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Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure

A line inspection robot and walking mechanism technology, applied in the field of robotics, can solve the problems that transmission line obstacles cannot be crossed, and continuous inspection of ultra-high voltage transmission lines cannot be realized, so as to achieve enhanced stability, reduced labor intensity, and reduced operating costs. Effect

Active Publication Date: 2016-07-27
SHANDONG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] The technical research and development of the existing line inspection robot has achieved certain corresponding results, but the obstacles existing on the transmission line cannot be crossed, and the continuous inspection of the ultra-high voltage transmission line cannot be realized

Method used

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  • Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure
  • Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure
  • Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure

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Embodiment Construction

[0023] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0024] On the one hand, the present invention provides a kind of traveling wheel and clamping wheel combined traveling mechanism, such as figure 1 As shown, including at least one walking unit, wherein:

[0025] The walking unit comprises a pair of walking split wheels 11, and the walking split wheels 11 include active walking split wheels 11-1 and passive walking split wheels 11-2 that can be docked and separated from each other, active walking split wheels 11-1 and A first traveling wheel arm 1 and a second traveling wheel arm 15 are respectively provided below the passive traveling splitting wheel 11-2;

[0026] A pair of clamping and splitting wheels 6 that can be lifted and lowered to cooperate with the clamping circuit 7 is arranged below the walk...

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Abstract

The invention discloses a travelling mechanism, a mechanical structure of an inspection robot and an obstacle crossing method of the mechanical structure, belonging to the technical field of a robot. The mechanical structure of the inspection robot comprises a rack, wherein a travelling wheel and a clamping wheel combined travelling mechanism is arranged on the rack and comprises at least one travelling unit, the travelling unit comprises a pair of travelling split wheels, each travelling split wheel comprises a driving traveling split wheel and a driven travelling split wheel, a first travelling wheel arm and a second travelling wheel arm are separately arranged below the driving traveling split wheel and the driven travelling split wheel, clamping split wheels are arranged below the travelling split wheels and comprise a first clamping split wheel and a second clamping split wheel, and a screw rod motor and a screw rod are arranged at the lower end of each clamping split wheel. Compared with the prior art, the mechanical structure has the advantages that the labor intensity is reduced, the running cost is reduced, and an obstacle can be crossed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a walking mechanism, a mechanical structure of a line-observing robot and a method for overcoming obstacles. Background technique [0002] The use of high-voltage and ultra-high-voltage overhead power lines is the main way of long-distance power transmission and distribution. Power lines and tower accessories are exposed to the wild for a long time, and are prone to damage such as broken strands, abrasion, and corrosion due to the impact of continuous mechanical tension, electrical flashing, and material aging. If they are not repaired and replaced in time, the original tiny damage and defects may The expansion will eventually lead to serious accidents, resulting in large-scale power outages and huge economic losses. At present, there are two main methods for inspection and maintenance of transmission lines: ground visual inspection method and aerial survey method. The visual in...

Claims

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Application Information

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IPC IPC(8): H02G1/02B62D57/02
CPCB62D57/02H02G1/02
Inventor 杜宗展高琦
Owner SHANDONG UNIV
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