The utility model relates to a mobile robot, in particular to an inspection robot mechanism lifting and clamping functions, including the front arm and the front moving wheel and a rear arm, the rear walking wheel, and the lifting box clamping mechanism box are respectively arranged on the front and rear arm, front and rear arm are respectively arranged on the rotatable the front and rear walking wheel, front and rear road wheels respectively through the installation in the front and the rear arm on the front and rear walking motor driving and walking; between the box body and is positioned on the arm is increased before and after before and after the lifting wheel go overhead ground wire pressure clamping mechanism; lifting and clamping mechanism comprises a front and rear clamping wheel lifting assembly, and a group of multi group oriented components, before and after the clamping wheel is mounted on the lifting component, peripheral lifting component has a plurality of uniform guide assembly. The utility model adopts to lifting and clamping mechanism for holding the positive pressure can increase the walking wheel and the overhead ground wire, is conducive to walking, climbing and climbing, safety and good protection, simple process, short time obstacle surmounting.
【技术实现步骤摘要】
本技术涉及移动机器人,具体地说是一种具有升降夹持功能 的巡检机器人机构。
技术介绍
输电线路是电力系统极为重要的组成部分,为了保证其安全稳定 的运行,需要定期进行巡视检查。目前釆用的方法主要有人工巡检和直升机巡检。人工巡检的效率低,劳动强度大,危险性高;直升机巡 检的成本高,巡检质量易受气候影响。因此,需要研制能够携带通信 和巡检仪器的机器人来代替人工对输电线路进行自动巡检,以提高效 率,确保输电线路的安全运行。在现有的超高压输电线巡检机器人机 构中,大部分釆用由轮式移动和复合连杆机构组合而成的复合移动机 构(参见文献1: Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, "A Mobile Robot For Inspection of Power Transmission Lines", IEEE Trans. Power Delivery, 1991, Vol. 6, No. 1: pp. . 309-315;文献2: Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, "Development of a Mobile Inspection Robot for Power Transmission Lines", J. of the Robotics Society of Japan, Japan, Vol. 9, No. 4, pp. 4 ...
【技术保护点】
一种具有升降夹持功能的巡检机器人机构,其特征在于:包括前手臂(1)、前行走轮(2)、后手臂(6)、后行走轮(7)、箱体(4)及升降夹持机构(5),箱体(4)上分别设有前、后手臂(1、6),前、后手臂(1、6)上分别安装有可转动的前、后行走轮(2、7),前、后行走轮(2、7)分别通过安装在前、后手臂(1、6)上的前、后行走电机(41、8)驱动行走;在箱体(4)内位于前后手臂之间设有增加前、后行走轮(2、7)对架空地线正压力的升降夹持机构(5);升降夹持机构(5)包括前、后夹紧轮(9、10)及一组升降组件、多组导向组件,前、后夹紧轮(9、10)安装在升降组件上,升降组件的外围均布有多组导向组件。
【技术特征摘要】
【专利技术属性】
技术研发人员:王洪光,房立金,凌烈,何立波,
申请(专利权)人:中国科学院沈阳自动化研究所,
类型:实用新型
国别省市:89[中国|沈阳]
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