Mechanical structure of humanoid walking line inspection robot and its obstacle surmounting method

Abstract

The invention discloses a human-walking-simulated type line patrol robot mechanical structure and an obstacle crossing method thereof and belongs to the technical field of robots. The human-walking-simulated type line patrol robot mechanical structure comprises a rack. The rack is of a split structure and comprises a first rack body and a second rack body which are arranged left and right and can relatively slide front and back. Mechanical arms which can bend and stretch are arranged at the four corners of the rack respectively. The mechanical arms comprise the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm, wherein the first mechanical arm and the second mechanical arm are located on the first rack body, and the third mechanical arm and the fourth mechanical arm are located on the second rack body. The mechanical arms are provided with mechanical hands for grasping a line from the two sides respectively. The mechanical hands comprise the first mechanical hand, the second mechanical hand, the third mechanical hand and the fourth mechanical hand. The human-walking-simulated type line patrol robot mechanical structure has the advantages that labor intensity is relieved, the operating 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 mechanical structure of a humanoid walking type line patrol robot and a method for surmounting obstacles. Background technique [0002] Ultra-high voltage transmission lines are distributed in many locations, wide area, complex terrain and harsh natural environment. Power lines and tower accessories are affected by mechanical tension, electrical flashover, material aging, etc. for a long time, which will cause damage such as broken strands, wear, and corrosion. If they are not repaired in time, they will lead to serious accidents and bring great hidden dangers to power transmission. Therefore, it is necessary to conduct regular inspections on the transmission lines, keep abreast of and understand the operation of the transmission lines and the changes in the surrounding environment and line protection areas, timely discover and eliminate hidden dangers, prevent accidents, and en...

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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