Line-walking robot system for overhead transmission line

Abstract

The invention discloses a line-walking robot system for an overhead transmission line. The line-walking robot system for the overhead transmission line comprises a plurality of driving arms with the same structure, a yoke plate and control boxes, wherein each driving arm comprises a driving wheel structure, a lifting joint and a rotary joint; the driving wheel mechanism comprises a driving wheel; the driving wheels are distributed on one side of a robot; the driving arms are hung on a divided conductor by the driving wheels; the lower end of each driving wheel mechanism is connected with the lifting joint by the rotary joint; and the lifting joint and the control box are fixedly arranged on the yoke plate. The line-walking robot system for the overhead transmission line has the advantages of relatively simple path planning and strong maneuverability during obstacle crossing, and equipment does not need to be manually controlled in the obstacle crossing process. According to the line-walking robot system for the overhead transmission line, the burden of a master controller is lightened, and meanwhile, the system risk is dispersed, thereby being favorable for improving the system reliability. Meanwhile, all functional modules are relatively independent and integral, the motion control function comprises all nodes, such as the master controller, a joint driver and a position sensor relevant to rotor obstacle crossing control, functions in a program can be conveniently realized, and control can be conveniently carried out.

Description

technical field [0001] The invention relates to a robot system, in particular to an overhead power transmission line inspection operation robot system for walking along wires, performing detection and operation. Background technique [0002] Ultra-high voltage transmission lines are an important part of high-voltage power grids. In order to ensure their safety and stability during operation, regular inspections are required; due to the distribution points of transmission lines, they are far away from towns, the terrain is complex, and the conductors are exposed to severe conditions. Leakage in the field, long-term exposure to wind and rain, and being affected by continuous mechanical tension, electrical flashing, and material aging, is likely to cause wear, broken strands, corrosion and other damage. If it is not repaired and replaced in time, it is easy to cause serious accidents and cause Large-scale power outages and economic and property losses. Therefore, it is necessa...

AI Technical Summary

Problems solved by technology

Comprehensive analysis shows that this patent mainly has the following disadvantages: when the patented robot encounters a shock-proof hammer or an insulator string, it uses the slide table at the bottom to alternate the front and rear two small arms to achieve the function of overcoming obstacles

According to comprehensive analysis, this patent mainly has the following disadvantages: the torso of the driving part of the patented robot needs 5 motors to drive vertical swing, yaw and telescopic, and the mechanical structure of the torso is complex and difficult to control; Drive the pod to adjust the center of gravity of the entire robot. This method can easily cause the robot to overturn during the adjustment of the center of gravity, and the control is complicated.

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