Active obstacle travelling robot walking clipping mechanism

A line-following robot and clamping mechanism technology, applied in manipulators, manufacturing tools, etc., can solve the problems of inability to adapt to changes in the angle of overhead ground lines, poor safety protection, and limited obstacle-surmounting ability, and achieve obstacle-surmounting ability and adaptive ability. The effect of strong, light weight and strong obstacle crossing ability

Active Publication Date: 2008-05-14
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the above-mentioned mobile mechanism, such as complex structure, heavy weight, high energy consumption, limited obstacle-crossing ability and difficulty in control, inability to adapt to the angle change of the overhead ground wire, poor safety protection when walking, and large damage to the wire, etc., The invention provides a large working space, light weight, low energy consumption, strong obstacle surmounting ability, adaptable to the angle change of the overhead ground wire, good safety protection when walking, and less damage to the wire. Line Robot Walking Clamping Mechanism

Method used

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  • Active obstacle travelling robot walking clipping mechanism
  • Active obstacle travelling robot walking clipping mechanism
  • Active obstacle travelling robot walking clipping mechanism

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Embodiment 1

[0030] Such as figure 1 , figure 2 , image 3 , Figure 4 As shown, the present invention is made up of traveling mechanism 1, front clamping mechanism 2, rear clamping mechanism 3, eccentric mechanism 4; Described traveling mechanism 1 is made up of traveling motor 11, traveling wheel 12, left flange 13, traveling wheel support frame 14. Transmission shaft 15, bearing 16, pin 17, and right flange 18 are composed, wherein the travel motor 11 is installed on the left flange 13, and the left flange 13 is connected with the robot operating arm through the sleeve 19 on it, and the left flange 13 is installed on the walking wheel support frame 14, the walking wheel 12 is installed on the transmission shaft 15, the transmission shaft 15 is installed on the support frame 14 through the bearing 16, one end of the transmission shaft 15 is connected with the walking motor shaft through a pin 17, and the right flange 18 is installed on the road wheel support frame 14.

[0031] The f...

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Abstract

A running-clamping mechanism for the line inspecting robot able to autonomously pass through obstacle is a complex wheel-jaw structure, which is composed of a running unit, a back clamping unit, a front clamping unit and an eccentrical unit. Said front and back clamping units are supported between front and back eccentrical supporting plates of said eccentrical unit. Said front and back eccentrical supporting plates are installed to the front and back eccentrical axles of left and right flanges in running unit.

Description

technical field [0001] The invention relates to a mobile robot mechanism, in particular to a walking clamping mechanism for an autonomous obstacle-surpassing and line-observing robot. Background technique [0002] In the existing ultra-high voltage transmission line inspection robot mechanism, most of them adopt the composite mobile mechanism composed of wheeled mobile and composite linkage mechanism (Document 1: Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa , "AMobile Robot For Inspection of Power Transmission Lines", IEEE Trans.PowerDelivery, 1991, Vol.6, No.1: pp..309-315; Literature 2: Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, "Development of a Mobile InspectionRobot for Power Transmission Lines", J.of the Robotics Society of Japan, Japan, Vol.9, No.4, pp.457-463, 1991), or a multi-degree-of-freedom system composed of multiple sets of mobile units connected in series Mobile Mechanism (Document 3: Shin-ichi A...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/02B25J19/00
Inventor 王洪光朱兴龙房立金赵明扬
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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