钢箱梁裂纹检测机器人受力分析与运动控制研究

徐祖恩; 张国良; 朱凌峰; 王峥; 秦枭; 郭健

doi:10.3724/j.gyjzG26040802

钢箱梁裂纹检测机器人受力分析与运动控制研究

doi: 10.3724/j.gyjzG26040802

徐祖恩¹,
张国良²,
朱凌峰¹,
王峥²,
秦枭¹,
郭健^2,3, ,

1. 浙江沪杭甬高速公路股份有限公司, 杭州 310016;
2. 西南交通大学桥梁智能与绿色建造全国重点实验室, 成都 610031;
3. 浙江大学海洋学院, 杭州 310000

详细信息

作者简介:
徐祖恩,硕士,正高级工程师,主要从事桥梁养护研究。

通讯作者:
郭健,guoj@vip.163.com。

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出版历程
- 收稿日期: 2026-04-08
- 网络出版日期: 2026-06-06

Research on the Force Analysis and Motion Control of a Crack Inspection Robot for Steel Box Girders

1. Zhejiang Expressway Co., Ltd., Hangzhou 310016, China;
2. State Key Laboratory of Bridge Intelligent and Green Construction, Southwest Jiaotong University, Chengdu 610031, China;
3. Ocean College, Zhejiang University, Hangzhou 310000, China

摘要

摘要: 针对钢箱梁疲劳裂纹人工检测存在效率低、风险高及定量能力不足等问题，开展了面向钢箱梁裂纹检测的磁吸附式爬壁机器人受力分析与运动控制研究。结合钢箱梁顶板与横隔板裂纹巡检需求，设计了搭载涡流检测设备的爬壁机器人，确定了整机尺寸、负载能力、运行速度等关键参数。建立了机器人的静力学与动力学模型，分析了其在钢板表面的最小磁吸附力需求及驱动转矩要求。基于Webots平台，对机器人在不同负载及焊缝障碍条件下的运动过程进行了仿真分析。结果表明：该机器人能够实现横隔板与顶板之间的连续运动；随着负载增加，机器人在横隔板上的起速时间延长、速度波动加剧，而在顶板上的运动相对平稳；在越过焊缝时，机器人速度出现短时波动，俯仰角随负载增加而明显增大，但整体仍保持较好的通过能力与运动稳定性。
- 钢箱梁 /
- 裂纹检测 /
- 磁吸附式爬壁机器人 /
- 受力分析 /
- 运动控制
Abstract: To address the low efficiency， high risk， and limited quantitative capability of manual inspection for fatigue cracks in steel box girders， a study was conducted on the force analysis and motion control of a magnetic wall-climbing robot for crack inspection. According to the crack inspection requirements for deck plates and diaphragms， a wall-climbing robot equipped with an eddy current testing device was designed， and key parameters including overall dimensions， payload capacity， and operating speed were determined. Static and dynamic models of the robot were established to analyze the minimum magnetic adhesion force and driving torque required on steel plate surfaces. Based on the Webots platform， simulations were carried out to investigate the robot’s motion under different payload and weld obstacle conditions. The results showed that the robot could move continuously between the diaphragm and deck plate. As the payload increased， the start-up time on the diaphragm became longer and speed fluctuation became more pronounced， while the motion on the deck plate remained relatively stable. When crossing a weld， short-term speed fluctuations occurred， and the pitch angle increased significantly with the rising payload. Overall， the robot still maintained good obstacle-crossing capability and motion stability.
- steel box girder /
- crack inspection /
- magnetic wall-climbing robot /
- force analysis /
- motion control

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参考文献(20)

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