CN103895724B - A kind of differential double fastener pawl travelling robot walking clipping mechanism - Google Patents

A kind of differential double fastener pawl travelling robot walking clipping mechanism Download PDF

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Publication number
CN103895724B
CN103895724B CN201210584754.7A CN201210584754A CN103895724B CN 103895724 B CN103895724 B CN 103895724B CN 201210584754 A CN201210584754 A CN 201210584754A CN 103895724 B CN103895724 B CN 103895724B
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China
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differential
synchronous pulley
transmission shaft
walking
wheel
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CN201210584754.7A
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CN103895724A (en
Inventor
王洪光
张宏志
姜勇
孙启志
凌烈
陈学中
岳湘
孟庆丰
朱静
申学德
许存德
董云鹏
孙艳鹤
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Maintenance Branch Of Liaoning Electric Power Co ltd
State Grid Corp of China SGCC
Shenyang Institute of Automation of CAS
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Maintenance Branch Of Liaoning Electric Power Co ltd
State Grid Corp of China SGCC
Shenyang Institute of Automation of CAS
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Publication of CN103895724A publication Critical patent/CN103895724A/en
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Abstract

The present invention relates to mobile robot mechanism, specifically a kind of differential double fastener pawl travelling robot walking clipping mechanism, comprise traveling gear, front clamp mechanism, rear grip mechanism and box of tricks, this front clamp mechanism, rear grip mechanism and box of tricks are arranged on the walking wheel carrier of traveling gear respectively, driven jointly walk along aerial wire by traveling gear; Box of tricks, between front clamp mechanism and rear grip mechanism, is connected with front clamp mechanism and rear grip mechanism respectively; The walking wheel carrier of traveling gear is provided with clamping motor, and two jaws that this clamping motor is controlled in front clamp mechanism and rear grip mechanism respectively by the transmission of box of tricks synchronously unclamp or clamp.Working space of the present invention is large, can clamped diameter wire, holding capability and adaptable, is with a wide range of applications.

Description

A kind of differential double fastener pawl travelling robot walking clipping mechanism
Technical field
The present invention relates to mobile robot mechanism, specifically a kind of differential double fastener pawl travelling robot walking clipping mechanism.
Background technology
In existing EHV transmission line patrol robot mechanism, major part adopts composite moving mechanism (the document 1:JunSawada combined by wheel type mobile and compound linkages, KazuyukiKusumoto, TadashiMunakata, YasuhisaMaikawa, YoshinobuIshikawa, " AMobileRobotForInspectionofPowerTransmissionLines ", IEEETrans.PowerDelivery, 1991, V01.6, No.1:pp..309-315, document 2:MineoHiguchi, YoichiroMaeda, SadahiroTsutani, ShiroHagihara, " DevelopmentofaMobileInspectionRobotforPowerTransmissionL ines ", J.oftheRoboticsSocietyofJapan, Japan, Vol.9, No.4, pp.457-463, 1991), or adopt many groups of Multi-degree-of-freedom moving mechanism (the document 3:Shin-ichiAoshima moving merit units in series composition, TakeshiTsujimura, TetsuroYabuta, " AWireMobileRobotwithMulti-unitStructure ", IEEE/RSJIntermationalWorkshoponIntelligentRobotsandSyste ms ' 89, Sep.4-6, 1989, Tsukuba, Japan, pp.414-421).The complex structure of these mechanisms, weight are large, big energy-consuming, obstacle climbing ability are limited and be not easy to control, the angle change of aerial earth wire can not be adapted to, the gripping power of jaw is little, the obstacle that angle is excessive cannot be crossed over, simultaneously large to the degree of damage of line, therefore, be difficult to be applied to actual extra high voltage network and patrol and examine operation.
Summary of the invention
For overcoming above-mentioned travel mechanism complex structure, insufficient clamping force, obstacle climbing ability are limited and be not easy to control, the angle change of aerial earth wire can not be adapted to, the wire of reducing can not be captured, wait deficiency to the degree of damage of wire is large simultaneously, the object of the present invention is to provide a kind of differential double fastener pawl travelling robot walking clipping mechanism.This walking clipping mechanism working space is large, and holding capability is strong, and obstacle climbing ability is strong, can adapt to the angle change of aerial earth wire, can clamp the wire of different-diameter, simultaneously little to the degree of damage of wire.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes traveling gear, front clamp mechanism, rear grip mechanism and box of tricks, this front clamp mechanism, rear grip mechanism and box of tricks are arranged on the walking wheel carrier of traveling gear respectively, driven jointly walk along aerial wire by traveling gear; Described box of tricks, between front clamp mechanism and rear grip mechanism, is connected with front clamp mechanism and rear grip mechanism respectively; The walking wheel carrier of described traveling gear is provided with clamping motor, and two jaws that this clamping motor is controlled in front clamp mechanism and rear grip mechanism respectively by the transmission of box of tricks synchronously unclamp or clamp.
Wherein: described traveling gear comprises walking wheel carrier, movable motor, live axle, road wheel, jam nut and flange, wheel carrier of wherein walking is connected with robot arm, the two ends of live axle are rotatably installed on walking wheel carrier, wherein one end be arranged on the movable motor of walking on wheel carrier, output shaft be connected, the end of the other end be provided be arranged on walking wheel carrier on flange; Described road wheel is arranged on live axle, carries out axial locking by the jam nut be set on live axle;
Described front clamp mechanism is identical with rear grip mechanism structure, is arranged on the walking wheel carrier of traveling gear respectively by jaw support and intermediate plate; Each clamping device includes second from synchronous pulley, second from transmission shaft, left sectional wheel, left socle, left jaw, the 3rd from transmission shaft, right sectional wheel, right support and right jaw, wherein second to be fixed together by bolt from synchronous pulley, left sectional wheel, left socle and to be arranged on second from transmission shaft, right sectional wheel, right support are fixed together by bolt and are arranged on the 3rd from transmission shaft, and described second is rotatably installed in walking wheel carrier from transmission shaft and the 3rd from the two ends of transmission shaft respectively; Described left jaw and right jaw are articulated with on left socle and right support respectively, engage each other transmission between left sectional wheel and right sectional wheel; In described front clamp mechanism second is connected with the main synchronous pulley of second box of tricks from synchronous pulley by the 3rd Timing Belt; Described front clamp mechanism and rear grip mechanism lay respectively at the both sides, front and back of road wheel; Described left socle and right support are respectively equipped with the positive stop lug boss limiting left jaw and the rotation of right jaw;
Described box of tricks comprises the second main synchronous pulley, second driving shaft, differential support frame, axle sleeve, differential gear frame, left driven wheel of differential, imput shaft, drive bevel gear, right driven wheel of differential, first from synchronous pulley, 3rd transmission shaft and the 3rd main synchronous pulley, box of tricks is overall to be arranged on walking wheel carrier by differential support frame, second driving shaft and the 3rd transmission shaft are rotatably installed on two differential support framves respectively, one end of described second driving shaft connects the second main synchronous pulley, the other end connects left driven wheel of differential, one end of described 3rd transmission shaft connects the 3rd main synchronous pulley, the other end connects right driven wheel of differential, the two ends of described differential gear frame are rotatably installed on second driving shaft and the 3rd transmission shaft respectively by axle sleeve, differential gear frame is provided with imput shaft, this imput shaft is connected with drive bevel gear, and described drive bevel gear is meshed with left driven wheel of differential and right driven wheel of differential respectively, described first is arranged on the 3rd transmission shaft from synchronous pulley, and affixed with differential gear frame, and this first is connected with the first main synchronous pulley be arranged on clamping motor from synchronous pulley by the first Timing Belt, described second main synchronous pulley and the 3rd main synchronous pulley are connected with rear grip mechanism with front clamp mechanism respectively by the 3rd Timing Belt and the second Timing Belt, differential support frame on described 3rd transmission shaft and first is provided with the sleeve be enclosed within the 3rd transmission shaft between synchronous pulley, described clamping motor is arranged on walking wheel carrier by motor supporting base.
Advantage of the present invention and good effect are:
1. the present invention adopts wheel-claw compound mechanism, is beneficial to walking and obstacle detouring; This walking clipping mechanism combines the advantage of wheel type mobile and creeping mechanism, both can walk fast along the line, also can leaping over obstacles.
2. adaptive ability is strong.Because clamping device of the present invention is floating on traveling gear, clamping device can be made self adaptation around traveling gear and rotate, and to adapt to the aerial earth wire of different angle, ensures that in clamping device, jaw attitude is parallel with aerial earth wire all the time.
3. holding capability is strong.Because the present invention adopts box of tricks, forward and backward clamping device can both clamping wires, the area of contact of jaw and wire is increased and front and back clamping device stressed more even, thus increase the Clamping force of complete machine, thus make robot have the ability of crossing over wide-angle obstacle.
4. obstacle climbing ability is strong.The present invention adopts box of tricks, thus enable forward and backward clamping device clamp the wire of different-diameter, when robot runs into obstacle, robot is provided with the ability of retained part reducing cylinder obstacle, thus makes robot have the ability can crossing over more complex barrier thing.
5. field of application is wider.Traveling gear of the present invention can realize locomotive function, and clamping device can realize clamping, unclamp, the function such as half armful, and road wheel grasps mutually with jaw and line; Working space of the present invention is large, lightweight, energy consumption is low, obstacle climbing ability and adaptive ability strong, has safety protection function simultaneously, is with a wide range of applications, can be used as the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line.
Accompanying drawing explanation
Fig. 1 is the structural front view of invention traveling gear;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the right elevation of Fig. 1;
Fig. 4 is the left view of Fig. 1;
Fig. 5 is the structure cutaway view of box of tricks of the present invention;
Fig. 6 is the structural front view of the front/rear clamping device of the present invention;
Fig. 7 is the structural representation that clamping device of the present invention is in clamped condition;
Fig. 8 is the structural representation that clamping device of the present invention is in half armful of state;
Fig. 9 is the structural representation that clamping device of the present invention is in releasing orientation;
Figure 10 is the schematic diagram of obstacle on supertension line;
Wherein: 1 is traveling gear, 2 is front clamp mechanism, 3 is rear grip mechanism, 4 is box of tricks, 5 is walking wheel carrier, 6 is movable motor, 7 is bearing, 8 is live axle, 9 is road wheel, 10 is jam nut, 11 is flange, 12 is the first main synchronous pulley, 13 is the first Timing Belt, 14 is motor supporting base, 15 is the second Timing Belt, 16 is the 3rd Timing Belt, 17 is clamping motor, 18 is jaw support, 19 is intermediate plate, 20 is the second main synchronous pulley, 21 is second driving shaft, 22 is differential support frame, 23 is ball-bearing casing, 24 is axle sleeve, 25 is differential gear frame, 26 is left driven wheel of differential, 27 is imput shaft, 28 is drive bevel gear, 29 is right driven wheel of differential, 30 is first from synchronous pulley, 31 is the 3rd transmission shaft, 32 is sleeve, 33 is the 3rd main synchronous pulley, 34 is second from synchronous pulley, 35 is second from transmission shaft, 36 is left sectional wheel, 37 is left socle, 38 is left jaw, 39 is the 3rd from transmission shaft, 40 is right sectional wheel, 41 is right support, 42 is right jaw, 43 is anchor support, 44 is parallel groove clamp, 45 is drainage thread, 46 is strain clamp, 47 is stockbridge damper, 48 is aerial wire, 49 is suspension clamp, 50 is tangent tower.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in figures 1-4, the present invention is compound tire structure, comprise traveling gear 1, front clamp mechanism 2, rear grip mechanism 3 and box of tricks 4, this front clamp mechanism 2, rear grip mechanism 3 and box of tricks 4 are arranged on the walking wheel carrier 5 of traveling gear 1 respectively, driven jointly walk along aerial wire 48 by traveling gear 1; Box of tricks 4, between front clamp mechanism 2 and rear grip mechanism 3, is connected with front clamp mechanism 2 and rear grip mechanism 3 respectively; Clamping motor 17 is arranged on the walking wheel carrier 5 of traveling gear 1 by motor supporting base 14, and two jaws that this clamping motor 17 is controlled in front clamp mechanism 2 and rear grip mechanism 3 respectively by the transmission of box of tricks 4 synchronously unclamp or clamp.
Traveling gear 1 comprises walking wheel carrier 5, movable motor 6, bearing 7, live axle 8, road wheel 9, jam nut 10 and flange 11, wheel carrier 5 of wherein walking is connected with robot arm by the flange 11 on it, the two ends of live axle 8 are rotatably installed on walking wheel carrier 5 respectively by bearing 7, wherein one end be arranged on the movable motor 6 of walking on wheel carrier 5, output shaft be connected, the end of the other end is provided with the flange 11 be arranged on walking wheel carrier 5) road wheel 9 is arranged on live axle 8, axial locking is carried out by the jam nut 10 be set on live axle 8.
As shown in Fig. 6 ~ 9, front clamp mechanism 2 is identical with rear grip mechanism 3 structure, is arranged on the walking wheel carrier 5 of traveling gear 1 respectively by jaw support 18 and intermediate plate 19, and front clamp mechanism 2 and rear grip mechanism 3 lay respectively at the both sides, front and back of road wheel 9.Each clamping device includes second from synchronous pulley 34, second from transmission shaft 35, left sectional wheel 36, left socle 37, left jaw 38, the 3rd be from transmission shaft 39, right sectional wheel 40, right support 41 and right jaw 42, wherein second to be fixed together by bolt from synchronous pulley 34, left sectional wheel 36, left socle 37 and to be arranged on second from transmission shaft 35, right sectional wheel 40, right support 41 are fixed together by bolt and are arranged on the 3rd from transmission shaft 39, and second is rotatably installed in walking wheel carrier 5 from transmission shaft 35 and the 3rd from the two ends of transmission shaft 39 respectively; Left jaw 38 and right jaw 42 are articulated with on left socle 37 and right support 41 respectively, engage each other transmission between left sectional wheel 36 and right sectional wheel 40; In front clamp mechanism 2 second is connected with the main synchronous pulley 20 of second box of tricks 4 from synchronous pulley 34 by the 3rd Timing Belt 16.Left socle 37 and right support 41 are respectively equipped with the positive stop lug boss limiting left jaw 38 and right jaw 42 rotation.
As shown in Figure 5, box of tricks 4 comprises the second main synchronous pulley 20, second driving shaft 21, differential support frame 22, ball-bearing casing 23, axle sleeve 24, differential gear frame 25, left driven wheel of differential 26, imput shaft 27, drive bevel gear 28, right driven wheel of differential 29, first from synchronous pulley 30, the 3rd transmission shaft 31, sleeve 32 and the 3rd main synchronous pulley 33, differential support frame 22 is two, each differential support frame 22 is equipped with tapped bore, and box of tricks 4 entirety is arranged on walking wheel carrier 5 by the tapped bore on two differential support framves 22; Second driving shaft 21 and the 3rd transmission shaft 31 are rotatably installed on two differential support framves 22 respectively by ball-bearing casing 23, one end that one end of second driving shaft 21 connects the second main synchronous pulley 20, the other end connects left driven wheel of differential the 26, three transmission shaft 31 connects the 3rd main synchronous pulley 33, the other end connects right driven wheel of differential 29; The two ends of differential gear frame 25 are rotatably installed on second driving shaft 21 and the 3rd transmission shaft 31 respectively by axle sleeve 24, differential gear frame 25 is provided with imput shaft 27, this imput shaft 27 is connected with drive bevel gear 28, and drive bevel gear 28 is meshed with left driven wheel of differential 26 and right driven wheel of differential 29 respectively; First is arranged on the 3rd transmission shaft 31 from synchronous pulley 30, and affixed with differential gear frame 25, and this first is connected with the first main synchronous pulley 12 be arranged on clamping motor 17 from synchronous pulley 30 by the first Timing Belt 13; Second main synchronous pulley 20 and the 3rd main synchronous pulley 33 are connected from synchronous pulley 34 with second in rear grip mechanism 3 with front clamp mechanism 2 respectively by the 3rd Timing Belt 16 and the second Timing Belt 15.Differential support frame 22 and first on the 3rd transmission shaft 31 is provided with the sleeve 32 be enclosed within the 3rd transmission shaft 31 between synchronous pulley 30.
Principle of work of the present invention is:
Movable motor 6 ground-engaging wheel axle 8, thus drive road wheel 9 to rotate, realize robot and advance on aerial wire 48 or retreat.Clamping motor 17 drives in box of tricks 4 first to rotate from synchronous pulley 30 by the first main synchronous pulley 12, first Timing Belt 13, thus realizes differential gear frame 25 and rotate, due to the rotation of differential gear frame 25, the drive bevel gear 28 be arranged on differential gear frame 25 rotates, by drive bevel gear 28 respectively with left driven wheel of differential 26, the engagement of right driven wheel of differential 29, left driven wheel of differential 26, right driven wheel of differential 29 rotates respectively, by second driving shaft 21, 3rd transmission shaft 31 drives the second main synchronous pulley 20 and the 3rd synchronous pulley 33 to rotate respectively, second main synchronous pulley 20 drives in front clamp mechanism 2 second to rotate from synchronous pulley 34 by the 3rd Timing Belt 16, by left sectional wheel 36, the engagement of right sectional wheel 40, realize left jaw 38, the action of right jaw 42, 3rd main synchronous pulley 33 drives second in rear grip mechanism to rotate from synchronous pulley 34 by the second Timing Belt 15 simultaneously, by the engagement of left sectional wheel 36, right sectional wheel 40, realizes the action of left jaw 38, right jaw 42, left jaw 38 has three states with the action of right jaw 42, is clamping, half armful and releasing orientation respectively, as shown in Fig. 5, Fig. 6, Fig. 7.
As shown in Figure 10, for extra high voltage network obstacle environment, in line environment, the main Types of shaft tower is anchor support 43 and tangent tower 50, major obstacle thing on anchor support 43 is strain clamp 46, drainage thread 45, parallel groove clamp 44, and the major obstacle thing on tangent tower 50 is suspension clamp 49, stockbridge damper 47.Because drainage thread 45 does not have pre-add tensile force, so drainage thread 45 is in stretched wire shape.

Claims (7)

1. a differential double fastener pawl travelling robot walking clipping mechanism, it is characterized in that: comprise traveling gear (1), front clamp mechanism (2), rear grip mechanism (3) and box of tricks (4), this front clamp mechanism (2), rear grip mechanism (3) and box of tricks (4) are arranged on the walking wheel carrier (5) of traveling gear (1) respectively, driven jointly walk along aerial wire (48) by traveling gear (1); Described box of tricks (4) is positioned between front clamp mechanism (2) and rear grip mechanism (3), is connected respectively with front clamp mechanism (2) and rear grip mechanism (3); The walking wheel carrier (5) of described traveling gear (1) is provided with clamping motor (17), and two jaws that this clamping motor (17) is controlled in front clamp mechanism (2) and rear grip mechanism (3) respectively by the transmission of box of tricks (4) synchronously unclamp or clamp;
Described front clamp mechanism (2) is identical with rear grip mechanism (3) structure, is arranged on the walking wheel carrier (5) of traveling gear (1) respectively by jaw support (18) and intermediate plate (19), each clamping device includes second from synchronous pulley (34), second from transmission shaft (35), left sectional wheel (36), left socle (37), left jaw (38), 3rd from transmission shaft (39), right sectional wheel (40), right support (41) and right jaw (42), wherein second from synchronous pulley (34), left sectional wheel (36), left socle (37) is fixed together by bolt and is arranged on second from transmission shaft (35), right sectional wheel (40), right support (41) is fixed together by bolt and is arranged on the 3rd from transmission shaft (39), described second is rotatably installed in walking wheel carrier (5) from transmission shaft (35) and the 3rd from the two ends of transmission shaft (39) respectively, described left jaw (38) and right jaw (42) are articulated with on left socle (37) and right support (41) respectively, engage each other transmission between left sectional wheel (36) and right sectional wheel (40), in described front clamp mechanism (2) second is connected with the second main synchronous pulley (20) box of tricks (4) from synchronous pulley (34) by the 3rd Timing Belt (16).
2. by differential double fastener pawl travelling robot walking clipping mechanism according to claim 1, it is characterized in that: described traveling gear (1) comprises walking wheel carrier (5), movable motor (6), live axle (8), road wheel (9), jam nut (10) and flange (11), wheel carrier (5) of wherein walking is connected with robot arm, the two ends of live axle (8) are rotatably installed in walking wheel carrier (5), wherein one end is connected with the output shaft being arranged on the movable motor (6) of walking on wheel carrier (5), the end of the other end is provided with the flange (11) be arranged in walking wheel carrier (5), described road wheel (9) is arranged on live axle (8), carries out axial locking by the jam nut (10) be set on live axle (8).
3. by differential double fastener pawl travelling robot walking clipping mechanism according to claim 1, it is characterized in that: described front clamp mechanism (2) and rear grip mechanism (3) lay respectively at the both sides, front and back of road wheel (9).
4. by differential double fastener pawl travelling robot walking clipping mechanism according to claim 1, it is characterized in that: described left socle (37) and right support (41) are respectively equipped with the positive stop lug boss that the left jaw of restriction (38) and right jaw (42) rotate.
5., by differential double fastener pawl travelling robot walking clipping mechanism according to claim 1, it is characterized in that: described box of tricks (4) comprises the second main synchronous pulley (20), second driving shaft (21), differential support frame (22), axle sleeve (24), differential gear frame (25), left driven wheel of differential (26), imput shaft (27), drive bevel gear (28), right driven wheel of differential (29), first from synchronous pulley (30), 3rd transmission shaft (31) and the 3rd main synchronous pulley (33), box of tricks (4) entirety is arranged in walking wheel carrier (5) by differential support frame (22), second driving shaft (21) and the 3rd transmission shaft (31) are rotatably installed on two differential support framves (22) respectively, and one end of described second driving shaft (21) connects the second main synchronous pulley (20), the other end connects left driven wheel of differential (26), and one end of described 3rd transmission shaft (31) connects the 3rd main synchronous pulley (33), the other end connects right driven wheel of differential (29), the two ends of described differential gear frame (25) are rotatably installed on second driving shaft (21) and the 3rd transmission shaft (31) respectively by axle sleeve (24), differential gear frame (25) is provided with imput shaft (27), this imput shaft (27) is connected with drive bevel gear (28), described drive bevel gear (28) is meshed with left driven wheel of differential (26) and right driven wheel of differential (29) respectively, described first is arranged on the 3rd transmission shaft (31) from synchronous pulley (30), and affixed with differential gear frame (25), this first is connected with the first main synchronous pulley (12) be arranged on clamping motor (17) from synchronous pulley (30) by the first Timing Belt (13), described second main synchronous pulley (20) and the 3rd main synchronous pulley (33) are connected with rear grip mechanism (3) with front clamp mechanism (2) respectively by the 3rd Timing Belt (16) and the second Timing Belt (15).
6., by differential double fastener pawl travelling robot walking clipping mechanism according to claim 5, it is characterized in that: the differential support frame (22) on described 3rd transmission shaft (31) and first is provided with the sleeve (32) be enclosed within the 3rd transmission shaft (31) between synchronous pulley (30).
7. by the differential double fastener pawl travelling robot walking clipping mechanism described in claim 1 or 5, it is characterized in that: described clamping motor (17) is arranged in walking wheel carrier (5) by motor supporting base (14).
CN201210584754.7A 2012-12-28 2012-12-28 A kind of differential double fastener pawl travelling robot walking clipping mechanism Active CN103895724B (en)

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* Cited by examiner, † Cited by third party
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CN111682448A (en) * 2020-06-17 2020-09-18 王秀芝 High altitude electric power overhauls with protector convenient to remove
CN112276835B (en) * 2020-09-30 2022-05-17 哈尔滨工业大学 Differential principle-based paw separation unlocking mechanism

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Publication number Priority date Publication date Assignee Title
JPH02136006A (en) * 1988-11-17 1990-05-24 Fujikura Ltd Aerial cable inspection robot
CN1853873A (en) * 2005-04-20 2006-11-01 中国科学院沈阳自动化研究所 Active obstacle travelling robot walking clipping mechanism
CN101168253A (en) * 2006-10-25 2008-04-30 上海求是机器人有限公司 Transmission line polling robot mechanical arm device
CN101471546A (en) * 2007-12-26 2009-07-01 中国科学院沈阳自动化研究所 Gripper mechanism with fault release function for walking of patrolling robot
CN102259341A (en) * 2011-06-22 2011-11-30 昆山市工业技术研究院有限责任公司 Combined mechanism of ratchet of high-voltage-cable walking robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02136006A (en) * 1988-11-17 1990-05-24 Fujikura Ltd Aerial cable inspection robot
CN1853873A (en) * 2005-04-20 2006-11-01 中国科学院沈阳自动化研究所 Active obstacle travelling robot walking clipping mechanism
CN101168253A (en) * 2006-10-25 2008-04-30 上海求是机器人有限公司 Transmission line polling robot mechanical arm device
CN101471546A (en) * 2007-12-26 2009-07-01 中国科学院沈阳自动化研究所 Gripper mechanism with fault release function for walking of patrolling robot
CN102259341A (en) * 2011-06-22 2011-11-30 昆山市工业技术研究院有限责任公司 Combined mechanism of ratchet of high-voltage-cable walking robot

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