Line patrol robot capable of climbing poles and towers and climbing method

Abstract

The invention relates to a line patrol robot capable of climbing poles and towers. A structure of a double-arm line patrol robot is adopted, and two mechanical arms are arranged on the same side of the robot. Each mechanical arm has three degrees of freedom and is capable of moving up and down along the arm length direction, rotating in the direction of a vertical plane of the mechanical arms, rotating along a horizontal plane of a robot body and integrally moving along a rail on the robot body; the upper portion of each mechanical arm is provided with two half rollers capable of opening and closing along the corresponding mechanical arm. The line patrol robot is capable of climbing poles and towers to inspect faults of the poles and the towers and capable of conveniently getting on and off lines to complete power transmission line inspection tasks. Further, obstacle crossing ways of the robot on power transmission lines are simple, posture control of the robot is easy, and accordingly patrol efficiency can be improved, and autonomous intelligence of the robot can be improved.

Description

technical field

[0001] The patent of the present invention relates to a mechanical structure design of a robot, especially a line inspection robot capable of climbing poles and towers. Background technique

[0002] Line inspection robots are mainly used for fault detection of high-voltage transmission lines. Foreign line inspection robot technology began in the 1980s, while domestic line inspection robot technology was supported by the National Eleventh Five-Year "Eight Six Three" plan, Wuhan University, Universities such as Shandong University of Science and Technology and the Institute of Automation of the Chinese Academy of Sciences took the lead in developing line inspection robot technology. At present, the technology of line inspection robots at home and abroad has matured. In terms of structure, they have integrated the advantages of wheel-arm composite structure and multi-section split structure. The robot can cross obstacles on the transmission line such as anti-vi...

Examples

Embodiment

[0026] exist figure 1Among them, the line patrol robot is mainly composed of a body 1, a moving guide rail 21, an odd arm 7, and an even arm 31. The odd arm 7 and the even arm 31 are symmetrically arranged along the moving direction of the moving guide rail 21 and have the same structure, and only the structure of the odd arm is introduced here. Odd arm 7 is made up of forearm 18 and symmetrical arm 13, groove arm 9, big arm 23 that half roller 22 is installed. The inside of the half roller 22 of the small arm 18 is equipped with an electromagnet 15 composed of an iron core wound with a wire, and the iron core wound with the wire is located in the roller housing 19; the inside of the half roller 22 of the symmetrical arm 13 is equipped with a permanent magnet 20, which drives the half roller to roll The rolling motor 14 is located outside the half roller 22, the inside of the symmetrical arm 13 is equipped with a screw nut mechanism, and the moving motor 11 is located outside...

technical field

[0001] The patent of the present invention relates to a mechanical structure design of a robot, especially a line inspection robot capable of climbing poles and towers. Background technique

[0002] Line inspection robots are mainly used for fault detection of high-voltage transmission lines. Foreign line inspection robot technology began in the 1980s, while domestic line inspection robot technology was supported by the National Eleventh Five-Year "Eight Six Three" plan, Wuhan University, Universities such as Shandong University of Science and Technology and the Institute of Automation of the Chinese Academy of Sciences took the lead in developing line inspection robot technology. At present, the technology of line inspection robots at home and abroad has matured. In terms of structure, they have integrated the advantages of wheel-arm composite structure and multi-section split structure. The robot can cross obstacles on the transmission line such as anti-vi...

Examples

Embodiment

[0026] exist figure 1Among them, the line patrol robot is mainly composed of a body 1, a moving guide rail 21, an odd arm 7, and an even arm 31. The odd arm 7 and the even arm 31 are symmetrically arranged along the moving direction of the moving guide rail 21 and have the same structure, and only the structure of the odd arm is introduced here. Odd arm 7 is made up of forearm 18 and symmetrical arm 13, groove arm 9, big arm 23 that half roller 22 is installed. The inside of the half roller 22 of the small arm 18 is equipped with an electromagnet 15 composed of an iron core wound with a wire, and the iron core wound with the wire is located in the roller housing 19; the inside of the half roller 22 of the symmetrical arm 13 is equipped with a permanent magnet 20, which drives the half roller to roll The rolling motor 14 is located outside the half roller 22, the inside of the symmetrical arm 13 is equipped with a screw nut mechanism, and the moving motor 11 is located outside...

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