CN105846350A - Travelling mechanism, line patrol robot mechanical structure and obstacle surmounting method therefor - Google Patents
Travelling mechanism, line patrol robot mechanical structure and obstacle surmounting method therefor Download PDFInfo
- Publication number
- CN105846350A CN105846350A CN201610321134.2A CN201610321134A CN105846350A CN 105846350 A CN105846350 A CN 105846350A CN 201610321134 A CN201610321134 A CN 201610321134A CN 105846350 A CN105846350 A CN 105846350A
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- Prior art keywords
- wheel
- walking
- subdivision
- clamping
- arm
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses a travelling mechanism, a line patrol robot mechanical structure and an obstacle surmounting method therefor and belongs to the technical field of robots. The line patrol robot mechanical structure comprises a rack, a travelling wheel and clamping wheel combination type travelling mechanism is arranged on the rack, the travelling wheel and clamping wheel combination type travelling mechanism comprises at least a travelling unit which includes a pair of travelling partitioning wheels that comprise a driving travelling partitioning wheel and a driven travelling partitioning wheel, a first travelling wheel arm and a second travelling wheel arm are respectively arranged below the driving travelling partitioning wheel and the driven travelling partitioning wheel, a pair of clamping partitioning wheels which cooperate with the travelling partitioning wheels to clamp lines are arranged below the travelling partitioning wheels, and the clamping partitioning wheels comprise a first clamping partitioning wheel and a second clamping partitioning wheel. Compared with technologies of the prior art, the travelling mechanism, the line patrol robot mechanical structure and the obstacle surmounting method therefor are advantaged by reduction of labor intensity, reduction of operation cost and capability of obstacle surmounting.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of walking mechanism, inspection robot machine
Tool structure and obstacle-detouring method thereof.
Background technology
Employing high pressure and supertension overhead power transmission line are the major ways of distance transmission & distribution electric power.Electric lines of force
And shaft tower adnexa is chronically exposed to field, because of by lasting mechanical tension, electrically dodge iron, material old
The impact changed and easily produce disconnected stock, wear and tear, corrode equivalent damage, as repaired replacing not in time, the most micro-
Little breakage and defect, it is possible to expand, ultimately result in major accident, cause large-area power failure and huge
Big economic loss.The method that current transmission pressure patrols and examines, safeguard mainly has two kinds: ground ocular estimate
With aerophotographic method.Ocular estimate uses manual inspection, and this method labor intensity is big, work efficiency and detection essence
Spend low, poor reliability, there is inspection blind area；Aerophotographic method uses helicopter line walking, although this method
There are higher detection efficiency and precision, but this method is restricted by some environmental factorss, patrols simultaneously
The technical difficulty of inspection is high, and operating cost is higher.The development of inspection robot technology, for high voltage transmission line
Check that work provides new technological means.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but for transmission of electricity
Barrier present on circuit cannot be crossed over, it is impossible to realizes patrolling and examining continuously of extra high voltage network.Cause
This, it is necessary to provide one can reduce labor intensity, reduce operating cost, again can crossing over blockage
The inspection robot frame for movement of thing.
Summary of the invention
The technical problem to be solved in the present invention is to provide one and can reduce labor intensity, reduce and run into
This, again can the walking mechanism of throwing over barrier, inspection robot frame for movement and obstacle-detouring method thereof.
For solving above-mentioned technical problem, the present invention provides technical scheme as follows:
On the one hand, it is provided that a kind of road wheel and pinch wheels combined type running mechanism, including at least one row
Walk unit, wherein:
Described walking unit includes a pair walking subdivision wheel, and described walking subdivision wheel includes docking mutually
With actively walk subdivision wheel and the passive walking subdivision wheel that separate, described subdivision of actively walking is taken turns and passive
What walking subdivision was taken turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm；
A pair liftable clamping of matched clamping circuit it is provided with below described walking subdivision wheel
Subdivision is taken turns, and described clamping subdivision wheel includes the first clamping subdivision wheel and second that can dock mutually and separate
Clamping subdivision wheel.
Further, it is provided with bevel gear structure, described passive row in the middle part of described subdivision wheel of actively walking
Walk and be provided with and the groove structure of described bevel gear structure tabling on subdivision wheel.
Further, described the first row traveling wheel arm top is provided with direct current generator mounting seat, described direct current
Motor mount is provided with horizontally arranged direct current generator and decelerator, and described decelerator passes through shaft coupling
Being connected with described subdivision wheel of actively walking, described second walking wheel arm top is horizontally arranged with aluminium alloy
Pipe, described aluminium-alloy pipe is connected with described passive walking subdivision wheel by bearing.
Further, in the middle part of described first clamping subdivision wheel, it is provided with cone boss structure, described second
It is provided with and the groove structure of described cone boss structure tabling on clamping subdivision wheel.
Further, described the first row traveling wheel arm and the second walking wheel arm are provided with motor liter
Fall device mounting seat, described Step Motor device mounting seat is provided with control described clamping subdivision wheel and rises
The Step Motor device of fall, described Step Motor device is taken turns with described clamping subdivision by shaft coupling
Connect.
Further, described Step Motor device mounting seat is socketed in described the first row traveling wheel arm respectively
Walk in wheel arm with second.
On the other hand, it is provided that a kind of inspection robot frame for movement, including frame, described frame sets
It is equipped with above-mentioned road wheel and pinch wheels combined type running mechanism, described the first row traveling wheel arm and the second row
The lower end of traveling wheel arm is all arranged in described frame by rotating shaft, and each rotating shaft is all driven by motor.
Another further aspect, it is provided that the obstacle-detouring method of a kind of above-mentioned inspection robot frame for movement, including:
Step 1: when not running into obstacle, described walking subdivision is taken turns at described the first row traveling wheel arm and second
Docking and set up on the line under the effect of walking wheel arm, described clamping subdivision wheel is walked described first
Dock under the effect of wheel arm and the second walking wheel arm and be matched for clamping tightly circuit with described walking subdivision wheel, institute
Stating walking subdivision wheel drives inspection robot to move ahead；
Step 2: when running into obstacle, inspection robot halts, and described walking subdivision is taken turns described
Separating and depart from circuit under the effect of the first row traveling wheel arm and the second walking wheel arm, described clamping subdivision is taken turns
Move down after separating under the effect of described the first row traveling wheel arm and the second walking wheel arm；
Step 3: in described the first row traveling wheel arm and the second walking after described walking subdivision wheel leaping over obstacles
Docking under the effect of wheel arm and be again erected on circuit, described clamping subdivision wheel is walked described first
Again above move after docking under the effect of wheel arm and the second walking wheel arm and coordinate with described walking subdivision wheel
After clamping circuit, multipair walking subdivision wheel and clamping subdivision wheel leaping over obstacles, go to step 1, wait
Obstacle detouring next time.
Further, the obstacle-detouring method of above-mentioned inspection robot frame for movement is further improved,
Including,
Described step 2 is further: when running into obstacle, inspection robot halts, described clamping
Subdivision wheel separates under the effect of described the first row traveling wheel arm and the second walking wheel arm after moving down and departs from
Circuit, described walking subdivision wheel separates under the effect of described the first row traveling wheel arm and the second walking wheel arm
And depart from circuit；
Described step 3 is further: at described the first row travelling wheel after described walking subdivision wheel leaping over obstacles
Dock and be again erected on circuit under the effect of arm and the second walking wheel arm, on described clamping subdivision wheel
After shifting described the first row traveling wheel arm and second walking wheel arm effect under again docking and with described row
Walking subdivision wheel and be matched for clamping tightly circuit, multipair walking subdivision is taken turns and after clamping subdivision wheel leaping over obstacles, goes to
Step 1, waits obstacle detouring next time.
The method have the advantages that
The walking mechanism of the present invention, inspection robot frame for movement and obstacle-detouring method, inspection robot
Frame for movement includes frame, and frame is provided with road wheel and pinch wheels combined type running mechanism, walking
Wheel and pinch wheels combined type running mechanism include at least one unit of walking, and walking unit includes a pair row
Walk a pair liftable clamping subdivision wheel of subdivision wheel and matched clamping circuit, walking subdivision wheel bag
Include actively walk subdivision wheel and passive walking subdivision wheel, the subdivision of actively walking that can dock mutually and separate
What wheel and passive walking subdivision were taken turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm, folder
Tight subdivision wheel includes the first clamping subdivision wheel and the second clamping subdivision wheel that can dock mutually and separate, with
The structure of upper walking unit designs when adding inspection robot climb and fall and mechanical arm upkeep operation
Stability, thus safety when improving travelling robot walking.Walking subdivision wheel can be in the first row
Departing from or sets up on the line under the effect of traveling wheel arm and the second walking wheel arm, clamping subdivision is taken turns can be
Dock or separate under the effect of the first row traveling wheel arm and the second walking wheel arm.When running into barrier, line walking
Robot halts, and walking subdivision wheel divides under the effect of the first row traveling wheel arm and the second walking wheel arm
From and depart from circuit, clamping subdivision wheel separates under the effect of the first row traveling wheel arm and the second walking wheel arm
After move down；When, after walking subdivision wheel and clamping subdivision wheel across obstacle, walking subdivision is taken turns in the first row
Docking and be again erected on circuit under the effect of traveling wheel arm and the second walking wheel arm, clamping subdivision wheel exists
Under the effect of the first row traveling wheel arm and the second walking wheel arm again after docking upper move and with walking subdivision wheel
After being matched for clamping tightly circuit, every pair of walking subdivision wheel and clamping subdivision wheel wheel leaping over obstacles, inspection robot
Return to normal walking states.
To sum up, the present invention can straight and have on the circuit of certain slope walk, it is possible to strengthen patrol
Stability when line robot climb and fall and mechanical arm upkeep operation, during raising travelling robot walking
Safety.The present invention solves in prior art, and artificial line walking labor intensity is big and aircraft line walking runs
The problem that cost is high, and conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.) can be crossed,
Achieve patrolling and examining continuously circuit.Therefore, compared with prior art, the present invention has and lightens one's labor
Intensity, the operating cost that reduces, and can the advantage of crossing over blockage.
Accompanying drawing explanation
Fig. 1 is road wheel and the structural representation of pinch wheels combined type running mechanism of the present invention；
Fig. 2-Fig. 4 is that each step of the obstacle-detouring method of the inspection robot frame for movement of the present invention is corresponding
View.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below will knot
Conjunction drawings and the specific embodiments are described in detail.
On the one hand, the present invention provides a kind of road wheel and pinch wheels combined type running mechanism, such as Fig. 1 institute
Show, including at least one unit of walking, wherein:
Walking unit includes that a pair walking subdivision wheel 7, walking subdivision wheel 7 include can docking mutually and dividing
From the subdivision wheel 7-1 and passive walking subdivision wheel 7-2 that actively walks, subdivision of actively walking takes turns 7-1 and quilt
Dynamic walking subdivision wheel 7-2 has been respectively arranged below the first row traveling wheel arm 1 and the second walking wheel arm 12；
A pair liftable clamping subdivision of matched clamping circuit it is provided with below walking subdivision wheel 7
Wheel 9, clamping subdivision wheel 9 includes the first clamping subdivision wheel 9-1 and second that can dock mutually and separate
Clamping subdivision wheel 9-2.
The road wheel of the present invention and pinch wheels combined type running mechanism include at least one unit of walking, OK
Walk unit and include that a pair liftable clamping of a pair walking subdivision wheel and matched clamping circuit is cutd open
Minute wheel, walking subdivision wheel includes that the subdivision wheel of actively walking that can dock mutually and separate cuts open with passive walking
Minute wheel, what subdivision of actively walking wheel and passive walking subdivision were taken turns has been respectively arranged below the first row traveling wheel arm
With the second walking wheel arm, the first clamping subdivision wheel that clamping subdivision wheel includes can docking mutually and separate and
Second clamping subdivision wheel, the structure design of above walking unit adds inspection robot climb and fall and machine
Stability during mechanical arm upkeep operation, thus safety when improving travelling robot walking.
Preferably, as in figure 2 it is shown, be provided with bevel gear structure 13 in the middle part of the subdivision wheel 7-1 that actively walks,
It is provided with and the groove structure of bevel gear structure 13 tabling on passive walking subdivision wheel 7-2.This
Design improves the compatible degree between walking subdivision wheel, is conducive to the stability moved on the line.With
Sample, in order to improve the compatible degree between clamping subdivision wheel 9, set in the middle part of the first clamping subdivision wheel 9-1
It is equipped with cone boss structure 14, the second clamping subdivision wheel 9-2 is provided with and cone boss structure 14
The groove structure of tabling.In addition to the above-mentioned embodiment be given, it can also use this area
Other modes various known to technical staff, here is omitted.
Further, the first row traveling wheel arm 1 top is provided with direct current generator mounting seat 5, direct current generator
Mounting seat 5 is provided with horizontally arranged direct current generator 4 and decelerator 3, and decelerator 3 passes through shaft coupling
6 are connected with the subdivision wheel 7-1 that actively walks, and the second walking wheel arm 12 top is horizontally arranged with aluminium-alloy pipe
8, aluminium-alloy pipe 8 is connected with passive walking subdivision wheel 7-2 by bearing.This design is easy to control,
Accuracy and the fastness of walking subdivision wheel docking can be improved.
As a modification of the present invention, the first row traveling wheel arm 1 and the second walking wheel arm 12 are all provided with
It is equipped with Step Motor device mounting seat 2, Step Motor device mounting seat 2 is provided with control folder
The Step Motor device 11 of tight subdivision wheel 9 lifting, Step Motor device 11 is by shaft coupling 10
It is connected with clamping subdivision wheel 9.This structure is designed to realize clamping subdivision and takes turns at Step Motor device
Effect under rise and move down, thus coordinates with walking subdivision wheel and strengthens inspection robot climb and fall and machine
Stability during mechanical arm upkeep operation, improves the safety of inspection robot self.It addition, walking is cutd open
Minute wheel 7 and clamping subdivision wheel 9 the most slightly difference, can reach good chimeric.
In the present invention, Step Motor device mounting seat 2 is socketed in the first row traveling wheel arm 1 and respectively
In two walking wheel arm 12.This design simple in construction, reliability is high.It addition, in order to add walking
The stability of subdivision wheel 7 connection, walking subdivision wheel 7 is internally provided with control walking subdivision wheel 7 docking
With the built-in electromagnetic sucker separated and built-in iron block.
High voltage power transmission process is a diversified process, according to difference and the transmission of electricity ground of transmission voltage
The difference of shape feature, whole transmission line structure is also not quite similar.The walking mechanism of the present invention is applied to
During inspection robot, inspection robot can be provided with one or more groups this walking mechanism, or go back
Other kinds of walking mechanism can be provided with.
On the other hand, it is provided that a kind of inspection robot frame for movement, including frame, frame is provided with
Above-mentioned road wheel and pinch wheels combined type running mechanism, the first row traveling wheel arm 1 and the second walking wheel arm
The lower end of 12 is all arranged in frame by rotating shaft, and each rotating shaft is all driven by motor.
The inspection robot frame for movement of the present invention includes frame, and frame is provided with road wheel and clamping
Wheel combined type walking mechanism, road wheel and pinch wheels combined type running mechanism include that at least one walking is single
Unit, walking unit includes a pair walking subdivision wheel and a pair liftable folder of matched clamping circuit
Tight subdivision wheel, walking subdivision wheel can depart under the effect of the first row traveling wheel arm and the second walking wheel arm
Or setting up on the line, clamping subdivision wheel can be in the first row traveling wheel arm and the effect of the second walking wheel arm
Lower docking or separation.The present invention can straight and have on the circuit of certain slope walk, it is possible to increase
Stability when strong inspection robot climb and fall and mechanical arm upkeep operation, improves travelling robot walking
Time safety.
The inspection robot frame for movement of the present invention merely illustrates the frame for movement of robot body, and
It is not directed to other auxiliary device (such as photographic head, the mechanical hand etc. of refuse cleaning of walking observation)
Design.In terms of control system, the present invention can use ground to control platform or robot self
Intelligentized control method two ways.
Another further aspect, the present invention also provides for the obstacle detouring side of a kind of above-mentioned inspection robot frame for movement
Method, including:
Step 1: as shown in Figure 4, when not running into obstacle, walking subdivision wheel 7 is at the first row traveling wheel arm
1 and second walking wheel arm 12 effect under dock and set up on the line, clamping subdivision wheel is 9 first
Dock under the effect of walking wheel arm 1 and the second walking wheel arm 12 and be matched for clamping tightly with walking subdivision wheel 7
Circuit, walking subdivision wheel 7 drive inspection robot moves ahead；
Step 2: during as in figure 2 it is shown, run into obstacle, inspection robot halts, subdivision of walking
Wheel 7 separates and departs from circuit under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 12, folder
Tight subdivision wheel 9 moves down after separating under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 12；
Step 3: as shown in Figure 3-4, walking subdivision is taken turns after 7 leaping over obstacles at the first row traveling wheel arm 1
Docking and be again erected on circuit under effect with the second walking wheel arm 12, clamping subdivision wheel 9 exists
Again above move and cut open with walking after docking under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 12
Minute wheel 7 is matched for clamping tightly circuit, after multipair walking subdivision wheel 7 takes turns 9 leaping over obstacles with clamping subdivision, turns
To step 1, wait obstacle detouring next time.
It should be noted that the obstacle-detouring method of the present invention focuses on have employed patrolling of above-mentioned walking mechanism
Line robot carries out the method for obstacle detouring.If be also provided with on inspection robot other kinds of can obstacle detouring
Walking mechanism, then this other kinds of walking mechanism uses its obstacle-detouring method given tacit consent to carry out obstacle detouring i.e.
Can, not within the focal point of the present invention.The present invention solves in prior art, artificial line walking labor
The problem that fatigue resistance is big and aircraft line walking operating cost is high, and conventional obstacles can be crossed (such as insulator
String, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that patrolling and examining continuously circuit.Therefore, with existing skill
Art is compared, the present invention has reducing labor intensity, reduces operating cost, and can throwing over barrier
Advantage.
Further, in order to reduce the abrasion to transmission line of electricity, improve the life-span of transmission line of electricity, this
The bright obstacle-detouring method to inspection robot frame for movement has made further improvement, including:
Step 2 is further: when running into obstacle, inspection robot halts, clamping subdivision wheel 9
Separate under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 12 after moving down and depart from circuit,
Walking subdivision wheel 7 separates under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 12 and departs from
Circuit；
Step 3 is further: walking subdivision is taken turns after 7 leaping over obstacles at the first row traveling wheel arm 1 and second
Walking wheel arm 12 effect under docking and be again erected on circuit, clamping subdivision wheel 9 on shifting after
Again dock under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 12 and take turns 7 with walking subdivision
It is matched for clamping tightly circuit, after multipair walking subdivision wheel 7 takes turns 9 leaping over obstacles with clamping subdivision, goes to step
1, wait obstacle detouring next time.
The above is the preferred embodiment of the present invention, it is noted that general for the art
For logical technical staff, on the premise of without departing from principle of the present invention, it is also possible to make some changing
Entering and retouch, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (9)
1. a road wheel and pinch wheels combined type running mechanism, it is characterised in that include at least
Individual walking unit, wherein:
Described walking unit includes a pair walking subdivision wheel, and described walking subdivision wheel includes docking mutually
With actively walk subdivision wheel and the passive walking subdivision wheel that separate, described subdivision of actively walking is taken turns and passive
What walking subdivision was taken turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm；
A pair liftable clamping of matched clamping circuit it is provided with below described walking subdivision wheel
Subdivision is taken turns, and described clamping subdivision wheel includes the first clamping subdivision wheel and second that can dock mutually and separate
Clamping subdivision wheel.
Road wheel the most according to claim 1 and pinch wheels combined type running mechanism, its feature
Being, being provided with bevel gear structure in the middle part of described subdivision wheel of actively walking, described passive walking subdivision is taken turns
On be provided with and the groove structure of described bevel gear structure tabling.
Road wheel the most according to claim 2 and pinch wheels combined type running mechanism, its feature
Being, described the first row traveling wheel arm top is provided with direct current generator mounting seat, and described direct current generator is installed
Seat is provided with horizontally arranged direct current generator and decelerator, and described decelerator is by shaft coupling and described master
Dynamic walking subdivision wheel connects, and described second walking wheel arm top is horizontally arranged with aluminium-alloy pipe, described aluminum
Compo pipe is connected with described passive walking subdivision wheel by bearing.
Road wheel the most according to claim 1 and pinch wheels combined type running mechanism, its feature
It is, in the middle part of described first clamping subdivision wheel, is provided with cone boss structure, described second clamping subdivision
It is provided with on wheel and the groove structure of described cone boss structure tabling.
Road wheel the most according to claim 4 and pinch wheels combined type running mechanism, its feature
It is, described the first row traveling wheel arm and the second walking wheel arm is provided with Step Motor device and installs
Seat, described Step Motor device mounting seat is provided with the stepping controlling the wheel lifting of described clamping subdivision
Motor lifter, described Step Motor device is connected with described clamping subdivision wheel by shaft coupling.
Road wheel the most according to claim 5 and pinch wheels combined type running mechanism, its feature
Being, described Step Motor device mounting seat is fixed by socket respectively at described the first row traveling wheel arm and
In two walking wheel arm.
7. an inspection robot frame for movement, including frame, it is characterised in that set in described frame
It is equipped with the arbitrary described road wheel of claim 1-6 and pinch wheels combined type running mechanism, described first
The lower end of walking wheel arm and the second walking wheel arm is all arranged in described frame by rotating shaft, and each rotating shaft is equal
Driven by motor.
8. the obstacle-detouring method of the inspection robot frame for movement described in claim 7, it is characterised in that
Including:
Step 1: when not running into obstacle, described walking subdivision is taken turns at described the first row traveling wheel arm and second
Docking and set up on the line under the effect of walking wheel arm, described clamping subdivision wheel is walked described first
Dock under the effect of wheel arm and the second walking wheel arm and be matched for clamping tightly circuit with described walking subdivision wheel, institute
Stating walking subdivision wheel drives inspection robot to move ahead；
Step 2: when running into obstacle, inspection robot halts, and described walking subdivision is taken turns described
Separating and depart from circuit under the effect of the first row traveling wheel arm and the second walking wheel arm, described clamping subdivision is taken turns
Move down after separating under the effect of described the first row traveling wheel arm and the second walking wheel arm；
Step 3: in described the first row traveling wheel arm and the second walking after described walking subdivision wheel leaping over obstacles
Docking under the effect of wheel arm and be again erected on circuit, described clamping subdivision wheel is walked described first
Again above move after docking under the effect of wheel arm and the second walking wheel arm and coordinate with described walking subdivision wheel
After clamping circuit, multipair walking subdivision wheel and clamping subdivision wheel leaping over obstacles, go to step 1, wait
Obstacle detouring next time.
The obstacle-detouring method of inspection robot frame for movement the most according to claim 8, its feature
It is,
Described step 2 is further: when running into obstacle, inspection robot halts, described clamping
Subdivision wheel separates under the effect of described the first row traveling wheel arm and the second walking wheel arm after moving down and departs from
Circuit, described walking subdivision wheel separates under the effect of described the first row traveling wheel arm and the second walking wheel arm
And depart from circuit；
Described step 3 is further: at described the first row travelling wheel after described walking subdivision wheel leaping over obstacles
Dock and be again erected on circuit under the effect of arm and the second walking wheel arm, on described clamping subdivision wheel
After shifting described the first row traveling wheel arm and second walking wheel arm effect under again docking and with described row
Walking subdivision wheel and be matched for clamping tightly circuit, multipair walking subdivision is taken turns and after clamping subdivision wheel leaping over obstacles, goes to
Step 1, waits obstacle detouring next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610321134.2A CN105846350B (en) | 2016-05-12 | 2016-05-12 | Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610321134.2A CN105846350B (en) | 2016-05-12 | 2016-05-12 | Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105846350A true CN105846350A (en) | 2016-08-10 |
| CN105846350B CN105846350B (en) | 2018-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610321134.2A Active CN105846350B (en) | 2016-05-12 | 2016-05-12 | Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113659485A (en) * | 2021-08-23 | 2021-11-16 | 南京荟聪网络科技有限公司 | Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof |
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| JPH02151217A (en) * | 1988-11-30 | 1990-06-11 | Sanwa Tekki Corp | Suspension wheel for preventing runaway of power cable |
| CN103594969A (en) * | 2013-11-26 | 2014-02-19 | 国家电网公司 | Pinch roller mechanism and traveling wheel set mechanism |
| CN104477272A (en) * | 2014-12-10 | 2015-04-01 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN205753183U (en) * | 2016-05-12 | 2016-11-30 | 山东大学 | Walking mechanism, inspection robot frame for movement |
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2016
- 2016-05-12 CN CN201610321134.2A patent/CN105846350B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02151217A (en) * | 1988-11-30 | 1990-06-11 | Sanwa Tekki Corp | Suspension wheel for preventing runaway of power cable |
| CN103594969A (en) * | 2013-11-26 | 2014-02-19 | 国家电网公司 | Pinch roller mechanism and traveling wheel set mechanism |
| CN104477272A (en) * | 2014-12-10 | 2015-04-01 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN205753183U (en) * | 2016-05-12 | 2016-11-30 | 山东大学 | Walking mechanism, inspection robot frame for movement |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113659485A (en) * | 2021-08-23 | 2021-11-16 | 南京荟聪网络科技有限公司 | Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof |
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| Publication number | Publication date |
|---|---|
| CN105846350B (en) | 2018-03-13 |
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