The invention discloses an auxiliary type self-climbing robot and a control method, and belongs to the technical field of climbing robots. A falling induction piece and a height scanning piece are installed at middle openings in the two ends of a climbing piece body correspondingly; an anti-falling electric telescopic rod and an anti-falling clamping piece which are matched with the anti-falling clamping piece are installed on the two sides of an opening of the climbing piece main body, in the moving process of the climbing piece main body, the moving height is scanned and measured through a falling induction piece and height scales, and real-time monitoring is conducted through a height scanning piece in the moving process; if a sliding condition occurs, an anti-falling electric telescopic rod is automatically started to push an anti-falling clamping piece to clamp a limiting rope; when rotation is needed, the rotating motor is started to drive the rotating rod and the equipment limiting disc to rotate, detection is carried out through the rotating angle and the angle scanning piece in the rotating process of the equipment limiting disc, data are transmitted to an operator in the detection process, and falling prevention and movable adsorption of the multiple sets of adsorption pieces are achieved.

    本发明公开了一种辅助式自攀爬机器人及控制方法,属于攀爬机器人技术领域,攀爬件主体的两端中间开口处分别安装有掉落感应件和高度扫描件,攀爬件主体的开口处两侧安装有与防掉落夹持件相互配合的防掉落电动伸缩杆和防掉落夹持件,在攀爬件主体移动的过程中通过掉落感应件与高度刻度进行扫描测量移动的高度,在移动的过程中通过高度扫描件进行实时监测,如若出现滑落的情况自动启动防掉落电动伸缩杆推动防掉落夹持件对限位绳索进行夹持;在需要旋转时启动旋转电机带动旋转杆和设备限位盘进行旋转,在设备限位盘进行旋转的过程中通过旋转角度和角度扫描件进行检测,在检测的过程中将数据传输给操作人员,达到防坠落和多组吸附件进行移动吸附。


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    Title :

    Auxiliary type self-climbing robot and control method


    Additional title:

    一种辅助式自攀爬机器人及控制方法


    Contributors:

    Publication date :

    2023-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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