一种三臂环形巡检机器人机构

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	一种三臂环形巡检机器人机构
	姜勇; 王洪光; 岳湘; 凌烈; 景凤仁; 孙鹏; 韩旭升; 郭敏; 何文进; 曾晓蕾
	2014-06-18
专利国别	中国
专利号	CN103862454A
专利类型	发明
产权排序	1
权利人	中国科学院沈阳自动化研究所 ; 都匀供电局
其他题名	Annular three-arm routing inspection robot mechanism
中文摘要	本发明涉及移动机器人机构，具体地说是一种三臂环形巡检机器人机构，包括前、下、后轮爪机构，前、下、后摇臂机构和中心轮，前、下、后摇臂机构的一端通过转动机构与中心轮连接，另一端分别与前、下、后摆臂的一端通过前、下、后俯仰机构转动连接，前、下、后摆臂的另一端通过回转机构与前、下、后轮爪机构转动连接，前、下、后轮爪机构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、下、后俯仰机构结构相同，包括转动副及驱动电机；前、下、后回转机构结构相同，包括转动副及驱动电机。本发明具有能够跨越引流线等复杂的障碍物能力，能够适应地线、导线等多种线路环境，具有结构简单，越障能力强，应用范围广等优点。
是否PCT专利	否
英文摘要	The invention relates to a mobile robot mechanism, in particular to an annular three-arm routing inspection robot mechanism. The annular three-arm routing inspection robot mechanism comprises front, lower and rear wheel claw mechanisms, front, lower, rear rocker arm mechanisms and a central wheel, wherein one end of each of the front, lower, rear rocker arm mechanisms is connected with the central wheel through a rotation mechanism, the other end of each of the front, lower, rear rocker arm mechanisms is respectively in rotary connection with one end of each of front, lower and rear rocker arms through front, lower and rear pitching mechanisms, the other end of each of the front, lower and rear rocker arms is in rotary connection with each of the front, lower and rear wheel claw mechanisms through a rotation mechanism, and a walking mechanism walking on a power transmission line and a clamping mechanism clamping the power transmission line are arranged at the other end of each of the front, lower and rear wheel claw mechanisms. The front, lower and rear pitching mechanisms are identical in structure and comprise revolute pairs and driving motors. The front, lower and rear rotation mechanisms are identical in structure and comprise revolute pairs and driving motors. The annular three-arm routing inspection robot mechanism has the advantages of having the capacity of crossing drainage wires and complicated obstacles, adapting to various wire environments of ground wires, lead wires and the like and being simple in structure, good in obstacle crossing ability, wide in application range and the like
公开日期	2015-12-16
申请日期	2012-12-07
语种	中文
专利申请号	CN201210529202.6
专利代理	沈阳科苑专利商标代理有限公司 21002
内容类型	专利
源URL	[http://ir.sia.cn/handle/173321/14861]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	姜勇,王洪光,岳湘,等. 一种三臂环形巡检机器人机构. CN103862454A. 2014-06-18.