A utility model relates to a full-space self-walking pin filling robot of a transmission line

With the increasing scale of China's transmission lines and their increasingly heavy maintenance tasks, the new pin robot can automatically identify the faulty pins in the transmission lines and automatically repair them. The special operating environment of the transmission line requires the pin robot to accurately locate the fault in a small space, and send the installer at the end of the robotic arm to the designated position, which is a great test for the volume, flexibility and accuracy of the robot. In this paper, a pin robot design scheme consisting of a coupling plate, a mobile platform, a remote control platform, an image recognition algorithm, and an automatic defect elimination manipulator arm with rotation and variable structure in the whole space is proposed. The robotic arm design of this scheme is composed of two rotating joints and three pitching joints, and the robotic arm can be folded and contracted together in the nonworking state, reducing the occupied space, which is convenient for the lifting operation of the transmission line, and can be operated in three-dimensional space without dead angle through joint rotation and large and small arm swing when entering the working state. The robotic arm is connected to the mobile platform by means of a coupling plate, which can patrol the transmission line and automatically identify and clear faults.