基于巡检机器人的轨道升降技术

Track elevating technology for inspection robots

巡检机器人可沿着轨道对隧道中的电缆、光纤、燃气等实施综合检测,巡检轨道因隧道走向限制需要爬升或者下降[1]。而当轨道坡度较大(>30°)时,巡检机器人很难爬上去。针对以上问题,提出一种轨道升降技术,该技术能实现巡检机器人任意角度升降;同时能够防止在升降过程中坠落的危险。经过对样机的测试,实验结果证明该技术能够实现巡检机器人任意角度爬坡功能并且有较高的安全性。

The inspection robot can perform comprehensive inspection of the cable,the optical fiber and the gas pipeline in the tunnel along the track.The inspection track needs to climb or descend due to the restriction of the direction and structure of the tunnel.However,the structure of the inspection robot itself is not enough to cope with high-angle slopes(>30°).Aiming at the problem,a new type of elevating track is designed.The track can not only lift the inspection robot,but also ensure that the inspection robot does not fall from the track during the process of lifting.Through tests on the prototype,it is proved that the technology can realize high-angle climbing of the inspection robot,and has high security.