The invention discloses an auxiliary climbing method of an inspection robot and an auxiliary climbing structure of the inspection robot, relates to the field of climbing of inspection robots, and aims to solve the problem that the robot overturns and is derailed during climbing. The auxiliary climbing structure of the inspection robot comprises a rail and a rail robot embedded with the rail, wherein the rail robot comprises a visual system; the left side and the right side of the bottom of the rail robot are each provided with a walking rolling wheel; the walking rolling wheels are fixed to the bottom of the rail robot through walking rolling wheel frames; a telescopic mechanical grabbing hook is installed in the center of the front end of the bottom of the rail robot; a control module and a horizontal sensor are arranged in the robot; the telescopic mechanical grabbing hook and the horizontal sensor are both connected to a control module; a plurality of circular inserting holes are formed in the center of the rail in the extending direction of the rail; and the maximum extendable length of the telescopic mechanical grabbing hook is larger than a maximum value of the distance between every two adjacent circular inserting holes, so that the stability of the state when the robot climbs a slope is enhanced, and the robot is prevented from overturning due to insufficient power when the slope is large.

    本申请公开了一种巡检机器人的辅助爬升方法及其结构,涉及巡检机器人爬升领域,目的在于解决机器人爬坡发生倾覆脱离轨道的问题,包括轨道和与轨道嵌合的轨道机器人,轨道机器人包括视觉系统,轨道机器人底部的左右两侧各安装有一个行走滚轮,行走滚轮通过行走滚轮架固定在轨道机器人底部,轨道机器人底部的前端中央安装有一个可伸缩机械抓钩,机器人内部设置有控制模块和水平传感器,可伸缩机械抓钩和水平传感器均连接至控制模块;轨道的中央沿轨道延展方向设置有多个圆形插孔,可伸缩机械抓钩的最大可伸长度大于两个相邻的圆形插孔的距离的最大值,增强了机器人爬坡时状态的稳定性,防止机器人因坡度较大时候因动力不足倾覆。


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    Title :

    Auxiliary climbing method of inspection robot and auxiliary climbing structure of inspection robot


    Additional title:

    一种巡检机器人的辅助爬升方法及其结构


    Contributors:
    WANG ZIWEI (author) / LI JIE (author) / LU BIN (author)

    Publication date :

    2021-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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