CN112467609A - A patrol and examine robot for transformer substation high altitude power transmission line - Google Patents
A patrol and examine robot for transformer substation high altitude power transmission line Download PDFInfo
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- CN112467609A CN112467609A CN202011248868.5A CN202011248868A CN112467609A CN 112467609 A CN112467609 A CN 112467609A CN 202011248868 A CN202011248868 A CN 202011248868A CN 112467609 A CN112467609 A CN 112467609A
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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
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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
- 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
- B25J19/04—Viewing devices
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Abstract
The invention discloses a patrol robot for a transformer substation high-altitude power transmission line, which comprises a machine body, wherein walking devices are arranged on the front side and the rear side of the machine body respectively, a main control machine, a detection device, a storage battery, an electric pan-tilt and a camera are arranged in the machine body, and the walking devices, the detection device, the storage battery, the electric pan-tilt and the camera are connected with the main control machine; the detection device comprises a detection support, a detection driving mechanism, a detection adjusting mechanism and a detection pen, wherein the detection driving mechanism is connected with the detection adjusting mechanism, and the detection adjusting mechanism is connected with the detection pen. The inspection robot is simple in structure, scientific and convenient, strong in pertinence and convenient to use. The inspection robot has the advantages that the two groups of walking devices are arranged on the front side and the rear side of the robot body respectively, each group of walking devices runs in a two-point supporting mode, the first walking pulleys and the second walking pulleys are symmetrically arranged relative to a vertical plane, and the running stability of the inspection robot is improved.
Description
The application is as follows: 12 and 13 in 2018, with the application numbers: CN201811524004.4, invention name: a divisional application of an inspection robot for a transformer substation environment.
Technical Field
The invention relates to the field of inspection robots, in particular to an inspection robot for a transformer substation high-altitude power transmission line.
Background
The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in an electric power system. The normal operation of the transformer substation is the guarantee of normal life of people. The traditional single inspection mode of transformer substation is for manual inspection, especially the power transmission line of high altitude is patrolled and examined, has intensity of labour big, patrols and examines inefficiency, patrols and examines not in place, difficult scheduling problem of patrolling and examining under the sleet adverse circumstances to simply rely on patroller's sense organ and experience, hardly accomplish objective, comprehensive, accurate judgement, bury the potential safety hazard for the safe operation of equipment.
An inspection robot is a machine device which helps people to inspect. With the advance of urbanization process, the number of the set points of the transformer substation is more and more, the application of the power cable is increased day by day, the coverage area of the cable network is enlarged continuously, and therefore it is very necessary to enhance the maintenance and management of the power cable. The power transmission line has certain height, and there is artifical intensity of labour big, and inefficiency through the mode of artifical inspection investigation.
Disclosure of Invention
The invention aims to provide a patrol robot for a high-altitude power transmission line of a transformer substation aiming at the defects of the prior art.
In order to solve the technical problems, the following technical scheme is adopted:
a patrol robot for a transformer substation high-altitude power transmission line comprises a machine body, wherein walking devices are arranged on the front side and the rear side of the machine body respectively and comprise a walking driving mechanism, a walking transmission mechanism and a walking pulley mechanism, the walking driving mechanism is arranged on the upper portion of the machine body and is connected with the walking transmission mechanism, the walking transmission mechanism is connected with the walking pulley mechanism, and the walking pulley mechanism acts on the power transmission line; a main control machine, a detection device, a storage battery, an electric pan-tilt and a camera are arranged inside the machine body, and the walking device, the detection device, the storage battery, the electric pan-tilt and the camera are all connected with the main control machine; the detection device comprises a detection support, a detection driving mechanism, a detection adjusting mechanism and a detection pen, wherein the detection driving mechanism, the detection adjusting mechanism and the detection pen are all installed on the detection support, the detection driving mechanism is connected with the detection adjusting mechanism, and the detection adjusting mechanism is connected with the detection pen.
Further, the walking drive mechanism includes walking driving motor, the walking output shaft, drive gear, first driven drive gear, second driven drive gear, first drive shaft and second drive shaft, walking driving motor sets up in the top of organism, the last walking driving motor controller that is equipped with of walking driving motor, walking driving motor controller connects the main control computer, walking driving motor's output is equipped with the walking output shaft, the tip of walking output shaft is equipped with drive gear, drive gear's left side meshing is connected with first driven drive gear, first driven drive gear connects first drive shaft, first drive shaft connection running gear, drive gear's right side meshing is connected with second driven drive gear, second driven drive gear connects the second drive shaft, second drive shaft connection running gear.
Further, the walking transmission mechanism comprises a first driving transmission gear, a second driving transmission gear, a first driven transmission gear, a second driven transmission gear, a first transmission shaft and a second transmission shaft, the first driving transmission gear is installed at the end part of the first driving shaft, the first driving transmission gear is connected with the first driven transmission gear in a meshing manner, the first driven transmission gear is connected with the first transmission shaft, the first transmission shaft is connected with the walking pulley mechanism, the second driving transmission gear is installed at the end part of the second driving shaft, the second driving transmission gear is connected with the second driven transmission gear in a meshing manner, the second driven transmission gear is connected with the second transmission shaft, and the second transmission shaft is connected with the walking pulley mechanism.
Furthermore, the walking pulley mechanism comprises a first walking pulley and a second walking pulley, the first walking pulley is located on the left side of the power transmission line, the outer end face of the first walking pulley is matched with the outer end face of the power transmission line, the first walking pulley is internally connected to the first transmission shaft, the second walking pulley is located on the right side of the power transmission line, the outer end face of the second walking pulley is matched with the outer end face of the power transmission line, and the second walking pulley is internally connected to the second transmission shaft.
Furthermore, the included angle between the first walking pulley and the vertical surface is a, the value range of a is more than or equal to 0 and less than 90 degrees, the included angle between the second walking pulley and the vertical surface is b, the value range of b is more than or equal to 0 and less than 90 degrees, and the first walking pulley and the second walking pulley are symmetrically arranged relative to the vertical surface.
Further, detect actuating mechanism including detecting driving motor, detection drive output shaft and detection drive gear, detect driving motor fixed mounting on detecting the support, be equipped with on detecting driving motor and detect the driving motor controller, detect the driving motor controller and connect the main control computer, the output that detects driving motor is connected with and detects drive output shaft, the tip that detects drive output shaft is equipped with and detects drive gear, it detects drive gear connection and detects adjustment mechanism.
Further, detect adjustment mechanism including detecting the adjustment disk, the direction foreign steamer, wheel in the direction, detect a mount pad, the outside of detecting the adjustment disk is equipped with the arc rack, the arc rack with detect drive gear phase-match, the outside of detecting the adjustment disk is connected with the direction foreign steamer, the direction foreign steamer is connected with direction foreign steamer fixing base, the inboard of detecting the adjustment disk is connected with the direction interior wheel, detect a mount pad fixed mounting on detecting the adjustment disk, be equipped with on detecting a mount pad and detect a pen, be equipped with on detecting a pen and detect the head.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to an inspection robot for a high-altitude power transmission line of a transformer substation, which is simple in structure, scientific and convenient, strong in pertinence and convenient to use.
The inspection robot has the advantages that the two groups of walking devices are arranged on the front side and the rear side of the robot body respectively, each group of walking devices runs in a two-point supporting mode, the first walking pulleys and the second walking pulleys are symmetrically arranged relative to a vertical plane, and the running stability of the inspection robot is improved.
This inspection robot is through setting up the main control computer, control the whole work of whole inspection robot, when inspection robot normally when advancing inspection work under running gear's effect, adjust the angle of camera through control electronic cloud platform, shoot the power transmission line along the line, send for the main control computer, judge whether this power transmission line monitoring point is unusual by the main control computer, if judge for the first time unusually, main control computer control running gear, carry detection device to unusual directly over, detect once more through detection device control test pen, confirm whether this point is unusual, if take place unusually, expand repair and examine work immediately, if this point is normal, inspection robot continues forward, carry out the inspection work on next step. The camera is used for shooting and detecting for the first time, and then the detection device is used for detecting again, so that the detection accuracy is effectively guaranteed, the whole inspection work is error-free, and the inspection force and the inspection efficiency of the power cable are obviously improved.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a main inspection structure of an inspection robot for a high-altitude power transmission line of a transformer substation according to the present invention;
FIG. 2 is a schematic side view of an inspection robot for a high-altitude power transmission line of a transformer substation according to the present invention;
FIG. 3 is a schematic cross-sectional view taken along the direction A in FIG. 2 according to the present invention.
In the figure: 1-body; 2-a transmission line; 3-a walking device; 4-a travel driving mechanism; 5-a walking transmission mechanism; 6-a traveling pulley mechanism; 7-a main control machine; 8-a detection device; 9-a storage battery; 10-an electric pan-tilt; 11-a camera; 12-a detection scaffold; 13-detecting the drive mechanism; 14-detecting the adjusting mechanism; 15-detection pen; 16-a walking drive motor; 17-a walking output shaft; 18-a drive gear; 19-a first driven drive gear; 20-a second driven drive gear; 21-a first drive shaft; 22-a second drive shaft; 23-a walking drive motor controller; 24-a first active drive gear; 25-a second drive transmission gear; 26-a first driven drive gear; 27-a second driven transmission gear; 28-a first drive shaft; 29-a second drive shaft; 30-a first travelling pulley; 31-a second walking pulley; 32-detecting the driving motor; 33-detecting the drive output shaft; 34-detecting the drive gear; 35-detecting a drive motor controller; 36-detecting the adjusting disk; 37-a guiding outer wheel; 38-a guide inner wheel; 39-test pen mounting seats; 40-a detection head; 41-arc rack; 42-guiding outer wheel fixing seat.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example 1
As shown in fig. 1 to 3, the inspection robot for the high-altitude power transmission line of the transformer substation comprises a machine body 1, wherein traveling devices 3 are arranged on the front side and the rear side of the machine body 1 respectively, each traveling device 3 comprises a traveling driving mechanism 4, a traveling transmission mechanism 5 and a traveling pulley mechanism 6, the traveling driving mechanism 4 is arranged on the upper portion of the machine body 1, the traveling driving mechanism 4 is connected with the traveling transmission mechanism 5, the traveling transmission mechanism 5 is connected with the traveling pulley mechanism 6, and the traveling pulley mechanism 6 acts on the power transmission line 2; a main control machine 7, a detection device 8, a storage battery 9, an electric pan-tilt 10 and a camera 11 are arranged inside the machine body 1, and the walking device 3, the detection device 8, the storage battery 9, the electric pan-tilt 10 and the camera 11 are all connected with the main control machine 7; the detection device 8 comprises a detection support 12, a detection driving mechanism 13, a detection adjusting mechanism 14 and a detection pen 15, wherein the detection driving mechanism 13, the detection adjusting mechanism 14 and the detection pen 15 are all installed on the detection support 12, the detection driving mechanism 13 is connected with the detection adjusting mechanism 14, and the detection adjusting mechanism 14 is connected with the detection pen 15. The whole work of the whole inspection robot is controlled by arranging the main control machine 7. The inspection robot is internally provided with an electric pan-tilt 10 and a camera 11, the angle of the camera 11 can be adjusted through the electric pan-tilt 10, the shooting range of the camera 11 is enlarged, the camera 11 can complete the shooting work of the power transmission line 2 better, the information shot by the camera is transmitted to the main control computer 7, the main control computer 7 makes a preliminary judgment, whether the detection point is abnormal or not, if the initial judgment is abnormal, the main control computer 7 controls the walking device 3, the detection device 8 is conveyed to the position right above the abnormality, the detection pen 15 is controlled through the detection device 8 to detect again, whether the point is abnormal or not is confirmed, if the point is abnormal, the repair and inspection work is immediately unfolded, if the point is normal, the inspection robot continues to move forward, and the inspection work on the next step is. Like this shoot through camera 11 and detect for the first time, then through the mode that detection device 8 detected once more, effectively guaranteed the accuracy that detects, make whole work of patrolling and examining error-free, show that power cable's the dynamics of patrolling and examining and patrol and examine efficiency. In addition, the storage battery 9 is arranged to supply power to the electric parts, so that the use is convenient and fast.
In this embodiment, the walking driving mechanism 4 includes a walking driving motor 16, a walking output shaft 17, a driving gear 18, a first driven driving gear 19, a second driven driving gear 20, a first driving shaft 21 and a second driving shaft 22, the walking driving motor 16 is disposed on the top of the machine body 1, a walking driving motor controller 23 is disposed on the walking driving motor 16, the walking driving motor controller 23 is connected to the main control machine 7, the walking output shaft 17 is disposed at the output end of the walking driving motor 16, the driving gear 18 is disposed at the end of the walking output shaft 17, the left side of the driving gear 18 is engaged with the first driven driving gear 19, the first driven driving gear 19 is connected to the first driving shaft 21, the first driving shaft 21 is connected to the walking transmission mechanism 5, the right side of the driving gear 18 is engaged with the second driven driving gear 20, the second, the second drive shaft 22 is connected to the travel transmission mechanism 5.
In this embodiment, the traveling transmission mechanism 5 includes a first driving transmission gear 24, a second driving transmission gear 25, a first driven transmission gear 26, a second driven transmission gear 27, a first transmission shaft 28 and a second transmission shaft 29, the first driving transmission gear 24 is installed at an end portion of the first driving shaft 21, the first driving transmission gear 24 is engaged with the first driven transmission gear 26, the first driven transmission gear 26 is connected with the first transmission shaft 28, the first transmission shaft 28 is connected with the traveling pulley mechanism 6, the second driving transmission gear 25 is installed at an end portion of the second driving shaft 22, the second driving transmission gear 25 is engaged with the second driven transmission gear 27, the second driven transmission gear 27 is connected with the second transmission shaft 29, and the second transmission shaft 29 is connected with the traveling pulley mechanism 6.
In the present embodiment, the traveling pulley mechanism 6 includes a first traveling pulley 30 and a second traveling pulley 31, the first traveling pulley 30 is located on the left side of the power transmission line 2, the outer end face of the first traveling pulley 30 matches the outer end face of the power transmission line 2, the first traveling pulley 30 is inscribed on the first transmission shaft 28, the second traveling pulley 31 is located on the right side of the power transmission line 2, the outer end face of the second traveling pulley 31 matches the outer end face of the power transmission line 2, and the second traveling pulley 31 is inscribed on the second transmission shaft 29.
In this embodiment, an included angle between the first traveling pulley and the vertical surface is a, a is greater than or equal to 0 and less than 90 °, an included angle between the second traveling pulley and the vertical surface is b, b is greater than or equal to 0 and less than 90 °, and the first traveling pulley and the second traveling pulley are symmetrically arranged with respect to the vertical surface.
The walking driving mechanism 4 controls the walking output shaft 17 to perform high-speed rotary motion through the walking driving motor 16, so as to drive the driving gear 18 to perform high-speed rotary motion, the left end and the right end of the driving gear 18 are respectively connected with a first driven driving gear 19 and a second driven driving gear 20 in a meshed mode, the first driven driving gear 19 drives the first driving shaft 21 to perform rotary motion, and the second driven driving gear 20 drives the second driving shaft 22 to perform rotary motion. Correspondingly, the first driving transmission gear 24 is driven by the first driving shaft 21 to move, and the first transmission shaft 28 is driven to rotate under the meshing action of the first driving transmission gear 24 and the first driven transmission gear 26, so as to drive the first traveling pulley 30 to travel on the power transmission line 2. Similarly, the second driving shaft 22 drives the second driving transmission gear 25 to move, and under the meshing action of the second driving transmission gear 25 and the second driven transmission gear 27, the second driving shaft 29 is driven to rotate, so as to drive the second traveling pulley 31 to travel on the power transmission line 2. Therefore, the first walking pulley 30 and the second walking pulley 31 are driven to synchronously walk by the walking driving motor 16, the walking pace consistency of the first walking pulley 30 and the second walking pulley 31 is guaranteed, the first walking pulley 30 and the second walking pulley 31 are symmetrically arranged relative to the vertical plane, the included angle between the first walking pulley and the vertical plane is a, the value range of a is more than or equal to 0 and less than 90 degrees, the included angle between the second walking pulley and the vertical plane is b, the value range of b is more than or equal to 0 and less than 90 degrees, and the first walking pulley and the second walking pulley are symmetrically arranged relative to the vertical plane. The angle can be adjusted and selected according to different types of the power transmission line 2, and the application range is expanded.
In this embodiment, the detection driving mechanism 13 includes a detection driving motor 32, a detection driving output shaft 33 and a detection driving gear 34, the detection driving motor 32 is fixedly mounted on the detection support 12, the detection driving motor 32 is provided with a detection driving motor controller 35, the detection driving motor controller 35 is connected with the main control machine 7, the output end of the detection driving motor 32 is connected with the detection driving output shaft 33, the end of the detection driving output shaft 33 is provided with the detection driving gear 34, and the detection driving gear 34 is connected with the detection adjusting mechanism 14.
In this embodiment, the detection adjusting mechanism 14 includes a detection adjusting disk 36, a guide outer wheel 37, a guide inner wheel 38 and a detection pen mounting seat 39, an arc-shaped rack 41 is arranged outside the detection adjusting disk 36, the arc-shaped rack 41 is matched with the detection driving gear 34, the guide outer wheel 37 is connected to the outer side of the detection adjusting disk 36, a guide outer wheel fixing seat 42 is connected to the guide outer wheel 37, the guide inner wheel 38 is connected to the inner side of the detection adjusting disk 36, the detection pen mounting seat 39 is fixedly mounted on the detection adjusting disk 36, the detection pen 15 is arranged on the detection pen mounting seat 39, and a detection head 40 is arranged on the detection pen 15.
The detection device 8 drives the detection driving output shaft 33 to rotate through the detection driving motor 32, under the action of the detection driving gear 34 and the arc-shaped rack 41, the detection adjusting disc 36 is driven to rotate integrally at the circle center of the semicircular detection adjusting disc 36, so that the detection pen 15 is driven to rotate at the circle center of the semicircular detection adjusting disc 36, the detection pen 15 is enabled to smoothly rotate to a detection point, the detection work is completed, whether the point is abnormal or not is confirmed, if the point is abnormal, the repair work is immediately carried out, if the point is normal, the inspection robot continues to move forward, and the inspection work of the next step is carried out.
Example 2
Unlike the embodiment 1 of the present invention, the traveling driving mechanism 4 of the embodiment 2 is provided with one, that is, a traveling device 3 with a complete traveling driving mechanism 4, a traveling transmission mechanism 5 and a traveling pulley mechanism 6 is provided at the front side of the machine body 1, while only the traveling pulley mechanism 6 is provided at the rear side of the machine body 1, and the traveling driving mechanism 4 completely close to the front side completes the integral traveling driving.
Example 3
Different from the embodiment 2 of the present invention, the embodiment 2 has a corresponding weight block disposed at the rear side of the machine body 1, so as to ensure the front-rear center-of-gravity balance of the machine body 1.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.
Claims (3)
1. The utility model provides a robot of patrolling and examining for transformer substation high altitude power transmission line which characterized in that: the power transmission line is characterized by comprising a machine body, wherein the front side and the rear side of the machine body are respectively provided with a walking device, each walking device comprises a walking driving mechanism, a walking transmission mechanism and a walking pulley mechanism, the walking driving mechanism is arranged at the upper part of the machine body and is connected with the walking transmission mechanism, the walking transmission mechanism is connected with the walking pulley mechanism, and the walking pulley mechanism acts on a power transmission line; a main control machine, a detection device, a storage battery, an electric pan-tilt and a camera are arranged inside the machine body, and the walking device, the detection device, the storage battery, the electric pan-tilt and the camera are all connected with the main control machine; the detection device comprises a detection support, a detection driving mechanism, a detection adjusting mechanism and a detection pen, wherein the detection driving mechanism, the detection adjusting mechanism and the detection pen are all arranged on the detection support, the detection driving mechanism is connected with the detection adjusting mechanism, and the detection adjusting mechanism is connected with the detection pen;
the walking driving mechanism comprises a walking driving motor, a walking output shaft, a driving gear, a first driven driving gear, a second driven driving gear, a first driving shaft and a second driving shaft, the walking driving motor is arranged at the top of the machine body, a walking driving motor controller is arranged on the walking driving motor, the walking driving motor controller is connected with the main control machine, the output end of the walking driving motor is provided with the walking output shaft, the end part of the walking output shaft is provided with the driving gear, the left side of the driving gear is meshed with the first driven driving gear, the first driven driving gear is connected with the first driving shaft, the first driving shaft is connected with the walking transmission mechanism, the right side of the driving gear is meshed with the second driven driving gear, and the second driven driving gear is connected with the second driving shaft, the second driving shaft is connected with the walking transmission mechanism;
the walking transmission mechanism comprises a first driving transmission gear, a second driving transmission gear, a first driven transmission gear, a second driven transmission gear, a first transmission shaft and a second transmission shaft, the first driving transmission gear is arranged at the end part of the first driving shaft, the first driving transmission gear is connected with the first driven transmission gear in a meshing way, the first driven transmission gear is connected with the first transmission shaft, the first transmission shaft is connected with the walking pulley mechanism, the second driving transmission gear is arranged at the end part of the second driving shaft, the second driving transmission gear is connected with the second driven transmission gear in a meshing way, the second driven transmission gear is connected with the second transmission shaft, and the second transmission shaft is connected with the walking pulley mechanism; the traveling pulley mechanism comprises a first traveling pulley and a second traveling pulley, the first traveling pulley is positioned on the left side of the power transmission line, the outer end face of the first traveling pulley is matched with the outer end face of the power transmission line, the first traveling pulley is connected to the first transmission shaft in an inner mode, the second traveling pulley is positioned on the right side of the power transmission line, the outer end face of the second traveling pulley is matched with the outer end face of the power transmission line, and the second traveling pulley is connected to the second transmission shaft in an inner mode;
the included angle between the first walking pulley and the vertical surface is a, the value range of a is more than or equal to 0 and less than 90 degrees, the included angle between the second walking pulley and the vertical surface is b, the value range of b is more than or equal to 0 and less than 90 degrees, and the first walking pulley and the second walking pulley are symmetrically arranged relative to the vertical surface.
2. The inspection robot for the substation environment according to claim 1, wherein the inspection robot comprises: the detection driving mechanism comprises a detection driving motor, a detection driving output shaft and a detection driving gear, the detection driving motor is fixedly installed on the detection support, a detection driving motor controller is arranged on the detection driving motor, the detection driving motor controller is connected with the main control machine, the output end of the detection driving motor is connected with the detection driving output shaft, the end portion of the detection driving output shaft is provided with the detection driving gear, and the detection driving gear is connected with the detection adjusting mechanism.
3. The inspection robot for the substation environment according to claim 1, wherein the inspection robot comprises: detect adjustment mechanism including detecting in adjustment disk, direction foreign steamer, the direction, detect a mount pad, the outside of detecting the adjustment disk is equipped with the arc rack, the arc rack with detect drive gear phase-match, the outside of detecting the adjustment disk is connected with the direction foreign steamer, the direction foreign steamer is connected with direction foreign steamer fixing base, the inboard of detecting the adjustment disk is connected with in the direction, detect a mount pad fixed mounting in detect on the adjustment disk, be equipped with on the detection pen mount pad and detect the pen, it detects the head to be equipped with on the detection pen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011248868.5A CN112467609A (en) | 2018-12-13 | 2018-12-13 | A patrol and examine robot for transformer substation high altitude power transmission line |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811524004.4A CN109586208B (en) | 2018-12-13 | 2018-12-13 | Inspection robot used in transformer substation environment |
| CN202011248868.5A CN112467609A (en) | 2018-12-13 | 2018-12-13 | A patrol and examine robot for transformer substation high altitude power transmission line |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811524004.4A Division CN109586208B (en) | 2018-12-13 | 2018-12-13 | Inspection robot used in transformer substation environment |
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| CN112467609A true CN112467609A (en) | 2021-03-09 |
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| CN202011248868.5A Withdrawn CN112467609A (en) | 2018-12-13 | 2018-12-13 | A patrol and examine robot for transformer substation high altitude power transmission line |
| CN201811524004.4A Active CN109586208B (en) | 2018-12-13 | 2018-12-13 | Inspection robot used in transformer substation environment |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811524004.4A Active CN109586208B (en) | 2018-12-13 | 2018-12-13 | Inspection robot used in transformer substation environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113581465A (en) * | 2021-09-15 | 2021-11-02 | 郑州科技学院 | Electric power inspection walking mechanism, electric power inspection robot and electric power inspection system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109733224B (en) * | 2019-03-08 | 2023-08-25 | 重庆陈氏清洁服务有限公司 | Dynamic running current collector with arc extinguishing function for vehicle |
| CN111618873B (en) * | 2020-05-29 | 2021-06-15 | 杭州申昊科技股份有限公司 | Explosion-proof inspection robot with instrument identification function and identification method thereof |
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2018
- 2018-12-13 CN CN202011248868.5A patent/CN112467609A/en not_active Withdrawn
- 2018-12-13 CN CN201811524004.4A patent/CN109586208B/en active Active
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| KR20110079097A (en) * | 2009-12-31 | 2011-07-07 | 한국전력공사 | Robot for inspecting distribution power line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113581465A (en) * | 2021-09-15 | 2021-11-02 | 郑州科技学院 | Electric power inspection walking mechanism, electric power inspection robot and electric power inspection system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109586208A (en) | 2019-04-05 |
| CN109586208B (en) | 2020-11-06 |
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Application publication date: 20210309 |