Engagement driving traveling wheel structure, mechanical structure of line inspection robot and its obstacle surmounting method

Abstract

The invention discloses an engaged-drive walking wheel structure, a line patrol robot mechanical structure and an obstacle crossing method of the same and belongs to the technical field of robots. The line patrol robot mechanical structure comprises a rack, wherein the engaged-drive walking wheel structure is disposed on the rack; the walking wheel structure comprises at least one walking unit; the walking unit comprises at least one pair of partition wheels and one pair of side face clamping wheels; a first walking wheel arm and a second walking wheel arm are disposed under a drive partition wheel and a driven partition wheel respectively; a first side face wheel arm and a second side face wheel arm are disposed under an enveloping clamping wheel and the clamping side face wheels respectively; and outer sides of the drive partition wheel and the driven partition wheel are equipped with a built-in electric suction disk and a built-in iron block which are used to control butt-jointing and separation of the partition wheels respectively. In comparison with the prior art, the engaged-drive walking wheel structure, the line patrol robot mechanical structure and the obstacle crossing method of the same disclosed by the invention have the advantages that labor intensity is relieved; operational cost is reduced; and obstacles can be crossed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a structure of meshing driving traveling wheels, a mechanical structure of a line patrol 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 t...

AI Technical Summary

Problems solved by technology

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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