CN107317256A - A kind of inspection robot of wire using in transmission line of electricity as passage - Google Patents
A kind of inspection robot of wire using in transmission line of electricity as passage Download PDFInfo
- Publication number
- CN107317256A CN107317256A CN201710581766.7A CN201710581766A CN107317256A CN 107317256 A CN107317256 A CN 107317256A CN 201710581766 A CN201710581766 A CN 201710581766A CN 107317256 A CN107317256 A CN 107317256A
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- roller
- telescopic arm
- wire
- electric energy
- electricity
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of wire using in transmission line of electricity as passage inspection robot, including body, telescopic arm and handgrip, the top of telescopic arm is connected with handgrip, the bottom of telescopic arm is movably connected on body, body is provided with signal pickup assembly, signal pickup assembly is connected with telescopic arm, signal pickup assembly is used for the transmission of data provided with wireless communication module, power supply is additionally provided with body, body is provided with electromagnetic induction charged system, and electromagnetic induction charged system includes the electric energy reception device being arranged on body and the electric energy transmission device being placed on shaft tower；Advantages of the present invention：Power supply is realized by electromagnetic induction charged system and charged, realize the round-the-clock stable operation of this physical efficiency, and electromagnetic induction charged system is arranged to be arranged on the electric energy reception device on body and the electric energy transmission device being placed on shaft tower, it is effectively reduced the volume and weight of body, cost needed for line inspection will be reduced, the economic benefit of circuit operation is improved.
Description
Technical field
The present invention relates to a kind of wire using in transmission line of electricity as passage inspection robot.
Background technology
At present, walking operation is work that is more important and being frequently necessary to development in Research Work of Power Transmission Line, passes through line walking
The running situation of circuit can be understood in time, if line failure, can also be found by line walking defect particular location and
Defect situation, however, the important line often maked an inspection tour is needed for some, it is necessary to the number of times of line walking also accordingly increases, but with
Manpower is calculated, and a base shaft tower can only also be maked an inspection tour in by meeting one people when The distance is far and the mountain is high, and less efficient, patrol a circuit just
The time need to be taken days, such case forms lance extreme between the requirement of current power transmission circuit operation and operations staff's quantity
Shield, existing robot is equipped with solar panel mostly or battery is powered to robot, but run into rainy weather or
Person's sunlight underexposure, solar panel can not steady operation, with battery, as power source, not only weight and volume is excessive,
Also electricity is finished or robot turns into the risk of wire foreign matter when battery breaks down.
The content of the invention
The technical problem to be solved in the present invention is just to provide a kind of inspection robot of wire using in transmission line of electricity as passage,
Solve existing inspection robot overall weight and bulky problem.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions：One kind is with transmission line of electricity
Wire is the inspection robot of passage, including body, telescopic arm and automatically walk the handgrip on wire, the top of telescopic arm with
Handgrip is connected for the height for controlling handgrip, and the bottom of telescopic arm is movably connected in being used to controlling handgrip size on body and grabbed
The position of hand, signal pickup assembly of the body provided with collection transmission line of electricity essential information, signal pickup assembly and telescopic arm phase
It is used in conjunction in the work of control telescopic arm, signal pickup assembly is used on the transmission of data, body also provided with wireless communication module
Provided with power supply, power supply is connected with signal pickup assembly, handgrip, telescopic arm respectively, and body is provided with and power supply
Connected electromagnetic induction charged system, electromagnetic induction charged system includes the electric energy reception device being arranged on body and is placed in bar
Electric energy transmission device on tower.
It is preferred that, electric energy reception device includes electric energy receiving module and receiving coil, and receiving coil receives mould by electric energy
Block is connected with power supply, and electric energy transmission device includes transmitting coil and electric energy transmitter module, and transmitting coil is arranged on electric energy hair
Penetrate in module, electric energy transmitter module is used to low frequency ac being converted to high-frequency alternating current, and ground launch coil is used for by height
Frequency alternating current produces the AC magnetic field of high frequency, when receiving coil is located at the AC magnetic field that transmitting coil is produced, and produces corresponding
Alternating current, and direct current is converted to by electric energy receiving module and is supplied to power supply to store, by sensing Non-contact type charging
Electric system can just complete to charge to power supply, without manual intervention, largely avoided the workload of existing robot charging, carry
High charge efficiency, reduces production cost, and improve machine task efficiency.
It is preferred that, electric energy transmission device, which also includes being arranged on anchor ear and the guide rod being arranged on anchor ear, guide rod, to be slided
Dynamic to be connected with guide sleeve, electric energy transmitter module numeral is on guide sleeve, and guide sleeve is provided with control transmitting coil and receives line
The laser sensor of alignment is enclosed, can realize that emitter is slided on the guide bar, and transmitting coil is realized by laser sensor
With the alignment of receiving coil, make electromagnetic induction charged system in optimal charge position, improve charge efficiency.
It is preferred that, handgrip includes the first roller and the second roller, is formed between the first roller and the second roller and clamps wire
Holes for clamping, the bottom of the first roller and the second roller, which is equipped with a telescopic arm, the first roller or the second roller, is connected with row
Motor is walked, transmission belt is provided between the first roller and the second roller, wire is clamped by the first roller and the second roller, and pass through
Movable motor, which is rotated, drives the first roller or the second roller to rotate, and then realizes that the first roller and the second roller exist by transmission belt
Automatically walk on wire, relative to the method for artificial line walking, greatly reduces artificial workload and human cost, and greatly
The big efficiency for improving wire line walking.
It is preferred that, level board is additionally provided with body, level board is provided with line slideway, and line slideway is provided with sliding block, stretched
The bottom of contracting arm is arranged on sliding block, and telescopic arm slides to adjust the size of holes for clamping by sliding block on line slideway, makes it
The holes for clamping size of first roller and the second roller is adjustable, can be according to the environment of wire come auto-adjustment control, when going out on wire
When existing barrier or wire change, leap can be realized automatically.
It is preferred that, the first roller and the second roller are arranged on telescopic arm by support, and movable motor is arranged on support
On, it can guarantee that the stationarity of the first roller and the second roller when height is adjusted.
It is preferred that, support includes vertical adapter sleeve, location-plate and positioning beam, and location-plate is arranged on the upper of vertical adapter sleeve
Portion, positioning beam is arranged on the middle part of vertical adapter sleeve, rotary shaft is provided between positioning beam and location-plate, vertical adapter sleeve is with stretching
The top of arm is connected, simple in construction, can guarantee that the linearity of the vertical direction of the first roller and the second roller, and can be according to first
The model of roller and the second roller sets the height of positioning beam and rotary shaft, adapts to different occasions.
It is preferred that, the bottom of telescopic arm is arranged on sliding block by rotating shaft, and controlled motor, control electricity are connected with rotating shaft
Connected between machine and rotating shaft by being intermeshed the gear train of transmission, handgrip can be made across the obstacle of the different directions on wire
Thing.
It is preferred that, body includes box body and the location-plate being arranged on box body, and location-plate is connected with level board, and box body is set
In the bottom of location-plate, signal pickup assembly is arranged on box body, and power supply is arranged in box body, can optimize the entirety of body
Structure, it is ensured that the stationarity of body during walking, reduces overall cost.
It is preferred that, signal pickup assembly includes video camera and infrared ray sensor, and video camera is obliquely installed by tripod
On box body, infrared ray sensor is arranged on box body by bolt assembly, and infrared ray sensor is connected with telescopic arm, by taking the photograph
Camera is acquired to the essential information of transmission line of electricity, and the scope of collection is wide, is conducive to operation maintenance personnel viewing, analysis, and raising is patrolled
The quality of line, and the angle of inclination of hang plate according to different wire environment, can be set, by bolt assembly by infrared ray sensing
Device is arranged on box body, can carry out effective detection to the barrier on wire, and control the activity of telescopic arm, it is ensured that across barrier
The stationarity of body when hindering thing.
In summary, advantages of the present invention：Charge, realize 1. being realized by electromagnetic induction charged system to power supply
This physical efficiency safe and stable operation, and electromagnetic induction charged system is arranged to be arranged on the electric energy reception device on body and is placed in bar
Electric energy transmission device on tower, is effectively reduced the volume and weight of body, it will cost needed for reduction line inspection, improves
The economic benefit of circuit operation；
2. body is arranged on wire by handgrip, inspection robot all-weather safety can be enable to run, without that will patrol
Line robot is withdrawn, and is only needed to safeguard during failure, is improved the efficiency of line walking；
3. controlling the height of handgrip by telescopic arm, inspection robot is adapted to the wire installation under varying environment and patrol
Inspection；
4. controlling the size of handgrip and the position of handgrip by flexible connection of the telescopic arm on body, handgrip can be realized
The automatic barrier across on wire, and control by signal pickup assembly the work of telescopic arm, can be according to the size of barrier
To control the size of handgrip and the position of handgrip, sensitivity is high, across when security performance it is high；
5. the setting of signal pickup assembly, can remember the circuit essential information of the steel tower where wire, wire, passage totally
Record, and operating personnel is fed back to by wireless communication module, and can by defect situation in time, accurately feed back to operating personnel
On, operating personnel can be made to be overhauled the very first time, the stability of power supply is improved.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is a kind of wire using in transmission line of electricity of the present invention as the structural representation of the inspection robot of passage；
Fig. 2 is the structural representation of electromagnetic induction charged system of the present invention；
Fig. 3 is the structural representation of electric energy transmission device of the present invention；
Fig. 4 is the structural representation of support of the present invention；
Fig. 5 is the structural representation of signal pickup assembly of the present invention.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, a kind of wire using in transmission line of electricity as passage inspection robot, including
The handgrip 3 of body 1, telescopic arm 2 and automatically walk on wire, the top of telescopic arm 2 is connected with handgrip 3 for controlling handgrip 3
Height, the bottom of telescopic arm 2, which is movably connected on body 1, to be used to control on the size of handgrip 3 and handgrip 3 position, body 1
Signal pickup assembly 4 provided with collection transmission line of electricity essential information, signal pickup assembly 4 is connected with telescopic arm 2 to be stretched for control
The work of contracting arm 2, signal pickup assembly 4 is used to be additionally provided with power supply on the transmission of data, body 1 provided with wireless communication module 40
Power supply 5, power supply 5 is connected with signal pickup assembly 4, handgrip 3, telescopic arm 2 respectively, and body 1 is provided with and the phase of power supply 5
Electromagnetic induction charged system 6 even, electromagnetic induction charged system 6 includes the electric energy reception device 7 being arranged on body 1 and is placed in
Electric energy transmission device 8 on shaft tower.
Electric energy reception device 7 includes electric energy receiving module 71 and receiving coil 72, and receiving coil 72 receives mould by electric energy
Block 71 is connected with power supply, and electric energy transmission device 8 includes transmitting coil 81 and electric energy transmitter module 82, and transmitting coil 81 is set
On electric energy transmitter module 82, in the present invention, electric energy transmitter module 82 hands over 220V/380V, 60HZ family/industrial low frequency
Stream electricity is converted to high-frequency alternating current, and ground launch coil 81 is used for the AC magnetic field that high frequency is produced by high frequency alternating current, connect
When take-up circle 72 is located at the AC magnetic field that transmitting coil 81 is produced, corresponding alternating current is produced, and by electric energy receiving module 71
Be converted to direct current and be supplied to power supply to store, just power supply can be completed to fill by sensing non-contact power charging system
Electricity, without manual intervention, largely avoided the workload of existing robot charging, improves charge efficiency, reduce and be produced into
This, and improve machine task efficiency.
Electric energy transmission device 8, which also includes being arranged on anchor ear 83 and the guide rod 84 being arranged on anchor ear 83, guide rail 84, to be slided
Dynamic to be connected with guide sleeve 85, electric energy transmitter module 82 is arranged on guide sleeve 85, and guide sleeve 85 is provided with control transmitting coil
81 laser sensors 86 being aligned with receiving coil 72, can realize that emitter is slided on the guide bar, and pass through laser sensing
Device realizes the alignment of transmitting coil and receiving coil, makes electromagnetic induction charged system in optimal charge position, improves charging effect
In rate, the present invention, when robot ambulation walk certain distance on wire, the now not enough power supply of power supply, it is impossible to expire
The follow-up walking of foot, and now, transmitting coil 81 and the distance between receiving coil 72 are distant, it is impossible to realize power supply
Quick charge, it is necessary to be slided, and realize transmitting coil with receiving line by laser sensor on the guide bar by guide sleeve 85
The alignment of circle, makes electromagnetic induction charged system in optimal charge position.
Handgrip 3 includes the first roller 31 and the second roller 32, and clamping is formed between the first roller 31 and the second roller 32 and is led
The bottom of the holes for clamping 30 of line, the first roller 31 and the second roller 32 is equipped with a telescopic arm 2, the first roller 31 and is connected with row
Motor 33 is walked, transmission belt 34 is provided between the first roller 31 and the second roller 32, is clamped and led by the first roller and the second roller
Line, and rotated by movable motor and drive the first roller or the second roller to rotate, then by transmission belt realize the first roller and
Automatically walk of second roller on wire, relative to the method for artificial line walking, greatly reduces artificial workload and people
Power cost, and substantially increase the efficiency of wire line walking.
Level board 11 is additionally provided with body 1, level board 11 is provided with line slideway 12, and line slideway 12 is provided with sliding block
13, the bottom of telescopic arm 2 is arranged on sliding block 13, and telescopic arm 2 slides to adjust clamping by sliding block 13 on line slideway 12
The size in hole 30, makes the holes for clamping size of its first roller and the second roller adjustable, can be automatically adjusted according to the environment of wire
Control, when occurring barrier on wire or wire changes, leap, the first roller 31 and the second roller 32 can be realized automatically
It is arranged on by support 9 on telescopic arm 2, movable motor 33 is arranged on support 9, can guarantee that the first roller and the second roller exist
Stationarity when highly adjusting, support 9 includes vertical adapter sleeve 91, location-plate 92 and positioning beam 93, and location-plate 92 is arranged on perpendicular
The top of direct-connected female connector 91, positioning beam 93 is arranged on the middle part of vertical adapter sleeve, and rotary shaft is provided between positioning beam and location-plate
94, vertical adapter sleeve 91 is connected with the top of telescopic arm 2, simple in construction, can guarantee that the vertical side of the first roller and the second roller
To linearity, and can set the height of positioning beam and rotary shaft according to the model of the first roller and the second roller, adapt to not
Same occasion, the bottom of telescopic arm 2 is arranged on sliding block 13 by rotating shaft 21, and controlled motor 22 is connected with rotating shaft, control
Connected between motor 22 and rotating shaft by being intermeshed the gear train of transmission, handgrip can be made across the barrier of the different directions on wire
Hinder thing.
Body 1 includes box body 14 and the location-plate 15 being arranged on box body, and location-plate is connected with level board, and box body 14 is set
In the bottom of location-plate 15, signal pickup assembly 4 is arranged on box body, and power supply 5 is arranged in box body, can optimize body
Overall structure, it is ensured that the stationarity of body during walking, reduces overall cost, and signal pickup assembly 4 includes video camera 41 and red
Outside line sensor 42, video camera 41 is inclined on box body by tripod 43, and infrared ray sensor 42 passes through bolt assembly
44 are arranged on box body, and infrared ray sensor 42 is connected with telescopic arm 2, and the essential information of transmission line of electricity is carried out by video camera
Collection, the scope of collection is wide, is conducive to operation maintenance personnel viewing, analysis, improves the quality of line walking, and can be according to different conductor loops
Border, sets the angle of inclination of tripod, infrared ray sensor is arranged on box body by bolt assembly, can be to the barrier on wire
Hinder thing to carry out effective detection, and control the activity of telescopic arm, it is ensured that the stationarity of body during across obstacle.
In use, the first roller 31 and the second roller 32 are clamped into wire, during walking, first is driven by movable motor 33
Roller 31 is rotated, and the first roller 31 drives the second roller 32 to rotate by transmission belt 34, it is achieved thereby that the first roller 31 and the
In automatically walk of the second wheel 32 on wire, walking process, the essential information near wire is clapped by video camera 41
Take the photograph, and the feedback of the information gathered by wireless communication module the last 40 to operating personnel on hand, and in walking process and by infrared
Line sensor 42 is acquired to the surrounding enviroment factor of wire, when infrared ray sensor 42 collect on wire have barrier or
During foreign matter, the signal of the receiving infrared-ray sensor 42 of sliding block 13 makes sliding block 13 be slided on line slideway 12, makes the first roller 31
And the second holes for clamping 30 between roller 32 becomes big or diminished, and the first roller 31 and the second rolling are controlled by telescopic arm 2 respectively
The height of wheel 32, makes the first roller 31 and the second roller 32 release or withdraw, or make telescopic arm 2 in sliding block by controlled motor 22
Rotated on 13, realize that handgrip is swung on wire, handgrip is crossed over the insulator being arranged on wire or other parts, successively
Operated, can realize that handgrip is crossed over to the barrier on wire with quick and stable, when the not enough power supply of power supply 5
When, 220V/380V, 60HZ family/industrial low frequency ac are converted to high-frequency alternating current, ground by electric energy transmitter module 82
Transmitting coil 81 is used for the AC magnetic field that high frequency is produced by high frequency alternating current, and receiving coil 72 is produced positioned at transmitting coil 81
AC magnetic field when, produce corresponding alternating current, and direct current is converted to by electric energy receiving module 71 and power supply electricity is supplied to
Source is stored, and power supply can just be completed to charge by sensing non-contact power charging system, be realized that the safety of inspection robot is steady
Fixed operation.
In addition to above preferred embodiment, the present invention also has other embodiments, and those skilled in the art can be according to this
Invention is variously modified and deformed, and without departing from the spirit of the present invention, all should belong to appended claims of the present invention and determine
The scope of justice.
Claims (10)
1. a kind of wire using in transmission line of electricity is the inspection robot of passage, it is characterised in that：Including body (1), telescopic arm (2)
With handgrip (3) of the automatically walk on wire, the top of telescopic arm (2) is connected with handgrip (3) for the height for controlling handgrip (3)
Degree, the bottom of telescopic arm (2), which is movably connected on body (1), to be used to control handgrip (3) size and handgrip (3) position, this
Signal pickup assembly (4) of the body (1) provided with collection transmission line of electricity essential information, signal pickup assembly (4) and telescopic arm (2) phase
It is used in conjunction in the work of control telescopic arm (2), signal pickup assembly (4) is used for the biography of data provided with wireless communication module (40)
It is defeated, be additionally provided with power supply (5) on body (1), power supply (5) respectively with signal pickup assembly (4), handgrip (3), telescopic arm
(2) it is connected, body (1) is provided with the electromagnetic induction charged system (6) being connected with power supply (5), electromagnetic induction charged system
(6) the electric energy reception device (7) being arranged on body (1) and the electric energy transmission device (8) being placed on shaft tower are included.
2. a kind of wire using in transmission line of electricity according to claim 1 is the inspection robot of passage, it is characterised in that：Electricity
Energy reception device (7) includes electric energy receiving module (71) and receiving coil (72), and receiving coil (72) passes through electric energy receiving module
(71) it is connected with power supply, electric energy transmission device (8) includes transmitting coil (81) and electric energy transmitter module (82), transmitting coil
(81) it is arranged on electric energy transmitter module (82), electric energy transmitter module (82) is used to low frequency ac being converted to high-frequency ac
Electricity, ground launch coil (81) is used for the AC magnetic field that high frequency is produced by high frequency alternating current, and receiving coil (72) is located at hair
During the AC magnetic field that ray circle (81) is produced, corresponding alternating current is produced, and direct current is converted to by electric energy receiving module (71)
Electricity is simultaneously supplied to power supply to store.
3. a kind of wire using in transmission line of electricity according to claim 2 is the inspection robot of passage, it is characterised in that：Electricity
Energy emitter (8) also includes sliding on the guide rod (84) for being arranged on anchor ear (83) and being arranged on anchor ear (83), guide rail (84)
Dynamic to be connected with guide sleeve (85), electric energy transmitter module (82) is arranged on guide sleeve (85), and guide sleeve (85) is provided with control
The laser sensor (86) that transmitting coil (81) is aligned with receiving coil (72).
4. a kind of wire using in transmission line of electricity according to claim 1 is the inspection robot of passage, it is characterised in that：Grab
Hand (3) includes the first roller (31) and the second roller (32), and clamping is formed between the first roller (31) and the second roller (32) and is led
The bottom of the holes for clamping (30) of line, the first roller (31) and the second roller (32) is equipped with a telescopic arm (2), the first roller (31)
Or second be connected with movable motor (33) on roller (32), transmission belt is provided between the first roller (31) and the second roller (32)
(34)。
5. a kind of wire using in transmission line of electricity according to claim 4 is the inspection robot of passage, it is characterised in that：This
Level board (11) is additionally provided with body (1), level board (11) is provided with line slideway (12), and line slideway (12) is provided with sliding block
(13), the bottom of telescopic arm (2) is arranged on sliding block (13), and telescopic arm (2) is slided by sliding block (13) on line slideway (12)
Move to adjust the size of holes for clamping (30).
6. a kind of wire using in transmission line of electricity according to claim 4 is the inspection robot of passage, it is characterised in that：The
One roller (31) and the second roller (32) are arranged on telescopic arm (2) by support (9), and movable motor (33) is arranged on support
(9) on.
7. a kind of wire using in transmission line of electricity according to claim 6 is the inspection robot of passage, it is characterised in that：Branch
Frame (9) includes vertical adapter sleeve (91), location-plate (92) and positioning beam (93), and location-plate (92) is arranged on vertical adapter sleeve (91)
Top, positioning beam (93) is arranged on the middle part of vertical adapter sleeve, rotary shaft (94) is provided between positioning beam and location-plate, vertically
Adapter sleeve (91) is connected with the top of telescopic arm (2).
8. a kind of wire using in transmission line of electricity according to claim 5 is the inspection robot of passage, it is characterised in that：Stretch
The bottom of contracting arm (2) is arranged on sliding block (13) by rotating shaft (21), and controlled motor (22), controlled motor are connected with rotating shaft
(22) it is connected between rotating shaft by being intermeshed the gear train of transmission.
9. a kind of wire using in transmission line of electricity according to claim 5 is the inspection robot of passage, it is characterised in that：This
Body (1) includes box body (14) and the location-plate (15) being arranged on box body, and location-plate is connected with level board, and box body (14) is arranged on
The bottom of location-plate (15), signal pickup assembly (4) is arranged on box body, and power supply (5) is arranged in box body.
10. a kind of wire using in transmission line of electricity according to claim 9 is the inspection robot of passage, it is characterised in that：
Signal pickup assembly (4) includes video camera (41) and infrared ray sensor (42), and video camera (41) is tilted by tripod (43)
Be arranged on box body, infrared ray sensor (42) is arranged on box body by bolt assembly (44), infrared ray sensor (42) with
Telescopic arm (2) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710581766.7A CN107317256B (en) | 2017-07-17 | 2017-07-17 | Line inspection robot taking wires in power transmission line as channels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710581766.7A CN107317256B (en) | 2017-07-17 | 2017-07-17 | Line inspection robot taking wires in power transmission line as channels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107317256A true CN107317256A (en) | 2017-11-03 |
| CN107317256B CN107317256B (en) | 2023-09-29 |
Family
ID=60178942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710581766.7A Active CN107317256B (en) | 2017-07-17 | 2017-07-17 | Line inspection robot taking wires in power transmission line as channels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107317256B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818623A (en) * | 2018-08-31 | 2018-11-16 | 林燕红 | A kind of antiwind mobile framework of the protection of high-voltage line walking operation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102891538A (en) * | 2012-09-20 | 2013-01-23 | 中国科学院自动化研究所 | Line patrol robot wireless charging system |
| CN105846352A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Line patrol robot mechanical structure suitable for single conducting wire and obstacle surmounting method therefor |
| CN106272466A (en) * | 2016-09-15 | 2017-01-04 | 周珍芳 | High-voltage line climbing robot based on transfer arm obstacle detouring |
| CN206878381U (en) * | 2017-07-17 | 2018-01-12 | 国网浙江省电力公司台州供电公司 | A kind of inspection robot using wire in transmission line of electricity as passage |
-
2017
- 2017-07-17 CN CN201710581766.7A patent/CN107317256B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102891538A (en) * | 2012-09-20 | 2013-01-23 | 中国科学院自动化研究所 | Line patrol robot wireless charging system |
| CN105846352A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Line patrol robot mechanical structure suitable for single conducting wire and obstacle surmounting method therefor |
| CN106272466A (en) * | 2016-09-15 | 2017-01-04 | 周珍芳 | High-voltage line climbing robot based on transfer arm obstacle detouring |
| CN206878381U (en) * | 2017-07-17 | 2018-01-12 | 国网浙江省电力公司台州供电公司 | A kind of inspection robot using wire in transmission line of electricity as passage |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818623A (en) * | 2018-08-31 | 2018-11-16 | 林燕红 | A kind of antiwind mobile framework of the protection of high-voltage line walking operation robot |
| CN108818623B (en) * | 2018-08-31 | 2020-08-04 | 绍兴欣耀机电科技有限公司 | Protection antiwind of high-voltage line inspection work robot removes framework |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107317256B (en) | 2023-09-29 |
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