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 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 an unimpeded overpass vehicle for road maintenance which can ensure normal running of a vehicle and avoid interference on traffic smoothness while ensuring maintenance operation of a road. Two sliding rails are arranged at the bottom of a platform, on two sides of the sliding rails, a main vehicle body is arranged at the bottom of the platform, two sliding blocks are arranged at the top of the main vehicle body and correspond to the sliding rails, a crawler belt is arranged at the bottom of the main vehicle body, two sets of hanging rings are arranged at the top of theplatform and located at the two ends of the platform respectively, every two hanging rings form a set, and two sets of inserting holes are formed in the top of the platform. The two sets of insertingholes are located in the two sides of the platform respectively, one set of inserting holes is composed of at least three inserting holes, the inserting holes in the same set are arranged at equal intervals, and the two buffering inclined plates are arranged at the two ends of the platform respectively.

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, which is characterized in that: it includes a body control system and a ground control system; the body control system includes an industrial computer, and a motor drive module and a data acquisition module respectively connected to the industrial computer , a communication module and a power supply; the industrial computer is used to receive data uploaded by other modules, and to issue execution commands; the motor drive module is used to drive the motor; the data acquisition module is used to collect data for the industrial computer Detection data; the ground control system includes a communication module 2 and a microprocessor; the communication module 1 and communication module 2 are used for communication between the body control system and the ground control system. The invention realizes that the inspection robot quickly overcomes obstacles, is convenient to operate, and can walk and work stably.

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 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 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 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.