Gripper mechanism with fault release function for walking of patrolling robot

Abstract

The invention relates to an inspection robot walking and clamping mechanism with fault release function. The inspection robot walks on an overhead power transmission line and includes a walking mechanism and a clamping mechanism arranged on a support. The clamping mechanism comprises a clamping motor arranged on the support; a drum arranged on the output shaft of the clamping motor; and a front clamp and a rear clamp having the same structure and rotatably arranged on a front bracket and a rear bracket of the support through a sector gear, wherein windings on the drum are respectively connected with the tail ends of one pawls of the front clamp and the rear clamp through a front pulley and a rear pulley fixed on the support; the front clamp and the rear clamp are respectively located on the front side and the rear side of a walking wheel of the walking mechanism; each clamp includes two pawls; the tail ends of the pawls are connected with each other through a spring; and the two pawlsare engaged with each other through the sector gear. By adopting the wheel-pawl composite mechanism of walking mechanism and the clamping mechanism, the inspection robot walking and clamping mechanism facilitates walking and barrier crossing of the inspection robot to achieve good safe protection. In addition, the inspection robot walking and clamping mechanism has fault release function and suits field operation and on / off transmission line.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a walking clamping mechanism of a line inspection robot with a fault release function. 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 (see literature 1: Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, "AMobile Robot For Inspection of Power Transmission Lines", IEEE Trans. Power Delivery, 1991, Vol.6, No.1: pp..309-315; Document 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-freedom robot composed of multiple sets of mobile units connected in series Degree Mobile Mechanism (Document 3: Shin-ichi Aoshima, Takesh...

AI Technical Summary

Problems solved by technology

These mechanisms have complex structures, heavy weight, high energy consumption, poor safety protection when walking, and it is difficult to open the safety protection device when a fault occurs, making it difficult for the robot to go offline. Therefore, it is difficult to apply to the actual inspection of ultra-high voltage transmission lines.

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