CN113977608A - Robot for realizing uninterrupted inspection - Google Patents
Robot for realizing uninterrupted inspection Download PDFInfo
- Publication number
- CN113977608A CN113977608A CN202111414791.9A CN202111414791A CN113977608A CN 113977608 A CN113977608 A CN 113977608A CN 202111414791 A CN202111414791 A CN 202111414791A CN 113977608 A CN113977608 A CN 113977608A
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- 238000007689 inspection Methods 0.000 title claims abstract description 111
- 238000012544 monitoring process Methods 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot for realizing uninterrupted inspection, which comprises an inspection track arranged in an inspection area and an inspection robot body traveling along the inspection track, wherein the inspection robot body is connected with a traveling traction device, the traveling traction device comprises a traction rope rigidly connected with the inspection robot body and a driving device for driving the traction rope to pull the robot body to reciprocate along the inspection track, and the driving device comprises a power supply and a driving component driven by the power supply and realizing traction of the traction rope; the walking traction device comprises a traction rope and a driving traction rope, the driving device drives the robot body to walk in a reciprocating mode along the inspection track, the driving device is fixedly arranged on the traction rope at one end of the inspection track, a mains supply can be connected or a high-power generator set is adopted, so that the inspection robot can work continuously for 24 hours all day, sufficient voltage is supplied to the power supply and the driving device to drive, the inspection robot can climb, the walking is fast, the stability is good, and the network dependence is low during inspection.
Description
Technical Field
The invention belongs to the field of automatic monitoring and real-time monitoring equipment, and particularly relates to a robot for realizing uninterrupted inspection.
Background
The original traditional inspection usually adopts manual inspection and fixed-point monitoring by fixing a camera. The manual inspection efficiency is low, the inspection quality is not guaranteed, and the severe environment of a coal mine site threatens the personal safety. Fixed camera fixed point monitoring, monitoring range is limited, a large number of cameras need to be arranged, image monitoring and storage tasks are large, installation and wiring are multiple, maintenance tasks are difficult, and comprehensive efficiency is very low. In order to solve the problems, track inspection has been developed in the prior art, that is, a track is installed in an inspection area, an inspection robot is placed on the track, a power supply and a traveling device are installed on the inspection robot, the inspection robot travels along the track, and inspection is performed during traveling. The inspection efficiency and quality are greatly improved, but the rail inspection robot has the problems of poor climbing capability, unstable walking, slow walking, large battery size, small electric quantity capacity, high electric energy consumption, incapability of performing 24 continuous uninterrupted inspection, strong network dependence and the like along with the application field and place of the inspection robot, and the like, so that the inspection of the rail inspection robot is seriously influenced.
Disclosure of Invention
The invention aims to provide a robot for realizing uninterrupted inspection, which solves the problems of the track inspection robot in the prior art in the background technology.
The invention discloses a robot for realizing uninterrupted inspection, which comprises an inspection track arranged in an inspection area and an inspection robot body traveling along the inspection track. Patrol and examine and be connected with walking draw-off gear on the robot body, walking draw-off gear include with patrol and examine robot body rigid connection's tractive line and drive the tractive line pulling the robot body is followed patrol and examine the drive arrangement of the reciprocal walking of track, drive arrangement includes the power and drives and realize by the power the drive assembly of tractive line.
Preferably, the traction rope is annular and comprises a first section which is parallel to the inspection track and has a consistent track and a second section which forms an annular shape with the first section and is connected with the driving device; and the second section bypasses at least two tensioning wheels, the tensioning wheels are respectively arranged at two ends of the first section, and the tensioning of the traction rope is completed.
Preferably, the tensioning wheel is a grooved wheel provided with a limiting groove with a radius matched with the traction rope on the outer circumferential surface.
Preferably, the driving assembly comprises a driving wheel set arranged at one end or two ends of the first section, the driving wheel set comprises a driving wheel and a driven wheel which are arranged in parallel, the minimum distance between the wheel surfaces of the driving wheel and the driven wheel is matched with the diameter of the traction rope, and the traction rope passes through the space between the driving wheel and the driven wheel; the driving wheel is driven by the motor to rotate and drives the traction rope to move between the driving wheel and the driven wheel together with the driven wheel, and the inspection robot body rigidly connected with the traction rope is pulled.
Preferably, the power supply supplies power for a motor driving the driving wheel to rotate, and the power supply is commercial power or a generator set.
Preferably, it includes the rigid branch track of two parallels to patrol and examine the track, a track cross section is personally submitted circularly, two equally divide on the lateral surface that a track kept away from each other and do not be provided with the connection hornblock that is the L type, two be connected with an installation bracket that is the U type between the connection hornblock, the installation bracket erects it is in to patrol and examine track upper portion.
Preferably, the inspection robot body comprises a shell arranged between the two rails, walking limit wheel sets arranged on two sides of the shell and arranged on the branch rails, a rigid connecting rod fixed at the top of the shell and fixed with the traction rope, and a monitoring assembly arranged at the bottom of the shell and facing a monitoring area;
the walking limiting wheel sets comprise four groups which are respectively and uniformly distributed on two sides of the shell, each walking limiting wheel set comprises a track grooved wheel and a limiting cylindrical wheel which are respectively arranged on the upper part and the lower part of the branch track, and the minimum distance between the limiting cylindrical wheels and two wheel surfaces of the track grooved wheels is matched with the diameter of the branch track; the connecting angle block and the supporting track are arranged between the limiting cylindrical wheel and the track grooved wheel.
Preferably, the casing both sides still are provided with swing stop device respectively, swing stop device includes the horizontal mounting board of being connected with the casing, sets up horizontal mounting board is last and axis and branch track vertically slotted hole and setting are in spacing round of the downthehole swing of slotted, the vertical and outer periphery of spacing round of axis of swing and branch track contact.
The robot for realizing uninterrupted inspection in the technical scheme of the invention has the beneficial effects that:
the walking traction device is connected to the inspection robot body, so that walking of the inspection robot is realized. The walking traction device in the technical scheme comprises a traction rope and a driving traction rope, wherein the driving device is used for driving the robot body to walk in a reciprocating mode along the inspection track, the driving device is fixedly arranged on the traction rope at one end of the inspection track, and the driving device can be connected with a mains supply or adopt a high-power generator set, so that the inspection robot can work continuously for 24 times. Sufficient supply voltage and traction drive for it can the climbing to patrol and examine the robot, and the walking is quick, and stability is good, reduces to the network dependence when patrolling and examining.
Drawings
FIG. 1 is a schematic structural diagram of a robot for implementing uninterrupted inspection according to the technical solution of the present invention,
FIG. 2 is a schematic view of a three-dimensional structure of a robot for implementing uninterrupted inspection according to the technical solution of the present invention,
figure 3 is a schematic view of the structure of the driving device,
fig. 4 is a schematic structural diagram of the inspection robot body.
Detailed Description
In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.
As shown in fig. 1, a robot (inspection robot for short) for implementing uninterrupted inspection according to the technical solution of the present invention includes an inspection rail 2 disposed in an inspection area and an inspection robot body 1 traveling along the inspection rail 2. The inspection robot body 1 is connected with a walking traction device. The walking traction device comprises a traction rope 3 rigidly connected with the inspection robot body 1 and a driving device 4 for driving the traction rope 3 to pull the robot body 1 to reciprocate along the inspection track 2. The driving device 4 comprises a power supply and a driving component which is driven by the power supply and realizes traction of the traction rope.
Among the above-mentioned technical scheme, power drive arrangement 4 drives tractive rope 3 and removes the tractive, realizes pulling the robot 1 that patrols and examines that tractive rope 3 is fixed, realizes patrolling and examining robot 1 and patrolling and examining the track walking along patrolling and examining. The inspection robot body 1 does not need to carry a power supply for driving the inspection robot body to walk or is provided with a power connection arm for driving the inspection robot body to walk, and the like, and an original motor is omitted on the inspection robot body 1, so that the volume and the weight of the inspection robot body 1 are greatly reduced, and the inspection robot is suitable for inspection in a narrow and long environment; on the other hand, the structure of the inspection robot body is greatly simplified, the failure rate is reduced, the inspection efficiency is improved, and the use and maintenance cost of the inspection robot is reduced.
Among the above-mentioned technical scheme, power drive arrangement 4 drives tractive rope 3 and removes the tractive, realizes pulling the robot 1 that patrols and examines that tractive rope 3 is fixed, realizes patrolling and examining robot 1 and patrolling and examining the track walking along patrolling and examining. The power here is commercial power or high-power generating set that fixed position inserted, and voltage electric quantity is sufficient, and drive arrangement moves fast, and the pulling rope 3 removes the tractive fast, patrols and examines 1 walks fast of robot promptly. Meanwhile, continuous and uninterrupted inspection for 24 hours can be realized. The driving device 4 is located outside the inspection area, continuous power supply can be achieved, power of the inspection robot body 1 is reduced, and 24-hour uninterrupted continuous inspection can be achieved through the inspection robot body 1.
Among the above-mentioned technical scheme, through 3 pulling patrols police robot body 1 to patrolling and examining the position of pulling rope, it is lower to patrolling and examining the position location requirement of robot body 1 self, lower to the network dependence.
Among the above-mentioned technical scheme, it mainly plays the supporting role to patrol and examine track 2, provides one simultaneously and patrols and examines the route, changes among the prior art and patrols and examines the robot and rely on the walking wheel and patrol and examine the friction between the track and carry out the walking mode of patrolling and examining of walking. In the technical scheme of the invention, the requirement on the inspection track is low, on one hand, the requirement on the inspection track structure is low, the inspection track structure can be greatly simplified, and on the other hand, the inspection track can be a climbing track, a downhill track, a curved track with larger curvature or a continuously-turning track and the like. Therefore, the inspection robot has strong applicability to inspection range and inspection road strength. The inspection robot body can realize horizontal inspection, vertical inspection and climbing inspection under the traction of a steel wire rope (traction rope), and has wide application scenes.
As shown in fig. 1 and 2, the pulling rope 3 is annular and includes a first section 31 parallel to and following the inspection rail 2 and a second section 32 forming an annular shape with the first section 31 and connected to the driving device. The second section 32 is wound around at least two tension pulleys 33, the tension pulleys 33 are respectively arranged at two ends of the first section 31, and the tension of the traction rope 3 is completed.
Based on above-mentioned technical scheme, the take-up pulley setting is at first district section both ends, avoids the take-up pulley to take place the interference problem with the robot body of patrolling and examining of being tractive. After the traction rope 3 is tensioned by the tensioning wheel 33, the traction rope reciprocates under the action of the driving device 4, and thus the inspection robot body 1 fixed on the first section 31 can reciprocate.
In the technical scheme, the tensioning wheel 33 is a grooved wheel provided with a limiting groove with a radius matched with the traction rope 3 on the outer circumferential surface, so that the tensioning wheel 33 can realize the positioning of the traction rope 3 while tensioning the traction rope 3, the problem that the traction rope 3 moves along the axial direction of the tensioning wheel 33 or the surface of the tensioning wheel 33 is cheap is avoided, and the position and the track of the traction rope 3 are ensured to be fixed.
In this embodiment, the driving assembly includes a driving wheel set disposed at one end or both ends of the first section 31. The driving wheel set comprises a driving wheel 41 and a driven wheel 42 which are arranged in parallel, and the minimum distance between the wheel surfaces of the driving wheel 41 and the driven wheel 42 is adapted to the diameter of the traction rope 3. The traction rope 3 passes through between the driving pulley 41 and the driven pulley 42. The driving wheel 41 is driven by the motor to rotate and drives the traction 3 to move between the driving wheel 41 and the driven wheel 42 together with the driven wheel 42, so that the inspection robot body 1 rigidly connected with the traction rope 3 is pulled. The motor is connected with the driving wheel 41 through a coupler, the power supply supplies power to the motor to drive the driving wheel 41 to rotate, and the driving wheel 41 rotates and simultaneously drives the traction rope 3 clamped with the driven wheel 42 to move and draw through the friction force of the wheel surface. In the technical scheme, the traction rope 3 is a steel wire rope (the steel wire rope is a spiral steel wire bundle which is formed by twisting steel wires with mechanical properties and geometric dimensions meeting requirements together according to a certain rule). The steel wire rope has good strength, does not deform, has large friction force with the driving wheel and the driven wheel, can not generate the problem of skidding under the driving of the driving wheel, and ensures the normal operation of traction.
In the technical scheme, the position of the inspection robot body 1 can be obtained through the traction distance of the driving wheel 41 to the traction rope 3 or the unique calculation, so that the requirement on the position positioning of the inspection robot body 1 is low, and the dependence on a network is low.
In this technical scheme, the power is the rotatory motor power supply of drive action wheel 41, and the power is commercial power or high-power generating set, and it is unnecessary that robot 1 self carries the power of drive self walking or sets up the electric arm etc. that connects of drive self walking to patrol and examine, can reduce the volume and the weight of robot 1 self of patrolling and examining on the one hand, and another conveniently connects the structure of having simplified robot body of patrolling and examining, reduces the fault rate, improves and patrols and examines efficiency, reduces and patrols and examines robot use and maintenance cost. Meanwhile, the power supply is connected to a fixed position, the voltage and the electric quantity are sufficient, the driving device runs stably, the moving and pulling speed of the pulling rope 3 is high, the inspection robot body 1 walks quickly, and the climbing of the sheet or the stable downhill at a constant speed can be realized. Meanwhile, continuous and uninterrupted inspection for 24 hours can be realized.
As shown in fig. 4, the inspection rail 2 includes two parallel rigid branch rails 21 and 22, the cross sections of the branch rails 21 and 22 are circular, the outer side surfaces of the two branch rails 21 and 22, which are far away from each other, are respectively provided with an L-shaped connecting corner block 23, a U-shaped mounting frame 24 is connected between the two connecting corner blocks 23, the mounting frame 24 is erected on the upper portion of the inspection rail 2, and the mounting frame 24 is mounted with a building or a fixture to fix the inspection rail 2 as a whole. In this technique, connect the design of hornblock 23 and mounting bracket 24 structure and position, reserve sufficient space for patrolling and examining robot body 1, avoid patrolling and examining robot body 1 promptly and take place to interfere.
In this technical scheme, it adopts the design of double track way (two tracks 21, 22) to patrol and examine track 2, has promoted the stability when patrolling and examining robot body 1 and patrolling and examining, even also can stably walk under extremely bad weather such as outdoor strong wind weather. The track grooved wheel 14 is matched with the two tracks 21 and 22 with the cylindrical cross sections, so that the resistance in the walking process is reduced, and the load capacity of the inspection body is improved.
As shown in fig. 4, the inspection robot body 1 includes a housing 11 disposed between two rails 21, 22, a walking limit wheel set 13 disposed on both sides of the housing 11 and disposed on the rails 21, 22, a rigid connection rod 12 fixed to the top of the housing 11 and fixed to the traction rope 3, and a monitoring assembly 10 disposed at the bottom of the housing 11 and facing a monitoring area. The hauling cable 3 drives the inspection robot body 1 to move along the two rails 21 and 22 through the rigid connecting rod 12. When the inspection robot body 1 moves, the limitation is realized through the walking limiting wheel set 13, and the inspection robot body 1 is prevented from swinging or shaking along the walking direction.
As shown in fig. 4, the walking limiting wheel sets 13 include four groups, which are respectively and uniformly distributed on two sides of the housing 11, and a sufficient distance is left between the two walking limiting wheel sets 13 on one side of the housing, so that on one hand, stable erection of the whole inspection robot is ensured, and meanwhile, swing limitation of the inspection robot body is also realized. The walking limiting wheel set 13 comprises a track grooved wheel 14 and a limiting cylindrical wheel 15 which are respectively arranged at the upper part and the lower part of the support tracks 21 and 22. The track grooved pulley 14 is erected on the supporting track, so that on one hand, the casing is erected and fixed, the bearing of the rigid connecting rod 12 between the casing 11 and the traction rope 3 is reduced, and meanwhile, the traction force of the traction rope 3 is also effectively reduced.
In the technical scheme, the minimum distance between the limiting cylindrical wheel and the two wheel surfaces of the track grooved wheel is matched with the diameter of the branch track. Realize patrolling and examining robot body 1 spacing in vertical direction through spacing cylinder wheel 15, avoid patrolling and examining robot body 1 and take place to beat the scheduling problem in patrolling and examining. The connecting angle block 23 and the support rails 21 and 22 are installed and placed between the limiting cylindrical wheel 15 and the rail grooved wheel 14, and interference between the connecting angle block 23 and the limiting cylindrical wheel 15 and the rail grooved wheel 14 is avoided.
As shown in fig. 4, the two sides of the housing 11 are also respectively provided with a swing limiting device 16. The swing limiting device 16 comprises a horizontal mounting plate 17 connected with the shell 11, a long round hole which is arranged on the horizontal mounting plate 17 and the axis of which is vertical to the branch rails 21 and 22, and a swing limiting wheel 18 which is arranged in the long round hole, wherein the axis of the swing limiting wheel 18 is vertical and the outer circumferential surface of the swing limiting wheel is in contact with the branch rails 21 and 22. The swing limiting wheel 18 is fixedly mounted with the horizontal mounting plate 17 through a shaft 19 connected with a bearing. This technical scheme's setting for two swing spacing wheels 18 supply the width of casing 11, avoid patrolling and examining the walking, and casing 11 swings between two tracks 21, 22, ensures to patrol and examine the stability of robot body 1.
Technical solution of the invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive method concept and technical solution, or to apply the inventive concept and technical solution to other occasions without modification.
Claims (8)
1. The utility model provides a realize incessant robot of patrolling and examining, patrols and examines the track and follows of patrolling and examining regional patrolling and examining the robot body that patrols and examines orbital motion, a serial communication port, it is connected with walking draw-off mechanism on the robot body to patrol and examine, walking draw-off mechanism include with patrol and examine robot body rigid connection's tractive line and drive the tractive line pulling the robot body is followed patrol and examine the drive arrangement of the reciprocal walking of track, drive arrangement includes the power and drives and realize by the power the drive assembly of tractive line.
2. The robot for realizing uninterrupted inspection according to claim 1, wherein the pulling rope is annular and comprises a first section which is parallel to the inspection track and has a consistent track and a second section which forms an annular shape with the first section and is connected with the driving device; and the second section bypasses at least two tensioning wheels, the tensioning wheels are respectively arranged at two ends of the first section, and the tensioning of the traction rope is completed.
3. The robot for realizing uninterrupted inspection according to claim 2, wherein the tensioning wheel is a grooved wheel provided with a limiting groove on the outer circumferential surface, and the radius of the limiting groove is matched with that of the pulling rope.
4. A robot for realizing uninterrupted inspection according to claim 2, wherein the driving assembly comprises a driving wheel set arranged at one end or two ends of the first section, the driving wheel set comprises a driving wheel and a driven wheel which are arranged in parallel, the minimum distance between the wheel surfaces of the driving wheel and the driven wheel is adapted to the diameter of the pulling rope, and the pulling rope passes through the space between the driving wheel and the driven wheel; the driving wheel is driven by the motor to rotate and drives the traction rope to move between the driving wheel and the driven wheel together with the driven wheel, and the inspection robot body rigidly connected with the traction rope is pulled.
5. The robot for realizing uninterrupted inspection according to claim 1, wherein the power supply supplies power to a motor driving the driving wheel to rotate, and the power supply is a commercial power or a generator set.
6. The robot that incessantly patrols and examines of realization according to claim 1, characterized in that, it includes the rigid branch track of two parallels to patrol and examine the track, a track cross-section is personally submitted circularly, two it is provided with the connection hornblock that is the L type respectively equally divide on the lateral surface that a track kept away from each other, two be connected with one between the connection hornblock and be the mounting bracket of U type, the mounting bracket erects it is in to patrol and examine track upper portion.
7. The robot for realizing uninterrupted inspection according to claim 1, wherein the inspection robot body comprises a shell arranged between two rails, walking limit wheel sets arranged on two sides of the shell and arranged on the two rails, a rigid connecting rod fixed at the top of the shell and fixed with the traction rope, and a monitoring component arranged at the bottom of the shell and facing a monitoring area;
the walking limiting wheel sets comprise four groups which are respectively and uniformly distributed on two sides of the shell, each walking limiting wheel set comprises a track grooved wheel and a limiting cylindrical wheel which are respectively arranged on the upper part and the lower part of the branch track, and the minimum distance between the limiting cylindrical wheels and two wheel surfaces of the track grooved wheels is matched with the diameter of the branch track; the connecting angle block and the supporting track are arranged between the limiting cylindrical wheel and the track grooved wheel.
8. The robot that realizes incessantly patrolling and examining of claim 7, characterized in that, the casing both sides still are provided with swing stop device respectively, swing stop device includes the horizontal mounting board of being connected with the casing, sets up horizontal mounting board is last and axis and branch track vertically slotted hole and setting are in spacing round of swing in the slotted hole, the vertical and outer periphery of spacing round axis of swing and branch track contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111414791.9A CN113977608A (en) | 2021-11-25 | 2021-11-25 | Robot for realizing uninterrupted inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111414791.9A CN113977608A (en) | 2021-11-25 | 2021-11-25 | Robot for realizing uninterrupted inspection |
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| Publication Number | Publication Date |
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| CN113977608A true CN113977608A (en) | 2022-01-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111414791.9A Pending CN113977608A (en) | 2021-11-25 | 2021-11-25 | Robot for realizing uninterrupted inspection |
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| CN (1) | CN113977608A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114935093A (en) * | 2022-06-02 | 2022-08-23 | 安徽旭辰达电子科技有限公司 | Take raising and lowering functions's broadcast level track to shoot robot |
| CN115076582A (en) * | 2022-07-04 | 2022-09-20 | 安徽旭辰达电子科技有限公司 | Automatic cable traction device of track shooting robot suitable for straight rails and curved rails |
| CN115674148A (en) * | 2022-11-11 | 2023-02-03 | 中国长江电力股份有限公司 | Climbing auxiliary device and method for realizing automatic butt joint of gallery inspection robot based on automatic locking mechanism |
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| CN219114052U (en) * | 2021-11-25 | 2023-06-02 | 合肥小步智能科技有限公司 | Stable high-speed track inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114935093A (en) * | 2022-06-02 | 2022-08-23 | 安徽旭辰达电子科技有限公司 | Take raising and lowering functions's broadcast level track to shoot robot |
| CN115076582A (en) * | 2022-07-04 | 2022-09-20 | 安徽旭辰达电子科技有限公司 | Automatic cable traction device of track shooting robot suitable for straight rails and curved rails |
| CN115076582B (en) * | 2022-07-04 | 2023-11-14 | 安徽旭辰达电子科技有限公司 | Automatic cable traction device of track shooting robot suitable for straight track and curved track |
| CN115674148A (en) * | 2022-11-11 | 2023-02-03 | 中国长江电力股份有限公司 | Climbing auxiliary device and method for realizing automatic butt joint of gallery inspection robot based on automatic locking mechanism |
| CN115674148B (en) * | 2022-11-11 | 2024-05-10 | 中国长江电力股份有限公司 | Climbing auxiliary device and method for realizing automatic butt joint of corridor inspection robot based on automatic locking mechanism |
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