CN101104265A - Arm hanging type high voltage transmission line detecting robot - Google Patents

Arm hanging type high voltage transmission line detecting robot Download PDF

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Publication number
CN101104265A
CN101104265A CNA2007100559307A CN200710055930A CN101104265A CN 101104265 A CN101104265 A CN 101104265A CN A2007100559307 A CNA2007100559307 A CN A2007100559307A CN 200710055930 A CN200710055930 A CN 200710055930A CN 101104265 A CN101104265 A CN 101104265A
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CN
China
Prior art keywords
arm
bar
screw
flute profile
hinged
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CNA2007100559307A
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Chinese (zh)
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CN100488733C (en
Inventor
姜生元
焦宏章
李建永
叶锐汉
许飞
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北华大学
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Priority to CNB2007100559307A priority Critical patent/CN100488733C/en
Publication of CN101104265A publication Critical patent/CN101104265A/en
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Publication of CN100488733C publication Critical patent/CN100488733C/en

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Abstract

The invention relates to the technical field of robots, in particular to a hanging-arm robot for high-voltage wire detection. The invention comprises a body, three hanging arms, two clamping mechanisms, a walking drive mechanism and an over-obstacle drive mechanism, wherein the three hanging arms and the two clamping mechanisms are of the same structures; the clamping mechanisms can enable the synchronized clamping and detachment of clamping wheels and walking wheels; if the walking drive mechanism is driven by a motor, the walking drive mechanism can enable the walking wheels to walk on the high-voltage wire; if the over-obstacle drive mechanism is driven by a motor, the over-obstacle drive mechanism can enable one of the three walking wheels to detach the high-voltage wire through a clutch to walk over obstacles by turns. When the hanging arm moves up and backward to enable the walking wheels to walk over obstacles on the high-voltage wire, the balance mechanism of the hanging arm can make the center of gravity of the robot unchanged by removing a battery case reversely. The invention has the advantages of simple structure, low manufacturing and maintaining cost, good stability in maneuverability in crossing an obstacle and in walking, high reliability, and suitableness for long-distance operation.

Description

Arm hanging type high voltage transmission line detecting robot
Technical field
The present invention relates to the Robotics field, is a kind of arm hanging type high voltage transmission line detecting robot that can independently walk on high-voltage line.
Background technology
The Chinese invention patent ublic specification of application, publication number CN1619323A discloses a kind of " robot for automatic polling high-voltage transmission line monomer ", and it mainly comprises: the walking driving mechanism that makes driving wheel walk on high voltage transmission line and form by transmission mechanism by main motor; The barrier getting over mechanism that the displacement of the relative back folding of folding arm arm was formed before engagement made with trapezoidal nut by the folding screw rod by the folding motor; Connect to form driving wheel by the actuating arm lifting motor by lifting screw and lifting gripper shoe and break away from the high voltage power transmission line mechanism; Have to contact with high voltage transmission line to have cooperated at high voltage transmission line and support and the supporting wheel systems and the supporting wheel systems elevating mechanism of braking action; The supporting wheel systems elevating mechanism is connected with forearm lifting gripper shoe by the forearm lifting screw by the forearm lifting motor; forearm lifting gripper shoe is contained in the forearm lifting supporting seat; hinged support wheel supporting plate on forearm lifting supporting seat, is equipped with supporting wheel systems and forms on the support wheel supporting plate.Usually the robot that is connected by three combination of monomers of robot for automatic polling high-voltage transmission line patrols and examines operation.Its weak point is a complex structure, makes and the maintenance cost height, and obstacle detouring mobility is poor, and reliability is low.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of simple in structure, manufacturing and maintenance cost are low, and obstacle detouring mobility is good, reliability is high, are fit to long arm hanging type high voltage transmission line detecting robot apart from operation.
Solving technical scheme that its technical problem adopts is: a kind of arm hanging type high voltage transmission line detecting robot is characterized in that it comprises body 7, arm 1a, arm 2b, arm 3c, clamp mechanism, walking driving mechanism and obstacle detouring driving mechanism;
The structure of described arm 1a, 2b, 3c is identical, its structure is, road wheel 11 is connected with axle 14a, axle 14a and axle sleeve 12a constitute revolute pair, and axle sleeve 12a and arm plate 10 upper ends are connected, and axle 18b and axle sleeve 31b constitute revolute pair, axle sleeve 31b and arm plate 10 middle and upper parts are connected, the middle and lower part of arm plate 10 places between flute profile cam 30a and the flute profile cam 29b, and directive wheel 28 is hinged with the middle and lower part of arm plate 10 by bearing pin 27, and directive wheel 28 is contained in the groove of flute profile cam 30a and flute profile cam 29b; The lower end of arm plate 10 and slide block 25 upper ends are hinged, slide block 25 constitutes moving sets with flute profile cam 30a and flute profile cam 29b, the upper end of bar 40a and bar 41b is all hinged with slide block 25 lower ends, the lower end of bar 40a and bar 41b is hinged with the upper end of bar 42c and bar 43d respectively, bar 42c and bar 43d are hinged at two bar centers, the lower end of bar 42c and bar 43d is hinged with screw 34a and screw 35b respectively, screw 34a and screw 35b and leading screw 33 constitute screw pair, screw 34a and screw 35b and screw slideway 39 constitute moving sets, screw slideway 39 is connected with body 7, the two ends of leading screw 33 and bearing 32c constitute revolute pair, bearing 32c and body 7 are connected, sprocket wheel 13 is connected with axle 14a, and sprocket wheel 17b and axle 18b are connected, and sprocket wheel 13a is connected with sprocket wheel 17b, helical gear 16a and axle 18b are connected, helical gear 16a and the helical gear 46b that is connected on the walking power transmission shaft 8 constitute gear pair, and flute profile cam 30a and flute profile cam 29b and bearing 26a are connected, and bearing 26a and body 7 are connected;
Described clamp mechanism has the identical structure of two covers, be installed in respectively on arm 1a and the arm 3c, its structure is, pinch wheels 5 constitutes revolute pairs with clamping wheel shaft 4, the rear end and the arm plate 10 that clamp wheel shaft 4 are hinged, the upper end that clamps pull bar 6 is hinged with the middle part that clamps wheel shaft 4, and it is hinged to clamp pull bar 6 lower ends and flute profile cam 30a;
The structure of described walking driving mechanism is, movable motor 49 is connected with body 7, sprocket wheel 9c and movable motor 49 output shaft fixed connections, sprocket wheel 47d is connected with walking power transmission shaft 8, sprocket wheel 9c is connected with sprocket wheel 47d, walking power transmission shaft 8 passes the flute profile cam of three arms, constitutes revolute pair with the flute profile cam, three helical gear 46b that are connected on the walking power transmission shaft 8 respectively with arm on three helical gear 16a engagements;
The structure of described obstacle detouring driving mechanism is, obstacle detouring motor 45 is connected with body 7, obstacle detouring motor 45 output shafts and obstacle detouring power transmission shaft 19 are connected, obstacle detouring power transmission shaft 19 constitutes revolute pair with bearing 44b, bearing 44b and body 7 are connected, three clutches 20 are housed on the obstacle detouring power transmission shaft, the drive end of clutch 20 and obstacle detouring power transmission shaft 19 are connected, the Partner of clutch 20 and obstacle detouring power transmission shaft 19 constitute revolute pair, the Partner of each clutch 20 spur gear 21b that is connected, spur gear 21b and the spur gear 22a engagement that is fixed on the leading screw 33;
The structure of described arm balanced controls is, cam 36 is connected with screw 34a, and cam follower 37 is connected with battery case 24, back-moving spring 38 1 ends and battery case 24 are connected, the other end and body 7 are connected, and battery case slideway 23 is connected with body 7, match with battery case slideway 23 in the lower end of battery case 24;
The beneficial effect of arm hanging type high voltage transmission line detecting robot of the present invention is: this robot is by two motor-driven, can realize walking and cross over various annexes on the high-voltage line, by clamp mechanism and cam mechanism, can improve robot stability in the process of walking, have simple in structure, manufacturing and maintenance cost are low, and obstacle detouring mobility is good, reliability is high, are fit to long apart from advantages such as operations.
Description of drawings
Fig. 1 is an arm hanging type high voltage transmission line detecting robot structural upright schematic diagram.
Fig. 2 is an obstacle detouring driving mechanism schematic diagram.
Fig. 3 is the boom structure schematic perspective view.
Fig. 4 is arm balanced controls schematic perspective views.
Among the figure: the 1a-arm, the 2b-arm, the 3c-arm, 4-clamps wheel shaft, 5-pinch wheels, 6-clamps pull bar, 7-body, the 8-power transmission shaft of walking, 9c-sprocket wheel, 10-arm plate, 11-road wheel, 12a-axle sleeve, 13a-sprocket wheel, the 14a-axle, 15b-chain, 16a-helical gear, 17b-sprocket wheel, the 18b-axle, 19-obstacle detouring power transmission shaft, 20-clutch, 21b-spur gear, the 22a-spur gear, 23-battery case slideway, 24-battery case, 25-slide block, the 26a-bearing, 27-bearing pin, 28-directive wheel, 29b-flute profile cam, 30a-flute profile cam, 31b-axle sleeve, 32c-bearing, 33-leading screw, the 34a-screw, 35b-screw, 36-cam, 37-cam follower, the 38-back-moving spring, 39-screw slideway, 40a-bar, 41b-bar, the 42c-bar, 43d-bar, 44b-bearing, 45-obstacle detouring motor, the 46b-helical gear, 47d-sprocket wheel, 48a-chain, 49-movable motor.
The specific embodiment
The utility model is described in further detail to utilize embodiment shown in the drawings below.
With reference to Fig. 1, arm hanging type high voltage transmission line detecting robot is made up of body 7, arm 1a, arm 2b, arm 3c, clamp mechanism, walking driving mechanism, obstacle detouring driving mechanism and arm balanced controls.
With reference to Fig. 1 and 3, the structure of described arm 1a, 2b, 3c is identical, its structure is, road wheel 11 is connected with axle 14a, axle 14a and axle sleeve 12a constitute revolute pair, axle sleeve 12a and arm plate 10 upper ends are connected, axle 18b and axle sleeve 31b constitute revolute pair, axle sleeve 31b and arm plate 10 middle and upper parts are connected, the middle and lower part of arm plate 10 places between flute profile cam 30a and the flute profile cam 29b, directive wheel 28 is hinged with the middle and lower part of arm plate 10 by bearing pin 27, and directive wheel 28 is contained in the groove of flute profile cam 30a and flute profile cam 29b; The lower end of arm plate 10 and slide block 25 upper ends are hinged, slide block 25 constitutes moving sets with flute profile cam 30a and flute profile cam 29b, the upper end of bar 40a and bar 41b is all hinged with slide block 25 lower ends, the lower end of bar 40a and bar 41b is hinged with the upper end of bar 42c and bar 43d respectively, bar 42c and bar 43d are hinged at two bar centers, the lower end of bar 42c and bar 43d is hinged with screw 34a and screw 35b respectively, screw 34a and screw 35b and leading screw 33 constitute screw pair, screw 34a and screw 35b and screw slideway 39 constitute moving sets, screw slideway 39 is connected with body 7, the two ends of leading screw 33 and bearing 32c constitute revolute pair, bearing 32c and body 7 are connected, sprocket wheel 13 is connected with axle 14a, and sprocket wheel 17b and axle 18b are connected, and sprocket wheel 13a is connected by chain 15b with sprocket wheel 17b, helical gear 16a and axle 18b are connected, helical gear 16a and the helical gear 46b that is connected on the walking power transmission shaft 8 constitute gear pair, and flute profile cam 30a and flute profile cam 29b and bearing 26a are connected, and bearing 26a and body 7 are connected.
With reference to Fig. 1, described clamp mechanism has the identical structure of two covers, be installed in respectively on arm 1a and the arm 3c, its structure is, pinch wheels 5 constitutes revolute pairs with clamping wheel shaft 4, the rear end and the arm plate 10 that clamp wheel shaft 4 are hinged, and the upper end that clamps pull bar 6 is hinged with the middle part that clamps wheel shaft 4, and it is hinged to clamp pull bar 6 lower ends and flute profile cam 30a.
With reference to Fig. 1 and 3, the structure of described walking driving mechanism is, movable motor 49 is connected with body 7, sprocket wheel 9c and movable motor 49 output shaft fixed connections, sprocket wheel 47d is connected with walking power transmission shaft 8, and sprocket wheel 9c is connected by chain 48a with sprocket wheel 47d, and walking power transmission shaft 8 passes the flute profile cam of three arms, constitute revolute pair with the flute profile cam, three helical gear 46b that are connected on the walking power transmission shaft 8 respectively with arm on three helical gear 16a engagements.
With reference to Fig. 2 and 3, the structure of described obstacle detouring driving mechanism is, obstacle detouring motor 45 is connected with body 7, obstacle detouring motor 45 output shafts and obstacle detouring power transmission shaft 19 are connected, obstacle detouring power transmission shaft 19 constitutes revolute pair with bearing 44b, bearing 44b and body 7 are connected, three clutches 20 are housed on the obstacle detouring power transmission shaft, the drive end of clutch 20 and obstacle detouring power transmission shaft 19 are connected, the Partner of clutch 20 and obstacle detouring power transmission shaft 19 constitute revolute pair, the Partner of each clutch 20 spur gear 21b that is connected, spur gear 21b and the spur gear 22a engagement that is fixed on the leading screw 33.
With reference to Fig. 1 and 4, the structure of described arm balanced controls is, cam 36 is connected with screw 34a, cam follower 37 is connected with battery case 24, back-moving spring 38 1 ends and battery case 24 are connected, the other end and body 7 are connected, and battery case slideway 23 is connected with body 7, match with battery case slideway 23 in the lower end of battery case 24.
The arm hanging type high voltage transmission line detecting robot course of work of the present invention is:
When the movable motor 49 of walking driving mechanism drives, sprocket wheel 9c on movable motor 49 output shafts rotates by chain 48a drive sprocket 47d, walking power transmission shaft 8 in the flute profile cam that is threaded onto three arms is rotated, because of three the helical gear 46bs of walking on the power transmission shaft 8 respectively with arm on three helical gear 16a engagements, sprocket wheel 17b on the coaxial 18b of helical gear 16a drives axle 14a by chain 15b and rotates, and the road wheel 11 on the axle 14a is walked at high voltage transmission line.
When the needs obstacle detouring, drive the obstacle detouring motor 45 of obstacle detouring driving mechanism, obstacle detouring motor 45 drives obstacle detouring power transmission shaft 19 and rotates, three clutches 20 are housed on the obstacle detouring power transmission shaft 19, the spur gear 21b that clutch 20 is separately controlled respectively separately rotates, by spur gear 22a leading screw 33 is rotated again with spur gear 21b engagement, screw 34a on the leading screw 33 and screw 35b are along leading screw 33 displacements, by with screw 34a, the bar 42c that 35b is hinged, 43d, with bar 42c, the bar 40a that 43d is hinged, 41b, make arm plate 10 and on directive wheel 28 along flute profile cam 30a, the groove of 29b moves, make one of them road wheel 11 of three road wheels 11 break away from high voltage transmission line, realize alternately obstacle detouring.
Arm hanging type high voltage transmission line detecting robot of the present invention is provided with clamp mechanism, pinch wheels 5 and road wheel 11 clamped synchronously or separates synchronously.
Arm hanging type high voltage transmission line detecting robot of the present invention is provided with the arm balanced controls, when move when making road wheel 11 break away from the high voltage transmission line obstacle detourings at the arm rear that makes progress, move after the center of gravity of robot, for keeping center of gravity constant, make progress when the rear moves at arm, cam 36 moves forward, and cam follower 37 drives battery case 24 reaches, and the center of gravity of robot is remained unchanged; When arm playbacks road wheel 11 is placed on the high voltage transmission line, back-moving spring 38 makes battery case 24 return to original position.
Arm hanging type high voltage transmission line detecting robot of the present invention detects on probation through simulated experiment with on high voltage transmission line, obtain promising result, smooth running, obstacle detouring freely, every technical indicator all reaches designing requirement.

Claims (2)

1. arm hanging type high voltage transmission line detecting robot, it is characterized in that: it comprises body (7), arm (1a), arm (2b), arm (3c), clamp mechanism, walking driving mechanism and obstacle detouring driving mechanism;
Described arm (1a, 2b, structure 3c) is identical, its structure is, road wheel (11) is connected with axle (14a), axle (14a) constitutes revolute pair with axle sleeve (12a), axle sleeve (12a) is connected with arm plate (10) upper end, axle (18b) constitutes revolute pair with axle sleeve (31b), axle sleeve (31b) is connected with arm plate (10) middle and upper part, the middle and lower part of arm plate (10) places between flute profile cam (30a) and the flute profile cam (29b), directive wheel (28) is hinged with the middle and lower part of arm plate (10) by bearing pin (27), directive wheel (28) is contained in the groove of flute profile cam (30a) and flute profile cam (29b), the lower end of arm plate (10) and slide block (25) upper end are hinged, slide block (25) constitutes moving sets with flute profile cam (30a) and flute profile cam (29b), the upper end of bar (40a) and bar (41b) is all hinged with slide block (25) lower end, the lower end of bar (40a) and bar (41b) is hinged with the upper end of bar (42c) and bar (43d) respectively, bar (42c) and bar (43d) are hinged at two bar centers, the lower end of bar (42c) and bar (43d) is hinged with screw (34a) and screw (35b) respectively, screw (34a) and screw (35b) constitute screw pair with leading screw (33), screw (34a) and screw (35b) constitute moving sets with screw slideway (39), screw slideway (39) is connected with body (7), the two ends of leading screw 33 and bearing (32c) constitute revolute pair, bearing (32c) is connected with body (7), sprocket wheel (13) is connected with axle (14a), sprocket wheel (17b) is connected with axle (18b), sprocket wheel (13a) is connected with sprocket wheel (17b), helical gear (16a) is connected with axle (18b), helical gear (16a) constitutes gear pair with the helical gear (46b) that is connected on the walking power transmission shaft (8), flute profile cam (30a) and flute profile cam (29b) are connected with bearing (26a), and bearing (26a) is connected with body (7);
Described clamp mechanism has the identical structure of two covers, be installed in respectively on arm (1a) and the arm (3c), its structure is, pinch wheels (5) constitutes revolute pair with clamping wheel shaft (4), the rear end and the arm plate (10) that clamp wheel shaft (4) are hinged, the upper end that clamps pull bar (6) is hinged with the middle part that clamps wheel shaft (4), and it is hinged to clamp pull bar (6) lower end and flute profile cam (30a);
The structure of described walking driving mechanism is, movable motor (49) is connected with body (7), sprocket wheel (9c) and movable motor (49) output shaft fixed connection, sprocket wheel (47d) is connected with walking power transmission shaft (8), sprocket wheel (9c) is connected with sprocket wheel (47d), walking power transmission shaft (8) passes the flute profile cam of three arms, constitutes revolute pair with the flute profile cam, three helical gears (46b) that are connected on the walking power transmission shaft (8) respectively with arm on three helical gears (16a) engagement;
The structure of described obstacle detouring driving mechanism is, obstacle detouring motor (45) is connected with body (7), obstacle detouring motor (45) output shaft and obstacle detouring power transmission shaft (19) are connected, obstacle detouring power transmission shaft (19) constitutes revolute pair with bearing (44b), bearing (44b) is connected with body (7), three clutches (20) are housed on the obstacle detouring power transmission shaft, the drive end of clutch (20) and obstacle detouring power transmission shaft (19) are connected, the Partner of clutch (20) and obstacle detouring power transmission shaft (19) constitute revolute pair, the Partner of each clutch (20) spur gear (21b) that is connected, spur gear (21b) and spur gear (22a) engagement that is fixed on the leading screw (33).
2. arm hanging type high voltage transmission line detecting robot according to claim 1, it is characterized in that: be provided with the arm balanced controls, the structure of described arm balanced controls is, cam (36) is connected with screw (34a), cam follower (37) is connected with battery case (24), and back-moving spring (38) one ends and battery case (24) are connected, and the other end and body (7) are connected, battery case slideway (23) is connected with body (7), matches with battery case slideway (23) in the lower end of battery case (2 4).
CNB2007100559307A 2007-07-31 2007-07-31 Arm hanging type high voltage transmission line detecting robot CN100488733C (en)

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Application Number Priority Date Filing Date Title
CNB2007100559307A CN100488733C (en) 2007-07-31 2007-07-31 Arm hanging type high voltage transmission line detecting robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2007100559307A CN100488733C (en) 2007-07-31 2007-07-31 Arm hanging type high voltage transmission line detecting robot

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CN101104265A true CN101104265A (en) 2008-01-16
CN100488733C CN100488733C (en) 2009-05-20

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102005705A (en) * 2010-10-29 2011-04-06 西安交通大学 Suspended line walking robot
CN102227076A (en) * 2011-04-14 2011-10-26 三峡大学 Robot used for automatically deicing high tension transmission line
CN102227067A (en) * 2011-03-29 2011-10-26 重庆市电力公司超高压局 Walking arm of walking robot in transmission line
CN102317041A (en) * 2010-02-10 2012-01-11 电力研究所有限公司 Route inspecting robot and system
CN102394480A (en) * 2011-10-06 2012-03-28 哈尔滨理工大学 Cable robot driving carrier
CN102522715A (en) * 2011-12-07 2012-06-27 姚正齐 Obstacle-crossing travelling mechanism for inspection robot and inspection robot device
CN101665128B (en) * 2009-09-04 2012-07-11 重庆市电力公司超高压局 Robot used for detecting high voltage transmission lines
CN103895015A (en) * 2014-03-24 2014-07-02 上海大学 Split type automatic obstacle crossing inspection robot
CN103904585A (en) * 2014-03-21 2014-07-02 上海大学 Line patrol robot for railway line monitoring
CN103972821A (en) * 2014-05-27 2014-08-06 邹德华 Live working robot for high-voltage power transmission line
CN104393530A (en) * 2014-11-25 2015-03-04 华北电力大学(保定) Obstacle crossing device of inspection robot for four-bundled power transmission line
CN104716611A (en) * 2015-03-20 2015-06-17 龚雷锋 Intelligent de-icing device for high-tension transmission line
CN105729486A (en) * 2016-04-30 2016-07-06 马鞍山市翔宇机械自动化科技有限公司 Line patrol robot on basis of visualization of internet of things
CN105762708A (en) * 2016-04-30 2016-07-13 马鞍山市翔宇机械自动化科技有限公司 Line patrol robot
CN106058719A (en) * 2016-06-29 2016-10-26 南昌大学 Rotating mechanism for obstacle crossing arm of overhead power transmission line patrol robot
CN106256505A (en) * 2015-12-22 2016-12-28 耘创九州智能装备有限公司 Track precision positioning mechanism and track precise motion device
CN106786136A (en) * 2016-12-05 2017-05-31 东北大学 Planet gear type Bian Bao travel mechanisms
CN107565447A (en) * 2017-08-16 2018-01-09 国家电网公司 A kind of power grid transmission line line inspection device
CN108621122A (en) * 2018-05-07 2018-10-09 国网河北省电力有限公司 A kind of crusing robot displacement drive mechanism
CN111009850A (en) * 2019-12-16 2020-04-14 许昌学院 Intelligent inspection device for overhead power line
WO2021088102A1 (en) * 2019-11-08 2021-05-14 中国科学院自动化研究所 Carrying mechanism for on-line traveling

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101665128B (en) * 2009-09-04 2012-07-11 重庆市电力公司超高压局 Robot used for detecting high voltage transmission lines
CN102317041A (en) * 2010-02-10 2012-01-11 电力研究所有限公司 Route inspecting robot and system
CN102005705B (en) * 2010-10-29 2012-09-05 西安交通大学 Suspended line walking robot
CN102005705A (en) * 2010-10-29 2011-04-06 西安交通大学 Suspended line walking robot
CN102227067A (en) * 2011-03-29 2011-10-26 重庆市电力公司超高压局 Walking arm of walking robot in transmission line
CN102227067B (en) * 2011-03-29 2013-07-10 重庆市电力公司检修分公司 Walking arm of walking robot in transmission line
CN102227076B (en) * 2011-04-14 2013-10-09 三峡大学 Robot used for automatically deicing high tension transmission line
CN102227076A (en) * 2011-04-14 2011-10-26 三峡大学 Robot used for automatically deicing high tension transmission line
CN102394480A (en) * 2011-10-06 2012-03-28 哈尔滨理工大学 Cable robot driving carrier
CN102394480B (en) * 2011-10-06 2015-07-15 哈尔滨理工大学 Cable robot driving carrier
CN102522715A (en) * 2011-12-07 2012-06-27 姚正齐 Obstacle-crossing travelling mechanism for inspection robot and inspection robot device
CN102522715B (en) * 2011-12-07 2014-10-08 姚正齐 Obstacle-crossing travelling mechanism for inspection robot and inspection robot device
CN103904585A (en) * 2014-03-21 2014-07-02 上海大学 Line patrol robot for railway line monitoring
CN103904585B (en) * 2014-03-21 2016-12-07 上海大学 A kind of inspection robot for rail track monitoring
CN103895015B (en) * 2014-03-24 2016-03-30 上海大学 A kind of split type active obstacle travelling robot
CN103895015A (en) * 2014-03-24 2014-07-02 上海大学 Split type automatic obstacle crossing inspection robot
CN103972821B (en) * 2014-05-27 2015-11-11 国家电网公司 High voltage transmission line live work robot
CN103972821A (en) * 2014-05-27 2014-08-06 邹德华 Live working robot for high-voltage power transmission line
CN104393530A (en) * 2014-11-25 2015-03-04 华北电力大学(保定) Obstacle crossing device of inspection robot for four-bundled power transmission line
CN104393530B (en) * 2014-11-25 2016-12-28 华北电力大学(保定) A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity
CN104716611A (en) * 2015-03-20 2015-06-17 龚雷锋 Intelligent de-icing device for high-tension transmission line
CN104716611B (en) * 2015-03-20 2017-03-08 龚雷锋 A kind of ultra-high-tension power transmission line intelligent deicer
CN106256505A (en) * 2015-12-22 2016-12-28 耘创九州智能装备有限公司 Track precision positioning mechanism and track precise motion device
CN105762708A (en) * 2016-04-30 2016-07-13 马鞍山市翔宇机械自动化科技有限公司 Line patrol robot
CN105729486A (en) * 2016-04-30 2016-07-06 马鞍山市翔宇机械自动化科技有限公司 Line patrol robot on basis of visualization of internet of things
CN106058719A (en) * 2016-06-29 2016-10-26 南昌大学 Rotating mechanism for obstacle crossing arm of overhead power transmission line patrol robot
CN106786136A (en) * 2016-12-05 2017-05-31 东北大学 Planet gear type Bian Bao travel mechanisms
CN106786136B (en) * 2016-12-05 2018-05-25 东北大学 Planet gear type Bian Bao moving mechanisms
CN107565447A (en) * 2017-08-16 2018-01-09 国家电网公司 A kind of power grid transmission line line inspection device
CN108621122A (en) * 2018-05-07 2018-10-09 国网河北省电力有限公司 A kind of crusing robot displacement drive mechanism
CN108621122B (en) * 2018-05-07 2020-08-21 国网河北省电力有限公司 Displacement transmission structure of inspection robot
WO2021088102A1 (en) * 2019-11-08 2021-05-14 中国科学院自动化研究所 Carrying mechanism for on-line traveling
CN111009850A (en) * 2019-12-16 2020-04-14 许昌学院 Intelligent inspection device for overhead power line

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