Overhead cable climbing robot walking and obstacle spanning mechanism

Abstract

The invention relates to an overhead cable climbing robot walking and obstacle spanning mechanism, which comprises a left arm, a right arm and the like. The left arm and the right arm have the same structure, and respectively comprise an arm body, a wrist pitch joint, a wrist deflection joint, a line adapter and the like; the line adapter is arranged at the tail end of the arm body through the wrist pitch joint and the wrist deflection joint in sequence; the wrist pitch joint and the wrist deflection joint are connected with motors through a speed reducer and are driven by various motors to rotate; the arm body is provided with ball screws which are connected with a driving motor; sliding blocks are matched with the ball screws; and a main rotating joint is arranged between the sliding blocks on the left arm and the right arm. The overhead cable climbing robot walking and obstacle spanning mechanism has the advantages of simple walking plan, large working space, good stress characteristics, light weight, small torque required by the joints, low energy consumption, strong obstacle spanning capability and wide application range, can be applied to robots for various overhead cable detection operations and the like, and can be applied to cable climbing education and entertainment robots and the like.

Description

Technical field [0001] The invention relates to a robot structure, in particular to a robot motion mechanism used for walking along overhead cables and surmounting obstacles, and belongs to the technical field of robots. Background technique [0002] Electric energy transmission must rely on high-voltage transmission lines. Due to the wide distribution of power transmission lines, the complex terrain, and the harsh natural environment, the power lines and tower accessories are exposed to the field for a long time. Due to the effects of continuous mechanical tension, electrical flashover, and material aging, strand breakage, wear, corrosion, etc. Damage must be repaired or replaced in time. Therefore, it is necessary to conduct regular patrol inspections of transmission lines to keep abreast of the operation of the transmission lines, the changes in the surrounding environment of the lines and the protection areas of the lines, in order to detect and eliminate hidden dangers in ti...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of the existing cable climbing robots, such as complex structure, heavy weight, large required joint torque, and insufficient obstacle-surmounting ability, the purpose of the present invention is to provide a robot with simple structure, light weight, low energy consumption, and strong obstacle-surmounting ability. The walking and obstacle-surpassing mechanism of the aerial cable climbing robot can realize walking on the overhead cable and overcome various obstacles on the cable

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