桥梁检测轻质长臂机器人设计与试验研究

Design and Test of Lightweight Long-Arm Robot for Bridge Inspection

针对高墩、高厚度桥梁主梁底部表面快速、高效的检测需求,提出一种搭载在轻型移动平台上的电驱动轻质长臂机器人。通过合理的机构构型设计、结构优化设计实现了长臂机器人本体的轻量化,该机器人搭载在轻型移动平台上,可沿人行道行走,并能在桥检现场快速布置开展检测作业。实际运营公路桥梁的拍照检测试验表明:1)机器人在桥面上稳定停靠后,可通过运动规划展开到位;2)利用其末端配备的视觉检测云台,实现对主梁底部的拍照详检;3)初步验证了长臂机器人作业能力和检测功能,为未来实现大型桥梁主梁的自动化检测作业奠定基础。

To meet the requirements of fast and efficient detection of the bottom surface of the high pier and thick bridge decks,an electrically driven lightweight long arm robot mounted on a convenient mobile platform is proposed.Based on the reasonable designation of mechanism configuration and structural optimization,the lightweight of the long-arm robot body is realized.The robot is mounted on a light mobile platform,which can move along the sidewalk and realize the rapid layout of the robot on-site to carry out the inspection work.The photograph detection test of the actual highway bridge in operation shows that:1)It is deployed in place through motion planning after the robot stops stably on the bridge deck;2)The end is equipped with a visual inspection platform to realize the detailed inspection of the bottom surface of the bridge deck;3)The operability and function of the long-arm robot are preliminarily verified through the inspection of the operational bridge.This will be a foundation for the future automatic inspection of large bridges.