CN110091320B - 蛇形高压线巡检机器人的驱动节及其取放机构 - Google Patents
蛇形高压线巡检机器人的驱动节及其取放机构 Download PDFInfo
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- CN110091320B CN110091320B CN201910510057.9A CN201910510057A CN110091320B CN 110091320 B CN110091320 B CN 110091320B CN 201910510057 A CN201910510057 A CN 201910510057A CN 110091320 B CN110091320 B CN 110091320B
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- Prior art keywords
- rod
- hinged
- wheel
- guide wheel
- joint
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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
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- 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
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201910510057.9A CN110091320B (zh) | 2019-06-13 | 2019-06-13 | 蛇形高压线巡检机器人的驱动节及其取放机构 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201910510057.9A CN110091320B (zh) | 2019-06-13 | 2019-06-13 | 蛇形高压线巡检机器人的驱动节及其取放机构 |
Publications (2)
Publication Number | Publication Date |
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CN110091320A CN110091320A (zh) | 2019-08-06 |
CN110091320B true CN110091320B (zh) | 2022-02-08 |
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CN201910510057.9A Active CN110091320B (zh) | 2019-06-13 | 2019-06-13 | 蛇形高压线巡检机器人的驱动节及其取放机构 |
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CN (1) | CN110091320B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110817721B (zh) * | 2019-11-08 | 2020-09-01 | 广东冠能电力科技发展有限公司 | 一种自牵引卷扬单牵引绳上高压线的装置及其方法 |
CN111546383B (zh) * | 2020-05-12 | 2022-01-21 | 中科开创(广州)智能科技发展有限公司 | 一种用于驻塔机器人过塔搭桥设备的弯头 |
CN115283209B (zh) * | 2022-08-17 | 2023-05-30 | 国网江苏省电力有限公司泰州供电分公司 | 可悬挂于电力线的合抱式涂覆机器人走线装置及实施方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101438513B1 (ko) * | 2013-01-24 | 2014-09-12 | 한국원자력연구원 | 내부배선을 적용한 뱀 로봇용 양단지지형 구동모듈 |
KR101485099B1 (ko) * | 2013-12-04 | 2015-01-22 | 한국기술교육대학교 산학협력단 | 수중 뱀 로봇 |
CN106041953A (zh) * | 2016-06-27 | 2016-10-26 | 北京楠杉智能科技有限公司 | 一种仿生巡线机器人及其越障方法 |
CN205889201U (zh) * | 2016-06-27 | 2017-01-18 | 北京楠杉智能科技有限公司 | 一种高压巡线机器人 |
CN107053157B (zh) * | 2017-04-25 | 2019-12-31 | 中国科学院自动化研究所 | 具有三自由度的蛇形机械臂主体模块和蛇形机械臂 |
CN108801340A (zh) * | 2018-05-22 | 2018-11-13 | 华南理工大学 | 一种高压线智能巡检机器人及其巡检方法 |
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2019
- 2019-06-13 CN CN201910510057.9A patent/CN110091320B/zh active Active
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CN110091320A (zh) | 2019-08-06 |
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EE01 | Entry into force of recordation of patent licensing contract | ||
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Application publication date: 20190806 Assignee: TANGSHAN ZHONGKE LINGHANG INTELLIGENT EQUIPMENT CO.,LTD. Assignor: NORTH CHINA University OF SCIENCE AND TECHNOLOGY Contract record no.: X2022110000099 Denomination of invention: Driving Section and Taking and Releasing Mechanism of Serpentine High Voltage Line Inspection Robot Granted publication date: 20220208 License type: Common License Record date: 20221228 |
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EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190806 Assignee: TANGSHAN DEFENG MACHINERY EQUIPMENT CO.,LTD. Assignor: NORTH CHINA University OF SCIENCE AND TECHNOLOGY Contract record no.: X2022110000109 Denomination of invention: The drive joint and its take-and-release mechanism of the serpentine high-voltage line inspection robot Granted publication date: 20220208 License type: Common License Record date: 20221229 |