冗余双驱动拉索检测机器人的爬行力学分析及应用测试*

doi:10.16731/j.cnki.1671-3133.2024.10.010

现代制造工程 ›› 2024, Vol. 529 ›› Issue (10): 72-81.doi: 10.16731/j.cnki.1671-3133.2024.10.010

冗余双驱动拉索检测机器人的爬行力学分析及应用测试^*

蒙东龙^1,2, 王晓琳^2,3, 卢迪², 李剑辉², 周羁²

1 广西大学机械工程学院,南宁 530004;
2 广西科学院高端装备制造研究所,南宁 530006;
3 重庆大学光电技术及系统教育部重点实验室,重庆 400000

收稿日期:2024-01-15 发布日期:2024-10-29
通讯作者: 王晓琳,硕士,正高级工程师。E-mail:wangxiaolin@gxas.cn;卢迪,博士,助理研究员。E-mail:di.lu@gxas.cn
作者简介:蒙东龙,硕士研究生,研究方向为桥梁检测机器人。E-mail:modolon@163.com
基金资助:
^*中央引导地方科技发展资金项目(桂科ZY22096006);南宁市重大科技项目揭榜挂帅项目(重大技术攻关类20221241);南宁市重点研发计划项目(20233072)

Climbing mechanics analysis and application testing of redundant dual-drive cable inspection robot

MENG Donglong^1,2, WANG Xiaolin^2,3, LU Di², LI Jianhui², ZHOU Ji²

1 School of Mechanical Engineering,Guangxi University,Nanning 530004,China;
2 Institute of Advanced Equipment and Manufacturing,Guangxi Academy of Sciences, Nanning 530006,China;
3 Key Laboratory for Optoelectronic Technology & Systems,Education Ministry of China, Chongqing University,Chongqing 400000,China

Received:2024-01-15 Published:2024-10-29

摘要/Abstract

摘要： 传统桥梁拉(吊)索表观人工检测方式存在检测效率低下、检测精度不高等问题,同时还会受到安全风险的困扰。现有的轮式拉索检测机器人承载与越障能力及结构轻量化与拆装简易化仍是限制其当前应用能力提升和现场作业效率的关键因素。提出一种轮式拉索检测机器人的设计,该机器人配备4个U形轮和双电机组成的增强驱动系统,满足复杂工况的拉(吊)索表观病害检测。此外,建立了机器人越障静力学模型,进行U形轮在越障过程中的受力试验,并通过室内和室外试验验证机器人在不同条件下的爬行能力。通过试验,验证了所提出的机器人具备6.8 kg的有效载荷能力以及通过高度为6.3 mm以下障碍物的越障能力。最后,机器人在3座桥梁的现场应用中表现良好,能够在倾斜、凹坑、凸起和风雨线等复杂拉(吊)索表面上正常运行,结果进一步证实了所提出的增强驱动系统设计方案的有效性。

关键词: 拉索检测机器人, 拉(吊)索检测, 越障分析, 增强驱动系统, 静力学分析

Abstract: The traditional manual inspection of bridge cables has drawbacks such as low detection efficiency and accuracy,as well as safety concerns. The existing wheeled cable inspection robots till limited by pay load capacity,obstacle-crossing ability,light weight structure,and easy disassembly and assembly,which obstruction its current application capabilities and on-site operational efficiency improvements. A wheeled robot equipped with an enhanced driving system was proposed which comprising four U-shaped wheels and dual engines,enabling to conduct cable surface defect detection under complex conditions. Additionally,models were established to describe the robot′s normal climbing and obstacle-crossing behaviors. The climbing ability of the robot was evaluated through in door and field trials under various conditions. Finally,with the specially designed driving system,the robot can carry pay load of 6.8 kg and driving wheel overcome obstacles up to 6.3 mm in height,and perform well in on-site applications on three bridges,can climb on complex cable surfaces such as inclined,dent,protrusion,and storm line. Further more,field applications on real bridges strongly supported the effectiveness of the proposed enhanced driving system.

Key words: cable inspection robot, cable inspection, obstacle crossing, enhanced drive system, static analysis

中图分类号:

TH16

蒙东龙, 王晓琳, 卢迪, 李剑辉, 周羁. 冗余双驱动拉索检测机器人的爬行力学分析及应用测试^*[J]. 现代制造工程, 2024, 529(10): 72-81.

MENG Donglong, WANG Xiaolin, LU Di, LI Jianhui, ZHOU Ji. Climbing mechanics analysis and application testing of redundant dual-drive cable inspection robot[J]. Modern Manufacturing Engineering, 2024, 529(10): 72-81.

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冗余双驱动拉索检测机器人的爬行力学分析及应用测试^*

Climbing mechanics analysis and application testing of redundant dual-drive cable inspection robot

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