36results about How to "Improve obstacle clearance efficiency" patented technology

The invention discloses a line-clamping walking device for a high-voltage transmission line patrol robot. The line-clamping walking device comprises a pod seat, wherein the pod seat comprises a frontbracket and a rear bracket which are hinged to each other and which are both provided with a longitudinal motor; the output shafts of the longitudinal motors are opposite in direction and each connected to a mechanical arm; the tail end of each mechanical arm is connected with a claw device; the claw device comprises a fixing frame; a driving wheel, a stopping wheel and a stopping claw are arranged on the fixing frame; and a current taking device is disposed outside the fixing frame. The line-clamping walking device can solve the problem that the robot in the prior art has difficulty in obstacle crossing, and has the advantages of simple structure, high efficiency and high reliability.

The invention discloses a line inspection robot based on a planetary gear mechanism and an obstacle crossing method. A toothed inner ring and a toothed outer ring are installed concentrically on a central fixed plate, and the rotation of the robot is controlled by gears on a rotating shaft of a steering motor. When there is a need to cross an obstacle, a front operating arm rotates to avoid the obstacle and moves forward to cross the obstacle, and the steering motor turns back again and tightens a cable. At the same time, a rear operating arm releases the cable and rotates to avoid the obstacle. After the whole robot crosses the obstacle, the rear operating arm turns back to the original position again and clamps the cable, and the whole obstacle crossing action is completed. The line inspection robot has a simple structure, and the action execution is effective. Moreover, the equipment is powered by a self-power-taking device, and the efficiency of obstacle crossing and line inspecting of the line inspection robot is greatly improved.

The invention discloses an unimpeded overpass vehicle for road maintenance which can ensure normal running of a vehicle and avoid interference on traffic smoothness while ensuring maintenance operation of a road. Two sliding rails are arranged at the bottom of a platform, on two sides of the sliding rails, a main vehicle body is arranged at the bottom of the platform, two sliding blocks are arranged at the top of the main vehicle body and correspond to the sliding rails, a crawler belt is arranged at the bottom of the main vehicle body, two sets of hanging rings are arranged at the top of theplatform and located at the two ends of the platform respectively, every two hanging rings form a set, and two sets of inserting holes are formed in the top of the platform. The two sets of insertingholes are located in the two sides of the platform respectively, one set of inserting holes is composed of at least three inserting holes, the inserting holes in the same set are arranged at equal intervals, and the two buffering inclined plates are arranged at the two ends of the platform respectively.

The invention discloses a deicing control system for a transmission line inspection and deicing robot, which is characterized in that it includes a control module of a mechanical arm, a control module of an ice-melting device, and a control module of spraying an ice-melting agent; the control module of the mechanical arm is used for Collect the position information between the ice layer and the mechanical arm, and control the movement of the mechanical arm; the ice-melting device control module is used to control the rotation of the ice-melting device; the ice-melting agent spray control module is used to control the ice-melting agent emissions. The inspection and deicing robot of the present invention can not only perform inspection and overcome obstacles, but also has a simple and convenient way of overcoming obstacles; at the same time, it can realize the function of rapid deicing, and can automatically control the robot's ice melting device and ice layer solution, and combine ice melting and Mechanical ice breaking, high deicing efficiency.

The invention relates to a split line moving platform. A power transmission lead is used as a working path in the platform, various barriers (a vibration damper, a crimping pipe, a spacing bar, a suspension line clamp, an insulator string and the like) are spanned and avoided, the platform is provided with a camera which can observe the condition of the running line and timely discover the defects of the line and hardware tools, and other working mechanical arms can be expanded to finish clearing line barriers and the like. A robot has flexible action and large working range, has the effect of protecting devices during jumping the barriers, and has high safety and reliability. The platform mainly consists of a traveling device, a driving arm device, an anti-tilting device and a power supply control box; and the traveling device is arranged on an electric cable and connected with the driving arm device, and the anti-tilting device is arranged at the tail end of the traveling device.

The invention discloses a cable-flexible robot that can negotiate barriers autonomously, belongs to an autonomous detection device of flexible cables and comprises a support platform; wherein, two ends of the support platform are provided with a front arm and a back arm which can be folded; the end part of the support platform is provided with a walking mechanism; a middle arm which is extendableis positioned at the middle part of the support platform and a walking wheel is arranged at the end part of the middle arm; the robot has the function of realizing the complete online walking and barrier negotiating under the intelligent control condition.

The invention discloses an automatic inspection device and an automatic inspection system for high-voltage wires. The automatic inspection device and the automatic inspection system have the advantages that special slide tracks for the high-voltage wires are formed by two inspection columns which can be perfectly fastened with each other, so that the inspection device can be automatically mounted and detached; four cameras are arranged in the inspection device, so that the high-voltage wires can be monitored at complete view angles in 360-degree ranges; the automatic inspection device is provided with mechanical arms and mechanical hands, can assuredly easily cross obstacles regardless of the sizes of the obstacles and is high in obstacle crossing speed and obstacle crossing efficiency; smashing knives are arranged at the front ends of the inspection columns, so that peculiar matters of the high-voltage wires can be handled; the automatic inspection device is provided with dust brushes, so that dust on the high-voltage wires can be cleaned; U-shaped rotary drums are arranged in the inspection columns, so that paint can be brushed on the high-voltage wires, and the high-voltage wires can be maintained.

The invention discloses a ground wire suspension inspection robot, comprising a robot box body, wherein the box body comprises a control system; the box body carries detection equipment; front, middleand rear arms are arranged behind the box body and are connected with the box body through an arm base; The front, middle and rear arms can move on the transmission line through the driving mechanism, the machine body can expand and contract in the vertical direction through the telescopic mechanism, and the driving mechanism can open and close through the opening and closing mechanism. Therefore, when meeting obstacles, the three arms cooperate to carry out orderly movement to achieve the function of crossing obstacles. The invention has the characteristics of strong obstacle overcoming ability, high obstacle overcoming efficiency, large slope climbing angle, stable structure, light weight, simple operation, good real-time performance and the like, realizes stable driving along the ground wire of a 220kV to 500kV transmission line, and can span the line equipment such as a shock-proof hammer, a spacer rod, a hanging wire clamp, a repairing pipe and the like installed on the ground wire.

The invention discloses a method for automatic obstacle-crossing of a capsule endoscope in a living body and a system. The method comprises the following steps: step S1: receiving a sensing signal of the position and posture of the capsule endoscope in the living body detected by a sensor in real time; step S2: in the moving process of the capsule endoscope, according to the sensing signal, judging whether the capsule endoscope is hindered in the moving process, if so, turning to the step S3, otherwise, repeating the step S2; and step S3: controlling an external magnet to be moved to drive the capsule endoscope to execute the obstacle-crossing movement. The sensing signal of the sensor is received to judge whether the movement of the capsule endoscope is hindered, and the movement of the external magnet is controlled to drive the capsule endoscope to execute the obstacle-crossing movement, namely the movement of the capsule endoscope can be automatically judged and the capsule endoscope automatically performs the obstacle-crossing operation after the movement of the capsule endoscope is hindered, the difficulty degree of the artificial operation is reduced, the obstacle-crossing efficiency of the capsule endoscope is higher, and the automatic scanning technology of the capsule endoscope can be realized.

The invention discloses a double transmission line inspection obstacle-surpassing robot, which includes a body, and the body is arranged on the transmission line through a plurality of traveling mechanisms arranged on both sides thereof, and the traveling mechanisms on each side are arranged on the same transmission line Above, the walking mechanism includes a support arm and a traveling wheel; the upper end of the supporting arm is flexibly connected with the body, the traveling wheel is arranged at the lower end of the supporting arm, and the traveling wheel is arranged on the transmission line to drive the body to move along the extension direction of the transmission line; The support arm can swing forward or backward along the extension direction of the power line, so that the walking wheels are lifted and separated from the power line; in the direction of the extension of the power line, the running mechanisms on both sides of the body are misplaced with each other, and the running mechanisms on the same side are equally spaced set up. The robot can cross the spacer bars on the transmission line; during the obstacle crossing process, there is no need to stop the operation, which improves the inspection efficiency; the obstacle crossing is simple.

The invention relates to an obstacle-crossing inspection robot and an obstacle-crossing method, comprising a car body and wheels arranged on the left and right sides of the car body, the car body is provided with an accommodating chamber that runs through the front and rear sides of the car body, and the accommodating chamber is provided with a bridge plate and The manipulator, the manipulator can move the bridge plate from the front end of the accommodation cavity to the obstacle ditch, and the manipulator can move the bridge plate from the obstacle channel through the rear end of the accommodation cavity to the accommodation cavity, between the wheels on both sides of the car body The distance dimension is smaller than the width dimension of the bridge plate, so that the vehicle body can run on the bridge plate. By setting up the manipulator and the bridge plate on the car body, the manipulator moves out of the bridge plate from the front end of the accommodation chamber before overcoming the obstacle and recovers the bridge plate from the rear end of the accommodation chamber after overcoming the obstacle, so that the car body can cross the obstacle ditch through the bridge plate, It has the characteristics of convenient operation and ability to overcome obstacles independently. At the same time, after the car body passes through the obstacle ditch, the bridge plate is directly recovered from the rear end of the accommodation chamber, so that readjusting the position of the car body can be avoided during the recovery operation, thereby improving the obstacle-crossing efficiency.

The invention discloses a novel structure of a deicing robot based on a pneumatic type electric transmission line, comprising a forearm unit, a middle arm unit, a rear arm unit and a gravity center adjustment balance mechanism, wherein the forearm unit, the middle arm unit and the rear arm unit are sequentially connected with the gravity center adjustment balance mechanism positioned below the forearm unit, the middle arm unit and the rear arm unit; the forearm unit and the rear arm unit are symmetrically arranged; the forearm unit comprises a stacked type mechanical arm mechanism, a travelling driving mechanism, a deicing mechanism, a palm opening and closing mechanism and a brake braking mechanism; the middle arm unit comprises a vertical type telescopic arm mechanism, the travelling driving mechanism, the palm opening and closing mechanism and the brake braking mechanism; and the rear arm unit is the same as the forearm unit in structure and comprises a pneumatic control loop which enables the forearm unit, the middle arm unit and the rear arm unit to take telescopic actions, travelling actions, obstacle detouring actions and deicing actions and takes compressed air as a power source. The invention can complete the deicing operation, the on-line stable travelling and high-efficiency autonomous obstacle detouring under the conditions of intelligent control and has the advantages of compact structure, light weight, easy control, and the like.

The invention relates to a bionic crawling robot used for tour inspection of a high-voltage transmission line. The bionic crawling robot comprises two claw parts arranged in a manner of central symmetry; each claw part comprises an upper claw part and a lower claw part; each upper claw part and the corresponding lower claw part are connected through a wrist part; each wrist part is fixedly connected with a shoulder part through an arm; and the two shoulder parts are fixedly connected through a connecting rod. The structural design of the robot is a modular design, so that the robot is more reasonable in overall structure, and the overall robot is easy to install and convenient to maintain; moreover, an antisymmetric design is employed by the robot, so that the load distribution of the robot can be uniform in a running process, and the overall weight is relatively reasonable; the functions of walking and crossing obstacles on the transmission line can be achieved; control is simple, andthe control process can be realized easily, so that the obstacle crossing efficiency is increased; and the whole robot is simple in mechanical structure, relatively small in size, and lightweight inoverall structure.