Mobile robot mechanism
A mobile robot and slewing mechanism technology, applied in the field of robotics, can solve problems such as unsafety, complex motion control, and low work efficiency, and achieve the effects of safety assurance, simple motion control, and high obstacle clearance efficiency
Inactive Publication Date: 2010-03-17
WUHAN UNIV
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Problems solved by technology
[0004] The purpose of the present invention is to solve the problem existing in the prior art that when crossing an obstacle, only the claw of one arm can be used to clamp the wire, and the other arm is separated from the wire and deviates from the wire, and the two arms straddle the obstacle with the wrong arm. The way of crossing obstacles is not only very complicated in motion control, low in work efficiency, but also very unsafe and other technical problems; it provides a mobile robot with simple motion control, high obstacle crossing efficiency, and the safety of the robot's obstacle crossing is effectively guaranteed. robot mechanism
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[0023] Example: such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Figure 6 as shown,
[0024] The mobile robot mechanism is used to travel along the overhead high-voltage transmission line 1, including a pair of manipulator mechanisms 2 with at least 3 degrees of freedom moving along the transmission line 1, and the lower ends of the manipulator mechanisms 2 are respectively arranged around the plumb axis 3 The slewing mechanism 4 is connected to a transmission mechanism 5 of a big arm 28 that can change the relative distance of the manipulator mechanism 5. A pitching mechanism 7 arranged around a horizontal axis 6 is also provided between the slewing mechanism 4 and the lower end of the manipulator mechanism 2. A support platform 8 is fixed at the end of the manipulator mechanism 2, and a clamping wheel composite mechanism 9 is arranged on the support platform 8.
[0025] The clamping wheel composite mechanism 9 comprises a driving wheel 10, a driving...
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The invention relates to a robot used for traveling along a multi-splitting overhead high-voltage transmission line, in particular to an improved structure of the robot which travels on an entire overhead high-voltage transmission line. A gravity center adjusting mechanism is connected at the lower end of a large arm through a supporting frame creatively, which is capable of adjusting the gravitycenter of the robot at the proper time during the process of alternately advancing of the two arms of the robot, therefore, the smoothness of the robot during the walking process is ensured, and the phenomenon that the gravity center of an entire operating vehicle is shifted to cause the operating vehicle not to smoothly travel on a transmission line is avoided; in addition, the robot can travel along the entire overhead high-voltage transmission line and traverse or avoid various obstacles on the line, the obstacles are not required to be handled to the other side from one side of a pole-tower, therefore, the auxiliary time for running of the robot is greatly reduced, the working efficiency is improved, and the security during the detection process is ensured.
Description
technical field [0001] The invention relates to a robot for traveling along an overhead high-voltage transmission line, in particular to a mobile robot mechanism with multiple wheels and claws for traveling along the entire course of the overhead high-voltage transmission line. Background technique [0002] At present, the live inspection and operation of overhead high-voltage transmission lines still lack a common technology carrier-robotic technology. In 2003, someone in Canada published the Remotely Operated Vehicle (ROV) and the crawling robot a Line-CrawlingRobot ( LCR). The remote control trolley clamps the transmission line with three pairs of clamping wheels, and drives the trolley to travel along the transmission line. For various hardware obstacles, it is necessary to carry them from one side of the obstacle to the other side by manual live work. This not only affects work efficiency, but also is unsafe. [0003] People have carried out long-term exploration fo...
Claims
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IPC IPC(8): B25J5/02
Inventor 吴功平肖晓晖肖华李诚徐显金
Owner WUHAN UNIV