CN106451223A - Wheel-clamping compound mechanism for power transmission line polling robot - Google Patents
Wheel-clamping compound mechanism for power transmission line polling robot Download PDFInfo
- Publication number
- CN106451223A CN106451223A CN201611114286.1A CN201611114286A CN106451223A CN 106451223 A CN106451223 A CN 106451223A CN 201611114286 A CN201611114286 A CN 201611114286A CN 106451223 A CN106451223 A CN 106451223A
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- China
- Prior art keywords
- wheel
- clamping
- optical axis
- jaw
- drive shaft
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- 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.)
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention relates to a wheel-clamping compound mechanism for a power transmission line polling robot. A walking driving shaft is connected with a walking driving motor; a clamping driving shaft is connected with a clamping driving motor; the two shafts are arranged between a base and an end plate in parallel; the clamping driving shaft is sleeved with a walking wheel through a bearing; the walking driving shaft and the walking wheel are driven by a belt wheel; left and right threads which are reverse to each other are formed on the clamping driving shaft; left and right clamping jaws are respectively arranged on the clamping driving shaft through left and right circular nuts and left and right sleeves; a servo shell is located between the base and the end plate; front and rear optical axes are fixedly connected with the servo shell in parallel; front and rear wire pressing wheels are respectively arranged on the front and rear optical axes and are respectively located on the front and rear sides of the walking wheel; the left and right circular nuts are respectively connected with a guiding shaft through left and right sliding blocks; the left and right clamping jaws are connected with the front and rear optical axes through optical holes; a left front clamping wheel and a right front clamping wheel are matched with the front wire pressing wheel; a left rear clamping wheel and a right rear clamping wheel are matched with the rear wire pressing wheel; a servo resetting spring is connected between the servo shell and the base.
Description
Technical field
The invention belongs to crusing robot technical field, more particularly to a kind of transmission line polling robot wheel presss from both sides compound
Mechanism.
Background technology
When electric energy becomes the irreplaceable energy of modern social development, the stable of electric power facility just becomes state with improving
The primary demand of family's development.At present, the important ring transmitted electricity as electrical network medium and long distance away from the high pressure overhead power line in city
Section, carries out regular visit to transmission line of electricity, is to find because of disaster, abrasion or the aging main side leading to transmission line of electricity defect
Method.Because high pressure overhead power line has the manual inspection that Regional Distribution is wide and erection environment is complicated, traditional
Mode all the more be difficult to competent patrol task, and the appearance of crusing robot provides new mode for polling transmission line.
Crusing robot possesses the advantage that manual inspection does not have, and it not only closely can detect transmission line of electricity, and
And work efficiency will be significantly larger than manual inspection.But, on ground wire, force device is installed due to setting up, these force device meetings
Limit the work space of crusing robot, crusing robot needs to cross over these force devices and just can complete patrol task.Therefore,
In order to ensure the safety in obstacle detouring for the crusing robot, wheel folder composite structure can be arranged on crusing robot, but possess more
Barrier function crusing robot generally conduct oneself with dignity larger, lead to existing wheel folder composite structure stressing conditions unsatisfactory, Er Qiexian
Some wheel folder composite structures can not effectively adapt to the gradient present on transmission line of electricity, leads to existing wheel folder composite structure to transmission of electricity
The adaptability of circuit is low.
Content of the invention
The problem existing for prior art, the present invention provides a kind of transmission line polling robot wheel to press from both sides composite structure,
The gradient present on transmission line of electricity can effectively be adapted to, and stressing conditions are more reasonable, and possess the energy of self adaptation transmission line of electricity
Power.
To achieve these goals, the present invention adopts the following technical scheme that：A kind of transmission line polling robot wheel folder is multiple
Close mechanism, drive including pedestal, end plate, servo-actuated housing, travel driving motor, clamping motor, the sliding duplicate gear, clamping
Axle, road wheel, left jaw and right jaw；
Described the sliding duplicate gear and clamping drive shaft are all arranged between pedestal and end plate by bearing, and the sliding duplicate gear
Parallel with clamping drive shaft；Described travel driving motor and clamping motor are all packed on pedestal, travel driving motor
Motor shaft be fixedly connected with the sliding duplicate gear, clamping motor motor shaft with clamp drive shaft be fixedly connected with；
Described road wheel is sleeved in clamping drive shaft by bearing, and in described the sliding duplicate gear, fixed cover is equipped with actively
Belt wheel, is set with driven pulley, driven pulley is connected in road wheel sidepiece, and driven pulley and road wheel in clamping drive shaft
It is arranged concentrically, be connected by transmission belt between described driving pulley and driven pulley；
The clamping drive shaft of described road wheel side is provided with left-hand thread, in the clamping drive shaft of road wheel opposite side
It is provided with right-hand thread, left-hand thread and right-hand thread left-hand thread each other；
The left-hand thread of described clamping drive shaft is provided with left round nut, left sleeve is set with left round nut, left
Sleeve only has rotational freedom with respect to left round nut；Left installing hole is offered on described left jaw, left jaw passes through a left side
Installing hole is fixedly set on left sleeve；
The right-hand thread of described clamping drive shaft is provided with right round nut, right sleeve is set with right round nut, right
Sleeve only has rotational freedom with respect to right round nut；Right installing hole is offered on described right jaw, right jaw passes through the right side
Installing hole is fixedly set on right sleeve；
Described servo-actuated housing is located between pedestal and end plate, is fixedly installed left support bar and right support in servo-actuated housing
Bar, optical axis and rear optical axis before being fixed between left support bar and right support bar, front optical axis is paralleled with rear optical axis, in front optical axis
On front fabric wheel is installed, fabric wheel after being provided with rear optical axis, and front fabric wheel and rear fabric wheel are located at road wheel respectively
Front side and rear side.
Add the axis of guide between described pedestal and end plate, the axis of guide, parallel to clamping drive shaft, divides on the axis of guide
It is not set with left slider and right slide block, left slider is fixedly connected with left round nut, and right slide block is fixedly connected with right round nut.
Two unthreaded holes are provided with described left jaw, left jaw pass through two unthreaded holes respectively with front optical axis and rear optical axis phase
Even, left jaw only has linear slide degree of freedom with respect to front optical axis and rear optical axis；Two unthreaded holes are provided with described right jaw,
Right jaw is connected with front optical axis and rear optical axis respectively by two unthreaded holes, and right jaw only has directly with respect to front optical axis and rear optical axis
Line free sliding degree.
Offer left suit hole at the middle part of described left support bar, the left suit hole of left support bar is sleeved on folder by bearing
In tight drive shaft；Offer right suit hole at the middle part of described right support bar, the right suit hole of right support bar is set with by bearing
In clamping drive shaft.
Left front pinch wheels and left back pinch wheels are provided with described left jaw, described right jaw is provided with right fore-clamp
Pinch wheels after bearing up pulley and the right side；Described left front pinch wheels and right fore-clamp bearing up pulley are matched with front fabric wheel, described left back pinch wheels and
Behind the right side, pinch wheels are matched with rear fabric wheel.
Add servo-actuated back-moving spring between described servo-actuated housing and pedestal.
Beneficial effects of the present invention：
The present invention can export enough clamping forces it is ensured that having enough frictions between road wheel and transmission line of electricity surface
Power, and then so that crusing robot is smoothly advanced on heavy grade transmission line of electricity.
The clamping force of present invention output passes through left and right jaw action on the left and right flank clamping drive shaft, and counter makees
Firmly moment of flexure will act on the axis of guide, is prevented effectively from clamping drive shaft and deforms under counteracting force moment of flexure, improves clamping
Power conveys reliability.
The main stress of the present invention is averaged shares end plate, pedestal, the axis of guide, clamping drive shaft and the sliding duplicate gear
On, make the wheel of the present invention press from both sides composite structure stress more reasonable.
With the change of the transmission line of electricity gradient, by before the present invention fabric wheel be forced raise, before drive, optical axis is raised, and enters
And drive left support bar, right support bar, servo-actuated housing, left jaw and right jaw together to carry out self adaptation around clamping drive shaft and turn
Dynamic, then fabric wheel and rear optical axis carry out self-adapting following, and realize automatically reseting by servo-actuated back-moving spring, and then improve
The ability of crusing robot self adaptation transmission line of electricity.
Brief description
Fig. 1 is a kind of transmission line polling robot wheel folder composite structure axonometric chart of the present invention；
Fig. 2 is a kind of transmission line polling robot wheel folder composite structure front view of the present invention；
Fig. 3 is a kind of transmission line polling robot wheel folder composite structure left view of the present invention；
Fig. 4 is a kind of transmission line polling robot wheel folder composite structure upward view of the present invention；
In figure, 1 pedestal, 2 end plates, 3 servo-actuated housings, 4 travel driving motor, 5 clamping motors, 6
The sliding duplicate gear, 7 clamping drive shafts, 8 road wheels, 9 left jaws, 10 right jaws, 11 driving pulleys, 12 is driven
Belt wheel, 13 transmission belts, 14 left round nuts, 15 left sleeves, 16 left support bars, 17 right support bars, optical axis before 18,
Optical axis after 19, fabric wheel before 20, fabric wheel after 21,22 axis of guides, 23 left sliders, 24 right slide blocks, 25 is left
Fore-clamp bearing up pulley, 26 left back pinch wheels, 27 right fore-clamp bearings up pulley, pinch wheels behind 28 right sides, 29 servo-actuated back-moving springs.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figures 1-4, a kind of transmission line polling robot wheel presss from both sides composite structure, including pedestal 1, end plate 2, servo-actuated
Housing 3, travel driving motor 4, clamping motor 5, the sliding duplicate gear 6, clamping drive shaft 7, road wheel 8, left jaw 9 and the right side
Jaw 10；
Described the sliding duplicate gear 6 and clamping drive shaft 7 are all arranged between pedestal 1 and end plate 2 by bearing, and drive of walking
Moving axis 6 is paralleled with clamping drive shaft 7；Described travel driving motor 4 and clamping motor 5 are all packed on pedestal 1, walking
The motor shaft of motor 4 is fixedly connected with the sliding duplicate gear 6, and the motor shaft of clamping motor 5 is mutually solid with clamping drive shaft 7
Even；
Described road wheel 8 by bearing be sleeved on clamping drive shaft 7 on, in described the sliding duplicate gear 6 fixed cover equipped with
Driving pulley 11, is set with driven pulley 12, driven pulley 12 is connected in road wheel 8 sidepiece, and driven in clamping drive shaft 7
Belt wheel 12 is arranged concentrically with road wheel 8, is connected by transmission belt 13 between described driving pulley 11 and driven pulley 12；
The clamping drive shaft 7 of described road wheel 8 side is provided with left-hand thread, drives in the clamping of road wheel 8 opposite side
Axle 7 is provided with right-hand thread, left-hand thread and right-hand thread left-hand thread each other；
The left-hand thread of described clamping drive shaft 7 is provided with left round nut 14, left round nut 14 is set with left set
Cylinder 15, left sleeve 15 only has rotational freedom with respect to left round nut 14；Described left jaw 9 offers left installing hole,
Left jaw 9 is fixedly set on left sleeve 15 by left installing hole；
The right-hand thread of described clamping drive shaft 7 is provided with right round nut, right sleeve is set with right round nut, right
Sleeve only has rotational freedom with respect to right round nut；Right installing hole is offered on described right jaw 10, right jaw 10 leads to
Cross right installing hole to be fixedly set on right sleeve；
Described servo-actuated housing 3 is located between pedestal 1 and end plate 2, is fixedly installed left support bar 16 He in servo-actuated housing 3
Right support bar 17, optical axis 18 and rear optical axis 19 before being fixed between left support bar 16 and right support bar 17, front optical axis 18 with after
Optical axis 19 is parallel, fabric wheel 20 before being provided with front optical axis 18, fabric wheel 21 after being provided with rear optical axis 19, and front pressure
Line wheel 20 and rear fabric wheel 21 are located at front side and the rear side of road wheel 8 respectively.
Add the axis of guide 22 between described pedestal 1 and end plate 2, the axis of guide 22, parallel to clamping drive shaft 7, is guiding
Left slider 23 and right slide block 24 are respectively installed with axle 22, left slider 23 is fixedly connected with left round nut 14, right slide block 24 and right circle
Nut is fixedly connected with.
Two unthreaded holes are provided with described left jaw 9, left jaw 9 pass through two unthreaded holes respectively with front optical axis 18 and rear optical axis
19 are connected, and left jaw 9 only has linear slide degree of freedom with respect to front optical axis 18 and rear optical axis 19；Described right jaw 10 sets
There are two unthreaded holes, right jaw 10 is connected with front optical axis 18 and rear optical axis 19 respectively by two unthreaded holes, right jaw 10 is with respect to front
Optical axis 18 and rear optical axis 19 only have linear slide degree of freedom.
Offer left suit hole at the middle part of described left support bar 16, the left suit hole of left support bar 16 is set with by bearing
In clamping drive shaft 7；Offer right suit hole at the middle part of described right support bar 17, the right suit hole of right support bar 17 is passed through
Bearing is sleeved in clamping drive shaft 7.
Described left jaw 9 is provided with left front pinch wheels 25 and left back pinch wheels 26, described right jaw 10 is arranged
There are pinch wheels 28 behind right fore-clamp bearing up pulley 27 and the right side；Described left front pinch wheels 25 and right fore-clamp bearing up pulley 27 are matched with front fabric wheel 20
Close, after described left back pinch wheels 26 and the right side, pinch wheels 28 are matched with rear fabric wheel 21.
Add servo-actuated back-moving spring 29 between described servo-actuated housing 3 and pedestal 1.
The first use process of the present invention is described below in conjunction with the accompanying drawings：
After crusing robot employs the wheel folder composite structure of the present invention, under initial rest state, road wheel 8, front
Fabric wheel 20 and rear fabric wheel 21 are contacted with transmission line of electricity surface.
Start to patrol and examine, now start travel driving motor 4, drive the sliding duplicate gear 6 to rotate, and then pass sequentially through main belt
Wheel 11, transmission belt 13 and driven pulley 12 drive road wheel 8 to rotate, thus realizing traveling on transmission line of electricity for the crusing robot
Action.
When the gradient of transmission line of electricity increases, in order to increase the frictional force of road wheel 8 and transmission line of electricity surface, patrolled with meeting
The climbing of inspection robot needs, and now starts clamping motor 5, drives clamping drive shaft 7 to rotate, makes left round nut 14 and the right side
Round nut is moved closer to by left-hand thread and right-hand thread respectively, and then drives left jaw 9 and right jaw 10 to move closer to, until a left side
Transmission line of electricity is pressed on front fabric wheel 20 for fore-clamp bearing up pulley 25 and right fore-clamp bearing up pulley 27, presss from both sides behind left back pinch wheels 26 and the right side simultaneously
Transmission line of electricity is pressed on rear fabric wheel 21 bearing up pulley 28, and transmission line of electricity also will be pressed on road wheel 8 simultaneously, due to clamping
Power increases, and road wheel 8 also will increase with the frictional force on transmission line of electricity surface, and with the rotation of road wheel 8, crusing robot will be real
Climbing on transmission line of electricity is advanced now.
When crusing robot is advanced on the transmission line of electricity of heavy grade, front fabric wheel 20 can be forced to raise, with front pressure
Raising of line wheel 20, can drive front optical axis 18 to raise, and then drives left support bar 16, right support bar 17, servo-actuated housing 3, Zuo Jia
Pawl 9 and right jaw 10 together carry out self adaptation rotation around clamping drive shaft 7, and then fabric wheel 21 and rear optical axis 19 also can be adaptive
Should be servo-actuated.In the process, the relative clamped position of left front pinch wheels 25, right fore-clamp bearing up pulley 27 and front fabric wheel 20 will not change
Become, after left back pinch wheels 26, the right side, the relative clamped position of pinch wheels 28 and rear fabric wheel 21 will not change, then clamping force also will not
Change because of slope change.
When crusing robot is advanced on the transmission line of electricity of heavy grade, even if the power-off thing of burst clamping motor 5
So running out of steam, because left round nut 14 and right round nut are had certainly with the left-hand thread of clamping drive shaft 7 and right-hand thread respectively
Lock property, left round nut 14 and right round nut will not reversely retreat, and that is, left jaw 9 and right jaw 10 be without departing from clamp position, from
And make crusing robot can continue to rest on transmission line of electricity.
During crusing robot carries out obstacle detouring, wheel folder composite structure needs to be lifted away from transmission line of electricity, and compound in wheel folder
During mechanism is lifted away from, in the presence of servo-actuated back-moving spring 29, servo-actuated housing 3 can be pulled back to initial position, and then makes a left side
Support bar 16, right support bar 17, left jaw 9 and right jaw 10 is same is restored to initial position it is ensured that just subsequently patrolling and examining work
Often carry out.
When needing crusing robot to be fixed on transmission line of electricity, only need to disconnect travel driving motor 4 and power, simultaneously
Export enough clamping forces by clamping motor 5, make road wheel 8 and transmission line of electricity surface have enough frictional force, with
Overcome the self gravitation of crusing robot, and then realize the fixation of crusing robot.
Scheme in embodiment is simultaneously not used to limit the scope of patent protection of the present invention, all without departing from the present invention do etc.
Effect is implemented or is changed, and is both contained in the scope of the claims of this case.
Claims (6)
1. a kind of transmission line polling robot wheel folder composite structure it is characterised in that：Including pedestal, end plate, servo-actuated housing, OK
Walk motor, clamping motor, the sliding duplicate gear, clamping drive shaft, road wheel, left jaw and right jaw；
Described the sliding duplicate gear and clamping drive shaft are all arranged between pedestal and end plate by bearing, and the sliding duplicate gear and folder
Tight drive shaft is parallel；Described travel driving motor and clamping motor are all packed on pedestal, the electricity of travel driving motor
Arbor is fixedly connected with the sliding duplicate gear, and the motor shaft of clamping motor is fixedly connected with clamping drive shaft；
Described road wheel is sleeved in clamping drive shaft by bearing, and in described the sliding duplicate gear, fixed cover is equipped with main belt
Wheel, is set with driven pulley, driven pulley is connected in road wheel sidepiece in clamping drive shaft, and driven pulley is same with road wheel
The heart is arranged, and is connected by transmission belt between described driving pulley and driven pulley；
The clamping drive shaft of described road wheel side is provided with left-hand thread, the clamping drive shaft of road wheel opposite side is provided with
Right-hand thread, left-hand thread and right-hand thread left-hand thread each other；
The left-hand thread of described clamping drive shaft is provided with left round nut, left sleeve, left sleeve are set with left round nut
With respect to left round nut, only there is rotational freedom；Left installing hole is offered on described left jaw, left jaw is by left installation
Hole is fixedly set on left sleeve；
The right-hand thread of described clamping drive shaft is provided with right round nut, right sleeve, right sleeve are set with right round nut
With respect to right round nut, only there is rotational freedom；Right installing hole is offered on described right jaw, right jaw is by right installation
Hole is fixedly set on right sleeve；
Described servo-actuated housing is located between pedestal and end plate, is fixedly installed left support bar and right support bar in servo-actuated housing,
Optical axis and rear optical axis before being fixed between left support bar and right support bar, front optical axis is paralleled with rear optical axis, on front optical axis
Front fabric wheel is installed, fabric wheel after being provided with rear optical axis, and front fabric wheel is located at road wheel respectively with rear fabric wheel
Front side and rear side.
2. a kind of transmission line polling robot wheel folder composite structure according to claim 1 it is characterised in that：Described
The axis of guide is added, the axis of guide, parallel to clamping drive shaft, is respectively installed with left slider on the axis of guide between pedestal and end plate
With right slide block, left slider is fixedly connected with left round nut, and right slide block is fixedly connected with right round nut.
3. a kind of transmission line polling robot wheel folder composite structure according to claim 1 it is characterised in that：Described
Left jaw is provided with two unthreaded holes, and left jaw is connected with front optical axis and rear optical axis respectively by two unthreaded holes, left jaw with respect to
Front optical axis and rear optical axis only have linear slide degree of freedom；Two unthreaded holes are provided with described right jaw, right jaw passes through two
Unthreaded hole is connected with front optical axis and rear optical axis respectively, and right jaw only has linear slide degree of freedom with respect to front optical axis and rear optical axis.
4. a kind of transmission line polling robot wheel folder composite structure according to claim 1 it is characterised in that：Described
The middle part of left support bar offers left suit hole, and the left suit hole of left support bar is sleeved in clamping drive shaft by bearing；?
The middle part of described right support bar offers right suit hole, and the right suit hole of right support bar is sleeved on clamping drive shaft by bearing
On.
5. a kind of transmission line polling robot wheel folder composite structure according to claim 1 it is characterised in that：Described
Left front pinch wheels and left back pinch wheels are provided with left jaw, clamp after right fore-clamp bearing up pulley and the right side are provided with described right jaw
Wheel；Described left front pinch wheels and right fore-clamp bearing up pulley are matched with front fabric wheel, described left back pinch wheels and the right side after pinch wheels with after
Fabric wheel matches.
6. a kind of transmission line polling robot wheel folder composite structure according to claim 1 it is characterised in that：Described
Servo-actuated back-moving spring is added between servo-actuated housing and pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611114286.1A CN106451223B (en) | 2016-12-07 | 2016-12-07 | A kind of transmission line polling robot wheel presss from both sides composite structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611114286.1A CN106451223B (en) | 2016-12-07 | 2016-12-07 | A kind of transmission line polling robot wheel presss from both sides composite structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106451223A true CN106451223A (en) | 2017-02-22 |
| CN106451223B CN106451223B (en) | 2018-02-16 |
Family
ID=58216885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611114286.1A Active CN106451223B (en) | 2016-12-07 | 2016-12-07 | A kind of transmission line polling robot wheel presss from both sides composite structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN106451223B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109659861A (en) * | 2019-02-26 | 2019-04-19 | 国家电网有限公司 | A kind of two-freedom motion mechanism suitable for 10kv distribution operation |
| CN110514251A (en) * | 2019-09-27 | 2019-11-29 | 国网内蒙古东部电力有限公司建设分公司 | A kind of interrupt device and its detection method |
| CN112350211A (en) * | 2020-10-21 | 2021-02-09 | 湖南铁路科技职业技术学院 | Visual monitoring instrument for rail transit power supply system fault |
| CN114633244A (en) * | 2020-12-16 | 2022-06-17 | 国网智能科技股份有限公司 | Overhead line robot auxiliary pressing device, inspection robot and method |
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| JP2005094935A (en) * | 2003-09-18 | 2005-04-07 | Railway Technical Res Inst | Electric wire inspection device |
| CN201415716Y (en) * | 2009-06-12 | 2010-03-03 | 中国电力科学研究院 | Robot walking device capable of surmounting lead obstacles |
| CN202103366U (en) * | 2011-05-16 | 2012-01-04 | 山东电力集团公司超高压公司 | Overhead line crossing type robot running gear |
| US20140208976A1 (en) * | 2013-01-29 | 2014-07-31 | Korea Institute Of Science And Technology | Driving wheel of robot moving along the wire and robot having the same |
| CN204858415U (en) * | 2015-08-18 | 2015-12-09 | 西安科技大学 | Open hanging wire running gear in V of line robot type patrols |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005094935A (en) * | 2003-09-18 | 2005-04-07 | Railway Technical Res Inst | Electric wire inspection device |
| CN201415716Y (en) * | 2009-06-12 | 2010-03-03 | 中国电力科学研究院 | Robot walking device capable of surmounting lead obstacles |
| CN202103366U (en) * | 2011-05-16 | 2012-01-04 | 山东电力集团公司超高压公司 | Overhead line crossing type robot running gear |
| US20140208976A1 (en) * | 2013-01-29 | 2014-07-31 | Korea Institute Of Science And Technology | Driving wheel of robot moving along the wire and robot having the same |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109659861A (en) * | 2019-02-26 | 2019-04-19 | 国家电网有限公司 | A kind of two-freedom motion mechanism suitable for 10kv distribution operation |
| CN109659861B (en) * | 2019-02-26 | 2020-06-02 | 国家电网有限公司 | Two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation |
| CN110514251A (en) * | 2019-09-27 | 2019-11-29 | 国网内蒙古东部电力有限公司建设分公司 | A kind of interrupt device and its detection method |
| CN112350211A (en) * | 2020-10-21 | 2021-02-09 | 湖南铁路科技职业技术学院 | Visual monitoring instrument for rail transit power supply system fault |
| CN114633244A (en) * | 2020-12-16 | 2022-06-17 | 国网智能科技股份有限公司 | Overhead line robot auxiliary pressing device, inspection robot and method |
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| Publication number | Publication date |
|---|---|
| CN106451223B (en) | 2018-02-16 |
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