Obstacle-crossing mechanical arm suitable for power transmission line inspection robot

Abstract

The invention provides an obstacle-crossing mechanical arm suitable for a power transmission line inspection robot. The obstacle-crossing mechanical arm comprises a traveling mechanism and a supporting mechanism. The traveling mechanism comprises a traveling arm, a traveling wheel and a traveling motor, the traveling wheel and the traveling motor are installed at the upper end of the traveling arm, and the traveling wheel is connected with the traveling motor through a reduction gearbox. The obstacle-crossing mechanical arm further comprises an auxiliary traveling mechanism and two connecting rods, the auxiliary traveling mechanism comprises an auxiliary traveling arm and an auxiliary traveling wheel installed on the auxiliary traveling arm, one end of each connecting rod is connected with the traveling arm in a hinged mode, the other ends of the connecting rods are connected with the auxiliary traveling arm in a hinged mode, and the supporting arm is connected with the middles of the two connecting rods in a hinged mode. The traveling obstacle-crossing mechanical arm is simple in structure, traveling and obstacle crossing can be achieved through one driving motor, and the obstacle-crossing mechanical arm can be combined freely according to the overall structure of the inspection robot and is widely applied to moving and obstacle-crossing mechanisms of various power transmission line inspection robots.

Description

technical field [0001] The invention relates to the field of line inspection robots, in particular to a walking obstacle-surpassing mechanical arm suitable for power transmission line inspection robots. 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. The methods currently used mainly include manual inspection and helicopter inspection. Manual inspection is inefficient, labor-intensive, and dangerous. Dangerous forests and cliff routes cannot be manually inspected; the cost of helicopter inspection is high, and the quality of inspection is easily affected by the climate. Therefore, it is necessary to develop a robot that can carry communication and inspection instruments to replace manual automatic inspections of transmission lines. Using the carried instruments to detect lines can not only reduce labor intensity, but also improve the qu...

AI Technical Summary

Problems solved by technology

However, it is difficult to ensure the stability of the obstacle-crossing walking mechanism on the line when it is used alone for inspection robots by using a single wheel.

A robot for power line deicing disclosed in Chinese patent (200910273509.2) includes a pair of front and rear mechanical arms moving along the power line. On the sliding mechanism with the relative distance between the arms, the center of gravity adjustment mechanism is arranged at the bottom of the sliding mechanism, and the upper part of the forearm and the rear arm is the end actuator, which has a walking mechanism and a gripper mechanism that can grasp the transmission line. During the obstacle surmounting process, The forearm is suspended on the transmission line to achieve self-rotation, and the rear arm rotates around it to achieve revolution to make the rear arm over obstacles. The obstacle-over-obstacle process of the forearm is consistent with the obstacle-over-obstacle principle of the rear arm, and the whole machine has to be adjusted during the over-obstacle process. The center of gravity increases the degree of freedom of the whole machine, and the single-arm suspension reduces its stability on the transmission line and increases the difficulty of control

This obstacle-crossing robot needs two driving motors. The motor of the lifting joint drives the screw to rotate to drive the driving wheel mechanism to move upward, and the rotating motor of the rotating joint drives the driving wheel mechanism to swing to the outside of the wire, so that the driving wheel swings away from the wire and obstacles. Because the driving wheel leaves the wire during the obstacle surmounting process, it is easy to cause the robot to overcome the obstacle and fall off the power line.

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