Patrol wheel-pedrail type obstacle-crossing robot for transformer substations

Abstract

The invention relates to a patrol wheel-pedrail type obstacle-crossing robot for transformer substations. The patrol wheel-pedrail type obstacle-crossing robot mainly comprises a chassis, a power mechanism and swing arms. The power mechanism is installed on the chassis and is provided with a walking power source and a swing arm power source, and the walking power source outputs power to walking wheels installed on two sides of the chassis through a transmission shaft. The swing arms are driven by the swing arm power source and are provided with a main walking belt wheel, a swing arm belt wheel and meshed walking pedrails, and the main walking belt wheel is coaxially assembled with the walking wheels. The swing arm power source drives the swing arms to swing for realizing the pedrail walking mode and / or the walking wheel walking mode of the robot. The patrol wheel-pedrail type obstacle-crossing robot can walk in different modes according to different road conditions and obtain the high obstacle-crossing ability through swinging of the swing arms.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a substation inspection wheel-track obstacle-climbing robot. Background technique [0002] The substation is the hub of the power transmission network, and the safety of its equipment operation status is very important. Effective inspection of the equipment is an important guarantee to ensure the good operation of the substation and the reliability of power supply to the majority of users. With the development of electric robot technology, robot inspection has gradually replaced manual inspection, greatly reducing labor intensity. [0003] At present, the main structures of common inspection robots are: wheel type, crawler type, leg-foot type, peristaltic type and other mechanisms, among which wheel type and crawler type are the most widely used. The wheel type has the advantages of simple structure, fast running speed, and high efficiency, but it is generally only suitable for r...

AI Technical Summary

Problems solved by technology

The robot can use the walking wheels to travel at high speed, and use the tracks to assist in climbing obstacles. However, the tracks are always out of contact with the ground. The wheels will be resisted, and the track cannot be in contact with the surface of the stone, so the climbing function cannot be realized, which limits the robot's ability to overcome obstacles to a large extent.

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