V-shaped upward-opening-type line-hanging traveling mechanism of inspection robot

Abstract

The invention provides a V-shaped upward-opening-type line-hanging traveling mechanism of an inspection robot, wherein the V-shaped upward-opening-type line-hanging traveling mechanism can be used foroverhauling of a high-voltage electricity transmission circuit. The V-shaped upward-opening-type line-hanging traveling mechanism comprises an upper gripper and a lower gripper. The upper gripper isconstituted by an inverted-V-shaped support, and a traveling wheel controlled by a driving motor is arranged in the inverted-V-shaped support in a suspending-supporting mode. The lower gripper is constituted by a U-shaped support with the lower end being connected with a mechanical arm of the inspection robot. Support rods on one sides of the U-shaped support and the inverted-V-shaped support areattracted through a closed locking electromagnetic pin, support rods on the other sides of the U-shaped support and the inverted-V-shaped support are hinged through a pin shaft, and an electric control opening-closing mechanism used for enabling the inverted-V-shaped support to rotate around the pin shaft is arranged on the support rods on the other sides of the U-shaped support and the inverted-V-shaped support. According to the V-shaped upward-opening-type line-hanging traveling mechanism of the inspection robot, an upward-opening-type structure composed of the inverted-V-shaped support andthe U-shaped support is adopted; through the structure, the position control precision at the time of line grabbing of the mechanical arm is improved, motion control is easy to achieve, and the requirements for line loosening and line grabbing in the obstacle-crossing and line-crossing processes of the line-hanging traveling mechanism can be met.

Description

technical field [0001] The invention belongs to the technical field of robot structure design, and relates to an online walking mechanism of a cantilever type line inspection robot that can be applied to the maintenance of high-voltage transmission lines. Background technique [0002] In the prior art, line patrol robots used for maintenance of high-voltage transmission lines have a variety of mechanical structures, and their functions and uses are also different. Although most of the robots have the basic online obstacle-crossing function, they lack the "cross-line" function. You can only walk between the two towers. For the line inspection robot, a reasonable mechanical structure is the basis for it to overcome various obstacles and drive safely on the transmission line, especially its "clamping" mechanism and "walking drive" mechanism. At present, most of the line patrol robots known in the art adopt a cantilever structure. The way of walking on the line is to rely on th...

AI Technical Summary

Problems solved by technology

With the left and right halves of the suspension walking mechanism, the driving wheel is composed of left and right parts. The opening of the left and right parts will affect the probability of successful thread grabbing when going online, which has certain requirements for the accuracy of target recognition. At the same time, the structure is separated into two parts. The design of some parts will also affect the stability of walking on the line, and the consistency requirements for the processing and manufacturing of the left and right parts of the structure are also high, and when the structure is subjected to a large wind load, after the driving wheel is separated from the wire rope, there is no rope wheel The reset guide mechanism, the wire rope may be stuck in the non-moving parts, which will affect the maintenance work of the line inspection robot on the transmission line

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