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A platform for research: civil engineering, architecture and urbanism
Bridge steel box girder U rib detection robot
The invention belongs to the technical field of bridge steel structure detection and particularly relates to a bridge steel box girder U rib detection robot. The detection robot comprises two sets of racks, an adjusting device and a monitoring device, wherein the two sets of racks are connected with two ends of the adjusting device, the monitoring device is installed at the top of the adjusting device, the whole robot is driven to longitudinally move to a specified position through Mecanum wheels, detection is carried out through a CIS flaw detector, the robot is repeatedly and longitudinally moved till a welding seam on one side of the U-shaped rib is detected, the robot is reversely moved, the detection process is repeated till another welding seam of the U-shaped rib is detected, and when two welding seams of the U-shaped rib are detected, a steering engine drives the two sets of longitudinal racks to rotate 90 degrees clockwise and anticlockwise respectively, so the racks and the adjusting device are located on the same straight line, the Mecanum wheels drive the deformed robot to transversely move to the adjacent U ribs, the adjacent U ribs are detected after the Mecanum wheels are reset, and the effects that the robot can conveniently pass through the complex terrain and the detection accuracy is improved are achieved.
本发明公开的属于桥梁钢结构检测技术领域，具体为桥梁钢箱梁U肋检测机器人包括机架、调节装置与监测装置，所述机架设有两组，两组所述机架与调节装置两端连接，所述监测装置安装在调节装置顶部，通过麦克纳姆轮驱动机器人整体纵向移动至指定位置，CIS探伤仪进行检测，机器人重复纵向移动，直至检测完U肋的某侧焊缝，机器人反向运动，重复上述检测过程，直至检测完该U肋的另外一条焊缝，该U肋两处焊缝检测完毕时，舵机驱动两组纵向的机架分别顺、逆时针旋转90°，使机架与调节装置位于同一条直线上，麦克纳姆轮驱动变形后的机器人横向移动至相邻U肋，复位后进行相邻U肋的检测，具有便于通过复杂地形与提高检测准确性的效果。
Bridge steel box girder U rib detection robot
The invention belongs to the technical field of bridge steel structure detection and particularly relates to a bridge steel box girder U rib detection robot. The detection robot comprises two sets of racks, an adjusting device and a monitoring device, wherein the two sets of racks are connected with two ends of the adjusting device, the monitoring device is installed at the top of the adjusting device, the whole robot is driven to longitudinally move to a specified position through Mecanum wheels, detection is carried out through a CIS flaw detector, the robot is repeatedly and longitudinally moved till a welding seam on one side of the U-shaped rib is detected, the robot is reversely moved, the detection process is repeated till another welding seam of the U-shaped rib is detected, and when two welding seams of the U-shaped rib are detected, a steering engine drives the two sets of longitudinal racks to rotate 90 degrees clockwise and anticlockwise respectively, so the racks and the adjusting device are located on the same straight line, the Mecanum wheels drive the deformed robot to transversely move to the adjacent U ribs, the adjacent U ribs are detected after the Mecanum wheels are reset, and the effects that the robot can conveniently pass through the complex terrain and the detection accuracy is improved are achieved.
本发明公开的属于桥梁钢结构检测技术领域，具体为桥梁钢箱梁U肋检测机器人包括机架、调节装置与监测装置，所述机架设有两组，两组所述机架与调节装置两端连接，所述监测装置安装在调节装置顶部，通过麦克纳姆轮驱动机器人整体纵向移动至指定位置，CIS探伤仪进行检测，机器人重复纵向移动，直至检测完U肋的某侧焊缝，机器人反向运动，重复上述检测过程，直至检测完该U肋的另外一条焊缝，该U肋两处焊缝检测完毕时，舵机驱动两组纵向的机架分别顺、逆时针旋转90°，使机架与调节装置位于同一条直线上，麦克纳姆轮驱动变形后的机器人横向移动至相邻U肋，复位后进行相邻U肋的检测，具有便于通过复杂地形与提高检测准确性的效果。
Bridge steel box girder U rib detection robot
桥梁钢箱梁U肋检测机器人
MA HUIZHU (author) / BAO XIENAN (author) / FANG KAI (author) / WANG CHAOQUN (author)
2021-12-03
Patent
Electronic Resource
Chinese
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