Overhead line whole-course inspection robot and method

Abstract

According to the whole-course inspection robot and system for the overhead line, when the robot needs to pass through an anti-vibration hammer, a tangent tower and a strain tower, the driving arm can be controlled to automatically balance the dead weight and adapt to a variable-curvature track through cooperation of the guide component and the motor direct-drive rotary component, the obstacle crossing safety and reliability are guaranteed, and meanwhile the robot can be used for conducting whole-course inspection on the overhead line. When an overhead line has a gradient, the robot is ensured not to slip due to insufficient friction force when the line is inclined or climbs by utilizing the control of the pressing force of the walking wheels; and barrier-free, safe and intelligent inspection in the whole process is really realized.

Description

technical field [0001] The invention belongs to the technical field of overhead line inspection, and in particular relates to a robot and a method for whole-process inspection of overhead lines. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] As an intelligent tool to assist and replace manual line inspection, overhead transmission line inspection robots have become an important force in safeguarding the safe operation of power lines. A lot of overhead transmission lines are erected in high mountains and mountains, which leads to a lot of up and down slopes on the overhead lines due to the terrain of the erection, and the special line inspection robots running on them need to go uphill, downhill, obstacle crossing and defense. fall. [0004] According to the inventor's knowledge, most of the current research and technical solutions for l...

AI Technical Summary

Problems solved by technology

[0005] (1) When the robot is running on a route with a large slope, due to the weight of the robot and the limited friction provided by the walking wheels, the walking wheels will slip and cannot move forward

[0006] (2) When the robot crosses the anti-vibration hammer and the suspension insulator, it needs two arms or multiple arms to perform various complex obstacle-crossing actions, and even some robots cannot complete the crossing of the strain tower, adapting to various obstacles in complex environments The performance is low, and the motion planning is more complex when crossing obstacles, resulting in low obstacle crossing efficiency and potential safety hazards during the obstacle crossing process, making it difficult to autonomously cross obstacles

[0007] In order to solve the above problems, the prior art attempts to increase the friction coefficient of the materials used in the road wheels, increase the self-weight, design robot protection and obstacle-surpassing mechanisms, etc., although the above methods can ensure the safe and effective driving of the robot on a straight road. , but there is also a complex mechanical structure. Relying on the mechanical structure for locking operation is not conducive to controlling the rotation angle of the mechanical arm. At the same time, when the line is inclined or needs to climb, the robot will also tilt the mechanical arm due to its own weight. To meet the needs of friction when climbing, there are certain safety hazards and other issues

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