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一种适用于大档距输电线路巡检的移动机器人
Alternative TitleMobile robot being applicable to large span transmission line routing inspection
王洪光; 凌烈; 何立波; 孙鹏; 杨树权; 张宏志; 盛天宇; 王飞
Department空间自动化技术研究室
Rights Holder中国科学院沈阳自动化研究所 ; 辽宁省电力有限公司检修分公司 ; 国家电网公司
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权 权利转移
Abstract本发明涉及移动机器人机构,具体地说是一种适用于大档距输电线路巡检的移动机器人,包括前、后上臂,前、后下臂和电器箱体,其中前、后下臂的一端分别安装在电器箱体上,另一端分别与前、后上臂的一端通过前、后转动机构转动连接,前、后上臂的另一端设有在输电线上行走的行走机构及夹紧输电线的夹紧机构;前、后转动机构结构相同,包括转动副及弹簧,移动机器人两个上臂的一端通过转动副分别与移动机器人两个下臂的另一端转动连接,在移动机器人的上臂与下臂之间设有使上臂转动复位的弹簧。本发明具有爬坡角度大,防脱线、安全保护性好,越障时间短且越障过程简单,具有故障释放功能,应用范围较广等优点。
Other AbstractThe invention relates to a mobile robot structure, in particular to a mobile robot being applicable to large span transmission line routing inspection, which comprises a front upper arm, a rear upper arm, a front lower arm, a rear lower arm and an electrical appliance box body, wherein one ends of the front and the rear lower arms are respectively installed on the electrical appliance box body, the other ends of the front and the rear lower arms are respectively and rotatably connected with one ends of the front and the rear upper arms through a front and a rear rotation mechanisms, and the other ends of the front and the rear upper arms are respectively provided with a travelling mechanism which travels on a transmission line and a clamping mechanism which clamps the transmission line and the front and the rear rotation mechanisms have the same structure, and respectively comprise a rotation pair and a spring, one ends of the two upper arms of the mobile robot are respectively and rotatably connected with the other ends of the two lower arms of the mobile robot through the rotation pairs, and the springs which can rotatably reset the upper arms are arranged between the upper arms and the lower arms of the mobile robot. The mobile robot has the advantages of large climbing angel, off-line prevention, good safety protection, short obstacle navigation time, simple obstacle process, fault release function, wider application scope and the like.
PCT Attributes
Application Date2010-11-16
2012-05-23
Date Available2014-01-15
Application NumberCN201010545881.7
Open (Notice) NumberCN102468621A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/13433
Collection空间自动化技术研究室
Affiliation1.中国科学院沈阳自动化研究所
2.辽宁省电力有限公司检修分公司
3.国家电网公司
Recommended Citation
GB/T 7714
王洪光,凌烈,何立波,等. 一种适用于大档距输电线路巡检的移动机器人[P]. 2012-05-23.
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