According to the patrol robot advancing device and the control method, a Y-shaped frame structure is adopted, during normal walking, two sets of walking wheel units are arranged on frames on the two sides and installed on a cable, a front side driving mechanism is controlled to drive the frames to rotate by a certain angle, and the walking wheel units are driven to move by a certain angle; in the rotating process of the frame, the frame plate on the front side of the frame drives the walking wheel unit on the front side to be lifted to leave the cable, the function that the walking wheel unit on the front side crosses an obstacle is achieved, and the crossing capacity of the inspection robot facing large obstacles can be improved through the advancing structure provided by the invention; the technical problem that according to a traditional unmanned inspection robot, wheels are installed in a telescopic mode to achieve the action of crossing obstacles, and the passing capacity is poor is solved.
本申请公开了一种巡检机器人行进装置及控制方法,本身请提供的采用Y型结构的车架结构,正常行走时,两侧车架上均有两组行走车轮单元安装在电缆上,通过控制前侧驱动机构带动车架转动一定角度,车架转动过程中使得车架前侧的架板带动前侧的行走车轮单元提升离开电缆,实现前侧的行走车轮单元跨越障碍物的功能,通过本身请提供的行进结构能够提升巡检机器人面对大型障碍物时跨越能力,解决了传统的无人巡检机器人通过将车轮伸缩安装来实现跨越障碍物的动作,通过能力不佳的技术问题。
Inspection robot advancing device and control method
一种巡检机器人行进装置及控制方法
2023-03-21
Patent
Electronic Resource
Chinese
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