Mechanical structure of annular arm packaged inspection robot and obstacle crossing method of mechanical structure
A line-following robot and mechanical structure technology, applied in the field of robots, can solve problems such as low work efficiency, unstable operation, falling, etc., and achieve the effect of improving work efficiency and improving operation stability.
Active Publication Date: 2016-07-27
SHANDONG UNIV
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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 limited inspection and obstacle removal range, low work efficiency, and There is a large distance between the wires, and the split wire cannot be effectively cleared
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[0030] 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.
[0031] On the one hand, the present invention provides a kind of ring-wrapped arm line inspection robot mechanical structure, such as Figure 1-2 Shown, comprise the first annular bag arm unit 1 that can lift, the second annular bag arm unit 4 and the 3rd annular bag arm unit 6, wherein:
[0032] Each annular wrapping arm unit includes a pair of semicircular wrapping arms 3 that can be opened and closed, and a first opening and closing joint 17, a second opening and closing joint 14 and a third opening and closing joint 10 are respectively arranged under each annular wrapping arm unit;
[0033] Each annular arm unit is provided with a drive wheel 2 that can drive the line patrol robot to walk;
[0034] Between the first annular wrapping arm unit 1 and t...
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The invention discloses a mechanical structure of an annular arm packaged inspection robot and an obstacle crossing method of the mechanical structure, belonging to the technical field of a robot. The mechanical structure of the annular arm packaged inspection robot comprises a first annular arm packaged unit, a second annular arm packaged unit and a third annular arm package unit which are liftable, wherein each annular arm packaged unit comprises a pair of semi-circular package arms which can be closed and opened, a first opening-closing joint, a second opening-closing joint and a third opening-closing joint are separately arranged below each annular arm packaged unit, a driving wheel is arranged inside each annular arm packaged unit and can drive the inspection robot to travel, a first pitching joint and a second pitching joint are separately arranged between the first annular arm packaged unit and the second annular arm packaged unit and between the third annular arm packaged unit and the second annular arm packaged unit, and a lifting mechanism is arranged below the second annular arm packaged unit. Compared with the prior art, the mechanical structure has the advantages that the working efficiency and the running stability are improved, and an obstacle can be crossed.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical structure of a ring-wrapped arm line inspection 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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Login to View More IPC IPC(8): H02G1/02
CPCH02G1/02
Inventor 杜宗展高琦
Owner SHANDONG UNIV