CN110977928A - Rail-mounted robot and inspection system - Google Patents

Rail-mounted robot and inspection system Download PDF

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Publication number
CN110977928A
CN110977928A CN201911291593.0A CN201911291593A CN110977928A CN 110977928 A CN110977928 A CN 110977928A CN 201911291593 A CN201911291593 A CN 201911291593A CN 110977928 A CN110977928 A CN 110977928A
Authority
CN
China
Prior art keywords
rail
hanging
robot
main
base
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.)
Pending
Application number
CN201911291593.0A
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Chinese (zh)
Inventor
武传标
王亚洲
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.)
Beijing Haiyi Tongzhan Information Technology Co Ltd
Original Assignee
Beijing Haiyi Tongzhan Information Technology 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 Beijing Haiyi Tongzhan Information Technology Co Ltd filed Critical Beijing Haiyi Tongzhan Information Technology Co Ltd
Priority to CN201911291593.0A priority Critical patent/CN110977928A/en
Publication of CN110977928A publication Critical patent/CN110977928A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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

Abstract

The present disclosure relates to a rail-mounted robot and inspection system. Wherein, hang rail robot includes: the driving mechanism is used for being hung on the hanging rail in a sliding way; a main body; and the connecting piece is used for detachably hanging the robot main body on the driving mechanism. The main body is detachably connected to the driving mechanism in a hanging mode through the connecting piece, so that the main body and the driving mechanism can be quickly separated, and the main body can be conveniently taken down for maintenance.

Description

Rail-mounted robot and inspection system
Technical Field
The utility model relates to a patrol and examine the equipment field, especially relate to a hang rail robot and system of patrolling and examining.
Background
The rail hanging robot is a robot which is mainly used in machine rooms, transformer substations, pipe galleries and tunnels and is used for carrying out timing or real-time inspection by carrying a camera and a plurality of sensors; the rail-mounted robot is driven by friction force between a driving wheel and a rail, a gear rack, a chain wheel, a chain or a steel wire rope is adopted, the rail is in a hanging form, and the rails with different lengths are spliced.
Hang rail robot and walk on the track that hangs, inconvenient in orbital optional position pull down when the problem appears, because the track adopts the multistage concatenation and fixed, some length is very long, need will hang the orbital tip of rail robot removal, just can take off hanging rail robot, especially in the tunnel, the environment is abominable, and the track is higher, the maintenance of inconvenient hanging rail robot.
Disclosure of Invention
The inventor finds that the maintenance of the rail hanging robot in the related art needs to move the rail hanging robot to the end part of the rail, and the defect of inconvenient maintenance exists.
In view of this, the embodiment of the present disclosure provides a rail-mounted robot and an inspection system, which have the advantage of being convenient to maintain.
In one aspect of the present disclosure, there is provided a rail hanging robot comprising:
the driving mechanism is used for being hung on the hanging rail in a sliding way;
a main body; and
and the connecting piece is used for detachably hanging the robot main body on the driving mechanism.
In some embodiments, the drive mechanism includes a base to which the body is removably attached by a connector.
In some embodiments, the bottom of the connecting piece is fixedly connected with the top of the main body, and the top is provided with a hanging lug for detachably hanging the main body on the base.
In some embodiments, the base is provided with a hanging platform which is matched and installed with the hanging lug, the hanging platform is provided with a mounting hole, and the hanging lug is provided with a U-shaped notch which is in screw connection and matching with the mounting hole.
In some embodiments, the connecting piece is 4, and the direction of the openings of the U-shaped openings on the 4 hangers is consistent.
In some embodiments, the hanging platform has a hanging platform horizontal end surface and a hanging platform vertical end surface, and the hanging lug has a hanging lug horizontal end surface and a hanging lug vertical end surface which are respectively attached to the hanging platform horizontal end surface and the hanging platform vertical end surface.
In some embodiments, the connectors are machined from bent plates and stiffened webs.
In some embodiments, the driving mechanism comprises a driving wheel and a bearing wheel which are arranged on the top of the base, the driving wheel is positioned on two lateral sides of the hanging rail, and the axial direction of the driving wheel is perpendicular to the axial direction of the bearing wheel.
In some embodiments, the driving mechanism comprises a clamping arm and a locking nut which are arranged on the base, the driving wheel is installed on the clamping arm, one end of the clamping arm is pivoted with the base, and the other end of the clamping arm is installed with the base through the locking nut and is used for adjusting the clamping force of the driving wheel on the hanging rail.
In some embodiments, the driving mechanism further comprises side guide wheels and lower guide wheels arranged on the base, the side guide wheels are positioned at two sides of the hanging rail, and the lower guide wheels are positioned at the bottom of the hanging rail.
In some embodiments, the main body includes a housing and a control device disposed within the housing, the connection harness between the control device and the drive mechanism being connected via a quick-connect-disconnect interface.
In some embodiments, the body includes a wireless charging module.
In one aspect of the disclosure, an inspection system is provided, which comprises a hanging rail and the hanging rail robot.
Therefore, according to the embodiment of the disclosure, the main body is detachably hung on the driving mechanism through the connecting piece, so that the main body and the driving mechanism can be quickly separated, and the main body can be conveniently taken down for maintenance.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 and 2 are schematic perspective views of different angles of some embodiments of a rail-mounted robot according to the present disclosure, respectively;
figures 3 and 4 are schematic structural views of some embodiments of the rail-mounted robot of the present disclosure in the lateral and longitudinal directions along the rail, respectively;
fig. 5 is a schematic structural view of a drive mechanism in some embodiments of the rail mounted robot of the present disclosure.
Description of the reference numerals
1. A drive mechanism; 2. a main body; 3. a connecting member; 3C, hanging lug horizontal end faces; 3D, hanging lug vertical end faces;
100. hanging a rail; 101. a drive wheel; 102. a base; 103. a load-bearing wheel; 104. a side guide wheel; 105. a lower guide wheel; 106. hanging a table; 106A, hanging a horizontal end face of the platform; 106B, hanging the vertical end face of the platform; 107. a rotating shaft; 108. a clamp arm; 109. a motor; 110. locking a nut; 111. mounting holes;
201. a housing; 202. an ultrasonic sensor; 203. a short light bar; 204. a start button; 205. a ball machine; 206. an illuminating lamp; 207. a long light bar; 208. a display screen; 209. an emergency stop button; 210. an antenna; 211. a key switch; 212. a wireless charging module; 213. a temperature and humidity sensor; 214. an anemometer; 215. a fan;
301. a U-shaped gap; 302. a screw; 303. and (5) hanging a lug.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.
The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be intervening devices between the specific device and the first device or the second device. When a particular device is described as being coupled to other devices, that particular device may be directly coupled to the other devices without intervening devices or may be directly coupled to the other devices with intervening devices.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
Fig. 1 is a schematic view of a mounting structure of a rail-mounted robot according to some embodiments of the present disclosure on a rail 100. Referring to fig. 1, in conjunction with fig. 2-5, in some embodiments, a rail-mounted robot includes: the driving mechanism 1 is used for being hung on the hanging rail 100 in a sliding way; a main body 2; and a connecting member 3 for detachably hanging the main body 2 on the driving mechanism 1. Connecting piece 3 articulates main part 2 detachably on actuating mechanism 1, can realize main part 2 and actuating mechanism 1's quick separation, is convenient for take off main part 2 and maintains.
Referring to fig. 1 and 2, the main body 2 includes a housing 201 and a power supply device, a control device, a communication device, and a storage and transmission device which are disposed inside the housing, a connection harness between the control device and the driving mechanism 1 is connected through a quick plug interface so as to facilitate quick separation of the main body 2 and the driving mechanism 1, the housing 201 is mounted with an ultrasonic sensor 202, a ball machine 205, a temperature and humidity sensor 213, an anemometer 214, a wireless charging module 212, a display screen 208, an antenna 210, a key switch 211, a start button 204, an emergency stop button 209, an illuminating lamp 206, a long lamp bar 207, a short lamp bar 203, and a fan 215, and automatic walking, automatic monitoring, automatic identification, and automatic alarm of the robot can be realized by mounting various sensors and ball machines, and the wireless charging module 212 is disposed to ensure safer charging in the tunnel. The ball machine 205 is detachably arranged on the shell 201, and when the main body 2 needs to be detached, the ball machine 205 can be detached quickly.
As shown in fig. 1 and 2, the housing 201 is provided with ultrasonic sensors 202 at the front and back in the moving direction of the robot for judging and preventing obstacles and ensuring work safety. In some embodiments, as shown in fig. 1 and fig. 2, a long light bar 207 and a short light bar 203 are arranged on four sides of a housing 201, and the working state of the rail-mounted robot is displayed through the colors of the light bars, so that the robot can work in a tunnel more safely.
As shown in fig. 1, 2 and 5, in some embodiments, the driving mechanism 1 includes a base 102, and the main body 2 is detachably hung on the base 102 through a connecting member 3. By providing the base 102, a layered structure is formed, so that the main body 2 is located below the hanging rail 100, which facilitates the quick separation of the main body 2 and the driving mechanism 1. In some embodiments, as shown in fig. 3 and 5, the bottom of the connecting member 3 is fixedly connected with the top of the main body 2, the top is provided with a hanging lug 303 for detachably hanging the main body 2 on the base 102, and the hanging lug 303 is arranged to enable the main body 2 and the driving mechanism 1 to be quickly mounted and dismounted, so that the practicability is high.
In order to ensure the reliability and convenience of installation, on one hand, in some embodiments, referring to fig. 4 and 5, the base 102 is provided with a hanging platform 106 which is matched with a hanging lug 303 for installation, the hanging platform 106 is provided with an installation hole 111, and the hanging lug 303 is provided with a U-shaped notch 301 which is matched with the installation hole 111 in a screw connection mode. The U-shaped opening 301 is arranged, so that the hanging lug 303 and the hanging table 106 can be in screw connection under the condition that the screw 302 does not need to be unscrewed, the installation is convenient, and the reliability is high. Referring to fig. 1 and 2, in some embodiments, the connecting member 3 is formed by processing a bending plate and a reinforcing rib plate, the number of the connecting members 3 is 4, so as to ensure the hanging stability, the opening directions of the U-shaped openings 301 on the 4 hanging lugs 303 are consistent, so that the main body 2 moves in the direction close to the base 102 when being installed, and the 4U-shaped openings 301 are synchronously clamped on the screws 302.
To ensure mounting reliability and convenience, on the other hand, in some embodiments, referring to fig. 3 and 5, the hanging table 106 has a hanging table horizontal end surface 106A and a hanging table vertical end surface 106B, and the hanging lug 303 has a hanging lug horizontal end surface 3C and a hanging lug vertical end surface 3D respectively attached to the hanging table horizontal end surface 106A and the hanging table vertical end surface 106B.
As an embodiment of the driving mechanism, referring to fig. 1 to 5, in some embodiments, the driving mechanism 1 includes a driving wheel 101 and a bearing wheel 103 disposed on the top of the base 102, the driving wheel 101 is driven by a motor 109 disposed in the base, the driving wheel 101 is disposed on two lateral sides of the hanging rail 100, and an axial direction of the driving wheel 101 is perpendicular to an axial direction of the bearing wheel 103. The matching installation of the driving wheel 101 and the bearing wheel 103 ensures the stability and reliability of bearing and driving. In some embodiments, the driving mechanism 1 includes a clamping arm 108 and a locking nut 110 disposed on the base 102, the driving wheel 101 is mounted on the clamping arm 108, one end of the clamping arm 108 is pivotally connected to the base 102 through a rotating shaft 107, and the other end of the clamping arm 108 is mounted on the base 102 through the locking nut 110, so as to adjust a clamping force of the driving wheel 101 on the hanging rail 100, and the driving wheel 101 can be adjusted according to different use scenarios, thereby improving the applicability range thereof.
In order to ensure guiding stability, in some embodiments, as shown in fig. 5, the driving mechanism 1 further includes side guide wheels 104 and lower guide wheels 105 provided on the base 102, the side guide wheels 104 being located on both sides of the hanging rail 100, and the lower guide wheels 105 being located on the bottom of the hanging rail 100.
The following description of the process of dismounting and mounting the main body 2 is given with reference to the embodiment shown in fig. 1 to 4, as follows:
when the main body 2 needs to be detached, the ball machine 205 is detached from the housing 201 quickly, the connection harness between the control device and the driving mechanism 1 is pulled out, as shown in fig. 4, the screw 302 at the U-shaped opening 301 is loosened to push the main body 2, the U-shaped opening 301 is separated from the screw 302, referring to fig. 3 and 5, the horizontal end surface 3C of the suspension loop 303 slides along the horizontal end surface 106A of the suspension loop 106, and when the vertical end surface 3D of the suspension loop 303 is separated from the vertical end surface 106B of the suspension loop 106, the main body 2 can be taken down.
After the components in the main body 2 are repaired, the main body 2 needs to be installed, the main body 2 needs to be lifted, the vertical end face 3D of the hanging lug 303 is attached to the outer side of the vertical end face 106B of the hanging table 106, when the horizontal end face 3C of the hanging lug 303 is pressed to the horizontal end face 106A of the hanging table 106, the main body 2 is pushed, the U-shaped notch 301 in the hanging lug 303 is clamped on the screw 302, the screw 302 is tightened, and the connecting wire harness between the control device and the driving mechanism 1 is inserted.
The above-mentioned each embodiment of this disclosure hanging rail robot can be applied to the system of patrolling and examining, is particularly useful for the tunnel to patrol and examine. Accordingly, the present disclosure provides an inspection system that includes a rail 100 and embodiments of any of the foregoing rail-mounted robots.
Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims (13)

1. A rail-mounted robot, comprising:
the driving mechanism (1) is used for being hung on the hanging rail (100) in a sliding way;
a main body (2); and
the connecting piece (3) is used for detachably hanging the main body (2) on the driving mechanism (1).
2. The rail-mounted robot according to claim 1, characterized in that the drive mechanism (1) comprises a base (102), and the main body (2) is detachably suspended on the base (102) through the connecting piece (3).
3. The rail-mounted robot as claimed in claim 2, characterized in that the bottom of the connecting piece (3) is fixedly connected with the top of the main body (2), and the top is provided with a hanging lug (303) for detachably hanging the main body (2) on the base (102).
4. The rail-mounted robot as claimed in claim 3, wherein the base (102) is provided with a hanging platform (106) which is matched with the hanging lug (303) for installation, the hanging platform (106) is provided with an installation hole (111), and the hanging lug (303) is provided with a U-shaped notch (301) which is in screw connection and matching with the installation hole (111).
5. A rail-mounted robot as claimed in claim 4, characterized in that the connecting elements (3) are arranged in 4, and the U-shaped openings (301) of the 4 suspension loops (303) are aligned in the same direction.
6. The rail hanging robot according to claim 4, characterized in that the hanging platform (106) has a hanging platform horizontal end surface (106A) and a hanging platform vertical end surface (106B), and the hanging lug (303) has a hanging lug horizontal end surface (3C) and a hanging lug vertical end surface (3D) which are respectively attached to the hanging platform horizontal end surface (106A) and the hanging platform vertical end surface (106B).
7. The rail-mounted robot according to claim 2, wherein the connecting piece (3) is formed by machining a bent plate and a reinforcing rib plate.
8. A rail-mounted robot as claimed in claim 2, characterized in that the driving mechanism (1) comprises a driving wheel (101) and a load-bearing wheel (103) arranged on top of the base (102), the driving wheel (101) is arranged on both lateral sides of the rail (100), and the axial direction of the driving wheel (101) is perpendicular to the axial direction of the load-bearing wheel (103).
9. The rail hanging robot as claimed in claim 8, wherein the driving mechanism (1) comprises a clamping arm (108) and a locking nut (110) which are arranged on the base (102), the driving wheel (101) is mounted on the clamping arm (108), one end of the clamping arm (108) is pivoted with the base (102), and the other end of the clamping arm is mounted with the base (102) through the locking nut (110) for adjusting the clamping force of the driving wheel (101) on the rail hanging (100).
10. A rail-mounted robot as claimed in claim 8, characterized in that the drive mechanism (1) further comprises side guide wheels (104) and lower guide wheels (105) arranged on the base (102), the side guide wheels (104) being located on both sides of the rail (100), the lower guide wheels (105) being located at the bottom of the rail (100).
11. The rail-mounted robot according to claim 1, characterized in that the main body (2) comprises a housing (201) and a control device arranged in the housing (201), wherein a connection harness between the control device and the drive mechanism (1) is connected by a quick-connect-disconnect interface.
12. The rail-mounted robot according to claim 1, characterized in that the main body (2) comprises a wireless charging module (212).
13. An inspection system, comprising: a rail (100) and a rail-mounted robot as claimed in any one of claims 1 to 12.
CN201911291593.0A 2019-12-16 2019-12-16 Rail-mounted robot and inspection system Pending CN110977928A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911291593.0A CN110977928A (en) 2019-12-16 2019-12-16 Rail-mounted robot and inspection system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911291593.0A CN110977928A (en) 2019-12-16 2019-12-16 Rail-mounted robot and inspection system

Publications (1)

Publication Number Publication Date
CN110977928A true CN110977928A (en) 2020-04-10

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Application Number Title Priority Date Filing Date
CN201911291593.0A Pending CN110977928A (en) 2019-12-16 2019-12-16 Rail-mounted robot and inspection system

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111075508A (en) * 2019-12-30 2020-04-28 北京海益同展信息科技有限公司 Robot applied to tunnel

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Publication number Priority date Publication date Assignee Title
CN203611258U (en) * 2013-12-30 2014-05-28 重庆机床(集团)有限责任公司 Articulated quick-changing clamping jaw
CN203853528U (en) * 2014-05-19 2014-10-01 宋振宏 Narrow-side limiting and locking device of crystallizer
CN205098937U (en) * 2015-10-30 2016-03-23 中信重工开诚智能装备有限公司 Robot device is patrolled and examined to rail mounted
CN205839900U (en) * 2016-07-27 2016-12-28 厦门威迪亚科技有限公司 A kind of water tank hangers quick fixation structure
CN205944881U (en) * 2016-08-15 2017-02-08 深圳市朗驰欣创科技股份有限公司 Electric power inspection robot and system
CN107139949A (en) * 2017-06-10 2017-09-08 中信重工开诚智能装备有限公司 A kind of pipe gallery crusing robot hoofing part mechanism
CN108381564A (en) * 2017-12-20 2018-08-10 南京理工大学 A kind of modular crusing robot of multiple degrees of freedom
CN208195436U (en) * 2018-05-17 2018-12-07 常州市双强机械制造有限公司 Special-shaped cylindrical part end face lettering mould
CN209602583U (en) * 2018-10-29 2019-11-08 甘肃酒钢集团宏兴钢铁股份有限公司 A kind of datum plate protective plate facilitating slide plate pushing off the slag Yu common pushing off the slag rapid interchangeable

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203611258U (en) * 2013-12-30 2014-05-28 重庆机床(集团)有限责任公司 Articulated quick-changing clamping jaw
CN203853528U (en) * 2014-05-19 2014-10-01 宋振宏 Narrow-side limiting and locking device of crystallizer
CN205098937U (en) * 2015-10-30 2016-03-23 中信重工开诚智能装备有限公司 Robot device is patrolled and examined to rail mounted
CN205839900U (en) * 2016-07-27 2016-12-28 厦门威迪亚科技有限公司 A kind of water tank hangers quick fixation structure
CN205944881U (en) * 2016-08-15 2017-02-08 深圳市朗驰欣创科技股份有限公司 Electric power inspection robot and system
CN107139949A (en) * 2017-06-10 2017-09-08 中信重工开诚智能装备有限公司 A kind of pipe gallery crusing robot hoofing part mechanism
CN108381564A (en) * 2017-12-20 2018-08-10 南京理工大学 A kind of modular crusing robot of multiple degrees of freedom
CN208195436U (en) * 2018-05-17 2018-12-07 常州市双强机械制造有限公司 Special-shaped cylindrical part end face lettering mould
CN209602583U (en) * 2018-10-29 2019-11-08 甘肃酒钢集团宏兴钢铁股份有限公司 A kind of datum plate protective plate facilitating slide plate pushing off the slag Yu common pushing off the slag rapid interchangeable

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111075508A (en) * 2019-12-30 2020-04-28 北京海益同展信息科技有限公司 Robot applied to tunnel

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