CN201415716Y - Robot walking device capable of surmounting lead obstacles - Google Patents

Robot walking device capable of surmounting lead obstacles Download PDF

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Publication number
CN201415716Y
CN201415716Y CN2009201089322U CN200920108932U CN201415716Y CN 201415716 Y CN201415716 Y CN 201415716Y CN 2009201089322 U CN2009201089322 U CN 2009201089322U CN 200920108932 U CN200920108932 U CN 200920108932U CN 201415716 Y CN201415716 Y CN 201415716Y
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CN
China
Prior art keywords
arm
road wheel
lead
contact roller
drop
Prior art date
Application number
CN2009201089322U
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Chinese (zh)
Inventor
陈志高
李翔
李红旗
解玉文
Original Assignee
中国电力科学研究院
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Publication date
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Priority to CN2009201089322U priority Critical patent/CN201415716Y/en
Application granted granted Critical
Publication of CN201415716Y publication Critical patent/CN201415716Y/en

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Abstract

The utility model relates to a robot walking device capable of surmounting lead obstacles. The device adopts a double-arm-three-joint wheeled structure and comprises a body and a mechanical arm connected with the body; a power supply and a reduction gearbox motor for driving a hinged arm into motion are arranged in the body; the mechanical arm comprises a hinged arm, a travelling wheel arm and a pressing wheel arm; the two ends of the hinged arm are movably connected with a driving shaft of the reduction gearbox motor in the body and one end of the travelling wheel arm respectively; the otherend of the travelling wheel arm is movably connected with a travelling wheel sliding along a lead; and a pressing wheel arm provided with a pressing wheel is movably connected at the middle part of the travelling wheel arm. The device can surmount typical lead obstacles, such as dampers, crimping pipes, conductor spacers, suspension wire clamps and the like and can serve as the walking device fora high-voltage transmission line inspection robot and a lead deicing robot; and the device has the advantages of simple structure, convenient control, lower requirement of control precision, and higher speed of walking and obstacle surmounting.

Description

A kind of lead obstacle-crossing robot walking device
Technical field
The utility model relates to the line walking and the protection field of high voltage transmission line, but especially in regard to a kind of single conductor and multiple fission conductor obstacle crossing type robot walking device.
Background technology
In order to ensure the normal operation of electric power circuit, need carry out periodical maintenance to transmission line of electricity.Patrol and examine and not only understand the operation conditions of grasping circuit, also can in time find the variation of the defective and the ambient environment situation of circuit and equipment, safeguard for maintenance of track and give information.It at present mainly is the mode that adopts the artificial visually examine to check, but China's transmission line of electricity mileage is long, wide coverage, some circuit is also crossed over mountain area, great river, meadow and virgin forest etc., and this just makes, and to patrol and examine labor intensity big and be difficult to guarantee that cyclic in-position measuring rate and influence patrol and examine quality.In order to remedy the deficiency of manual inspection on these circuits, come the indirect labor to patrol and examine with regard to pressing for the inspection robot of using based on Robotics.This has not only guaranteed to patrol and examine efficient, patrol and examine quality, has also reduced routing inspection cost.
, wide coverage long at China's transmission line of electricity mileage, circuit need be through areas such as high mountain great river virgin forests greatly, actual conditions that the manual inspection difficulty is big or the like, also along with the continuous progress of Robotics, adopt inspection robot based on Robotics to come the indirect labor to patrol and examine and progressively replace manual inspection to become trend of the times.This improves and patrols and examines operating personnel's labor condition for improving power department automated job degree, improves and patrols and examines level of operation, and improve and patrol and examine operation quality and all have great importance, and the good operation that guarantees China's transmission line of electricity is had positive effect.
The utility model content
For overcoming defective of the prior art, the purpose of this utility model is to provide a kind of and possesses fast when robot is walked on lead, the lead obstacle-crossing robot walking device of stable clear the jumps (for example stockbridge damper, aluminium hydraulic pressed connecting pipe or catenary).
For this reason, the utility model proposes a kind of lead obstacle-crossing robot walking device, this device comprises body and the mechanical arm that is connected with body, described body interior is provided with power supply and is used to drive the drop-gear box motor of joint arm motion, described mechanical arm is by joint arm, road wheel arm and contact roller arm are formed, the two ends of described joint arm respectively with body in an end of the axle drive shaft of drop-gear box motor and road wheel arm flexibly connect, the other end of road wheel arm flexibly connects a road wheel along the lead slip, and the middle part flexible connection one of described road wheel arm has the contact roller arm of contact roller.
Wherein, be evenly equipped with two or three mechanical arms at body along a side of lead direction.
Wherein, the lower end of described joint arm is connected with the axle drive shaft of intrinsic drop-gear box motor, its upper end is connected with the lower end of the road wheel arm axle drive shaft by the drop-gear box motor, the upper end of described road wheel arm is connected with the axle drive shaft of road wheel by the drop-gear box motor, the middle part of road wheel arm is connected with the axle drive shaft of contact roller arm by the drop-gear box motor, and the end of contact roller arm connects one and is used for sliding and compressing the contact roller of lead along lead.
Wherein, promptly be provided with the plastic layer that is used to increase friction force on the outer race of described road wheel with the contact surface of lead.
Wherein, be the integral structure that hollow circular cylinder, cylindrical two open ends respectively connect a hemisphere in the middle of being shaped as of described body, the shape of cross section of described road wheel arm and contact roller arm is circle, and the shape of described joint arm is L-shaped.
Wherein, the power supply of described body interior adopts storage battery, electrical generator or high pressure to take out the energy device.
Wherein, described body interior is provided with a control unit that is used to control power supply and all drop-gear box motors.
Wherein, described body interior bottom is provided with the device fixed mount, and described control unit is embedded on the circuit card, and circuit card and device fixed mount are connected, described power supply be positioned at circuit card under and be connected with the device fixed mount.
Wherein, described body interior is equipped with and is used to judge the sensor that arrives obstacle and leave obstacle.
Wherein, described body interior is equipped with picture pick-up device, video transmission equipment or deicing equipment.
The beneficial effects of the utility model are: 1) complete machine structure is arc modeling, can carry out operation under the charged situation of lead; 2) speed of travel in the time of can guaranteeing work is walked in wheel arm convolution design with wheel during clear; 3) contact surface of road wheel and lead is provided with the plastic layer that adopts plastic material to make, but actv. improves the friction force of lead and wheel, the raising single-piece angle of creeping; 4) the obstacle detouring wide adaptability of robot, but actv. is dodged the obstacle on most specification leads, back and forth walking in a strain section; 5) body all adopts the aluminum alloy thin shell structure, and overall weight is light; 6) motor adopts storage battery power supply or takes out and can power by device, and a plurality of strain sections of can walking once charge; 7) maximum ramp angle is bigger, is not less than 30 °; 8) speed of travel is fast, and the speed of travel is not less than 15m/min during non-obstacle detouring.
Description of drawings
Fig. 1 is the integral structure scheme drawing of the utility model running gear, the i.e. axonometric drawing of running gear;
Fig. 2 is the front view of device shown in Figure 1;
Fig. 3 is the left view of device shown in Figure 1;
Fig. 4 is the A-A section-drawing of device shown in Figure 2;
Fig. 5 is the structural representation after joint arm extends out from body, i.e. B portion enlarged drawing among Fig. 2;
Fig. 6 beats scheme drawing for the vibrationproof in the representative type obstacle;
Fig. 7 is the spacer bar scheme drawing in the representative type obstacle;
Fig. 8 is the suspension clamp scheme drawing in the representative type obstacle;
Fig. 9 is the scheme drawing of device of the present utility model during near obstacle;
Figure 10 reverses the scheme drawing that moves downward for contact roller before the device of the present utility model is driven by the contact roller arm;
Figure 11 reverses the schematic perspective view that moves downward for contact roller before the device of the present utility model is driven by the contact roller arm;
Figure 12 is device posterior joint arm rotation of the present utility model, the scheme drawing that body upwards lifts;
Figure 13 rotates the scheme drawing that front walking wheel puts down to the inside for joint arm before the device of the present utility model;
Figure 14 rotates the schematic perspective view that front walking wheel puts down to the inside for joint arm before the device of the present utility model;
Figure 15 is a near scheme drawing before the device rear walking wheel drive machines people integral body of the present utility model;
Figure 16 resets for device front walking wheel of the present utility model, the scheme drawing that contact roller resets;
Figure 17 is a joint arm right-hand revolution before the device of the present utility model, and lift the body rear end, puts down the scheme drawing of back contact roller;
Figure 18 puts down the scheme drawing of rear walking wheel for device of the present utility model;
The scheme drawing that Figure 19 moves ahead for device front walking wheel drive machines people of the present utility model;
Figure 20 resets for device rear walking wheel of the present utility model, and contact roller resets, and finishes the scheme drawing of obstacle detouring;
Figure 21 is the obstacle detouring process flow diagram flow chart of device of the present utility model;
Figure 22 is the system principle scheme drawing of the utility model device;
Wherein, 1-body, 2-power supply, 3-drop-gear box motor, 3a-axle drive shaft, 4-joint arm, 5-road wheel arm, 6-contact roller arm, 7-road wheel, 8-contact roller, 9-lead, 10-plastic layer, 11-control unit, 12-device fixed mount, 13-circuit card.
The specific embodiment
Below in conjunction with accompanying drawing lead obstacle-crossing robot walking device of the present utility model is further elaborated.
As Figure 1-3, running gear described in the utility model comprises two mechanical arms (being anterior mechanical arm and rear portion mechanical arm) and body 1, the structure of described two mechanical arms is all identical with connection mode, all comprise a L shaped joint arm 4, an one road wheel arm 5 and a contact roller arm 6, the shape of cross section of described road wheel arm and contact roller arm is circle, the lower end of described joint arm 4 is connected with the axle drive shaft 3a that places intrinsic drop-gear box motor 3, the lower end of the upper end of joint arm and road wheel arm 5 is connected by the axle drive shaft 3a of drop-gear box motor 3, the upper end of described road wheel arm 5 is connected with the axle drive shaft 3a of road wheel 7 by drop-gear box motor 3, one end of the middle part of road wheel arm 5 and contact roller arm 6 is connected by the axle drive shaft 3a of drop-gear box motor 3, and the other end of contact roller arm 6 connects one and is used for sliding and compressing the contact roller 8 of lead along lead 9.The centre of described body is hollow circular cylinder, cylindrical opening two ends respectively connect a hemisphere, as shown in Figure 4, the body internal upper part is equipped with a drop-gear box motor 3, axle drive shaft 3a by the drop-gear box motor is connected with the lower end of the joint arm that extends out from body, and a device fixed mount 12 is equipped with in the bottom of body, and a storage battery 2 is installed in its underpart, be provided with directly over the storage battery one with device fixed mount 12 bonded assembly circuit cards 13, control unit 11 is embedded on the circuit card.For the friction force that increases 1 in road wheel 7 and lead, guarantee that road wheel is non-off-line, improve the single-piece angle of creeping, be that road wheel and lead position contacting are provided with plastic layer 10 at the race place of road wheel, this plastic layer can adopt high-abrasive material to make.
All finish between described joint arm and the road wheel arm, between road wheel arm and the contact roller arm and between road wheel arm and the road wheel and be connected by the axle drive shaft of drop-gear box motor.Described body 1 is all parallel with lead 9 with contact roller arm 6, road wheel arm 5 is vertical with lead 9, annexation between joint arm and the road wheel arm as shown in Figure 5, drop-gear box motor 3 is fixedly connected on the joint arm 4 by its axle drive shaft 3a, road wheel arm 5 is connected with the axle drive shaft 3a of drop-gear box motor 3.The axis of this drop-gear box motor 3 is parallel with lead 9, and the rotation by drop-gear box motor 3 can make wherein road wheel arm 5 in the mechanical arm, coupled road wheel 7 and rotatablely move by contact roller arm 6 coupled contact rollers 8, thereby away from obstacle.
As Fig. 6, Fig. 7, shown in Figure 8, be respectively the scheme drawing of stockbridge damper, spacer bar and catenary in the representative type obstacle.
On the working direction shown in the accompanying drawing 10-20, the position is preceding mechanical arm the preceding, the position after be the back mechanical arm.Be the obstacle detouring process of example explanation the utility model device with the stockbridge damper of crossing on the lead below, device of the present utility model hangs on the solid conductor by road wheel on two mechanical arms and contact roller, then hang on for multiple fission conductor on the lower sub lead of split conductor: 1) as shown in Figure 9, by judging the arrival obstacle near switch or contact pickup, robot halts; 2) as shown in Figure 10 and Figure 11, the contact roller in the wherein preceding mechanical arm is driven by the contact roller arm and reverses downwards; 3) as shown in figure 12, the rotation of joint arm anticlockwise direction in the back mechanical arm, the front end of robot body upwards lifts (because road wheel has groove, need road wheel to lift certain altitude and just can unclamp lead and put down), the road wheel off-line of preceding mechanical arm; 4) shown in Figure 13,14, the joint arm of preceding mechanical arm rotates to the inside, the road wheel of mechanical arm before putting down; 5) as shown in figure 15, near before the traction drive robot integral body of back mechanical arm, stop when the road wheel of mechanical arm was near obstacle after sensor was judged; 6) as shown in figure 16, the road wheel of preceding mechanical arm resets, and the contact roller of preceding mechanical arm resets; 7) as shown in figure 17, the joint arm right-hand revolution of preceding mechanical arm, upwards lift the rear end of body, puts down the contact roller of back mechanical arm; 8) put down as shown in figure 18, the road wheel of back mechanical arm; 9) as shown in figure 19, the traction drive robot of preceding mechanical arm moves ahead, and sensor stops after judging complete clear an obstacle; 10) as shown in figure 20, the road wheel of back mechanical arm resets, and the contact roller of back mechanical arm resets, and finishes obstacle detouring.
Figure 21 is the obstacle detouring process flow diagram flow chart of device of the present utility model, Figure 22 is the system principle scheme drawing of the utility model device, running gear of the present utility model is by control unit control drop-gear box motor and power supply, drop-gear box motor-driven lead crawling device, robot takes out the energy device by high pressure or electrical generator provides power supply, and be stored in the storage battery, electrical generator or storage battery both can be switched adjustment as required to this device power supply.Control unit is responsible for communication and task and is decomposed, the action of control motor, and the drive machines people finishes exercises, described control unit can adopt CPU prior aries such as (central process units).
In addition, can be used for judging arriving obstacle and leaving obstacle according to need on the device link span in the body 1, installing near switch or contact pickup; Or picture pick-up device and video transmission equipment are installed on the device link span in described body 1, just the running gear of device of the present utility model as inspection robot can be used; Or existing various deicing mechanism is set on the device joint angle in described body 1 just device of the present utility model can be used as the running gear of deicing robot.
Should be noted that at last: above embodiment only is not intended to limit in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to the foregoing description, those of ordinary skill in the field are to be understood that: still can make amendment or be equal to replacement the specific embodiment of the present utility model, and do not break away from any modification of the utility model spirit and scope or be equal to replacement, it all should be encompassed in the middle of the claim scope of the present utility model.

Claims (10)

1, a kind of lead obstacle-crossing robot walking device, it is characterized in that: this device comprises body (1) and the mechanical arm that is connected with body, described body interior is provided with power supply (2) and is used to drive the drop-gear box motor (3) of joint arm motion, described mechanical arm is by joint arm (4), road wheel arm (5) and contact roller arm (6) constitute, the two ends of described joint arm (4) respectively with body in an end of the axle drive shaft (3a) of drop-gear box motor (3) and road wheel arm (5) flexibly connect, the other end of road wheel arm (5) flexibly connects a road wheel (7) along lead (9) slip, and the middle part flexible connection one of described road wheel arm (5) has the contact roller arm (6) of contact roller (8).
2, running gear as claimed in claim 1 is characterized in that: be evenly equipped with two or three mechanical arms at body (1) along a side of lead (9) direction.
3, running gear as claimed in claim 1 or 2, it is characterized in that: the lower end of described joint arm (4) is connected with the axle drive shaft (3a) of intrinsic drop-gear box motor (3), its upper end is connected with the lower end of road wheel arm (5) axle drive shaft (3a) by drop-gear box motor (3), the upper end of described road wheel arm (5) is connected with the axle drive shaft (3a) of road wheel (7) by drop-gear box motor (3), the middle part of road wheel arm (5) is connected with the axle drive shaft (3a) of contact roller arm (6) by drop-gear box motor (3), and the end of contact roller arm (6) connects one and is used for sliding and compressing the contact roller (8) of lead along lead (9).
4, running gear as claimed in claim 1 or 2 is characterized in that: promptly be provided with the plastic layer (10) that is used to increase friction force with the contact surface of lead on the outer race of described road wheel (7).
5, running gear as claimed in claim 1 or 2, it is characterized in that: be the integral structure that hollow circular cylinder, cylindrical two open ends respectively connect a hemisphere in the middle of being shaped as of described body (1), the shape of cross section of described road wheel arm (5) and contact roller arm (6) is circle, and the shape of described joint arm (4) is L-shaped.
6, running gear as claimed in claim 1 or 2 is characterized in that: described body (1) in-to-in power supply (2) adopts storage battery, electrical generator or high pressure to take out can device.
7, running gear as claimed in claim 1 or 2 is characterized in that: described body (1) inside is provided with a control unit (11) that is used to control power supply and all drop-gear box motors.
8, running gear as claimed in claim 7 is characterized in that: described body (1) inner bottom is provided with device fixed mount (12), described control unit (11) all is connected with the device fixed mount with power supply (2) and power supply (2) be positioned at control unit under.
9, running gear as claimed in claim 1 or 2 is characterized in that: described body (1) inside is equipped with and is used to judge the sensor that arrives obstacle and leave obstacle.
10, running gear as claimed in claim 1 or 2 is characterized in that: described body (1) inside is equipped with picture pick-up device, video transmission equipment or deicing equipment.
CN2009201089322U 2009-06-12 2009-06-12 Robot walking device capable of surmounting lead obstacles CN201415716Y (en)

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Application Number Priority Date Filing Date Title
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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102136696A (en) * 2010-12-30 2011-07-27 中国电力科学研究院 Transmission line patrolling or deicing robot
CN102231490A (en) * 2011-04-02 2011-11-02 武汉奋进科技有限公司 Manned traveling locomotive for high-voltage transmission line
CN102801117A (en) * 2012-08-24 2012-11-28 冀北电力有限公司秦皇岛电力公司 Insulated endless rope migration barrier crossing device
CN103036176A (en) * 2012-12-06 2013-04-10 河南省电力公司洛阳供电公司 Overhaul and flaw detection device of electric transmission line
CN103036175A (en) * 2012-12-06 2013-04-10 河南省电力公司洛阳供电公司 Charged wire walking device
CN103066525A (en) * 2012-12-07 2013-04-24 河南省电力公司洛阳供电公司 Rapid removal device of underslung foreign matters on an electric transmission line
CN103259216A (en) * 2013-03-15 2013-08-21 武汉大学 Reconfigurable robot used for overhead transmission cables
CN103390870A (en) * 2013-07-25 2013-11-13 国家电网公司 Intelligent line patrol vehicle for overhead transmission line
CN103895015A (en) * 2014-03-24 2014-07-02 上海大学 Split type automatic obstacle crossing inspection robot
CN104875179A (en) * 2015-05-29 2015-09-02 南京理工大学 Power system segmented automatic inspection robot
CN105000078A (en) * 2015-08-05 2015-10-28 湖北工业大学 Obstacle avoiding mechanism of high-tension line patrolling robot
CN106451223A (en) * 2016-12-07 2017-02-22 东北大学 Wheel-clamping compound mechanism for power transmission line polling robot
CN108471081A (en) * 2018-03-26 2018-08-31 深圳市喜悦智慧实验室有限公司 A kind of high-voltage line crusing robot
CN109066556A (en) * 2018-08-03 2018-12-21 榆林学院 A kind of suspension walking structure on icing electric wire
CN109533367A (en) * 2018-11-19 2019-03-29 西安交通大学 Skid and the unmanned plane of the device is installed additional on a kind of high voltage transmission line line
CN110000816A (en) * 2019-04-16 2019-07-12 中科开创(广州)智能科技发展有限公司 A kind of inspection robot New-type charge method

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102136696B (en) * 2010-12-30 2015-09-23 中国电力科学研究院 A kind of polling transmission line or deicing robot
CN102136696A (en) * 2010-12-30 2011-07-27 中国电力科学研究院 Transmission line patrolling or deicing robot
CN102231490A (en) * 2011-04-02 2011-11-02 武汉奋进科技有限公司 Manned traveling locomotive for high-voltage transmission line
CN102231490B (en) * 2011-04-02 2014-06-25 武汉奋进科技有限公司 Manned traveling locomotive for high-voltage transmission line
CN102801117B (en) * 2012-08-24 2015-09-09 冀北电力有限公司秦皇岛电力公司 Insulation circulation rope migration obstacle aerial spanning device
CN102801117A (en) * 2012-08-24 2012-11-28 冀北电力有限公司秦皇岛电力公司 Insulated endless rope migration barrier crossing device
CN103036176A (en) * 2012-12-06 2013-04-10 河南省电力公司洛阳供电公司 Overhaul and flaw detection device of electric transmission line
CN103036175A (en) * 2012-12-06 2013-04-10 河南省电力公司洛阳供电公司 Charged wire walking device
CN103036176B (en) * 2012-12-06 2016-12-21 国网河南省电力公司洛阳供电公司 A kind of power transmission lines overhauling failure detector
CN103036175B (en) * 2012-12-06 2016-09-28 国网河南省电力公司洛阳供电公司 A kind of live wire running gear
CN103066525B (en) * 2012-12-07 2016-09-14 国网河南省电力公司洛阳供电公司 A kind of transmission line of electricity hangs the quick device for excising of foreign body
CN103066525A (en) * 2012-12-07 2013-04-24 河南省电力公司洛阳供电公司 Rapid removal device of underslung foreign matters on an electric transmission line
CN103259216B (en) * 2013-03-15 2016-02-10 武汉大学 A kind of reconstruction robot for overhead transmission cables
CN103259216A (en) * 2013-03-15 2013-08-21 武汉大学 Reconfigurable robot used for overhead transmission cables
CN103390870A (en) * 2013-07-25 2013-11-13 国家电网公司 Intelligent line patrol vehicle for overhead transmission line
CN103895015A (en) * 2014-03-24 2014-07-02 上海大学 Split type automatic obstacle crossing inspection robot
CN103895015B (en) * 2014-03-24 2016-03-30 上海大学 A kind of split type active obstacle travelling robot
CN104875179A (en) * 2015-05-29 2015-09-02 南京理工大学 Power system segmented automatic inspection robot
CN105000078B (en) * 2015-08-05 2017-04-26 武汉和越装备技术有限公司 Obstacle avoiding mechanism of high-tension line patrolling robot
CN105000078A (en) * 2015-08-05 2015-10-28 湖北工业大学 Obstacle avoiding mechanism of high-tension line patrolling robot
CN106451223A (en) * 2016-12-07 2017-02-22 东北大学 Wheel-clamping compound mechanism for power transmission line polling robot
CN106451223B (en) * 2016-12-07 2018-02-16 东北大学 A kind of transmission line polling robot wheel presss from both sides composite structure
CN108471081A (en) * 2018-03-26 2018-08-31 深圳市喜悦智慧实验室有限公司 A kind of high-voltage line crusing robot
CN109066556A (en) * 2018-08-03 2018-12-21 榆林学院 A kind of suspension walking structure on icing electric wire
CN109533367A (en) * 2018-11-19 2019-03-29 西安交通大学 Skid and the unmanned plane of the device is installed additional on a kind of high voltage transmission line line
CN110000816A (en) * 2019-04-16 2019-07-12 中科开创(广州)智能科技发展有限公司 A kind of inspection robot New-type charge method
CN110000816B (en) * 2019-04-16 2020-12-29 中科开创(广州)智能科技发展有限公司 Novel charging method for inspection robot

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