Swing-type robot arm and obstacle-surmounting method of overhead cable inspection robot

Abstract

The invention discloses a swing-type robot arm and an obstacle-surmounting method for an overhead cable line inspection robot. The robot is composed of a body and a control system. The mechanism has a pair of walking wheels, each walking mechanism is located on the corresponding side of the machine arm and the middle part is connected with the knuckles of the corresponding side of the machine arm; a pair of machine arms are installed on the two ends of the machine body, at least It includes a pair of finger joints, a wrist joint, an elbow arm with an elbow joint and a shoulder joint, wherein the shoulder joint is located at the end point of the body; A horizontal rotation joint; flexible cables are connected between the wrist joints of each robot arm and the two ends of the machine body. The whole rope can slide to both sides with the fixed pulley at the wrist joint as the fulcrum to adjust the length and tension of the ropes on both sides. It is long, stable and fast across obstacles.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a swinging robot arm and an obstacle-surmounting method for an overhead cable inspection robot. Background technique [0002] 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 attach great importance to this. For example, Japan's Tokyo Ele...

AI Technical Summary

Problems solved by technology

In terms of speed: when the robot wants to cross obstacles, one robot arm is loaded, and the other robot arm must wait until the center of gravity of the robot is balanced before it can perform off-line and take-up work, which wastes a lot of time; especially when the robot is crossing For larger obstacles, it is necessary to first adjust the center of mass to maintain body balance, and then perform leaping actions, and cannot quickly cross obstacles. The lack of mechanism design is the main factor that limits the application of this type of robot to the market.

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