End execution mechanism and online locking method of power line inspection robot

Abstract

The invention provides an end execution mechanism and online locking method of a power line inspection robot. The end execution mechanism of the power line inspection robot comprises a wheel type mechanism for walking on a power line and claw type mechanisms for locking the end execution mechanism on the power line, the wheel type mechanism and the claw type mechanisms are arranged on arms of the power line inspection robot, the two claw type mechanisms are arranged on the two sides of the wheel type mechanism respectively, and the end execution mechanism of the power line inspection robot is locked on the power line after the two claw type mechanisms are closed. The online locking method of the power line inspection robot comprises the steps that when the two claw type mechanisms are closed, the power line applies downward force to the two claw type mechanisms and applies upward force to a driving wheel, three-point supporting is formed, and the wheel and claw composite type end execution mechanism is fixed and locked on the power line. The walking function and the clamping locking function are achieved, and good safety and high practicality are achieved.

Description

technical field [0001] The invention relates to a power line inspection robot, in particular to an arm end actuator used for the power line inspection robot to walk and lock and fix on the power line, and belongs to the field of robots. Background technique [0002] The inspection and maintenance of high-voltage power lines is a non-negligible part of power grid operation. The power line inspection robot must have the ability to walk online and clamp and lock to meet the requirements of walking and overcoming obstacles during the inspection process. Therefore, the end actuator of the robot arm is the most critical part of the power line inspection robot. [0003] The Chinese patent publication number is CN102259341A, and the patent name "Wheel and Claw Composite Mechanism of High-voltage Line Walking Robot" discloses a high-voltage line walking robot wheel and claw composite mechanism. Holding mechanism, the walking mechanism adopts the method that the output shaft of the d...

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Problems solved by technology

[0003] The Chinese patent publication number is CN102259341A, and the patent name "Wheel and Claw Composite Mechanism of High-voltage Line Walking Robot" discloses a high-voltage line walking robot wheel and claw composite mechanism. The holding mechanism, the walking mechanism adopts the method that the output shaft of the driving motor is directly connected to the traveling wheel, and the holding mechanism adopts the structure of worm gear and screw nut, which is complicated in structure and cannot realize the locking function

The Chinese patent publication number is CN103862456A, and the patent title is "A Walking and Clamping Composite Mechanism for Inspection Robot" discloses a relatively simple structure of the end actuator of the power line inspection robot arm. The clamping mechanism described in this invention The mechanism is clamped or loosened by the link mechanism, and the locking function cannot be realized

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