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Mechanical structure and obstacle-surmounting method of humanoid climbing line inspection robot

A line inspection robot and mechanical structure technology, applied in the field of robotics, can solve the problems that the continuous inspection of ultra-high voltage transmission lines cannot be realized, obstacles or drainage lines cannot be crossed, etc., and achieve the effect of reducing labor intensity and reducing operating costs

Active Publication Date: 2018-02-09
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0003] The technical research and development of the existing line inspection robot has achieved certain corresponding results, but the obstacles or drainage lines existing on the transmission line cannot be crossed, and the continuous inspection of the ultra-high voltage transmission line cannot be realized

Method used

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  • Mechanical structure and obstacle-surmounting method of humanoid climbing line inspection robot
  • Mechanical structure and obstacle-surmounting method of humanoid climbing line inspection robot
  • Mechanical structure and obstacle-surmounting method of humanoid climbing line inspection robot

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Embodiment Construction

[0028] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0029] On the one hand, the present invention provides a mechanical structure of a humanoid climbing type line inspection robot, such as figure 1 shown, including rack 1, where:

[0030] The four corners of the frame 1 are respectively provided with a first mechanical arm 2 , a second mechanical arm 4 , a third mechanical arm 12 and a fourth mechanical arm 14 which can flex and extend forward and backward along the walking direction of the frame 1 ;

[0031] The first manipulator 2, the second manipulator 4, the third manipulator 12 and the fourth manipulator 14 are respectively provided with the first manipulator 5, the second manipulator 6, the third manipulator 11 and the The fourth manipulator 8;

[0032] A rotatable mechanical wrist 7 is arranged ...

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Abstract

The invention discloses a mechanical structure of a humanoid edge climbing line patrol robot and an obstacle crossing method thereof, and belongs to the technical field of robots. The mechanical structure of the humanoid edge climbing line patrol robot comprises a frame; a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm capable of extending front and back in the walking direction of the frame are respectively arranged at four corners of the frame, and are respectively provided with a first manipulator, a second manipulator, a third manipulator and a fourth manipulator for grabbing lines from two sides; and mechanical wrists capable of rotating are arranged between all the mechanical arms and all the manipulators. Compared with the prior art, the mechanical structure of the humanoid edge climbing 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 a humanoid climbing line-observing robot and a method for overcoming obstacles. Background technique [0002] The use of high-voltage and ultra-high-voltage overhead power lines is the main way of long-distance power transmission and distribution. Power lines and tower accessories are exposed to the wild for a long time, and are prone to damage such as broken strands, abrasion, and corrosion due to the impact of continuous mechanical tension, electrical flashing, and material aging. If they are not repaired and replaced in time, the original tiny damage and defects may The expansion will eventually lead to serious accidents, resulting in large-scale power outages and huge economic losses. At present, there are two main methods for inspection and maintenance of transmission lines: ground visual inspection method and aerial survey method. The visual inspe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10H02G1/02
CPCB25J9/106H02G1/02
Inventor 杜宗展高琦
Owner SHANDONG UNIV
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