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Single-arm driving double-arm obstacle crossing line inspection robot

A line-following robot and obstacle-surpassing technology, applied in the field of robotics, can solve the problems of overweight robot control, complex mechanisms, troubles, etc., and achieve the effect of less control motors, reduced control difficulty, and strong obstacle-surmounting ability

Inactive Publication Date: 2016-08-31
NANCHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] From the existing research situation, it can be seen that due to the complex environment of the actual transmission line, crossing obstacles is a major difficulty in the development of line inspection robots
Many design schemes do not have the function of overcoming obstacles or require special modification of the line to complete the task of overcoming obstacles
At the same time, the complex mechanism and overweight quality will bring great trouble to the control of the robot

Method used

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  • Single-arm driving double-arm obstacle crossing line inspection robot
  • Single-arm driving double-arm obstacle crossing line inspection robot
  • Single-arm driving double-arm obstacle crossing line inspection robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] Such as figure 2 As shown, when the present invention walks on a straight line, the front and rear arms of the obstacle are rotated to the left and right at a certain angle to make the clamping mechanism parallel to the driving wheel.

Embodiment 2

[0040] Such as image 3 As shown, when the line patrol robot detects an obstacle on a straight line, the clamping mechanism of the front and rear arms of the obstacle is locked with the ground wire 6, the clamp of the driving wheel is opened, the telescopic mechanism 34 of the forearm adjusts the length of the forearm so that the center is located under the forearm, and the rear arm is released. The clamping mechanism 11, the overall rotation mechanism 15 of the rear arm over obstacles rotates to turn the rear arm to the front, the rear arm telescopic mechanism 14 adjusts the length so that the rear arm is re-online and locked, and the two-arm telescopic mechanism is adjusted again so that the center of gravity is shifted to after the obstacle. At arm 1, release the obstacle-crossing forearm clamping mechanism 31, the forearm rotates as a whole to the front again, adjust the length of the forearm and put it on the line again, adjust the length again so that the driving wheel 2 ...

Embodiment 3

[0042] Such as Figure 4 As shown, the line patrol robot is crossing the anti-vibration hammer. At this time, the obstacle-crossing forearm 3 is ready to adjust the length and go online, the rear arm clamping mechanism 11 is in a locked state, and the driving wheel 2 is in a released state.

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Abstract

The invention discloses a single-arm driving double-arm obstacle crossing line inspection robot. The single-arm driving double-arm obstacle crossing line inspection robot comprises a machine frame (4), an obstacle crossing front arm (3), an obstacle crossing rear arm (1) and a driving wheel (2). The obstacle crossing front arm (3) is arranged at two sides of the machine frame (4) and is composed of a front arm clamping mechanism (31), a front arm telescopic mechanism (34) and a front arm integral rotation mechanism (36). The obstacle crossing rear arm (1) extends outwards form the middle part of the machine frame (4) and is composed of a rear arm clamping mechanism (11), a rear arm telescopic mechanism (14) and a rear arm integral rotation mechanism (15). The driving wheel (2) is arranged right above the central part of the machine frame (4), is connected with the machine frame (4) through a bearing support seat and is composed of a rubber wheel (21), left and right ball screws (22) and a driving device (23). According to the invention, the single-arm driving double-arm obstacle crossing line inspection robot has a higher obstacle crossing capability and is capable of crossing all obstacles on a ground wire without the change of a line structure; in addition, in the obstacle crossing process, the number of motors to be controlled is small, and the control difficulty is lowered.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a single-arm-driven double-arm obstacle-surpassing line inspection robot. Background technique [0002] In order to ensure the safe and stable operation of transmission lines, regular inspections of transmission lines are required. And the research and development of the line inspection robot has become a hot spot, and many research institutions at home and abroad have conducted a lot of research on this. [0003] Canada has developed the Line Scout power line live maintenance robot. The robot has a four-arm structure as a whole, can cross straight line obstacles, and weighs 100 kg. The research and development team of Professor Wu Gongping of Wuhan University has developed a two-arm line inspection robot for 220kV high-voltage transmission lines. The Shenyang Institute of Automation of the Chinese Academy of Sciences has carried out the development of the "inspection robot alon...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02G1/02B25J5/02B25J15/02B25J18/04
CPCB25J5/02B25J15/0206B25J18/04H02G1/02
Inventor 孙茂文刘国平秦科技郭志
Owner NANCHANG UNIV