钢丝绳巡检机器人研究综述

doi:10.1007/s12204-023-2641-8

摘要/Abstract

摘要： 钢丝绳巡检机器人是钢丝绳状态监测和维护的重要工具，能够对钢丝绳损伤进行准确定位和程度判别。钢丝绳巡检机器人也可以用于缆索检测。首先，综述了钢丝绳巡检机器人爬行结构和爬行方式，分析了每种爬行方式的特点以及存在的问题。接着，论述了钢丝绳巡检机器人的驱动方式，介绍了其常用电机的类型，对比了驱动电机的优缺点以及控制方式。再接着，阐述了钢丝绳巡检机器人无损探伤检测的方法和原理，对比了目前常用的检测方法以及存在的不足。然后，对通信方式的类型进行对比分析，同时也介绍了无线通信方式的种类。最后，归纳了目前钢丝绳巡检机器人存在的问题，并展望了钢丝绳巡检机器人未来的发展趋势。

关键词: 钢丝绳, 缆索, 无损探伤, 巡检机器人

Abstract: Wire rope inspection robot is an important tool for wire rope condition monitoring and maintenance, which can accurately locate and judge the damage of wire rope. In addition, the wire rope inspection robot can also be used for cable inspection. First, the crawling structure and crawling mode of the wire rope inspection robot are reviewed, and the characteristics and existing problems of each crawling mode are analyzed separately. Next, the drive mode of the wire rope inspection robot is discussed, the types of commonly used motors are introduced, and the advantages and disadvantages of drive motors and the control modes are compared. Then, the method and principle of the non-destructive detection of the wire rope inspection robot are expounded, and the commonly used detection methods and existing deficiencies are compared. After that, the types of communication modes are compared and analyzed, and the types of wireless communication modes are also introduced. Finally, the current difficult problems of the wire rope inspection robot are summarized, and the future development trend of the wire rope inspection robot is prospected.

中图分类号:

TP242

. 钢丝绳巡检机器人研究综述[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1144-1161.

SUN Bowen, YANG Jianhua, LI Baofeng, LI Shangyuan, WANG Liang, XU Zhongqi. Wire Rope Inspection Robots: A Review[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1144-1161.

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