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一种双轮臂锁合型巡检机器人机构
其他题名Double-wheel-arm locking type inspection robot mechanism
王洪光; 何立波; 凌烈; 刘爱华; 景凤仁; 孙鹏
所属部门空间自动化技术研究室
专利权人中国科学院沈阳自动化研究所
专利代理人沈阳科苑专利商标代理有限公司 21002
授权国家中国
专利类型发明
专利状态有权
摘要本发明涉及巡检机器人,具体地说是一种行走在高压和超高压输电线路上、用于输电线路设施自动巡视和检测的双轮臂锁合型巡检机器人机构,包括两个安装在导轨座上,结构相同的前、后轮臂,每个轮臂均由行走越障机构、升降机构及回转机构组成,行走越障机构位于升降机构的顶端,回转机构的顶端与升降机构的下端连接、下端与导轨座固接,质心调节机构安装在导轨座上;行走越障机构构成封闭的空间,将导线封闭其中,起到安全保护作用;越障时,升降机构先使行走越障机构升高,越障机构的连接杆在开合电机的作用下分别转动,左右打开躲开障碍,从障碍的侧面通过,实现越障。本发明适应不同尺寸障碍物,具有越障能力强,安全性好等优点。
其他摘要The invention relates to an inspection robot and in particular relates to a double-wheel-arm locking type inspection robot mechanism which is capable of walking in a high pressure/ultrahigh pressure transmission line and is used for automatically inspecting and detecting transmission line facilities. The double-wheel-arm locking type inspection robot mechanism comprises front and back wheel arms which are mounted on a guide rail base and are of a same structure, wherein each wheel arm is composed of a walking obstacle-detouring mechanism, a lifting mechanism and a rotating mechanism the walking obstacle-detouring mechanisms are located at the tops of the lifting mechanisms the top ends of the rotating mechanisms are connected to the lower ends of the lifting mechanisms the lower ends of the rotating mechanisms are fixedly connected to the guide rail base a mass center adjusting mechanism is mounted on the guide rail base a space, which is enclosed by the walking obstacle-detouring mechanisms, is used for enclosing a lead, thereby achieving a safe protective function and at the obstacle-detouring moment, the walking obstacle-detouring mechanisms are lifted by the lifting mechanisms, the connecting rods of the walking obstacle-detouring mechanism rotate respectively under the action of an opening and closing motor, and the connecting rods are opened left and right so as toavoid an obstacle and pass by the side face of the obstacle, thereby realizing obstacle detouring. The double wheel arm locking type inspection robot mechanism is suitable for obstacles in different sizes and has the advantages of strong obstacle-detouring capacity, high safety, and the like.
PCT属性
申请日期2010-05-25
2011-11-30
授权日期2013-05-01
申请号CN201010185931.5
公开(公告)号CN102263389A
语种中文
产权排序1
文献类型专利
条目标识符http://ir.sia.cn/handle/173321/13432
专题空间自动化技术研究室
作者单位中国科学院沈阳自动化研究所
推荐引用方式
GB/T 7714
王洪光,何立波,凌烈,等. 一种双轮臂锁合型巡检机器人机构[P]. 2011-11-30.
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文件名: CN201010185931.5.pdf
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文件名: CN201010185931.5授权.pdf
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