The invention discloses a gecko-imitated bridge exploration robot and a bridge exploration method thereof. An existing robot cannot well adapt to the condition that a bridge surface is rough. The robot comprises a trunk seat body, hip joint orthogonal structures, tail end driving pieces, middle connecting assemblies, vacuum sucker assemblies, a tail balance rod, a trunk supporting rod and a cameradevice. The middle connecting assemblies and the vacuum sucker assemblies are both provided with spherical hinges, so that a platform with a sphere automatically swings around the spherical hinges under the action of n springs, and vacuum suckers can still be firmly adsorbed to the wall surface of a bridge even if the vacuum suckers are located on a rough plane; an elastic tail rod of the tail balance rod always makes contact with the wall face of the bridge, the robot can be kept stable, and a stable area is formed; and the trunk supporting rod facilitates the placement of the robot at an exploration position and the quick retraction of the robot, shortens the operation time of the robot, and improves the operation efficiency.
本发明公开了一种仿壁虎式桥梁勘探机器人及其桥梁勘探方法。现有机器人不能很好适应桥梁表面粗糙的情况。本发明包括躯干座体、髋关节处正交结构、末端驱动件、中间连接组件、真空吸盘组件、尾部平衡杆、躯干部支撑杆和摄像装置。中间连接组件和真空吸盘组件均设有球铰链,使得带球体平台在n根弹簧作用下自动绕球铰链摆动,真空吸盘即使在粗糙平面仍能牢靠吸附桥梁壁面上;尾部平衡杆的弹性尾杆始终接触桥梁壁面,能保持机器人稳定,形成稳定域;躯干部支撑杆便于将机器人放置于勘探位置和快速收回机器人,缩减机器人作业时间,提高作业效率。
Gecko-imitated bridge exploration robot and bridge exploration method thereof
一种仿壁虎式桥梁勘探机器人及其桥梁勘探方法
2020-12-08
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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