CN106335041B - A kind of power-line patrolling robot and its motion control method - Google Patents

A kind of power-line patrolling robot and its motion control method Download PDF

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Publication number
CN106335041B
CN106335041B CN201610914335.3A CN201610914335A CN106335041B CN 106335041 B CN106335041 B CN 106335041B CN 201610914335 A CN201610914335 A CN 201610914335A CN 106335041 B CN106335041 B CN 106335041B
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China
Prior art keywords
hydraulic cylinder
spring
plate
change gear
power
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CN201610914335.3A
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CN106335041A (en
Inventor
黄春梅
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Shenzhen Power Supply Bureau Co Ltd
Shenzhen Comtop Information Technology Co Ltd
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Shenzhen Power Supply Bureau Co Ltd
Shenzhen Comtop Information Technology Co Ltd
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08Locating faults in cables, transmission lines, or networks
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

The invention discloses a kind of power-line patrolling robots, including the first connecting plate, second connecting plate and third connecting plate, pass through the first connection axis connection between first connecting plate and the second connecting plate and between the second connecting plate and third connecting plate, the free end of first connecting plate is connected with substrate with the free end of third connecting plate by the first spring body, first hydraulic cylinder is connected with by second spring body respectively on first connecting plate and third connecting plate, the top land of first hydraulic cylinder is connected with the first change gear, second hydraulic cylinder is connected with by third spring body on second connecting plate, the top land of second hydraulic cylinder is connected with the second change gear;Setting is connected with a third hydraulic cylinder and the 4th hydraulic cylinder there are two the second connecting shaft in each second connecting shaft on substrate.The invention also discloses a kind of motion control methods of above-mentioned power-line patrolling robot.The present invention can improve the deficiencies in the prior art, reduce the amplitude that inspection robot shakes in scale obstacles.

Description

A kind of power-line patrolling robot and its motion control method
Technical field
The present invention relates to electric power overhaul technical field, especially a kind of power-line patrolling robot and its motion control method.
Background technology
Design intelligent robot progress line walking is rising in recent years, but due to various barriers, corner in transmission line of electricity The working environment of the complexity such as transmission tower, heavy grade lateral conductor proposes prodigious challenge to robot line walking.It is hanged on single line at present The inspection robot of extension is broadly divided into two kinds of configurations of two-wheeled and three-wheel.102005705 B of Chinese invention patent CN disclose one Kind suspended line walking robot, can climb various circuitry obstacles.But this inspection robot is in scale obstacles, With the climbing of inspection robot serious inclination and shaking can occur for the various instrument and equipments hung below, influence detection data Accuracy.
Invention content
The technical problem to be solved in the present invention is to provide a kind of power-line patrolling robot and its motion control methods, can solve Certainly the deficiencies in the prior art reduce the amplitude that inspection robot shakes in scale obstacles.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of power-line patrolling robot, including the first connecting plate, the second connecting plate and third connecting plate, the first connecting plate and By the first connection axis connection between second connecting plate and between the second connecting plate and third connecting plate, the first connecting plate from Substrate is connected with by the first spring body with the free end of third connecting plate by holding, is distinguished on the first connecting plate and third connecting plate It is connected with first hydraulic cylinder by second spring body, the top land of first hydraulic cylinder is connected with the first change gear, the second connecting plate Upper to be connected with second hydraulic cylinder by third spring body, the top land of second hydraulic cylinder is connected with the second change gear;It is set on substrate It sets there are two the second connecting shaft, is connected with a third hydraulic cylinder and the 4th hydraulic cylinder in each second connecting shaft, two Third hydraulic cylinder is respectively connected to the first connecting plate and third connecting plate, and two the 4th hydraulic cylinders are connected on the second connecting plate; First change gear and the second change gear are connected separately with driving motor, and pressure biography is respectively arranged on second spring body and third spring body Sensor is provided with controller on substrate, and the signal input part of controller is connected with pressure sensor, the signal output end of controller It is connected with first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder and driving motor.
Preferably, the top land of the third hydraulic cylinder is provided with rubber stopper, rubber stopper activity is plugged on the second bullet It being interference fitted in spring body and with second spring body, banking stop is provided in second spring body, the bottom of rubber stopper is provided with air bag, The side wall of rubber stopper is provided with lug boss communicated with the airbag.
Preferably, second connecting plate bottom is provided with third connecting shaft, third spring body connects with third connecting shaft It connects, the 4th hydraulic cylinder connect axis connection with third, and third spring body is located between two the 4th hydraulic cylinders, the 4th hydraulic cylinder and the Torsional spring is provided between three spring bodies, torsional spring is socketed in third connecting shaft.
Preferably, being both provided with hanging mechanisms in first change gear and the second change gear, hanging mechanisms include being fixed on Shrapnel on the outside of change gear central shaft, for shrapnel to the outside protrusion of change gear, the both sides of shrapnel are provided with catch, catch and change gear it is interior Side wall is bonded to each other, and the curved flanges of annular arrangement are provided on the inside of catch, and the curved flanges on two side-lens are oppositely arranged.
Preferably, being provided with several through-holes on the shrapnel, several beam non-conductive fibres are fixed on change gear central shaft, Non-conductive fibre is plugged in through-hole.
A kind of motion control method of above-mentioned power-line patrolling robot, includes the following steps:
A, the first change gear and the second change gear driving power inspection robot advance, and are located at the of power-line patrolling robot front When one change gear touches barrier, corresponding first hydraulic cylinder drives second spring body to deform, pressure sensor by this Deformation pressure is transferred to controller;
B, controller control first hydraulic cylinder stretches, and the first change gear is made to clear the jumps, while controlling second hydraulic cylinder receipts Contracting;
C, positioned at the third hydraulic cylinder of advanced side and the 4th hydraulic cylinder for the flexible of first hydraulic cylinder and second hydraulic cylinder Stroke carries out corresponding telescopic adjustment;
D, after the first change gear clears the jumps, first hydraulic cylinder is shunk, while second hydraulic cylinder stretches, and makes the second change gear It clears the jumps, while two the 4th hydraulic cylinders carry out telescopic adjustment according to the deformation quantity of two second spring bodies;
E, after the second change gear clears the jumps, second hydraulic cylinder is shunk, while positioned at power-line patrolling robot tail portion First hydraulic cylinder stretches, and corresponding first change gear is made to clear the jumps, and is located at the third hydraulic cylinder of power-line patrolling robot tail portion With the 4th hydraulic cylinder telescopic adjustment is carried out for the deformation quantity of third spring body and corresponding second spring body.
Preferably, in step B, is shunk by controlling second hydraulic cylinder, make the second bullet of third spring body and its both sides The deformation quantity of spring body, the trend linearly reduced by the rear portion of front end to the power-line patrolling robot of power-line patrolling robot, and The deformation quantity of second spring body is less than the 5% of its original length on rear side of power-line patrolling robot.
It is using advantageous effect caused by above-mentioned technical proposal:The present invention by design connecting plate and hydraulic cylinder and The connection structure of substrate and by adjusting in real time, makes change gear when climbing obstacle detouring, substrate can keep horizontal with substrate, to reduce It shakes to the influence caused by the instrument being hung below substrate.First hydraulic cylinder and second hydraulic cylinder are used for controlling the upper of change gear Lower movement, third hydraulic cylinder and the 4th hydraulic cylinder are used for adjusting relative angle between connecting plate, while third hydraulic cylinder and the The force structure of second spring body and third spring body can also be adjusted in the flexible of four hydraulic cylinders, to play inhibition the Excessive interference effect is generated between one hydraulic cylinder and second hydraulic cylinder connecting plate connected to it.Hanging mechanisms in change gear are logical The mutual extruding between shrapnel and cable is crossed, the clamping in hydraulic cylinder extension adjustment process between change gear and cable is improved and stablizes Property, while convenient for the disengaging of change gear and cable.Inspection robot disclosed by the invention is only by pressure sensor disturbance in judgement Object, system constitute very simple, and tolerance is high, reliable and stable.When scale obstacles, by the measurement data of pressure sensor and The real-time scalable data of hydraulic cylinder, is adjusted each hydraulic stem, to keep the basic horizontal of substrate.
Description of the drawings
Fig. 1 is the structure chart of a specific implementation mode of the invention.
Fig. 2 is that third hydraulic cylinder is connect with second spring body on first connecting plate in a specific implementation mode of the invention Structure chart.
Fig. 3 is the structure chart that third spring body is connect with the 4th hydraulic cylinder in a specific implementation mode of the invention.
Fig. 4 is the structure chart of hanging mechanisms in a specific implementation mode of the invention.
Fig. 5 is the structure chart that curved flanges are arranged in a specific implementation mode of the invention.
Fig. 6 is the structure chart of balance mechanism in a specific implementation mode of the invention.
In figure:1, the first connecting plate;2, the second connecting plate;3, third connecting plate;4, the first connecting shaft;5, the first spring Body;6, substrate;7, second spring body;8, first hydraulic cylinder;9, the first change gear;10, third spring body;11, second hydraulic cylinder; 12, the second change gear;13, the second connecting shaft;14, third hydraulic cylinder;15, the 4th hydraulic cylinder;16, driving motor;17, rubber stopper; 18, banking stop;19, air bag;20, lug boss;21, third connecting shaft;22, torsional spring;23, shrapnel;24, catch;25, arc is convex Edge;26, through-hole;27, non-conductive fibre;28, balance mechanism;29, holder;30, the 4th spring body;31, stabilizer;32, rubber lip Side;33, pressure sensor.
Specific implementation mode
The standardized element used in the present invention can commercially, and shaped piece is according to specification and attached drawing Record can carry out customized, and the specific connection type of each part is all made of bolt ripe in the prior art, rivet, weldering The conventional means such as connect, paste, this will not be detailed here.
Referring to Fig.1-6, one specific implementation mode of the present invention is connected including the first connecting plate 1, the second connecting plate 2 with third Plate 3 passes through the first connection between first connecting plate 1 and the second connecting plate 2 and between the second connecting plate 2 and third connecting plate 3 Axis 4 connects, and the free end of the first connecting plate 1 is connected with substrate 6 with the free end of third connecting plate 3 by the first spring body 5, the First hydraulic cylinder 8, the work of first hydraulic cylinder 8 are connected with by second spring body 7 respectively on one connecting plate 1 and third connecting plate 3 Plug top is connected with the first change gear 9, and second hydraulic cylinder 11, the second liquid are connected with by third spring body 10 on the second connecting plate 2 The top land of cylinder pressure 11 is connected with the second change gear 12;There are two the second connecting shaft 13, each second connecting shafts for setting on substrate 6 A third hydraulic cylinder 14 and the 4th hydraulic cylinder 15 are connected on 13, two third hydraulic cylinders 14 are respectively connected to the first company Fishplate bar 1 and third connecting plate 3, two the 4th hydraulic cylinders 15 are connected on the second connecting plate 2;First change gear 9 and the second change gear 12 It is connected separately with driving motor 16, pressure sensor 33, substrate 6 are respectively arranged on second spring body 7 and third spring body 10 On be provided with controller, the signal input part of controller is connected with pressure sensor 33, the signal output end of controller and first Hydraulic cylinder 8, second hydraulic cylinder 11, third hydraulic cylinder 14, the 4th hydraulic cylinder 15 are connected with driving motor 16.Third hydraulic cylinder 14 Top land is provided with rubber stopper 17, and 17 activity of rubber stopper is plugged in second spring body 7 and matches with 7 interference of second spring body It closes, banking stop 18 is provided in second spring body 7, the bottom of rubber stopper 17 is provided with air bag 19, the side wall setting of rubber stopper 17 There is the lug boss 20 being connected with air bag 19.Second connecting plate, 2 bottom is provided with third connecting shaft 21, third spring body 10 and Three connecting shafts 21 connect, and the 4th hydraulic cylinder 15 is connect with third connecting shaft 21, and third spring body 10 is located at two the 4th hydraulic cylinders Between 15, torsional spring 22 is provided between the 4th hydraulic cylinder 15 and third spring body 10, torsional spring 22 is socketed in third connecting shaft 21. Hanging mechanisms are both provided in first change gear 9 and the second change gear 12, hanging mechanisms include the bullet being fixed on the outside of change gear central shaft The outside of piece 23, shrapnel 23 to change gear is raised, and the both sides of shrapnel 23 are provided with catch 24, and catch 24 and the madial wall of change gear are mutual Fitting, the inside of catch 24 are provided with the curved flanges 25 of annular arrangement, and the curved flanges 25 on two side-lens 24 are oppositely arranged. It is provided with several through-holes 26 on shrapnel 23, several beam non-conductive fibres 27,27 grafting of non-conductive fibre are fixed on change gear central shaft In through-hole 26.
In addition, being coaxially arranged with balance mechanism 28 with the second change gear 12 at 11 top of second hydraulic cylinder, balance mechanism 28 wraps Symmetrically arranged two holders 29 are included, the top of holder 29 is connected with stabilizer 31, passes through the 4th spring between two holders 29 Body 30 is connected, and the axial angle of stabilizer 31 and the second change gear 12 is 6 °, and the inclined direction of two stabilizers 31 is on the contrary, stabilizer 31 outer ledge is provided with rubber lip 32.It is articulated on cable by two stabilizers 31, can effectively inhibit the first extension The shaking that wheel is brought during moving up and down to the second change gear, to improve the stability of substrate.
A kind of motion control method of above-mentioned power-line patrolling robot, includes the following steps:
A, the first change gear 9 and 12 driving power inspection robot of the second change gear advance, and are located at power-line patrolling robot front The first change gear 9 when touching barrier, corresponding first hydraulic cylinder 8 drives second spring body 7 to deform, pressure sensor This deformation pressure is transferred to controller by 33;
B, controller control first hydraulic cylinder 8 stretches, and so that the first change gear 9 is cleared the jumps, while controlling second hydraulic cylinder 11 shrink;
C, first hydraulic cylinder 8 and second hydraulic cylinder 11 are directed to positioned at the third hydraulic cylinder 14 of advanced side and the 4th hydraulic cylinder 15 Flexible stroke carry out corresponding telescopic adjustment;
D, after the first change gear 9 clears the jumps, first hydraulic cylinder 8 is shunk, while second hydraulic cylinder 11 stretches, and makes second Change gear 12 clears the jumps, while two the 4th hydraulic cylinders 15 carry out telescopic adjustment according to the deformation quantity of two second spring bodies 7;
E, after the second change gear 12 clears the jumps, second hydraulic cylinder 11 is shunk, while being located at power-line patrolling robot tail The first hydraulic cylinder 8 in portion stretches, and corresponding first change gear is made to clear the jumps, and is located at the third liquid of power-line patrolling robot tail portion Cylinder pressure 14 and the 4th hydraulic cylinder 15 carry out telescopic adjustment for the deformation quantity of third spring body 10 and corresponding second spring body 7.
In step B, is shunk by controlling second hydraulic cylinder 11, make the second spring body 7 of third spring body 10 and its both sides Deformation quantity, the trend linearly reduced by the rear portion of front end to the power-line patrolling robot of power-line patrolling robot, and electric power The deformation quantity of second spring body 7 is less than the 5% of its original length on rear side of inspection robot.
In step C, third hydraulic cylinder 14 and 8 synchro-draw of first hydraulic cylinder, the tensile elongation of third hydraulic cylinder 14 are the The 30% of one hydraulic cylinder 8;4th hydraulic cylinder 15 and 11 synchronous of second hydraulic cylinder, the contracted length of the 4th hydraulic cylinder 15 are:
,
Wherein, L2For the shrinkage of second hydraulic cylinder 11, L3For the amount of tension of third hydraulic cylinder 14, L4For the 4th hydraulic cylinder 15 shrinkage.
In step D, the telescopic direction of the 4th hydraulic cylinder 15 is with the deformation direction of second spring body 7 on the contrary, the 4th hydraulic cylinder 15 stroke is 6 times of 7 deformation quantity of second spring body.
In step E, the stroke of the 4th hydraulic cylinder 15 is directly proportional to the deformation quantity of third spring body 10, third hydraulic cylinder 14 Stroke it is directly proportional to the deformation quantity of corresponding second spring body 7, and 15 stroke of the 4th hydraulic cylinder and third hydraulic cylinder 14 The difference of stroke is no more than the 10% of 5 original length of the first spring body.
During the present invention can be with robot scale obstacles, the basic horizontal of substrate is kept, is especially continuously being climbed During barrier, climbing reaction is fast, and substrate stability is high.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (5)

1. a kind of power-line patrolling robot, it is characterised in that:Including the first connecting plate(1), the second connecting plate(2)It is connected with third Plate(3), the first connecting plate(1)With the second connecting plate(2)Between and the second connecting plate(2)With third connecting plate(3)Between lead to Cross the first connecting shaft(4)Connection, the first connecting plate(1)Free end and third connecting plate(3)Free end pass through the first spring Body(5)It is connected with substrate(6), the first connecting plate(1)With third connecting plate(3)It is upper to pass through second spring body respectively(7)It is connected with First hydraulic cylinder(8), first hydraulic cylinder(8)Top land be connected with the first change gear(9), the second connecting plate(2)It is upper by the Three spring bodies(10)It is connected with second hydraulic cylinder(11), second hydraulic cylinder(11)Top land be connected with the second change gear(12); Substrate(6)There are two the second connecting shafts for upper setting(13), each second connecting shaft(13)On be connected with a third hydraulic cylinder (14)With the 4th hydraulic cylinder(15), two third hydraulic cylinders(14)It is respectively connected to the first connecting plate(1)It is connected with third Plate(3), two the 4th hydraulic cylinders(15)It is connected to the second connecting plate(2)On;First change gear(9)With the second change gear(12)Connect respectively It is connected to driving motor(16), second spring body(7)With third spring body(10)On be respectively arranged with pressure sensor(33), substrate (6)On be provided with controller, the signal input part and pressure sensor of controller(33)Be connected, the signal output end of controller with First hydraulic cylinder(8), second hydraulic cylinder(11), third hydraulic cylinder(14), the 4th hydraulic cylinder(15)And driving motor(16)It is connected;
The third hydraulic cylinder(14)Top land be provided with rubber stopper(17), rubber stopper(17)Activity is plugged on second spring Body(7)It is interior and with second spring body(7)Interference fit, second spring body(7)Inside it is provided with banking stop(18), rubber stopper(17)'s Bottom is provided with air bag(19), rubber stopper(17)Side wall be provided with and air bag(19)The lug boss being connected(20);
Second connecting plate(2)Bottom is provided with third connecting shaft(21), third spring body(10)With third connecting shaft(21) Connection, the 4th hydraulic cylinder(15)With third connecting shaft(21)Connection, third spring body(10)Positioned at two the 4th hydraulic cylinders(15) Between, the 4th hydraulic cylinder(15)With third spring body(10)Between be provided with torsional spring(22), torsional spring(22)It is socketed in third connection Axis(21)On.
2. power-line patrolling robot according to claim 1, it is characterised in that:First change gear(9)With the second change gear (12)Hanging mechanisms are inside both provided with, hanging mechanisms include the shrapnel being fixed on the outside of change gear central shaft(23), shrapnel(23)To The outside protrusion of change gear, shrapnel(23)Both sides be provided with catch(24), catch(24)It is bonded to each other, keeps off with the madial wall of change gear Piece(24)Inside be provided with the curved flanges of annular arrangement(25), two side-lens(24)On curved flanges(25)Reversely set It sets.
3. power-line patrolling robot according to claim 2, it is characterised in that:The shrapnel(23)On be provided with several Through-hole(26), several beam non-conductive fibres are fixed on change gear central shaft(27), non-conductive fibre(27)It is plugged on through-hole(26)It is interior.
4. a kind of motion control method of the power-line patrolling robot described in claim 1-3 any one, it is characterised in that packet Include following steps:
A, the first change gear(9)With the second change gear(12)Driving power inspection robot advances, and is located at power-line patrolling robot front The first change gear(9)When touching barrier, corresponding first hydraulic cylinder(8)Drive second spring body(7)It deforms, pressure Sensor(33)This deformation pressure is transferred to controller;
B, controller controls first hydraulic cylinder(8)It stretches, makes the first change gear(9)It clears the jumps, while controlling second hydraulic cylinder (11)It shrinks;
C, positioned at the third hydraulic cylinder of advanced side(14)With the 4th hydraulic cylinder(15)For first hydraulic cylinder(8)And second hydraulic cylinder (11)Flexible stroke carry out corresponding telescopic adjustment;
D, when the first change gear(9)After clearing the jumps, first hydraulic cylinder(8)It shrinks, while second hydraulic cylinder(11)It stretches, makes the Two change gears(12)It clears the jumps, while two the 4th hydraulic cylinders(15)According to two second spring bodies(7)Deformation quantity carry out Telescopic adjustment;
E, when the second change gear(12)After clearing the jumps, second hydraulic cylinder(11)It shrinks, while being located at power-line patrolling robot tail The first hydraulic cylinder in portion(8)It stretches, corresponding first change gear is made to clear the jumps, be located at the third of power-line patrolling robot tail portion Hydraulic cylinder(14)With the 4th hydraulic cylinder(15)For third spring body(10)With corresponding second spring body(7)Deformation quantity carry out Telescopic adjustment.
5. the motion control method of power-line patrolling robot according to claim 4, it is characterised in that:In step B, pass through Control second hydraulic cylinder(11)It shrinks, makes third spring body(10)With the second spring body of its both sides(7)Deformation quantity, by electric power The trend that the rear portion of the front end of inspection robot to power-line patrolling robot linearly reduces, and the on rear side of power-line patrolling robot Two spring bodies(7)Deformation quantity be less than its original length 5%.
CN201610914335.3A 2016-10-20 2016-10-20 A kind of power-line patrolling robot and its motion control method Active CN106335041B (en)

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Application Number Priority Date Filing Date Title
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CN106335041B true CN106335041B (en) 2018-11-13

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108462107A (en) * 2018-03-30 2018-08-28 江西电力职业技术学院 The omnipotent conducting wire walking device of overhead transmission line
CN108767851B (en) * 2018-06-14 2021-07-13 深圳供电局有限公司 Intelligent operation command method and system for operation and maintenance of transformer substation

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Publication number Priority date Publication date Assignee Title
JPH05346416A (en) * 1992-06-15 1993-12-27 Hitachi Cable Ltd Method and device for detecting disconnected strand of overhead wire
CN201075610Y (en) * 2007-08-01 2008-06-18 北京深浪电子技术有限公司 Aerial circuit over barrier polling robot
CN102005705B (en) * 2010-10-29 2012-09-05 西安交通大学 Suspended line walking robot
KR101486009B1 (en) * 2013-01-29 2015-01-28 한국과학기술연구원 Driving Wheel of Robot moving along the wire and Robot having the same
CN206105827U (en) * 2016-10-20 2017-04-19 刘辉 Electric power inspection robot

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Effective date of registration: 20181008

Address after: 518001 electric power dispatching and communication building, 4020 Shennan East Road, Luohu District, Shenzhen, Guangdong

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