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Four-mechanical-arm climbing type line patrol robot mechanical structure

A line inspection robot, mechanical structure technology, applied in the direction of manipulator, collector, overhead line/cable equipment, etc.

Active Publication Date: 2019-07-23
江苏东南测绘科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a four-arm climbing type line inspection robot mechanical structure to solve the traditional problems in the above-mentioned background technology

Method used

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  • Four-mechanical-arm climbing type line patrol robot mechanical structure
  • Four-mechanical-arm climbing type line patrol robot mechanical structure
  • Four-mechanical-arm climbing type line patrol robot mechanical structure

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Embodiment Construction

[0030] see Figure 1~5 , in an embodiment of the present invention, a mechanical structure of a four-manipulator climbing-type line patrol robot includes a line patrol machine body 14, a four-manipulator arm group, and a line roller 19, wherein the line patrol machine body 14 is provided with a rectangular distribution of Four robotic arm groups, each mechanical arm of the four mechanical arm groups is provided with a line roller 19, and the line rollers roll along the cable; it is characterized in that the line rollers and the four mechanical arm groups The mechanical arms are all made of insulating materials;

[0031] The distance between the four mechanical arm groups in the direction perpendicular to the extension direction of the cables is adjustable by a width adjustment mechanism, so as to adapt to the adjustment of the distance between the two cables;

[0032] Two of the four mechanical arm groups are swingable so as to realize the adjustment of the elastic support on...

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Abstract

The invention discloses a four-mechanical-arm climbing type line inspection robot mechanical structure. The distances between two opposite mechanical arms in a four-mechanical-arm group in the direction perpendicular to the extending direction of cables can be adjusted by a width adjusting mechanism, in this way, the distance adjustment between the two cables can be well adapted, and the cables are prevented from bearing too large tension or tensioning force; meanwhile, two mechanical arms in the four-mechanical-arm group are arranged in a swinging manner; therefore, the tightness support adjustment of the two mechanical arms on the cables can be realized through the swinging of the two mechanical arms; the stress of all line rollers is consistent; meanwhile, each line roller is provided with a width detection mechanism for detecting the widths of the two cables and a supporting detection mechanism for detecting the support force of the cables on the line roller. The controller can conduct feedback adjustment on the spatial positions of the four-mechanical-arm group according to the width detection mechanisms and the supporting detection mechanisms, automatic adjustment and controlover the robot are achieved, and the operation stability is guaranteed.

Description

technical field [0001] The invention relates to the technical field of line inspection machines, in particular to a mechanical structure of a four-arm climbing type line inspection robot. Background technique [0002] With the continuous development of automated unmanned inspection technology, there are more and more applications of line inspection robots. However, due to structural constraints, the traditional line inspection robot device generally uses a single-line mobile robot, that is, multiple rollers are used to support and move along a cable. All supported by a single cable, the cable is severely worn and difficult to move. Moreover, in the case of strong wind, it is easy to make the robot shake, aggravating the wear and aging of the cable, and it is easy to break the cable circuit. Affect the line tracking effect and reliability. [0003] However, if two cables are simply set up for support, due to problems such as changes in the distance between the cables, it is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02G1/02H02J7/35B25J5/02
CPCB25J5/02H02G1/02H02J7/35
Inventor 樊巧芳石春宏王明杨炎川王亚
Owner 江苏东南测绘科技有限公司
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