The invention discloses a crawler-type obstacle crossing robot for steel box girder inspection and an obstacle crossing method. The crawler-type obstacle crossing robot comprises an upper computer control terminal, a crawler walking mechanism, a crawler obstacle crossing mechanism, a vehicle body mechanism, an image acquisition and recognition device and a motion control system. The crawler walking mechanisms are arranged on the left side and the right side in the advancing direction of the vehicle body mechanism, connected through transmission shafts and connected with the vehicle body mechanism through crawler supports. The crawler obstacle crossing mechanism is arranged on one side of the advancing direction of the vehicle body mechanism, is a single-swing-arm crawler, is connected to a transmission shaft at the front end of the crawler walking mechanism and is connected with the vehicle body mechanism through a swing arm connecting rod device. Through driving of the crawler motor, the crawler walking mechanism can push the robot to move forwards; through driving of the swing arm motor, the crawler belt obstacle crossing mechanism can climb over the obstacle steel plate through the swing arm. Therefore, the inspection robot relieves the problem that an existing steel box girder inspection robot is poor in obstacle crossing ability and has high adaptability.
本发明公开了一种用于钢箱梁巡检的履带式越障机器人及越障方法,包括上位机控制终端、履带行走机构、履带越障机构、车体机构、图像采集识别装置以及运动控制系统。履带行走机构设置在车体机构前进方向左右两侧,左右通过传动轴连接,并通过履带支架连接车体机构;履带越障机构设置在车体机构前进方向一侧,为单摆臂履带,连接于履带行走机构前端传动轴,并通过摆臂连杆装置连接车体机构。本发明通过履带电机的驱动,履带行走机构可以推动机器人的前行;通过摆臂电机的驱动,履带越障机构可以利用摆臂翻越障碍钢板。由此可见,本发明的巡检机器人缓解了现有钢箱梁巡检机器人越障能力不强的问题,具有高适应性。
Crawler-type obstacle crossing robot for steel box girder inspection and obstacle crossing method
用于钢箱梁巡检的履带式越障机器人及越障方法
2025-03-21
Patent
Electronic Resource
Chinese
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