CN107947025B - Line inspection robot mechanical structure based on split wheel and mechanical arm and obstacle crossing method thereof - Google Patents
Line inspection robot mechanical structure based on split wheel and mechanical arm and obstacle crossing method thereof Download PDFInfo
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- CN107947025B CN107947025B CN201810022203.9A CN201810022203A CN107947025B CN 107947025 B CN107947025 B CN 107947025B CN 201810022203 A CN201810022203 A CN 201810022203A CN 107947025 B CN107947025 B CN 107947025B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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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Abstract
The invention discloses a line inspection robot mechanical structure based on a splitting wheel and a mechanical arm and an obstacle crossing method thereof, and belongs to the technical field of robots. The line patrol robot mechanical structure based on the splitting wheels and the mechanical arms comprises a rack, wherein a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm which can be bent and stretched back and forth along the walking direction of the rack are respectively arranged at four corners of the rack; the middle position of the frame is provided with a first roller arm and a second roller arm which can contract along the walking direction of the frame. Compared with the prior art, the invention has the advantages of reducing labor intensity and operation cost and being capable of crossing over the barrier.
Description
The application is divided into cases, and the application date of the original application is as follows: 2016.05.12, application number: 2016103219698, title of the invention: a line inspection robot mechanical structure based on a splitting wheel and a mechanical arm and an obstacle crossing method thereof.
Technical Field
The invention relates to the technical field of robots, in particular to a line inspection robot mechanical structure based on a splitting wheel and a mechanical arm and an obstacle crossing method thereof.
Background
The use of high and extra high voltage overhead power lines is the primary means of long distance power transmission and distribution. The power line and the pole tower accessories are exposed outdoors for a long time, damages such as strand breakage, abrasion, corrosion and the like are easily generated due to the influence of continuous mechanical tension, electric flashover and material aging, if the damages are not repaired and replaced in time, the original tiny damages and defects can be enlarged, and finally serious accidents are caused, so that large-area power failure and huge economic loss are caused. The current methods for inspecting and maintaining the transmission conductor mainly comprise two methods, namely a ground visual method and a navigation method. The visual inspection method adopts manual inspection, and the method has the disadvantages of high labor intensity, low working efficiency and detection precision, poor reliability and inspection blind area; the method for aerial survey adopts helicopter line patrol, which has higher detection efficiency and precision, but is restricted by some environmental factors, and meanwhile, the technical difficulty of the line patrol is high, and the operation cost is higher. The development of the line patrol robot technology provides a new technical means for the inspection work of the high-voltage transmission line.
The technical research and development of the existing inspection robot have achieved certain corresponding achievements, but obstacles or drainage wires existing on the power transmission line cannot cross over, and continuous inspection of the ultrahigh-voltage power transmission line cannot be achieved. Therefore, it is necessary to provide a mechanical structure of a line patrol robot which can reduce labor intensity and running cost and can cross an obstacle or a drainage line.
Disclosure of Invention
The invention aims to provide a line patrol robot mechanical structure based on a splitting wheel and a mechanical arm and an obstacle crossing method thereof, which can reduce labor intensity and operation cost and can cross obstacles or drainage lines.
In order to solve the technical problems, the invention provides the following technical scheme:
on the one hand, provide a patrolling line robot mechanical structure based on subdivision wheel and arm, including the frame, wherein:
four corners of the rack are respectively provided with a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm which can be bent and extended back and forth along the walking direction of the rack;
the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively provided with a first mechanical hand, a second mechanical hand, a third mechanical hand and a fourth mechanical hand which are used for gripping lines from two sides;
rotatable mechanical wrists are arranged between the mechanical arms and the mechanical arms;
a first roller arm and a second roller arm which can contract along the walking direction of the rack are arranged in the middle of the rack;
the first roller arm and the second roller arm are respectively provided with a first roller and a second roller which can be opened and closed at two sides.
In another aspect, an obstacle crossing method for a line patrol robot mechanical structure based on a split wheel and a mechanical arm is provided, and includes:
step 1: when the robot does not encounter an obstacle, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are opened, and the first roller and the second roller clamp the line to drive the rack to rapidly walk;
step 2: when an obstacle is encountered, the first roller arm and the second roller arm retract into the rack, the first mechanical arm and the fourth mechanical arm respectively bend and extend to enable the first mechanical arm and the fourth mechanical arm to be located in the middle of the rack and to grasp a line, and the second mechanical arm and the third mechanical arm respectively bend and extend to enable the second mechanical arm and the third mechanical arm to be located in front of and behind the rack and to avoid the obstacle to grasp the line;
and step 3: the first mechanical arm and the third mechanical arm are respectively and simultaneously opened and separated from a circuit under the action of the first mechanical arm and the third mechanical arm, then the first mechanical arm and the third mechanical arm drive the rack to move forwards, at the moment, the first mechanical arm is positioned at the front end of the rack to avoid obstacles and grab the circuit again under the action of flexion and extension of the first mechanical arm, and the second mechanical arm and the fourth mechanical arm are respectively positioned at the front end and the rear end of the rack under the action of flexion and extension of the second mechanical arm and the fourth mechanical arm;
and 4, step 4: the third mechanical arm bends and extends to enable the third mechanical arm to be positioned at the rear end of the rack to avoid the barrier and to grab the circuit again, and then the rack moves forwards under the common bending and extending action of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm;
and 5: the second mechanical arm and the fourth mechanical arm are respectively opened and separated from the line under the action of the second mechanical arm and the fourth mechanical arm, and then the second mechanical arm and the fourth mechanical arm are respectively bent and stretched to enable the second mechanical arm and the fourth mechanical arm to be respectively positioned in front and in the middle of the rack to avoid the barrier and to grab the line again.
In another aspect, another obstacle crossing method for a mechanical structure of an inspection robot based on a split wheel and a mechanical arm is provided, and includes:
step 1: when the robot does not encounter an obstacle, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are opened, and the first roller and the second roller clamp the line to drive the rack to rapidly walk;
step 2: when an obstacle is encountered, the first roller arm and the second roller arm retract into the rack, the first mechanical arm and the third mechanical arm are respectively opened and separated from the line under the action of the first mechanical arm and the third mechanical arm to drive the rack to move forwards, at the moment, the second mechanical arm and the fourth mechanical arm are respectively positioned at the front end and the rear part of the rack under the bending and stretching action of the second mechanical arm and the fourth mechanical arm, and the first mechanical arm and the third mechanical arm are respectively positioned at the front end and the rear part of the rack under the action of the first mechanical arm and the third mechanical arm to avoid the drainage line and re-grasp the line;
and step 3: after the second mechanical arm and the fourth mechanical arm are opened and separated from the line, the second mechanical arm and the fourth mechanical arm are respectively positioned in front of and in the middle of the rack under the bending and stretching action of the second mechanical arm and the fourth mechanical arm to avoid the drainage wire and re-grip the line;
and 4, step 4: the first mechanical arm and the third mechanical arm are respectively and simultaneously opened and separated from a circuit under the action of the first mechanical arm and the third mechanical arm to drive the rack to move forwards, at the moment, the rack is inclined to the horizontal plane, the second mechanical arm and the fourth mechanical arm are respectively positioned at the front end and the rear part of the rack under the bending and stretching action of the second mechanical arm and the fourth mechanical arm, and the first mechanical arm and the third mechanical arm are respectively positioned at the front end and the rear part of the rack under the action of the first mechanical arm and the third mechanical arm to avoid a drainage wire and re-grasp the circuit;
and 5: the fourth manipulator is positioned at the rear end of the rack under the action of flexion and extension of the fourth mechanical arm after opening and separating from the line to avoid a drainage wire and re-grasp the line, the first manipulator and the third manipulator are respectively positioned at the middle part and the rear part of the rack under the action of flexion and extension of the second mechanical arm and the fourth mechanical arm after opening and separating from the line simultaneously to drive the rack to move forwards, at the moment, the second manipulator and the fourth manipulator are respectively positioned at the middle part and the rear part of the rack under the action of flexion and extension of the second mechanical arm and the fourth mechanical arm, the first manipulator is positioned at the front end of the rack under the action of the first mechanical arm to avoid the drainage wire and re-grasp the line, and the third manipulator is positioned at the middle part of the rack and driven by the mechanical wrist to rotate to avoid the drainage wire and re-grasp the;
step 6: the second mechanical arm and the fourth mechanical arm are respectively opened and separated from the circuit and then drive the rack to move forwards under the action of the second mechanical arm and the fourth mechanical arm, at the moment, the first mechanical arm and the third mechanical arm are respectively positioned in the middle and the rear of the rack under the bending and stretching action of the first mechanical arm and the third mechanical arm, the second mechanical arm avoids a drainage wire and grips the circuit again under the action of the second mechanical arm, and the fourth mechanical arm is positioned behind the rack under the bending and stretching action of the fourth mechanical arm and driven by the mechanical wrist to rotate and then avoids the drainage wire to grip the circuit again;
and 7: first manipulator and third manipulator are in respectively open simultaneously, break away from the circuit under the effect of first arm and third arm, first manipulator is in the effect of crooking to stretch of first arm is located down the front end of frame avoids the drainage line and holds the circuit of grabbing again, the third manipulator is in the effect of crooking to stretch of third arm is located down the middle part of frame and by the wrist drives rotatory back and avoids the drainage line to grab the circuit again.
The invention has the following beneficial effects:
the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are all of bendable and extensible structures, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm can grip a line from two sides or open and separate the line under the action of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm respectively, each mechanical arm can rotate under the action of each mechanical arm, and the first roller and the second roller can be retracted into and out of the rack freely according to different movement modes under the action of the first roller arm and the second roller arm respectively. On a straight line, four mechanical arms are opened, two pairs of rollers are closed, the inspection robot can quickly walk by means of the rollers, when an obstacle is met, a first roller arm and a second roller arm retract into the rack, a first mechanical arm and a third mechanical arm which are positioned on diagonal lines are respectively opened, separated from the line and drive the rack to move forwards, the first mechanical arm bends and stretches to enable the first mechanical arm to move to the front end of the rack and then grasp the line from two sides again, the second mechanical arm and the fourth mechanical arm are respectively positioned at the front end and the rear end of the rack under the bending and stretching action of the second mechanical arm and the fourth mechanical arm, the third mechanical arm bends and stretches to enable the third mechanical arm to move to the middle of the rack and then grasp the line from two sides again, then the rack moves forwards under the common bending and stretching action of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm respectively, and then the second mechanical arm and the fourth mechanical arm simultaneously open, The circuit is respectively positioned in the front and the middle of the rack after being separated from the circuit and moves forwards, and the circuit is grabbed again, so that the obstacle crossing is realized.
Compared with the prior art, the invention has the advantages of reducing labor intensity and operation cost and being capable of crossing over obstacles or drainage wires.
Drawings
FIG. 1 is a schematic structural diagram of a mechanical structure of an inspection robot based on a split wheel and a mechanical arm;
fig. 2-4 are schematic diagrams of the state of the obstacle crossing method of the line patrol robot mechanical structure based on the split wheel and the mechanical arm.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
In one aspect, the present invention provides a line patrol robot mechanical structure based on a split wheel and a mechanical arm, as shown in fig. 1, including a frame 1, wherein:
four corners of the rack 1 are respectively provided with a first mechanical arm 2, a second mechanical arm 4, a third mechanical arm 12 and a fourth mechanical arm 14 which can bend and extend back and forth along the walking direction of the rack 1;
the first mechanical arm 2, the second mechanical arm 4, the third mechanical arm 12 and the fourth mechanical arm 14 are respectively provided with a first mechanical hand 5, a second mechanical hand 6, a third mechanical hand 11 and a fourth mechanical hand 8 which are used for holding lines from two sides;
a rotatable robot wrist 7 is provided between each robot arm and each robot hand.
A first roller arm 16 and a second roller arm 17 which can contract along the walking direction of the frame are arranged at the middle position of the frame 1;
the first roller arm 16 and the second roller arm 17 are respectively provided with a first roller 18 and a second roller 19 which can be opened and closed at two sides.
According to the line patrol robot mechanical structure based on the split wheels and the mechanical arms, the first mechanical arm 2, the second mechanical arm 4, the third mechanical arm 12 and the fourth mechanical arm 14 are all bendable and extensible structures, the first mechanical arm 5, the second mechanical arm 6, the third mechanical arm 11 and the fourth mechanical arm 8 can respectively grip a line from two sides or open and separate the line under the action of the first mechanical arm 2, the second mechanical arm 4, the third mechanical arm 12 and the fourth mechanical arm 14, the mechanical arms can rotate under the action of the mechanical arms, and can respectively move through bending and extension of the mechanical arms, so that obstacles can be crossed. The first roller 18 and the second roller 19 can be freely contracted to enter and exit the frame according to the movement form under the action of the first roller arm 16 and the second roller arm 17, compared with the prior art, the invention has the advantages of reducing labor intensity and operation cost and being capable of crossing over obstacles or drainage wires.
Preferably, each mechanical arm comprises a first link 13 and a second link 15, respectively, articulated in sequence. The design can enable each mechanical arm to realize bending and stretching movement, so that each mechanical arm is driven to move forwards, and the walking speed of the inspection robot is increased.
Furthermore, each mechanical arm comprises a pair of openable and foldable mechanical fingers, each mechanical finger comprises an upper mechanical finger 9 and a lower mechanical finger 10, and in addition, the upper mechanical finger 9 and the lower mechanical finger 10 are both in an L-hook type structure. The structure design can enable the actions of each mechanical arm to be more precise, and the accuracy of holding and grabbing is improved.
As a further development of the invention, the articulated axes 3 between the frame 1 and the first link 13, between the first link 13 and the second link 15, between the second link 15 and the wrist 7, between the upper finger 9 and the wrist 7, and between the lower finger 10 and the wrist 7 are all driven by motors. The structural design can ensure that the inspection robot is not easy to collide with a lead when walking, and the flexibility and the safety of the inspection robot when walking are improved.
The high-voltage transmission process is a diversified process, and the structure of the whole transmission line is different according to different transmission voltages and different transmission topographic characteristics. The mechanical structure of the inspection robot only introduces the mechanical structure of the robot body, and does not relate to the design of other auxiliary devices (such as a camera for walking observation, a manipulator for garbage removal and the like). In addition, in the aspect of a control system, the invention can adopt two modes of a ground remote control platform or the intelligent control of the robot.
The line patrol robot mechanical structure based on the splitting wheel and the mechanical arm can have multiple action methods when crossing obstacles, has at least the following two types with better effect and more convenient control, and is respectively described in detail below.
The first obstacle crossing method is that in order to facilitate drawing, a power transmission line is drawn to be square and actually to be a round section, and comprises the following steps:
step 1: when the robot does not encounter an obstacle, the first manipulator 5, the second manipulator 6, the third manipulator 11 and the fourth manipulator 8 are opened, and the first roller 18 and the second roller 19 clamp a circuit to drive the rack to rapidly walk;
step 2: when an obstacle is encountered, as shown in fig. 2-4, the first roller arm 16 and the second roller arm 17 are retracted into the rack, the first manipulator 5 and the third manipulator 11 are simultaneously opened and separated from the line under the action of the first mechanical arm 2 and the third mechanical arm 12 respectively to drive the rack 1 to move forward, at this time, the first manipulator 5 is positioned at the front end of the rack 1 to avoid the obstacle and re-grip the line under the action of the bending and stretching of the first mechanical arm 2, and the second manipulator 6 and the fourth manipulator 8 are positioned at the front end and the rear end of the rack 1 respectively;
and step 3: the third mechanical arm 12 bends and extends to enable the third mechanical arm 11 to be positioned at the rear end of the rack 1 to avoid the barrier and to grab the line again, and then the rack 1 moves forwards under the common bending and extending action of the mechanical arms;
and 4, step 4: after the second mechanical arm 6 and the fourth mechanical arm 8 are opened and separated from the line, the second mechanical arm 4 and the fourth mechanical arm 14 are respectively positioned in front of and in the middle of the rack 1 under the bending and stretching action to avoid obstacles and to grasp the line again.
And a second obstacle crossing method: for the convenience of drawing, draw transmission line for square, actually be circular cross-section, include:
step 1: when the robot does not encounter an obstacle, the first manipulator 5, the second manipulator 6, the third manipulator 11 and the fourth manipulator 8 are opened, and the first roller 18 and the second roller 19 clamp a circuit to drive the rack to rapidly walk;
step 2: step 2: when an obstacle is encountered, as shown in fig. 2-4, the first roller arm 16 and the second roller arm 17 are retracted into the rack, the first manipulator 5 and the third manipulator 11 are simultaneously opened and separated from the line under the action of the first manipulator 2 and the third manipulator 12 to drive the rack 1 to move forward, at this time, the second manipulator 6 and the fourth manipulator 8 are respectively positioned at the front end and the rear end of the rack 1, and the first manipulator 5 and the third manipulator 11 are respectively positioned at the front end and the rear end of the rack 1 under the action of the first manipulator 2 and the third manipulator 12 to avoid the obstacle and grasp the line again;
and step 3: after the second mechanical arm 6 and the fourth mechanical arm 8 are opened and separated from the line, the second mechanical arm 4 and the fourth mechanical arm 14 are respectively positioned in front of and in the middle of the rack 1 under the bending and stretching action to avoid obstacles and to re-grip the line;
and 4, step 4: the first mechanical arm 5 and the third mechanical arm 11 are simultaneously opened and separated from a line under the action of the first mechanical arm 2 and the third mechanical arm 12 respectively to drive the rack 1 to move forwards, at the moment, the rack 1 is inclined to the horizontal plane, the second mechanical arm 6 and the fourth mechanical arm 8 are respectively positioned at the front end and the rear part of the rack 1, the first mechanical arm 5 and the third mechanical arm 11 are respectively positioned at the front end and the rear part of the rack 1 under the action of the first mechanical arm 2 and the third mechanical arm 12 to avoid obstacles and re-grasp the line;
and 5: the first mechanical arm 5 and the third mechanical arm 11 are simultaneously opened and separated from a line under the action of the first mechanical arm 2 and the third mechanical arm 12 respectively to drive the rack 1 to move forwards, at the moment, the second mechanical arm 6 and the fourth mechanical arm 8 are respectively positioned in the middle and the rear of the rack 1, the first mechanical arm 5 is positioned at the front end of the rack 1 to avoid an obstacle and grab the line again, and the third mechanical arm 11 is positioned in the middle of the rack 1 and driven by the mechanical wrist 7 to rotate to avoid the obstacle and grab the line again;
step 6: the second mechanical arm 6 and the fourth mechanical arm 8 are respectively opened and separated from the line, the rack 1 is driven to move forwards under the action of the second mechanical arm 4 and the fourth mechanical arm 14, at the moment, the first mechanical arm 5 and the third mechanical arm 6 are respectively positioned in the middle and at the back of the rack 1, the second mechanical arm 6 avoids the obstacle to grasp the line again under the action of the second mechanical arm 4, and the fourth mechanical arm 8 is positioned at the back of the rack 1 under the bending and stretching action of the fourth mechanical arm 14 and is driven to rotate by the mechanical wrist 7 to avoid the obstacle to grasp the line again;
and 7: after the first mechanical arm 5 and the third mechanical arm 11 are opened and separated from the line at the same time, the first mechanical arm 5 is positioned at the front end of the rack 1 under the bending and stretching action of the first mechanical arm 2 and grips the line again, and the third mechanical arm 11 is positioned in the middle of the rack 1 under the bending and stretching action of the third mechanical arm 12 and driven by the mechanical wrist 7 to rotate and then avoids the obstacle to grip the line again.
When the obstacle crossing method meets an obstacle, firstly, two groups of mechanical arms on a diagonal line are simultaneously opened and separated from the line and respectively move forwards under the bending and stretching actions of the corresponding mechanical arms, and the obstacle crossing method is high in walking speed; in order to avoid collision between the inspection robot and the power transmission line when crossing the drainage line, the safety is improved, when the inspection robot in the obstacle crossing method II encounters the drainage line, the mechanical arms can rotate under the action of the mechanical wrists and then grasp the line from two sides again, and the rack can incline with the horizontal plane under the bending and stretching action of the mechanical arms so as to avoid collision with the power transmission line and reduce abrasion. In conclusion, the two obstacle crossing methods in the invention solve the problems of high labor intensity of manual line patrol and high operation cost of airplane line patrol in the prior art, can cross conventional obstacles (such as drainage lines, insulator strings, crimping pipes, suspension clamps and the like), and realize continuous line patrol. Compared with the prior art, the line patrol robot has the advantages of reducing labor intensity, reducing operation cost, improving the safety of the line patrol robot and being capable of climbing over obstacles.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. An obstacle crossing method of a line patrol robot mechanical structure based on a split wheel and a mechanical arm is characterized in that the line patrol robot mechanical structure based on the split wheel and the mechanical arm comprises a frame, wherein:
four corners of the rack are respectively provided with a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm which can be bent and extended back and forth along the walking direction of the rack;
the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively provided with a first mechanical hand, a second mechanical hand, a third mechanical hand and a fourth mechanical hand which are used for gripping lines from two sides;
rotatable mechanical wrists are arranged between the mechanical arms and the mechanical arms;
a first roller arm and a second roller arm which can contract along the walking direction of the rack are arranged in the middle of the rack;
the first roller arm and the second roller arm are respectively provided with a first roller and a second roller which can be opened and closed at two sides;
the obstacle crossing method comprises the following steps:
step 1: when the robot does not encounter an obstacle, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are opened, and the first roller and the second roller clamp the line to drive the rack to rapidly walk;
step 2: when an obstacle is encountered, the first roller arm and the second roller arm retract into the rack, the first mechanical arm and the third mechanical arm are respectively opened and separated from the line under the action of the first mechanical arm and the third mechanical arm to drive the rack to move forwards, at the moment, the second mechanical arm and the fourth mechanical arm are respectively positioned at the front end and the rear part of the rack under the bending and stretching action of the second mechanical arm and the fourth mechanical arm, and the first mechanical arm and the third mechanical arm are respectively positioned at the front end and the rear part of the rack under the action of the first mechanical arm and the third mechanical arm to avoid the drainage line and re-grasp the line;
and step 3: after the second mechanical arm and the fourth mechanical arm are opened and separated from the line, the second mechanical arm and the fourth mechanical arm are respectively positioned in front of and in the middle of the rack under the bending and stretching action of the second mechanical arm and the fourth mechanical arm to avoid the drainage wire and re-grip the line;
and 4, step 4: the first mechanical arm and the third mechanical arm are respectively and simultaneously opened and separated from a circuit under the action of the first mechanical arm and the third mechanical arm to drive the rack to move forwards, at the moment, the rack is inclined to the horizontal plane, the second mechanical arm and the fourth mechanical arm are respectively positioned at the front end and the rear part of the rack under the bending and stretching action of the second mechanical arm and the fourth mechanical arm, and the first mechanical arm and the third mechanical arm are respectively positioned at the front end and the rear part of the rack under the action of the first mechanical arm and the third mechanical arm to avoid a drainage wire and re-grasp the circuit;
and 5: the fourth manipulator is positioned at the rear end of the rack under the action of flexion and extension of the fourth mechanical arm after opening and separating from the line to avoid a drainage wire and re-grasp the line, the first manipulator and the third manipulator are respectively positioned at the middle part and the rear part of the rack under the action of flexion and extension of the second mechanical arm and the fourth mechanical arm after opening and separating from the line simultaneously to drive the rack to move forwards, at the moment, the second manipulator and the fourth manipulator are respectively positioned at the middle part and the rear part of the rack under the action of flexion and extension of the second mechanical arm and the fourth mechanical arm, the first manipulator is positioned at the front end of the rack under the action of the first mechanical arm to avoid the drainage wire and re-grasp the line, and the third manipulator is positioned at the middle part of the rack and driven by the mechanical wrist to rotate to avoid the drainage wire and re-grasp the;
step 6: the second mechanical arm and the fourth mechanical arm are respectively opened and separated from the circuit and then drive the rack to move forwards under the action of the second mechanical arm and the fourth mechanical arm, at the moment, the first mechanical arm and the third mechanical arm are respectively positioned in the middle and the rear of the rack under the bending and stretching action of the first mechanical arm and the third mechanical arm, the second mechanical arm avoids a drainage wire and grips the circuit again under the action of the second mechanical arm, and the fourth mechanical arm is positioned behind the rack under the bending and stretching action of the fourth mechanical arm and driven by the mechanical wrist to rotate and then avoids the drainage wire to grip the circuit again;
and 7: first manipulator and third manipulator are in respectively open simultaneously, break away from the circuit under the effect of first arm and third arm, first manipulator is in the effect of crooking to stretch of first arm is located down the front end of frame avoids the drainage line and holds the circuit of grabbing again, the third manipulator is in the effect of crooking to stretch of third arm is located down the middle part of frame and by the wrist drives rotatory back and avoids the drainage line to grab the circuit again.
2. The obstacle crossing method for the mechanical structure of the line patrol robot based on the split wheels and the mechanical arms as claimed in claim 1, wherein each mechanical arm comprises a first connecting rod and a second connecting rod which are sequentially hinged.
3. The obstacle crossing method for the line patrol robot mechanical structure based on the split wheel and the mechanical arm according to claim 2, wherein each mechanical arm comprises a pair of openable and closable mechanical fingers, and the mechanical fingers comprise an upper mechanical finger and a lower mechanical finger.
4. The obstacle crossing method of a line patrol robot mechanical structure based on a split wheel and a robot arm according to claim 3, wherein the articulated axes between the frame and the first link, between the first link and the second link, between the second link and the wrist, between the upper finger and the wrist, and between the lower finger and the wrist are all driven by motors.
5. The obstacle crossing method for the line patrol robot mechanical structure based on the splitting wheel and the mechanical arm according to claim 4, wherein the upper mechanical finger and the lower mechanical finger are both in an L-hook type structure.
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| CN201810022203.9A CN107947025B (en) | 2016-05-12 | 2016-05-12 | Line inspection robot mechanical structure based on split wheel and mechanical arm and obstacle crossing method thereof |
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| CN201810022203.9A CN107947025B (en) | 2016-05-12 | 2016-05-12 | Line inspection robot mechanical structure based on split wheel and mechanical arm and obstacle crossing method thereof |
| CN201610321969.8A CN105835087B (en) | 2016-05-12 | 2016-05-12 | Inspection robot mechanical structure and its obstacle-detouring method based on subdivision wheel and mechanical arm |
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| CN1689769A (en) * | 2004-04-30 | 2005-11-02 | 中国科学院沈阳自动化研究所 | Super high voltage transmission line inspection robot mechanism |
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| KR101469492B1 (en) * | 2013-10-25 | 2014-12-05 | 한국과학기술연구원 | Robot moving along the wire |
| CN203544187U (en) * | 2013-11-19 | 2014-04-16 | 国家电网公司 | Inspection robot suitable for electric transmission line with strain section |
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Also Published As
| Publication number | Publication date |
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| CN105835087A (en) | 2016-08-10 |
| CN105835087B (en) | 2018-06-12 |
| CN107947025A (en) | 2018-04-20 |
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