连接机构和吊杆(索)时可摆动远离悬索桥主缆，避开吊杆(索)连接机构和吊杆(索)，从而能够快速的越过悬索上的障碍，解决现有机器人的越障能力和运动速度相互矛盾的问题，提高检测效率，同时，造价较低。
Robot for nondestructive testing of main cable of suspension bridge
用于悬索桥主缆无损检测的机器人
ZHOU ZHIXIANG (author)
2021-07-23
Patent
Electronic Resource
Chinese
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