Wire take-off device and method for overhead cable inspection robot
A line inspection robot and overhead cable technology, applied in the field of robots, can solve the problems of wasting kinetic energy and potential energy, damage to the walking mechanism of the robot, and the function that the robot is not easy to sway, and achieves the effect of small loss and improved speed.
Inactive Publication Date: 2017-05-17
BEIJING UNION UNIVERSITY
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Problems solved by technology
The consequence of this is not only slow movement, but also a waste of a lot of kinetic energy and potential energy in the process of taking the line and taking off the line
The original robot can't complete the fast take-up and off-line process, especially the off-line process, the potential energy of the robot cannot be quickly converted into kinetic energy, and it is not easy for the robot to realize the swing function
In addition, when the mass of the robot is too large, when the obstacle is crossed on the cable with an inclined angle, because the function of taking the line and taking off the line cannot be quickly completed, each mechanism (mainly the two arms) is in a working state of force for a long time, and it is easy to Cause damage to the robot's walking mechanism
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[0031] Comparing the arm structure of existing robots with the forelimb structure of primates, the forelimbs of primates have finger joints for grasping ropes and branches, while the previous robots did not have such components.
[0032] The present invention then aims at above-mentioned problem, implements the structural improvement that robot (especially parallel flexible cable dual-arm robot) is carried out, to realize that the composite body of parts such as robot's finger joint and walking wheel can take wire fast when robot crosses obstacle , Off-line, increase the speed of the robot to pass obstacles, increase the obstacle distance of the robot, and improve the carrying capacity of the robot.
[0033] see Figure 1 to Figure 5 As shown, the take-up and take-off device of the overhead cable inspection robot of the present invention has a "U" type frame 3;
[0034] On the top of the vertical frame on one side of the frame 3, a running gear is connected by a movable fulcr...
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A wire hanging and releasing device of an aerial cable inspection robot comprises a rack, wherein a travelling mechanism is movably connected to the top end of a vertical frame on one side of the rack, and a frame of the travelling mechanism is sleeved with a traveling wheel and a drive turbine; a sensitive rod, an arc-shaped drive rod and a triggering mechanism capable of triggering the travelling mechanism to act are arranged at the upper part of the vertical frame on the side; one end of the drive rod is propped against the lower end of the sensitive rod, and the other end can touch the triggering mechanism during rotation; a traveling motor, a reducing mechanism and an output turbine are mounted at the top of the other side of rack from bottom to top sequentially, the traveling motor is connected with the output turbine through the reducing mechanism, and a release provided with a bayonet at the upper part is further arranged at the top of the vertical frame on the side; when the frame on the one side of the rack is meshed with the bayonet at the upper part of the release on the vertical frame on the other side, the drive turbine and the output turbine are meshed with each other. Fast wire hanging and releasing can be realized when the robot spans an obstacle, the condition that energy is not absorbed is guaranteed to the greatest extent, and minimum loss is guaranteed.
Description
technical field [0001] The invention relates to a wire take-off device and a method for an overhead cable inspection robot, and belongs to the technical field of robots. Background technique [0002] In contemporary industry, robots can be used to replace or assist humans in their work. [0003] Aerial cables require long-term maintenance and maintenance. Manual maintenance is labor-intensive, the working environment is dangerous, and work efficiency is low. If robots are used to inspect high-altitude cables, it can reduce the labor intensity of manual inspections, improve work efficiency, and reduce artificial injuries. It will have a good market prospect. Therefore, my country's competent authorities attach great importance to the research of inspection robots. Many domestic scientific research institutions have successively launched a variety of inspection robots in the 863 plan, and have received a certain degree of support from the power sector. Foreign countries also...
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IPC IPC(8): H02G1/02
Inventor 杨志成张利霞张景胜
Owner BEIJING UNION UNIVERSITY