Mechanical structure and obstacle surmounting method of insect-like peristaltic dual-wheel dual-arm line inspection robot

Abstract

The invention discloses a mechanical structure of an insect-imitated creeping double-wheel and double-arm line patrol robot and an obstacle crossing method thereof, and belongs to the technical field of robots. The mechanical structure of the insect-imitated creeping double-wheel and double-arm line patrol robot comprises a frame; a roller arm capable of being opened and closed on two sides is arranged at the upper part of the frame; a split roller is arranged on the roller arm; at least one forward mechanical arm and backward mechanical arm are arranged at the lower part of the frame; and all hinge shafts are driven through a motor. Compared with the prior art, the mechanical structure of the insect-imitated creeping double-wheel and double-arm line patrol robot has the advantages of relief of the labor intensity, reduction of the operation cost and capability of crossing obstacles.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical structure of an insect-like peristaltic two-wheel and two-arm line inspection robot and an obstacle surmounting method thereof. Background technique [0002] EHV transmission lines are distributed in many places and in a wide area, the terrain is complex, and the natural environment is harsh. Power lines and tower accessories are affected by mechanical tension, electrical flashover, and material aging for a long time, which will cause damage such as broken strands, wear, and corrosion. If they are not repaired in time, serious accidents will occur and great hidden dangers will be brought to power transmission. Therefore, it is necessary to carry out regular inspections on the transmission line, keep abreast of the operation of the transmission line and the changes in the environment around the line and the line protection area, discover and eliminate hidden dangers in...

AI Technical Summary

Problems solved by technology

The line robot installed on the overhead ground line is not only vulnerable to external forces in the natural environment during operation, resulting in unstable operation, and even falling from the transmission line, but also has the disadvantages of limited inspection range and low work efficiency.

Developed countries such as Japan, Canada, and the United States have successively carried out research work on line inspection robots. For the presence of insulator strings, crimping tubes, and suspension clamps on transmission lines, it is impossible to cross over and realize continuous inspection of ultra-high voltage transmission lines.

The Shenyang Institute of Automation of the Chinese Academy of Sciences, Shandong University, Wuhan University, Beijing University of Aeronautics and Astronautics and other units have also carried out research and development of technology and equipment for the continuous inspection of ultra-high voltage transmission lines, and have achieved certain corresponding results. dysfunction

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