Walking control method based on climbing robot for angle steel tower

A technology of walking control and robotics, which is applied in the fields of motor vehicles, transportation and packaging, etc. It can solve the problems of doubtful reliability and tilting of the rear mechanical claws, achieve high climbing efficiency, strong obstacle-surpassing ability, and ensure safe and reliable operation. Effect

Active Publication Date: 2021-03-05
STATE GRID ANHUI ELECTRIC POWER +1
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Problems solved by technology

On the one hand, during the climbing process of the inchworm robot, its mechanical claws must reliably realize the active avoidance function relative to the above obstacles, so as to ensure the climbing efficiency; The main material of the angle steel is parallel, so as to ensure the stable clamping and stable climbing of the robot; but because the angle steel is not perpendicular to the ground, and th

Method used

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  • Walking control method based on climbing robot for angle steel tower
  • Walking control method based on climbing robot for angle steel tower
  • Walking control method based on climbing robot for angle steel tower

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Example Embodiment

[0064] In order to facilitate the overall understanding, the structure and mode of operation of the specific embodiment of the climbing robot of the entire angle steel tower is described here:

[0065] Corner steel tower with climbing robots, such as Figure 1-20 As shown, its main structure includes a long strip-shaped host 10 and a clamp assembly disposed on the host 10; when actually operating, the length direction of the main unit should be parallel to the longitudinal direction of the angular steel A. The mainframe 10 is arranged on one side of the angle steel A, and the electronically controlled slip block is provided on the slip track, so that the main engine 10 can generate a reciprocating operation according to the control unit operation; one or one in the slip block. Fixed a set of clamping components. in Figure 1-6 In the specific embodiment of the specifically shown, it can be seen that the clamp assembly is two groups, i.e., the upper clamp assembly A and the lower c...

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Abstract

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.

Description

technical field [0001] The invention belongs to the technical field of electric power operation climbing robots, and in particular relates to a walking control method for a climbing robot based on an angle steel tower. Background technique [0002] The stability and safety of electric power is the basic guarantee for promoting the development of all walks of life. In my country, there are a large number of transmission angle steel towers, which are widely distributed, and have been exposed for a long time in the wild environment or even in the harsh environment of dust, strong wind and high humidity. In the traditional way, the maintenance personnel need to carry the maintenance equipment on their backs to climb the angle steel tower along the side of the spikes, and gradually attach safety ropes to prevent falling, resulting in long inspection cycles, high risk of climbing, and low work efficiency. Therefore, climbing robots suitable for angle steel towers emerged as the ti...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张金锋姬书军汪胜和王坤刘军罗义华刘勇王道静张必余何辉刘大平
Owner STATE GRID ANHUI ELECTRIC POWER
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