CN110000816B - Novel charging method for inspection robot - Google Patents

Novel charging method for inspection robot Download PDF

Info

Publication number
CN110000816B
CN110000816B CN201910305498.5A CN201910305498A CN110000816B CN 110000816 B CN110000816 B CN 110000816B CN 201910305498 A CN201910305498 A CN 201910305498A CN 110000816 B CN110000816 B CN 110000816B
Authority
CN
China
Prior art keywords
charging
mechanical arm
hammer
robot
tensioning wheel
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
Application number
CN201910305498.5A
Other languages
Chinese (zh)
Other versions
CN110000816A (en
Inventor
孙奕
欧阳开一
张宝利
王齐
邱文锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhongke Kaichuang Guangzhou Intelligent Technology Development Co ltd
Original Assignee
Zhongke Kaichuang Guangzhou Intelligent Technology Development Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhongke Kaichuang Guangzhou Intelligent Technology Development Co ltd filed Critical Zhongke Kaichuang Guangzhou Intelligent Technology Development Co ltd
Priority to CN201910305498.5A priority Critical patent/CN110000816B/en
Publication of CN110000816A publication Critical patent/CN110000816A/en
Application granted granted Critical
Publication of CN110000816B publication Critical patent/CN110000816B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases

Abstract

The invention discloses a novel charging method of an inspection robot, and particularly relates to the field of inspection robots. When the first mechanical arm and the second mechanical arm are used for respectively driving the two electric connection electrodes on the two sides to be in contact with the charging hammer for charging, the distance between the two electric connection electrodes is larger than 500mm, and short circuit caused by too short charging distance is avoided.

Description

Novel charging method for inspection robot
Technical Field
The invention relates to the technical field of line patrol robots, in particular to a novel charging method of a line patrol robot.
Background
The existing inspection robot takes a mobile robot as a carrier, a visible light camera, an infrared thermal imager and other detecting instruments as a load system, multi-field information fusion of machine vision, an electromagnetic field, a GPS and a GIS is taken as a navigation system for autonomous movement and autonomous inspection of the robot, and an embedded computer is taken as a software and hardware development platform of a control system; the robot has the functions of obstacle detection and identification and positioning, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of a power transmission line and a line corridor thereof, automatic storage and remote wireless transmission of inspection images and data of a robot body, ground remote wireless monitoring and remote control, online real-time supply of electric energy, background inspection operation management, analysis and diagnosis and the like.
When the existing inspection robot works in a reciprocating mode, charging is inconvenient, the influence of the anti-collision hammer is easily caused, and the situations of short circuit, sparking and the like easily occur due to the fact that interfaces at two ends are too close during charging.
Disclosure of Invention
In order to overcome the above defects in the prior art, embodiments of the present invention provide a novel charging method for a line inspection robot, in which two mechanical arms are driven by a lead screw to move, and the two mechanical arms respectively drive electrical connection electrodes to contact with charging hammers on two sides, so that charging can be performed, a distance between the two electrical connection electrodes is ensured to be greater than 500mm, and situations such as short circuit and spark generation during charging are avoided.
In order to achieve the purpose, the invention provides the following technical scheme: a novel charging device of an inspection robot comprises a robot body and an obstacle crossing mechanism, wherein the robot body comprises a first mechanical arm and a second mechanical arm, a lead screw mechanism is arranged at the bottom of the first mechanical arm and the bottom of the second mechanical arm, tensioning wheel carriers are fixedly arranged at the tops of the first mechanical arm and the second mechanical arm, a driving mechanism is fixedly arranged at the top of each tensioning wheel carrier, an electric cylinder is fixedly arranged at the bottom of each tensioning wheel carrier, electric electrodes and inductors are arranged on two sides of each tensioning wheel carrier, the driving mechanism comprises an upper driving wheel and a lower tensioning wheel, a limiting gap is formed between the upper driving wheel and the lower tensioning wheel, the obstacle crossing mechanism comprises a side conveying belt, a supporting plate, a first charging hammer and a second charging hammer, the side conveying belt comprises a linear rod and an arc-shaped rod, the linear rod is movably arranged in the limiting gap, the first charging hammer and the second charging hammer are arranged in parallel to the linear rod, and one end is passed through support and sharp pole fixed connection, the hammer other end that charges of first hammer and second passes through cantilever and backup pad fixed connection, other area of sending is all with strain insulator tower fixed connection with the backup pad.
In a preferred embodiment, the sensor is specifically an ultrasonic sensor, an infrared sensor or a magnetic sensor, the screw mechanism includes a guide rail and a screw, two sliding blocks fixedly connected to the first mechanical arm and the second mechanical arm respectively are disposed on the screw, and an internal thread matched with the thread of the outer wall of the screw is disposed on the inner wall of the sliding block.
In a preferred embodiment, the upper driving wheel is driven by a reversing motor, the two lower tensioning wheels are arranged and embedded on the tensioning wheel frame, two ends of the two lower tensioning wheels are fixedly provided with rotating shafts, ends of the rotating shafts are fixedly connected with the tensioning wheel frame through bearings, and the electric cylinder is fixedly connected with the mechanical arm.
In a preferred embodiment, the charging interface of the robot body is connected to the power electrode through a wire.
The invention also provides a novel charging method of the inspection robot, which comprises the following specific steps:
firstly, fixedly arranging a side conveying belt on a tension tower, wherein the side conveying belt is not provided with a shockproof hammer by default, and a first charging hammer and a second charging hammer are arranged at proper positions on a linear rod of the side conveying belt;
step two, firstly, the robot can independently judge whether the robot enters a bypass belt section or not, after an electric electrode on a second mechanical arm of the robot body impacts a first charging hammer, an electric cylinder drives a tensioning wheel frame to move downwards, so that the whole tensioning wheel frame drives the electric electrode to automatically reduce the height, after the electric cylinder crosses over the first charging hammer on the left side, the electric cylinder controls the tensioning wheel frame to ascend backwards, then a driving mechanism drives equipment to move forwards, after the electric electrode on the first mechanical arm impacts the first charging hammer, the tensioning wheel frame descends, and then the electric cylinder ascends backwards to continue to travel;
and step three, after the electric connection electrode on the second mechanical arm collides with the second charging hammer on the right side, the driving mechanism on the top of the second mechanical arm stops working, the robot body on the right side stops moving, then the first mechanical arm runs reversely until the electric connection electrode collides with the inner surface electrode of the first charging hammer on the left side, the electric connection electrode on the first mechanical arm is tightly attached to the inner electrode of the first charging hammer on the left side, the electric connection electrode on the second mechanical arm is tightly attached to the inner electrode of the second charging hammer on the right side, and the robot enters a charging state at the moment.
The invention has the technical effects and advantages that:
1. the invention sets a side conveying belt on a tension tower, defaults that no shockproof hammer is installed on the side conveying belt, utilizes a first mechanical arm and a second mechanical arm to work, when a robot passes to the right side on the side conveying belt, an electric electrode touches an obstacle, judges a charging mode, firstly, the robot can independently judge whether to enter a side belt section, when the electric electrode on the second mechanical arm of a robot body collides with the charging hammer, an electric cylinder drives a tensioning wheel frame to move downwards, the electric cylinder controls the tensioning wheel frame to ascend backwards after crossing a first charging hammer on the left side, the first mechanical arm has the same principle, when the electric electrode on the second mechanical arm collides with the charging hammer on the right side, the second mechanical arm stops running, then the first mechanical arm runs reversely until the electric electrode on the left side strikes an inner surface electrode of the charging hammer, so that the robot enters a charging state, the principle is the same when the robot passes to the left side on the side conveying belt, the robot can cross over the strain tower by utilizing the arrangement of the side conveying belt, and the two mechanical arms are positioned by the straight line section, so that the two mechanical arms are in parallel and accurately contacted with the two charging hammers for charging, and the interference of the vibration dampers on charging judgment is also avoided;
2. drive two arms through the lead screw and remove to and two arms drive respectively and connect the electric electrode and contact with the hammer that charges of both sides, just can carry out charging work, guarantee that two are connected the interval between the electric electrode and be greater than 500mm, avoid taking place the short circuit in charging process, situations such as production spark.
Drawings
Fig. 1 is a schematic overall perspective structure of the present invention.
Fig. 2 is an overall front view of the present invention.
Fig. 3 is a schematic structural diagram of the driving mechanism of the present invention.
The reference signs are: the robot comprises a robot body 1, an obstacle crossing mechanism 2, a side conveying belt 21, a linear rod 211, an arc rod 212, a supporting plate 22, a first charging hammer 23, a first mechanical arm 3, a second mechanical arm 4, a tensioning wheel carrier 5, a driving mechanism 6, an upper driving wheel 61, a lower tensioning wheel 62, a reversing motor 63, an electric cylinder 7, an electric electrode 8, an inductor 9, a lead screw mechanism 10, a guide rail 101, a lead screw 102, a spacing gap 11 and a second charging hammer 12.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
the novel charging equipment for the inspection robot shown in fig. 1-3 comprises a robot body 1 and an obstacle crossing mechanism 2, wherein the robot body 1 comprises a first mechanical arm 3 and a second mechanical arm 4, a screw mechanism 10 is arranged at the bottom of the first mechanical arm 3 and the bottom of the second mechanical arm 4, tensioning wheel frames 5 are fixedly arranged at the top of the first mechanical arm 3 and the top of the second mechanical arm 4, a driving mechanism 6 is fixedly arranged at the top of each tensioning wheel frame 5, an electric cylinder 7 is fixedly arranged at the bottom of each tensioning wheel frame 5, electric electrodes 8 and inductors 9 are arranged at two sides of each tensioning wheel frame 5, the driving mechanism 6 comprises an upper driving wheel 61 and a lower tensioning wheel 62, a limiting gap 11 is arranged between the upper driving wheel 61 and the lower tensioning wheel 62, the obstacle crossing mechanism 2 comprises a side conveying belt 21, a supporting plate 22, a first charging hammer 23 and a second charging hammer 12, the side conveying belt 21 comprises a linear rod 211 and an arc rod 212, the linear rod 211 is movably arranged in the limiting gap 11, the first charging hammer 23 and the second charging hammer 12 are arranged in parallel to the linear rod 211, one end of each of the first charging hammer 23 and the second charging hammer 12 is fixedly connected with the linear rod 211 through a support, the other ends of the first charging hammer 23 and the second charging hammer 12 are fixedly connected with the supporting plate 22 through a cantilever, and the side conveying belt 21 and the supporting plate 22 are fixedly connected with the tension tower;
and the charging interface of the robot body 1 is connected with the power connection electrode 8 through a wire.
The invention also provides a novel charging method of the inspection robot, which comprises the following specific steps:
firstly, fixedly arranging a side conveying belt 21 on a tension tower, defaulting that no shockproof hammer is installed on the side conveying belt, configuring a first charging hammer 23 and a second charging hammer 12 at proper positions on a linear rod 211 of the side conveying belt 21, and judging a charging mode by touching an electric electrode 8 with a barrier when a robot passes on the side conveying belt 21 because the shockproof hammer is not installed on the side conveying belt 21;
step two, firstly, the robot can independently judge whether to enter a bypass belt section, after an electric electrode 8 on a second mechanical arm 4 of the robot body 1 impacts a first charging hammer 23, an electric cylinder 7 drives a tensioning wheel frame 5 to move downwards, so that the whole tensioning wheel frame 5 drives the electric electrode 8 to automatically reduce the height, after the electric electrode 8 crosses the first charging hammer 23 on the left side, the electric cylinder 7 controls the tensioning wheel frame 5 to ascend backwards, then a driving mechanism 6 drives equipment to move forwards, after the electric electrode 8 on the first mechanical arm 3 impacts the first charging hammer 23, the tensioning wheel frame 5 descends, and after the electric electrode 8 on the first mechanical arm 3 impacts the first charging hammer 23, the electric cylinder ascends again to continue to travel;
and step three, after the power connection electrode 8 on the second mechanical arm 4 collides with the second charging hammer 12 on the right side, the driving mechanism 6 on the top of the second mechanical arm 4 stops working, the robot body 1 on the right side stops moving, then the first mechanical arm 3 runs in the reverse direction until the power connection electrode 8 on the first mechanical arm 3 collides with the inner electrode of the first charging hammer 23 on the left side, at this time, the power connection electrode 8 on the second mechanical arm 4 abuts against the inner electrode of the second charging hammer 12 on the right side, and at this time, the robot enters a charging state.
Example 2:
according to the novel charging device for the inspection robot shown in fig. 1-3, the sensor 9 is specifically an ultrasonic sensor, an infrared sensor or a magnetic sensor, and can distinguish the electric electrode 8 from the vibration damper by judging through the sensors 9, the lead screw mechanism 10 includes a guide rail 101 and a lead screw 102, two sliding blocks fixedly connected with the first mechanical arm 3 and the second mechanical arm 4 respectively are arranged on the lead screw 102, and an internal thread matched with a thread on the outer wall of the lead screw 102 is arranged on the inner wall of each sliding block and is used for assisting the two mechanical arms to walk and avoid obstacles;
according to the novel charging equipment for the inspection robot shown in fig. 3, the upper driving wheel 61 is driven by a reversing motor 63, the two lower tensioning wheels 62 are embedded on the tensioning wheel carrier 5, two ends of the two lower tensioning wheels 62 are fixedly provided with rotating shafts, the end parts of the rotating shafts are fixedly connected with the tensioning wheel carrier 5 through bearings, and the electric cylinders 7 are fixedly connected with the mechanical arm;
when the first mechanical arm 3 and the second mechanical arm 4 respectively drive the two electric connection electrodes 8 on two sides to contact with the first charging hammer 23 and the second charging hammer 12 for charging, the distance between the two electric connection electrodes 8 is larger than 500mm, and short circuit caused by too short charging distance is avoided.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.

Claims (3)

1. The utility model provides a novel battery charging outfit of inspection robot, includes robot body (1) and hinders mechanism (2) more, its characterized in that: the robot comprises a robot body (1) and is characterized in that the robot body comprises a first mechanical arm (3) and a second mechanical arm (4), a screw rod mechanism (10) is arranged at the bottom of the first mechanical arm (3) and the bottom of the second mechanical arm (4), tensioning wheel frames (5) are fixedly arranged at the tops of the first mechanical arm (3) and the second mechanical arm (4), a driving mechanism (6) is fixedly arranged at the top of each tensioning wheel frame (5) and an electric cylinder (7) is fixedly arranged at the bottom of each tensioning wheel frame (5), electric electrodes (8) and inductors (9) are arranged on two sides of each tensioning wheel frame (5), the driving mechanism (6) comprises an upper driving wheel (61) and a lower tensioning wheel (62), a limiting gap (11) is arranged between the upper driving wheel (61) and the lower tensioning wheel (62), and the obstacle crossing mechanism (2) comprises a side conveying belt (21), a supporting plate (22), a first charging hammer (23) and a, the side conveying belt (21) comprises a linear rod (211) and an arc-shaped rod (212), the linear rod (211) is movably arranged in the limiting gap (11), the first charging hammer (23) and the second charging hammer (12) are arranged in parallel to the linear rod (211), one end of the first charging hammer is fixedly connected with the linear rod (211) through a support, the other ends of the first charging hammer (23) and the second charging hammer (12) are fixedly connected with the supporting plate (22) through a cantilever, and the side conveying belt (21) and the supporting plate (22) are fixedly connected with the tension tower;
the sensor (9) is specifically an ultrasonic sensor, an infrared sensor or a magnetic inductor, the screw rod mechanism (10) comprises a guide rail (101) and a screw rod (102), two sliding blocks fixedly connected with the first mechanical arm (3) and the second mechanical arm (4) respectively are arranged on the screw rod (102), and internal threads matched with the threads on the outer wall of the screw rod (102) are arranged on the inner wall of each sliding block;
and the charging interface of the robot body (1) is connected with the electric connection electrode (8) through a lead.
2. The novel charging equipment of inspection robot of claim 2, characterized in that: the upper driving wheel (61) is driven by a reversing motor (63), the lower tensioning wheels (62) are arranged in two and embedded on the tensioning wheel frame (5), rotating shafts are fixedly arranged at two ends of the lower tensioning wheels (62), the end parts of the rotating shafts are fixedly connected with the tensioning wheel frame (5) through bearings, and the electric cylinder (7) is fixedly connected with the mechanical arm.
3. The charging method of the novel charging device of the inspection robot according to claim 1, characterized in that: the specific method comprises the following steps:
firstly, fixedly arranging a side conveying belt (21) on a tension tower, defaulting to no installation of a shockproof hammer on the side conveying belt, configuring a first charging hammer (23) and a second charging hammer (12) at proper positions on a linear rod (211) of the side conveying belt (21), and judging a charging mode by touching a power connection electrode (8) with an obstacle when a robot passes on the side conveying belt (21) because the shockproof hammer cannot be installed on the side conveying belt (21);
step two, firstly, the robot can independently judge whether to enter a bypass belt section, after an electric connection electrode (8) on a second mechanical arm (4) of the robot body (1) impacts a first charging hammer (23), an electric cylinder (7) drives a tensioning wheel frame (5) to move downwards, so that the whole tensioning wheel frame (5) drives the electric connection electrode (8) to automatically reduce the height, after the electric cylinder (7) crosses the first charging hammer (23) on the left side, the electric cylinder controls the tensioning wheel frame (5) to lift back, then a driving mechanism (6) drives equipment to move forwards, after the electric connection electrode (8) on the first mechanical arm (3) impacts the first charging hammer (23), the tensioning wheel frame (5) descends, and then the electric connection electrode rises back after passing through, and the robot continues to travel;
and step three, after the power connection electrode (8) on the second mechanical arm (4) collides with the second charging hammer (12) on the right side, the driving mechanism (6) on the top of the second mechanical arm (4) stops working, the robot body (1) on the right side stops moving, then the first mechanical arm (3) runs reversely until the power connection electrode collides with the inner surface electrode of the first charging hammer (23) on the left side, the power connection electrode (8) on the first mechanical arm (3) clings to the inner electrode of the first charging hammer (23) on the left side, the power connection electrode (8) on the second mechanical arm (4) clings to the inner electrode of the second charging hammer (12) on the right side, and the robot enters a charging state.
CN201910305498.5A 2019-04-16 2019-04-16 Novel charging method for inspection robot Active CN110000816B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910305498.5A CN110000816B (en) 2019-04-16 2019-04-16 Novel charging method for inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910305498.5A CN110000816B (en) 2019-04-16 2019-04-16 Novel charging method for inspection robot

Publications (2)

Publication Number Publication Date
CN110000816A CN110000816A (en) 2019-07-12
CN110000816B true CN110000816B (en) 2020-12-29

Family

ID=67172379

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910305498.5A Active CN110000816B (en) 2019-04-16 2019-04-16 Novel charging method for inspection robot

Country Status (1)

Country Link
CN (1) CN110000816B (en)

Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101574983A (en) * 2009-06-12 2009-11-11 中国电力科学研究院 Lead obstacle-crossing robot walking device
CN201415716Y (en) * 2009-06-12 2010-03-03 中国电力科学研究院 Robot walking device capable of surmounting lead obstacles
CN201504053U (en) * 2009-10-13 2010-06-09 中国科学院沈阳自动化研究所 Pitch variable wheel arm composite inspection robot mechanism
CN102227067A (en) * 2011-03-29 2011-10-26 重庆市电力公司超高压局 Walking arm of walking robot in transmission line
CN102941570A (en) * 2012-12-05 2013-02-27 山东电力集团公司电力科学研究院 Patrol robot for power transmission lines
CN103825338A (en) * 2014-03-17 2014-05-28 武汉大学 Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot
CN103895015A (en) * 2014-03-24 2014-07-02 上海大学 Split type automatic obstacle crossing inspection robot
CN104269777A (en) * 2014-10-18 2015-01-07 国家电网公司 Patrol robot system for overhead high-voltage transmission line
CN105538340A (en) * 2015-12-22 2016-05-04 广东科凯达智能机器人有限公司 Embedded combined mechanical arm used for overhead high voltage transmission line obstacle crossing robot
CN106329451A (en) * 2016-11-11 2017-01-11 广东电网有限责任公司电力科学研究院 Common ground wire element for robot walking
CN106655037A (en) * 2016-10-21 2017-05-10 国网山东省电力公司电力科学研究院 A barrier-free way for allowing an overhead ground wire patrol robot to pass across straight line poles and stockbridge dampers
CN107553461A (en) * 2017-09-08 2018-01-09 国网山东省电力公司电力科学研究院 The whole-process automatic crusing robot of overhead transmission line ground wire, system and method
CN107591729A (en) * 2017-09-08 2018-01-16 国网山东省电力公司电力科学研究院 The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire
CN108711775A (en) * 2018-05-08 2018-10-26 中科开创(广州)智能科技发展有限公司 A kind of charging unit and charging method for overhead transmission line circuit scanning test robot
CN108711776A (en) * 2018-05-08 2018-10-26 中科开创(广州)智能科技发展有限公司 A kind of shaft tower lightning conducter bypass band device for polling transmission line equipment
CN108988466A (en) * 2018-07-24 2018-12-11 广州供电局有限公司 Crusing robot charging system and its charge control method, device
CN109038371A (en) * 2018-10-08 2018-12-18 国网江苏省电力有限公司检修分公司 A kind of overhead transmission line wheeled crusing robot shaft tower obstacle detouring bridge
CN209774710U (en) * 2019-04-16 2019-12-13 中科开创(广州)智能科技发展有限公司 Novel battery charging outfit of inspection robot

Patent Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201415716Y (en) * 2009-06-12 2010-03-03 中国电力科学研究院 Robot walking device capable of surmounting lead obstacles
CN101574983A (en) * 2009-06-12 2009-11-11 中国电力科学研究院 Lead obstacle-crossing robot walking device
CN201504053U (en) * 2009-10-13 2010-06-09 中国科学院沈阳自动化研究所 Pitch variable wheel arm composite inspection robot mechanism
CN102227067A (en) * 2011-03-29 2011-10-26 重庆市电力公司超高压局 Walking arm of walking robot in transmission line
CN102941570A (en) * 2012-12-05 2013-02-27 山东电力集团公司电力科学研究院 Patrol robot for power transmission lines
CN103825338A (en) * 2014-03-17 2014-05-28 武汉大学 Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot
CN103895015A (en) * 2014-03-24 2014-07-02 上海大学 Split type automatic obstacle crossing inspection robot
CN104269777A (en) * 2014-10-18 2015-01-07 国家电网公司 Patrol robot system for overhead high-voltage transmission line
CN105538340A (en) * 2015-12-22 2016-05-04 广东科凯达智能机器人有限公司 Embedded combined mechanical arm used for overhead high voltage transmission line obstacle crossing robot
CN106655037A (en) * 2016-10-21 2017-05-10 国网山东省电力公司电力科学研究院 A barrier-free way for allowing an overhead ground wire patrol robot to pass across straight line poles and stockbridge dampers
CN106329451A (en) * 2016-11-11 2017-01-11 广东电网有限责任公司电力科学研究院 Common ground wire element for robot walking
CN107553461A (en) * 2017-09-08 2018-01-09 国网山东省电力公司电力科学研究院 The whole-process automatic crusing robot of overhead transmission line ground wire, system and method
CN107591729A (en) * 2017-09-08 2018-01-16 国网山东省电力公司电力科学研究院 The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire
CN108711775A (en) * 2018-05-08 2018-10-26 中科开创(广州)智能科技发展有限公司 A kind of charging unit and charging method for overhead transmission line circuit scanning test robot
CN108711776A (en) * 2018-05-08 2018-10-26 中科开创(广州)智能科技发展有限公司 A kind of shaft tower lightning conducter bypass band device for polling transmission line equipment
CN108988466A (en) * 2018-07-24 2018-12-11 广州供电局有限公司 Crusing robot charging system and its charge control method, device
CN109038371A (en) * 2018-10-08 2018-12-18 国网江苏省电力有限公司检修分公司 A kind of overhead transmission line wheeled crusing robot shaft tower obstacle detouring bridge
CN209774710U (en) * 2019-04-16 2019-12-13 中科开创(广州)智能科技发展有限公司 Novel battery charging outfit of inspection robot

Also Published As

Publication number Publication date
CN110000816A (en) 2019-07-12

Similar Documents

Publication Publication Date Title
CN103825338B (en) High-voltage line inspection robot independently locates control device and the method for docking charging
CN102489838A (en) Obstacle-crossing all-position automatic welding robot
CN104912372A (en) AGV comb type transfer robot
CN102169602A (en) Structural design of inspection robot of transformer substation
CN108762259A (en) Grass-removing robot traverse path planing method based on wireless signal strength
CN109434800A (en) A kind of radio patrol checking machine people system and control method
CN209774710U (en) Novel battery charging outfit of inspection robot
CN107932528B (en) control method for intelligent storage loading and unloading equipment
CN110000816B (en) Novel charging method for inspection robot
CN202025365U (en) Structural design of patrol robot in transformer substation
CN109591906B (en) Control system and control method for transmission tower climbing robot
CN110465918A (en) A kind of track sniffing robot
CN109131252A (en) A kind of unmanned vehicle washing system
CN206389467U (en) A kind of self-travel type wireless video inspection device
CN107505332A (en) One kind is based on the moveable defects detection structure of double track
CN209111089U (en) A kind of intelligent drilling robot of anti-cable winds
CN111645092A (en) Robot device towards unmanned on duty archives
CN111505009A (en) Power transformer internal fault detection system based on wall-climbing robot
CN207374420U (en) A kind of track detecting structure
CN109795571A (en) A kind of climbing robot detection system for the flaw detection of planar architectural structure
CN110253592B (en) Intelligent line patrol robot for high-voltage transmission line
CN214187164U (en) Automatic inspection robot for power cable tunnel
CN210551260U (en) Motor train unit side detection robot
CN212871482U (en) Temperature measurement inspection robot for metallurgy field
CN209833821U (en) Intelligent logistics trolley

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