Power line inspection robot and motion control method thereof

Abstract

The invention discloses a power line inspection robot which comprises a first connecting plate, a second connecting plate and a third connecting plate. The first connecting plate and the second connecting plate are connected through a first connecting shaft, and the second connecting plate and the third connecting plate are also connected through a first connecting shaft. The free end of the first connecting plate and the free end of the third connecting plate are connected with a base plate through first spring bodies. The first connecting plate and the third connecting plate are connected with first hydraulic cylinders through second spring bodies correspondingly. A first change gear is coupled to the top of a piston of each first hydraulic cylinder. The second connecting plate is connected with a second hydraulic cylinder through a third spring body. A second change gear is coupled to the top of a piston of the second hydraulic cylinder. Two second connecting shafts are arranged on the base plate. Each second connecting shaft is in coupling connection with a third hydraulic cylinder and a fourth hydraulic cylinder. The invention further discloses a motion control method of the power line inspection robot. Defects in the prior art can be overcome, and the shaking amplitude when the inspection robot climbs a barrier is reduced.

Description

technical field [0001] The invention relates to the technical field of electric power maintenance, in particular to an electric power line inspection robot and a motion control method thereof. 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. Chinese invention patent CN 102005705 B discloses a suspended line inspection robot that can climb various line obstacles. However, when this line-following robot climbs obstacles, various instruments and equipment hung below it will seriously tilt and shake as the line-following robot climbs, affecting the accuracy of detection data. Cont...

AI Technical Summary

Problems solved by technology

However, when this kind of line inspection robot climbs obstacles, the various instruments and equipment hung below it will seriously tilt and shake as the line inspection robot climbs, which will affect the accuracy of the detection data.

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