CN109571405B - Intelligent inspection robot for underground cable network management - Google Patents
Intelligent inspection robot for underground cable network management Download PDFInfo
- Publication number
- CN109571405B CN109571405B CN201811523374.6A CN201811523374A CN109571405B CN 109571405 B CN109571405 B CN 109571405B CN 201811523374 A CN201811523374 A CN 201811523374A CN 109571405 B CN109571405 B CN 109571405B
- Authority
- CN
- China
- Prior art keywords
- lifting
- arm
- walking
- driven
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 230000000712 assembly Effects 0.000 claims abstract description 12
- 238000000429 assembly Methods 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 description 23
- 244000309464 bull Species 0.000 description 12
- 238000007726 management method Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000001931 thermography Methods 0.000 description 5
- 230000009194 climbing Effects 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses an intelligent inspection robot for underground cable network management, which comprises a machine body, wherein a binocular camera structure is arranged at the top of the machine body, working robot arm structures are arranged at two ends of the machine body, and a walking structure is arranged at the bottom of the machine body; the binocular camera shooting structure comprises two image acquisition assemblies, a left-right pitching adjusting mechanism, a front-back pitching adjusting mechanism and a lifting adjusting mechanism, wherein the upper part of the lifting adjusting mechanism is connected with the front-back pitching adjusting mechanism, the front-back pitching adjusting mechanism is connected with the left-right pitching adjusting mechanism, and the left-right pitching adjusting mechanism is connected with the two image acquisition assemblies; the walking structure comprises a walking driving mechanism and two pairs of triangular crawler walking mechanisms, the walking driving mechanism is arranged in the machine body, and the triangular crawler walking mechanisms are arranged at the two ends of the walking driving mechanism. The inspection robot is simple in structure, scientific and convenient, strong in pertinence, convenient to use, low in cost, simple to operate and easy to popularize, and can well solve the daily inspection problem of underground cable network management.
Description
Technical Field
The invention relates to the field of underground cable network management detection, in particular to an intelligent inspection robot for underground cable network management.
Background
With the acceleration of the modernization construction speed of cities, the requirements on limited land utilization and city beautification are higher and higher. In the face of increasingly tense greening landscape spaces and corresponding public resources, the creation of the most pleasant residential environment city becomes the primary task of urban development while planning urban development. The application of electricity makes people's life become rich and varied, but electric power overhead line and a large amount of supporting devices thereof bring serious influence to the beautiful living space in cities. Developed countries have successfully solved the contradiction between the electricity demand and the beautiful urban living environment, and successfully landed the overhead line and put the supporting facilities influencing the environment underground to form an underground distribution network, thereby returning the urban living environment which is green and environment-friendly to citizens.
The development of city modernization in China promotes the construction pace of underground cable tunnels, underground power distribution networks tend to be perfect in super-large cities such as Beijing, Shanghai, Guangzhou and the like, and the construction progress of cable tunnels is accelerated in large and medium-sized cities. At present, cable tunnels are divided into, according to their different cross-sections: the tunnel is characterized by long distance, complex terrain, high temperature, humidity, various types of cables and mutual crisscross. Due to the complex environment in tunnels, cables also often cause tunnel fires due to natural aging, corrosion, or bite by small animals. The cable needs to be operated safely for a long time, if potential safety hazards cannot be found and measures are taken as soon as possible, once a fire disaster happens to the cable, the cable must be spread quickly, the fire is violent, the cable is difficult to rescue, serious power failure accidents can be caused, the consequences are very serious, the repair work is difficult, and direct and indirect economic losses are huge.
At present, the detection of the cable in the tunnel is mainly carried out manually, and a large amount of heat is generated in the working process of the cable, and a large amount of dense smoke and harmful gas are released when the cable is ignited; in addition, due to the damage of natural disasters, some tunnels can have water seepage phenomena, which greatly endanger the safety and health conditions of operators. Therefore, the manual detection of the tunnel cable has high danger coefficient, low efficiency and poor operability.
In conclusion, with the gradual popularization of urban underground power grids, the detection of cable faults is bound to enter a high-occurrence period, so that urgent needs are brought to the development of the cable tunnel inspection robot.
In view of this, the invention provides an intelligent inspection robot for an underground cable network management.
Disclosure of Invention
The invention aims to provide an intelligent patrol robot for an underground cable network management, aiming at the defects of the prior art.
In order to solve the technical problems, the following technical scheme is adopted:
an intelligent inspection robot for underground cable network management comprises a machine body, wherein a binocular camera structure is arranged at the top of the machine body, working machine arm structures are arranged at two ends of the machine body, and a walking structure is arranged at the bottom of the machine body; the binocular camera shooting structure comprises two image acquisition assemblies, a left-right pitching adjusting mechanism, a front-back pitching adjusting mechanism and a lifting adjusting mechanism, wherein the lower part of the lifting adjusting mechanism is fixedly arranged in the machine body, the upper part of the lifting adjusting mechanism is connected with the front-back pitching adjusting mechanism, the front-back pitching adjusting mechanism is connected with the left-right pitching adjusting mechanism, and the left-right pitching adjusting mechanism is connected with the two image acquisition assemblies; the working machine arm structure comprises a working front arm, a working rear arm, working finger parts, an inter-arm connecting joint and an inter-finger connecting joint, wherein the working rear arm is connected to the machine body; the walking structure comprises a walking driving mechanism and two pairs of triangular crawler walking mechanisms, the walking driving mechanism is arranged in the machine body, and the triangular crawler walking mechanisms are arranged at the two ends of the walking driving mechanism.
Further, the lifting adjusting mechanism comprises a lifting adjusting main arm, a lifting telescopic arm, a lifting motor, a lifting lead screw nut, a lifting connecting seat, a lifting slider and a lifting slide rail, wherein the lifting adjusting main arm is fixedly installed in the machine body, the bottom of the lifting adjusting main arm is provided with the lifting motor, the lifting motor is connected with the lifting lead screw, the lifting lead screw is provided with the lifting lead screw nut, the lifting lead screw nut is connected with the lifting connecting seat, the lifting connecting seat is connected with the lifting telescopic arm, the two ends of the lifting telescopic arm are provided with the lifting slider, the lifting slider is connected with the lifting slide rail, the lifting slide rail is installed on the inner wall of the.
Further, the front-back pitching adjusting mechanism comprises a front-back pitching adjusting arm, a front-back pitching adjusting motor, a front-back pitching adjusting main shaft, a front-back pitching adjusting driven shaft, a front-back pitching adjusting driving gear and a front-back pitching adjusting driven gear, the front-back pitching adjusting motor is installed on the lifting telescopic arm, the front-back pitching adjusting main shaft is arranged at the output end of the front-back pitching adjusting motor, the front-back pitching adjusting driving gear is arranged at the end of the front-back pitching adjusting main shaft, the front-back pitching adjusting driving gear is connected with the front-back pitching adjusting driven gear, the front-back pitching adjusting driving gear is connected with the front-back.
Furthermore, the front and back every single move is adjusted the both ends of slave axis and is equipped with the planet wheel subassembly, the planet wheel subassembly includes a plurality of planet wheels, sun gear and external support, the middle part of sun gear is equipped with the sun gear hole, the sun gear hole is adjusted the slave axis phase-match with the front and back every single move, the outside meshing of sun gear is connected with a plurality of planet wheels, the planet wheel meshing is connected with external support, external support fixed connection is on the inner wall of front and back every single move regulating arm, external support's inside is equipped with the arc tooth, the arc tooth meshes with the outside tooth.
Further, control every single move adjustment mechanism includes the connecting rod, the apparatus further comprises a rotating shaft, first bull stick, every single move drive assembly about second bull stick and, the sub-unit connection front and back every single move regulating arm of connecting rod, the upper portion switching in the pivot of connecting rod, the both ends of pivot have changeed first bull stick and second bull stick respectively, left image acquisition subassembly is connected to first bull stick, the image acquisition subassembly on right side is connected to the second bull stick, every single move drive assembly is provided with two about, every single move drive assembly includes every single move drive assembly about first and second and controls every single move drive assembly, every single move drive assembly is the same with the structure of every single move drive assembly about the second, left image acquisition subassembly is connected to every single move drive assembly about first, every single move drive assembly is connected to the second and the image acquisition subassembly on right side.
Furthermore, the left-right pitching driving assembly comprises a left-right pitching driving cylinder, a piston rod and a connecting seat, the left-right pitching driving cylinder is fixedly mounted on the front-back pitching adjusting arm, the left-right pitching driving cylinder is connected with the piston rod, the piston rod is connected with the connecting seat, and the connecting seat is arranged at the lower part of the image acquisition assembly.
Further, the two image acquisition assemblies are a thermal infrared imager and a visible light high-definition camera, the thermal infrared imager is arranged on the left side of the left-right pitching adjusting mechanism, and the visible light high-definition camera is arranged on the right side of the left-right pitching adjusting mechanism.
Further, be equipped with control system in the organism, control system includes the industrial computer, camera control equipment, walking control equipment, operation robot arm control equipment, wireless communication equipment, alarm device and battery charging outfit, the industrial computer connects camera control equipment respectively, walking control equipment, operation robot arm control equipment, wireless communication equipment, alarm device and battery charging outfit, camera control equipment is equipped with and connects infrared thermal imager and visible light high definition camera, walking control equipment connects the walking structure, operation robot arm control equipment connects the operation robot arm, wireless communication equipment connects remote control center.
Further, the traveling driving mechanism comprises a driving motor, a speed reducer, a traveling output shaft, a driving bevel gear, a driven bevel gear and a driven output shaft, the driving motor is arranged in the machine body and connected with the speed reducer, the speed reducer is connected with the traveling output shaft, the driving bevel gear is arranged at the end part of the traveling output shaft and meshed with the driven bevel gear, the driven bevel gear is connected with the driven output shaft, and the two ends of the driven output shaft are connected with the triangular crawler traveling mechanism.
Further, the triangular crawler traveling mechanism comprises a driving traveling bottom wheel, a driven traveling upper wheel, a driven traveling middle wheel, a driven traveling lower wheel, a triangular crawler, a first connecting support, a second connecting support and a third connecting support, wherein the middle part of the driving traveling bottom wheel is connected with a driven output shaft, the front end of the driving traveling bottom wheel is connected with the first connecting support, the first connecting support is connected with the driven traveling lower wheel, the driven traveling lower wheel is connected with the second connecting support, the middle part of the second connecting support is connected with the driven traveling middle wheel, the upper part of the driven traveling middle wheel is connected with the driven traveling upper wheel, the driven traveling upper wheel is connected with the third connecting support, the third connecting support is connected with the driving traveling bottom wheel, and the outer circumferences of the driving traveling bottom wheel, the driven traveling upper wheel, the driven traveling middle wheel and the driven traveling lower wheel are connected with the triangular crawler.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to an intelligent inspection robot for underground cable network management, which has the advantages of simple structure, scientific convenience, strong pertinence, convenient use, low cost, simple operation and easy popularization, and can well solve the daily inspection problem of the underground cable network management.
Through setting up two mesh camera structures, when infrared thermal imaging system and visible light high definition camera need carry out the camera lens through elevating movement and adjust, drive the flexible arm of lift by lift adjustment mechanism and do elevating movement, realize infrared thermal imaging system, visible light high definition camera, about every single move adjustment mechanism and front and back every single move adjustment mechanism's elevating movement to make infrared thermal imaging system and visible light high definition camera can carry out whole lift. When the thermal infrared imager and the visible light high-definition camera need to perform lens adjustment through left-right pitching motion, the front-back pitching adjusting mechanism is driven by the front-back pitching adjusting motor to move, so that front-back pitching motion of the front-back pitching adjusting arm is realized, the thermal infrared imager and the visible light high-definition camera which are installed on the front-back pitching adjusting arm can perform front-back pitching motion, and the thermal infrared imager and the visible light high-definition camera can perform integral front-back pitching motion. When the thermal infrared imager and the visible light high-definition camera need to adjust lenses through left-right pitching movement, the left-right pitching driving cylinder is arranged to drive the thermal infrared imager and the visible light high-definition camera to realize left-right pitching movement, and therefore the thermal infrared imager and the visible light high-definition camera can perform integral left-right pitching movement. Therefore, the thermal infrared imager and the visible light high-definition camera can perform integral lifting, left-right pitching and front-back pitching motion, the shooting range of the thermal infrared imager and the visible light high-definition camera is enlarged, the thermal infrared imager and the visible light high-definition camera can shoot more suitable pictures, obstacles and detection objects in the network management of the underground cable can be identified, and the inspection robot can complete inspection work better.
Through the operation robotic arm structure, the operation robotic arm structure is provided with two, install respectively in the both ends of organism, after infrared thermal imaging appearance and visible light high definition camera confirm the detection target in the place ahead, accomplish specifically detection achievement by two operation robotic arm structure matchings, this operation robotic arm structure is equivalent to people's arm, the operation forearm is equivalent to the underarm of hand, the operation postbrachium is equivalent to the upper arm of hand, the finger portion of operation is equivalent to the finger of hand, the inside corresponding drive arrangement that all is equipped with of operation forearm, operation postbrachium, operation finger portion, make operation robotic arm structure accomplish corresponding detection achievement.
Through the running structure, two pairs of left and right triangular crawler running mechanisms move simultaneously under the drive of the running driving mechanism, the triangular crawler running mechanism is provided with a driving running bottom wheel, a driven running upper wheel, a driven running middle wheel and a driven running lower wheel, an eight-wheel structure is integrally formed, the motion stability of the inspection robot is improved, the inspection robot can conveniently complete the work of crossing obstacles, climbing slopes, climbing pits, crossing obstacles and the like in an underground cable network pipe, and the whole inspection work can be smoothly completed.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of an underground cable network management intelligent inspection robot in the embodiment of the invention;
FIG. 2 is a schematic diagram of the external structure of the connection between the pitch adjustment mechanism and the roll adjustment mechanism in an embodiment of the present invention;
FIG. 3 is a schematic diagram of an internal structure of the lifting adjusting mechanism according to the embodiment of the present invention;
FIG. 4 is a schematic structural view of a pitch adjustment mechanism in an embodiment of the present invention;
FIG. 5 is a schematic structural view of a planetary wheel assembly in an embodiment of the present invention;
FIG. 6 is a schematic structural view of a roll adjustment mechanism in an embodiment of the present invention;
FIG. 7 is a schematic view of the structure in the direction A of FIG. 6 according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a travel drive mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic structural view of a triangular crawler track unit according to an embodiment of the present invention;
FIG. 10 is a schematic illustration of a work machine arm configuration according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of a control system according to an embodiment of the present invention.
In the figure: 1-body; 2-a binocular camera structure; 3-a work machine arm structure; 4-a walking structure; 5-an image acquisition component; 6-left and right pitching adjusting mechanism; 7-pitch adjusting mechanism; 8-a lifting adjusting mechanism; 9-working forearm; 10-a working rear arm; 11-a working finger; 12-inter-arm connection joints; 13-interphalangeal joint; 14-a travel drive mechanism; 15-a triangular crawler belt walking mechanism; 16-lifting adjusting main arm; 17-lifting telescopic arm; 18-a lift motor; 19-lifting screw rod; 20-lifting screw rod nut; 21-a lifting connecting seat; 22-a lifting slide block; 23-lifting slide rails; 24-a pitch adjust arm; 25-pitch adjusting motor; 26-pitch adjusting main shaft; 27-pitch regulation from axis; 28-pitch adjustment drive gear; 29-pitch regulation driven gear; 30-a planet wheel assembly; 31-a planet wheel; 32-sun gear; 33-an outer scaffold; 34-sun gear hole; 35-arc teeth; 36-a connecting rod; 37-a rotating shaft; 38-a first rotating bar; 39-a second rotating rod; 40-infrared thermal imaging system; 41-visible light high definition camera; 42-pitching driving cylinder; 43-a piston rod; 44-a connecting seat; 45-driving the motor; 46-a speed reducer; 47-a walking output shaft; 48-drive bevel gear; 49-driven drive bevel gear; 50-a driven output shaft; 51-active walking bottom wheels; 52-driven upper running wheels; 53-driven walking middle wheel; 54-driven walking lower wheel; 55-a triangular crawler belt; 56-first connecting bracket; 57-a second connecting bracket; 58-third connecting bracket.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in figure 1, the intelligent patrol robot for the underground cable network management comprises a machine body, wherein a binocular camera structure 2 is arranged at the top of the machine body 1, working robot arm structures 3 are arranged at two ends of the machine body 1, and a walking structure 4 is arranged at the bottom of the machine body 1.
The binocular camera shooting structure 2 comprises two image acquisition assemblies 5, a left-right pitching adjusting mechanism 6, a front-back pitching adjusting mechanism 7 and a lifting adjusting mechanism 8, the lower portion of the lifting adjusting mechanism 8 is fixedly installed in the machine body 1, the upper portion of the lifting adjusting mechanism 8 is connected with the front-back pitching adjusting mechanism 7, the front-back pitching adjusting mechanism 7 is connected with the left-right pitching adjusting mechanism 6, and the left-right pitching adjusting mechanism 6 is connected with the two image acquisition assemblies 5.
Referring to fig. 10, the work machine arm structure 3 includes a work front arm 9, a work rear arm 10, a work finger 11, an inter-arm connecting joint 12, and an inter-finger connecting joint 13, the work rear arm 10 is connected to the machine body 1, the work rear arm 10 connects the inter-arm connecting joint 12, the inter-arm connecting joint 12 connects the work front arm 9, the work front arm 9 connects the inter-finger connecting joint 13, and the inter-finger connecting joint 13 connects the work finger 11. Through the working machine arm structure 3, the working machine arm structures 3 are provided with two working machine arm structures 3, the two working machine arm structures are respectively installed at two ends of the machine body 1, after the infrared thermal imager 40 and the visible light high-definition camera 41 confirm a detection target in front, the two working machine arm structures 3 are matched to complete specific detection work, the working machine arm structure 3 is equivalent to a human arm, the working front arm 9 is equivalent to a lower arm of a hand, the working rear arm 10 is equivalent to an upper arm of the hand, the working finger part 11 is equivalent to a finger of the hand, and corresponding driving devices are arranged inside the working front arm 9, the working rear arm 10 and the working finger part 11, so that the working machine arm structure 3 completes the corresponding detection work.
The traveling structure 4 includes a traveling driving mechanism 14 and two pairs of triangular crawler traveling mechanisms 15, the traveling driving mechanism 14 is disposed in the machine body 1, and the triangular crawler traveling mechanisms 15 are disposed at two ends of the traveling driving mechanism 14.
Specifically, in the embodiment of the present invention, referring to fig. 2 and 3, the lifting adjustment mechanism 8 includes a lifting adjustment main arm 16, a lifting telescopic arm 17, a lifting motor 18, a lifting screw 19, a lifting screw nut 20, a lifting connection seat 21, a lifting slider 22 and a lifting slide rail 23, the lifting adjustment main arm 16 is fixedly installed in the machine body 1, the bottom of the lifting adjustment main arm 16 is provided with the lifting motor 18, the lifting motor 18 is connected with the lifting screw 19, the lifting screw 19 is provided with the lifting screw nut 20, the lifting screw nut 20 is connected with the lifting connection seat 21, the lifting connection seat 21 is connected with the lifting telescopic arm 17, the two ends of the lifting telescopic arm 17 are provided with the lifting slider 22, the lifting slider 22 is connected with the lifting slide rail 23, the lifting slide rail 23 is installed on the inner wall of the lifting adjustment main arm 16. When the thermal infrared imager 40 and the visible light high-definition camera 41 need to perform lens adjustment through lifting movement, the lifting motor 18 drives the lifting screw rod 19 to perform high-speed rotating movement, the rotating movement of the lifting screw rod 19 is converted into linear movement of the lifting screw rod nut 20 under the action of the lifting screw rod 19 and the lifting screw rod nut 20, so as to drive the lifting connecting seat 21 to perform vertical lifting movement, the lifting telescopic arm 17 can perform lifting movement on the lifting adjusting main arm 16 under the sliding action of the lifting slider 22 and the lifting slide rail 23, and as the two image acquisition assemblies 5, the left and right pitching adjusting mechanisms 6 and the front and back pitching adjusting mechanisms 7 are all arranged on the lifting telescopic arm 17, the lifting adjustment of the thermal infrared imager 40 and the visible light high-definition camera 41 is realized, so that a robot can better take in-situ information in an underground cable network pipe, thereby help patrolling and examining the robot and accomplish the work of patrolling and examining better.
Specifically, in the embodiment of the present invention, referring to fig. 2 and 4, the pitch adjustment mechanism 7 includes a pitch adjustment arm 24, a pitch adjustment motor 25, a pitch adjustment spindle 26, a pitch adjustment driven shaft 27, a pitch adjustment driving gear 28, and a pitch adjustment driven gear 29, the pitch adjustment motor 25 is mounted on the telescopic arm 17, the pitch adjustment spindle 26 is provided at an output end of the pitch adjustment motor 25, the pitch adjustment driving gear 28 is provided at an end of the pitch adjustment spindle 26, the pitch adjustment driving gear 28 is connected to the pitch adjustment driven gear 29, the pitch adjustment driving gear 28 is connected to the pitch adjustment driven shaft 27, and both ends of the pitch adjustment driven shaft 27 are connected to the pitch adjustment arm 24.
Specifically, in the embodiment of the present invention, referring to fig. 5, the pitch adjusting slave shaft 27 is provided with a planet wheel assembly 30 at each end thereof, the planet wheel assembly 30 includes a plurality of planet wheels 31, a sun wheel 32 and an outer support 33, the sun wheel 32 is provided with a sun wheel hole 34 at the middle portion thereof, the sun wheel hole 34 is matched with the pitch adjusting slave shaft 27, the sun wheel 32 is externally connected with the plurality of planet wheels 31 in a meshing manner, the planet wheels 31 are connected with the outer support 33 in a meshing manner, the outer support 33 is fixedly connected to the inner wall of the pitch adjusting arm 24, the outer support 33 is internally provided with arc-shaped teeth 35, and the arc-shaped teeth 35 are meshed with the outer.
When the thermal infrared imager 40 and the visible light high definition camera 41 need to adjust the lens through the front and back pitching motion, the front and back pitching adjusting main shaft 26 is driven to rotate at a high speed by the front and back pitching adjusting motor 25, the front and back pitching adjusting driven shaft 27 is driven to rotate under the action of the front and back pitching adjusting driving gear 28 and the front and back pitching adjusting driven gear 29, and the front and back pitching adjusting arm 24 is driven to rotate under the action of the planetary gear assembly 30, so that the front and back pitching adjustment of the thermal infrared imager 40 and the visible light high definition camera 41 is realized, the inspection robot can conveniently and better take in-situ information in the underground cable network pipe, and the inspection robot can better complete the inspection work.
Specifically, in the embodiment of the present invention, the pitching adjusting mechanism 6 includes the connecting rod 36, the rotating shaft 37, first bull stick 38, second bull stick 39 and control every single move drive assembly, pitch adjusting arm 24 around the sub-unit connection of connecting rod 36, the upper portion of connecting rod 36 connects in pivot 37, the both ends of pivot 37 have connect first bull stick 38 and second bull stick 39 respectively in the commentaries on classics, left image acquisition subassembly 5 is connected to first bull stick 38, the image acquisition subassembly 5 on right side is connected to second bull stick 39, it is provided with two to control every single move drive assembly, control every single move drive assembly including first control every single move drive assembly and second control every single move drive assembly, every single move drive assembly and second control every single move drive assembly's structure the same, left image acquisition subassembly 5 is connected to first control every single move drive assembly, every single move drive assembly connects right image acquisition subassembly 5 on right side about the second.
Specifically, in the embodiment of the present invention, referring to fig. 6 and 7, the pitch driving assembly includes a pitch driving cylinder 42, a piston rod 43 and a connecting seat 44, the pitch driving cylinder 42 is fixedly mounted on the pitch adjusting arm 24, the pitch driving cylinder 42 is connected with the piston rod 43, the piston rod 43 is connected with the connecting seat 44, and the connecting seat 44 is disposed at the lower portion of the image capturing assembly 5.
When the thermal infrared imager 40 and the visible light high-definition camera 41 need to perform lens adjustment through left-right pitching movement, the left-right pitching driving cylinder 42 drives the piston rod 43 to perform telescopic linear movement, and the left-right pitching driving cylinder 42 and the piston rod 43 are provided with two cylinders, so that the lens adjustment can be performed independently when the thermal infrared imager 40 and the visible light high-definition camera 41 need to be performed through left-right pitching adjustment. When the left-right pitching driving cylinder 42 drives the piston rod 43 to do telescopic linear motion, the thermal infrared imager 40 and the visible light high-definition camera 41 rotate around the rotating shaft 37 under the action of the rotating shaft 37, the first rotating rod 38 and the second rotating rod 39, so that left-right pitching adjustment of the thermal infrared imager 40 and the visible light high-definition camera 41 is realized, the inspection robot can conveniently take in field information in an underground cable network better, and the inspection robot can be helped to finish inspection work better.
Specifically, in the embodiment of the present invention, referring to fig. 6 and 7, the two image capturing assemblies 5 are a thermal infrared imager 40 and a visible light high-definition camera 41, the thermal infrared imager 40 is disposed on the left side of the pitching adjusting mechanism 6, and the visible light high-definition camera 41 is disposed on the right side of the pitching adjusting mechanism 6.
Specifically, in the embodiment of the present invention, referring to fig. 11, a control system is disposed in the machine body 1, the control system includes an industrial personal computer, a camera control device, a walking control device, a working robot arm control device, a wireless communication device, an alarm device, and a charging device, the industrial personal computer is respectively connected to the camera control device, the walking control device, the working robot arm control device, the wireless communication device, the alarm device, and the charging device, the camera control device is connected to the thermal infrared imager 40 and the visible light high definition camera 41, the walking control device is connected to the walking structure 4, the working robot arm control device is connected to the working robot arm, and the wireless communication device is connected to the remote control center. Through setting up control system, the work of robot is patrolled and examined in overall control for receive remote control center's instruction, control camera controlgear, walking controlgear, operation robot arm controlgear make whole robot of patrolling and examining can develop work coordinately, accomplish the intraductal work of patrolling and examining of cable network.
Specifically, in the embodiment of the present invention, referring to fig. 8, the traveling driving mechanism 14 includes a driving motor 45, a speed reducer 46, a traveling output shaft 47, a driving bevel gear 48, a driven driving bevel gear 49, and a driven output shaft 50, the driving motor 45 is disposed in the machine body 1, the driving motor 45 is connected to the speed reducer 46, the speed reducer 46 is connected to the traveling output shaft 47, the driving bevel gear 48 is disposed at an end of the traveling output shaft 47, the driving bevel gear 48 is connected to the driving bevel gear 48 in a meshing manner, the driven driving bevel gear 49 is connected to the driven output shaft 50, and both ends of the driven output shaft 50 are connected to the triangular crawler traveling mechanism.
Specifically, in the embodiment of the present invention, referring to fig. 9, the triangular crawler travel mechanism 15 includes a driving bottom wheel 51, a driven upper wheel 52, a driven middle wheel 53, a driven lower wheel 54, a triangular crawler 55, a first connecting bracket 56, a second connecting bracket 57 and a third connecting bracket 58, the middle of the driving bottom wheel 51 is connected to the driven output shaft 50, the front end of the driving bottom wheel 51 is connected to the first connecting bracket 56, the first connecting bracket 56 is connected to the driven lower wheel 54, the driven lower wheel 54 is connected to the second connecting bracket 57, the middle of the second connecting bracket 57 is connected to the driven middle wheel 53, the upper portion of the driven middle wheel 53 is connected to the driven upper wheel 52, the driven upper wheel 52 is connected to the third connecting bracket 58, the third connecting bracket 58 is connected to the driving bottom wheel 51, the driven upper wheel 52, the driven middle wheel 53, The outer circumference of the driven running lower wheel 54 is connected with a triangular crawler belt 55.
Through the traveling structure 4, the left and right pairs of triangular crawler belt 55 traveling mechanisms 15 are driven by the traveling driving mechanism 14 to move simultaneously, the triangular crawler belt 55 traveling mechanisms 15 are provided with driving traveling bottom wheels 51, driven traveling upper wheels 52, driven traveling middle wheels 53 and driven traveling lower wheels 54, an eight-wheel structure is formed overall, the motion stability of the inspection robot is improved, the inspection robot can conveniently complete the work of obstacle crossing, slope climbing, pit climbing, obstacle crossing and the like in an underground cable network pipe, and the whole inspection work can be smoothly completed.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.
Claims (7)
1. The utility model provides an underground cable network management intelligence patrols and examines robot which characterized in that: the binocular camera shooting device comprises a machine body (1), wherein a binocular camera shooting structure (2) is arranged at the top of the machine body (1), working machine arm structures (3) are arranged at two ends of the machine body (1), and a walking structure (4) is arranged at the bottom of the machine body (1); the binocular camera shooting structure (2) comprises two image acquisition assemblies (5), a left-right pitching adjusting mechanism (6), a front-back pitching adjusting mechanism (7) and a lifting adjusting mechanism (8), the lower part of the lifting adjusting mechanism (8) is fixedly installed in the machine body (1), the upper part of the lifting adjusting mechanism (8) is connected with the front-back pitching adjusting mechanism (7), the front-back pitching adjusting mechanism (7) is connected with the left-right pitching adjusting mechanism (6), and the left-right pitching adjusting mechanism (6) is connected with the two image acquisition assemblies (5); the operation mechanical arm structure (3) comprises an operation front arm (9), an operation rear arm (10), operation finger parts (11), an inter-arm connecting joint (12) and an inter-finger connecting joint (13), wherein the operation rear arm (10) is connected to the machine body (1), the operation rear arm (10) is connected with the inter-arm connecting joint (12), the inter-arm connecting joint (12) is connected with the operation front arm (9), the operation front arm (9) is connected with the inter-finger connecting joint (13), and the inter-finger connecting joint (13) is connected with the operation finger parts (11); the walking structure (4) comprises a walking driving mechanism (14) and two pairs of triangular crawler walking mechanisms (15), the walking driving mechanism (14) is arranged in the machine body (1), and the triangular crawler walking mechanisms (15) are arranged at two ends of the walking driving mechanism (14);
the lifting adjusting mechanism (8) comprises a lifting adjusting main arm (16), a lifting telescopic arm (17), a lifting motor (18), a lifting screw rod (19), a lifting screw rod nut (20), a lifting connecting seat (21), a lifting slider (22) and a lifting slide rail (23), the lifting adjusting main arm (16) is fixedly installed in the machine body (1), the lifting motor (18) is arranged at the bottom of the lifting adjusting main arm (16), the lifting motor (18) is connected with the lifting screw rod (19), the lifting screw rod nut (20) is arranged on the lifting screw rod (19), the lifting screw rod nut (20) is connected with the lifting connecting seat (21), the lifting connecting seat (21) is connected with the lifting telescopic arm (17), the lifting sliders (22) are arranged at two ends of the lifting telescopic arm (17), and the lifting sliders (22) are connected with the lifting slide rail (23), the lifting slide rail (23) is mounted on the inner wall of the lifting adjusting main arm (16), and the lifting telescopic arm (17) is connected with the front-back pitching adjusting mechanism (7);
the pitching adjusting mechanism (7) comprises a pitching adjusting arm (24), a pitching adjusting motor (25), a pitching adjusting main shaft (26), a pitching adjusting driven shaft (27), a pitching adjusting driving gear (28) and a pitching adjusting driven gear (29), the front and back pitching adjusting motor (25) is arranged on the lifting telescopic arm (17), the output end of the pitching adjusting motor (25) is provided with a pitching adjusting main shaft (26), the end part of the front and back pitching adjusting main shaft (26) is provided with a front and back pitching adjusting driving gear (28), the front and back pitching adjusting driving gear (28) is connected with a front and back pitching adjusting driven gear (29), the pitch adjustment driving gear (28) is connected with the pitch adjustment driven shaft (27), the pitch adjustment slave shaft (27) is connected to the pitch adjustment arm (24) at both ends thereof;
the walking drive mechanism (14) comprises a drive motor (45), a speed reducer (46), a walking output shaft (47), a driving bevel gear (48), a driven bevel gear (49) and a driven output shaft (50), the drive motor (45) is arranged in the machine body (1), the drive motor (45) is connected with the speed reducer (46), the speed reducer (46) is connected with the walking output shaft (47), the end part of the walking output shaft (47) is provided with the driving bevel gear (48), the driving bevel gear (48) is meshed with the driven bevel gear (49), the driven bevel gear (49) is connected with the driven output shaft (50), and the two ends of the driven output shaft (50) are connected with the triangular crawler walking mechanism (15).
2. The intelligent inspection robot for underground cable network management according to claim 1, wherein: front and back every single move and adjust the both ends of follow axle (27) and be equipped with planetary wheel subassembly (30), planetary wheel subassembly (30) include a plurality of planet wheel (31), sun gear (32) and external support (33), the middle part of sun gear (32) is equipped with sun gear hole (34), sun gear hole (34) with front and back every single move and adjust from axle (27) phase-match, sun gear (32) outside meshing is connected with a plurality of planet wheel (31), planet wheel (31) meshing is connected with external support (33), external support (33) fixed connection in on the inner wall of front and back every single move regulation arm (24), the inside of external support (33) is equipped with arc tooth (35), arc tooth (35) with the outside tooth looks meshing of planet wheel (31).
3. The intelligent inspection robot for underground cable network management according to claim 1, wherein: the left and right pitching adjusting mechanism (6) comprises a connecting rod (36), a rotating shaft (37), a first rotating rod (38), a second rotating rod (39) and left and right pitching driving components, the lower part of the connecting rod (36) is connected with the front and back pitching adjusting arms (24), the upper part of the connecting rod (36) is connected with the rotating shaft (37) in a rotating way, the two ends of the rotating shaft (37) are respectively connected with the first rotating rod (38) and the second rotating rod (39) in a rotating way, the first rotating rod (38) is connected with the left image acquisition component (5), the second rotating rod (39) is connected with the right image acquisition component (5), the left and right pitching driving components are provided with two parts, the left and right pitching driving components comprise a first left and right pitching driving component and a second left and right pitching driving component, the structures of the first left and right pitching driving component and the second left and right pitching driving component, the first left-right pitching driving assembly is connected with an image acquisition assembly (5) on the left side, and the second left-right pitching driving assembly is connected with an image acquisition assembly (5) on the right side.
4. The intelligent inspection robot for underground cable network management according to claim 3, wherein: the left and right pitching driving assembly comprises a left and right pitching driving cylinder (42), a piston rod (43) and a connecting seat (44), the left and right pitching driving cylinder (42) is fixedly installed on the front and back pitching adjusting arm (24), the left and right pitching driving cylinder (42) is connected with the piston rod (43), the piston rod (43) is connected with the connecting seat (44), and the connecting seat (44) is arranged at the lower part of the image acquisition assembly (5).
5. The intelligent inspection robot for underground cable network management according to claim 3, wherein: the two image acquisition assemblies (5) are a thermal infrared imager (40) and a visible light high-definition camera (41), the thermal infrared imager (40) is arranged on the left side of the left-right pitching adjusting mechanism (6), and the visible light high-definition camera (41) is arranged on the right side of the left-right pitching adjusting mechanism (6).
6. The intelligent inspection robot for underground cable network management according to claim 5, wherein: the intelligent robot is characterized in that a control system is arranged in the machine body (1), the control system comprises an industrial personal computer, a camera shooting control device, a walking control device, an operation robot arm control device, a wireless communication device, an alarm device and a charging device, the industrial personal computer is respectively connected with the camera shooting control device, the walking control device, the operation robot arm control device, the wireless communication device, the alarm device and the charging device, the camera shooting control device is connected with an infrared thermal imager (40) and a visible light high-definition camera (41), the walking control device is connected with a walking structure (4), the operation robot arm control device is connected with the operation robot arm, and the wireless communication device is connected with a remote control center.
7. The intelligent inspection robot for underground cable network management according to claim 1, wherein: the triangular crawler traveling mechanism (15) comprises a driving traveling bottom wheel (51), a driven traveling upper wheel (52), a driven traveling middle wheel (53), a driven traveling lower wheel (54), a triangular crawler (55), a first connecting support (56), a second connecting support (57) and a third connecting support (58), the middle part of the driving traveling bottom wheel (51) is connected with the driven output shaft (50), the front end of the driving traveling bottom wheel (51) is connected with the first connecting support (56), the first connecting support (56) is connected with the driven traveling lower wheel (54), the driven traveling lower wheel (54) is connected with the second connecting support (57), the middle part of the second connecting support (57) is connected with the driven traveling middle wheel (53), the upper part of the driven traveling middle wheel (53) is connected with the driven traveling upper wheel (52), and the driven traveling upper wheel (52) is connected with the third connecting support (58), the third connecting bracket (58) is connected with the driving walking bottom wheel (51), and the outer circumferences of the driving walking bottom wheel (51), the driven walking upper wheel (52), the driven walking middle wheel (53) and the driven walking lower wheel (54) are connected with the triangular crawler belt (55).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811523374.6A CN109571405B (en) | 2018-12-13 | 2018-12-13 | Intelligent inspection robot for underground cable network management |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811523374.6A CN109571405B (en) | 2018-12-13 | 2018-12-13 | Intelligent inspection robot for underground cable network management |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109571405A CN109571405A (en) | 2019-04-05 |
| CN109571405B true CN109571405B (en) | 2021-06-18 |
Family
ID=65928436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811523374.6A Active CN109571405B (en) | 2018-12-13 | 2018-12-13 | Intelligent inspection robot for underground cable network management |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109571405B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065046A (en) * | 2019-05-17 | 2019-07-30 | 北京深醒科技有限公司 | A kind of staircase patrol Lun Zu robot |
| CN112092936A (en) * | 2020-08-28 | 2020-12-18 | 湖北中科网络科技股份有限公司 | Omnidirectional movement intelligence parking robot |
| CN112091958B (en) * | 2020-09-09 | 2021-07-27 | 深圳市智美高科技有限公司 | Intelligent robot transmission mechanism |
| CN113092494B (en) * | 2021-03-25 | 2022-07-22 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
| CN113618705B (en) * | 2021-08-11 | 2022-08-12 | 山东通广电子有限公司 | Intelligent inspection robot |
| CN114227640A (en) * | 2022-03-01 | 2022-03-25 | 湖南工商大学 | Intelligent inspection robot for cable tunnel |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004301665A (en) * | 2003-03-31 | 2004-10-28 | Toshiba Plant Systems & Services Corp | Wall surface inspection robot system and wall surface inspection method |
| CN204472826U (en) * | 2015-03-19 | 2015-07-15 | 华东交通大学 | The upper rail car of a kind of delivery of the intelligence based on mechanical-electrical-hydraulic integration |
| CN105479457A (en) * | 2016-01-16 | 2016-04-13 | 芜湖安普机器人产业技术研究院有限公司 | Posture adjustment mechanism for articulated manipulator |
| CN206802990U (en) * | 2017-05-19 | 2017-12-26 | 张桂丽 | A kind of energy-saving lawn lamp with photovoltaic generation function |
| CN107775657A (en) * | 2017-12-01 | 2018-03-09 | 成都宸鸿科技有限公司 | A kind of explosion-proof wheeled patrol machine device people based on machine vision |
| CN108024089A (en) * | 2016-10-31 | 2018-05-11 | 深圳市朗驰欣创科技股份有限公司 | A kind of portable monitoring robot and combination box |
| CN207757630U (en) * | 2017-11-29 | 2018-08-24 | 晋江市速龙电子科技有限公司 | A kind of security protection crusing robot with moisture-proof function that moving range is wide |
| US10100968B1 (en) * | 2017-06-12 | 2018-10-16 | Irobot Corporation | Mast systems for autonomous mobile robots |
| CN108908284A (en) * | 2018-07-27 | 2018-11-30 | 中国科学院自动化研究所 | Packaged type obstacle detouring hot line robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717941A (en) * | 2017-10-17 | 2018-02-23 | 深圳供电局有限公司 | A kind of geared cable ditch inspection operation Multifunctional mobile robot |
-
2018
- 2018-12-13 CN CN201811523374.6A patent/CN109571405B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004301665A (en) * | 2003-03-31 | 2004-10-28 | Toshiba Plant Systems & Services Corp | Wall surface inspection robot system and wall surface inspection method |
| CN204472826U (en) * | 2015-03-19 | 2015-07-15 | 华东交通大学 | The upper rail car of a kind of delivery of the intelligence based on mechanical-electrical-hydraulic integration |
| CN105479457A (en) * | 2016-01-16 | 2016-04-13 | 芜湖安普机器人产业技术研究院有限公司 | Posture adjustment mechanism for articulated manipulator |
| CN108024089A (en) * | 2016-10-31 | 2018-05-11 | 深圳市朗驰欣创科技股份有限公司 | A kind of portable monitoring robot and combination box |
| CN206802990U (en) * | 2017-05-19 | 2017-12-26 | 张桂丽 | A kind of energy-saving lawn lamp with photovoltaic generation function |
| US10100968B1 (en) * | 2017-06-12 | 2018-10-16 | Irobot Corporation | Mast systems for autonomous mobile robots |
| CN207757630U (en) * | 2017-11-29 | 2018-08-24 | 晋江市速龙电子科技有限公司 | A kind of security protection crusing robot with moisture-proof function that moving range is wide |
| CN107775657A (en) * | 2017-12-01 | 2018-03-09 | 成都宸鸿科技有限公司 | A kind of explosion-proof wheeled patrol machine device people based on machine vision |
| CN108908284A (en) * | 2018-07-27 | 2018-11-30 | 中国科学院自动化研究所 | Packaged type obstacle detouring hot line robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109571405A (en) | 2019-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109571405B (en) | Intelligent inspection robot for underground cable network management | |
| CN203092545U (en) | Transformer station live working robot | |
| WO2020134187A1 (en) | Mining workface inspection robot and application thereof | |
| CN104998850B (en) | Electrification water washing robot system of transformer substation and method | |
| CN103056866B (en) | Transformer station's hot line robot | |
| CN105014674B (en) | Current conversion station living water washing robot system and method | |
| CN101774170B (en) | Nuclear power plant working robot and control system thereof | |
| CN105090698B (en) | 360 degree of panoramas gather robot device | |
| CN104816300A (en) | Swing arm type track explosive-handling robot and walking method thereof | |
| CN109303994A (en) | A kind of fire inspection firefighting robot and its working method | |
| CN104998848B (en) | Living water washing robot of rail mounted transformer station | |
| CN102849140B (en) | Multi-moving-mode bionic moving robot | |
| CN204170998U (en) | A kind of living water washing robot of transformer station that can accurately rinse | |
| CN105500337A (en) | Comprehensive pipe gallery inspection robot | |
| CN214930218U (en) | All-terrain mechanical dog of transformer substation | |
| CN205123014U (en) | Transformer substation with tour device | |
| CN204339774U (en) | A kind of bioaerosol monitoring robot | |
| CN205037040U (en) | 360 robot device is gathered to degree panorama | |
| CN212569979U (en) | Tunnel guide rail traveling fire-fighting robot system | |
| CN211417440U (en) | Earthquake rescue robot | |
| CN105014651A (en) | Transformer substation live washing robot and method | |
| CN106585759A (en) | Novel mobile type double-arm robot | |
| CN105724193B (en) | A kind of sun-generated electric power vehicle of electronic sprinkler with reel | |
| CN104999449A (en) | Electrified water washing robot of wheel type substation | |
| CN204278028U (en) | Current conversion station living water washing robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An Intelligent Inspection Robot for Underground Cable Network Management Effective date of registration: 20231011 Granted publication date: 20210618 Pledgee: Guotou Taikang Trust Co.,Ltd. Pledgor: Hangzhou Shenhao Technology Co.,Ltd. Registration number: Y2023980060509 |