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为了实现桥梁缆索缺陷的检测,针对桥梁缆索攀爬机器人进行研究,开发了一种适合桥梁缆索缺陷自动检测,具有强攀爬能力和高机动性的攀爬蛇形机器人。它由具有单自由度的模块组成,可根据缆索特征灵活增减模块数量实现手动重构。模块中的超大扭矩舵机、轻质铝合金机械构件和高摩擦系数的外皮等,增强了机器人的攀爬能力。模块正交连接与P-R连接结合应用,使得机器人可有效完成缆索攀爬运动和检测作业。设计一种主从分布式多级闭环运动控制系统,引入电池供电和扭矩限制,增强了机器人的机动性和对环境的适应能力。缆索模拟攀爬试验结果证明机器人具有很强的机动性和攀爬能力。
In order to detect the bridge cable defects, aiming at the research of the bridge cable climbing robot, a climbing serpentine robot which is suitable for automatic detection of bridge cable defects, has strong climbing ability and high mobility is developed. It consists of a module with a single degree of freedom, according to the characteristics of the cable to increase or decrease the number of modules to achieve manual reconstruction. Module in the large torque servo, lightweight aluminum alloy mechanical components and high coefficient of friction of the skin, etc., to enhance the climbing ability of the robot. Orthogonal module connection and P-R connection with the application, making the robot can effectively complete the cable climbing and testing operations. Design a master-slave distributed multi-stage closed-loop motion control system, the introduction of battery-powered and torque constraints, enhanced robot mobility and adaptability to the environment. Cable simulation The climbing test results show that the robot has strong maneuverability and climbing ability.