Super-voltage transmission line monitoring and detecting robot mechanism

A technology for patrolling robots and power lines, applied to manipulators, manufacturing tools, etc., can solve the problems of limited obstacle-surmounting ability, difficult control, complex structure, etc., and achieve strong obstacle-surmounting ability, reduce the weight of the mechanism, and have a wide range of applications Effect
CN1689769AInactive Publication Date: 2005-11-02SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Publication Date
2005-11-02
Estimated Expiration
Not applicable Β· inactive patent

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Abstract

The present invention relates to movable robot mechanism, and is especially ultra high voltage power line polling robot mechanism. The polling robot mechanism consists of moving vehicle, back arm and front arm. The moving vehicle consists of vehicle body and walking wheel, the walking wheel is installed onto the vehicle body via horizontal rotation pair and moving pair and grasps the wire, and the vehicle body is connected via the rotation pair to the front arm and the back arm. The arm has hand claw in the end, the front arm and the back arm have the same structure, and each of the front arm and the back arm consists of two parts, upper arm and lower arm. The upper arm as one combined structure of link rod, ball lead screw and block is connected via horizontal rotation pair to the lower arm; and the lower arm is one great stroke telescopic mechanism. The present invention has great work space, light weight, low power consumption and powerful obstruction crossing capacity.
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Description

technical field

[0001] The invention relates to a mobile robot mechanism, in particular to an ultra-high voltage transmission line inspection robot mechanism. Background technique

[0002] In the existing ultra-high voltage transmission line inspection robot mechanism, most of them adopt the composite mobile mechanism composed of wheeled mobile and composite linkage mechanism (Document 1: Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa , "AMobile Robot For Inspection of Power Transmission Lines", IEEE Trans.PowerDelivery, 1991, Vol.6, No.1: pp..309-315; Literature 2: Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, "Development of a Mobile InspectionRobot for Power Transmission Lines", J.of the Robotics Society of Japan, Japan, Vol.9, No.4, pp.457-463, 1991), or a multi-degree-of-freedom system composed of multiple sets of mobile units connected in series Mobile Mechanism (Document 3: Shin-ichi Aoshima, Takeshi Tsujimura...

Claims

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