CN108724158B - Pole climbing robot - Google Patents
Pole climbing robot Download PDFInfo
- Publication number
- CN108724158B CN108724158B CN201710261247.2A CN201710261247A CN108724158B CN 108724158 B CN108724158 B CN 108724158B CN 201710261247 A CN201710261247 A CN 201710261247A CN 108724158 B CN108724158 B CN 108724158B
- Authority
- CN
- China
- Prior art keywords
- frame body
- pole
- claw
- mechanical arm
- climbing robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 28
- 210000000078 claw Anatomy 0.000 claims description 36
- 230000007246 mechanism Effects 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 9
- 238000012806 monitoring device Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 5
- 230000009193 crawling Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides a pole-climbing robot which comprises a frame body, a holding clamp hinged with the frame body, a holding clamp rotating shaft for connecting the holding clamp and the frame body, a driving pole device arranged on the frame body and used for driving the holding clamp rotating shaft to rotate, and an operation mechanical arm unit arranged on the frame body and used for grabbing an operation tool; an arc-shaped surface matched with the rod body to be climbed is arranged on one side of the frame body, at least one climbing wheel and at least one steering wheel are arranged on the arc-shaped surface, a driven wheel is arranged on the inner side surface of the holding clamp, the rotating shaft of the climbing wheel is perpendicular to the axis of the rod body to be climbed, and the rotating shaft of the steering wheel is parallel to the axis of the rod body to be climbed; the other side of the frame body is also provided with a tool buckle for fixing an operation tool. The pole-climbing robot provided by the invention avoids the limitation of manual operation on physical strength and operation efficiency, ensures the safety of operators and improves the working efficiency.
Description
Technical Field
The invention belongs to the technical field of power equipment, and particularly relates to a pole-climbing robot.
Background
In the power system, the 10kV cement pole tower is widely applied to power distribution network lines, and power failure, electricity inspection and grounding wire installation are safety technical measures for ensuring power operators in power construction, overhaul and maintenance. Because of the limitation of objective conditions, the conventional safety measures of electric power operation are all completed by manpower at present, mainly by using pedal rod foot buckles manually, assisting in rod climbing operation by using safety belts and safety ropes, and carrying electroscope and grounding wires (grounding rods) on the top of a rod tower by personnel for related operation. Through the manual work pole and tower of climbing operation, the safety belt of continuous adjustment, insurance rope are along the body of rod upward movement at climbing in-process, and efficiency is lower and personnel's physical demands are great, have great potential safety hazard to endanger personal safety. In field operation, the uncertainty factors are many, and the situation that climbing is not suitable may exist. When the work tool is manually carried to work, if accidental power-up or work tool failure occurs, larger personal injury can be caused.
Disclosure of Invention
The invention aims to provide a pole-climbing robot, which aims to solve the problems of large potential safety hazard and low efficiency existing in the conventional electric power operation in the prior art due to the fact that the pole-climbing operation is performed manually.
In order to achieve the above purpose, the invention adopts the following technical scheme: the pole-climbing robot comprises a frame body, a holding clamp hinged with the frame body, a holding clamp rotating shaft used for connecting the holding clamp and the frame body, a driving pole device arranged on the frame body and used for driving the holding clamp rotating shaft to rotate, and an operation mechanical arm unit arranged on the frame body and used for grabbing an operation tool; the frame body is characterized in that one side of the frame body is provided with an arc-shaped surface matched with the rod body to be climbed, the arc-shaped surface is provided with at least one climbing wheel and at least one steering wheel, the inner side surface of the holding clamp is provided with a driven wheel, the rotating shaft of the climbing wheel is perpendicular to the axis of the rod body to be climbed, and the rotating shaft of the steering wheel is parallel to the axis of the rod body to be climbed; the other side of the frame body is also provided with a tool buckle for fixing an operation tool.
Further, the holding and clamping rotating shaft is a T-shaped shaft.
Further, the operating robot arm unit includes a linkage robot arm and a gripper mechanism for gripping an operating tool.
Further, the operation mechanical arm unit further comprises a video monitoring device arranged on the mechanical claw mechanism.
Further, the linkage mechanical arm comprises a connecting seat fixedly connected with the frame body, a first rotary joint arranged on the connecting seat, a first mechanical arm with one end arranged on the first rotary joint, a second rotary joint arranged on the other end of the first mechanical arm, a second mechanical arm arranged on the second rotary joint, a third rotary joint connected with the second mechanical arm and a connector used for connecting the mechanical claw and connected with the third rotary joint.
Further, the mechanical claw mechanism comprises a claw seat, a first air cylinder arranged on the claw seat, a driving connecting rod fixed on a telescopic rod of the first air cylinder and connected with the claw seat in a sliding mode, claw clamps hinged to two ends of the driving connecting rod respectively and connecting rods used for connecting the claw clamps and the claw seat, the connecting rods are hinged to the claw clamps and the claw seat respectively, one end portion of each claw clamp is hinged to the driving connecting rod, and clamping grooves used for clamping an operating tool are formed in the other end of each claw clamp.
Further, the driven wheel is a universal wheel.
Further, the driving rod device is an air cylinder or a hydraulic cylinder.
Further, anti-collision probes are arranged at two ends of the frame body along the axial direction of the climbing pole body.
Further, a communication antenna is further arranged on the frame body.
The pole-climbing robot provided by the invention has the beneficial effects that: compared with the prior art, the pole-climbing robot disclosed by the invention has the advantages that the pole-climbing robot is fixed on the pole-climbing body by pushing and rotating the clamp hinged with the frame body through the driving rod device on the frame body, the crawling wheel on the arc surface on one side of the frame body drives the frame body to crawl upwards, the steering wheel is further arranged on the arc surface, the steering wheel rotates when the position of the pole-climbing robot is required to be adjusted, the position of the pole-climbing robot in the circumferential direction of the pole-climbing body is adjusted to reach a designated operation position, the operation tool clamped at the tool buckle position is grabbed by the operation mechanical arm unit on the other side of the frame body for maintenance or detection operation, and the pole-climbing robot is used for replacing manpower to climb a pole body and carry an operation tool for operation at the top of a pole tower. Personal injury possibly caused by direct contact of operators with the operating tool and the tower body is avoided, and safety is ensured. The pole-climbing robot is adopted for operation, so that the requirement of manual operation on physical strength and the limitation of operation efficiency are avoided, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of an explosion structure of a pole-climbing robot according to an embodiment of the present invention;
FIG. 2 is a view in the direction A of FIG. 1;
FIG. 3 is a schematic diagram of an operation robot unit according to an embodiment of the present invention;
FIG. 4 is a schematic view of a mechanical gripper mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of compliance control employed in an embodiment of the present invention.
In the figure: 1. a frame body; 11. a crawling wheel; 12. a steering wheel; 13. a second cylinder; 14. a tool buckle; 15. an anti-collision probe; 16. a communication antenna; 17. a speaker; 18. a status display lamp; 19. a switch button; 2. clamping; 21. driven wheel; 3. a clamping rotating shaft; 4. operating the mechanical arm unit; 41. a linkage mechanical arm; 411. a connecting seat; 412. a first rotary joint; 413. a first mechanical arm; 414. a second rotary joint; 415. a second mechanical arm; 416. a third rotary joint; 417. a connector; 42. a mechanical claw mechanism; 421. a claw seat; 422. a first cylinder; 423. a drive link; 424. claw pliers; 425. a connecting rod; 526. a fixed sleeve; 43. a visible light camera.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1 and 2 together, a description will be given of a pole-climbing robot according to the present invention. The pole-climbing robot comprises a frame body 1, a holding clamp 2 hinged with the frame body 1, a holding clamp rotating shaft 3 for connecting the holding clamp 2 with the frame body 1, a driving pole device arranged on the frame body 1 and used for driving the holding clamp rotating shaft 3 to rotate, and an operation mechanical arm unit 4 arranged on the frame body 1 and used for grabbing an operation tool; an arc-shaped surface matched with the rod to be climbed is arranged on one side of the frame body 1, at least one crawling wheel 11 and at least one steering wheel 12 are arranged on the arc-shaped surface, a driven wheel 21 is arranged on the inner side surface of the holding clamp 2, the rotating shaft of the crawling wheel 11 is perpendicular to the axis of the rod to be climbed, and the rotating shaft of the steering wheel 12 is parallel to the axis of the rod to be climbed; the other side of the frame body 1 is also provided with a tool buckle 14 for fixing an operation tool.
Compared with the prior art, the pole climbing robot provided by the invention has the advantages that the pole climbing robot is fixed on a pole body to be climbed by pushing and rotating the clasping clamp 2 hinged with the pole body 1 through the driving pole device on the pole body 1, the pole climbing robot is driven to climb upwards by the crawling wheel 11 on the arc surface on one side of the pole body 1, the steering wheel 12 is further arranged on the arc surface, the steering wheel 12 rotates when the position of the pole climbing robot needs to be adjusted, the position of the pole climbing robot in the circumferential direction of the pole body to be climbed is adjusted, the designated operation position is reached, the operation tool clamped at the tool clamp 14 is grabbed by the operation mechanical arm unit 4 on the other side of the pole body 1 for maintenance or detection operation, and the pole climbing robot is used for replacing manpower to climb and carry the operation tool to carry out the operation at the top of the pole tower. Personal injury possibly caused by direct contact of operators with the operating tool and the tower body is avoided, and safety is ensured. The pole-climbing robot is adopted for operation, so that the requirement of manual operation on physical strength and the limitation of operation efficiency are avoided, and the working efficiency is improved.
Specifically, the arc surface of the frame body 1 is U-shaped, the holding clamp 2 is an arc holding clamp 2, two arc holding clamps 2 are arranged at two ends of the frame body 1, a power module, a driving device, a central control module, a communication module and the like are arranged inside the frame body 1, and a climbing wheel 11 and a steering wheel 12 are arranged on the arc surface of the frame body 1 and are connected with the internal driving device.
Specifically, the work tool holder 14 can hold an electroscope and a ground wire work tool (electroscope and ground rod) for use in robotic work.
Further, referring to fig. 1 and fig. 2, as a specific embodiment of the pole-climbing robot provided by the present invention, the holding and clamping shaft 3 is a T-shaped shaft. The clamp rotating shaft 3 is T-shaped, two-direction rotation of the clamp 2 and the end part of the crawling moving mechanism is realized, the ejector rod device is a second air cylinder 13, a driven wheel 21 is arranged in the clamp 2, and the driven wheel 21 is a universal wheel. When the climbing rod moves, the ejection mechanism drives the two side holding clamps 2 to rotate inwards and keep clamping force to clamp the rod body by the crawling moving mechanism, the crawling wheel 11 and the universal wheels realize integral support, and the driving device drives the crawling wheel 11 to rotate to realize integral back and forth movement along the climbing rod body; the climbing of the variable-diameter rod body can be realized through the rotation design of the holding clamp 2; the steering wheel 12 rotates synchronously with the crawling wheel 11, is retracted under normal conditions, stretches out when steering is needed, and realizes steering in the process of climbing poles. In the operation process, under the condition of the robot parking state or abnormal power failure, the whole self-locking of the robot is realized through the self-locking of the motor and the force of the holding clamp 2, and the robot is prevented from falling.
Further, referring to fig. 1 to 4, as a specific embodiment of the pole-climbing robot provided by the present invention, the operation robot arm unit 4 includes a linkage robot arm 41 and a gripper mechanism 42 for gripping the operation tool.
Further, referring to fig. 1 and 2, as a specific embodiment of the pole-climbing robot provided by the present invention, the manipulator unit 4 further includes a video monitoring device disposed on the gripper mechanism 42. The video monitoring device carried by the robot body can monitor the operation details in the operation process. The video monitoring device is a visible light camera 43 and/or an infrared camera.
Further, referring to fig. 1 to 3, as a specific embodiment of the pole-climbing robot provided by the present invention, the linkage robot 41 includes a connection base 411 fixedly connected to the frame 1, a first rotary joint 412 provided on the connection base 411, a first robot arm 413 having one end provided on the first rotary joint 412, a second rotary joint 414 provided on the other end of the first robot arm 413, a second robot arm 415 provided on the second rotary joint 414, a third rotary joint 416 connected to the second robot arm 415, and a connector 417 for connecting the gripper and the third rotary joint 416.
The operation mechanical arm unit is arranged on the frame body 1 of the pole-climbing robot, the main body is a multi-axis linkage mechanical arm 41, the design length of the linkage mechanical arm 41 meets the requirement of the operation range of the robot, the rotary joints 360 rotate, the quantity of the rotary joints meet the condition that the tail ends of the mechanical arms reach any point in the operation radius, the linkage mechanical arm 41 is provided with flexible control, and when the movement process always interferes with the rest equipment, flexible barriers can be realized, so that the damage to the structure and peripheral equipment of the linkage mechanical arm 41 is avoided; the connector 417 is arranged at the tail end of the linkage mechanical arm 41, so that the linkage mechanical arm can be compatible with various operation tail ends, and is not limited to electricity test and grounding operation; the connector 417 axially rotates along the tail end of the linkage mechanical arm 41, and is provided with a mechanical claw mechanism 42, wherein the mechanical claw mechanism 42 can grasp a working tool; the gripper mechanism 42 is provided with a visible light camera rotating 180 degrees for monitoring the working range and the working process in real time during the working process.
Considering that the application environment of the linkage mechanical arm 41 has the characteristics of unknown or dynamic change of environmental parameters, uncertainty of man-machine interaction and the like, the safety and the flexibility are one of important targets for controlling the linkage mechanical arm 41, and the control strategy is aimed at the monitoring of the position control binding force threshold. Referring to fig. 5, xd is a joint command position, x is a joint actual position, Δxd is a joint position deviation, kf is a force feedback coefficient, C1 is a joint moment threshold, and C2 is a terminal force threshold.
Further, referring to fig. 1 and 2, as a specific embodiment of the pole-climbing robot provided by the present invention, a communication antenna 16 is further provided on the frame 1 for improving wireless communication signals, and a speaker 17, a status display lamp 18, and a switch button 19 are further provided on the frame 1. In order to enable the robot system to be more suitable for the operation flexibility of an operation site, the whole system carries out man-machine conversation in a wireless communication mode, and complete separation between operators and detection equipment is achieved in a wireless remote control platform mode. The remote control platform can realize motion control of the robot system, and state monitoring of the robot and the platform. The action control comprises running speed setting, position locking, time setting and the like of each part of the robot; the state monitoring comprises electric quantity monitoring, communication signal monitoring, equipment hardware parameters and the like.
Further, referring to fig. 3 and 4, as a specific embodiment of the pole climbing robot provided by the present invention, the mechanical gripper mechanism 42 includes a gripper seat 421, a first cylinder 422 disposed on the gripper seat 421, a driving link 423 fixed on a telescopic rod of the first cylinder 422 and slidably connected to the gripper seat 421, a gripper 424 hinged to two ends of the driving link 423, and a connecting rod 425 for connecting the gripper 424 and the gripper seat 421, wherein the connecting rod 425 is hinged to the gripper 424 and the gripper seat 421, one end of the gripper 424 is hinged to the driving link 423, and the other end is provided with a clamping slot for clamping an operation tool. The video monitoring device is arranged on the first air cylinder 422 or the claw seat 421, the driving connecting rod 423 is pushed to move through the first air cylinder 422, the claw forceps 424 are driven to open and close by utilizing the lever principle, the claw forceps 424 are clamped, the clamping is stable, the use is reliable and the effect is good, in particular, the fixing sleeve 526 is fixedly arranged on the claw seat 421, the connecting rod 425 is hinged on the fixing sleeve 526, the fixing sleeve 526 and the telescopic rod of the first air cylinder 422 are coaxially arranged, the assembly is convenient, the split processing and the maintenance are convenient, and the production efficiency is high.
Further, referring to fig. 1 and 2, as a specific embodiment of the pole climbing robot provided by the present invention, the driving pole device is a second cylinder 13 or a hydraulic cylinder.
Further, referring to fig. 1 and 2, as a specific embodiment of the climbing robot provided by the present invention, two ends of the frame 1 along the axis direction of the climbing rod body are provided with anti-collision probes 15. In the crawling movement process, the robot body performs distance detection through anti-collision probes 15 arranged at the upper end and the lower end of the crawling movement mechanism, and sends switching value to the central control module to realize overall anti-collision in the crawling process; wireless data exchange between remote control platforms is realized through a communication module; the robot status is indicated by status display lights 18.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. Pole-climbing robot, its characterized in that: the device comprises a frame body, a holding clamp hinged with the frame body, a holding clamp rotating shaft for connecting the holding clamp and the frame body, a driving rod device arranged on the frame body and used for driving the holding clamp rotating shaft to rotate, and an operation mechanical arm unit arranged on the frame body and used for grabbing an operation tool; the frame body is characterized in that one side of the frame body is provided with an arc-shaped surface matched with the rod body to be climbed, the arc-shaped surface is provided with at least one climbing wheel and at least one steering wheel, the inner side surface of the holding clamp is provided with a driven wheel, the rotating shaft of the climbing wheel is perpendicular to the axis of the rod body to be climbed, and the rotating shaft of the steering wheel is parallel to the axis of the rod body to be climbed; a tool buckle for fixing an operation tool is also arranged on the other side of the frame body;
the clamping rotating shaft is a T-shaped shaft;
the operation mechanical arm unit comprises a linkage mechanical arm and a mechanical claw mechanism for grabbing an operation tool;
the linkage mechanical arm is provided with flexible control.
2. The pole-climbing robot of claim 1, wherein: the operation mechanical arm unit further comprises a video monitoring device arranged on the mechanical claw mechanism.
3. The pole-climbing robot of claim 1, wherein: the linkage mechanical arm comprises a connecting seat fixedly connected with the frame body, a first rotary joint arranged on the connecting seat, a first mechanical arm with one end arranged on the first rotary joint, a second rotary joint arranged on the other end of the first mechanical arm, a second mechanical arm arranged on the second rotary joint, a third rotary joint connected with the second mechanical arm and a connector used for connecting the mechanical claw mechanism and connected with the third rotary joint.
4. The pole-climbing robot of claim 1, wherein: the mechanical claw mechanism comprises a claw seat, a first air cylinder arranged on the claw seat, a driving connecting rod fixed on a telescopic rod of the first air cylinder and connected with the claw seat in a sliding mode, claw clamps hinged to two ends of the driving connecting rod respectively and connecting rods used for connecting the claw clamps and the claw seat, the connecting rods are hinged to the claw clamps and the claw seat respectively, one end portion of each claw clamp is hinged to the driving connecting rod, and clamping grooves used for clamping operation tools are formed in the other end of each claw clamp.
5. The pole-climbing robot of claim 1, wherein: the driven wheel is a universal wheel.
6. The pole-climbing robot of claim 1, wherein: the driving rod device is an air cylinder or a hydraulic cylinder.
7. The pole-climbing robot of claim 1, wherein: and anti-collision probes are arranged at two ends of the frame body along the axial direction of the climbed rod body.
8. The pole-climbing robot of claim 1, wherein: and the frame body is also provided with a communication antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710261247.2A CN108724158B (en) | 2017-04-20 | 2017-04-20 | Pole climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710261247.2A CN108724158B (en) | 2017-04-20 | 2017-04-20 | Pole climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108724158A CN108724158A (en) | 2018-11-02 |
| CN108724158B true CN108724158B (en) | 2024-02-27 |
Family
ID=63933541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710261247.2A Active CN108724158B (en) | 2017-04-20 | 2017-04-20 | Pole climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108724158B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455563B (en) * | 2018-12-12 | 2022-02-08 | 杭州申昊科技股份有限公司 | Intelligent inspection robot with pole-climbing mechanism |
| CN109969663B (en) * | 2019-03-12 | 2021-03-02 | 苏州得尔达国际物流有限公司 | Climbing robot for monitoring and matched goods shelf thereof |
| CN112864949B (en) * | 2021-01-07 | 2022-09-27 | 云南电网有限责任公司电力科学研究院 | Distribution line grounding wire assembling and disassembling device and control method thereof |
| CN112896359A (en) * | 2021-01-27 | 2021-06-04 | 国网安徽省电力有限公司电力科学研究院 | Pole-climbing robot |
| CN114132404B (en) * | 2021-11-26 | 2024-02-13 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with prevent structure of falling |
| CN114261456B (en) * | 2021-12-31 | 2023-03-31 | 广东省科学院智能制造研究所 | Climbing robot |
| CN114700973B (en) * | 2022-04-24 | 2023-06-27 | 应急管理部国家自然灾害防治研究院 | Climbing manipulator device for high side slope wireless sensor layout |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214412A (en) * | 2008-01-15 | 2008-07-09 | 东南大学 | Scroll cable detecting robot |
| CN201405949Y (en) * | 2009-04-29 | 2010-02-17 | 江南大学 | Multi-posture climbing pole robot |
| CN103042000A (en) * | 2013-01-11 | 2013-04-17 | 山东鲁能智能技术有限公司 | Robot system for intelligently cleaning insulator chains |
| CN103070033A (en) * | 2013-02-06 | 2013-05-01 | 山东农业大学 | Automatic pruning device for poplars |
| CN203172752U (en) * | 2013-03-22 | 2013-09-04 | 贾德增 | Rod-climbing robot |
| CN203665542U (en) * | 2014-01-08 | 2014-06-25 | 安徽江淮汽车股份有限公司 | Carrying clamping device for cylindrical objects |
| CN203958368U (en) * | 2014-04-17 | 2014-11-26 | 上海电机学院 | The bionical climbing level robot of air pressure |
| CN205203185U (en) * | 2015-11-20 | 2016-05-04 | 华南理工大学 | Lead screw repulsive -type maglev pole -climbing robot |
| CN205629899U (en) * | 2016-04-21 | 2016-10-12 | 东北林业大学 | Equipment is changed to street lamp |
| CN106058730A (en) * | 2016-07-25 | 2016-10-26 | 国网江苏省电力公司常州供电公司 | Circumferentially rotating device for concrete pole repairing platform |
| CN207189651U (en) * | 2017-04-20 | 2018-04-06 | 深圳市朗驰欣创科技股份有限公司 | Climbing level robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2929228B1 (en) * | 2008-03-28 | 2010-06-18 | Thales Sa | POKER ROBOT ROBOT. |
-
2017
- 2017-04-20 CN CN201710261247.2A patent/CN108724158B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214412A (en) * | 2008-01-15 | 2008-07-09 | 东南大学 | Scroll cable detecting robot |
| CN201405949Y (en) * | 2009-04-29 | 2010-02-17 | 江南大学 | Multi-posture climbing pole robot |
| CN103042000A (en) * | 2013-01-11 | 2013-04-17 | 山东鲁能智能技术有限公司 | Robot system for intelligently cleaning insulator chains |
| CN103070033A (en) * | 2013-02-06 | 2013-05-01 | 山东农业大学 | Automatic pruning device for poplars |
| CN203172752U (en) * | 2013-03-22 | 2013-09-04 | 贾德增 | Rod-climbing robot |
| CN203665542U (en) * | 2014-01-08 | 2014-06-25 | 安徽江淮汽车股份有限公司 | Carrying clamping device for cylindrical objects |
| CN203958368U (en) * | 2014-04-17 | 2014-11-26 | 上海电机学院 | The bionical climbing level robot of air pressure |
| CN205203185U (en) * | 2015-11-20 | 2016-05-04 | 华南理工大学 | Lead screw repulsive -type maglev pole -climbing robot |
| CN205629899U (en) * | 2016-04-21 | 2016-10-12 | 东北林业大学 | Equipment is changed to street lamp |
| CN106058730A (en) * | 2016-07-25 | 2016-10-26 | 国网江苏省电力公司常州供电公司 | Circumferentially rotating device for concrete pole repairing platform |
| CN207189651U (en) * | 2017-04-20 | 2018-04-06 | 深圳市朗驰欣创科技股份有限公司 | Climbing level robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108724158A (en) | 2018-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108724158B (en) | Pole climbing robot | |
| CN108616077B (en) | Lead breaking method for live working robot | |
| CN108714883B (en) | Transformer substation live overhaul autonomous operation robot platform | |
| CN102941567B (en) | High-tension transmission line patrol and operation robot actuating arm | |
| CN102941570B (en) | Patrol robot for power transmission lines | |
| CN101168254A (en) | Swinging arm type transmission line polling robot | |
| CN108748073B (en) | Live overhaul operation robot for substation equipment | |
| CN102938544B (en) | A kind of transmission line active obstacle travelling robot | |
| CN108616076B (en) | Method for disassembling and assembling lightning arrester by live working robot | |
| CN102468621B (en) | Mobile robot being applicable to large span transmission line routing inspection | |
| CN110277749B (en) | High-voltage line inspection robot capable of climbing poles and wires | |
| CN103972816A (en) | Obstacle-crossing mechanical arm suitable for power transmission line inspection robot | |
| CN102922530B (en) | Inspection robot platform of 500kV split conductors | |
| CN105196283A (en) | Series-parallel two-foot iron-tower climbing robot | |
| CN108786024A (en) | A kind of pole climbing device with obstacle crossing function | |
| CN109591906B (en) | Control system and control method for transmission tower climbing robot | |
| CN112388645A (en) | Telescopic self-adaptive infrared detection pole-climbing robot | |
| Rui et al. | A mobile robot for inspection of overhead transmission lines | |
| CN210258835U (en) | Manipulator and unmanned operation system for line construction | |
| CN216883947U (en) | Single-arm man-machine cooperation distribution network live working equipment | |
| CN108972589B (en) | Grabbing and releasing robot device and working method thereof | |
| CN110539316A (en) | Ground potential operation method, live working robot for distribution network overhead line and manipulator | |
| CN112928570A (en) | Grounding wire operation tool, grounding wire hanging and dismounting system and method | |
| CN105690404A (en) | Manipulator device at tail end of double-foot robot for power transmission line | |
| CN201853971U (en) | Mobile robot suitable for inspection for large-span power transmission lines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |