Series-parallel two-foot iron-tower climbing robot

Abstract

The invention relates to a series-parallel two-foot iron-tower climbing robot capable of satisfying the climbing of all power transmission line iron towers. The series-parallel two-foot iron-tower climbing robot comprises a pair of hip platforms, a pair of parallel execution mechanical arms, a hip rotation pair, a pair of wrist platforms, a pair of foot rotation pairs, a pair of electromagnetic foot platforms and a pair of foot mechanical claws. The pair of hip platforms is connected by virtue of the hip rotation pair and driven to rotate, the wrist platforms are connected with the electromagnetic foot platforms by virtue of the foot rotation pair and driven to rotate, and the hip platforms and the wrist platforms are connected by virtue of the parallel execution mechanical arms and driven to move. Under the situation of unmanned control, the series-parallel two-foot iron-tower climbing robot can carry a route inspection device to climb along structural steel of the iron tower and can bypass an obstacles (such as a steel frame connecting plate, a connecting nut and the like) to reach an iron tower crossbar, and finally the robot can step over the crossbar to reach a circuit ground line and can make an inspection tour on the ground line.

Description

technical field [0001] The invention relates to a hybrid biped iron tower climbing robot, in particular to a power tower climbing robot for an overhead high-voltage transmission line, which can carry maintenance equipment and inspect the line, and belongs to the technical field of robots. Background technique [0002] The traditional high-voltage transmission line inspection method is mainly based on manual inspection, which has low efficiency and high labor intensity. Workers often work in the field, and the working environment is harsh, and the inspection of transmission line stalls across mountains, dense forests, and large rivers It is more difficult and has potential safety hazards. The efficiency of helicopter inspection is higher, but its economic benefit is poor, and it is easy to ignore the slight damage of the transmission line. The use of UAV inspections also has the advantage of high efficiency, but its endurance is poor and it is easily disturbed by the environ...

AI Technical Summary

Problems solved by technology

However, the robot cannot adapt to the working environment of different types of angle steel in the power tower

Sichuan University has researched an articulated iron tower climbing robot (application number: 201010500534.2). This robot can walk on the angle steel structure of the iron tower like an inchworm, torsionally walk and overcome obstacles, but the robot cannot overcome obstacles on multiple sides of the iron tower. and walking, the space adaptability is poor, and the online movement cannot be realized

The State Grid Corporation of China proposed a tower climbing robot (application number: 201410328294.0), which only proposes a crossbar that is alternately stretched by the upper arm and the lower arm and then hung on the tower to achieve upward climbing. High requirements, poor adaptability, and unable to climb on multiple sides of the tower

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