CN106711838B - Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism - Google Patents
Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism Download PDFInfo
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- CN106711838B CN106711838B CN201510494708.1A CN201510494708A CN106711838B CN 106711838 B CN106711838 B CN 106711838B CN 201510494708 A CN201510494708 A CN 201510494708A CN 106711838 B CN106711838 B CN 106711838B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 64
- 230000007246 mechanism Effects 0.000 title claims abstract description 54
- 210000000245 forearm Anatomy 0.000 claims abstract description 32
- 210000000078 claw Anatomy 0.000 claims description 46
- 210000000323 shoulder joint Anatomy 0.000 claims description 28
- 238000000034 method Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention provides a comprehensive operation robot with a straight line segment obstacle crossing mechanism for a power transmission line, which comprises a front half part and a rear half part, wherein the front half part comprises a front shoulder (25), a forearm support (2) and a front wheel (4), and the rear half part comprises a rear shoulder (26), a rear arm support (18) and a rear wheel (22); the front end of the front shoulder (25) is also provided with a front rotating mechanism which can enable the front wheel (4) to move along the direction perpendicular to the advancing direction of the front wheel (4), and the rear end of the rear shoulder (26) is also provided with a rear rotating mechanism which can enable the rear wheel (22) to move along the direction perpendicular to the advancing direction of the rear wheel (22). The comprehensive operation robot of the power transmission line can be realized through one mechanism, so that the problem that the conventional line-removing and obstacle-avoiding actions need to be completed together by two execution mechanisms is avoided, the obstacle-surmounting mechanism of the robot is simplified, and the weight of the robot is reduced.
Description
Technical Field
The invention relates to the field of detection equipment of transmission lines, in particular to a comprehensive operation robot with a straight line segment obstacle crossing mechanism for the transmission lines.
Background
The comprehensive operation robot of the power transmission line can finish various operations on the overhead power transmission line, and generally, different operation tasks such as inspection, deicing, obstacle clearance and the like are finished by carrying different operation tools by a robot operation platform capable of moving along the power transmission line. Wherein the robot work platform is the most important component of the whole work system, and the obstacle surmounting mechanism of the robot is the important component of the robot work platform. Different forms of obstacle surmounting also determine the different obstacle surmounting modes and processes of the robot. The complex obstacle surmounting mechanism makes the obstacle surmounting process of the robot complex and the structure weight is heavy; the obstacle surmounting mechanism with simple structure can simplify the obstacle surmounting process of the robot, improve the working stability and reliability of the robot, lighten the weight of the robot and facilitate the transportation and the on-line and off-line of the robot.
When walking and working on the transmission line, the driving wheel of the existing transmission line comprehensive working robot is arranged right above the lead, two claws are adopted to hold the lead, and the driving wheel is pressed on the lead. When the wire is ready to be fed, the driving wheel is disconnected, the paw is opened first, and then the driving wheel is separated from the position right above the wire in a side swinging mode. The action of the upper wire is opposite to that of the lower wire, the driving wheel is firstly positioned right above the wire through side swing, and then the paw is closed to hold the wire.
The existing transmission line comprehensive operation robot needs two actions, namely, the opening and closing of the paw and the side swinging of the driving wheel, so that the control of the driving part is complex and the structure is complex. Secondly, the two fingers of the paw must have strict symmetry relation and must meet strict motion rules, otherwise, the mechanism characteristics are seriously affected, and high requirements are imposed on the processing and debugging of the mechanism. Finally, the scheme needs that the front mechanical arm and the rear mechanical arm are matched with each other to finish the function of crossing the obstacle, the system has multiple degrees of freedom and a complex structure.
Disclosure of Invention
In order to solve the problems of complicated control and complex structure of the traditional comprehensive operation robot. The invention provides a comprehensive operation robot for a power transmission line with a straight line segment obstacle crossing mechanism, which comprises an approximate straight line segment structure, so that the line disconnection and obstacle avoidance of the robot obstacle crossing mechanism can be realized through one mechanism, the condition that the line disconnection and obstacle avoidance actions in the past are completed together by two execution mechanisms is avoided, the obstacle crossing mechanism of the robot is simplified, and the weight of the robot is reduced.
The invention adopts the technical proposal for solving the technical problems that: the utility model provides a transmission line comprehensive operation robot with straight line section obstacle crossing mechanism, includes first half and second half, and this first half contains front shoulder, forearm support and front wheel, and this second half contains back shoulder, forearm support and rear wheel; the rear end of front shoulder and the front end of back shoulder are connected, and the forearm support sets up in the front end of front shoulder, and the back arm support sets up the rear end of back shoulder, and the front wheel sets up in the upper end of forearm support, and the rear wheel sets up in the upper end of back arm support, and the front end of front shoulder still is equipped with the preceding slewing mechanism that can make the front wheel remove along the advancing direction of perpendicular to front wheel, and the rear end of back shoulder still is equipped with the back slewing mechanism that can make the rear wheel remove along the advancing direction of perpendicular to rear wheel.
The front shoulder and the rear shoulder are columnar, the front shoulder and the rear shoulder are arranged along the horizontal direction, the front shoulder joint is fixed at the rear end of the front shoulder, the rear shoulder joint is fixed at the front end of the rear shoulder, the front shoulder joint is rotationally connected with the rear shoulder joint, the front shoulder can rotate relative to the rear shoulder, and the axis of the rotating shaft between the front shoulder joint and the rear shoulder joint is arranged along the horizontal direction and perpendicular to the rear shoulder.
The front rotating mechanism comprises a front rotating wheel and a front fixed guide bracket for supporting the front rotating wheel, wherein the front fixed guide bracket is plate-shaped, the lower end of the front arm bracket is rotationally connected with the front rotating wheel through a front pin shaft, the axis of the front pin shaft deviates from the axis of a rotating shaft of the front rotating wheel, the front rotating wheel is also connected with a first driving part for driving the front rotating wheel to rotate, and when the front rotating wheel rotates, the front rotating wheel can push the front arm bracket to rotate and enable the front wheel to move obliquely upwards.
The front fixed guide support is perpendicular to the front shoulder, the lower end of the front fixed guide support is fixedly connected with the front end of the front shoulder, the front rotating wheel is positioned in the front fixed guide support, and the axis of the rotating shaft of the front rotating wheel is perpendicular to the front fixed guide support.
The forearm support is the column, is equipped with the recess of seting up along vertical direction in the forearm support, and preceding fixed guide support peg graft in this recess, and the upper portion of preceding fixed guide support still is equipped with the direction spout, contains preceding guiding axle in this direction spout, and preceding fixed guide support of axis perpendicular to of preceding guiding axle, preceding guiding axle and forearm support fixed connection, preceding guiding axle can follow this direction spout and slide.
The front wheel is located the left side of forearm support, and the axis of rotation of front wheel sets up along the horizontal direction, and the axis of rotation of front wheel is perpendicular with the front shoulder, and the front wheel is connected with the second drive part that is used for driving this front wheel pivoted, and the upper end of forearm support is equipped with the mounting hole, and this second drive part sets up in this mounting hole.
The front half part also comprises a clamping part which is positioned at the upper end of the forearm support and used for clamping the transmission line, the clamping part is arranged in front of the front wheel, and the clamping part is fixedly connected with the forearm support through a connecting piece.
The clamping part comprises a front claw lead screw and a bracket for supporting the front claw lead screw, wherein two nuts with opposite rotation directions are sleeved on the front claw lead screw, each nut is fixedly provided with a front claw, the two front claws are in inverted splayed shape, when the front claw lead screw rotates, the two front claws can be mutually close to or far away from each other, and the front claw lead screw is also connected with a third driving component for driving the front claw lead screw to rotate.
The front half part and the rear half part have the same structure, and are mirror images of each other.
The power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism further comprises a control unit for controlling the power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism to operate.
The beneficial effects of the invention are as follows:
1. the front wheel and the rear wheel can be opened and closed according to a preset track through the cooperation of the rotating wheel and the guide shaft;
2. the degree of freedom of rotation redundancy of the two arms in the obstacle surmounting process of the robot is reduced.
3. According to different voltage levels and different types of hardware fittings, the corresponding size and the guide track of the robot arm are determined, so that the robot can cross obstacles with different sizes, and the environment adaptability of the robot is improved.
Drawings
The comprehensive operation robot with the straight line segment obstacle surmounting mechanism for the power transmission line is described in further detail below with reference to the accompanying drawings.
Fig. 1 is a perspective view of the power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism.
Fig. 2 is a schematic view of the power transmission line comprehensive operation robot with the straight line segment obstacle surmounting mechanism when the front wheel is in contact with the power transmission line.
Fig. 3 is a schematic view of the transmission line integrated work robot having the straight line segment obstacle surmounting mechanism when the front wheel moves obliquely upward on the transmission line.
Wherein, 1, a front guide shaft, 2, a front arm bracket, 3, a front wheel motor, 4, a front wheel, 5, a front claw lead screw, 6, a front claw, 7, a front claw motor, 8, a front rotating wheel, 9, a front pin shaft, 10, a front fixed guide bracket, 11, a front rotating wheel motor, 12, a front shoulder joint, 13, a rear shoulder joint, 14, a rear rotating wheel motor, 15, rear pin shaft, 16, rear rotating wheel, 17, rear guide shaft, 18, rear arm bracket, 19, rear claw motor, 20, rear claw, 21, rear claw screw, 22, rear wheel, 23, rear wheel motor, 24, rear fixed guide bracket, 25, front shoulder, 26, rear shoulder, 27, rotating shaft, 28, power transmission line, 201, guide chute.
Detailed Description
The comprehensive operation robot with the straight line segment obstacle surmounting mechanism for the power transmission line is further described in detail below with reference to the accompanying drawings. The utility model provides a transmission line comprehensive operation robot with straight line section obstacle crossing mechanism, includes first half and second half, and this first half contains front shoulder 25, forearm support 2 and front wheel 4, and this second half contains back shoulder 26, back arm support 18 and rear wheel 22; the rear end of the front shoulder 25 is connected with the front end of the rear shoulder 26, the front end of the front shoulder 25 is provided with a front arm support 2, the rear end of the rear shoulder 26 is provided with a rear arm support 18, the upper end of the front arm support 2 is provided with a front wheel 4, the upper end of the rear arm support 18 is provided with a rear wheel 22, the front end of the front shoulder 25 is also provided with a front rotating mechanism capable of enabling the front wheel 4 to move along the traveling direction perpendicular to the front wheel 4, and the rear end of the rear shoulder 26 is also provided with a rear rotating mechanism capable of enabling the rear wheel 22 to move along the traveling direction perpendicular to the rear wheel 22, as shown in fig. 1.
The transmission line integrated operation robot with the straight line segment obstacle crossing mechanism is hung on the transmission line 28 through the front wheel 4 and the rear wheel 22 when in operation, as shown in fig. 2, the traveling directions of the front wheel 4 and the rear wheel 22 are vertical to the paper surface and inwards or outwards, the front wheel 4 and the rear wheel 22 rotate to drive the transmission line integrated operation robot to walk along the transmission line 28, when the transmission line integrated operation robot encounters an obstacle, the front rotating mechanism can enable the front wheel 4 to move along the traveling direction vertical to the front wheel 4 and away from the obstacle, the moving distance needs to be enough to enable the front wheel 4 to cross the obstacle without contacting or colliding when moving along the transmission line 28, and in the same way, the rear rotating mechanism can enable the rear wheel 22 to move along the traveling direction vertical to the rear wheel 22 and away from the obstacle, and the moving distance needs to be enough to enable the rear wheel 22 to cross the obstacle without contacting or colliding when moving along the transmission line 28, as shown in fig. 3.
The front shoulder 25 and the rear shoulder 26 are all columnar, the front shoulder 25 and the rear shoulder 26 are all arranged in front and back along the horizontal direction, the front shoulder joint 12 is fixed at the rear end of the front shoulder 25, the rear shoulder joint 13 is fixed at the front end of the rear shoulder 26, the front shoulder joint 12 is rotationally connected with the rear shoulder joint 13, the front shoulder 25 can rotate relative to the rear shoulder 26, and the axis of the rotating shaft 27 between the front shoulder joint 12 and the rear shoulder joint 13 is arranged along the horizontal direction and is perpendicular to the rear shoulder 26. In addition, the distance between the front shoulder 25 and the rear shoulder 26 can also be adjusted.
The front rotating mechanism comprises a front rotating wheel 8 and a front fixed guide bracket 10 for supporting the front rotating wheel 8, wherein the front fixed guide bracket 10 is plate-shaped, the lower end of the front arm bracket 2 is rotationally connected with the front rotating wheel 8 through a front pin shaft 9, the axis of the front pin shaft 9 deviates from the axis of a rotating shaft of the front rotating wheel 8, and the front rotating wheel 8 is also connected with a first driving component for driving the front rotating wheel 8 to rotate. In this embodiment, the first driving component is a front rotating wheel motor 11, the motor shaft of the front rotating wheel motor 11 is parallel to the axis of the rotating shaft of the front rotating wheel 8, and the driving wheel connected with the front rotating wheel motor 11 is tangent to the front rotating wheel 8. When the front wheel 8 rotates, the front wheel 8 can push the forearm support 2 to rotate and move the front wheel 4 obliquely upwards, and generally the travelling direction of the front wheel 4 and the rear wheel 22 is horizontal, as shown in fig. 3, the travelling direction of the front wheel 4 is vertical to the paper surface along the transmission line 28, and the front wheel 8 can push the forearm support 2 to rotate and move the front wheel 4 upwards right of the transmission line 28.
The front fixed guide bracket 10 is perpendicular to the front shoulder 25, the lower end of the front fixed guide bracket 10 is fixedly connected with the front end of the front shoulder 25, the front rotating wheel 8 is positioned in the front fixed guide bracket 10, and the axis of the rotating shaft of the front rotating wheel 8 is perpendicular to the front fixed guide bracket 10.
The forearm support 2 is columnar, a groove which is formed in the forearm support 2 along the vertical direction is formed in the forearm support 2, a part of the front fixed guide support 10 and a part of the front rotating wheel 8 are inserted into the groove, a guide chute 201 which is used for controlling the movement track of the forearm support 2 and the front wheel 4 is further formed in the upper portion of the front fixed guide support 10, a front guide shaft 1 is arranged in the guide chute 201, the axis of the front guide shaft 1 is perpendicular to the front fixed guide support 10, the front guide shaft 1 is fixedly connected with the forearm support 2, and the front guide shaft 1 can slide along the guide chute. According to different voltage levels and different types of hardware fittings, the sizes of the front fixed guide support 10 and the front rotating wheel 8 of the corresponding robot and the guide track of the guide chute 201 are determined, so that the robot can cross obstacles with different sizes, and the environment adaptability of the robot is improved.
As shown in fig. 1 and 2, the front wheel 4 is located on the left side of the forearm support 2, the rotation axis of the front wheel 4 is set in the horizontal direction, the rotation axis of the front wheel 4 is perpendicular to the front shoulder 25, the front wheel 4 is connected with a second driving part for driving the front wheel 4 to rotate, the upper end of the forearm support 2 is provided with a mounting hole, and the second driving part is set in the mounting hole. In the present embodiment, the second driving part is the front wheel motor 3.
The front half part also comprises a clamping part which is positioned at the upper end of the forearm support 2 and used for clamping the transmission line, the clamping part is arranged in front of the front wheel 4, the clamping part is fixedly connected with the forearm support 2 through a connecting piece, and the clamping part and the front wheel 4 synchronously move. As shown in fig. 1, the clamping part comprises a front jaw screw 5 and a bracket for supporting the front jaw screw 5, two nuts with opposite rotation directions are sleeved on the front jaw screw 5, each nut is fixedly provided with a front jaw 6, the two front jaws 6 are in inverted splayed shape, when the front jaw screw 5 rotates, the two front jaws 6 can be mutually close to or far away from each other, and the front jaw screw 5 is also connected with a third driving component for driving the front jaw screw 5 to rotate. In this embodiment, the third driving member is the front claw motor 7. When the transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism walks along the transmission line 28, the front claw lead screw 5 rotates to enable the two front claws 6 to approach each other, which is equivalent to sleeving the transmission line 28, so that the transmission line comprehensive operation robot is prevented from falling from the transmission line 28, and when the transmission line comprehensive operation robot encounters an obstacle, the front claw lead screw 5 rotates to enable the two front claws 6 to be far away from each other, so that the front wheels 4 and the clamping part can cross the obstacle.
The structure of the front half part and the structure of the rear half part of the power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism are the same, and the front half part and the rear half part are mirror images.
The front half part comprises a front guide shaft 1, a forearm bracket 2, a front wheel motor 3, a front wheel 4, a front claw lead screw 5, a front claw 6, a front claw motor 7, a front rotating wheel 8, a front pin shaft 9, a front fixed guide bracket 10, a front rotating wheel motor 11, a front shoulder joint 12 and a front shoulder 25. The rear half part comprises a rear shoulder joint 13, a rear rotating wheel motor 14, a rear pin shaft 15, a rear rotating wheel 16, a rear guide shaft 17, a rear arm bracket 18, a rear claw motor 19, a rear claw 20, a rear claw lead screw 21, a rear wheel 22, a rear wheel motor 23, a rear fixed guide bracket 24 and a rear shoulder 26. For economy of description, since the front half and the rear half are mirror images of each other, the specific structure of the rear half will not be described in detail.
The power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism further comprises a control unit for controlling the power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism to operate. The first driving part, the second driving part and the third driving part are all connected with the control unit.
The transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism can enable the front wheel 4 and the rear wheel 22 to be hung on a wire or a ground wire (transmission line 28) which needs inspection or operation in a manual back-up or pulley lifting mode. When no hardware and other obstacles exist on the ground wire, the front wheel motor 3 and the rear wheel motor 23 drive the front wheel 4 and the rear wheel 22 to advance respectively, so that the comprehensive operation robot of the power transmission line can stably walk on the ground wire.
When the robot walks to the front of the obstacle to be crossed, the comprehensive operation robot of the power transmission line stops walking and is ready to surmount the obstacle. First, the front claws 6 need to be opened, that is, the front claw lead screw 5 rotates to move the two front claws 6 away from each other so that the minimum distance between the two front claws 6 is larger than the diameter of the power transmission line 28, and simultaneously the front rotating wheel 8 rotates to adjust the positions of the front claws 6 so that the front claws 6 and the front wheel 4 laterally move away from the power transmission line 28, as shown in fig. 3. At the same time, the two hind paws 20 clamp to give corresponding support force to the feet. And the rotation angles of the front shoulder joint 12 and the rear shoulder joint 13 (i.e., the rotation angle of the front shoulder 25 with respect to the rear shoulder 26) are adjusted so that the front wheel 4 and the nip portion are away from the obstacle.
After the front half is fully opened, the rear wheel 22 advances, pushing the entire robot forward. When the latter half approaches the obstacle, the progress is stopped. The rotation angle of the shoulder joint and the front rotating wheel 8 is adjusted, so that the front claws 6 are restored to the original normal walking position, the front wheels 4 are put on the power transmission line 28, and the two front claws 6 are closed and clamped. After that, the rear claw 20 is opened, and the rotation angle of the shoulder joint and the rear wheel 16 is continuously adjusted, so that the rear half part completes the same opening process as the front half part to complete the arm changing work.
The front wheel 4 advances to drag the whole robot to walk forward. When the whole robot has completely passed over the obstacle, the rotation angles of the front shoulder joint 12 and the rear shoulder joint 13 and the rotation angle of the rear wheel 16 are adjusted, the rear half is restored to the initial position, the rear wheel 22 is put on the power transmission line 28, and the rear claw 6 is closed.
At this point, the robot has completed the complete obstacle surmounting operation. The power transmission line inspection and other works can be continued according to the requirements.
The foregoing description of the embodiments of the invention is not intended to limit the scope of the invention, so that the substitution of equivalent elements or equivalent variations and modifications within the scope of the invention shall fall within the scope of the patent. In addition, the technical characteristics and technical scheme, technical characteristics and technical scheme can be freely combined for use.
Claims (7)
1. The power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism is characterized by comprising a front half part and a rear half part, wherein the front half part comprises a front shoulder (25), a front arm support (2) and a front wheel (4), and the rear half part comprises a rear shoulder (26), a rear arm support (18) and a rear wheel (22);
the rear end of the front shoulder (25) is connected with the front end of the rear shoulder (26), the front arm support (2) is arranged at the front end of the front shoulder (25), the rear arm support (18) is arranged at the rear end of the rear shoulder (26), the front wheel (4) is arranged at the upper end of the front arm support (2), the rear wheel (22) is arranged at the upper end of the rear arm support (18), the front end of the front shoulder (25) is also provided with a front rotating mechanism which can enable the front wheel (4) to move along the advancing direction perpendicular to the front wheel (4), and the rear end of the rear shoulder (26) is also provided with a rear rotating mechanism which can enable the rear wheel (22) to move along the advancing direction perpendicular to the rear wheel (22);
the front rotating mechanism comprises a front rotating wheel (8) and a front fixed guide bracket (10) for supporting the front rotating wheel (8), wherein the front fixed guide bracket (10) is plate-shaped, the lower end of a front arm bracket (2) is rotationally connected with the front rotating wheel (8) through a front pin shaft (9), the axis of the front pin shaft (9) deviates from the axis of a rotating shaft of the front rotating wheel (8), the front rotating wheel (8) is also connected with a first driving part for driving the front rotating wheel (8) to rotate, and when the front rotating wheel (8) rotates, the front rotating wheel (8) can push the front arm bracket (2) to rotate and enable the front wheel (4) to move obliquely upwards;
the front fixed guide bracket (10) is vertical to the front shoulder (25), the lower end of the front fixed guide bracket (10) is fixedly connected with the front end of the front shoulder (25), the front rotating wheel (8) is positioned in the front fixed guide bracket (10), and the axis of the rotating shaft of the front rotating wheel (8) is vertical to the front fixed guide bracket (10);
the forearm support (2) is the column, is equipped with the recess of seting up along vertical direction in forearm support (2), and preceding fixed guide support (10) peg graft in this recess, and the upper portion of preceding fixed guide support (10) still is equipped with the direction spout, contains preceding guiding axle (1) in this direction spout, and the axis of preceding guiding axle (1) is perpendicular to preceding fixed guide support (10), preceding guiding axle (1) and forearm support (2) fixed connection, and preceding guiding axle (1) can follow this direction spout and slide.
2. The power transmission line comprehensive operation robot with a straight line segment obstacle crossing mechanism as set forth in claim 1, wherein: front shoulder (25) and back shoulder (26) all are the column, and front shoulder (25) and back shoulder (26) all set up along the horizontal direction, and the rear end of front shoulder (25) is fixed with front shoulder joint (12), and the front end of back shoulder (26) is fixed with back shoulder joint (13), and front shoulder joint (12) are connected with back shoulder joint (13) rotation, and front shoulder (25) can rotate for back shoulder (26), and the axis of pivot (27) between front shoulder joint (12) and back shoulder joint (13) sets up and perpendicular to back shoulder (26) along the horizontal direction.
3. The power transmission line comprehensive operation robot with a straight line segment obstacle crossing mechanism as set forth in claim 1, wherein: the front wheel (4) is located the left side of forearm support (2), and the axis of rotation of front wheel (4) sets up along the horizontal direction, and the axis of rotation of front wheel (4) is perpendicular with preceding shoulder (25), and front wheel (4) are connected with the second drive part that is used for driving this front wheel (4) pivoted, and the upper end of forearm support (2) is equipped with the mounting hole, and this second drive part sets up in this mounting hole.
4. The power transmission line comprehensive operation robot with a straight line segment obstacle crossing mechanism as set forth in claim 1, wherein: the front half part also comprises a clamping part which is positioned at the upper end of the forearm support (2) and used for clamping the power transmission line, the clamping part is arranged in front of the front wheel (4), and the clamping part is fixedly connected with the forearm support (2) through a connecting piece.
5. The power transmission line comprehensive operation robot with a straight line segment obstacle crossing mechanism as set forth in claim 4, wherein: the clamping part comprises a front claw lead screw (5) and a bracket for supporting the front claw lead screw (5), two nuts with opposite rotation directions are sleeved on the front claw lead screw (5), each nut is fixedly provided with a front claw (6), the two front claws (6) are in an inverted splayed shape, when the front claw lead screw (5) rotates, the two front claws (6) can be mutually close to or far away from each other, and the front claw lead screw (5) is further connected with a third driving component for driving the front claw lead screw (5) to rotate.
6. The power transmission line comprehensive operation robot with a straight line segment obstacle crossing mechanism as set forth in claim 1, wherein: the front half part and the rear half part have the same structure, and are mirror images of each other.
7. The power transmission line comprehensive operation robot with a straight line segment obstacle crossing mechanism as set forth in claim 1, wherein: the power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism further comprises a control unit for controlling the power transmission line comprehensive operation robot with the straight line segment obstacle crossing mechanism to operate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510494708.1A CN106711838B (en) | 2015-08-12 | 2015-08-12 | Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510494708.1A CN106711838B (en) | 2015-08-12 | 2015-08-12 | Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism |
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| CN106711838A CN106711838A (en) | 2017-05-24 |
| CN106711838B true CN106711838B (en) | 2024-03-26 |
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