A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Stay cable detection robot
The invention discloses a stay cable detection robot which comprises a climbing frame arranged outside a stay cable in a sleeving mode; the counterweight frame is hinged to the adjacent side edge of the climbing frame through a locking mechanism, and the locking mechanism is used for adjusting the included angle between the two plane frames; the driving mechanism comprises four driving units which are distributed on the periphery of the climbing frame, and any driving unit compresses the stay cable inwards and moves in the length direction of the stay cable; the visual detection system is arranged on the climbing frame and collects image data of the stay cable; the control system is arranged on the counterweight frame; and when the driving mechanism and the stay cable are relatively static, the stay cable detection robot is self-locked on the stay cable through gravity. The position of the gravity center of the robot is adjusted by adjusting the included angle between the plane frames through the locking mechanism, so that gravity self-locking of the robot in the static state is achieved, and the problems that in the prior art, stay cable detection equipment is small in loading capacity, limited in climbing angle and the like are solved through cooperation of the driving mechanism and the control system.
本发明公开了一种斜拉索检测机器人，包括：攀爬框架，其套设在斜拉索外部；配重框架，其通过锁定机构与攀爬框架相邻的侧边铰接，锁定机构用于调节两个平面框架间的夹角；驱动机构，其包括四个驱动单元，其分布在攀爬框架的四周，任一驱动单元向内压紧斜拉索并沿其长度方向移动；视觉检测系统，其设置在攀爬框架上并采集斜拉索的图像数据；控制系统，其设置在配重框架上；当驱动机构与斜拉索相对静止时，斜拉索检测机器人通过重力自锁在斜拉索上。本发明通过锁定机构调节平面框架间的夹角来调节机器人重心的位置，从而实现机器人在静止状态下的重力自锁，配合驱动机构和控制系统解决了现有技术中斜拉索检测设备载重能力小，攀爬角度受限等问题。
Stay cable detection robot
The invention discloses a stay cable detection robot which comprises a climbing frame arranged outside a stay cable in a sleeving mode; the counterweight frame is hinged to the adjacent side edge of the climbing frame through a locking mechanism, and the locking mechanism is used for adjusting the included angle between the two plane frames; the driving mechanism comprises four driving units which are distributed on the periphery of the climbing frame, and any driving unit compresses the stay cable inwards and moves in the length direction of the stay cable; the visual detection system is arranged on the climbing frame and collects image data of the stay cable; the control system is arranged on the counterweight frame; and when the driving mechanism and the stay cable are relatively static, the stay cable detection robot is self-locked on the stay cable through gravity. The position of the gravity center of the robot is adjusted by adjusting the included angle between the plane frames through the locking mechanism, so that gravity self-locking of the robot in the static state is achieved, and the problems that in the prior art, stay cable detection equipment is small in loading capacity, limited in climbing angle and the like are solved through cooperation of the driving mechanism and the control system.
本发明公开了一种斜拉索检测机器人，包括：攀爬框架，其套设在斜拉索外部；配重框架，其通过锁定机构与攀爬框架相邻的侧边铰接，锁定机构用于调节两个平面框架间的夹角；驱动机构，其包括四个驱动单元，其分布在攀爬框架的四周，任一驱动单元向内压紧斜拉索并沿其长度方向移动；视觉检测系统，其设置在攀爬框架上并采集斜拉索的图像数据；控制系统，其设置在配重框架上；当驱动机构与斜拉索相对静止时，斜拉索检测机器人通过重力自锁在斜拉索上。本发明通过锁定机构调节平面框架间的夹角来调节机器人重心的位置，从而实现机器人在静止状态下的重力自锁，配合驱动机构和控制系统解决了现有技术中斜拉索检测设备载重能力小，攀爬角度受限等问题。
Stay cable detection robot
一种斜拉索检测机器人
HAN YONGPING (author) / HE YIFANG (author) / ZHU SHIFENG (author) / HAN TAO (author) / LI SHUANG (author) / CHEN XIAOWEI (author) / ZHAO YAFENG (author) / YU YUELONG (author) / LI YIDONG (author) / WANG SHIXUN (author)
2023-01-13
Patent
Electronic Resource
Chinese
Stay cable detection robot based on electromagnetism and Mecanum wheels
| European Patent Office | 2021