Travelling mechanism of inspection robot for realizing obstacle crossing

Abstract

The invention provides a travelling mechanism of an inspection robot for realizing obstacle crossing, and relates to a robot. The travelling mechanism of the inspection robot for realizing obstacle crossing can enable the inspection robot to stably, quickly and fully-automatically cross an obstacle on an overhead line when the inspection robot walks on a cable. The travelling mechanism is provided with a lifting cabin, a lifting arm, a gearwheel, upper and lower direct-current reducing motors, upper and lower belts, travelling wheel arms, a pressure spring, a U-shaped bracket and upper and lower travelling wheels, wherein a detection device and a U-shaped bracket rotation servo system are arranged in the lifting cabin; the U-shaped bracket rotation servo system is connected with the gearwheel in the middle of the lifting arm through the lifting arm; the gearwheel is driven to rotate so as to realize plus or minus 90-degree rotation of the U-shaped bracket; the U-shaped bracket is connected with the walking wheel arms through the pressure spring; a hinge spring pressing mechanism is arranged on the travelling wheel arm; the upper direct-current reducing motor is connected with the upper travelling wheel through the upper belt; the lower direct-current reducing motor is connected with the lower travelling wheel through the lower belt; and the upper travelling wheel and the lower travelling wheel are respectively arranged at the upper part and the lower part of the cable and are tightly pressed on the cable.

Description

technical field [0001] The invention relates to a robot, in particular to a walking mechanism for realizing obstacle-surpassing and line-observing robots. Background technique [0002] Due to the long-term exposure of the overhead line of the transmission line to the wild, affected by severe weather such as wind, rain, severe cold and heat, and the aging of the line material, damage such as wear or corrosion often occurs. If it is not repaired and replaced in time, the original small damage and Defects may expand and eventually lead to serious accidents. Therefore, in order to ensure the normal operation of power lines, it is very important to conduct regular inspections on overhead transmission lines. [0003] At present, the common line inspection is to rely on the maintenance personnel of the power supply bureau to observe with naked eyes or binoculars. Due to the influence of geographical environment, weather conditions and other factors, some hidden dangers are not eas...

AI Technical Summary

Problems solved by technology

[0004] At present, the walking mechanism of the line patrol robot mostly realizes the obstacle-overtaking function of the overhead line through the way of climbing over the mechanical arm. In addition, due to the limitation of remote control distance, relevant control equipment needs to be transported along the line, which seriously affects the efficiency of line inspection and cannot truly realize automatic line inspection.

[0018] In the above-mentioned patents and products, the walking mechanism of the obstacle-surpassing line inspection robot mostly realizes the obstacle-overpassing function of overhead lines by means of mechanical arm climbing. ” position, resume the line patrol speed after crossing the obstacle; rely on manual remote control when crossing the obstacle, the operation is difficult, the mechanism is complex and the action time is long; due to the limitation of the remote control distance, the relevant control equipment needs to be transported along the line, which seriously affects the line patrol Work efficiency, unable to truly realize automatic line inspection

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