The driving joint and its pick-and-place mechanism of the serpentine high-voltage line inspection robot
A technology for inspection robots and high-voltage lines, which is applied in the direction of manipulators, program-controlled manipulators, overhead lines/cable equipment, etc., can solve the problems of non-angle crossing cables crawling, easy damage of cables, and cumbersome actions, etc., to improve obstacle surmounting The effect of stability, connection and control convenience
Active Publication Date: 2022-02-08
NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology
High-voltage cables and their accessories are exposed to the external environment for a long time, and the materials are easily aged and the cables are easily damaged.
At present, most of them still use manual inspection, which is labor-intensive, and the high-altitude, high-pressure, and high-risk working environment is difficult to guarantee the safety of inspection, which may easily cause dangers such as electric shock and falling from high altitude.
[0003] In order to solve the problems existing in manual inspection methods, a small number of robot inspections and unmanned aircraft inspection methods have been adopted, but the obstacle avoidance effect of most robot inspections is poor, and they can only adapt to the avoidance of some obstacles. The movement behavior in the process is cumbersome, it is not possible to crawl with angled cross cables, and the stability of obstacle surmounting and overturning problems still exist, and the balance and stability of the robot cannot be maintained in windy and other weather conditions
The unmanned aerial vehicle inspection method is extremely expensive, and it cannot adapt to severe weather such as strong winds
Method used
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[0032] The present invention will be described in further detail below in conjunction with the accompanying drawings and examples.
[0033] refer to figure 1 , figure 2 , the drive section of a serpentine high-voltage line inspection robot in this embodiment includes: section body 3-1, hinge support 3-2, shaft 3-3, torsion spring 3-4, swing seat 3-5, left swing Rod 3-6, left connecting rod 3-7, drive wheel 3-8, drive motor 3-9, support wheel 3-10, slide bar 3-11, spring 3-12, slide seat 3-13, swing bar hinge Support 3-14, steel rope fixing ring 3-15, driven wheel 3-16, third guide wheel 3-17, third guide wheel support 3-18, right connecting rod 3-19, right swing bar 3- 20. The fourth guide wheel support 3-21, the fourth guide wheel support 3-22, the guide wheel support 3-23, the second guide wheel 3-24, the fixed seat 3-25, the first guide wheel support 3- 26, the first guide wheel 3-27, wire rope 3-28, wire rope winch 3-29, winch support 3-30, winch motor 3-31.
[0034] ...
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The invention discloses a driving joint of a snake-shaped high-voltage line inspection robot and its pick-and-place mechanism, which consists of a steel wire rope, a spring, a torsion spring and a connecting rod mechanism. 1. The right pendulum swings to the inside, driving the driving wheel and the driven wheel to move upward and the supporting wheel to move downward, thereby releasing the cable; when the winch releases the wire rope, it drives the sliding rod to move upward under the action of the spring force, and the left, The right pendulum swings to the outside, driving the driving wheel and the driven wheel to move downward and the supporting wheel to move upward, thereby clamping the cable. It can be assembled into a snake-shaped high-voltage line inspection robot to improve the stability of the robot over obstacles and adapt to weather conditions such as strong winds.
Description
technical field [0001] The invention relates to a high-voltage line inspection device, in particular to a driving joint of a serpentine high-voltage line inspection robot and a pick-and-place mechanism thereof. Background technique [0002] High-voltage transmission is a common way of power transmission. Among them, the use of high-voltage and ultra-high-voltage overhead power transmission lines is the main form of long-distance power transmission and distribution. High-voltage cables and their accessories are exposed to the external environment for a long time, and the materials are easily aged and the cables are easily damaged. At present, most of them still use manual inspection methods, which are labor-intensive, and the high-altitude, high-pressure, and high-risk working environment is difficult to guarantee the safety of inspections, which may easily cause dangers such as electric shock and falling from heights. [0003] In order to solve the problems existing in man...
Claims
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IPC IPC(8): B25J9/06B25J11/00B25J9/16B25J9/18H02G1/02
CPCB25J9/065B25J11/00B25J9/1666H02G1/02
Inventor 黄宝旺张建宝李晨辉张净霞龙海洋琚立颖李德胜于江涛李占贤张欣刘磊
Owner NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY