Obstacle avoiding device for high voltage direct current magnetic suspension inspection robot

Abstract

The invention discloses an obstacle avoiding device for high voltage direct current magnetic suspension inspection robot. The device comprises a cavity case body formed by an opening and closing left case body and a right case body, a connection rod mechanism, a walking wheel mechanism and a control box. The middle part of the cavity case body is provided with a guide wire protection sleeve. The circumference of the guide wire protection sleeve is provided with a driving coil and a suspending coil. The walking wheel mechanism comprises two groups of walking wheels fixedly arranged on the side faces of the left case body and the right case body respectively. The guide wire protection sleeve, the suspending coil and the driving coil are all halved and are fixedly arranged inside the left case body and the right case body respectively. As the left case body and the right case body of the cavity case body open or close, the guide wire protection sleeve, the driving coil, and the suspending coil can also open or gather around the circumference of a high voltage cable and the two groups of walking wheels can be separated or attached closely onto the high voltage cable. The cavity case body can be controlled to open and close through the connection rod mechanism; the control case controls the connection rod mechanism, the driving coil and the suspending coil. According to the brand new obstacle crossing mode achieved by an inspection robot, the structure is simple yet the performance is stable.

Description

technical field [0001] The invention relates to the field of obstacle avoidance for a high-voltage line inspection robot, in particular to an obstacle avoidance device for a high-voltage DC magnetic levitation inspection robot. Background technique [0002] Overhead high-voltage transmission line operation robots mainly include inspection robots, deicing robots, insulator cleaning robots, etc., as well as other intelligent detection and maintenance equipment. Since the 1980s, robots for overhead high-voltage transmission lines have been a research hotspot in the field of robotics. The United States, Japan, Canada, China and other countries have successively carried out research work on overhead high-voltage transmission line operation robots. In 2008, Japan's Debenest et al. developed an inspection robot named "Expliner" for high-voltage multi-split conductors. In 2000, Montambault and others from Quebec Hydropower Research Institute in Canada developed a remote control ...

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Problems solved by technology

But it is more difficult for the robot to overcome obstacles

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