CN102427209A - Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment - Google Patents
Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment Download PDFInfo
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- CN102427209A CN102427209A CN2011104036297A CN201110403629A CN102427209A CN 102427209 A CN102427209 A CN 102427209A CN 2011104036297 A CN2011104036297 A CN 2011104036297A CN 201110403629 A CN201110403629 A CN 201110403629A CN 102427209 A CN102427209 A CN 102427209A
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Abstract
The invention relates to a sliding mechanism for obstacle crossing of a line inspection robot. The sliding mechanism comprises at least three groups of sliding assemblies mounted in an equipment rack in sequence along a direction of a power transmission cable; and each group of sliding assemblies are provided with sliding suspension wheels which are suspended on the power transmission cable and can slide under driving of the equipment rack. In addition, the sliding mechanism further comprises a detection feedback unit located on the sliding assemblies at the front side and used for detecting circuit obstacles, and a signal control unit for sending a control signal to the at least three groups of sliding assemblies according to circuit obstacle detection results to control the sliding suspension wheels in each group of sliding assemblies in sequence to deviate from the power transmission cable along the direction of the power transmission cable so as to cross the circuit obstacles. According to the sliding mechanism for obstacle crossing of the line inspection robot equipment and the line inspection robot equipment provided by the invention, the overall weight of the equipment can be supported by the sliding suspension wheels on the power transmission cable, and the plurality of groups of sliding assemblies can be controlled in sequence to automatically cross the obstacles in a sliding process; and the sliding mechanism and the inspection robot equipment are portable and compact in structure.
Description
Technical field
The present invention relates to the robot field, more particularly, relate to a kind of inspection robot leaping over obstacles slipping mechanism and adopt the inspection robot equipment of this leaping over obstacles slipping mechanism.
Background technology
Transmission line is the pulse of power supply; User power supply is played crucial effects,, also will ensure economy simultaneously so be to guarantee safety to the requirement of transmission line; For line security is moved efficiently, the precautionary measures that improve fault are must strengthen with improved.At present, the electric company in most of areas all will make an inspection tour transmission line, the cycle, the chances are one month once.
Yet, receive technology limitation, what present line inspection was mainly taked is that manual work checks along the line that with telescope tour speed is slow, the equipment hard transportation wastes time and energy.Also have only a few area to adopt flying instruments such as telecontrolled aircraft, fire balloon to make an inspection tour, the maximum difficult point of this kind inspection method is operation of equipment, and equipment can not the close contact circuit; The picture harvester that carries above the equipment can not be focused above circuit all the time; Will cause picture weave serious like this, have and lose, and very high to operating personnel's requirement; Keep operation constantly, so this kind mode only is applicable to special circumstances or local the use; The tour robot that walking is on the line also arranged at present among exploitation, but limited by technical merit, the ubiquity volume is big, quality heavy, defective and deficiencies such as gold utensil on can not span line.
Summary of the invention
The technical problem that the present invention will solve is, to existing inspection robot can not leaping over obstacles defective, a kind of inspection robot leaping over obstacles slipping mechanism and inspection robot equipment are provided.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of inspection robot leaping over obstacles slipping mechanism; Comprise: be installed at least three group sliding assemblies in the equipment rack in order along transmission of electricity cable direction, every group of sliding assembly all has the slippage change gear that is used to be suspended on the slippage with the drive of equipment rack on the transmission of electricity cable;
And said slipping mechanism also comprises:
Be arranged on the detection feedback unit that is used for the detection line obstacle on the sliding assembly that is positioned at the front side at least in the said three group sliding assemblies; And
The signaling control unit that is electrically connected with said detection feedback unit; Be used for transmitting control signal to said at least three group sliding assemblies, break away from said transmission of electricity cable to cross over said circuitry obstacle with the slippage change gear of controlling every group of sliding assembly along transmission of electricity cable direction successively according to the circuitry obstacle testing result of said detection feedback unit.
In according to inspection robot leaping over obstacles slipping mechanism of the present invention, every group of sliding assembly in the said at least three group sliding assemblies also comprises:
Be installed in the package base in the said equipment rack;
Be fixed on the linear stepping motor that is electrically connected with said signaling control unit on the said package base;
Be installed on the screw mandrel of said linear stepping motor and drive the straight line nut sleeve that moves up and down by linear stepping motor;
Be fixed on the slip guide pillar on the said straight line nut sleeve;
Be fixed on the change gear slippage swing arm that said slippage change gear side and lower end and said slip guide pillar are rotationally connected in the plane perpendicular to the transmission of electricity cable;
The slip guide pillar pedestal that is connected with said slip guide pillar sliding sleeve, and said slip guide pillar pedestal is fixed on the said package base; And
One end is fixed on the outside of said change gear slippage swing arm, and the other end is fixed on the said slip guide pillar pedestal, in order to when said change gear slippage swing arm moves up, to give the swing arm spring of said change gear slippage swing arm pulling force laterally.
In according to inspection robot leaping over obstacles slipping mechanism of the present invention, every group of sliding assembly in the said at least three group sliding assemblies also comprises:
Be installed in the line line footpath feedback unit directly that is used to respond to said transmission of electricity cable of said slippage change gear below,
Directly regulate control unit with the line that said line footpath feedback unit is electrically connected, be used for directly transmitting control signal to go up and down to said linear stepping motor according to the detected line of said line footpath feedback unit; And
Be arranged on the said slip guide pillar and regulate the pull-fork assembly of the height of said slippage change gear with the line footpath of matched transmission line cable according to the height of said linear stepping motor.
In according to inspection robot leaping over obstacles slipping mechanism of the present invention; Said pull-fork assembly comprises: the interior laterally positioning sliding bar of slippage of slippage slot that is installed in said slip guide pillar one side; And be fixed on the bent axle holder on the said positioning sliding bar; And be rotatably installed in the location bent axle between the bent axle holder of adjacent sliding assembly, and said location bent axle is provided with to cooperate with the line of the altitude datum of adjustment slip guide pillar in slip guide pillar pedestal with said slip guide pillar pedestal and directly regulates shift fork.
In according to inspection robot leaping over obstacles slipping mechanism of the present invention; When said detection feedback unit detects circuitry obstacle, the transmit control signal linear stepping motor of the said sliding assembly of control of said detection feedback unit drives on the slip guide pillar and moves, and the 40-60 degree is opened in said change gear slippage swing arm laterally under the active force of said swing arm spring.
In according to inspection robot leaping over obstacles slipping mechanism of the present invention, 50 degree are opened in said change gear slippage swing arm laterally under the active force of said swing arm spring.
In according to inspection robot leaping over obstacles slipping mechanism of the present invention, said detection feedback unit is an infrared sensor.
In according to inspection robot leaping over obstacles slipping mechanism of the present invention, said at least three group sliding assemblies are provided with according to even interval along transmission of electricity cable direction.
The present invention is also corresponding to provide a kind of inspection robot equipment; Comprise the aforesaid inspection robot leaping over obstacles slipping mechanism that is used to be suspended on the said transmission line, and drive the travelling robot walking mechanism that said inspection robot moves on the transmission of electricity cable.
The inspection robot leaping over obstacles slipping mechanism of embodiment of the present invention and inspection robot equipment; Have following beneficial effect: inspection robot leaping over obstacles slipping mechanism of the present invention and inspection robot equipment are through hanging on the slippage change gear fastening overall weight on the transmission of electricity cable; And in slipping, can control successively and organize the automatic leaping over obstacles of sliding assemblies more; Make it be in travel condition all the time, and need not in the process of leaping over obstacles, manually equipment to be controlled; And inspection robot leaping over obstacles slipping mechanism of the present invention and the light compactness of inspection robot device structure.
Description of drawings
To combine accompanying drawing and embodiment that the present invention is described further below, in the accompanying drawing:
Fig. 1 is the front view according to inspection robot leaping over obstacles slipping mechanism of the present invention;
Fig. 2 is the vertical view according to inspection robot leaping over obstacles slipping mechanism of the present invention;
Fig. 3 is the state diagram of inspection robot leaping over obstacles slipping mechanism when leaping over obstacles according to a preferred embodiment of the invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.The noun of locality that the present invention adopted " outside " " inboard " is to be object of reference with the transmission of electricity cable, " front side " " centre " " rear side " be with respect to inspection robot for the direction of travel of transmission of electricity on the cable.
See also Fig. 1 and Fig. 2, be respectively front view and vertical view according to inspection robot leaping over obstacles slipping mechanism of the present invention.As depicted in figs. 1 and 2; The inspection robot leaping over obstacles slipping mechanism that this embodiment provides comprises: be installed at least three group sliding assemblies in the equipment rack, front side sliding assembly 91 as shown in Figure 2, middle sliding assembly 92 and rear side sliding assembly 93 in order along transmission of electricity cable 2 directions.This transmission of electricity cable 2 is a steel reinforced aluminium conductor.
Every group of sliding assembly in this at least three groups sliding assembly all has slippage change gear 1, and this slippage change gear 1 is used to be suspended on transmission of electricity cable 2 tops and carries out slippage.Inspection robot leaping over obstacles slipping mechanism is installed in the equipment rack as a part of inspection robot equipment, and this inspection robot equipment also has the travelling robot walking mechanism that is used to drive the suitable line walking of entire equipment.Inspection robot leaping over obstacles slipping mechanism provided by the invention is used to be suspended on the equipment self-weight that carries inspection robot on the transmission of electricity cable 2 also can cross over the circuitry obstacle on the transmission of electricity cable 2; Like line hardware; And travelling robot walking mechanism is used to the driving source that inspection robot equipment provides walking, makes inspection robot leaping over obstacles slipping mechanism to walk along the line slippage by the driving source of this equipment.Therefore, the present invention is also corresponding provides above-mentioned inspection robot equipment.Wherein travelling robot walking mechanism can adopt travelling robot walking well known to those skilled in the art mechanism, for example is close to transmission of electricity cable 2 left and right sides faces through power wheel and rotates the frictional force that is produced and drive inspection robot equipment walking etc.This travelling robot walking mechanism also can possess the ability of leaping over obstacles simultaneously.
Inspection robot leaping over obstacles slipping mechanism provided by the invention also comprises: detect feedback unit 11 and signaling control unit 15.Wherein, detect feedback unit 11 and be arranged in the above-mentioned at least three group sliding assemblies and be positioned on the sliding assembly of front side, for example be arranged on the front side sliding assembly 91, be used to detect on the transmission of electricity cable 2 in the place ahead whether circuitry obstacle is arranged.This detection feedback unit 11 is preferably infrared sensor, and the circuitry obstacle testing result is sent to signaling control unit 15.
Detect under the situation of circuitry obstacle when detecting feedback unit 11 in the walking process; The immediate feedback signal is given signaling control unit 15; The signal that signaling control unit 15 is come according to feedback sends the sliding assembly that control signal control is positioned at front side; Do the leaping over obstacles action like front side sliding assembly 91, promptly as shown in Figure 3, make the slippage change gear 1 of front side sliding assembly 91 break away from transmission of electricity cable 2.The slippage change gear 1 of sliding assembly 92 and rear side sliding assembly 93 still is in slip state in the middle of this moment.Owing to can carry out the slippage interlock through bent axle holder 14 between the sliding assembly, thereby middle sliding assembly 92 is with rear side sliding assembly 93 load-bearing at this moment and keep the stable of center of gravity.The transmit control signal slippage change gear 1 of control front side sliding assembly 91 of signaling control unit 15 resets subsequently, and in the middle of the control action of sliding assembly 92 repetition front side sliding assemblies 91 with the span line obstacle; The slippage change gear 1 of controlling middle sliding assembly 92 that transmits control signal at last resets, and the action of rear side sliding assembly 93 is with the span line obstacle.Through said process, just can rely at least three group sliding assemblies in slipping, to circulate to carry out the action of span line obstacle, flexibly and safely the span line obstacle.Therefore; The inspection robot equipment of inspection robot leaping over obstacles slipping mechanism of the present invention and formation thereof leaping over obstacles automatically in the process of leaping over obstacles; Make it be in travel condition all the time, and need not in the process of leaping over obstacles, manually equipment to be controlled.
Inspection robot leaping over obstacles slipping mechanism of the present invention is not limited to the quantity that present embodiment provides, and can adopt more sliding assembly, only need control every group of sliding assembly successively and repeat above-mentioned leap action and get final product.In a preferred embodiment of the invention, above-mentioned at least three group sliding assemblies can be provided with according to even interval along transmission of electricity cable direction.And the interval that signaling control unit 15 can transmit control signal according to the sliding velocity adjustment of distance between the sliding assembly and inspection robot leaping over obstacles slipping mechanism is so that respectively organize sliding assembly leaping over obstacles successively.
Sliding assembly in the face of inspection robot leaping over obstacles slipping mechanism of the present invention specifies down.As shown in the figure, every group of sliding assembly in the above-mentioned at least three group sliding assemblies also comprises: package base 12, linear stepping motor 8, straight line nut sleeve 7, slip guide pillar 6, change gear slippage swing arm 3, slip guide pillar pedestal 5 and swing arm spring 4.
Wherein, package base 12 is installed in the equipment rack (not shown) of inspection robot equipment, and linear stepping motor 8 is fixed on the package base 12 and with signaling control unit 15 and is electrically connected.Straight line nut sleeve 7 is installed on the screw mandrel of linear stepping motor 8 to be driven by linear stepping motor 8 and moves up and down.The lower end of slip guide pillar 6 is fixed on the straight line nut sleeve 7.Change gear slippage swing arm 3 is fixed on slippage change gear 1 side, and its lower end and slip guide pillar 6 be rotationally connected in the plane perpendicular to transmission of electricity cable 2, for example connect through rotating shaft, and can be to the direction rotation away from transmission of electricity cable 2.
Above-mentioned slip guide pillar 6 be connected with these slip guide pillar pedestal 5 sliding sleeves, and the side of slip guide pillar pedestal 5 is fixed on the package base 12 in slip guide pillar pedestal 5.One end of swing arm spring 4 is fixed on the outside of change gear slippage swing arm 5, and the other end is fixed on the slip guide pillar pedestal 5, in order to when change gear slippage swing arm 5 moves up, to give change gear slippage swing arm 5 pulling force laterally.
As shown in Figure 3, transmission of electricity cable 2 is fixed on the porcelain insulator 17 through porcelain insulator wire clamp 18, is fixed on the porcelain insulator connecting plate 16 again.Therefore, when inspection robot leaping over obstacles slipping mechanism is walked, whenever will run into the porcelain insulator wire clamp 18 that is fixed on the transmission of electricity cable 2 at a distance from a segment distance on transmission of electricity cable 2, this is suspended on obstruction the walking of the slippage change gear 1 on the transmission of electricity cable 2.
When signaling control unit 15 detects when having circuitry obstacle on the transmission of electricity cable 2 through detecting feedback unit 11.Be provided with a cover control program in the signaling control unit 15; The slip guide pillar 6 that drives on the straight line nut sleeve 7 to linear stepping motor 8 that at first transmits control signal upwards slides along slip guide pillar pedestal 5; Because slip guide pillar 6 is rotationally connected with change gear slippage swing arm 3; Therefore change gear slippage swing arm 3 also corresponding moving up, and then the active force that receives swing arm spring 4 are to rotating away from the direction of transmission of electricity cable 2, and the feasible slippage change gear 1 that is installed in the change gear slippage swing arm 3 breaks away from transmission of electricity cable 2; And the maintenance certain distance, to realize the span line obstacle.As shown in Figure 3, this change gear slippage swing arm 3 can be opened the 40-60 degree laterally under the active force of swing arm spring 4.Preferably, this change gear slippage swing arm 3 can be opened 50 degree laterally under the active force of swing arm spring 4.
The control program of signaling control unit 15 is after the time period of setting; The slip guide pillar 6 that drives on the straight line nut sleeve 7 to linear stepping motor 8 that transmits control signal when promptly this sliding assembly has striden across circuitry obstacle recovers the master reference height along slip guide pillar pedestal 5 to lower slider; Because slip guide pillar 6 is rotationally connected with change gear slippage swing arm 3; So change gear slippage swing arm 3 also corresponding moving down; And then making change gear slippage swing arm 3 recover vertical positions in the sliding sleeve of entering slip guide pillar pedestal 5, the slippage change gear 1 that is installed in this moment in the change gear slippage swing arm 3 hangs on transmission of electricity cable 2 enterprising line slips once more.
Further, the present invention can also adjust the height of slippage change gear 1 according to the line footpath size of transmission of electricity cable 2, thereby matches the realization slippage more exactly with slippage change gear 1.
Thereby every group of sliding assembly in the above-mentioned at least three group sliding assemblies also comprises: line footpath feedback unit (not shown), line are directly regulated control unit (not shown) and pull-fork assembly.
Line footpath feedback unit is installed in the line footpath that slippage change gear 1 below is used to respond to transmission of electricity cable 2.This line footpath feedback unit can be range finder, is used to respond to the lower surface of slippage change gear 1 and the distance between the transmission of electricity cable 2.Line is directly regulated control unit and is electrically connected with line footpath feedback unit, is used for transmitting control signal to linear stepping motor 8 realization up-downs according to the detected line of line footpath feedback unit footpath result.When the line footpath of transmission of electricity cable 2 hour, slippage change gear 1 is bigger with distance between the transmission of electricity cable 2, line is directly regulated control unit and is transmitted control signal to linear stepping motor 8, control linear stepping motor 8 drives 7 declines of straight line nut sleeves.When the line footpath of transmission of electricity cable 2 was big, the distance between slippage change gear 1 and the transmission of electricity cable 2 was less, and line is directly regulated control unit and transmitted control signal to linear stepping motor 8, and control linear stepping motor 8 drives straight line nut sleeve 7 and rises.And then pull-fork assembly regulates the height of slippage change gear according to the variation of the height of the slip guide pillar on the straight line nut sleeve 7, thereby directly matees with the line of transmission of electricity cable 2.
Pull-fork assembly comprises that positioning sliding bar 9, bent axle holder 14, location bent axle 13 and line directly regulate shift fork 10.Wherein, Positioning sliding bar 9 is installed in the interior laterally slippage of slippage slot of slip guide pillar 6 one sides; On bent axle holder 14 and the positioning sliding bar 9, location bent axle 13 is rotatably installed between the bent axle holder 14 of 2 adjacent sliding assemblies, and line is directly regulated shift fork 10 and is fixed on the bent axle 13 of location.Line is directly regulated shift fork 10 upper ends and is cooperated with slip guide pillar pedestal 5 with the altitude datum of adjustment slip guide pillar 6 in slip guide pillar pedestal 5.When linear stepping motor 8 control straight line nut sleeves 7 rise; Positioning sliding bar 9 in the slippage slot of slip guide pillar 6 one sides to inboard slippage; Line on the bent axle 13 of location is directly regulated shift fork 10 and is heightened the altitude datum of slip guide pillar 6 in slip guide pillar pedestal 5; Thereby the height of rising slippage change gear 1 closely cooperates itself and transmission of electricity cable 2.On the contrary; When linear stepping motor 8 control straight line nut sleeves 7 descend; Positioning sliding bar 9 in the slippage slot of slip guide pillar 6 one sides to outside slippage; Line on the bent axle 13 of location is directly regulated shift fork 10 and is turned down the altitude datum of slip guide pillar 6 in slip guide pillar pedestal 5, thereby the height of rising slippage change gear 1 closely cooperates itself and transmission of electricity cable 2.
In sum; The invention solves many defectives of traditional inspection method; And satisfied the needs that following transmission line is maked an inspection tour, and the inspection robot leaping over obstacles slipping mechanism that provides and be useful on the extra high voltage network slippage and cross over the multiple line hardware of installing on the line by its inspection robot that constitutes.This mechanism's energy consumption is little, and its structural configuration mode is convenient to combination, little, the light weight of overall volume flexibly between compactness, each parts of mechanism.And inspection robot equipment provided by the invention with traditional to carry out the mode of load-bearing and walking by same mechanism different, is separated support mechanism and walking mechanism; With the mechanism of inspection robot leaping over obstacles slipping mechanism as load-bearing; And weight need not born by travelling robot walking mechanism, and only responsible drive entire equipment is advanced and got final product, and beats the load that has alleviated travelling robot walking mechanism greatly; Strengthen the slope ability of creeping, prolonged walking cruising time.
The present invention describes according to specific embodiment, but it will be understood by those skilled in the art that when not breaking away from the scope of the invention, can carry out various variations and be equal to replacement.In addition, for adapting to the specific occasion or the material of the present invention's technology, can carry out many modifications and not break away from its protection range the present invention.Therefore, the present invention is not limited to specific embodiment disclosed herein, and comprises that all drop into the embodiment of claim protection range.
Claims (9)
1. inspection robot leaping over obstacles slipping mechanism; It is characterized in that; Comprise: be installed at least three group sliding assemblies in the equipment rack in order along transmission of electricity cable direction, every group of sliding assembly all has the slippage change gear that is used to be suspended on the slippage with the drive of equipment rack on the transmission of electricity cable;
And said slipping mechanism also comprises:
Be arranged on the detection feedback unit that is used for the detection line obstacle on the sliding assembly that is positioned at the front side at least in the said three group sliding assemblies; And
The signaling control unit that is electrically connected with said detection feedback unit; Be used for transmitting control signal to said at least three group sliding assemblies, break away from said transmission of electricity cable to cross over said circuitry obstacle with the slippage change gear of controlling every group of sliding assembly along transmission of electricity cable direction successively according to the circuitry obstacle testing result of said detection feedback unit.
2. inspection robot leaping over obstacles slipping mechanism according to claim 1 is characterized in that, every group of sliding assembly in the said at least three group sliding assemblies also comprises:
Be installed in the package base in the said equipment rack;
Be fixed on the linear stepping motor that is electrically connected with said signaling control unit on the said package base;
Be installed on the screw mandrel of said linear stepping motor and drive the straight line nut sleeve that moves up and down by linear stepping motor;
Be fixed on the slip guide pillar on the said straight line nut sleeve;
Be fixed on the change gear slippage swing arm that said slippage change gear side and lower end and said slip guide pillar are rotationally connected in the plane perpendicular to the transmission of electricity cable;
The slip guide pillar pedestal that is connected with said slip guide pillar sliding sleeve, and said slip guide pillar pedestal is fixed on the said package base; And
One end is fixed on the outside of said change gear slippage swing arm, and the other end is fixed on the said slip guide pillar pedestal, in order to when said change gear slippage swing arm moves up, to give the swing arm spring of said change gear slippage swing arm pulling force laterally.
3. inspection robot leaping over obstacles slipping mechanism according to claim 2 is characterized in that, every group of sliding assembly in the said at least three group sliding assemblies also comprises:
Be installed in the line line footpath feedback unit directly that is used to respond to said transmission of electricity cable of said slippage change gear below,
Directly regulate control unit with the line that said line footpath feedback unit is electrically connected, be used for directly transmitting control signal to go up and down to said linear stepping motor according to the detected line of said line footpath feedback unit; And
Be arranged on the said slip guide pillar and regulate the pull-fork assembly of the height of said slippage change gear with the line footpath of matched transmission line cable according to the height of said linear stepping motor.
4. inspection robot leaping over obstacles slipping mechanism according to claim 3 is characterized in that said pull-fork assembly comprises:
Be installed in the interior laterally positioning sliding bar of slippage of slippage slot of said slip guide pillar one side; And be fixed on the bent axle holder on the said positioning sliding bar; And be rotatably installed in the location bent axle between the bent axle holder of adjacent sliding assembly, and said location bent axle is provided with to cooperate with the line of the altitude datum of adjustment slip guide pillar in slip guide pillar pedestal with said slip guide pillar pedestal and directly regulates shift fork.
5. inspection robot leaping over obstacles slipping mechanism according to claim 2; It is characterized in that; When said detection feedback unit detects circuitry obstacle, the transmit control signal linear stepping motor of the said sliding assembly of control of said detection feedback unit drives on the slip guide pillar and moves, and the 40-60 degree is opened in said change gear slippage swing arm laterally under the active force of said swing arm spring.
6. inspection robot leaping over obstacles slipping mechanism according to claim 5 is characterized in that, 50 degree are opened in said change gear slippage swing arm laterally under the active force of said swing arm spring.
7. inspection robot leaping over obstacles slipping mechanism according to claim 1 is characterized in that said detection feedback unit is an infrared sensor.
8. inspection robot leaping over obstacles slipping mechanism according to claim 1 is characterized in that, said at least three group sliding assemblies are provided with according to even interval along transmission of electricity cable direction.
9. inspection robot equipment; It is characterized in that; Comprise any described inspection robot leaping over obstacles slipping mechanism that is used to be suspended on the said transmission line among the claim 1-8, and drive the travelling robot walking mechanism that said inspection robot moves on the transmission of electricity cable.
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| CN201110403629.7A CN102427209B (en) | 2011-12-07 | 2011-12-07 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
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| CN201110403629.7A CN102427209B (en) | 2011-12-07 | 2011-12-07 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
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| CN103490345A (en) * | 2013-10-11 | 2014-01-01 | 洛阳理工学院 | Upper clamping obstacle crossing travelling mechanism for high-tension cable |
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| CN102751669A (en) * | 2012-07-27 | 2012-10-24 | 厦门大学 | Travelling mechanism of inspection robot for realizing obstacle crossing |
| CN102962834A (en) * | 2012-12-10 | 2013-03-13 | 东北大学 | Inspection robot mechanism for high-voltage transmission line |
| CN103490345A (en) * | 2013-10-11 | 2014-01-01 | 洛阳理工学院 | Upper clamping obstacle crossing travelling mechanism for high-tension cable |
| CN103490346A (en) * | 2013-10-11 | 2014-01-01 | 洛阳理工学院 | High-tension cable lower clamping travelling mechanism capable of automatically crossing obstacles |
| CN103490344A (en) * | 2013-10-11 | 2014-01-01 | 洛阳理工学院 | Clamping obstacle-surmounting mechanism for high-voltage lines |
| CN103490344B (en) * | 2013-10-11 | 2017-03-22 | 洛阳理工学院 | Clamping obstacle-surmounting mechanism for high-voltage lines |
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| CN103895015B (en) * | 2014-03-24 | 2016-03-30 | 上海大学 | A kind of split type active obstacle travelling robot |
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