Mechanical structure and obstacle-surmounting method of four-manipulator-arm climbing line-inspecting robot

Abstract

The invention discloses a four-mechanical-arm climbing line-patrolling robot mechanical structure and an obstacle crossing method thereof and belongs to the technical field of robots. The four-mechanical-arm climbing line-patrolling robot mechanical structure comprises a frame. The four corners of the frame are provided with a first mechanical arm, a second mechanical arm, a third mechanical arm, and a fourth mechanical arm respectively which are capable of flexing and extending forwardly and backwardly along the moving direction of the frame. The first mechanical arm, the second mechanical arm, the third mechanical arm, and the fourth mechanical arm are provided with a first mechanical hand, a second mechanical hand, a third mechanical hand, and a fourth mechanical hand respectively which are used for holding a line from under the line. Compared with the prior art, the four-mechanical-arm climbing line-patrolling robot mechanical structure has advantages of reducing labor intensity, decreasing operation cost, and crossing obstacles.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical structure of a four-arm climbing type line inspection robot and a method for overcoming obstacles. Background technique [0002] The use of high-voltage and ultra-high-voltage overhead power lines is the main way of long-distance power transmission and distribution. Power lines and tower accessories are exposed to the wild for a long time, and are prone to damage such as broken strands, abrasion, and corrosion due to the impact of continuous mechanical tension, electrical flashing, and material aging. If they are not repaired and replaced in time, the original tiny damage and defects may The expansion will eventually lead to serious accidents, resulting in large-scale power outages and huge economic losses. At present, there are two main methods for inspection and maintenance of transmission lines: ground visual inspection method and aerial survey method. The visual...

AI Technical Summary

Problems solved by technology

[0003] The technical research and development of the existing line inspection robot has achieved certain corresponding results, but the obstacles or drainage lines existing on the transmission line cannot be crossed, and the continuous inspection of the ultra-high voltage transmission line cannot be realized

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