CN105664449A - Electric equipment installation robot - Google Patents
Electric equipment installation robot Download PDFInfo
- Publication number
- CN105664449A CN105664449A CN201610245689.3A CN201610245689A CN105664449A CN 105664449 A CN105664449 A CN 105664449A CN 201610245689 A CN201610245689 A CN 201610245689A CN 105664449 A CN105664449 A CN 105664449A
- Authority
- CN
- China
- Prior art keywords
- joint
- electricity cylinder
- servomotor
- afer bay
- swinging mounting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009434 installation Methods 0.000 title abstract description 4
- 230000005611 electricity Effects 0.000 claims description 53
- 241000478345 Afer Species 0.000 claims description 41
- 229910052744 lithium Inorganic materials 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention provides an electric equipment installation robot. The robot comprises walking servomotors, back wheels, an electromagnet and the like, wherein the walking servomotors are symmetrically arranged at the back part of a back machine frame on the lower side; the back wheels are arranged at the tail ends of output shafts of the servomotors; the electromagnet is fixed to an electromagnet installation bracket; and a cylindrical pin is arranged at the top end of an armature of the electromagnet. The robot can move on a road by utilizing the walking servomotors; by adopting a climbing device with a self-locking function, the robot can stay in any position of an electric pole stably and reliably; and by adopting a multi-joint mechanical arm driven by an electric cylinder, a screwing device at the tail end is more flexible and freer in moving.
Description
Technical field
The present invention relates to electric power network technical field, particularly to a kind of power equipment mounting robot.
Background technology
Fast development along with modern electric technology, the scale that electrical network and power transmission line are built is also increasing, wherein most of electrical network in rural area is low voltage power transmission net, need to use electric pole and support to carry out overhead transmission line, support is generally angle iron structure, a U-shaped frame is used to fix, 2 nuts it are provided with at the two ends of U-shaped frame, it is used for fixing support and U-shaped frame, nut typically requires workman and makes to install by hand, but owing to worker stands is on high-altitude operation vehicle, crank, the inconvenience so operating, therefore be badly in need of a can the robot of installing/dismounting nut automatically.
Summary of the invention
For the problems referred to above, the present invention provides a kind of power equipment mounting robot, and it adopts self-lock mechanism, makes robot can climb electric pole voluntarily and rest on optional position; Adopt multi-joint mechanical arm, make robot operationally become more flexible.
Technical scheme used in the present invention is: a kind of power equipment mounting robot, including walking servomotor, rear wheel, afer bay, hook, hanger, hands handle, forebay, electric magnet, spring, articulated stand, connecting rod, electric-control system, lithium battery group, guide pillar, interior Hexagonal jacket, video camera, first servomotor, 4th joint, 4th electricity cylinder, 3rd joint, 3rd electricity cylinder, second joint, second electricity cylinder, first joint, first electricity cylinder, rotating turret, worm gear, second servomotor, 5th electricity cylinder, second spherosome, first spherosome, jointed shaft, worm screw, universal wheel, described forebay and afer bay are semicircle arcuation, forebay and afer bay are respectively arranged with 2, the afer bay of its middle and lower part is fixing with the bottom of guide pillar to be connected, the afer bay on top is slidably mounted on guide pillar, described forebay is connected with afer bay by jointed shaft, the middle part of described forebay arranges one piece of riser, the first swinging mounting and the second swinging mounting it is respectively provided with at described riser medial surface, second swinging mounting is arranged on the surface of the first swinging mounting, arrange the 3rd swinging mounting at the top of riser, the end sides of mmi machine frame arranges the 4th swinging mounting, described handle is rotatably installed on the 4th swinging mounting, and described hanger is hinged on middle handle, and described hook is arranged on afer bay side, utilizes hook and hanger forebay and afer bay can be fixed together, described articulated stand one end is hinged on the second swinging mounting, and the other end arranges the first spherosome, and the angle between articulated stand and riser is 45 ° ~ 60 °,Described spring one end is hinged on the first swinging mounting, and the other end of spring is hinged on articulated stand bottom; The second described spherosome is symmetricly set on inside afer bay; Described electric magnet is fixed in electric magnet mounting bracket, one straight pin is set on electromagnet armature top, described link rotatable is arranged on the 3rd swinging mounting, connecting rod lateral ends is provided with chute, described electromagnet armature is slidably mounted in the chute of connecting rod by the straight pin on top, and the inner opposite end of connecting rod arranges Tri-ball body; Described walking servomotor is symmetrical arranged the rear portion of afer bay below, and the output shaft end at servomotor arranges rear wheel; The 5th described electricity cylinder is arranged between two afer bays;
Described rotating turret is rotatably installed on the rear portion installing plate of afer bay above, and the bottom of rotating turret rotating shaft is provided with worm gear, arranges worm screw and the second servomotor in the side of worm gear, and the output shaft of the second described servomotor is connected with worm screw; The first described joint end is rotatably installed in rotating turret front portion, and the first described electricity cylinder is arranged between the first joint and rotating turret; The end of described second joint is rotatably installed in the end in the first joint, and the second described electricity cylinder is arranged between second joint and the first joint; The end in the 3rd described joint is rotatably installed in the end of second joint, and the 3rd described electricity cylinder is arranged between the 3rd joint and second joint; The end in the 4th described joint is rotatably installed in the end in the 3rd joint, and the 4th described electricity cylinder is arranged between the 4th joint and the 3rd joint; Arranging the first servomotor and video camera in the 4th described end, joint, the output shaft end at the first servomotor arranges interior Hexagonal jacket; The afer bay rear portion that described electric-control system and lithium battery group are arranged above, described lithium battery group is that electric-control system is powered, and described electric-control system is connected with electric magnet, the first servomotor, video camera, the 4th electricity cylinder, the 3rd electricity cylinder, the 5th electricity cylinder, the second servomotor, the first electricity cylinder, the second electricity cylinder respectively through circuit; Described universal wheel is arranged on the bottom of following forebay.
Further, the built-in wireless telecommunications system of described electric-control system, robot can utilize wireless telecommunications system and ground handling operator to carry out real-time communication.
Further, the first described spherosome and the second spherosome are fluorubber material.
Owing to present invention employs technique scheme, the invention have the advantages that
1. the present invention utilize walking servomotor can on road surface automatic moving.
2. the present invention adopts the climbing device with auto-lock function, makes robot can stop optional position on utility poles, reliable and stable.
3. the present invention adopts the multi-joint mechanical arm that electricity cylinder drives, and the winding device making end is free more flexibly when mobile.
Accompanying drawing explanation
Fig. 1 is present invention schematic diagram when climbing electric pole.
Fig. 2, Fig. 4 are the overall schematic of the present invention.
Fig. 3 is the bottom schematic view of the present invention.
Fig. 5 is the forebay of the present invention schematic diagram when opening.
Fig. 6 is the electric magnet scheme of installation of the present invention.
Fig. 7 is the mechanical arm schematic diagram of the present invention.
The forebay schematic diagram of Fig. 8 position present invention.
Drawing reference numeral: 1-electric pole; 2-support; 3-nut; 4-walks servomotor; 5-rear wheel; 6-afer bay; 7-links up with; 8-hanger;9-hands handle; 10-forebay; 11-electric magnet; 12-articulated stand; 13-spring; 14-connecting rod; 15-electric-control system; 16-lithium battery group; 17-guide pillar; Hexagonal jacket in 18-; 19-video camera; 20-the first servomotor; 21-the 4th joint; 22-the 4th electricity cylinder; 23-the 3rd joint; 24-the 3rd electricity cylinder; 25-second joint; 26-the second electricity cylinder; 27-the first joint; 28-the first electricity cylinder; 29-rotating turret; 30-worm gear; 31-the second servomotor; 32-the 5th electricity cylinder; 33-the second spherosome; 34-the first spherosome; 35-jointed shaft; 36-worm screw; 37-universal wheel, 1001-the first swinging mounting; 1002-the second swinging mounting; 1003-the 3rd swinging mounting; 1004-electric magnet mounting bracket; 1005-the 4th swinging mounting.
Detailed description of the invention
By the examples below, and in conjunction with accompanying drawing, technical scheme is described in further detail.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of power equipment mounting robot, including
Walking servomotor 4, rear wheel 5, afer bay 6, hook 7, hanger 8, handle 9, forebay 10, electric magnet 11, spring 13, articulated stand 12, connecting rod 14, electric-control system 15, lithium battery group 16, guide pillar 17, interior Hexagonal jacket 18, video camera 19, first servomotor 20, 4th joint 21, 4th electricity cylinder 22, 3rd joint 23, 3rd electricity cylinder 24, second joint 25, second electricity cylinder 26, first joint 27, first electricity cylinder 28, rotating turret 29, worm gear 30, second servomotor 31, 5th electricity cylinder 32, second spherosome 33, first spherosome 34, jointed shaft 35, worm screw 36, universal wheel 37, described forebay 10 and afer bay 6 are semicircle arcuation, forebay 10 and afer bay 6 are respectively arranged with 2, the afer bay 6 of its middle and lower part is fixing with the bottom of guide pillar 17 to be connected, the afer bay 6 on top is slidably mounted on guide pillar 17, described forebay 10 is connected with afer bay 6 by jointed shaft 35, the middle part of described forebay 10 arranges one piece of riser, it is respectively provided with the first swinging mounting 1001 and the second swinging mounting 1002 at described riser medial surface, second swinging mounting 1002 is arranged on the surface of the first swinging mounting 1001, arrange the 3rd swinging mounting 1003 at the top of riser, the end sides of mmi machine frame 10 arranges the 4th swinging mounting 1005, described handle 9 is rotatably installed on the 4th swinging mounting 1005, and described hanger 8 is hinged in the middle part of handle 9, and described hook 7 is arranged on afer bay 6 side, utilizes hook 7 and hanger 8 forebay 10 and afer bay 6 can be fixed together, described articulated stand 12 one end is hinged on the second swinging mounting 1002, and the other end arranges the first spherosome 34, and the angle between articulated stand 12 and riser is 45 °, described spring 13 one end is hinged on the first swinging mounting 1001, and the other end of spring 13 is hinged on articulated stand 12 bottom, the second described spherosome 33 is symmetricly set on inside afer bay 6, described electric magnet 11 is fixed in electric magnet mounting bracket 1004, armature top at electric magnet 11 arranges a straight pin, described connecting rod 14 is rotatably installed on the 3rd swinging mounting 1003, connecting rod 14 lateral ends is provided with chute, the armature of described electric magnet 11 is slidably mounted in the chute of connecting rod 14 by the straight pin on top, and the inner opposite end of connecting rod 14 arranges Tri-ball body, described walking servomotor 4 is symmetrical arranged the rear portion of afer bay 6 below, and the output shaft end at servomotor arranges rear wheel 5,The 5th described electricity cylinder 32 is arranged between two afer bays 6;
Described rotating turret 29 is rotatably installed on the rear portion installing plate of afer bay 6 above, the bottom of rotating turret 29 rotating shaft is provided with worm gear 30, arrange worm screw 36 and the second servomotor 31 in the side of worm gear 30, the output shaft of the second described servomotor 31 is connected with worm screw 36; It is anterior that the first described joint 27 end is rotatably installed in rotating turret 29, and the first described electricity cylinder 28 is arranged between the first joint 27 and rotating turret 29; The end of described second joint 25 is rotatably installed in the end in the first joint 27, and the second described electricity cylinder 26 is arranged between second joint 25 and the first joint 27; The end in the 3rd described joint 23 is rotatably installed in the end of second joint 25, and the 3rd described electricity cylinder 24 is arranged between the 3rd joint 23 and second joint 25; The end in the 4th described joint 21 is rotatably installed in the end in the 3rd joint 23, and the 4th described electricity cylinder 22 is arranged between the 4th joint 21 and the 3rd joint 23; Arranging the first servomotor 20 and video camera 19 in the 4th described end, joint 21, the output shaft end at the first servomotor 20 arranges interior Hexagonal jacket 18; Afer bay 6 rear portion that described electric-control system 15 and lithium battery group 16 are arranged above, described lithium battery group 16 is powered for electric-control system 15, and described electric-control system 15 is connected with electric magnet the 11, first servomotor 20, video camera the 19, the 4th electricity cylinder the 22, the 3rd electricity cylinder the 24, the 5th electricity cylinder the 32, second servomotor the 31, first electricity cylinder the 28, second electricity cylinder 26 respectively through circuit; Described universal wheel 37 is arranged on the bottom of following forebay 10.
The described built-in wireless telecommunications system of electric-control system 15, robot can utilize wireless telecommunications system and ground handling operator to carry out real-time communication.
The first described spherosome 34 and the second spherosome 33 are fluorubber material.
Operation principle of the present invention: the present invention relies on two rear wheels 5 and a universal wheel 37 to walk on road surface voluntarily, release the connection between hanger 8 and hook 7 first by handle 9 when needing climbing electric pole 1, electric pole 1 is made to enter between forebay 10 and afer bay 6, then 9 forebaies 10 of handle and afer bay 6 is used to link together, because there being the support force of spring 13 after having connected, so the second spherosome 33 all contacts with electric pole 1 with the first spherosome 34, because the articulated stand 12 connecting the first spherosome 34 is inclined, so articulated stand 12 and electric pole 1 constitute self-locking mechanism, the 5th electricity cylinder 32 is allowed ceaselessly to stretch in the cold situation of electric magnet 11, robot will more ascend height, the information independence that robot gathers according to video camera 19 after climbing to top judges the position of nut 3, and nut 3 is screwed by Hexagonal jacket 18 in using, the intervention by two electric magnet 11 is needed time robot declines, after electric magnet 11 energising, armature stretches out and promotes connecting rod 14, articulated stand 12 is backed down downwards by connecting rod 14, release self-locking, but two electric magnet 11 can not be allowed to be energized simultaneously, otherwise robot can fall down, two electric magnet 11 need the flexible order coordinating the 5th electricity cylinder 32 to carry out alternate energisation, robot security is dropped on ground.
Claims (3)
1. a power equipment mounting robot, including walking servomotor (4), rear wheel (5), afer bay (6), hook (7), hanger (8), handle (9), forebay (10), electric magnet (11), spring (13), articulated stand (12), connecting rod (14), electric-control system (15), lithium battery group (16), guide pillar (17), interior Hexagonal jacket (18), video camera (19), first servomotor (20), 4th joint (21), 4th electricity cylinder (22), 3rd joint (23), 3rd electricity cylinder (24), second joint (25), second electricity cylinder (26), first joint (27), first electricity cylinder (28), rotating turret (29), worm gear (30), second servomotor (31), 5th electricity cylinder (32), second spherosome (33), first spherosome (34), jointed shaft (35), worm screw (36), universal wheel (37), described forebay (10) and afer bay (6) are semicircle arcuation, forebay (10) and afer bay (6) are respectively arranged with 2, the afer bay (6) of its middle and lower part is fixing with the bottom of guide pillar (17) to be connected, the afer bay (6) on top is slidably mounted on guide pillar (17), described forebay (10) is connected with afer bay (6) by jointed shaft (35), the middle part of described forebay (10) arranges one piece of riser, the first swinging mounting (1001) and the second swinging mounting (1002) it is respectively provided with at described riser medial surface, second swinging mounting (1002) is arranged on the surface of the first swinging mounting (1001), arrange the 3rd swinging mounting (1003) at the top of riser, the end sides of mmi machine frame (10) arranges the 4th swinging mounting (1005),Described handle (9) is rotatably installed on the 4th swinging mounting (1005), described hanger (8) is hinged on handle (9) middle part, described hook (7) is arranged on afer bay (6) side, utilizes hook (7) and hanger (8) forebay (10) and afer bay (6) can be fixed together; Described articulated stand (12) one end is hinged on the second swinging mounting (1002), and the other end arranges the first spherosome (34), and the angle between articulated stand (12) and riser is 45 °; Described spring (13) one end is hinged on the first swinging mounting (1001), and the other end of spring (13) is hinged on articulated stand (12) bottom; Described the second spherosome (33) is symmetricly set on afer bay (6) inner side; Described electric magnet (11) is fixed in electric magnet mounting bracket (1004), armature top at electric magnet (11) arranges a straight pin, described connecting rod (14) is rotatably installed on the 3rd swinging mounting (1003), connecting rod (14) lateral ends is provided with chute, the armature of described electric magnet (11) is slidably mounted in the chute of connecting rod (14) by the straight pin on top, and the inner opposite end of connecting rod (14) arranges Tri-ball body; Described walking servomotor (4) is symmetrical arranged the rear portion of afer bay (6) below, and the output shaft end at servomotor arranges rear wheel (5); The 5th described electricity cylinder (32) is arranged between two afer bays (6);
Described rotating turret (29) is rotatably installed on the rear portion installing plate of afer bay (6) above, the bottom of rotating turret (29) rotating shaft is provided with worm gear (30), arrange worm screw (36) and the second servomotor (31) in the side of worm gear (30), the output shaft of described the second servomotor (31) is connected with worm screw (36); It is anterior that described the first joint (27) end is rotatably installed in rotating turret (29), and the first described electricity cylinder (28) is arranged between the first joint (27) and rotating turret (29); The end of described second joint (25) is rotatably installed in the end of the first joint (27), and the second described electricity cylinder (26) is arranged between second joint (25) and the first joint (27); The end in the 3rd described joint (23) is rotatably installed in the end of second joint (25), and the 3rd described electricity cylinder (24) is arranged between the 3rd joint (23) and second joint (25); The end in the 4th described joint (21) is rotatably installed in the end in the 3rd joint (23), and the 4th described electricity cylinder (22) is arranged between the 4th joint (21) and the 3rd joint (23); Arranging the first servomotor (20) and video camera (19) in the 4th described joint (21) end, the output shaft end at the first servomotor (20) arranges interior Hexagonal jacket (18); Afer bay (6) rear portion that described electric-control system (15) and lithium battery group (16) are arranged above, described lithium battery group (16) is powered for electric-control system (15), and described electric-control system (15) is connected with electric magnet (11), the first servomotor (20), video camera (19), the 4th electricity cylinder (22), the 3rd electricity cylinder (24), the 5th electricity cylinder (32), the second servomotor (31), the first electricity cylinder (28), the second electricity cylinder (26) respectively through circuit; Described universal wheel (37) is arranged on the bottom of following forebay (10).
2. a kind of power equipment mounting robot according to claim 1, it is characterised in that: described electric-control system (15) built-in wireless telecommunications system, robot can utilize wireless telecommunications system and ground handling operator to carry out real-time communication.
3. a kind of power equipment mounting robot according to claim 1, it is characterised in that: described the first spherosome (34) and the second spherosome (33) are fluorubber material.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610245689.3A CN105664449B (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
| CN201711059633.XA CN107802995A (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610245689.3A CN105664449B (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059633.XA Division CN107802995A (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105664449A true CN105664449A (en) | 2016-06-15 |
| CN105664449B CN105664449B (en) | 2017-12-15 |
Family
ID=56310072
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059633.XA Withdrawn CN107802995A (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
| CN201610245689.3A Active CN105664449B (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059633.XA Withdrawn CN107802995A (en) | 2016-04-20 | 2016-04-20 | A kind of power equipment mounting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107802995A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002924A (en) * | 2016-07-20 | 2016-10-12 | 张学衡 | Inspection robot for transformer substation |
| CN106426220A (en) * | 2016-12-03 | 2017-02-22 | 叶强 | Intelligent streetlamp repairing robot |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN108100963A (en) * | 2018-01-02 | 2018-06-01 | 深圳市特辰科技股份有限公司 | A kind of mechanical arm mechanical lock and the climbing device using the mechanical arm mechanical lock |
| CN110652707A (en) * | 2019-07-24 | 2020-01-07 | 国网天津市电力公司 | Round telegraph pole climbing device |
| CN111285301A (en) * | 2020-02-21 | 2020-06-16 | 晁志兵 | Bear formula power maintenance climbing device |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108499783A (en) * | 2018-03-28 | 2018-09-07 | 朱兰英 | A kind of trees automatic spray apparatus |
| CN108515524B (en) * | 2018-05-14 | 2021-04-02 | 柳州中科机器人自动化股份有限公司 | Robot for mounting power equipment |
| CN109866199B (en) * | 2019-03-14 | 2020-10-30 | 胡佳威 | Power distribution cabinet insulation installation robot |
| CN111228755B (en) * | 2020-03-21 | 2021-04-16 | 郑州工业应用技术学院 | High-altitude operation device for electric power construction and use method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202743358U (en) * | 2012-08-23 | 2013-02-20 | 辽宁工程技术大学 | Gear oscillating bar type pneumatic spider robot |
| WO2015134151A1 (en) * | 2014-03-05 | 2015-09-11 | Newgy Industries, Inc. | Table tennis robot with improved serving head movement |
| CN105081637A (en) * | 2015-09-01 | 2015-11-25 | 安徽工业大学 | Crane box girder three-degree-of-freedom movable welding robot |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
-
2016
- 2016-04-20 CN CN201711059633.XA patent/CN107802995A/en not_active Withdrawn
- 2016-04-20 CN CN201610245689.3A patent/CN105664449B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202743358U (en) * | 2012-08-23 | 2013-02-20 | 辽宁工程技术大学 | Gear oscillating bar type pneumatic spider robot |
| WO2015134151A1 (en) * | 2014-03-05 | 2015-09-11 | Newgy Industries, Inc. | Table tennis robot with improved serving head movement |
| CN105081637A (en) * | 2015-09-01 | 2015-11-25 | 安徽工业大学 | Crane box girder three-degree-of-freedom movable welding robot |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002924A (en) * | 2016-07-20 | 2016-10-12 | 张学衡 | Inspection robot for transformer substation |
| CN106426220A (en) * | 2016-12-03 | 2017-02-22 | 叶强 | Intelligent streetlamp repairing robot |
| CN106426220B (en) * | 2016-12-03 | 2018-09-18 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | A kind of intelligent maintaining street lamp robot |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN108100963A (en) * | 2018-01-02 | 2018-06-01 | 深圳市特辰科技股份有限公司 | A kind of mechanical arm mechanical lock and the climbing device using the mechanical arm mechanical lock |
| CN108100963B (en) * | 2018-01-02 | 2019-11-22 | 深圳市特辰科技股份有限公司 | A kind of mechanical arm mechanical lock and the climbing device using the mechanical arm mechanical lock |
| CN110652707A (en) * | 2019-07-24 | 2020-01-07 | 国网天津市电力公司 | Round telegraph pole climbing device |
| CN111285301A (en) * | 2020-02-21 | 2020-06-16 | 晁志兵 | Bear formula power maintenance climbing device |
| CN111285301B (en) * | 2020-02-21 | 2021-05-28 | 山东同其信息科技有限公司 | Bear formula power maintenance climbing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105664449B (en) | 2017-12-15 |
| CN107802995A (en) | 2018-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105664449A (en) | Electric equipment installation robot | |
| CN109244934B (en) | Ground wire suspension inspection robot | |
| CN110963065B (en) | Emergency guarantee robot for polar unmanned aerial vehicle | |
| WO2017067107A1 (en) | Automatic raising/lowering wheel mechanism, and intelligent luggage and method of using same | |
| CN201766309U (en) | Double-wheel-arm locked type inspection robot mechanism | |
| CN105716585B (en) | A kind of self-driving type radar wave flow measuring device based on conventional hydrometric cableway | |
| CN204021041U (en) | A kind of traveling gear for overhead power transmission line crusing robot | |
| CN106037197A (en) | Mobile platform and luggage box comprising same | |
| CN104590033A (en) | Trolley pole hoisting mechanism | |
| CN105619375A (en) | Multifunctional rescue robot and using method thereof | |
| CN208306789U (en) | A kind of power steel pipe tower climbing robot | |
| CN205429569U (en) | A robot patrols and examines for detecting transmission line | |
| CN107416060A (en) | One kind automation bar class climbing robot | |
| CN209463452U (en) | Moveable smart machine and its Intelligent luggage carrier using the smart machine | |
| CN211223908U (en) | Dynamic monitoring device for mine comprehensive treatment by using unmanned aerial vehicle remote sensing technology | |
| CN210154950U (en) | A crooked test equipment for electric automobile direct current charging cable | |
| CN209380723U (en) | A kind of energy conservation Detecting Robot | |
| CN116360436A (en) | Power equipment facility inspection robot | |
| CN206894272U (en) | A kind of mobile robot recharging device | |
| CN115296058A (en) | Special integrated automatic grounding device and grounding method for unmanned aerial vehicle | |
| CN115338889A (en) | Intelligent patrol control robot for 5G power equipment | |
| CN211764978U (en) | Side charging mechanism | |
| CN210742159U (en) | Automatic detection system for detecting building diseases | |
| CN201682210U (en) | Automatic traveling mechanism used for detecting high-voltage transmission lines | |
| CN208266748U (en) | Lock to a kind of intelligent car position of pressure-sensitive timing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhu Mingfu Inventor after: Fu Ruimin Inventor after: Niu Zhiyong Inventor before: The inventor has waived the right to be mentioned |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171120 Address after: Xiangjiang Dong Lu, Qibin District Hebi Henan province 458030 City National Park Photo Applicant after: Zhu Mingfu Address before: 426100 Yongzhou City, Hunan province Qiyang County stone Zitang Applicant before: Yang Ding |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Electric equipment installation robot Effective date of registration: 20181217 Granted publication date: 20171215 Pledgee: Hebi Branch of Central Plains Bank Co., Ltd. Pledgor: Zhu Mingfu|The state-run Optoelectronics Technology limited company in Hebi Registration number: 2018990001205 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200421 Granted publication date: 20171215 Pledgee: Hebi Branch of Central Plains Bank Co., Ltd. Pledgor: Zhu Mingfu Registration number: 2018990001205 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Electric equipment installation robot Effective date of registration: 20200421 Granted publication date: 20171215 Pledgee: Hebi Branch of Central Plains Bank Co., Ltd. Pledgor: Zhu Mingfu Registration number: Y2020980001681 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211222 Address after: 450000 floors 1-4, building I, Tianheng Outsourcing Industrial Park, Yangjin Road, Jinshui District, Zhengzhou City, Henan Province Patentee after: Henan national micro Intelligence Research Institute Co., Ltd Address before: 458030 Xiangjiang East Road, Hebi, Henan, China. Patentee before: Zhu Mingfu |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220228 Granted publication date: 20171215 Pledgee: Hebi Branch of Central Plains Bank Co.,Ltd. Pledgor: Zhu Mingfu Registration number: Y2020980001681 |