The invention provides a contact type bridge detection aerial robot, a control method and related equipment, and relates to the technical field of bridge detection aerial robots. The contact type bridge detection aerial robot comprises a first mechanical arm provided with an elastic driving joint, the elastic driving joint comprises a steering engine, a fixing frame, an input end support and an output end support, and the steering engine is fixedly installed on the fixing frame and connected with the input end support; the output end support is rotationally connected to the input end support, and an elastic assembly is arranged between the output end support and the input end support. The elastic assembly is used for providing reset elastic force for the output end support when the output end support rotates relative to the input end support. The contact type bridge detection aerial robot can carry detection equipment in contact with a bridge body and detect the bridge in a contact mode, meanwhile, the situation that the aerial robot is damaged or is out of control due to contact collision is effectively avoided, and the stability of the aerial robot during flight and contact detection is greatly improved.

    本发明提供了一种接触式桥梁检测空中机器人、控制方法及相关设备,涉及桥梁检测空中机器人技术领域。该接触式桥梁检测空中机器人包括设置有弹性驱动关节的第一机械臂,弹性驱动关节包括舵机、固定架、输入端支架和输出端支架,舵机固定安装在固定架上且与输入端支架连接;输出端支架转动连接在输入端支架上且与输入端支架之间设置有弹性组件,弹性组件用于在输出端支架相对输入端支架转动时为输出端支架提供复位弹力。本发明的接触式桥梁检测空中机器人能够搭载与桥体接触的检测设备并通过接触的方式对桥梁进行检测,同时有效避免接触碰撞导致空中机器人受损或失去控制,大大提高空中机器人在飞行和接触检测时的稳定性。


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    Title :

    Contact type bridge detection aerial robot, control method and related equipment


    Additional title:

    一种接触式桥梁检测空中机器人、控制方法及相关设备


    Contributors:
    WANG HAO (author) / YANG PENG (author) / LIU ZHEN (author) / CAI WEIJIA (author) / HUANG XIUWEI (author)

    Publication date :

    2024-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / B25J Manipulatoren , MANIPULATORS / E01D BRIDGES , Brücken



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