Double-wheel-arm locking type inspection robot mechanism

Abstract

The invention relates to an inspection robot and in particular relates to a double-wheel-arm locking type inspection robot mechanism which is capable of walking in a high pressure / ultrahigh pressure transmission line and is used for automatically inspecting and detecting transmission line facilities. The double-wheel-arm locking type inspection robot mechanism comprises front and back wheel arms which are mounted on a guide rail base and are of a same structure, wherein each wheel arm is composed of a walking obstacle-detouring mechanism, a lifting mechanism and a rotating mechanism; the walking obstacle-detouring mechanisms are located at the tops of the lifting mechanisms; the top ends of the rotating mechanisms are connected to the lower ends of the lifting mechanisms; the lower ends of the rotating mechanisms are fixedly connected to the guide rail base; a mass center adjusting mechanism is mounted on the guide rail base; a space, which is enclosed by the walking obstacle-detouring mechanisms, is used for enclosing a lead, thereby achieving a safe protective function; and at the obstacle-detouring moment, the walking obstacle-detouring mechanisms are lifted by the lifting mechanisms, the connecting rods of the walking obstacle-detouring mechanism rotate respectively under the action of an opening and closing motor, and the connecting rods are opened left and right so as toavoid an obstacle and pass by the side face of the obstacle, thereby realizing obstacle detouring. The double wheel arm locking type inspection robot mechanism is suitable for obstacles in different sizes and has the advantages of strong obstacle-detouring capacity, high safety, and the like.

Description

technical field [0001] The invention relates to an inspection robot, in particular to a double-wheel-arm locking type inspection robot mechanism that walks on high-voltage and ultra-high-voltage transmission lines and is used for automatic inspection and detection of transmission line facilities. Background technique [0002] The transmission line is the artery of the power system. The operation status of the transmission line is related to the development of the national economy and the normal life of the people, and directly determines the safety and efficiency of the power system. Most of the transmission lines are located in the wild environment, with many locations and a wide area, complex terrain, harsh natural environment, and have been subjected to wind, rain, ice and snow for many years; transmission lines and tower accessories have long been subjected to mechanical tension, electrical flash Due to the influence of network and material aging, there will be phenomena...

AI Technical Summary

Problems solved by technology

Manual inspection is a method in which line inspectors use telescopes to visually observe tower by tower inspection along the line and tower inspection. This method is labor-intensive, inefficient, and dangerous, especially in mountainous and river areas. Inspection is more difficult. Moreover, the inspection period is long and the cost is high; the helicopter inspection is to carry out the inspection of the transmission line with the detection equipment such as the camera and the infrared thermal imaging camera, but the cost is high, and the quality of the inspection is easily affected by the climate, and it is difficult to meet the inspection needs. precision

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