Patent ID: 11868134
Assignee: JIANGNAN UNIVERSITY
Field: Control (Instruments)
Classification: CPC G  B  H | IPC B  G  H

Claim 0:
1. An obstacle navigation travelling device of a power line inspection robot, comprising:
a travelling device underframe;
a first arm assembly mounted on a first end of the travelling device underframe;
a first linear driving device for driving the first arm assembly to move linearly on the first end of the travelling device underframe;
a second arm assembly mounted on a second end of the travelling device underframe;
a second linear driving device for driving the second arm assembly to move linearly on the second end of the travelling device underframe;
a third arm assembly mounted on the travelling device underframe and positioned between the first arm assembly and the second arm assembly;
a third driving device for driving the third arm assembly to move linearly and two-dimensionally on the travelling device underframe; and
a sensor for detecting whether the obstacle navigation travelling device of the power line inspection robot encounters an obstacle during travelling;
wherein the first arm assembly, second arm assembly, and third arm assembly each comprises an elevating device at the bottom, a rotating device driven by the elevating device, and an arm driven by the rotating device, the rotating device is located in a plane during rotation that is parallel to an upper end face of the travelling device underframe, and
wherein the first linear driving device and the second linear driving device each comprises a device base, two screw seats, a motion motor, a motion screw, a motion guiderail and a motion platform; the screw seats are positioned on two ends of the device base respectively, the two ends of the motion screw are arranged inside the screw seats respectively, the motion motor is secured to the device base for driving the motion screw, and the motion platform is driven by the motion screw to slide on the motion guiderail.