Combined mechanism of ratchet of high-voltage-cable walking robot

Abstract

The invention relates to a combined mechanism of a ratchet of a high-volatage-cable walking robot. The combined mechanism is characterized by comprising a wheel type walking mechanism and claw-type clamping mechanisms, wherein the wheel type walking mechanism is used for walking on a high-voltage cable, the claw-type clamping mechanisms are used for clamping the high-voltage cable and provides positive pressure, the wheel type walking mechanism and the claw-type clamping mechanisms are arranged on a robot frame, and the claw-type clamping mechanisms are used in pairs. The combined mechanism disclosed by the invention utilizes a principle of an under-actuated mechanism, and two motion manners of rotation and movement are realized through one motor-driven clamping mechanism; through a self locking mechanism, the clamping mechanism is automatically locked after closed, thus the energy consumption is reduced; and the invention has the advantages of small and novel structure, high clampingefficiency and wide application range.

Description

technical field [0001] The invention relates to a high-voltage line walking robot, in particular to a motion mechanism that works on a high-voltage transmission line to realize robot walking and clamping functions, and belongs to the technical field of robots. Background technique [0002] The maintenance of high-voltage power grid hardware equipment is highly dangerous work that cannot be ignored, such as inspection and maintenance of high-voltage transmission lines, removal of ice and snow deposits when freezing disasters occur, etc. (see literature: G. Andersson et al., "Causes of the 2003 major grid blackouts in North America and Europe, and recommended means to improve system dynamic performance", IEEE Trans. Power Systems , vol. 20, is. 4, Nov. 2005, pp.1922-1928.). At present, these tasks are mainly done manually, and the replacement of manual work by robots will be an inevitable trend in future development. When a robot walks along a large-slope high-voltage transmi...

AI Technical Summary

Problems solved by technology

At present, these tasks are mainly done manually, and the replacement of manual work by robots will be an inevitable trend in future development. When a robot walks along a large-slope high-voltage transmission line, slipping is prone to occur between the walking wheel and the transmission line, so it is necessary to increase friction to achieve this. Effective driving of the robot (see literature: Montambault, S. and Pouliot, N. 2007, "Design and Validation of a Mobile Robot for Power Line Inspection and Maintenance), which shows that the existing mechanism consumes a lot of energy, has low efficiency, and the line The climbing ability and obstacle ability are limited, and the safety protection performance is poor, so it is difficult to apply to the inspection and maintenance of actual transmission lines

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