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A platform for research: civil engineering, architecture and urbanism
Climbing robot for bridge pier detection
The invention relates to a climbing robot for bridge pier detection, and belongs to the technical field of automatic detection of large infrastructures. The climbing robot comprises an annular frame mechanism, a walking mechanism and a visual recognition mechanism, the annular frame mechanism is formed by splicing a plurality of frame single bodies into an annular shape, the frame single bodies extend linearly, and every two adjacent frame single bodies are hinged to each other and detachably connected; an inspection track is arranged above the frame single bodies; the walking mechanism comprises a plurality of walking single bodies arranged on the frame single bodies, and the walking single bodies stretch into the annular frame mechanism in a telescopic mode and are used for walking along the surface of the pier. The visual identification mechanism is movably arranged on the annular track. Due to the fact that the included angle between every two adjacent frame single bodies can be adjusted and the frame single bodies are detachably connected, the climbing robot can adapt to the bridge piers of different shapes, the number of the frame single bodies used for forming the annular frame mechanism can be increased or decreased, and the climbing robot can detect the bridge piers of different sizes and different shapes.
本发明涉及一种用于桥墩检测的攀爬机器人，属于大型基础设施自动化检测技术领域。该攀爬机器人包括环架机构、行走机构和视觉识别机构，环架机构由若干个框架单体拼接呈环形，框架单体呈直线型延伸，相邻的两个框架单体之间相互铰接且可拆卸连接；框架单体的上方设置有检查轨道；行走机构包括若干个设置于框架单体上的行走单体，行走单体可伸缩地伸入环架机构的内部且用于沿桥墩表面行走；视觉识别机构可活动地设置于环形轨道。由于相邻的两个框架单体之间的夹角能够调节且二者可拆卸连接，从而使攀爬机器人适应不同形状的桥墩，并且可以增减用于组成环架机构的框架单体的数量，使攀爬机器人能够对不同尺寸、不同形状的桥墩进行检测。
Climbing robot for bridge pier detection
The invention relates to a climbing robot for bridge pier detection, and belongs to the technical field of automatic detection of large infrastructures. The climbing robot comprises an annular frame mechanism, a walking mechanism and a visual recognition mechanism, the annular frame mechanism is formed by splicing a plurality of frame single bodies into an annular shape, the frame single bodies extend linearly, and every two adjacent frame single bodies are hinged to each other and detachably connected; an inspection track is arranged above the frame single bodies; the walking mechanism comprises a plurality of walking single bodies arranged on the frame single bodies, and the walking single bodies stretch into the annular frame mechanism in a telescopic mode and are used for walking along the surface of the pier. The visual identification mechanism is movably arranged on the annular track. Due to the fact that the included angle between every two adjacent frame single bodies can be adjusted and the frame single bodies are detachably connected, the climbing robot can adapt to the bridge piers of different shapes, the number of the frame single bodies used for forming the annular frame mechanism can be increased or decreased, and the climbing robot can detect the bridge piers of different sizes and different shapes.
本发明涉及一种用于桥墩检测的攀爬机器人，属于大型基础设施自动化检测技术领域。该攀爬机器人包括环架机构、行走机构和视觉识别机构，环架机构由若干个框架单体拼接呈环形，框架单体呈直线型延伸，相邻的两个框架单体之间相互铰接且可拆卸连接；框架单体的上方设置有检查轨道；行走机构包括若干个设置于框架单体上的行走单体，行走单体可伸缩地伸入环架机构的内部且用于沿桥墩表面行走；视觉识别机构可活动地设置于环形轨道。由于相邻的两个框架单体之间的夹角能够调节且二者可拆卸连接，从而使攀爬机器人适应不同形状的桥墩，并且可以增减用于组成环架机构的框架单体的数量，使攀爬机器人能够对不同尺寸、不同形状的桥墩进行检测。
Climbing robot for bridge pier detection
一种用于桥墩检测的攀爬机器人
WU PENGYANG (author) / LIAO SIPING (author) / LUO KAI (author) / WANG YIGUO (author)
2024-11-08
Patent
Electronic Resource
Chinese
IPC:
E01D
BRIDGES
,
Brücken
Limiting device in climbing process of bridge high pier climbing frame
| European Patent Office | 2023