A three-stage high-voltage transmission line sliding inspection robot
A high-voltage transmission line and inspection robot technology, applied in the field of inspection robots, can solve the problems of long movement time, complex structure, and low obstacle crossing efficiency.
Active Publication Date: 2021-06-11
XI AN JIAOTONG UNIV
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Problems solved by technology
The clamping obstacle-crossing method adopted by the arm-type inspection robot is generally complex in structure, large in mass, difficult to control, and takes a long time to move when crossing obstacles, making the entire obstacle-crossing efficiency not high.
However, the existing wheeled high-voltage transmission line inspection robots either do not have the function of surmounting obstacles, or will cause large shocks and vibrations to the body during the process of surmounting obstacles. The accuracy of the work has a great influence
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Embodiment Construction
[0018] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0019] see figure 1 , a three-stage high-voltage transmission line sliding inspection robot, including front and rear wheel trains with suspension, a body equipped with an operating system and a clamping mechanism, and the front and rear wheel trains pass through the upper plate 1 of the wheel train and the upper plate 22 of the body of the body The variable damping hinge 20 and the torsion spring 21 are connected to each other to form a three-section system. The connecting mechanism of the three-section components is composed of the variable damping hinge 20 and the torsion spring 21. , the torsion spring mechanism 21 realizes the head-up movement of the front and rear wheel trains, and the variable damping hinge 20 ensures the connection stiffness between the wheel train and the main body to realize the gradual deformation, thereby converting the impact and...
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A three-stage high-voltage transmission line sliding inspection robot, including front and rear wheel trains with suspension and a body equipped with an operating system and a clamping mechanism. The front and rear wheel trains and the body are connected to each other through variable damping hinges and torsion springs. The asymmetric wheels of the gear train are arranged symmetrically, and the transmission line can be clamped between the long sides of the two wheels through centering. The clamping mechanism is composed of a claw, a claw frame, a flange linear bearing, a steering gear and a steering gear code disc. The two claws are symmetrically arranged, and can be opened and closed under the control of the steering gear. During the online movement, the two claws are opened, and the two driving wheels drive the robot to move as a whole. The claw rotates and closes in contact with the cable, and realizes two stable contacts between the robot and the line together with the rear wheel. The front wheel returns to the level after crossing the obstacle. Realize wheeled obstacle surmounting and improve the stability of the inspection process.
Description
technical field [0001] The invention belongs to the technical field of inspection robots, in particular to a three-stage high-voltage transmission line sliding inspection robot. Background technique [0002] High-voltage transmission lines play an irreplaceable role in the development of today's society. To ensure the safety and stability of high-voltage transmission lines, the traditional method is to use manual inspection or aerial survey inspection, which requires a lot of waste of manpower, material resources, Financial resources, and there will be hidden dangers that cannot be searched. The high-voltage transmission line inspection robot was created to solve the disadvantages of traditional inspection methods, which makes the inspection of high-voltage lines more efficient, low-cost and automated. The clamping obstacle-crossing method adopted by the arm-type inspection robot is generally complex in structure, large in mass, difficult to control, and takes a long time t...
Claims
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IPC IPC(8): B25J5/02H02G1/02
CPCB25J5/02H02G1/02
Inventor 朱爱斌郑威豪屠尧
Owner XI AN JIAOTONG UNIV