Walking mechanism suitable for multi-cable inspection robot and walking method of walking mechanism

Abstract

The invention relates to a walking mechanism suitable for a multi-cable inspection robot and a walking method of the walking mechanism, and relates to the field of inspection robots. The walking mechanism comprises a connecting mainboard and at least two groups of walking mechanisms; The connection mainboard is used for connecting an inspection robot detection mechanism. Through seting of a distance adjustment part, a diversion walking part and walking obstacle crossing part on the walking mechanism, the walking mechanism can change according to the bending change of each cable, the concave-convex condition change of the surface or the change of the distance between the cables and the like when the power transmission cable is inspected, so that the walking mechanism can adapt to the change of the cables to change at any time when traveling on the power transmission cable, and the situation that the traveling mechanism is blocked or stopped is avoided; the situation that the walking mechanism and the cable deviate and rub and even break away is reduced, the inspection robot is protected to inspect multiple power transmission cables, The inspection efficiency and the service life of the inspection robot are guaranteed, and the inspection robot is prevented from falling off from the cable.

Description

technical field [0001] The invention relates to the field of line inspection robots, in particular to a walking mechanism and a walking method suitable for multi-cable inspection robots. Background technique [0002] The traditional transmission cable inspection is mainly through manual inspection or machine inspection. Among them, manual inspection is low in cost, but low in efficiency, long in inspection cycle, and has shortcomings such as high labor intensity, many subjective factors, and inadequate inspection; The machine inspection is to use the inspection robot to carry out the inspection. Through the integrated visible light or infrared camera, it adopts the autonomous or remote control mode, instead of manually walking on the transmission cable, and inspects the transmission cable equipment, so that the power grid can be found in time. The hidden dangers of accidents in operation have the characteristics of high efficiency, high informationization, high intelligence ...

AI Technical Summary

Problems solved by technology

[0004] When the existing power transmission cable inspection robot inspects multiple cables, it usually sets multiple sets of walking mechanisms on the detection mechanism to clamp multiple cables to act. In the actual inspection process, due to the The situation between the cables is different, such as the difference in the degree of bending of each cable, the difference in the unevenness of the surface of each cable, or the difference in the distance between the cables, etc. Otherwise, it is easy to cause the traveling mechanism to get stuck or stuck, and even cause the traveling mechanism to be out of sync and cause offset friction or even detachment from the cable, which not only affects the inspection robot's ability to control multiple power transmission cables. Inspection will affect the inspection efficiency and service life of the inspection robot, and there may also be a hidden danger that the inspection robot will fall off the cable

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