A transmission line inspection robot mechanism adapted to large span

Abstract

The invention relates to an ultra-high voltage power transmission line inspection robot and in particular to a power transmission line inspection robot mechanism suitable for a large span. The robot mechanism comprises a first guide rail, a front arm and a rear arm installed on the guide rail separately, and a power supply control box which can reciprocate along the first guide rail to adjust the center of mass of the robot mechanism. The front arm and the rear arm are of the same structure, and each arm comprises a walking mechanism walking on a power transmission line, a rotation joint driving the walking mechanism to rotate, and a deformation mechanism. One end of each deformation mechanism is connected with the first guide rail, and the other end is connected with the walking mechanism through the rotation joint. Each deformation mechanism comprises a parallelogram body and a moving mechanism which is installed on any one of the diagonals of the body. Through stretching of each moving mechanism, the parallelogram shape of each body is changed, so that deformation of the front arm and the rear arm and lifting of the walking mechanisms are achieved. The robot mechanism has a large barrier crossing span, can cross a barrier steadily, can cross double hanging points more quickly and easily, needs less power, and has a wide application range.

Description

technical field [0001] The invention relates to an ultra-high voltage transmission line inspection robot, in particular to a transmission line inspection robot mechanism suitable for large spans. Background technique [0002] Due to long-term wind and rain, flying rocks, freezing, lightning strikes and other reasons, the ground wire of the UHV transmission line in the field environment often has broken strands, loose strands, etc., resulting in line failures. At present, the transmission line inspection methods mainly include manual inspection and helicopter inspection. Manual inspection cannot accurately determine the specific number of wire broken strands and loose strands, and it is inefficient, labor-intensive, and dangerous; while the total cost of helicopter inspection is expensive. Therefore, it is very important to design a low-cost, high-efficiency inspection robot that can quickly cross obstacles such as anti-vibration hammers, crimping tubes, and double hanging p...

AI Technical Summary

Problems solved by technology

In the existing high-voltage transmission line inspection robot mechanisms, most of them use a composite mobile mechanism composed of a wheeled mobile and a composite linkage mechanism. The process of these mechanisms crossing double hanging points is complicated and the obstacle surmounting time is long.

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