CN107764319A - One kind is brought into close contact formula track automatic crusing robot - Google Patents
One kind is brought into close contact formula track automatic crusing robot Download PDFInfo
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- CN107764319A CN107764319A CN201710806182.5A CN201710806182A CN107764319A CN 107764319 A CN107764319 A CN 107764319A CN 201710806182 A CN201710806182 A CN 201710806182A CN 107764319 A CN107764319 A CN 107764319A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 3
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- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/10—Tunnel systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1263—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
- G01R31/1272—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation of cable, line or wire insulation, e.g. using partial discharge measurements
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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Abstract
The invention discloses one kind to be brought into close contact formula track automatic crusing robot, it is included in the mobile platform of guide rail upper end operation, it is arranged at mobile platform both ends, is configured to be bonded the guider of guide rail both sides, and is arranged at the detection device that environmental monitoring data in tunnel is gathered on mobile platform；The guider keeps being bonded with guide rail, mobile platform is moved along the path of guide rail, the real-time detection of tunnel situation is realized in moving process.For the present invention when detection robot need to stop to a certain position of guide rail to be detected, brake holds the output shaft of decelerator tightly, detection robot is braked completely, prevents directional wheel circular-rotation, can pinpoint and be detected；Front and rear the two of robot can be realized to operation, and effectively prevent from detecting phenomena such as robot turns on one's side in motion process.
Description
Technical field
The present invention relates to one kind to be brought into close contact formula track automatic crusing robot.
Background technology
With the quickening of urban modernization construction speed, the requirement to limited land use and urban beautification is also increasingly
It is high.The development boosting of the urban modernization pace of construction in buried cable tunnel, underground distribution network have tended to be perfect, some
Also the construction progress of cable tunnel is being accelerated in large- and-medium size cities.At present, cable tunnel feature be mainly distance, it is with a varied topography,
Temperature is high, moist, cable type is more, mutually crisscross.Because environment is complicated in tunnel, cable also often because natural aging,
Corrosion or biting for toy are stung and cause tunnel fire hazard.Cable needs long-term safety to run, if can not find that safety is hidden early
Suffer from and take measures, once fire occurs for cable, certainly will spread that fast, the intensity of a fire is violent, robs and helps out of distress, it will cause serious power failure thing
Therefore consequence is extremely serious, repair is also highly difficult, and directly or indirectly economic loss is huge.
At present, the cable in tunnel detect it is more based on artificial, it is big due to that can be produced during cable work
Calorimetric amount, and a large amount of dense smokes and pernicious gas can be discharged when glow；Further, since the destruction of natural calamity,
Some tunnels can have water leakage, and these all greatly endanger the safety and health situation of operating personnel.Therefore, artificial inspection
The danger coefficient height of survey tunnel cable, efficiency are low, poor operability.
To sum up, as the gradual popularization of Urban Underground power network, cable fault will enter the high-incidence season, so as to be patrolled to cable tunnel
The development of inspection robot proposes active demand.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that one kind is brought into close contact formula track automatic crusing robot, the present invention
Can adapt to the complex environment in cable tunnel, walked on the guide rail installed in tunnel, can move forward and backward, can large radius turn, machine
Device people is simple in construction, processing and easy to assembly, and the required precision of installation guide rail is not high in the tunnel in, has certain popularization and application valency
Value.
To achieve these goals, the present invention adopts the following technical scheme that：
One kind is brought into close contact formula track automatic crusing robot, is included in the mobile platform of guide rail upper end operation, is arranged at
Mobile platform both ends, the guider for being configured to be bonded guide rail both sides, and be arranged on mobile platform and gather tunnel
The detection device of interior environmental monitoring data；The guider keeps being bonded with guide rail, makes track of the mobile platform along guide rail
Route is moved, and the real-time detection of tunnel situation is realized in moving process.
The guide rail is I types guide rail or T-shaped guide rail, and the guide rail is fixed on tunnel wall by support frame.
The mobile platform, including support platform, universal wheel, directional wheel and motor, the bottom end of the support platform
It is provided with directional wheel, the other end is provided with universal wheel, and the motor provides driving force for directional wheel, and control machine people is along before guide rail
After move.
The motor front end is additionally provided with decelerator, and brake is provided with the output shaft of the decelerator, decelerator
Output shaft is coordinated by the connecting shaft of shaft coupling and directional wheel.The effect of brake be when detection robot need to stop to guide rail certain
When one position is detected, brake holds the output shaft of decelerator tightly, detection robot is braked completely, prevents directional wheel circumference
Rotate.
Battery and industrial computer are provided with the support platform, battery provides power source for motor and detection device, described
Industrial computer control brake, decelerator and detection device.
The battery and industrial computer are arranged on support platform by cushion socket, to reduce when robot is run to battery and work
The vibration of control machine.
Head is connected with by head link in the support platform, the head lower end sets detection device.
The guider, including guiding mechanism and support block, the support block are connected by link with support platform,
Several guiding mechanisms being arranged side by side are provided with the support block, the guiding mechanism structure is consistent, the guiding mechanism
Including guide pillar, flexible member, directive wheel and the axis of guide, one end of guide pillar is fixed in support block, and the other end is provided with the axis of guide,
Directive wheel is fixed with the axis of guide, sets and has elastic component between the axis of guide and support block.
The both sides of the axis of guide are provided with directive wheel, and the both sides of the directive wheel are provided with rib, the rib
It is adapted with the edge of guide rail, phenomena such as to prevent detection machine device people from being turned on one's side in motion process.
Guider structure positioned at guide rail both sides is identical, symmetrically, and between the directive wheel of two guiders
Distance is less than the thickness of guide rail.
The detection device includes infrared hot remote sensing video camera, equipment electric discharge supersonic reflectoscope, hazardous gas sensor
Deng infrared hot remote sensing video camera is monitored to the temperature in tunnel, when being overheated in some positions, region, is alarmed
Processing, equipment electric discharge supersonic reflectoscope are monitored to equipment electric discharge, find to be alarmed during point of discharge, hazardous gas sensing
Device is monitored to the hazardous gas in tunnel.
Beneficial effects of the present invention are：
(1) structure design is simple, easy for installation, and guide rail structure is simple, and required precision is not high, is easy to install in tunnel；
(2) directive wheel is designed as band rib structure in robotic guide, can improve in detection robot running
Stationarity, security；
(3) when detection robot need to stop to a certain position of guide rail to be detected, brake holds the output of decelerator tightly
Axle, detection robot is braked completely, prevent directional wheel circular-rotation, can pinpoint and be detected；
(4) front and rear the two of robot can be realized to operation, and effectively prevent that detect robot sends out in motion process
Phenomena such as raw rollover；
(5) due to flexible member both sides coordinate, ensure detection robot can flexibly be moved along guide rail, can large radius turn, increase
The scope of detection is added.
(6) potential safety hazard can be found early and taken measures, avoid directly or indirectly economic loss.
Brief description of the drawings
Fig. 1 is operating diagram of the detection robot in cable tunnel；
Fig. 2 is detection robot structural representation；
Fig. 3 is robotic guide plan；
Fig. 4 is robotic guide axonometric drawing；
Fig. 5 is robot moving platform structural representation；
Fig. 6 is moved to guide rail turning for detection robot；
Fig. 7 is detection robot at guide rail beginning；
Fig. 8 is detected when being the head circle rotation of detection robot；
Fig. 9 is that the head of detection robot detects when rotating vertically.
Wherein：1st, guide rail supporting frame；2nd, guide rail；3rd, robot, 4, cable are detected；5th, tunnel wall；6th, robot moves
Platform；7th, link；8th, robotic guide；9th, head link；10th, head；11st, detection device；12nd, cushion socket；13、
Industrial computer；14th, battery；15th, guide pillar；16th, spring；17th, screw assembly；18th, spring supporting block；19th, directive wheel；20th, the axis of guide；
21st, direct current generator；22nd, decelerator；23rd, brake；24th, directional wheel；25th, support platform；26th, universal wheel.
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of tunnel inner cable detection robot, detection robot 3 are placed on guide rail 2, machine is detected
People 3 is moved forward and backward according to the actual path route of guide rail 2, and guide rail 2 is installed on guide rail supporting frame 1, can use welding or screw
The modes such as connection are fixed together, together with guide rail supporting frame 1 is fixed with tunnel wall 5.Detect the bottom installation detection device of robot 3
11, detection device 11 is used to check phenomena such as infiltration, cable aging, burn into breakage and cable glow in tunnel,
In practical application, user carries out selective installation according to the function of detection device.Detection device 11 is arranged on head 10, head
10 can 360 ° of level, it is vertical 180 ° rotation, i.e., detection device 11 can be checked each position in tunnel, such as Fig. 7, Fig. 8, figure
Shown in 9.
As shown in Fig. 2 the mechanical structure portion of detection robot is mainly by robot moving platform 6, link 7 and machine
People's guider 8 forms.Together with mobile platform 6 is fixedly connected with robotic guide 8 by link 7, robot is oriented to
Device 8 is mainly made up of guide pillar 15, spring 16, screw assembly 17, spring supporting block 18, directive wheel 19 and the axis of guide 20.It is oriented to
Installation bearing in wheel 19.Together with robotic guide 8 is fixedly connected by link 7 with robot moving platform 6, robot
Mobile platform 6 drives robotic guide 8 to be walked jointly on guide rail 2, and robotic guide 8 is fitted close with guide rail 2,
After detecting the final assembly of robot 3, the vertical range d between the robotic guide 8 of detection robot 3 arranged on left and right sides is small
In the width f of guide rail, due to installing spring 16 in robotic guide 8, so during installation, need to press the directive wheels of both sides with
The axis of guide is assembled on guide rail 2, so ensure that directive wheel 19 is tightly bonded with the side edge of guide rail 2 together with, detection machine
Eight directive wheels are tightly bonded with the side edge of guide rail 2 in device people 3, and there are rib, the side of guide rail 2 in the another both sides of directive wheel 19
Side edge prevents from detecting phenomena such as robot 3 turns on one's side in motion process, ensures to detect robot in the groove of directive wheel 19
The 3 more stable tracks along guide rail 2 are walked, as shown in Figure 7.
As shown in figure 5, robot moving platform 6 mainly by direct current generator 21, decelerator 22, brake 23, directional wheel 24,
Support platform 25 and universal wheel 26 are formed, and in order to reduce the rotating speed of direct current generator 21, decelerator 22, decelerator are installed in its front end
Brake 23 is installed, the effect of brake 23 is when detection robot 3 need to stop a certain position progress to guide rail 2 on 22 output shafts
During detection, brake holds the output shaft of decelerator 22 tightly, detection robot 3 is braked completely, prevents the circular-rotation of directional wheel 24,
The output shaft of decelerator 22 is coordinated by the connecting shaft of shaft coupling and directional wheel 24, installation key in the connecting shaft of directional wheel 24, i.e.,
The rotation of direct current generator 21 drives the circular-rotation of directional wheel 24, and then realizes moving forward and backward for detection robot 3, battery 14 and work
Control machine 13 is arranged in support platform 25 by cushion socket 12, and battery 14 is responsible for direct current generator 21, head 10 and detection device
11 grades are powered.Robot directional wheel 24 is installed in the bottom of support platform 25 with universal wheel 26, and universal wheel 26 can 360 ° of rotations of level
Turn and circular-rotation, the effect of universal wheel 26 are flexibly to walk and adapt to detection machine with the motion track of detection robot 3
Device people forward, be moved rearwards.
As shown in Figure 3, Figure 4, due to installing spring 16 in robotic guide 8, the tip designs plus guide pillar 15 are
Slotted hole, so the free state of robotic guide 8 is the screw on the outside of the slotted hole of guide pillar 15 and in screw assembly 17
During outer diameter contact, the screw is half-thread screw.During if the external world to the thrust of directive wheel 19 and the axis of guide 20, directive wheel 19
And the axis of guide 20 will move to the direction of compression spring 16, so when the turning that detection robot 3 moves to guide rail 2, lead
Resilient movement is produced to the turning radian of wheel 19 and the axis of guide 20 guide rail 2 therewith, ensures that detection robot 3 safety and steady passes through
Turning.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. one kind is brought into close contact formula track automatic crusing robot, it is characterized in that：It is included in the mobile platform of guide rail upper end operation,
It is arranged at mobile platform both ends, is configured to be bonded the guider of guide rail both sides, and is arranged on mobile platform and adopts
Collect the detection device of environmental monitoring data in tunnel；The guider keeps being bonded with guide rail, makes mobile platform along guide rail
Path movement, the real-time detection of tunnel situation is realized in moving process.
2. one kind as claimed in claim 1 is brought into close contact formula track automatic crusing robot, it is characterized in that：The guide rail is I
Type guide rail or T-shaped guide rail, the guide rail are fixed on tunnel wall by support frame.
3. one kind as claimed in claim 1 is brought into close contact formula track automatic crusing robot, it is characterized in that：The movement is put down
Platform, including support platform, universal wheel, directional wheel and motor, the bottom end of the support platform are provided with directional wheel, the other end
Universal wheel is provided with, the motor provides driving force for directional wheel, and control machine people moves forward and backward along guide rail.
4. one kind as claimed in claim 3 is brought into close contact formula track automatic crusing robot, it is characterized in that：The motor front end
Decelerator is additionally provided with, brake is installed on the output shaft of the decelerator, the output shaft of decelerator by shaft coupling and is determined
Coordinate to the connecting shaft of wheel.
5. one kind as claimed in claim 1 is brought into close contact formula track automatic crusing robot, it is characterized in that：The support platform
On be provided with battery and industrial computer, battery provides power source for motor and detection device, the industrial computer control brake, slows down
Device and detection device.
6. one kind as claimed in claim 5 is brought into close contact formula track automatic crusing robot, it is characterized in that：The battery and work
Control machine is arranged on support platform by cushion socket.
7. one kind as claimed in claim 1 is brought into close contact formula track automatic crusing robot, it is characterized in that：It is described to be oriented to dress
Put, including guiding mechanism and support block, the support block are connected by link with support platform, are provided with the support block
Several guiding mechanisms being arranged side by side, the guiding mechanism structure is consistent, the guiding mechanism include guide pillar, flexible member,
Directive wheel and the axis of guide, one end of guide pillar are fixed in support block, and the other end is provided with the axis of guide, and guiding is fixed with the axis of guide
Wheel, set and have elastic component between the axis of guide and support block.
8. one kind as claimed in claim 7 is brought into close contact formula track automatic crusing robot, it is characterized in that：The axis of guide
Both sides are provided with directive wheel, and the both sides of the directive wheel are provided with rib, and the rib is adapted with the edge of guide rail, with
Prevent from detecting phenomena such as robot turns on one's side in motion process.
9. one kind as claimed in claim 1 is brought into close contact formula track automatic crusing robot, it is characterized in that：Positioned at guide rail both sides
Guider structure it is identical, symmetrically, and the distance between directive wheel of two guiders be less than guide rail thickness.
10. one kind as claimed in claim 1 is brought into close contact formula track automatic crusing robot, it is characterized in that：The detection is set
It is standby to include infrared hot remote sensing video camera, equipment electric discharge supersonic reflectoscope and hazardous gas sensor, infrared hot remote sensing video camera
Temperature in tunnel is monitored, when overheating, carries out alert process, equipment electric discharge supersonic reflectoscope is put to equipment
Electricity is monitored, and finds to be alarmed during point of discharge, hazardous gas sensor is monitored the hazardous gas in tunnel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710806182.5A CN107764319A (en) | 2017-09-08 | 2017-09-08 | One kind is brought into close contact formula track automatic crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710806182.5A CN107764319A (en) | 2017-09-08 | 2017-09-08 | One kind is brought into close contact formula track automatic crusing robot |
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| CN201710806182.5A Pending CN107764319A (en) | 2017-09-08 | 2017-09-08 | One kind is brought into close contact formula track automatic crusing robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108418135A (en) * | 2018-03-29 | 2018-08-17 | 西南大学 | The inspection of transmission line of electricity oversheath and prosthetic device and method |
| CN110812735A (en) * | 2018-08-13 | 2020-02-21 | 沈阳新松机器人自动化股份有限公司 | Pneumatic brine tank |
| CN111791215A (en) * | 2020-07-07 | 2020-10-20 | 安徽华典大数据科技有限公司 | Large-scale computer lab database inspection device |
| CN113119060A (en) * | 2021-04-19 | 2021-07-16 | 哈尔滨工业大学 | Rail clamping operation device can be dismantled to complicated track towards robot removal |
| CN113838357A (en) * | 2021-10-25 | 2021-12-24 | 国网江苏省电力有限公司电力科学研究院 | Container type tunnel fire inversion simulation device and method |
| CN114161447A (en) * | 2021-12-24 | 2022-03-11 | 杭州申昊科技股份有限公司 | Indoor hanging rail inspection robot |
| CN117268551A (en) * | 2023-11-21 | 2023-12-22 | 广州科易光电技术有限公司 | Method and device for detecting vehicles on oil distribution platform, equipment and storage medium |
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| CN203186345U (en) * | 2013-02-28 | 2013-09-11 | 山东康威通信技术股份有限公司 | Electric power tunnel wireless mobile video routing inspection robot structure |
| CN104317296A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Indoor multi-dimensional track intelligent inspection robot |
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| CN202075624U (en) * | 2011-04-12 | 2011-12-14 | 中国科学院沈阳自动化研究所 | Transformer station track type intelligent inspection robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108418135A (en) * | 2018-03-29 | 2018-08-17 | 西南大学 | The inspection of transmission line of electricity oversheath and prosthetic device and method |
| CN110812735A (en) * | 2018-08-13 | 2020-02-21 | 沈阳新松机器人自动化股份有限公司 | Pneumatic brine tank |
| CN111791215A (en) * | 2020-07-07 | 2020-10-20 | 安徽华典大数据科技有限公司 | Large-scale computer lab database inspection device |
| CN113119060A (en) * | 2021-04-19 | 2021-07-16 | 哈尔滨工业大学 | Rail clamping operation device can be dismantled to complicated track towards robot removal |
| CN113838357A (en) * | 2021-10-25 | 2021-12-24 | 国网江苏省电力有限公司电力科学研究院 | Container type tunnel fire inversion simulation device and method |
| CN113838357B (en) * | 2021-10-25 | 2023-04-18 | 国网江苏省电力有限公司电力科学研究院 | Container type tunnel fire inversion simulation device and method |
| CN114161447A (en) * | 2021-12-24 | 2022-03-11 | 杭州申昊科技股份有限公司 | Indoor hanging rail inspection robot |
| CN114161447B (en) * | 2021-12-24 | 2024-05-17 | 杭州申昊科技股份有限公司 | Indoor rail-hanging inspection robot |
| CN117268551A (en) * | 2023-11-21 | 2023-12-22 | 广州科易光电技术有限公司 | Method and device for detecting vehicles on oil distribution platform, equipment and storage medium |
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Address after: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: National Network Intelligent Technology Co., Ltd. Applicant after: State Grid Co., Ltd. Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant before: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. Applicant before: State Grid Corporation |
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Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co.,Ltd. Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Applicant before: National Network Intelligent Technology Co.,Ltd. Applicant before: STATE GRID CORPORATION OF CHINA |
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Application publication date: 20180306 |