起重机轨道检测机器人的研制

Development of single-rail robot for crane rail inspection

根据起重机轨道的工作状况及环境,开发了一种适于轨道检测的单轨机器人.该机器人可以携带反射棱镜沿轨道匀速行进,快速前进、后退的速度分别为0.285,0.281 m/s,慢速前进、后退的速度分别为0.185,0.180 m/s.在行进过程中,根据两边侧轮距离的变化可以判断轨道横截面宽度的变化.单轨机器人的位置,可由全站仪追踪.全站仪发射的激光,经棱镜反射,由全站仪接收.通过对采集数据的处理,计算出轨道机器人的位置坐标.

A single-rail inspection robot was developed according to the working condition of the rails of bridge and trestle cranes . The robot can walk along the rail with uniform rate. There are two velocity options, the one is quicker with forward speed of 0. 285 m/s and backward speed of 0. 281 m/s; the other is slower with forward speed of 0.185 m/s and backward speed of 0. 185 m/s. The width alteration of rail section can be calculated by the changes in distance between robot＇s side wheels. A total station instrument can trace the position of the robot. Based on the measured data of the instrument, the central line of railway is reconstructed.