Gripper mechanism with fault release function for walking of patrolling robot
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A line inspection robot and clamping mechanism technology, applied in the field of mobile robots, can solve problems such as high energy consumption, complex structure, and heavy weight, and achieve the effects of good safety protection, wide application range, and simple structure
Active Publication Date: 2011-05-11
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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These mechanisms have complex structures, heavy weight, high energy consumption, poor safety protection when walking, and it is difficult to open the safety protection device when a fault occurs, making it difficult for the robot to go offline. Therefore, it is difficult to apply to the actual inspection of ultra-high voltage transmission lines.
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[0023] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0024] As shown in Figures 1 to 3, the walking and clamping mechanism of the line inspection robot with the fault release function of the present invention is used to drive the line inspection robot to perform line inspection operations on the overhead transmission line. Holding mechanism, wherein the clamping mechanism has a clamping motor 2, which is installed on the outside of the support 7, and the output shaft is installed with a reel 3, which is located inside the support 7; the winding on the reel 3 is turned by the front pulley 4 and the rear pulley 5 respectively Connect to the end of a jaw of front clip 12 and rear clip 13 afterward; The clip 12 and the rear clip 13 are respectively located directly in front of and directly behind the traveling wheel 8 in the traveling mechanism, each clip has two jaws, the ends of the jaws are connected by a spring...
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Abstract
The invention relates to an inspection robot walking and clamping mechanism with fault release function. The inspection robot walks on an overhead power transmission line and includes a walking mechanism and a clamping mechanism arranged on a support. The clamping mechanism comprises a clamping motor arranged on the support; a drum arranged on the output shaft of the clamping motor; and a front clamp and a rear clamp having the same structure and rotatably arranged on a front bracket and a rear bracket of the support through a sector gear, wherein windings on the drum are respectively connected with the tail ends of one pawls of the front clamp and the rear clamp through a front pulley and a rear pulley fixed on the support; the front clamp and the rear clamp are respectively located on the front side and the rear side of a walking wheel of the walking mechanism; each clamp includes two pawls; the tail ends of the pawls are connected with each other through a spring; and the two pawlsare engaged with each other through the sector gear. By adopting the wheel-pawl composite mechanism of walking mechanism and the clamping mechanism, the inspection robot walking and clamping mechanism facilitates walking and barrier crossing of the inspection robot to achieve good safe protection. In addition, the inspection robot walking and clamping mechanism has fault release function and suits field operation and on / off transmission line.
Description
technical field [0001] The invention relates to a mobile robot, in particular to a walking clamping mechanism of a line inspection robot with a fault release function. 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 (see literature 1: Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, "AMobile Robot For Inspection of Power Transmission Lines", IEEE Trans. Power Delivery, 1991, Vol.6, No.1: pp..309-315; Document 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-freedom robot composed of multiple sets of mobile units connected in series Degree Mobile Mechanism (Document 3: Shin-ichi Aoshima, Takesh...
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Patent Type & Authority Patents(China)
IPC IPC(8): H02G1/02B25J5/02B25J19/06
Inventor 王洪光房立金凌烈何立波景凤仁
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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