一种自主越障巡检机器人行走夹持机构

在机器人越障过程中，由于重力的影响使得机器人车体水平姿态发生变化，从而机器人自主越障变得十分困难。分析了超高压输电线路障碍物的类型，提出了一种新的双臂自主越障巡检机器人构型，该构型能够跨越输电线路上的障碍物。针对这种新构型，阐述了机器人行走夹持机构的工作原理和实现形式，着重分析研究了偏心夹持机构对保持车体水平姿态的机理。最后，通过越障实验验证了行走夹持机构的可行性。

A kind of holding mechanism of walking autonomous obstacle surmounting and touring inspection robot

In the obstacle-surmounting course of robot, variations have taken place on the horizontal posture of robot body due to the influence of gravity, thus let the autonomous obstacle surmounting of robot becomes quite difficult. This paper analyzed the types of obstacles of super-high voltage transmission line, and a kind of new typed configuration, which could stride over the obstacles on the transmission line, of double armed autonomous obstacle surmounting and touring inspection robot was put forward. Directed against this kind of new configuration, the working principle of the walking and holding mechanism of robot and the form of realization were elaborated, and the mechanism of keeping the body a horizontal posture by the eccentric holding mechanism was emphatically analyzed and studied. Finally, the feasibility of walking and holding mechanism was verified by means of surmounting obstacles test.