Power Line Inspection Robot Arm Layout for Stable Obstacle Navigation
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Solution Overview
Problem
Conventional power line inspection robots face instability and limited turning range due to vertical motion mechanisms and uneven weight distribution, requiring additional counterweight devices that increase weight and cost.
Innovation Solution
The design incorporates three arm assemblies with elevating and rotating devices for linear and two-dimensional motion, positioning the weight center at the geometric center, and utilizing clamped wheels for enhanced friction and stability, eliminating the need for a separate counterweight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a vertical motion mechanism is arranged on a rotating mechanism, then the robot can navigate obstacles while turning, but the rotation mechanism experiences great inertia and instability, limiting the turning range
Solution Approach 1:
The robot is divided into multiple independent arm assemblies (first, second, and third arm assemblies), each capable of linear motion and positioned at different locations on the underframe. This segmentation allows each arm to independently contribute to obstacle navigation without creating instability in a centralized rotating mechanism.
Solution Approach 2:
The invention transitions from a vertical motion mechanism on a rotating mechanism to a two-dimensional linear motion system. The third arm assembly moves two-dimensionally and linearly on the underframe, eliminating the need for vertical motion on a rotating platform and thereby resolving the inertia and stability issues.
2Productivity
If the weight center is not positioned at the geometric center, then the robot can achieve linear obstacle navigation, but the robot becomes unstable and may easily be disengaged from the power line
Solution Approach 1:
The robot employs an asymmetric distribution of three arm assemblies at different positions on the underframe. This asymmetric layout allows the weight center to be positioned at the geometric center while maintaining linear obstacle navigation capability, as the arms are strategically positioned to balance the robot during motion.
3Stability of the object's composition
If a counterweight balancing device is added to improve stability, then the robot can maintain balance during navigation, but the weight and cost of the device increase
Solution Approach 1:
The robot achieves self-balancing through the strategic positioning of its three arm assemblies. The arms themselves, through their positioning and motion capabilities, provide the balancing function that would otherwise require a separate counterweight device. The third arm assembly positioned between the first and second arms contributes to balancing the robot during linear obstacle navigation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration provides a large turning range, improved balancing, and superior climbing ability on power lines, ensuring stable operation without additional counterweight devices.
Implementation Method 1
an elevating device at the bottom, a rotating device driven by the elevating device
Implementation Method 2
a rotating device driven by the elevating device, and an arm driven by the rotating device, the rotating device is located in a plane during rotation that is parallel to an upper end face of the travelling device underframe
Implementation Method 3
utilizing clamped wheels for enhanced friction and stability
Data Source
AI summary
The present invention discloses an obstacle navigation travelling device of a power line inspection robot. The present obstacle navigation travelling device of a power line inspection robot includes: a travelling device underframe; a first arm assembly mounted at one end of the travelling device underframe; a first linear driving device for driving the first arm assembly to move linearly on the one end of the travelling device underframe; a second arm assembly mounted at one end of the travelling device underframe far from the first arm assembly; a second linear driving device for driving the second arm assembly to move linearly on the one end of the travelling device underframe far from the first arm assembly; and a third arm assembly. The present invention has the beneficial effects of a large turning range and excellent balancing.