The invention discloses a wall surface crawling self-adaptive robot for quality detection of a structure with a circular-arc-shaped cross section and a control method. The wall surface crawling self-adaptive robot comprises a wall surface self-adaptive machine body, a self-following security trolley, a sensor group and a control and display system. The wall surface self-adaptive machine body advances along the inner wall of a tunnel based on the negative pressure adsorption wall-climbing robot technology, the robot can adjust the robot chassis to adaptively detect the wall surface curvature according to the arc-shaped structure wall surface curvature, and the front end carries a detection sensor to carry out quality detection; the self-following security trolley and the wall surface self-adaptive machine body synchronously move in the horizontal direction; the control and display system can automatically adjust the negative pressure adsorption force, so that the wall surface self-adaptive robot is in the optimal advancing state, the stability and the working efficiency of the equipment are improved, the energy consumption is reduced, the running time of the equipment is prolonged, and the wall surface adaptability of the robot under the complex working condition is enhanced.
本发明公开了一种用于横断面为圆弧形构筑物质量检测的壁面爬行自适应机器人及控制方法,本方案包括括壁面自适应机体、自跟随安保小车、传感器组、控制和显示系统。壁面自适应机体基于负压吸附爬壁机器人技术沿隧道内壁进行行进,本发明的机器人能够根据圆弧形构筑物壁面曲率,调节机器人底盘适应检测壁面曲率,且前端携带检测传感器进行质量检测;自跟随安保小车与壁面自适应机体保持水平方向同步移动;控制和显示系统可自动调节负压吸附力,使得壁面自适应机器人在最佳行进状态内,提高了设备的稳定性、工作效率,并降低了能耗,增加了设备运行时间,并增强了机器人复杂工况下壁面适应性。
Wall surface crawling self-adaptive robot for quality detection of structure with arc-shaped cross section and control method
一种用于横断面为圆弧形构筑物质量检测的壁面爬行自适应机器人及控制方法
2022-07-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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