Four-connecting-rod mass-center-adjustable patrol robot mechanism

An inspection robot and four-bar linkage technology, applied in the field of mobile robots, can solve the problems of difficult to apply ultra-high voltage transmission line inspection operations, complicated process of crossing obstacles, and unsuitable control, etc. The effect of strong disability

Inactive Publication Date: 2014-06-25
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

These mechanisms have complex structures and heavy weights, and the process of crossing obstacles is complicated, which is not suitable for control. They cannot cross more complex obstacles in...

Method used

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  • Four-connecting-rod mass-center-adjustable patrol robot mechanism
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  • Four-connecting-rod mass-center-adjustable patrol robot mechanism

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Embodiment Construction

[0035] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0036] Such as figure 1 As shown, the present invention includes a front traveling clamping mechanism 1, a front pitching mechanism 2, a front elevating mechanism 3, a front slewing mechanism 4, a front four-bar linkage mechanism 5, a center of mass adjustment mechanism 6, a rear traveling clamping mechanism 8, and a rear pitching mechanism 9. The rear lifting mechanism 10, the rear slewing mechanism 11 and the rear four-bar linkage mechanism 12, wherein one end of the front and rear travel clamping mechanisms 1, 8 clamps the wire 51 and walks on the wire 51, and the other end is connected to the front and rear respectively. Rear pitching mechanism 2,9 links to each other, realizes the pitching rotation of forward and backward travel clamping mechanism by the driving of front and rear pitching mechanism 2,9; 9 are connected, and the other end is connected wi...

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Abstract

The invention relates to a mobile robot, and particularly relates to a four-connecting-rod mass-center-adjustable patrol robot mechanism. The patrol robot mechanism comprises forward and backward walking and clamping mechanisms, forward and backward pitching mechanisms, forward and backward lifting mechanisms, forward and backward swing mechanisms, forward and backward four-connecting-rod mechanisms, a mass center adjusting mechanism and an electrical cabinet. One end of the forward walking and clamping mechanism and one end of the backward walking and clamping mechanism clamp a wire and the mechanisms walk on the wire, and the other ends thereof are connected with the forward pitching mechanism and the backward pitching mechanism respectively. One end of the forward lifting mechanism and one end of the backward lifting mechanism are connected with the forward pitching mechanism and the backward pitching mechanism respectively, and the other ends thereof are connected with the forward and backward swing mechanisms respectively. One end of the forward four-connecting rod mechanism and one end of the backward four-connecting rod mechanism are connected with the forward and backward swing mechanisms respectively, and the other ends thereof are connected with a guide rail support. The mass center adjusting mechanism is installed on the guide rail support and is used for realizing adjustment of the mass center of the robot. The patrol robot mechanism has the advantages of being simple and compact in structure and strong in obstacle crossing ability, and being capable of crossing complex barriers, such as strain clamps and parallel groove clamps and the like.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a four-link adjustable mass center inspection robot mechanism. Background technique [0002] The transmission line is an extremely important part of the power system. In order to ensure its safe and stable operation, regular inspections are required. At present, the methods used mainly include manual inspection and helicopter inspection. Manual inspections are inefficient, labor-intensive, and dangerous; helicopter inspections are costly and the quality of inspections is easily affected by the climate. Therefore, it is necessary to develop a robot that can carry communication and inspection equipment to replace manual automatic inspection of transmission lines to improve efficiency and ensure the safe operation of transmission lines. In the existing ultra-high voltage transmission line inspection robot mechanism, most of them adopt the composite mobile mechanism composed of wheeled mobile and ...

Claims

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Application Information

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IPC IPC(8): H02G1/02
Inventor 姜勇王洪光岳湘凌烈景凤仁孙鹏
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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