Travelling clamping device of power transmission line inspection robot
A technology of inspection robot and clamping device, which is applied in the field of mobile robots, can solve the problems of being unable to cross obstacles, not easy to control, and heavy weight, etc., to achieve stable and effective obstacle avoidance, ensure stability, and prevent falling.
Active Publication Date: 2018-10-26
NORTHEASTERN UNIV LIAONING
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Problems solved by technology
In the ultra-high voltage transmission line inspection robot mechanism, most robots use a composite mobile mechanism consisting of wheeled movement and a composite linkage mechanism, or a multi-degree-of-freedom mobile mechanism composed of multiple sets of mobile units connected in series. The mechanisms of these mechanisms are complex. , heavy weight, high energy consumption, limited ability to overcome obstacles and is not easy to control, can not adapt to the angle change of the transmission line, the clamping force of the jaw is small, can not cross the obstacle with too large angle, and at the same time, the damage to the line is large, Therefore, it is difficult to apply to the actual inspection of ultra-high voltage transmission lines
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[0030] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings.
[0031] refer to Figure 1 to Figure 4 , the present embodiment provides a walking clamping device for a transmission line inspection robot, the walking clamping device includes a walking mechanism, two metamorphic clamping mechanisms and a driving mechanism.
[0032] Wherein, the traveling mechanism includes a traveling wheel frame 2 and a traveling wheel 8 rotatably supported in the traveling wheel frame 2 , and when the traveling wheel 8 travels along the transmission line 1 , the traveling wheel frame 2 also travels along the transmission line 1 .
[0033] Wherein, the two metamorphic clamping mechanisms are respectively located at the front and the rear of the road wheel 8 ("front", "rear" are along the extension direction of the transmission line 1, the fo...
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The invention relates to the technical field of a moving robot, in particularly relates to a travelling clamping device of a power transmission line inspection robot. The travelling clamping device can be used for effectively preventing the inspection robot from falling off and can be adaptive to angle change of a power transmission line to effectively prevent an obstacle when the obstacle is met.The travelling clamping device comprises a travelling mechanism, two variable-cell clamping mechanisms and a driving mechanism, wherein the travelling mechanism comprises a travelling wheel rack anda travelling wheel, the traveling wheel is rotatably supported on the travelling wheel rack, the two variable-cell clamping mechanisms are respectively arranged in front of and behind the travelling wheel, are fixed on the travelling wheel rack and can be switched between a clamping state at which the power transmission line is clamped and a loosen state at which the power transmission line is separated, the driving mechanism is used for driving the two variable-cell clamping mechanisms to be switched between the clamping state and the loosen state so that the states of the two variable-cell clamping mechanisms are synchronous, and the driving mechanism is fixed on the travelling wheel rack.
Description
technical field [0001] The invention relates to the field of mobile robots, in particular to a walking clamping device for a transmission line inspection robot. Background technique [0002] Since the high-voltage lines are exposed to the wild for a long time, after being eroded by wind and rain, damages such as broken strands, wear and corrosion often occur, so regular inspections of the high-voltage lines are required. Traditional high-voltage line inspections are mostly done manually, but manual inspections are highly dangerous and inefficient. In order to solve the above problems, relevant technicians have developed high-voltage line inspection robots to replace manual inspections. [0003] Intelligent robot is currently a hot topic in various industries and has attracted much attention. It has been put into trial operation in some areas. The intelligent inspection robot patrols according to the established route. Every time it reaches an observation point, the robot wil...
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IPC IPC(8): H02G1/02B62D57/02
Inventor 李小彭李青云郭亚静
Owner NORTHEASTERN UNIV LIAONING