The invention discloses a bridge crack flaw detection wall-climbing robot which is characterized in that the center of an upper triangular frame and the center of a lower triangular frame are each provided with a cylindrical connecting body, the outer side wall of each connecting body is connected with three connecting arms, and the tail ends of the connecting arms are connected with sponge vacuum suction cups through air cylinders; a rotating motor is fixedly connected to the bottom face of a connector of the upper triangular frame, a circular-ring-type rotating disc is connected to a rotating shaft of the rotating motor, two parallel linear guide rails are fixedly connected to one connecting arm of the lower triangular frame, a guide block is slidably connected to each linear guide rail, and a guide block fixing frame is connected with the guide blocks and the circular-ring-type rotating disc. By means of the frame type design structure, complexity of system control is reduced to the maximum extent, stability of dynamic characteristics of walking and adsorption conversion is guaranteed, meanwhile, three degrees of freedom of the feet are increased, the adsorption direction is expanded, and compared with a crawler-type robot, a frame-type robot and a wheeled robot, the robot is higher in obstacle crossing performance.

    本发明公开了一种桥梁裂缝探伤爬壁机器人,上三角框架和下三角框架的中心均具有一个圆柱形的连接体,连接体的外侧壁连接有三个连接臂,连接臂的末端通过气缸连接有海绵真空吸盘;上三角框架的连接体底面固定连接有转动电机,转动电机的转轴上连接有圆环式转盘,下三角框架的一个连接臂上固定连接有两条平行设置的直线导轨,每个直线导轨上滑动连接有一个导向块,导向块固定架连接导向块和圆环式转盘。本发明通过框架式设计结构,在最大程度减小系统控制上的复杂性和保证走行和吸附转化动态特性稳定的同时,增加了足部的三个自由度,扩展了吸附方向,相比于履带式、框架式和轮式机器人,该设备越障性更强。


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    Title :

    Bridge crack flaw detection wall-climbing robot


    Additional title:

    一种桥梁裂缝探伤爬壁机器人


    Contributors:
    JI GUANGYU (author) / ZHU JIN (author) / FAN YU (author) / SUN JINZHE (author) / LI XUECHEN (author) / YAO JINRONG (author) / WANG RUNMIN (author) / LONG HUAIXI (author)

    Publication date :

    2021-06-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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