The invention belongs to the technical field of climbing robots for electric power operation, and particularly relates to a walking control method based on a climbing robot for an angle steel tower. The walking control method comprises two sets of clamping assemblies for clamping the angle steel at the same time; the lower clamping assembly is loosened; a control host is parallel to the currentlyclamped angle steel; the lower clamping assembly moves upwards along the host. The upper clamping assembly is loosened, and the control host is parallel to the currently clamped angle steel; the hostmoves upwards relative to the lower clamping assembly. The upper clamping assembly clamps the angle steel; therefore, a round of walking control action is completed. By means of the walking control method, the climbing robot can have high obstacle crossing capacity and high climbing efficiency; meanwhile, the action stability and the action reliability of climbing operation can be synchronously guaranteed, so that the manpower inspection cost can be greatly saved, the maintenance efficiency can be improved, and safe and reliable operation of a power transmission system can be guaranteed.
本发明属于电力作业攀爬机器人技术领域,具体涉及一种基于角钢塔用攀爬机器人的行走控制方法。本发明包括两组夹持组件同时夹紧角钢;下夹持组件松开;控制主机与当前所夹持的角钢相平行;下夹持组件沿主机产生上行动作;上夹持组件松开,控制主机与当前所夹持的角钢相平行;主机相对下夹持组件产生上行动作;上夹持组件夹紧角钢;至此完成一轮行走控制动作。通过本发明所述的行走控制方法,可使得攀爬机器人在具备强越障能力和高攀爬效率的同时,亦可同步保证攀爬作业的动作稳定性及动作可靠性,从而能大大节省人力巡检成本,提高检修效率,并保障输电系统安全可靠运行。
Walking control method based on climbing robot for angle steel tower
一种基于角钢塔用攀爬机器人的行走控制方法
2021-03-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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