Electric iron tower climbing robot and obstacle crossing method thereof
A technology for power towers and robots, applied in the field of climbing robots, can solve problems such as poor ability to overcome obstacles, and achieve the effect of ensuring operational safety.
Active Publication Date: 2018-11-23
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology
[0004] In view of the above-mentioned deficiencies in the prior art, the power tower climbing robot and its obstacle-surmounting method provided by the present invention solve the problem of poor obstacle-surmounting ability in the climbing process of existing power tower climbing-based robots
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[0054] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.
[0055] In one embodiment of the present invention, as figure 1 As shown, the mechanical arm, the mechanical claw 2, the motor, the connector and the safety hook 3; the mechanical arm includes the first mechanical arm, the second mechanical arm and the safety hook mechanical arm 4; one end of the first mechanical arm and one end of the second mechanical arm pass through The connectors are movably connected, and the other end...
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The invention discloses an electric iron tower climbing robot and an obstacle crossing method thereof. Mechanical arms of the electric iron tower climbing robot comprise a first mechanical arm, a second mechanical arm and a safety hook mechanical arm; one end of the first mechanical arm is movably connected with one end of the second mechanical arm through a connecting piece, and the other ends ofthe first mechanical arm and second mechanical arm are both movably connected with mechanical claws; motors comprise a first motor and a second motor, the first motor and the second motor are arranged at the ends, connected with the mechanical claws, of the first mechanical arm and second mechanical arm respectively and both connected with the two mechanical claws; the surface of the second mechanical arm is fixedly connected with one end of the safety hook mechanical arm, and the other end of the safety hook mechanical arm is movably connected with a safety hook. The provided electric iron tower climbing robot has the advantages that electric iron tower climbing obstacles are recognized through camera and machine vision so that the climbing robot can select different climbing modes for different climbing obstacles to adapt to complex electric iron tower structures, and a safety rope is tied and hung on a target position in time, thereby ensuring the operation safety of subsequent workers.
Description
technical field [0001] The invention belongs to the technical field of climbing robots, and in particular relates to a power tower robot and an obstacle-surmounting method thereof. Background technique [0002] The high-voltage transmission line is the artery of the power system, and its safe operation is directly related to the stability and reliability of the power supply. It is necessary to regularly overhaul and maintain the transmission line tower and its accessories to ensure the safe and reliable operation of the line. [0003] At present, the inspection and maintenance of the power tower line basically adopts the method of manually climbing the tower, and the maintenance personnel carry relevant equipment to complete various maintenance tasks of the power tower, which not only consumes a lot of physical strength of the maintenance personnel, but also affects work efficiency. Safety also has great hidden dangers. With the rapid construction of high voltage and ultra...
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IPC IPC(8): B62D57/024H02G1/02
CPCB62D57/024H02G1/02
Inventor 鲁彩江王威高宏力刘帅蔡璨羽雷亚雄杨恺由智超孙弋姜雪冰
Owner SOUTHWEST JIAOTONG UNIV