Five-line co-rotating spider-type pole-passing robot and its control method for pole-passing

Abstract

The invention discloses a five-line simultaneous patrol spider type bar-crossing robot and a bar-crossing control method thereof. The robot comprises a robot body, and five lines comprise one grounded line, one null line and three live lines correspondingly. Four pairs of walking wheels formed by the first pair of walking wheels, the second pair of walking wheels, the third pair of walking wheels and the fourth pair of walking wheels are mounted on the robot body. Each pair of walking wheels has a work state and a non-work state, in the work state, the walking wheels are connected to the grounded line and the null line to walk on the grounded line and the null line, and in the non-work state, the walking wheels are separated from the grounded line and the null line. When the four pairs of walking wheels are all in the work state, the first pair of walking wheels, the second pair of walking wheels, the third pair of walking wheels and the fourth pair of walking wheels are sequentially distributed from front to back at intervals. The robot can patrol the five lines of a power line simultaneously, and the bar-crossing capacity is higher and more stable.

Description

technical field [0001] The invention relates to the field of line inspection robots, in particular to a five-line simultaneous patrol spider-type pole-passing robot and a control method for the pole-passing. Background technique [0002] Visible technical information shows that most of the current line inspection robots are single-line inspection methods, and the suspension method is mostly used for passing poles, which has the following disadvantages: [0003] 1) The efficiency of the single-line inspection method is relatively low; [0004] 2) Since the single-line patrol method is adopted, only the suspension method can be used for passing the pole; [0005] 3) The suspension method is greatly affected by the wind, especially at a relatively high altitude where the high-voltage line is located, and it is relatively easy to cause mistakes in passing the pole. Contents of the invention [0006] The object of the present invention is: aiming at the above-mentioned techni...

AI Technical Summary

Problems solved by technology

[0003] 1) The efficiency of the single-line inspection method is relatively low;

[0004] 2) Since the single-line patrol method is adopted, only the suspension method can be used for passing the pole;

[0005] 3) The suspension method is greatly affected by the wind, especially at a relatively high altitude where the high-voltage line is located, it is relatively easy to cause mistakes in passing the pole

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