CN202763841U - Inspection robot mechanism suitable for narrow inspection working space - Google Patents

Inspection robot mechanism suitable for narrow inspection working space Download PDF

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Publication number
CN202763841U
CN202763841U CN 201220456629 CN201220456629U CN202763841U CN 202763841 U CN202763841 U CN 202763841U CN 201220456629 CN201220456629 CN 201220456629 CN 201220456629 U CN201220456629 U CN 201220456629U CN 202763841 U CN202763841 U CN 202763841U
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CN
China
Prior art keywords
arm
walking
guide rail
linear joint
joint
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Withdrawn - After Issue
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CN 201220456629
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Chinese (zh)
Inventor
王洪光
凌烈
刘爱华
孙鹏
景凤仁
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN 201220456629 priority Critical patent/CN202763841U/en
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Abstract

The utility model relates to a movable robot mechanism, in particular to an inspection robot mechanism suitable for a narrow working space. The inspection robot mechanism suitable for the narrow working space comprises a front box body, a rear box body, first guiding rails and a front arm and a rear arm with an identical structure. The front arm and the rear arm are both provided with walking mechanisms and clamping mechanisms, and the walking mechanisms and the clamping mechanisms are respectively arranged above and below an overhead ground wire. The number of the first guiding rails is at least two, and the first guiding rails are parallel to each other. Two ends of each first guiding rail is provided with a rotary front box body and a rotary rear box body,, and the front arm and the rear arm are respectively arranged on two outmost first guiding rails. The front arm and the rear arm both have three free degrees which move along the first guiding rails, lifting vertically and rotating along the vertical direction. A wheel arm composite mechanism is adopted by the inspection robot mechanism suitable for the narrow working space, the characteristics of a wheel type mechanism and an arm type mechanism are combined, and the inspection robot mechanism suitable for the narrow working space both has the function of walking along a line and the function of running across obstacles.

Description

Be applicable to narrow inspection robot mechanism of patrolling and examining working space
Technical field
The utility model relates to mobile robot mechanism, specifically a kind ofly is applicable to narrow inspection robot mechanism of patrolling and examining working space.
Background technology
In existing inspection robot for ultra-high voltage power transmission lines mechanism, mostly adopt the composite moving mechanism that wheel type mobile and composite rod combine (referring to document: Jun Sawada, Kazuyuki Kusumoto, et a1.A Mobile Robot for Inspection of Power Transmission Lines[AI.IEEE transactions of Power De1ivery, 1991.6 (1) .309~315, POULIOT, N, MONTAMBAULT, S.LineScout Technology:From inspection to robotic maintenance on live transmission power lines[C] Robotics and Automation, 2009.ICRA ' 09.IEEE International Conference on, pp.1034-1040,12-17May 2009; WU Gongping, ZHENG Tuo, XIAO Hua, et al.Navigation, location and non-collision obstacles overcoming for high-voltage power transmission-line inspection robot[C] //Mechatronics and Automation, 2009.ICMA 2009.International Conference, pp.2014-2020,9-12Aug.2009.), complex structure, the weight of these mechanisms is large, energy consumption is high, is difficult to adapt to the polling transmission line operation situation of cat-head transmission tower small space.
The utility model content
For overcome the said mechanism complex structure, the weak point such as weight is large, energy consumption is high and security protection is poor when walking, the purpose of this utility model is to provide the narrow inspection robot mechanism of patrolling and examining working space that is applicable to that a kind of obstacle climbing ability is strong, security protection is good.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises forearm and the rear arm that front casing, rear box, the first guide rail and structure are identical, wherein on forearm and the rear arm walking mechanism and clamping device are installed all, described walking mechanism and clamping device lay respectively at top and the below of aerial earth wire; Described the first guide rail is at least two, and each first guide rail is parallel to each other, and is respectively equipped with rotatable front casing and rear box at the two ends of the first guide rail, and described forearm and rear arm are installed in respectively on outermost two the first guide rails; Described forearm and rear arm all have along the first guide rail move, in the vertical direction lifting and at the three degree of freedom of vertical direction rotation.
Wherein: described forearm comprises the first front linear joint, the first front rotary joint and the second front linear joint, described forearm integral body is installed on the first guide rail by the second front linear joint, realizes the free degree that moves along the first guide rail by this second front linear joint; The described first front rotary joint is installed on the second front linear joint, and the first front linear joint links to each other with the output of the first front rotary joint; Be separately installed with pre-walking mechanism and front clamp mechanism on the forearm, described pre-walking mechanism and front clamp mechanism are installed on the first front linear joint; The free degree that the described first front linear joint, pre-walking mechanism and front clamp mechanism rotate at vertical direction by the driving realization of the first front rotary joint, pre-walking mechanism and front clamp mechanism are by the free degree of the first front linear joint realization in the vertical direction lifting;
Described rear arm comprises the first rear linear joint, the first rear rotary joint and the second rear linear joint, and described rear arm integral body is installed on the first guide rail by the second rear linear joint, realizes the free degree that moves along the first guide rail by this second rear linear joint; The described first rear rotary joint is installed on the second rear linear joint, and the first rear linear joint links to each other with the output of the first rear rotary joint; Be separately installed with rear walking mechanism and rear grip mechanism on the rear arm, described rear walking mechanism and rear grip mechanism are installed on the first rear linear joint; The free degree that the described first rear linear joint, rear walking mechanism and rear grip mechanism rotate at vertical direction by the driving realization of the first rear rotary joint, rear walking mechanism and rear grip mechanism are by the free degree of the first rear linear joint realization in the vertical direction lifting;
Described walking mechanism comprises traction drive motor, support and road wheel, described clamping device comprises elevating mechanism, clamps drive motors, linkage and pinch wheels, its medium-height trestle is installed on forearm or the rear arm, the traction drive motor is arranged on the described support, described road wheel is positioned at the top of aerial earth wire, link to each other with the output shaft of traction drive motor, walked at aerial earth wire by the traction drive motor-driven; Described elevating mechanism is rack-mount, and links to each other with the clamping drive motors, clamps drive motors by this and drives lifting; Described pinch wheels is positioned at the below of aerial earth wire, is connected with elevating mechanism by linkage, is driven clamping or is unclamped aerial earth wire by elevating mechanism; Described linkage comprises clamping connecting rod and drive link, wherein clamp rod hinge connection on described support, described pinch wheels is connected in and clamps connecting rod one end, and the other end of clamping connecting rod and an end of drive link are hinged, and the other end of drive link links to each other with described elevating mechanism; Described elevating mechanism comprises leading screw and screw, and wherein an end of leading screw is rotatably installed on the described support, and the other end links to each other with described clamping drive motors, drives rotation by clamping drive motors; Described screw is threaded on the leading screw, and the other end and the screw of described drive link are affixed; The second guide rail is installed on the described support, is connected with on the screw along the slide block of the second guide rail oscilaltion, the other end of described drive link and this slide block are affixed; Described elevating mechanism is cylinder, and the other end of described drive link is connected with the piston of this cylinder;
Described front casing and rear box are installed on the first guide rail by the second front rotary joint and the second rear rotary joint respectively.
Advantage of the present utility model and good effect are:
1. the utility model adopts wheel arm composite structure, combines wheeled and characteristics arm type mechanism, has both had the function of walking along the line, also has the function of leaping over obstacles.
2. adapt to narrow working space.Front and back of the present utility model casings adopts the split-type structural design, places the top at the first guide rail two ends, and casing is connected by rotary joint with the first guide rail, can adapt to the little circuit environment of working space.
3. obstacle performance is good.The utility model utilizes the coordinated movement of various economic factors of road wheel, clamping device, arm and casing, can realize the Multi-type obstacles (stockbridge damper, overhanging golden tool and wire clamp, aluminium hydraulic pressed connecting pipe, strain insulator guide rail etc.) in the inspection robot mechanism leap extra high voltage network.
4. the pinch wheels of the utility model clamping device clamps by linkage or unclamps, and has not only reduced required space, and has been conducive to reduce size and the weight of crusing robot.
5. security protection is good.Pinch wheels of the present utility model clamps below aerial earth wire, also have at least one pinch wheels to clamp in the obstacle detouring process, so security protection is good.
6. applied range.The robot that the utility model is applicable under the extra high voltage network environment patrols and examines mechanism.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation that front (afterwards) clamping device is in clamped condition among Fig. 1;
Fig. 3 is the structural representation that front (afterwards) clamping device is in releasing orientation among Fig. 1;
Fig. 4 is the obstacle environment schematic diagram of extra high voltage network;
Fig. 5 a is that the utility model leap stockbridge damper process first element is described schematic diagram;
Fig. 5 b is that the utility model is crossed over second action description schematic diagram of stockbridge damper process;
Fig. 5 c is that the utility model is crossed over the 3rd action description schematic diagram of stockbridge damper process;
Fig. 5 d is that the utility model is crossed over the 4th action description schematic diagram of stockbridge damper process;
Fig. 6 a is that the utility model is crossed over overhanging golden tool and wire clamp process first element is described schematic diagram;
Fig. 6 b is that the utility model is crossed over overhanging golden tool and second action description schematic diagram of wire clamp process;
Fig. 6 c is that the utility model is crossed over overhanging golden tool and the 3rd action description schematic diagram of wire clamp process;
Fig. 6 d is that the utility model is crossed over overhanging golden tool and the 4th action description schematic diagram of wire clamp process;
Wherein: 1 is pre-walking mechanism, and 2 is rear walking mechanism, and 3 is front clamp mechanism, 4 is rear grip mechanism, and 5 is forearm, and 501 is the first front linear joint, 502 is the first front rotary joint, and 503 is the second front linear joint, and 6 is rear arm, 601 is the first rear linear joint, and 602 is the first rear rotary joint, and 603 is the second rear linear joint, 7 is front casing, and 701 is the second front rotary joint, and 8 is rear box, 801 is the second rear rotary joint, and 9 is the first guide rail, and 10 is the traction drive motor, 11 is support, and 12 is road wheel, and 13 for clamping connecting rod, 14 is drive link, and 15 is leading screw, and 16 is screw, 17 for clamping drive motors, and 18 is pinch wheels, and 19 is the rotational support point, 20 is aerial earth wire, and 21 is slide block, and 22 is the second guide rail, 23 is insulator, 24 is the first damper, and 25 is overhanging golden tool and wire clamp, and 26 is the second damper.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, the utility model comprises forearm 5 and the rear arm 6 that front casing 7, rear box 8, the first guide rail 9 and structure are identical, pre-walking mechanism 1 and front clamp mechanism 3 wherein are installed respectively on the forearm 5, rear walking mechanism 2 and rear grip mechanism 4 are installed respectively on the rear arm 6, and front casing 7 is identical with rear box 8 structures; Pre-walking mechanism 1 and front clamp mechanism 3 lay respectively at top and the below of aerial earth wire 20, and rear walking mechanism 2 and rear grip mechanism 4 lay respectively at top and the below of aerial earth wire 20.The first guide rail 9 is at least two (the present embodiment is three), each first guide rail is parallel to each other, front casing 7 and rear box 8 are rotatably installed in respectively the top at the first guide rail 9 two ends by the second front rotary joint 701 and the second rear rotary joint 801, forearm 5 and rear arm 6 are installed in respectively on outermost two the first guide rails 9.Forearm 5 and rear arm 6 all have along the first guide rail 9 move, in the vertical direction lifting and at the three degree of freedom of vertical direction rotation.
Forearm 5 comprises the first front linear joint 501, the first front rotary joint 502 and the second front linear joint 503, described forearm 5 integral body are installed on the first guide rail 9 by the second front linear joint 503, realize the free degree that moves along the first guide rail 9 by this second front linear joint 503; The described first front rotary joint 502 is installed on the second front linear joint 503, and the first front linear joint 501 links to each other with the output of the first front rotary joint 502, and pre-walking mechanism 1 and front clamp mechanism 3 are installed on the first front linear joint 501; The free degree that the first front linear joint 501, pre-walking mechanism 1 and front clamp mechanism 3 rotate at vertical direction by the driving realization of the first front rotary joint 502, the free degree that pre-walking mechanism 1 and front clamp mechanism 3 realize in the vertical direction lifting by the first front linear joint 501.
Rear arm 6 comprises the first rear linear joint 601, the first rear rotary joint 602 and the second rear linear joint 603, described rear arm 6 integral body are installed on the first guide rail 9 by the second rear linear joint 603, realize the free degree that moves along the first guide rail 9 by this second rear linear joint 603; The described first rear rotary joint 602 is installed on the second rear linear joint 603, and the first rear linear joint 601 links to each other with the output of the first rear rotary joint 602, and rear walking mechanism 2 and rear grip mechanism 4 are installed on the first rear linear joint 601; The free degree that the first rear linear joint 601, rear walking mechanism 2 and rear grip mechanism 4 rotate at vertical direction by the driving realization of the first rear rotary joint 602, the free degree that rear walking mechanism 2 and rear grip mechanism 4 are realized in the vertical direction lifting by the first rear linear joint 601.
Such as Fig. 2, shown in Figure 3, pre-walking mechanism 1 is identical with rear walking mechanism 2 structures, comprises traction drive motor 10, support 11 and road wheel 3; Front clamp mechanism 3 is identical with rear grip mechanism 4 structures, comprise elevating mechanism, clamp drive motors 17, linkage and pinch wheels 18, wherein linkage comprises clamping connecting rod 13 and drive link 14, elevating mechanism can be leading screw 15 and screw 16 structures, or be cylinder, the present embodiment is the structure of leading screw 15 and screw 16.
Support 11 on the forward and backward arm 5,6 is installed in respectively on the first front linear joint 501 and the first rear linear joint 601, traction drive motor 10 is fixed on the described support 11, road wheel 12 is positioned at the top of aerial earth wire 20, link to each other with the output shaft of traction drive motor 10, driven in aerial earth wire 20 walkings by traction drive motor 10.One end (upper end) of leading screw 15 is rotatably installed on the support 11, and the other end (lower end) is connected with the output shaft that clamps drive motors 17, drives rotation by clamping drive motors 17; Screw 16 is threaded on the leading screw 15, when leading screw 15 rotation along leading screw 15 liftings.For pinch wheels 18 is moved in lifting process steadily, be connected with the second guide rail 22 at support 11, an affixed slide block 21 then on the screw 16, this slide block 21 is along 22 oscilaltions of the second guide rail.
Clamp connecting rod 13 and be hinged on the described support 11, pinch wheels 18 is fixed in and clamps connecting rod 13 1 ends, and the other end of clamping connecting rod 13 and an end of drive link 14 are hinged, and the other end of drive link 14 is fixed on the slide block 21; Pinch wheels 18 is positioned at the below of aerial earth wire 20, and the drive by linkage and elevating mechanism clamps or unclamps aerial earth wire 20.If elevating mechanism is cylinder, then the other end of drive link 14 is connected with the piston of this cylinder.
As shown in Figure 4, be the obstacle environment schematic diagram of extra high voltage network, main barrier is the first damper 24, insulator 23, overhanging golden tool and wire clamp 25, the second damper 26 etc. on aerial earth wire 20.
The utility model is by driven by servomotor, by the coordinated movement of various economic factors of road wheel, clamping device, arm and casing, and can be along the obstacle at aerial earth wire 20 crossing pole places.Be specially:
Shown in Fig. 5 a~5d, traction drive motor 10 work in the forward and backward walking mechanism 1,2, ground-engaging wheel 12 is in aerial earth wire 20 walkings, and the pinch wheels 18 in the forward and backward clamping device 3,4 all is in the clamped condition of Fig. 2; When running near the first damper 24, the effect by the second front linear joint 503 and the second rear linear joint 603 of forearm 5 and rear arm 6 is along moving to the direction of rear box 8 through a guide rail 9, with the below of gravity motion to rear arm 6; Clamping drive motors 17 work in the front clamp mechanism 3 make screw 16 move upward along leading screw 15, because drive link 14 is affixed with slide block 21, by moving upward of screw 16, realizes clamping connecting rod 13 and drive link 14 and rotate around rotating the strong point 19; Because pinch wheels 18, therefore realizes pinch wheels 18 with to clamp connecting rod 13 affixed and unclamps from aerial earth wire 20 belows; Then the first front linear joint 501 elongations drive front clamp mechanism 3 and pre-walking mechanism 1 raises, and the road wheel 12 in the pre-walking mechanism 1 breaks away from aerial earth wire 20; Traction drive motor 10 in the rear walking mechanism 2 drives inspection robot mechanisms and moves on, and stops when forearm 5 is in the right side of the first stockbridge damper 12 when running to; At this moment, pre-walking mechanism 1, front clamp mechanism 3 and forearm 5 have been crossed the first stockbridge damper 12, the first front linear joints 501 and have been shunk, and the road wheel 12 in the pre-walking mechanism 1 falls to being back on the aerial earth wire 20 again; Clamping drive motors 17 counter-rotatings in the front clamp mechanism 3 move downward screw 16, and then clamping connecting rod 13 and drive link 14 are rotated around rotating the strong point 19, and pinch wheels 18 clamps aerial earth wire 20 again; The effect by the second front linear joint 503 and the second rear linear joint 603 of forearm 5 and rear arm 6 along the first guide rail 9 forward casing 7 move, the gravity motion of inspection robot mechanism is middle to forearm 5 and rear arm 6, and the process that rear arm 6 is crossed over the first stockbridge damper 12 is identical with forearm 5.
The utility model inspection robot mechanism is crossed over the process of overhanging golden tool and wire clamp 25 shown in Fig. 6 a~6d, before, rear walking mechanism 1, traction drive motor 10 drivings road wheel 12 separately in 2 is near aerial earth wire 20 runs to overhanging golden tool and wire clamp 25, forearm 5 and rear arm 6 by the second front linear joint 503 and the second rear linear joint 603 along the first guide rail 9 forward casing 7 directions move, with the gravity motion of the inspection robot mechanism below to forearm 5, rear grip mechanism 4 makes pinch wheels 18 unclamp aerial earth wire 20 by aforesaid operations, the first rear linear joint 601 elongations, drive rear grip mechanism 4 and rear walking mechanism 2 risings, the road wheel 12 in the rear walking mechanism 2 breaks away from aerial earth wires 20; Then the first rear rotary joint 602 clockwise rotates, and rear grip mechanism 4 and rear walking mechanism 2 rotations break away from aerial earth wire 20; The forward direction motion of casing 7 of arm 6 after the second rear linear joint 603 drives, rear arm 6 moves to the opposite side of overhanging golden tool and wire clamp 25 along the first guide rail 9, this moment, casing 7 rotated clockwise under the effect of the second front rotary joint 701 passively before rear arm 6 promoted owing to rear arm 6 moves forward; The first rear rotary joint 602 of rear arm 6 rotates counterclockwise again, rear grip mechanism 4 and rear walking mechanism 2 come back to the top of aerial earth wire 20, the second rear linear joint 603 moves to the direction of rear box 8, and simultaneously front casing 7 rotates back to initial position more counterclockwise; The first rear linear joint 601 shrinks, and the road wheel 12 in the rear walking mechanism 2 falls back on the aerial earth wire 20 again, and rear grip mechanism 4 is pressed aforesaid operations again, makes pinch wheels 18 clamp from the bottom to top aerial earth wire 20.The process that forearm 5 is crossed over overhanging golden tools and wire clamp 25 is identical with rear arm 6.

Claims (9)

1. one kind is applicable to narrow inspection robot mechanism of patrolling and examining working space, it is characterized in that: comprise forearm (5) and rear arm (6) that front casing (7), rear box (8), the first guide rail (9) and structure are identical, wherein on forearm (5) and the rear arm (6) walking mechanism and clamping device are installed all, described walking mechanism and clamping device lay respectively at top and the below of aerial earth wire (20); Described the first guide rail (9) is at least two, each first guide rail is parallel to each other, be respectively equipped with rotatable front casing (7) and rear box (8) at the two ends of the first guide rail (9), described forearm (5) and rear arm (6) are installed in respectively on outermost two the first guide rails (9); That described forearm (5) and rear arm (6) all have is mobile along the first guide rail (9), in the vertical direction lifting and at the three degree of freedom of vertical direction rotation.
2. be applicable to narrow inspection robot mechanism of patrolling and examining working space by claim 1 is described, it is characterized in that: described forearm (5) comprises the first front linear joint (501), the first front rotary joint (502) and the second front linear joint (503), described forearm (5) is whole to be installed on the first guide rail (9) by the second front linear joint (503), realizes along the mobile free degree of the first guide rail (9) by this second front linear joint (503); The described first front rotary joint (502) is installed on the second front linear joint (503), and the first front linear joint (501) links to each other with the output of the first front rotary joint (502); Be separately installed with pre-walking mechanism (1) and front clamp mechanism (3) on the forearm (5), described pre-walking mechanism (1) and front clamp mechanism (3) are installed on the first front linear joint (501); The free degree that the described first front linear joint (501), pre-walking mechanism (1) and front clamp mechanism (3) rotate at vertical direction by the driving realization of the first front rotary joint (502), pre-walking mechanism (1) and front clamp mechanism (3) are by the free degree of the first front linear joint (501) realization in the vertical direction lifting.
3. be applicable to narrow inspection robot mechanism of patrolling and examining working space by claim 1 is described, it is characterized in that: described rear arm (6) comprises the first rear linear joint (601), the first rear rotary joint (602) and the second rear linear joint (603), described rear arm (6) is whole to be installed on the first guide rail (9) by the second rear linear joint (603), realizes along the mobile free degree of the first guide rail (9) by this second rear linear joint (603); The described first rear rotary joint (602) is installed on the second rear linear joint (603), and the first rear linear joint (601) links to each other with the output of the first rear rotary joint (602); Be separately installed with rear walking mechanism (2) and rear grip mechanism (4) on the rear arm (6), described rear walking mechanism (2) and rear grip mechanism (4) are installed on the first rear linear joint (601); The free degree that the described first rear linear joint (601), rear walking mechanism (2) and rear grip mechanism (4) rotate at vertical direction by the driving realization of the first rear rotary joint (602), rear walking mechanism (2) and rear grip mechanism (4) are by the free degree of the first rear linear joint (601) realization in the vertical direction lifting.
4. be applicable to narrow inspection robot mechanism of patrolling and examining working space by claim 1 is described, it is characterized in that: described walking mechanism comprises traction drive motor (10), support (11) and road wheel (3), described clamping device comprises elevating mechanism, clamp drive motors (17), linkage and pinch wheels (18), its medium-height trestle (11) is installed on forearm (5) or the rear arm (6), traction drive motor (10) is arranged on the described support (11), described road wheel (12) is positioned at the top of aerial earth wire (20), link to each other with the output shaft of traction drive motor (10), driven by traction drive motor (10) and walk at aerial earth wire (20); Described elevating mechanism is installed on the support (11), and links to each other with clamping drive motors (17), clamps drive motors (17) by this and drives lifting; Described pinch wheels (18) is positioned at the below of aerial earth wire (20), is connected with elevating mechanism by linkage, is driven clamping or is unclamped aerial earth wire (20) by elevating mechanism.
5. be applicable to narrow inspection robot mechanism of patrolling and examining working space by claim 4 is described, it is characterized in that: described linkage comprises clamping connecting rod (13) and drive link (14), wherein clamping connecting rod (13) is hinged on the described support (11), described pinch wheels (18) is connected in and clamps connecting rod (13) one ends, the other end of clamping connecting rod (13) and an end of drive link (14) are hinged, and the other end of drive link (14) links to each other with described elevating mechanism.
6. be applicable to narrow inspection robot mechanism of patrolling and examining working space by claim 5 is described, it is characterized in that: described elevating mechanism comprises leading screw (15) and screw (16), wherein an end of leading screw (15) is rotatably installed on the described support (11), the other end links to each other with described clamping drive motors (17), drives rotation by clamping drive motors (17); Described screw (16) is threaded on the leading screw (15), and the other end of described drive link (14) and screw (16) are affixed.
7. be applicable to narrow inspection robot mechanism of patrolling and examining working space by claim 6 is described, it is characterized in that: the second guide rail (22) is installed on the described support (11), be connected with on the screw (16) along the slide block (21) of the second guide rail (22) oscilaltion, the other end of described drive link (14) and this slide block (21) are affixed.
8. be applicable to narrow inspection robot mechanism of patrolling and examining working space by claim 5 is described, it is characterized in that: described elevating mechanism is cylinder, and the other end of described drive link (14) is connected with the piston of this cylinder.
9. be applicable to narrow inspection robot mechanism of patrolling and examining working space by claim 1 is described, it is characterized in that: described front casing (7) and rear box (8) are installed on the first guide rail (9) by the second front rotary joint (701) and the second rear rotary joint (801) respectively.
CN 201220456629 2012-09-10 2012-09-10 Inspection robot mechanism suitable for narrow inspection working space Withdrawn - After Issue CN202763841U (en)

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Application Number Priority Date Filing Date Title
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103499361A (en) * 2013-09-27 2014-01-08 国家电网公司 Overhead conductor sensor arrangement device
CN103659815A (en) * 2012-09-10 2014-03-26 中国科学院沈阳自动化研究所 Routing inspection robot mechanism applicable to narrow routing inspection working space
CN105140821A (en) * 2015-08-05 2015-12-09 洛阳理工学院 Ice-removal and obstacle-clearance mechanical device capable of crossing high-voltage line cat-head type tower
CN109193452A (en) * 2018-09-27 2019-01-11 东北大学 A kind of power transmission line crusing robot
CN109659858A (en) * 2019-01-14 2019-04-19 湖北工业大学 A kind of inspection robot for high-voltage line obstacle-detouring method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103659815A (en) * 2012-09-10 2014-03-26 中国科学院沈阳自动化研究所 Routing inspection robot mechanism applicable to narrow routing inspection working space
CN103659815B (en) * 2012-09-10 2015-10-21 中国科学院沈阳自动化研究所 A kind ofly be applicable to narrow inspection robot mechanism of patrolling and examining working space
CN103499361A (en) * 2013-09-27 2014-01-08 国家电网公司 Overhead conductor sensor arrangement device
CN103499361B (en) * 2013-09-27 2016-07-06 国家电网公司 A kind of overhead conductor sensor arrangement device
CN105140821A (en) * 2015-08-05 2015-12-09 洛阳理工学院 Ice-removal and obstacle-clearance mechanical device capable of crossing high-voltage line cat-head type tower
CN109193452A (en) * 2018-09-27 2019-01-11 东北大学 A kind of power transmission line crusing robot
CN109193452B (en) * 2018-09-27 2019-08-02 东北大学 A kind of power transmission line crusing robot
CN109659858A (en) * 2019-01-14 2019-04-19 湖北工业大学 A kind of inspection robot for high-voltage line obstacle-detouring method

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