CN105846350B - Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method - Google Patents
Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method Download PDFInfo
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- CN105846350B CN105846350B CN201610321134.2A CN201610321134A CN105846350B CN 105846350 B CN105846350 B CN 105846350B CN 201610321134 A CN201610321134 A CN 201610321134A CN 105846350 B CN105846350 B CN 105846350B
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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
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- 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
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Abstract
The invention discloses a kind of walking mechanism, inspection robot mechanical structure and its obstacle-detouring method, belong to robotic technology field.The inspection robot mechanical structure includes frame, road wheel and pinch wheels combined type running mechanism are provided with the frame, the road wheel and pinch wheels combined type running mechanism include at least one walking unit, the walking unit includes a pair of walking subdivision wheels, the walking subdivision wheel includes actively walk subdivision wheel and passive walking subdivision wheel, and the first row traveling wheel arm and second that has been respectively arranged below of actively walk subdivision wheel and the passive walking subdivision wheel is walked wheel arm；Matched a pair of clamping subdivision wheels for clamping circuit are provided with below the walking subdivision wheel, the clamping subdivision wheel includes first and clamps subdivision wheel and the second clamping subdivision wheel.Compared with prior art, the present invention, which has, reduces labor intensity, reduces operating cost, and can throwing over barrier the advantages of.
Description
Technical field
The present invention relates to robotic technology field, particularly relate to a kind of walking mechanism, inspection robot mechanical structure and its
Obstacle-detouring method.
Background technology
It is the major way of long range transmission ＆ distribution electric power using high pressure and super-pressure overhead power transmission line.Power line and shaft tower annex
Field is chronically exposed to, because by lasting mechanical tension, electrically sudden strain of a muscle is ironed, material aging is influenceed and it is stranded easily to produce, mill
Damage, corrosion equivalent damage, such as repair and change, originally small breakage and defect may expand, and ultimately result in serious thing not in time
Therefore cause the power failure of large area and huge economic loss.Current transmission pressure inspection, the method safeguarded mainly have two kinds:Ground
Face ocular estimate and aerophotographic method.Ocular estimate uses manual inspection, and this method labor intensity is big, and operating efficiency and detection accuracy are low,
Poor reliability, inspection blind area be present；Aerophotographic method uses helicopter line walking, although this method has higher detection efficiency and essence
Degree, but this method is restricted by some environmental factors, while the technical difficulty of inspection is high, operating cost is higher.Line walking machine
The development of device people's technology, new technological means is provided for the inspection work of high voltage transmission line.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but for existing on transmission line of electricity
Barrier can not cross over, it is impossible to realize the continuous inspection of extra high voltage network.Therefore, it is necessary to providing one kind can mitigate
Labor intensity, reduce operating cost, the inspection robot mechanical structure of the enough throwing over barrier of and can.
The content of the invention
It can be reduced labor intensity the technical problem to be solved in the present invention is to provide one kind, reduce operating cost, and can is enough
Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method of throwing over barrier.
In order to solve the above technical problems, present invention offer technical scheme is as follows：
On the one hand, there is provided a kind of road wheel and pinch wheels combined type running mechanism, including at least one walking unit, its
In：
The walking unit includes a pair of walking subdivision wheels, and the walking subdivision wheel includes the master that can be docked and separate mutually
Dynamic walking subdivision wheel and passive walking subdivision wheel, actively walk subdivision wheel and the passive walking subdivision wheel are respectively arranged below
There are the first row traveling wheel arm and the second walking wheel arm；
A pair of liftable clamping subdivision wheels of matched clamping circuit are provided with below the walking subdivision wheel, it is described
The first clamping subdivision wheel and second that clamping subdivision wheel includes to dock and separating mutually clamps subdivision wheel.
Further, described actively walk is provided with bevel gear structure in the middle part of subdivision wheel, on the passive walking subdivision wheel
It is provided with the groove structure mutually chimeric with the bevel gear structure.
Further, the first row traveling wheel arm top is provided with direct current generator mounting seat, the direct current generator mounting seat
Horizontally arranged direct current generator and decelerator are provided with, the decelerator is connected by shaft coupling and the subdivision wheel of actively walking
Connect, the second walking wheel arm top is horizontally arranged with aluminium-alloy pipe, and the aluminium-alloy pipe passes through bearing and the passive walking
Subdivision wheel connects.
Further, cone boss structure is provided with the middle part of the first clamping subdivision wheel, described second clamps subdivision wheel
On be provided with the groove structure mutually chimeric with the cone boss structure.
Further, it is provided with the installation of Step Motor device in the first row traveling wheel arm and the second walking wheel arm
, it is provided with the Step Motor device mounting seat and controls the Step Motor device for clamping the lifting of subdivision wheel, institute
Step Motor device is stated to be connected with the clamping subdivision wheel by shaft coupling.
Further, the Step Motor device mounting seat is socketed in the first row traveling wheel arm and the second walking respectively
In wheel arm.
On the other hand, there is provided a kind of inspection robot mechanical structure, including frame, be provided with above-mentioned row in the frame
Wheel and pinch wheels combined type running mechanism are walked, the first row traveling wheel arm and the second lower end for walking wheel arm are set by rotating shaft
In the frame, each rotating shaft is driven by motor.
Another further aspect, there is provided a kind of obstacle-detouring method of above-mentioned inspection robot mechanical structure, including：
Step 1：When not running into obstacle, the walking subdivision wheel is in the first row traveling wheel arm and the work of the second walking wheel arm
With lower docking and set up on the line, the clamping subdivision wheel is in the presence of the first row traveling wheel arm and the second walking wheel arm
Dock and be matched for clamping tightly circuit with the walking subdivision wheel, the walking subdivision wheel drives inspection robot to move ahead；
Step 2：When running into obstacle, inspection robot halts, and the walking subdivision wheel is in the first row traveling wheel arm
Separate with the presence of the second walking wheel arm and depart from circuit, the clamping subdivision wheel is in the first row traveling wheel arm and the second row
Moved down after being separated in the presence of traveling wheel arm；
Step 3：In the effect of the first row traveling wheel arm and the second walking wheel arm after the walking subdivision wheel leaping over obstacles
It is lower to dock and be erected at again on circuit, the effect for clamping subdivision wheel in the first row traveling wheel arm and the second walking wheel arm
Under dock again after move up and be matched for clamping tightly circuit with the walking subdivision wheel, multipair walking subdivision wheel and clamp subdivision wheel and cross over
After obstacle, step 1 is gone to, waits obstacle detouring next time.
Further, the obstacle-detouring method of above-mentioned inspection robot mechanical structure is further improved, including,
The step 2 is further：When running into obstacle, inspection robot halts, after the clamping subdivision wheel moves down
Separate in the presence of the first row traveling wheel arm and the second walking wheel arm and depart from circuit, the walking subdivision wheel is described the
Separated in the presence of a line traveling wheel arm and the second walking wheel arm and depart from circuit；
The step 3 is further：In the first row traveling wheel arm and the second row after the walking subdivision wheel leaping over obstacles
In the presence of traveling wheel arm dock and be erected at again on circuit, it is described clamping subdivision wheel move up after the first row traveling wheel arm with
Docked again in the presence of second walking wheel arm and be matched for clamping tightly circuit, multipair walking subdivision wheel and folder with the walking subdivision wheel
After tight subdivision wheel leaping over obstacles, step 1 is gone to, waits obstacle detouring next time.
The invention has the advantages that：
Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method of the present invention, inspection robot mechanical structure bag
Including rack, road wheel and pinch wheels combined type running mechanism, road wheel and pinch wheels combined type running mechanism are provided with frame
Including at least one walking unit, walking unit includes a pair of walking subdivision wheels and matched a pair of liftables for clamping circuit
Clamping subdivision wheel, walking subdivision wheel includes actively walk subdivision wheel and the passive walking subdivision wheel that can be docked and separate mutually,
That actively walks subdivision wheel and passive walking subdivision wheel has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm, clamps
The first clamping subdivision wheel and second that subdivision wheel includes to dock and separating mutually clamps subdivision wheel, the structure of above walking unit
Stability when design adds inspection robot climb and fall and mechanical arm upkeep operation, during so as to improve travelling robot walking
Security.Walking subdivision wheel can depart from the presence of the first row traveling wheel arm and the second walking wheel arm or be erected at circuit
On, clamping subdivision wheel can docking or separation in the presence of the first row traveling wheel arm and the second walking wheel arm.When running into barrier,
Inspection robot halts, and walking subdivision wheel separates in the presence of the first row traveling wheel arm and the second walking wheel arm and departs from line
Road, clamp after subdivision wheel separates in the presence of the first row traveling wheel arm and the second walking wheel arm and move down；When walking subdivision wheel and folder
After tight subdivision wheel across obstacle, the docking and again in the presence of the first row traveling wheel arm and the second walking wheel arm of walking subdivision wheel
Set up on the line, clamp subdivision wheel the first row traveling wheel arm and second walking wheel arm in the presence of again dock after move up and with
Walking subdivision wheel is matched for clamping tightly circuit, and with after clamping subdivision wheel wheel leaping over obstacles, inspection robot recovers each pair walking subdivision wheel
To normal walking states.
To sum up, the present invention can it is straight and with certain slope circuit on walk, can strengthen on inspection robot
Stability when descending and mechanical arm upkeep operation, improve security during travelling robot walking.The present invention solves existing
In technology, artificial line walking labor intensity greatly and aircraft line walking operating cost it is high the problem of, and can cross conventional obstacles (as insulation
Substring, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), realize the continuous inspection to circuit.Therefore, compared with prior art, the present invention has
Reduce labor intensity, reduce operating cost, and can crossing over blockage the advantages of.
Brief description of the drawings
Fig. 1 is the road wheel of the present invention and the structural representation of pinch wheels combined type running mechanism；
Fig. 2-Fig. 4 is state signal corresponding to each step of the obstacle-detouring method of the inspection robot mechanical structure of the present invention
Figure.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of road wheel and pinch wheels combined type running mechanism, as shown in figure 1, including at least
One walking unit, wherein：
Walking unit includes a pair of walking subdivision wheels 7, and walking subdivision wheel 7 includes the active walking that can be docked and separate mutually
Subdivision wheel 7-1 and passive walking subdivision wheel 7-2, the lower section for the subdivision wheel 7-1 and passive walking subdivision wheel 7-2 that actively walks are set respectively
It is equipped with the walking wheel arm 12 of the first row traveling wheel arm 1 and second；
The lower section of walking subdivision wheel 7 is provided with a pair of liftable clamping subdivision wheels 9 of matched clamping circuit, and clamping is cutd open
The first clamping subdivision wheel 9-1 and second that minute wheel 9 includes to dock and separating mutually clamps subdivision wheel 9-2.
The road wheel and pinch wheels combined type running mechanism of the present invention includes at least one walking unit, and walking unit includes
A pair of walking subdivision wheels and matched a pair of liftable clamping subdivision wheels for clamping circuit, walking subdivision wheel includes can be mutual
Docking and actively walk subdivision wheel and the passive walking subdivision wheel of separation, actively walk under subdivision wheel and passive walking subdivision wheel
Side is respectively arranged with the first row traveling wheel arm and the second walking wheel arm, clamps the first folder that subdivision wheel includes to dock and separating mutually
Tight subdivision wheel and second clamps subdivision wheel, and the structure design of above walking unit adds inspection robot climb and fall and mechanical arm
Stability during upkeep operation, security during so as to improve travelling robot walking.
Preferably, as shown in Fig. 2 being provided with bevel gear structure 13, passive walking subdivision in the middle part of the subdivision wheel 7-1 that actively walks
The groove structure mutually chimeric with bevel gear structure 13 is provided with wheel 7-2.This design improves the contract between walking subdivision wheel
It is right, be advantageous to the stability moved on the line.Likewise, in order to improve the compatible degree between clamping subdivision wheel 9, the first folder
Cone boss structure 14 is provided with the middle part of tight subdivision wheel 9-1, is provided with and cone boss structure 14 on the second clamping subdivision wheel 9-2
Mutually chimeric groove structure.In addition to the above-mentioned embodiment provided, its can also use well known to a person skilled in the art
Various other modes, here is omitted.
Further, the top of the first row traveling wheel arm 1 is provided with direct current generator mounting seat 5, and direct current generator mounting seat 5 is provided with
Horizontally arranged direct current generator 4 and decelerator 3, decelerator 3 are connected by shaft coupling 6 with the subdivision wheel 7-1 that actively walks, the second row
The top of traveling wheel arm 12 is horizontally arranged with aluminium-alloy pipe 8, and aluminium-alloy pipe 8 is connected by bearing with passive walking subdivision wheel 7-2.It is this
Design easy to control, the accuracy and fastness of walking subdivision wheel docking can be improved.
As a modification of the present invention, stepper motor is provided with the walking wheel arm 12 of the first row traveling wheel arm 1 and second
Lifter mounting seat 2, the Step Motor that control clamps the lifting of subdivision wheel 9 is provided with Step Motor device mounting seat 2
Device 11, Step Motor device 11 are connected by shaft coupling 10 with clamping subdivision wheel 9.The structure design can realize clamping subdivision
Wheel rises and moved down in the presence of Step Motor device, so as to coordinate enhancing inspection robot climb and fall with walking subdivision wheel
With stability during mechanical arm upkeep operation, the security of raising inspection robot itself.In addition, walking subdivision wheel 7 and clamping
Subdivision wheel 9 slightly has difference in size, can reach good chimeric.
In the present invention, Step Motor device mounting seat 2 is socketed in the walking wheel arm 12 of the first row traveling wheel arm 1 and second respectively
On.The design structure is simple, and reliability is high.In addition, in order to add the stability of the connection of walking subdivision wheel 7, walking subdivision wheel 7
It is internally provided with built-in electromagnetic sucker and the built-in iron block that control walking subdivision wheel 7 is docked and separated.
High voltage power transmission process is a diversified process, according to the difference of transmission voltage and transmits electricity features of terrain not
Together, whole transmission line structure is also not quite similar.When the walking mechanism of the present invention is applied to inspection robot, on inspection robot
One or more groups of walking mechanisms can be provided with, or are also provided with other kinds of walking mechanism.
On the other hand, there is provided a kind of inspection robot mechanical structure, including frame, be provided with above-mentioned road wheel in frame
With pinch wheels combined type running mechanism, the lower end of the walking wheel arm 12 of the first row traveling wheel arm 1 and second is arranged on machine by rotating shaft
On frame, each rotating shaft is driven by motor.
The inspection robot mechanical structure of the present invention includes frame, and road wheel is provided with frame and clamps wheel combined type row
Mechanism is walked, road wheel and pinch wheels combined type running mechanism include at least one walking unit, and walking unit includes a pair of walkings
Subdivision wheel and matched a pair of liftable clamping subdivision wheels for clamping circuit, walking subdivision wheel can be in the first row traveling wheel arm
Depart from or set up on the line with the presence of the second walking wheel arm, clamping subdivision wheel can be in the first row traveling wheel arm and the second row
Dock or separate in the presence of traveling wheel arm.The present invention can it is straight and with certain slope circuit on walk, can strengthen
Stability when inspection robot climb and fall and mechanical arm upkeep operation, improve security during travelling robot walking.
The inspection robot mechanical structure of the present invention merely illustrates the mechanical structure of robot body, is not directed to other
The design of servicing unit (camera, the manipulator of rubbish removing of observation of such as walking).In terms of control system, this hair
It is bright to use ground control platform or robot itself intelligentized control method two ways.
Another further aspect, the present invention also provide a kind of obstacle-detouring method of above-mentioned inspection robot mechanical structure, including：
Step 1：As shown in figure 4, when not running into obstacle, walking subdivision wheel 7 is in the walking wheel arm of the first row traveling wheel arm 1 and second
The effect on the line, clamping subdivision wheel 9 in the walking wheel arm 12 of the first row traveling wheel arm 1 and second is docked and set up in the presence of 12
Lower docking is simultaneously matched for clamping tightly circuit with walking subdivision wheel 7, and walking subdivision wheel 7 drives inspection robot to move ahead；
Step 2：As shown in Fig. 2 when running into obstacle, inspection robot halts, and walking subdivision wheel 7 is in the first road wheel
Separated in the presence of the walking wheel arm 12 of arm 1 and second and depart from circuit, clamp subdivision wheel 9 in the row of the first row traveling wheel arm 1 and second
Moved down after being separated in the presence of traveling wheel arm 12；
Step 3：As shown in Figure 3-4, in the walking wheel arm of the first row traveling wheel arm 1 and second after the leaping over obstacles of walking subdivision wheel 7
Dock in the presence of 12 and be erected at again on circuit, clamp subdivision wheel 9 in the walking wheel arm 12 of the first row traveling wheel arm 1 and second
Moved up after being docked again under effect and be matched for clamping tightly circuit, multipair walking subdivision wheel 7 and clamping subdivision wheel 9 with walking subdivision wheel 7
After leaping over obstacles, step 1 is gone to, waits obstacle detouring next time.
It should be noted that the inspection robot that the obstacle-detouring method of the present invention focuses on employing above-mentioned walking mechanism enters
The method of row obstacle detouring.If be also provided with inspection robot it is other kinds of can obstacle detouring walking mechanism, the other types
Walking mechanism using its acquiescence obstacle-detouring method carry out obstacle detouring, not the present invention focal point within.Present invention solution
Determine in the prior art, the problem of artificial line walking labor intensity is big and aircraft line walking operating cost is high, and conventional obstacle can be crossed
Thing (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), realizes the continuous inspection to circuit.Therefore, compared with prior art,
The present invention, which has, to reduce labor intensity, reduces operating cost, and can throwing over barrier the advantages of.
Further, in order to reduce the abrasion to transmission line of electricity, improve the life-span of transmission line of electricity, the present invention is to line walking machine
The obstacle-detouring method of people's mechanical structure has made further improvement, including：
Step 2 is further：When running into obstacle, inspection robot halts, and clamps after subdivision wheel 9 moves down in the first row
Traveling wheel arm 1 and second is walked and separates and depart from circuit in the presence of wheel arm 12, and walking subdivision wheel 7 is in the first row traveling wheel arm 1 and the
Separated in the presence of two walking wheel arm 12 and depart from circuit；
Step 3 is further：In the walking wheel arm 12 of the first row traveling wheel arm 1 and second after the leaping over obstacles of walking subdivision wheel 7
Effect is lower to dock and is erected at again on circuit, clamps after subdivision wheel 9 moves up in the walking wheel arm 12 of the first row traveling wheel arm 1 and second
In the presence of docking and be matched for clamping tightly circuit with walking subdivision wheel 7 again, multipair walking subdivision wheel 7 and clamp subdivision wheel 9 and cross over
After obstacle, step 1 is gone to, waits obstacle detouring next time.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of inspection robot mechanical structure, including frame, it is characterised in that be provided with road wheel and clamping in the frame
Wheel combined type walking mechanism, the road wheel and pinch wheels combined type running mechanism include at least one walking unit, wherein：
The walking unit includes a pair of walking subdivision wheels, and the walking subdivision wheel includes the active row that can be docked and separate mutually
Walk subdivision wheel and passive walking subdivision wheel, actively walk subdivision wheel and the passive walking subdivision wheel have been respectively arranged below
The lower end of a line traveling wheel arm and the second walking wheel arm, the first row traveling wheel arm and the second walking wheel arm is arranged on by rotating shaft
In the frame, each rotating shaft is driven by motor；
A pair of liftable clamping subdivision wheels of matched clamping circuit, the clamping are provided with below the walking subdivision wheel
Subdivision wheel includes the first clamping subdivision wheel that can be docked and separate mutually and second and clamps subdivision wheel, and described first clamps subdivision wheel
It is separately positioned on the second clamping subdivision wheel on the first row traveling wheel arm and the second walking wheel arm；
The obstacle-detouring method of described inspection robot mechanical structure, including：
Step 1：When not running into obstacle, the walking subdivision wheel is in the presence of the first row traveling wheel arm and the second walking wheel arm
Dock and set up on the line, the clamping subdivision wheel docks in the presence of the first row traveling wheel arm and the second walking wheel arm
And circuit is matched for clamping tightly with the walking subdivision wheel, the walking subdivision wheel drives inspection robot to move ahead；
Step 2：When running into obstacle, inspection robot halts, and the walking subdivision wheel is in the first row traveling wheel arm and the
Separated in the presence of two walking wheel arm and depart from circuit, the clamping subdivision wheel is in the first row traveling wheel arm and the second road wheel
Moved down after being separated in the presence of arm；
Step 3：It is right in the presence of the first row traveling wheel arm and the second walking wheel arm after the walking subdivision wheel leaping over obstacles
Connect and be erected at again on circuit, clamping subdivision wheel weight in the presence of the first row traveling wheel arm and the second walking wheel arm
Newly moved up after docking and be matched for clamping tightly circuit, multipair walking subdivision wheel and clamping subdivision wheel leaping over obstacles with the walking subdivision wheel
Afterwards, step 1 is gone to, waits obstacle detouring next time.
2. inspection robot mechanical structure according to claim 1, it is characterised in that in the middle part of the subdivision wheel of actively walking
Bevel gear structure is provided with, the groove structure mutually chimeric with the bevel gear structure is provided with the passive walking subdivision wheel.
3. inspection robot mechanical structure according to claim 2, it is characterised in that the first row traveling wheel arm top is set
Direct current generator mounting seat is equipped with, the direct current generator mounting seat is provided with horizontally arranged direct current generator and decelerator, described to subtract
Fast device is connected by shaft coupling with the subdivision wheel of actively walking, and the second walking wheel arm top is horizontally arranged with aluminium alloy
Pipe, the aluminium-alloy pipe are connected by bearing with the passive walking subdivision wheel.
4. inspection robot mechanical structure according to claim 1, it is characterised in that described first clamps in the middle part of subdivision wheel
Cone boss structure is provided with, the groove knot mutually chimeric with the cone boss structure is provided with the second clamping subdivision wheel
Structure.
5. inspection robot mechanical structure according to claim 4, it is characterised in that the first row traveling wheel arm and second
Step Motor device mounting seat is provided with walking wheel arm, control institute is provided with the Step Motor device mounting seat
The Step Motor device for clamping the lifting of subdivision wheel is stated, the Step Motor device passes through shaft coupling and the clamping subdivision wheel
Connection.
6. inspection robot mechanical structure according to claim 5, it is characterised in that the Step Motor device installation
Seat is fixed by socket on the first row traveling wheel arm and the second walking wheel arm respectively.
7. inspection robot mechanical structure according to claim 6, it is characterised in that
The step 2 is further：When running into obstacle, inspection robot halts, described to clamp after subdivision wheel moves down in institute
State and separate and depart from circuit in the presence of the first row traveling wheel arm and the second walking wheel arm, the walking subdivision wheel is in the first row
Separated in the presence of traveling wheel arm and the second walking wheel arm and depart from circuit；
The step 3 is further：In the first row traveling wheel arm and the second road wheel after the walking subdivision wheel leaping over obstacles
Dock in the presence of arm and be erected at again on circuit, it is described to clamp after subdivision wheel moves up in the first row traveling wheel arm and second
Docked again in the presence of walking wheel arm and be matched for clamping tightly circuit with the walking subdivision wheel, multipair walking subdivision wheel and clamping are cutd open
After minute wheel leaping over obstacles, step 1 is gone to, waits obstacle detouring next time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610321134.2A CN105846350B (en) | 2016-05-12 | 2016-05-12 | Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method |
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| 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 |
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| CN105846350A CN105846350A (en) | 2016-08-10 |
| CN105846350B true CN105846350B (en) | 2018-03-13 |
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| 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 |
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