CN109079823A - Inspecting robot in a kind of substation room - Google Patents
Inspecting robot in a kind of substation room Download PDFInfo
- Publication number
- CN109079823A CN109079823A CN201811187612.0A CN201811187612A CN109079823A CN 109079823 A CN109079823 A CN 109079823A CN 201811187612 A CN201811187612 A CN 201811187612A CN 109079823 A CN109079823 A CN 109079823A
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- mobile
- crawler belt
- ladder
- wheel
- track assembly
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- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000013519 translation Methods 0.000 claims abstract description 28
- 238000012360 testing method Methods 0.000 claims abstract description 20
- 238000007689 inspection Methods 0.000 claims abstract description 6
- 230000009194 climbing Effects 0.000 claims description 20
- 230000003028 elevating effect Effects 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 238000001931 thermography Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to substation inspection technical fields, more particularly to a kind of inspecting robot in substation room, including control device, mobile device, armshaft device and detection device, control device and armshaft device are mounted on mobile device, and detection device is connected to the free end of armshaft device；Mobile device includes mobile chassis and crawler belt mobile mechanism, crawler belt mobile mechanism connect with mobile chassis, crawler belt mobile mechanism includes ladder track assembly, translation track assembly and track drive unit, and track drive unit and translation track assembly and ladder track assembly are drivingly connected；Detection device includes partial discharge test suite, and partial discharge test suite includes moving guide rail, partial discharge driving unit and partial discharge tester, and partial discharge tester and partial discharge driving unit are drivingly connected and are slidedly arranged on moving guide rail.The present invention enables detection device to move indoors by mobile device, and the power transformation station equipment for enabling detection device to reach different height is detected.
Description
Technical field
The present invention relates to inspecting robots in substation inspection technical field more particularly to a kind of substation room.
Background technique
Currently, transformer substation robot has obtained large-scale application, correspondingly, substation is carried out by robot and carries out event
The tester of barrier detection has also obtained large-scale application, however, the landform in substation is more complicated, it is often necessary to robot
It reaches different transformer equipments by stair to be maked an inspection tour, but inspecting robot in the prior art not can be carried out ladder behaviour
Make, so that inspecting robot cannot be widely used；In addition, existing inspecting robot is to transformer equipment carry out office
When portion's discharge test, the movement of local test instrument is mobile synchronous with robot, causes local test instrument in test transformer equipment
Different parts when, measuring accuracy is poor.
Summary of the invention
The transformer equipment of each region in substation is maked an inspection tour the object of the present invention is to provide convenient, while improving change
Inspecting robot in a kind of substation room of electric equipment shelf depreciation testing precision.
To achieve the goals above, the present invention provides inspecting robot in a kind of substation room, including control device, movement
Device, armshaft device and detection device, the control device and armshaft device are mounted on mobile device, the mobile device,
Armshaft device and detection device are electrically connected with control device, and the detection device is connected to the free end of armshaft device；
The mobile device includes mobile chassis and crawler belt mobile mechanism, and the crawler belt mobile mechanism and mobile chassis connect
It connects, the crawler belt mobile mechanism includes ladder track assembly, translation track assembly and track drive unit, the ladder crawler belt group
The relatively described translation track assembly of part is obliquely installed, and the ladder track assembly and translation track assembly interlaced arrangement, described
Track drive unit is drivingly connected the translation track assembly and ladder track assembly；
The detection device includes partial discharge test suite, and the partial discharge test suite includes moving guide rail, partial discharge driving list
Member and partial discharge tester, the partial discharge tester and partial discharge driving unit are drivingly connected and are slidedly arranged on moving guide rail.
Optionally, the crawler belt mobile mechanism includes bottom plate, and the track drive unit is installed on bottom plate, the bottom plate two
Side is respectively equipped with translation track assembly, and the ladder track assembly is obliquely installed in bottom plate one end.
Optionally, the translation track assembly includes driving wheel, level land crawler belt and driven wheel, and the level land crawler belt is sheathed on
Driving wheel and driven wheel, the track drive unit are connected to the driving wheel, the ladder track assembly include ladder bracket,
First stair climbing wheel, the second stair climbing wheel and ladder crawler belt, the ladder riding are set to bottom plate one end, first stair climbing wheel
It is rotatably mounted to the position that ladder bracket leans on two close end respectively with the second stair climbing wheel, the ladder crawler belt is sheathed on the first ladder
Wheel and the second stair climbing wheel, first stair climbing wheel are connect with driven wheel coaxial transmission.
Optionally, the ladder bracket and bottom plate angle are 100~165 °.
Optionally, the track drive unit includes servo motor and speed reducer, the servo motor by speed reducer with
Driving wheel connection.
Optionally, the mobile device further includes idler wheel mobile mechanism and elevating mechanism, and the crawler belt mobile mechanism passes through
Elevating mechanism is connect with mobile chassis, so that crawler belt mobile mechanism relative movement chassis lifting.
Optionally, the elevating mechanism includes push rod cylinder, the first crank, the second crank and sliding block, the push rod cylinder
It is articulated with mobile chassis, first crank and the second crank are hinged, and one end of first crank is articulated with sliding block, the other end
It is articulated with crawler belt mobile mechanism, one end of second crank is articulated with mobile chassis, and the other end is articulated with crawler belt mobile mechanism,
The mobile chassis is equipped with sliding rail, and the sliding block is slidedly arranged on sliding rail, and the power output end of the push rod cylinder is connect with sliding block.
Optionally, the idler wheel mobile mechanism includes power idler wheel and driven universal wheel, the two sides point of the mobile chassis
Not She You power idler wheel, the power idler wheel is connected with idler wheel driving unit, and the idler wheel driving unit is fixed on mobile chassis,
The driven universal wheel is set to one end of mobile chassis.
Optionally, the detection device includes pedestal and cabinet, and the cabinet passes through the free end of pedestal and armshaft device
Connection, the partial discharge test suite are installed in cabinet.
Optionally, the detection device further includes pickup unit, camera unit and thermal imaging member.
Implement the embodiment of the present invention, has following technical effect that
In a first aspect, the present invention enables detection device to move indoors by mobile device, while armshaft device makes to detect
Device can be carried out the movement of all directions freedom degree, and the power transformation station equipment for enabling detection device to reach different height is examined
It surveys；Second aspect makes robot adapt to the shifting on indoor level land and stair by ladder track assembly and translation track assembly cooperation
It is dynamic, when carrying out ladder, engaged by the ladder track assembly being obliquely installed with ladder, thus after lifting robot front end,
Due to ladder track assembly and track assembly interlaced arrangement is translated, after the completion of the movement of ladder track assembly ladder, in turn
Continue to move on stair by translation track assembly, without being limited by indoor landform, use scope is more extensive；Third party
Face, partial discharge tester are driven by partial discharge driving unit in moving guide rail movement, realize that the horizontal of partial discharge tester is moved forward and backward,
Partial discharge survey meter can be allowed to be detected close to transformer equipment surface, improve the precision of transformer equipment shelf depreciation test.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of the present invention；
Fig. 2 is the structural schematic diagram of crawler belt mobile mechanism and elevating mechanism in the preferred embodiment of the present invention；
Fig. 3 is the structural schematic diagram of crawler belt mobile mechanism in the preferred embodiment of the present invention；
Fig. 4 is the structural schematic diagram of detection device in the preferred embodiment of the present invention；
Fig. 5 is the structural schematic diagram of partial discharge test suite in the preferred embodiment of the present invention.
Description of symbols:
1, control device, 2, mobile device, 21, mobile chassis, 22, crawler belt mobile mechanism, 221, ladder track assembly,
2211, ladder bracket, 2212, ladder crawler belt, 222, translation track assembly, 2221, driving wheel, 2222, level land crawler belt, 2223,
Driven wheel, 223, track drive unit, 2231, servo motor, 2232, speed reducer, 224, bottom plate, 23, idler wheel mobile mechanism,
231, power idler wheel, 232, driven universal wheel, 24, elevating mechanism, 241, push rod cylinder, the 242, first crank, 243, second is bent
Handle, 244, sliding block, 245, sliding rail, 3, armshaft device, 4, detection device, 41, partial discharge test suite, 411, moving guide rail, 412,
Partial discharge driving unit, 413, partial discharge tester, 42, pedestal, 43, cabinet, 44, pickup unit, 45, camera unit, 46, thermal imaging
Unit, 47, rain brush unit, 48, light compensating lamp.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
With reference to FIG. 1 to FIG. 5, inspecting robot in a kind of substation room is present embodiments provided, including control device 1, move
Dynamic device 2, armshaft device 3 and detection device 4, control device 1 and armshaft device 3 are mounted on mobile device 2, detection device 4
It is connected to the free end of armshaft device 3；
Mobile device 2 includes mobile chassis 21 and crawler belt mobile mechanism 22, and crawler belt mobile mechanism 22 and mobile chassis 21 connect
It connects, crawler belt mobile mechanism 22 includes ladder track assembly 221, translation track assembly 222 and track drive unit 223, and ladder is carried out
Band component 221 is obliquely installed in translation track assembly 222, and track drive unit 223 is drivingly connected translation track assembly 222 and climbs
Terraced track assembly 221；
Detection device 4 includes partial discharge test suite 41, and partial discharge test suite 41 includes moving guide rail 411, partial discharge driving list
Member 412 and partial discharge tester 413, partial discharge tester 413 and partial discharge driving unit 412 are drivingly connected and are slidedly arranged on moving guide rail
411。
Based on above structure, in a first aspect, the present invention enables detection device 4 to move indoors by mobile device 2, simultaneously
Armshaft device 3 makes detection device 4 can be carried out the movement of all directions freedom degree, and detection device 4 is enable to reach the change of different height
Electric station equipment is detected；Second aspect is cooperated by ladder track assembly 221 and translation track assembly 222, makes robot
The movement for adapting to indoor level land and stair is nibbled when carrying out ladder by the ladder track assembly 221 and the ladder that are obliquely installed
It closes, so that due to ladder track assembly 221 and 222 interlaced arrangement of track assembly is translated after lifting robot front end,
It moves, is not necessarily on stair after the completion of the movement of 222 ladder of ladder track assembly, and then through the translation continuation of track assembly 222
It is limited by indoor landform, use scope is more extensive；The third aspect, partial discharge tester 413 are driven by partial discharge driving unit 412
It moves mobile in moving guide rail 411, realizes that the horizontal of partial discharge tester 413 is moved forward and backward, partial discharge survey meter can be allowed close to power transformation
Equipment surface is detected, and the precision of transformer equipment shelf depreciation test is improved.
Referring to figs. 2 and 3, the crawler belt mobile mechanism 22 of this implementation includes bottom plate 224, and track drive unit 223 is installed on
Bottom plate 224,224 two sides of bottom plate are respectively equipped with translation track assembly 222, and ladder track assembly 221 is obliquely installed in bottom plate 224 1
End is based on above structure, makes ladder track assembly 221 when carrying out ladder, ladder track assembly 221 costs ladder, to make
Robot slowly lifts one end, so that translation track assembly 222 be made to move on ladder, realizes the ladder movement of robot, climbs
Ladder movement is realized by crawler belt, keeps ladder process more stable.
Specifically, translation track assembly 222 includes driving wheel 2221, translation crawler belt 2222 and driven wheel 2223, translation is carried out
Band 2222 is sheathed on driving wheel 2221 and driven wheel 2223, and track drive unit 223 is connected to driving wheel 2221, ladder crawler belt group
Part 221 includes ladder bracket 2211, the first stair climbing wheel, the second stair climbing wheel and ladder crawler belt 2212, and the inclination of ladder bracket 2211 is set
It is placed in 224 one end of bottom plate, the first stair climbing wheel and the second stair climbing wheel are rotatably mounted to ladder bracket 2211 by two close end respectively
Position, ladder crawler belt 2212 are sheathed on the first stair climbing wheel and the second stair climbing wheel, coaxial by the first stair climbing wheel and driven wheel 2223
Transmission connection realizes ladder crawler belt 2212 and translates moving synchronously for crawler belt 2222.
Further, ladder bracket 2211 and 224 angle of bottom plate are 100~165 °, adapt to most of indoor ladder
Height, realize engaging for ladder crawler belt 2212 and ladder, robot made to realize that ladder acts.
The track drive unit 223 of the present embodiment includes servo motor 2231 and speed reducer 2232, and servo motor 2231 is logical
It crosses speed reducer 2232 to connect with driving wheel 2221, servo motor 2231 is that translation crawler belt 2222 and ladder crawler belt 2212 provide power
Source, by the deceleration of retarder, motor output speeds are reduced, while obtaining the torque of increase, to realize the biggish machine of weight
The steady movement of device people reduces energy consumption.
With reference to Fig. 1~3, the mobile device 2 of this implementation further includes idler wheel mobile mechanism 23 and elevating mechanism 24, and crawler belt is mobile
Mechanism 22 is connect by elevating mechanism 24 with mobile chassis 21, so that crawler belt mobile mechanism 22 relatively moves chassis 21 and goes up and down, is risen
Descending mechanism 24 includes that push rod cylinder 241, the first crank 242, the second crank 243 and sliding block 244, push rod cylinder 241 are articulated with shifting
Dynamic chassis 21, the first crank 242 and the second crank 243 are hinged, and one end of the first crank 242 is articulated with sliding block 244, other end hinge
It is connected to crawler belt mobile mechanism 22, one end of the second crank 243 is articulated with mobile chassis 21, and the other end is articulated with crawler belt mobile mechanism
22, mobile chassis 21 is equipped with sliding rail 245, and sliding block 244 is slidedly arranged on sliding rail 245, the power output end and sliding block of push rod cylinder 241
244 connections, by elevating mechanism 24, realize the lifting of crawler belt mobile mechanism 22, select robot can according to different landform
It selects and is moved using idler wheel mobile mechanism 23 or crawler lifting mechanism 24, robot movement is more flexible；In addition, passing through push rod gas
Cylinder 241 pushes the first crank 242 mobile, to make the change of 243 angulation of the first crank 242 and the second crank of interconnection
Change, to drive the lifting of crawler belt mobile mechanism 22, while when crawler belt mobile mechanism 22 is moved, the first crank 242, the
Two cranks 243 and push rod cylinder 241 form support construction, are used to support mobile chassis 21 and are moved by crawler belt mobile mechanism 22
It is dynamic, it is simple and reliable for structure.
The idler wheel mobile mechanism 23 of the present embodiment include power idler wheel 231 and driven universal wheel 232, the two of mobile chassis 21
Side is respectively equipped with power idler wheel 231, and power idler wheel 231 is connected with idler wheel driving unit, and idler wheel driving unit is fixed on mobile bottom
Disk 21, driven universal wheel 232 are set to one end of mobile chassis 21, on the one hand, drive driven universal wheel by power idler wheel 231
232 realize the movement of mobile device 2, and on the other hand, the power idler wheel 231 of two sides is driven by idler wheel driving unit respectively
It is dynamic, different revolving speeds is exported by two groups of idler wheel driving units, cooperates driven universal rolling wheel, realizes each to shifting of mobile device 2
Dynamic, device 2 easy to remove carries out commutation movement.
Further, with reference to Fig. 4~Fig. 5, detection device 4 includes pedestal 42 and cabinet 43, cabinet 43 by pedestal 42 with
The free end of armshaft device 3 connects, and partial discharge test suite 41 is installed in cabinet 43, improves detection device 4 and armshaft device 3 connects
The stability connect.
The detection device 4 of the present embodiment further includes pickup unit 44, camera unit 45 and thermal imaging member 46, fills detection
4 are set when carrying out substation inspection, more substation data information can be obtained, it is pre- convenient for being carried out to the different failure of substation
Anti- and maintenance, improves the practicability of robot.
Specifically, the cabinet 43 of the present embodiment is additionally provided with for making the camera shooting of camera unit 45 clearly rain brush unit 47 and benefit
Light lamp 48 improves the readability that camera unit 45 images, and improves the order of accuarcy that detection device 4 obtains substation data.
To sum up, the present invention realizes the trouble shooting that different terrain is coped in substation, carries out equipment verification without artificial,
The accuracy verified is improved, while improving verification efficiency, avoids substation's threat caused by personal safety.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, various information are described in the present invention using term " first ", " second " etc., but these information should not necessarily be limited by
These terms, these terms are only used to for same type of information being distinguished from each other out.For example, in the feelings for not departing from the scope of the invention
Under condition, " first " information can also be referred to as " second " information, and similar, " second " information can also be referred to as " first " letter
Breath.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. inspecting robot in a kind of substation room, which is characterized in that including control device, mobile device, armshaft device and inspection
Device is surveyed, the control device and armshaft device are mounted on mobile device, the mobile device, armshaft device and detection device
It is electrically connected with control device, the detection device is connected to the free end of armshaft device；
The mobile device includes mobile chassis and crawler belt mobile mechanism, and the crawler belt mobile mechanism connect with mobile chassis, institute
Stating crawler belt mobile mechanism includes ladder track assembly, translation track assembly and track drive unit, the ladder track assembly phase
The translation track assembly is obliquely installed, and the ladder track assembly and translation track assembly interlaced arrangement, the crawler belt
Driving unit is drivingly connected the translation track assembly and ladder track assembly；
The detection device includes partial discharge test suite, the partial discharge test suite include moving guide rail, partial discharge driving unit and
Partial discharge tester, the partial discharge tester and partial discharge driving unit are drivingly connected and are slidedly arranged on moving guide rail.
2. inspecting robot in substation room according to claim 1, which is characterized in that the crawler belt mobile mechanism includes
Bottom plate, the track drive unit are installed on bottom plate, and the bottom plate two sides are respectively equipped with translation track assembly, the ladder crawler belt
Component is obliquely installed in bottom plate one end.
3. inspecting robot in substation room according to claim 2, which is characterized in that the translation track assembly includes
Driving wheel, level land crawler belt and driven wheel, the level land crawler belt are sheathed on driving wheel and driven wheel, the track drive unit connection
In the driving wheel, the ladder track assembly includes ladder bracket, the first stair climbing wheel, the second stair climbing wheel and ladder crawler belt, institute
It states ladder riding and is set to bottom plate one end, first stair climbing wheel and the second stair climbing wheel are rotatably mounted to ladder branch respectively
Frame leans on the position of two close end, and the ladder crawler belt is sheathed on the first stair climbing wheel and the second stair climbing wheel, first stair climbing wheel with from
The connection of driving wheel coaxial transmission.
4. inspecting robot in substation room according to claim 3, which is characterized in that the ladder bracket and bottom plate institute
It is 100~165 ° at angle.
5. inspecting robot in substation room according to claim 3, which is characterized in that the track drive unit includes
Servo motor and speed reducer, the servo motor are connect by speed reducer with driving wheel.
6. inspecting robot in substation room according to claim 1, which is characterized in that the mobile device further includes rolling
Mobile mechanism and elevating mechanism are taken turns, the crawler belt mobile mechanism is connect by elevating mechanism with mobile chassis, so that crawler belt is mobile
Mechanism relatively moves chassis lifting.
7. inspecting robot in substation room according to claim 6, which is characterized in that the elevating mechanism includes push rod
Cylinder, the first crank, the second crank and sliding block, the push rod cylinder are articulated with mobile chassis, first crank and the second song
Handle is hinged, and one end of first crank is articulated with sliding block, and the other end is articulated with crawler belt mobile mechanism, and the one of second crank
End is articulated with mobile chassis, and the other end is articulated with crawler belt mobile mechanism, and the mobile chassis is equipped with sliding rail, and the sliding block is slidedly arranged on
The power output end of sliding rail, the push rod cylinder is connect with sliding block.
8. inspecting robot in substation room according to claim 6, which is characterized in that the idler wheel mobile mechanism includes
Power idler wheel and driven universal wheel, the two sides of the mobile chassis are respectively equipped with power idler wheel, and the power idler wheel is connected with rolling
Wheel drive unit, the idler wheel driving unit are fixed on mobile chassis, and the driven universal wheel is set to one end of mobile chassis.
9. inspecting robot in substation room according to claim 1, which is characterized in that the detection device includes pedestal
And cabinet, the cabinet are connect by pedestal with the free end of armshaft device, the partial discharge test suite is installed in cabinet.
10. inspecting robot in substation room according to claim 9, which is characterized in that the detection device further includes
Pickup unit, camera unit and thermal imaging member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187612.0A CN109079823A (en) | 2018-10-12 | 2018-10-12 | Inspecting robot in a kind of substation room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187612.0A CN109079823A (en) | 2018-10-12 | 2018-10-12 | Inspecting robot in a kind of substation room |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109079823A true CN109079823A (en) | 2018-12-25 |
Family
ID=64843590
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811187612.0A Pending CN109079823A (en) | 2018-10-12 | 2018-10-12 | Inspecting robot in a kind of substation room |
Country Status (1)
| Country | Link |
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| CN (1) | CN109079823A (en) |
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| CN110774294A (en) * | 2019-11-15 | 2020-02-11 | 国家电网有限公司 | Positioning and laminating system and method for ultrasonic partial discharge probe of GIS detection robot |
| CN112531551A (en) * | 2020-11-26 | 2021-03-19 | 国网重庆市电力公司电力科学研究院 | Deformed crawler belt channel inspection robot |
| CN112757248A (en) * | 2020-12-29 | 2021-05-07 | 广州易现科技有限公司 | Intelligent manufacturing equipment based on industrial robot uses |
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| CN110774294B (en) * | 2019-11-15 | 2024-02-27 | 国家电网有限公司 | GIS detection robot ultrasonic partial discharge probe positioning and attaching system and method |
| CN112531551A (en) * | 2020-11-26 | 2021-03-19 | 国网重庆市电力公司电力科学研究院 | Deformed crawler belt channel inspection robot |
| CN112757248A (en) * | 2020-12-29 | 2021-05-07 | 广州易现科技有限公司 | Intelligent manufacturing equipment based on industrial robot uses |
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