Suspended line walking robot

Abstract

The invention discloses a suspended line walking robot which comprises a walking part and a suspending cabin, wherein the walking part consists of two trunks and three driving wheel claws; the two trunks form double parallelogram structures; the three driving wheel claws are guaranteed to face toward the same direction; five motors on the trunks drive the trunks to longitudinally swing, transversely swing and stretch to ensure that each obstacle detouring driving wheel can realize three-freedom-degree translational upper and lower lines; each driving wheel claw comprises a driving wheel and a clamping device, and the motors drive the driving wheels to ensure that the robot moves on the line; each clamping device comprising a motor, a ball screw pair, a spring, a clamping wheel, and the like guarantees that enough friction force is maintained between the driving wheels and the lines; the suspending cabin and the walking part are connected through two steel belts; and two motors on the suspending cabin adjust own gravity center position relative to the trunks through a steel belt so as to guarantee the flexibility of the mechanism while crossing an obstacle. The invention guarantees that the line walking robot can cross various line obstacles including corner line towers, can climb a diagonal tensile line larger than 60 degrees, has high safety factor and can replace man power to realize autonomous line walking.

Description

Technical field: [0001] The invention belongs to the field of robots, and relates to a suspension-type inspection robot mechanism designed for 500kv power transmission lines, especially a suspension-type inspection robot. Background technique: [0002] In recent years, the design of intelligent robots for line inspection is on the rise. However, due to the complex working environment of various obstacles, corner line towers, and steep cable-stayed lines in the transmission line, it poses great challenges to robot line inspection. At present, the line patrol robots suspended on a single line are mainly divided into two configurations with two wheels and three wheels. Although the two-wheeled mechanism is flexible when crossing obstacles, it has disadvantages such as difficult adjustment of the center of gravity and poor stability; while the current three-wheeled mechanism is more complicated, with more driving motors, it is difficult to control the obstacle. It is also diffi...

AI Technical Summary

Problems solved by technology

First of all, it is necessary to solve the complexity of the mechanism, and to reduce the number of driving motors as much as possible on the premise of ensuring that each obstacle-crossing wheel has enough freedom of movement; It can be flexibly controlled to overcome obstacles; once again, the mechanism must have the ability to climb more than 60 degrees of cable-stayed lines

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