Walking control method based on climbing robot for angle steel tower

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...

AI Technical Summary

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 the front and rear mechanical claws of the inchworm robot are mostly separated from the front and back and alternately clamp the angle steel, which makes the robot When the claws are loosened, under the action of the huge mass of the inchworm robot itself, the main body of the robot is often tilted at an angle, which makes the reliability of the next grasping action of the rear mechanical claws doubtful.

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