CN105798902B - Apery climbs formula inspection robot mechanical structure and its obstacle-detouring method - Google Patents
Apery climbs formula inspection robot mechanical structure and its obstacle-detouring method Download PDFInfo
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- CN105798902B CN105798902B CN201610319008.3A CN201610319008A CN105798902B CN 105798902 B CN105798902 B CN 105798902B CN 201610319008 A CN201610319008 A CN 201610319008A CN 105798902 B CN105798902 B CN 105798902B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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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 kind of apery to climb formula inspection robot mechanical structure and its obstacle-detouring method, belongs to robotic technology field.The apery, which climbs formula inspection robot mechanical structure, includes frame, and four angles of the frame are respectively arranged with first mechanical arm, second mechanical arm, three-mechanical arm and the 4th mechanical arm that can be bent and stretched along before and after the direction of travel of the frame；The first manipulator, the second manipulator, the 3rd manipulator and the 4th manipulator from both sides grasping circuit are separately provided on the first mechanical arm, second mechanical arm, three-mechanical arm and the 4th mechanical arm；Rotatable mechanical wrist is provided between each mechanical arm and each manipulator.Compared with prior art, the present invention, which has, reduces labor intensity, reduces operating cost, and can throwing over barrier the advantages of.
Description
Technical field
The present invention relates to robotic technology field, particularly relate to a kind of apery climb formula inspection robot mechanical structure and its
Obstacle-detouring method.
Background technology
It is the major way of long range transmission ＆ distribution electric power using high pressure and super-pressure overhead power transmission line.Power line and shaft tower annex
Field is chronically exposed to, because by lasting mechanical tension, electrically sudden strain of a muscle is ironed, material aging is influenceed and it is stranded easily to produce, mill
Damage, corrosion equivalent damage, such as repair and change, originally small breakage and defect may expand, and ultimately result in serious thing not in time
Therefore cause the power failure of large area and huge economic loss.Current transmission pressure inspection, the method safeguarded mainly have two kinds:Ground
Face ocular estimate and aerophotographic method.Ocular estimate uses manual inspection, and this method labor intensity is big, and operating efficiency and detection accuracy are low,
Poor reliability, inspection blind area be present；Aerophotographic method uses helicopter line walking, although this method has higher detection efficiency and essence
Degree, but this method is restricted by some environmental factors, while the technical difficulty of inspection is high, operating cost is higher.Line walking machine
The development of device people's technology, new technological means is provided for the inspection work of high voltage transmission line.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but for existing on transmission line of electricity
Barrier or drainage thread can not cross over, it is impossible to realize the continuous inspection of extra high voltage network.Therefore, it is necessary to provide one kind
It can reduce labor intensity, reduce operating cost, the and can enough inspection robot mechanical structure of across obstacle or drainage thread.
The content of the invention
It can be reduced labor intensity the technical problem to be solved in the present invention is to provide one kind, reduce operating cost, and can is enough
The apery of across obstacle or drainage thread climbs formula inspection robot mechanical structure and its obstacle-detouring method.
In order to solve the above technical problems, present invention offer technical scheme is as follows：
On the one hand, there is provided a kind of apery climbs formula inspection robot mechanical structure, including frame, wherein：
Four angles of the frame be respectively arranged with can be bent and stretched along before and after the direction of travel of the frame first mechanical arm,
Second mechanical arm, three-mechanical arm and the 4th mechanical arm；
It is separately provided on the first mechanical arm, second mechanical arm, three-mechanical arm and the 4th mechanical arm from two
Side grasps the first manipulator, the second manipulator, the 3rd manipulator and the 4th manipulator of circuit；
Rotatable mechanical wrist is provided between each mechanical arm and each manipulator.
On the other hand, there is provided a kind of above-mentioned apery climbs the obstacle-detouring method of formula inspection robot mechanical structure, including：
Step 1：When not running into barrier, the first mechanical arm and the 4th mechanical arm is bent and stretched respectively so that first machine
Tool hand and the 4th manipulator are respectively positioned on the middle part of the frame and grasp circuit, the second mechanical arm and three-mechanical arm point
Do not bend and stretch so that second manipulator and the 3rd manipulator are located at the front and back of the frame and grasp circuit respectively；
Step 2：First manipulator and the 3rd manipulator are respectively in the first mechanical arm and the work of three-mechanical arm
With lower while open, depart from and drive after circuit the frame to move forward, now, first manipulator is bent in the first mechanical arm
It is located at the front end of the frame in the presence of stretching and grasps circuit again, second manipulator and the 4th manipulator distinguishes position
In the front-end and back-end of the frame；
Step 3：The three-mechanical arm is bent and stretched so that the 3rd manipulator is located at the rear end of the frame and grabbed again
Circuit is handled, then, the frame moves forward under the effect of bending and stretching jointly of each mechanical arm；
Step 4：In the second mechanical arm and the 4th after second manipulator and the 4th the manipulator opening, disengaging circuit
Circuit is grasped positioned at the front of the frame and middle part and again respectively under the effect of mechanical bending and stretching of the arms, then go to step 1, when
When running into barrier, each manipulator is distinguished avoiding obstacles and moved ahead.
Another further aspect, there is provided another above-mentioned apery climbs the obstacle-detouring method of formula inspection robot mechanical structure, including：
Step 1：When not running into barrier, the first mechanical arm and the 4th mechanical arm is bent and stretched respectively so that first machine
Tool hand and the 4th manipulator are respectively positioned on the middle part of the frame and grasp circuit, the second mechanical arm and three-mechanical arm point
Do not bend and stretch so that second manipulator and the 3rd manipulator are located at the front and back of the frame and grasp circuit respectively；
Step 2：First manipulator and the 3rd manipulator are respectively in the first mechanical arm and the work of three-mechanical arm
With lower while open, depart from and drive after circuit the frame to move forward, now, second manipulator and the 4th manipulator distinguish position
In the front end of the frame and rear, first manipulator and the 3rd manipulator are respectively in the first mechanical arm and the 3rd machine
Rear and circuit is grasped positioned at the front end of the frame and again in the presence of tool arm；
Step 3：Second manipulator and the 4th manipulator open, depart from circuit after respectively in the second mechanical arm and
The lower front for being located at the frame of the effect of bending and stretching of 4th mechanical arm and middle part simultaneously grasp circuit again；
Step 4：First manipulator and the 3rd manipulator are respectively in the first mechanical arm and the work of three-mechanical arm
With lower while open, depart from and drive after circuit the frame to move forward, now, the frame and horizontal plane, second machine
Tool hand and the 4th manipulator are located at the front end and rear of the frame respectively, and first manipulator and the 3rd manipulator exist respectively
Rear and circuit is grasped positioned at the front end of the frame and again in the presence of the first mechanical arm and three-mechanical arm；
Step 5：First manipulator and the 3rd manipulator are respectively in the first mechanical arm and the work of three-mechanical arm
With lower while open, depart from and drive after circuit the frame to move forward, now, second manipulator and the 4th manipulator distinguish position
In the middle part of the frame and rear, first manipulator is located at the front end of the frame and grasps circuit again, described
3rd manipulator is located at the middle part of the frame and grasps circuit again after driving rotation by the mechanical wrist；
Step 6：Second manipulator and the 4th manipulator open respectively, depart from circuit after in the second mechanical arm and
Frame is driven to travel forward in the presence of 4th mechanical arm, now, first manipulator and the 3rd manipulator are located at institute respectively
State the middle part and rear of frame, second manipulator grasps circuit again in the presence of second mechanical arm, and the described 4th
Manipulator drives rotation positioned at the rear of the frame under the effect of bending and stretching of the 4th mechanical arm and by the mechanical wrist
Circuit is grasped again after turning；
Step 7：First manipulator and the 3rd manipulator open simultaneously, depart from circuit after, first manipulator exists
The lower front end for being located at the frame of the effect of bending and stretching of the first mechanical arm simultaneously grasps circuit again, and the 3rd manipulator exists
The effect of bending and stretching of the three-mechanical arm is lower positioned at the middle part of the frame and by being grabbed again after mechanical wrist drive rotation
Circuit is handled, inspection robot goes to step 1 after crossing over drainage thread, waits obstacle detouring next time.
The invention has the advantages that：
First mechanical arm, second mechanical arm, three-mechanical arm and the 4th mechanical arm in the present invention are that can bend and stretch structure,
First manipulator, the second manipulator, the 3rd manipulator and the 4th manipulator respectively can first mechanical arm, second mechanical arm,
Circuit or opening being grasped from both sides in the presence of three-mechanical arm and the 4th mechanical arm, departing from circuit, each manipulator can be each
Rotated in the presence of mechanical arm.When running into barrier, the first manipulator and the 3rd manipulator on diagonal are opened respectively
Open, depart from circuit and drive frame to move forward, first mechanical arm is bent and stretched so that the first manipulator is moved to behind the front end of frame again
Circuit is grasped from both sides, the second manipulator and the 4th manipulator are respectively in the effect of bending and stretching of second mechanical arm and the 4th mechanical arm
It is located at the front-end and back-end of frame down, three-mechanical arm is bent and stretched so that the 3rd manipulator is moved to behind the middle part of frame again from two
Side grasps circuit, and then, frame is bent in the common of first mechanical arm, second mechanical arm, three-mechanical arm and the 4th mechanical arm
The effect of stretching is lower to move forward, next, the second manipulator and the 4th manipulator are respectively in the effect of second mechanical arm and the 4th mechanical arm
It is lower to open simultaneously, depart to move forward after circuit and be located at the front of frame respectively and middle part and grasp circuit again, so as to realize more
Barrier.
To sum up, compared with prior art, the present invention has and reduces labor intensity, reduces operating cost and can cross barrier
The advantages of hindering thing or drainage thread.
Brief description of the drawings
Fig. 1 is that the apery of the present invention climbs the structural representation of formula inspection robot mechanical structure；
Fig. 2-Fig. 9 is corresponding to each step for the obstacle-detouring method that the apery of the present invention climbs formula inspection robot mechanical structure
View.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of apery and climbs formula inspection robot mechanical structure, as shown in figure 1, including frame
1, wherein：
Four angles of frame 1 are respectively arranged with the first mechanical arm 2, second that can be bent and stretched along before and after the direction of travel of frame 1
Mechanical arm 4, the mechanical arm 14 of three-mechanical arm 12 and the 4th；
First mechanical arm 2, second mechanical arm 4, be separately provided on the mechanical arm 14 of three-mechanical arm 12 and the 4th from
Both sides grasp the first manipulator 5, the second manipulator 6, the 3rd manipulator 11 and the 4th manipulator 8 of circuit；
Rotatable mechanical wrist 7 is provided between each mechanical arm and each manipulator.
The apery of the present invention climbs formula inspection robot mechanical structure, first mechanical arm, second mechanical arm, three-mechanical arm
It is that can bend and stretch structure with the 4th mechanical arm, the first manipulator, the second manipulator, the 3rd manipulator and the 4th manipulator respectively can
With in the presence of first mechanical arm, second mechanical arm, three-mechanical arm and the 4th mechanical arm from both sides grasp circuit or opening,
Depart from circuit, each manipulator can rotate in the presence of each mechanical arm, and can bend and stretch realization by each mechanical arm respectively
It is mobile, so as to across obstacle.Compared with prior art, the present invention, which has, reduces labor intensity, reduces operating cost and can
The advantages of throwing over barrier or drainage thread.
Preferably, each mechanical arm includes be hinged successively first connecting rod 13 and second connecting rod 15 respectively.It is this to be designed to
Each mechanical arm is realized flexion and extension, so as to drive each manipulator to travel forward, improve the speed of travel of inspection robot.
Further, each manipulator include a pair of expansibles can pairing mechanical finger, mechanical finger includes upper machinery
Finger 9 and lower mechanical finger 10, in addition, upper mechanical finger 9 and lower mechanical finger 10 are L hook-like configurations.This structure design
The action of each manipulator can be made finer, improve the accuracy embraced and grabbed.
As a further improvement on the present invention, between frame 1 and first connecting rod 13, first connecting rod 13 and second connecting rod 15 it
Between, between second connecting rod 15 and mechanical wrist 7, between upper mechanical finger 9 and mechanical wrist 7 and lower mechanical finger 10 and machine
Jointed shaft 3 between tool wrist 7 is driven by motor.This structure design can ensure that inspection robot is not easy when walking
Collide wire, improve travelling robot walking when flexibility and security.
The apery of the present invention, which climbs formula inspection robot mechanical structure, can various motion method in obstacle detouring, effect compared with
It is good, control it is conveniently at least following two, describe in detail separately below.
Obstacle-detouring method one, as Figure 1-4, for convenience of drawing, transmission line of electricity is depicted as square, actual is circular cross-section,
Including：
Step 1：As shown in figure 1, when not running into barrier, the mechanical arm 14 of first mechanical arm 2 and the 4th bend and stretch respectively so that
First manipulator 5 and the 4th manipulator 8 are respectively positioned on the middle part of frame 1 and grasp circuit, second mechanical arm 4 and three-mechanical arm
12 bend and stretch so that the second manipulator 6 and the 3rd manipulator 11 are located at the front and back of frame 1 and grasp circuit respectively respectively；
Step 2：As shown in Fig. 2 the first manipulator 5 and the 3rd manipulator 11 are respectively in the machinery of first mechanical arm 2 and the 3rd
Opened simultaneously in the presence of arm 12, depart from and drive frame 1 to move forward after circuit, now, the first manipulator 5 is bent in first mechanical arm 2
It is located at the front end of frame 1 in the presence of stretching and grasps circuit again, the second manipulator 6 and the 4th manipulator 8 is located at machine respectively
The front-end and back-end of frame 1；
Step 3：As shown in Figure 3-4, three-mechanical arm 12 is bent and stretched so that the rear end that the 3rd manipulator 11 is located at frame 1 is laid equal stress on
Circuit newly is grasped, then, frame 1 moves forward under the effect of bending and stretching jointly of each mechanical arm；
Step 4：As shown in figure 1, the second manipulator 6 and the 4th manipulator 8 open, departed from after circuit in second mechanical arm 4
With middle part and grasp positioned at the front of frame 1 and again circuit respectively under the effect of bending and stretching of the 4th mechanical arm 14, then go to
Step 1, when running into barrier, each manipulator is distinguished avoiding obstacles and moved ahead.
Obstacle-detouring method two：As shown in figures 4-9, for convenience of drawing, transmission line of electricity is depicted as square, actual is circular cross-section,
Including：
Step 1：As shown in figure 1, when not running into barrier, the mechanical arm 14 of first mechanical arm 2 and the 4th bend and stretch respectively so that
First manipulator 5 and the 4th manipulator 8 are respectively positioned on the middle part of frame 1 and grasp circuit, second mechanical arm 4 and three-mechanical arm
12 bend and stretch so that the second manipulator 6 and the 3rd manipulator 11 are located at the front and back of frame 1 and grasp circuit respectively respectively；
Step 2：As shown in figure 4, the first manipulator 5 and the 3rd manipulator 11 are respectively in the machinery of first mechanical arm 2 and the 3rd
Opened simultaneously in the presence of arm 12, depart from and drive frame 1 to move forward after circuit, now, the second manipulator 6 and the 4th manipulator 8 divide
Not Wei Yu frame 1 front end and rear, the first manipulator 5 and the 3rd manipulator 11 are respectively in the machinery of first mechanical arm 2 and the 3rd
Rear and circuit is grasped positioned at the front end of frame 1 and again in the presence of arm 12；
Step 3：As shown in figure 5, the second manipulator 6 and the 4th manipulator 8 open, departed from after circuit respectively in the second machinery
The lower front for being located at frame 1 of the effect of bending and stretching of arm 4 and the 4th mechanical arm 14 and middle part simultaneously grasp circuit again；
Step 4：As shown in fig. 6, the first manipulator 5 and the 3rd manipulator 11 are respectively in the machinery of first mechanical arm 2 and the 3rd
Opened simultaneously in the presence of arm 12, depart from and drive frame 1 to move forward after circuit, now, frame 1 and horizontal plane, the second machinery
The manipulator 8 of hand 6 and the 4th is located at the front end and rear of frame 1 respectively, and the first manipulator 5 and the 3rd manipulator 11 are respectively first
Rear and circuit is grasped positioned at the front end of frame 1 and again in the presence of mechanical arm 2 and three-mechanical arm 12；
Step 5：As shown in fig. 7, the first manipulator 5 and the 3rd manipulator 11 are respectively in the machinery of first mechanical arm 2 and the 3rd
Opened simultaneously in the presence of arm 12, depart from and drive frame 1 to move forward after circuit, now, the second manipulator 6 and the 4th manipulator 8 divide
Not Wei Yu frame 1 middle part and rear, the first manipulator 5 is located at the front end of frame 1 and grasps circuit again, the 3rd manipulator
11 are located at the middle part of frame 1 and grasp circuit again after driving rotation by mechanical wrist 7；
Step 6：As shown in figure 8, the second manipulator 6 and the 4th manipulator 8 open, departed from after circuit in the second machinery respectively
Frame 1 is driven to travel forward in the presence of the mechanical arm 14 of arm 4 and the 4th, now, the first manipulator 5 and the 3rd manipulator 6 are distinguished
Positioned at the middle part of frame 1 and rear, the second manipulator 6 grasps circuit, the 4th machinery again in the presence of second mechanical arm 4
Hand 8 grasps again after driving rotation positioned at the rear of frame 1 under the effect of bending and stretching of the 4th mechanical arm 14 and by mechanical wrist 7
Firmly circuit；
Step 7：As shown in figure 9, the first manipulator 5 and the 3rd manipulator 11 open, depart from circuit simultaneously after, the first machinery
Hand 5 grasps positioned at the front end of frame 1 and again circuit under the effect of bending and stretching of first mechanical arm 2, and the 3rd manipulator 11 is the
Circuit is grasped again after driving rotation positioned at the middle part of frame 1 under the effect of bending and stretching of three-mechanical arm 12 and by mechanical wrist 7, is patrolled
Line robot goes to step 1 after crossing over drainage thread, waits obstacle detouring next time.
When running into barrier, obstacle-detouring method one is two groups of manipulators on diagonal while opens, takes off the present invention
Offline road, and travelled forward respectively in the presence of corresponding mechanical bending and stretching of the arms, the obstacle-detouring method speed of travel is higher；In order to
Avoid inspection robot from being collided when crossing drainage thread with transmission line of electricity, improve security, the line walking machine in obstacle-detouring method two
For people when running into drainage thread, each manipulator grasps circuit, machine from both sides again after being rotated in the presence of each mechanical wrist
Frame can avoid and transmission line of electricity collision, reduction abrasion under the effect of bending and stretching of each mechanical arm with horizontal plane.To sum up
Two kinds of obstacle-detouring methods in the present invention all solve in the prior art, and artificial line walking labor intensity is big and aircraft line walking operating cost
The problem of high, and conventional obstacles (such as drainage thread, insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.) can be crossed, realize to circuit
Continuous inspection.Compared with prior art, have and reduce labor intensity, reduce operating cost, improve inspection robot security,
And can throwing over barrier the advantages of.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of apery climbs the obstacle-detouring method of formula inspection robot mechanical structure, it is characterised in that the apery formula of climbing is patrolled
Line robotic structure includes frame, wherein：
Four angles of the frame are respectively arranged with the first mechanical arm that can be bent and stretched along before and after the direction of travel of the frame, second
Mechanical arm, three-mechanical arm and the 4th mechanical arm；
It is separately provided for grabbing from both sides on the first mechanical arm, second mechanical arm, three-mechanical arm and the 4th mechanical arm
Hold the first manipulator, the second manipulator, the 3rd manipulator and the 4th manipulator of circuit；
Rotatable mechanical wrist is provided between each mechanical arm and each manipulator；
The apery climbs the obstacle-detouring method of formula inspection robot mechanical structure, including：
Step 1：When not running into barrier, the first mechanical arm and the 4th mechanical arm is bent and stretched respectively so that first manipulator
The middle part of the frame is respectively positioned on the 4th manipulator and grasps circuit, and the second mechanical arm and three-mechanical arm are bent respectively
Stretch so that second manipulator and the 3rd manipulator are located at the front and back of the frame and grasp circuit respectively；
Step 2：First manipulator and the 3rd manipulator are respectively in the presence of the first mechanical arm and three-mechanical arm
Open simultaneously, depart from the frame reach is driven after circuit, now, second manipulator and the 4th manipulator are located at institute respectively
The front end and rear of frame are stated, first manipulator and the 3rd manipulator are respectively in the first mechanical arm and three-mechanical arm
In the presence of rear and grasp positioned at the front end of the frame and again circuit；
Step 3：Respectively in the second mechanical arm and the 4th after second manipulator and the 4th the manipulator opening, disengaging circuit
The lower front for being located at the frame of the effect of bending and stretching of mechanical arm and middle part simultaneously grasp circuit again；
Step 4：First manipulator and the 3rd manipulator are respectively in the presence of the first mechanical arm and three-mechanical arm
Open simultaneously, depart from the frame reach is driven after circuit, now, the frame and horizontal plane, second manipulator
It is located at the front end and rear of the frame respectively with the 4th manipulator, first manipulator and the 3rd manipulator are respectively described
Rear and circuit is grasped positioned at the front end of the frame and again in the presence of first mechanical arm and three-mechanical arm；
Step 5：First manipulator and the 3rd manipulator are respectively in the presence of the first mechanical arm and three-mechanical arm
Open simultaneously, depart from the frame reach is driven after circuit, now, second manipulator and the 4th manipulator are located at institute respectively
The middle part and rear of frame are stated, first manipulator is located at the front end of the frame and grasps circuit again, and the described 3rd
Manipulator is located at the middle part of the frame and grasps circuit again after driving rotation by the mechanical wrist；
Step 6：Second manipulator and the 4th manipulator open respectively, depart from circuit after in the second mechanical arm and the 4th
Frame is driven to travel forward in the presence of mechanical arm, now, first manipulator and the 3rd manipulator are located at the machine respectively
The middle part and rear of frame, second manipulator grasp circuit, the 4th machinery again in the presence of second mechanical arm
After hand drives rotation positioned at the rear of the frame under the effect of bending and stretching of the 4th mechanical arm and by the mechanical wrist
Again circuit is grasped；
Step 7：First manipulator and the 3rd manipulator open simultaneously, depart from circuit after, first manipulator is described
The lower front end for being located at the frame of the effect of bending and stretching of first mechanical arm simultaneously grasps circuit again, and the 3rd manipulator is described
The effect of bending and stretching of three-mechanical arm is lower positioned at the middle part of the frame and by being grasped again after mechanical wrist drive rotation
Circuit, inspection robot go to step 1 after crossing over drainage thread, wait obstacle detouring next time.
2. apery according to claim 1 climbs the obstacle-detouring method of formula inspection robot mechanical structure, it is characterised in that each
Mechanical arm includes be hinged successively first connecting rod and second connecting rod respectively.
3. apery according to claim 1 climbs the obstacle-detouring method of formula inspection robot mechanical structure, it is characterised in that each
Manipulator include a pair of expansibles can pairing mechanical finger, the mechanical finger includes upper mechanical finger and lower manipulator
Refer to.
4. apery according to claim 3 climbs the obstacle-detouring method of formula inspection robot mechanical structure, it is characterised in that institute
State between frame and first connecting rod, between the first connecting rod and second connecting rod, between the second connecting rod and mechanical wrist, institute
State the jointed shaft between mechanical finger and mechanical wrist and between the lower mechanical finger and mechanical wrist and pass through motor
Driving.
5. apery according to claim 4 climbs the obstacle-detouring method of formula inspection robot mechanical structure, it is characterised in that institute
It is L hook-like configurations to state mechanical finger and lower mechanical finger.
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| CN106965869A (en) * | 2017-04-24 | 2017-07-21 | 张红星 | A kind of spider robot applied to work high above the ground |
| CN111509613B (en) * | 2020-03-16 | 2021-11-26 | 西南石油大学 | Humanoid climbing type online inspection robot |
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| CN102136696B (en) * | 2010-12-30 | 2015-09-23 | 中国电力科学研究院 | A kind of polling transmission line or deicing robot |
| CN103259216B (en) * | 2013-03-15 | 2016-02-10 | 武汉大学 | A kind of reconstruction robot for overhead transmission cables |
| CN103317496B (en) * | 2013-06-20 | 2016-06-08 | 国家电网公司 | A kind of electric line foreign matter removes robot |
| CN203544187U (en) * | 2013-11-19 | 2014-04-16 | 国家电网公司 | Inspection robot suitable for electric transmission line with strain section |
| CN104477272B (en) * | 2014-12-10 | 2017-02-22 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN104577881B (en) * | 2015-01-23 | 2017-03-22 | 国家电网公司 | Intelligent line patrol trolley lighting trolley body device and line patrol method |
| CN205734918U (en) * | 2016-05-12 | 2016-11-30 | 山东大学 | Apery climbs formula inspection robot frame for movement |
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