36results about How to "Improve obstacle clearance efficiency" patented technology

The invention discloses a novel structure of a deicing robot based on a pneumatic type electric transmission line, comprising a forearm unit, a middle arm unit, a rear arm unit and a gravity center adjustment balance mechanism, wherein the forearm unit, the middle arm unit and the rear arm unit are sequentially connected with the gravity center adjustment balance mechanism positioned below the forearm unit, the middle arm unit and the rear arm unit; the forearm unit and the rear arm unit are symmetrically arranged; the forearm unit comprises a stacked type mechanical arm mechanism, a travelling driving mechanism, a deicing mechanism, a palm opening and closing mechanism and a brake braking mechanism; the middle arm unit comprises a vertical type telescopic arm mechanism, the travelling driving mechanism, the palm opening and closing mechanism and the brake braking mechanism; and the rear arm unit is the same as the forearm unit in structure and comprises a pneumatic control loop which enables the forearm unit, the middle arm unit and the rear arm unit to take telescopic actions, travelling actions, obstacle detouring actions and deicing actions and takes compressed air as a power source. The invention can complete the deicing operation, the on-line stable travelling and high-efficiency autonomous obstacle detouring under the conditions of intelligent control and has the advantages of compact structure, light weight, easy control, and the like.

The invention discloses an obstacle avoiding device for high voltage direct current magnetic suspension inspection robot. The device comprises a cavity case body formed by an opening and closing left case body and a right case body, a connection rod mechanism, a walking wheel mechanism and a control box. The middle part of the cavity case body is provided with a guide wire protection sleeve. The circumference of the guide wire protection sleeve is provided with a driving coil and a suspending coil. The walking wheel mechanism comprises two groups of walking wheels fixedly arranged on the side faces of the left case body and the right case body respectively. The guide wire protection sleeve, the suspending coil and the driving coil are all halved and are fixedly arranged inside the left case body and the right case body respectively. As the left case body and the right case body of the cavity case body open or close, the guide wire protection sleeve, the driving coil, and the suspending coil can also open or gather around the circumference of a high voltage cable and the two groups of walking wheels can be separated or attached closely onto the high voltage cable. The cavity case body can be controlled to open and close through the connection rod mechanism; the control case controls the connection rod mechanism, the driving coil and the suspending coil. According to the brand new obstacle crossing mode achieved by an inspection robot, the structure is simple yet the performance is stable.

The invention discloses a climbing robot walking along an overhead line, and the climbing robot comprises a support structure which comprises a controller. One side part of the support structure is provided with a front cantilever device, a center cantilever device and a rear cantilever device. The three cantilever devices are connected with the support structure through a cantilever device pedestal, and the front cantilever device and the rear cantilever device are located at two ends of the support structure. The front and rear cantilever devices each comprises a walking drive mechanism located at the top, an unfolding mechanism, a flexible rotating mechanism, a clamping mechanism, and a lifting mechanism which is located below, wherein the unfolding mechanism, the flexible rotating mechanism and the clamping mechanism are located at the central part. The center cantilever device comprises a walking drive mechanism at the top, an unfolding mechanism and a flexible rotating mechanismwhich are both located at the central part, a lifting mechanism located below, and a charging mechanism located at the front side of the center cantilever device. The climbing robot achieves the stable walking and climbing along an overhead line (220kV-500kV), and can be installed on a shock-proof hammer and a suspension line clamp on the overhead line in a crossing manner. The climbing robot is strong in obstacle crossing capability, is high in obstacle crossing efficiency, is large in climbing angle, is stable in structure, is light in weight, is simple in operation, and is good in real-timeperformance.

The invention discloses a power line inspection and deicing robot control system, which is characterized in that it includes a controller, the controller includes an obstacle control module and a deicing control module; the obstacle control module is used to control the Detect the obstacle crossing of the deicing robot; the deicing control module is used to control the deicing of the patrolling deicing robot; the obstacle crossing control module is respectively connected with the first detection unit and the first driving unit; The modules are respectively connected to the second detection unit and the second drive unit; the first detection unit is used to detect obstacles and collect the position information of obstacles; the first drive unit is used to drive the support of the inspection robot respectively Arm swings and travel wheel turns. The obstacle surmounting structure of the present invention is simple, easy to operate, and high in obstacle surmounting efficiency; the deicing device combines mechanical ice breaking and ice melting, and can quickly deicing; can realize autonomous inspection, automatic obstacle surmounting and deicing.

The invention discloses a transmission line inspection robot, which includes a body, and also includes a walking mechanism connected with a controller, a detection system, a power supply system and a deicing system; On the power transmission line; the detection system includes a matching circuit, a deformation sensing device connected to the matching circuit, an obstacle sensor, and a memory for detecting the ice thickness and obstacles on the power transmission line; the power supply system is used for controller, walking The mechanism, the detection system and the deicing system are powered; the deicing system includes a deicing wheel and a melting agent storage box. The robot can overcome the obstacles on the transmission line, detect the icing on the transmission line and perform deicing, improve the inspection efficiency, make it easier to overcome obstacles, and get better deicing and cleaning effects.

The invention discloses a line-clamping walking device for a high-voltage transmission line patrol robot. The line-clamping walking device comprises a pod seat, wherein the pod seat comprises a frontbracket and a rear bracket which are hinged to each other and which are both provided with a longitudinal motor; the output shafts of the longitudinal motors are opposite in direction and each connected to a mechanical arm; the tail end of each mechanical arm is connected with a claw device; the claw device comprises a fixing frame; a driving wheel, a stopping wheel and a stopping claw are arranged on the fixing frame; and a current taking device is disposed outside the fixing frame. The line-clamping walking device can solve the problem that the robot in the prior art has difficulty in obstacle crossing, and has the advantages of simple structure, high efficiency and high reliability.

The invention discloses a line inspection robot based on a planetary gear mechanism and an obstacle crossing method. A toothed inner ring and a toothed outer ring are installed concentrically on a central fixed plate, and the rotation of the robot is controlled by gears on a rotating shaft of a steering motor. When there is a need to cross an obstacle, a front operating arm rotates to avoid the obstacle and moves forward to cross the obstacle, and the steering motor turns back again and tightens a cable. At the same time, a rear operating arm releases the cable and rotates to avoid the obstacle. After the whole robot crosses the obstacle, the rear operating arm turns back to the original position again and clamps the cable, and the whole obstacle crossing action is completed. The line inspection robot has a simple structure, and the action execution is effective. Moreover, the equipment is powered by a self-power-taking device, and the efficiency of obstacle crossing and line inspecting of the line inspection robot is greatly improved.

The invention discloses a deicing control system for an inspection deicing robot of a power transmission line. The deicing control system is characterized by comprising a mechanical arm control module, an ice melting device control module and an ice melting agent spraying control module, wherein the mechanical arm control module is used for collecting position information between an ice layer anda mechanical arm and controlling the mechanical arm to move, the ice melting device control module is used for controlling rotation of an ice melting device, and the ice melting agent spraying controlmodule is used for controlling discharging of an ice melting agent. The inspection deicing robot can be used for inspection and obstacle crossing, the obstacle crossing mode is simple and convenient,meanwhile, the function of rapidly removing ice can be achieved, the ice melting device of the robot can be automatically controlled, and an ice layer is removed; and moreover, with combination of ice melting and mechanical ice breakage, the deicing efficiency is high.

The invention discloses a self-obstacle-crossing robot and a control method, and the robot is in remote communication connection with an operation controller, and comprises a head, a main body, two front climbing limbs, and two rear climbing limbs. The operation controller comprises an information receiving unit for receiving environment information and state information respectively; an environment modeling unit, calling scene materials and constructing an environment model according to the environment information; a path planning unit generating at least one moving track in the environment model according to the state information and the environment information; a path selection unit, selecting an optimal running track according to a preset running target and a constraint condition; a central control unit, receiving the moving track and sending a crawling instruction for executing the optimal moving track to the two front crawling limbs and the two rear crawling limbs, and the two front climbing limbs and the two rear climbing limbs respectively receive the crawling instruction and crawl to a preset running target according to the crawling instruction. The self-obstacle-crossingrobot has the beneficial effects that the optimal moving track can be found, the obstacle crossing efficiency is improved, and the service life of the self-obstacle-crossing robot is prolonged.

The invention discloses a high-voltage transmission line inspection system, which includes a machine body, and also includes a walking mechanism connected with a controller, a detection system, a power supply system and a deicing system; ; The detection system includes a matching circuit, a deformation sensing device connected to the matching circuit, an obstacle sensor, and a memory for detecting the ice thickness and obstacles on the power transmission line; The deicing system and the deicing system are powered; the deicing system includes a columnar knife holder and a deicing support. The system can overcome obstacles on transmission lines, detect icing on transmission lines and perform deicing, improve inspection efficiency, simplify obstacle surmounting, and obtain better deicing cleaning and inspection results.

The invention discloses a transmission line inspection robot control system featured by comprising a body control system and a ground control system; the body control system comprises an industrial control computer, and a motor driving module, a data acquisition module, a communication module1 and a power supply respectively connected with the industrial control computer; the industrial control computer is used for receiving data uploaded by other modules, and sending an execution order; the motor driving module is used for driving the motor; the data acquisition module is used for gathering detection data for the industrial control computer; the ground control system comprises a communication module2 and a microprocessor; the communication modules 1 and 2 are used for communications between the body control system and the ground control system. The transmission line inspection robot control system enables the inspection robot to fast cross barriers; the robot is easy to control, and stable in walking and working.

The invention discloses a time-sharing separate driving combined drive method which adopts a machine body, a group of power supplies, 2*n action wheels, two auxiliary obstacle-crossing devices, a plurality of motors and m power shafts, wherein the action wheels are separately arranged at two sides of the machine body; the two auxiliary obstacle-crossing devices are located at two sides of the machine body separately, one end of each auxiliary obstacle-crossing device is fixed on a power shaft between a front wheel and a back wheel and the other end is suspended; and the motors are divided into two groups A and B and are driven by one group of power supplies in a time-sharing switching manner. Under regular road conditions, the power supplies drive the motors in the group A to work, and the machine body carries out advancing, retreating and swerving in a wheeled manner. Under irregular road conditions, the motors are switched into the motors in the group B to work, and the auxiliary obstacle-crossing devices are driven to rotate to cross obstacles. One group of power supplies are always adopted for driving two groups of motors in a time-sharing manner and the two groups of motors are mutually independent, so that the weight of the whole machine is reduced, the structure is simple and control is convenient; and a climbing mode and a rolling mode can be combined for use according to specific conditions, so that the obstacle-crossing efficiency is high, and the machine has the characteristic of high obstacle-crossing ability of a tracked robot and a legged robot.

The invention discloses an obstacle-surmounting mechanism of a transmission line inspection robot, which includes a body, and the body is set on the transmission line through the support of a front traveling mechanism, a middle traveling mechanism and a rear traveling mechanism; wherein each traveling mechanism It includes a support arm and a walking wheel. The upper end of the support arm is movably connected with the body. The walking wheel is set on one side of the support arm and can be displaced relative to the support arm in the vertical direction. The walking wheel is set on the transmission line above, to drive the machine body to move along the transmission line; the support arm can swing forward or backward along the extension direction of the transmission line, so that the walking wheels are lifted and separated from the transmission line. The mechanism can overcome obstacles on the power line, and at the same time, the body can freely adjust the height up and down when moving on the power line, so as to prevent the body from being unable to pass when obstacles appear above or below the power line.

The invention relates to an obstacle-crossing inspection robot and an obstacle-crossing method. The obstacle-crossing inspection robot comprises a vehicle body and wheels arranged on the left and right sides of the vehicle body; a containing cavity penetrating the front and rear sides of the vehicle body is formed in the vehicle body; a bridge plate and a mechanical arm are arranged in the containing cavity; the mechanical arm can transfer the bridge plate to an obstacle ditch from the front end of the containing cavity and transfer the bridge plate into the containing cavity from the obstacleditch through the rear end of the containing cavity; and the distance between the wheels located on the two sides of the vehicle body is smaller than the width of the bridge plate, so that the vehicle body can run on the bridge plate. The mechanical arm and the bridge plate are arranged on the vehicle body, the mechanical arm moves out of the bridge plate from the front end of the containing cavity before obstacle crossing and retracts the bridge plate from the rear end of the containing cavity after obstacle crossing, so that the vehicle body crosses over the obstacle ditch through the bridge plate, and the robot has the advantages of being convenient to operate and capable of crossing obstacles autonomously. Meanwhile, the vehicle body directly recovers the bridge plate from the rear end of the containing cavity after passing through the obstacle ditch, so that the position of the vehicle body can be prevented from being readjusted in a recovery operation, and obstacle crossing efficiency is improved.

The invention discloses a gravity center adjusting device, a cleaning robot and an obstacle crossing method. The gravity center adjusting device comprises a device body, a balancing weight and a driver. The device body is used for bearing the balancing weight and limiting movement of the balancing weight. The driver is connected with the balancing weight and used for driving the balancing weight to move. The gravity center adjusting device can be applied to the cleaning robot, under the limitation of the device body, the gravity center is adjusted by driving the balancing weight to move, then the cleaning robot can cross obstacles more easily, and the obstacle crossing capacity of the cleaning robot can be greatly improved.

The invention relates to the technical field of detection robots, in particular to an obstacle crossing inspection robot for an overhead transmission line and an obstacle crossing method of the obstacle crossing inspection robot. According to the obstacle crossing method of the obstacle crossing inspection robot for the overhead transmission line, the obstacle crossing inspection robot comprises a robot platform and a control device, and the robot platform is provided with a first walking mechanism and a second walking mechanism which can move relative to the robot platform. The first walking mechanism and the second walking mechanism can walk along a cable of the overhead transmission line, press the cable, cling to the cable, loosen the cable, break away from the cable and hang the cable back. According to the obstacle crossing method of the obstacle crossing inspection robot for the overhead power transmission line, the obstacle crossing inspection robot can stably cross obstacles, the stability of the obstacle crossing process is guaranteed, the obstacle crossing efficiency is high, the obstacle crossing inspection robot for the overhead power transmission line can guarantee the stability of the obstacle crossing posture, and the obstacle crossing inspection robot is convenient to use. The device has the characteristics of simple structure, low degree of freedom, light weight and easiness in control.

The invention discloses an automatic inspection device and an automatic inspection system for high-voltage wires. The automatic inspection device and the automatic inspection system have the advantages that special slide tracks for the high-voltage wires are formed by two inspection columns which can be perfectly fastened with each other, so that the inspection device can be automatically mounted and detached; four cameras are arranged in the inspection device, so that the high-voltage wires can be monitored at complete view angles in 360-degree ranges; the automatic inspection device is provided with mechanical arms and mechanical hands, can assuredly easily cross obstacles regardless of the sizes of the obstacles and is high in obstacle crossing speed and obstacle crossing efficiency; smashing knives are arranged at the front ends of the inspection columns, so that peculiar matters of the high-voltage wires can be handled; the automatic inspection device is provided with dust brushes, so that dust on the high-voltage wires can be cleaned; U-shaped rotary drums are arranged in the inspection columns, so that paint can be brushed on the high-voltage wires, and the high-voltage wires can be maintained.

The invention discloses a transmission line inspection obstacle-surpassing robot and a control method thereof. Each mechanism includes a support arm and a walking wheel. The upper end of the support arm is movably connected with the body, and the lower end is provided with a walking wheel. The walking wheel is set on the transmission line to drive the body to move along the transmission line; the lower end of the support arm can move along the transmission line. The direction of extension swings forward or backward, so that the road wheels are lifted and separated from the power line. The robot can cross the spacer bars on the transmission line; during the obstacle crossing process, there is no need to stop the operation, which improves the inspection efficiency; the obstacle crossing is simple.

The invention discloses a method for automatic obstacle-crossing of a capsule endoscope in a living body and a system. The method comprises the following steps: step S1: receiving a sensing signal of the position and posture of the capsule endoscope in the living body detected by a sensor in real time; step S2: in the moving process of the capsule endoscope, according to the sensing signal, judging whether the capsule endoscope is hindered in the moving process, if so, turning to the step S3, otherwise, repeating the step S2; and step S3: controlling an external magnet to be moved to drive the capsule endoscope to execute the obstacle-crossing movement. The sensing signal of the sensor is received to judge whether the movement of the capsule endoscope is hindered, and the movement of the external magnet is controlled to drive the capsule endoscope to execute the obstacle-crossing movement, namely the movement of the capsule endoscope can be automatically judged and the capsule endoscope automatically performs the obstacle-crossing operation after the movement of the capsule endoscope is hindered, the difficulty degree of the artificial operation is reduced, the obstacle-crossing efficiency of the capsule endoscope is higher, and the automatic scanning technology of the capsule endoscope can be realized.

The invention discloses a ground wire suspension inspection robot, comprising a robot box body, wherein the box body comprises a control system; the box body carries detection equipment; front, middleand rear arms are arranged behind the box body and are connected with the box body through an arm base; The front, middle and rear arms can move on the transmission line through the driving mechanism, the machine body can expand and contract in the vertical direction through the telescopic mechanism, and the driving mechanism can open and close through the opening and closing mechanism. Therefore, when meeting obstacles, the three arms cooperate to carry out orderly movement to achieve the function of crossing obstacles. The invention has the characteristics of strong obstacle overcoming ability, high obstacle overcoming efficiency, large slope climbing angle, stable structure, light weight, simple operation, good real-time performance and the like, realizes stable driving along the ground wire of a 220kV to 500kV transmission line, and can span the line equipment such as a shock-proof hammer, a spacer rod, a hanging wire clamp, a repairing pipe and the like installed on the ground wire.

The invention discloses an obstacle-over-obstacle mechanism control system for a transmission line inspection robot, which includes a walking control unit connected to a controller, an online obstacle-crossing control unit, and an off-line obstacle-crossing control unit; the walking control unit is used for It is used to control the obstacle-climbing mechanism to move along the extension direction of the transmission line; the on-line obstacle-crossing control unit is used to control the obstacle-crossing mechanism to cross the obstacles set on the transmission line; the off-line obstacle-crossing control unit is used to control The obstacle-climbing mechanism crosses obstacles set above or below the power line. The system and method can control the body to cross obstacles on the power line, and enable the body to avoid obstacles above and below the power line.

The invention discloses an inspection and obstacle crossing robot for dual power transmission lines. The inspection and obstacle crossing robot comprises a machine body; the machine body is arranged on power transmission lines through a plurality of walking mechanisms on the two sides; the walking mechanisms on each side are arranged on the same power transmission line; each walking mechanism comprises supporting arms and walking wheels; the upper ends of the supporting arms are movably connected with the machine body, and the walking wheels are arranged at the lower ends of the correspondingsupporting arms; the walking wheels are arranged on the power transmission lines to drive the machine body to move along the power transmission lines; the supporting arms can swing forwardly or backwardly in the extension directions of the power transmission lines to enable the walking wheels to be lifted so as to be separated from the power transmission lines; in the extension directions of the power transmission lines, the walking mechanisms on the two sides of the machine body are arranged in a staggered manner; and the walking mechanism on the same side are arranged at intervals. The robotcan cross spacers on the power transmission lines; and operation stopping is not needed in the obstacle crossing process, so that the inspection efficiency is improved and simple obstacle crossing isachieved.

The invention relates to an obstacle-crossing inspection robot and an obstacle-crossing method, comprising a car body and wheels arranged on the left and right sides of the car body, the car body is provided with an accommodating chamber that runs through the front and rear sides of the car body, and the accommodating chamber is provided with a bridge plate and The manipulator, the manipulator can move the bridge plate from the front end of the accommodation cavity to the obstacle ditch, and the manipulator can move the bridge plate from the obstacle channel through the rear end of the accommodation cavity to the accommodation cavity, between the wheels on both sides of the car body The distance dimension is smaller than the width dimension of the bridge plate, so that the vehicle body can run on the bridge plate. By setting up the manipulator and the bridge plate on the car body, the manipulator moves out of the bridge plate from the front end of the accommodation chamber before overcoming the obstacle and recovers the bridge plate from the rear end of the accommodation chamber after overcoming the obstacle, so that the car body can cross the obstacle ditch through the bridge plate, It has the characteristics of convenient operation and ability to overcome obstacles independently. At the same time, after the car body passes through the obstacle ditch, the bridge plate is directly recovered from the rear end of the accommodation chamber, so that readjusting the position of the car body can be avoided during the recovery operation, thereby improving the obstacle-crossing efficiency.

The invention discloses a double transmission line inspection and obstacle crossing mechanism, which comprises a body, the body is arranged on the transmission line through a plurality of walking mechanisms arranged on both sides of the body, and the walking mechanisms on each side are arranged on the same transmission line On the upper side, the walking mechanism includes a support arm and a walking wheel; the upper end of the support arm is movably connected to the body, and the walking wheel is arranged on one side of the support arm and can be displaced relative to the support arm in the vertical direction. The walking wheel is arranged on the transmission line, and drives the body to move along the transmission line; the support arm can swing forward or backward along the extension direction of the transmission line, so that the walking wheel is lifted and separated from the transmission line; in the extension direction of the transmission line, the body The walking mechanisms on both sides are arranged in dislocation, and the walking mechanisms on the same side are arranged at equal intervals. The mechanism can cross the obstacles on the power line, and at the same time, the body can freely adjust the up and down height when moving on the power line, so as to avoid the body being unable to pass when there are obstacles above or below the power line.

The invention relates to a bionic crawling robot used for tour inspection of a high-voltage transmission line. The bionic crawling robot comprises two claw parts arranged in a manner of central symmetry; each claw part comprises an upper claw part and a lower claw part; each upper claw part and the corresponding lower claw part are connected through a wrist part; each wrist part is fixedly connected with a shoulder part through an arm; and the two shoulder parts are fixedly connected through a connecting rod. The structural design of the robot is a modular design, so that the robot is more reasonable in overall structure, and the overall robot is easy to install and convenient to maintain; moreover, an antisymmetric design is employed by the robot, so that the load distribution of the robot can be uniform in a running process, and the overall weight is relatively reasonable; the functions of walking and crossing obstacles on the transmission line can be achieved; control is simple, andthe control process can be realized easily, so that the obstacle crossing efficiency is increased; and the whole robot is simple in mechanical structure, relatively small in size, and lightweight inoverall structure.