The invention provides a real-time adjustable overhead transmission line fly-away inspection robot clamping walking device which comprises a first clamping wheel table, a second clamping wheel table, a side connecting rod assembly, a pushing main rod assembly, a sliding rail push rod assembly, a support sliding rail and an anti-falling mechanism. The second clamping wheel table is connected with the side connecting rod assembly and the pushing main rod assembly, and the side connecting rod assembly and the pushing main rod assembly can be driven by the sliding rail pushing rod assembly to move in the support sliding rail. The anti-falling mechanism enables the inspection robot not to fall when the inspection robot travels on a power transmission line disturbed by wind and accidentally falls off, and guarantees the walking safety of the inspection robot along the line. In addition, the device can realize the real-time change of the overall pose by adjusting the length of the connecting rod, the position of the support and the height of the clamping wheel in the wire hanging working process, the walking wire attaching degree of the inspection robot under different gradients is improved, and the maximum gradeability of the inspection robot is improved.
本发明提出了一种实时可调的架空输电线飞走巡检机器人夹紧行走装置,装置包括第一夹紧轮台、第二夹紧轮台、侧连杆组件、推置主杆组件、滑轨推杆组件、支座滑轨、防坠机构,第一夹紧轮台固定安装于飞走巡检机器人上,第二夹紧轮台与侧连杆组件、推置主杆组件相连接,侧连杆组件、推置主杆组件可由滑轨推杆组件带动从而在支座滑轨内移动。防坠机构使得巡检机器人在受风扰动的输电线上行进时意外脱线也不会发生坠机,保证了巡检机器人的沿线行走安全。此外,该装置能够在挂线工作过程中通过调整连杆长度、支座位置及夹紧轮高度实现其整体位姿的实时改变,改善了巡检机器人在不同坡度下的行走贴线度并提升了巡检机器人的最大爬坡能力。
Real-time adjustable clamping walking device of power transmission line fly-away inspection robot
一种输电线飞走巡检机器人的实时可调式夹紧行走装置
2023-08-18
Patent
Electronic Resource
Chinese
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