The invention discloses a line patrol robot clamping walking mechanism based on force feedback and a control method thereof. Comprising an upper guide rail vertical rod and a lower guide rail vertical rod, the tail ends of the upper guide rail vertical rod and the lower guide rail vertical rod are mutually embedded, the free ends of the upper guide rail vertical rod and the lower guide rail vertical rod are vertically welded to an upper supporting cross rod and a lower supporting cross rod respectively, the tail end of the upper supporting cross rod is fixed to a main driving motor, the main driving motor is used for driving a large hub, and the lower supporting cross rod is connected with a small hub in a sleeved mode. A trapezoidal connecting plate is welded to the lower guide rail vertical rod at the midpoint position of the guide rail stroke, the trapezoidal connecting plate is connected with a lead screw sliding table, and the lead screw sliding table is driven by a linear mechanism; the linear mechanism comprises a lead screw motor; a force sensor is fixed in a rotating shaft of the small hub, and the line patrol robot master controller drives the lead screw motor to rotate according to received pressure data of the force sensor, so that the small hub moves up and down in the vertical direction to clamp a cable. According to the invention, the ability of the robot to autonomously resist external force interference is optimized, and the efficiency and intelligent degree of overhead line inspection work are improved.

    本发明公开了基于力反馈的巡线机器人夹持行走机构及其控制方法。包括末端相互嵌入的上导轨竖杆和下导轨竖杆,上导轨竖杆和下导轨竖杆的自由端分别垂直焊接上支撑横杆、下支撑横杆,上支撑横杆末端固定在主驱动电机,主驱动电机用于驱动大轮毂,下支撑横杆与小轮毂相套接,下导轨竖杆于导轨行程中点位置焊接梯形连接板,梯形连接板与丝杠滑台相连接,丝杠滑台通过直线机构驱动;所述直线机构包括丝杠电机;小轮毂的旋转轴内部固定力传感器,巡线机器人主控根据所接收到力传感器的压力数据,驱动丝杠电机转动从而使得小轮毂在竖直方向上下移动以夹紧线缆。本发明优化了机器人自主抵抗外力干扰的能力,提升了架空线路巡检工作的效率和智能化程度。


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    Title :

    Line patrol robot clamping and walking mechanism based on force feedback and control method of line patrol robot clamping and walking mechanism


    Additional title:

    基于力反馈的巡线机器人夹持行走机构及其控制方法


    Contributors:
    SONG AIGUO (author) / ZHANG YAOHUA (author) / JI QINJIE (author) / MIAO TIANYUAN (author) / SHANG KE (author) / CHEN DAPENG (author)

    Publication date :

    2024-12-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61B RAILWAY SYSTEMS , Eisenbahnanlagen / H02G INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES , Verlegen oder Installieren elektrischer Kabel oder Leitungen, Verlegen oder Installieren kombinierter optischer und elektrischer Kabel oder Leitungen



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