An inspection robot mechanism suitable for narrow inspection workspace
A technology for inspection robots and workspaces, which is applied to manipulators, manufacturing tools, overhead lines/cable equipment, etc., can solve the problems of poor safety protection, complex structure, high energy consumption, etc., and achieve reduced size and weight, safety protection Good, the effect of reducing the exercise space
Active Publication Date: 2015-10-21
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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[0003] In order to overcome the shortcomings of the above-mentioned mechanisms such as complex structure, heavy weight, high energy consumption, and poor safety protection when walking, the purpose of the present invention is to provide a kind of obstacle-crossing ability and good safety protection suitable for narrow inspection work. Space Inspection Robot Mechanism
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[0030] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0031] Such as figure 1 Shown, the present invention comprises front box body 7, rear box body 8, first guide rail 9 and structure identical front arm 5 and rear arm 6, and wherein front traveling mechanism 1 and front clamping mechanism 3 are respectively installed on the front arm 5, The rear traveling mechanism 2 and the rear clamping mechanism 4 are respectively installed on the rear arm 6, and the front box body 7 has the same structure as the rear box body 8; the front traveling mechanism 1 and the front clamping mechanism 3 are respectively located above and below the overhead ground wire 20, The rear traveling mechanism 2 and the rear clamping mechanism 4 are respectively located above and below the overhead ground wire 20 . There are at least two first guide rails 9 (three in this embodiment), each first guide rail is parallel to each other, and the...
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The invention relates to a mobile robot mechanism, in particular to a routing inspection robot mechanism applicable to a narrow routing inspection working space. The routing inspection robot mechanism comprises a front box body, a rear box body, first guide rails, a front arm and a rear arm, wherein the structure of the front arm and the structure of the rear arm are the same. The front arm and the rear arm are respectively provided with a traveling mechanism and a clamping mechanism, and each traveling mechanism and the corresponding clamping mechanism are placed above an overhead ground wire and below the overhead ground wire respectively. The number of the first guide rails is at least two, all the first guide rails are parallel to one another, the rotatable front box body and the rear box body are arranged at the two ends of each first guide rail respectively, and the front arm and the rear arm are mounted on two outermost side first guide rails respectively. The front arm and the rear arm respectively have three degrees of freedom, namely moving along the first guide rails, lifting in the vertical direction and rotating in the vertical direction. According to the routing inspection robot mechanism applicable to the narrow routing inspection working space, a wheel-arm combined mechanism is adopted, the characteristic of a wheel type mechanism and the characteristic of an arm type mechanism are combined, the function of traveling along the line is achieved, and the function of stepping over obstacles is also achieved.
Description
technical field [0001] The invention relates to a mobile robot mechanism, in particular to an inspection robot mechanism suitable for narrow inspection workspaces. 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 connecting rod (see literature: Jun Sawada, Kazuyuki Kusumoto, et al. A Mobile Robot for Inspection of Power Transmission Lines[AI.IEEE transactions of Power Delivery,1991.6(1).309~315,POULIOT,N,MONTAMBAULT,S.LineScout Technology:From inspection to robotic maintenance on live transmission power lines[C]Robotics and Automation,2009. ICRA'09.IEEE International Conference on,pp.1034-1040,12-17May 2009; WU Gongping,ZHENG Tuo,XIAO Hua,et al.Navigation,location and non-collision obstacles overcoming for high-voltage power transmission-line inspection robot[C] / / Mechatronics and Automation, 2009.ICMA 2009.International Con...
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IPC IPC(8): B25J11/00H02G1/02
Inventor 王洪光凌烈刘爱华孙鹏景凤仁
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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