CN202137762U - Wheel-pawl combined mechanism of robot walking on high voltage wire - Google Patents
Wheel-pawl combined mechanism of robot walking on high voltage wire Download PDFInfo
- Publication number
- CN202137762U CN202137762U CN201120212663U CN201120212663U CN202137762U CN 202137762 U CN202137762 U CN 202137762U CN 201120212663 U CN201120212663 U CN 201120212663U CN 201120212663 U CN201120212663 U CN 201120212663U CN 202137762 U CN202137762 U CN 202137762U
- Authority
- CN
- China
- Prior art keywords
- pawl
- wheel
- voltage line
- robot
- mechanism according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Abstract
The utility model relates to the wheel-pawl combined mechanism of a robot walking on a high voltage wire, which is characterized by comprising a wheel type walking mechanism used for walking on a high voltage wire, and pawl type clamping mechanisms used for clamping the high voltage wire and providing a positive pressure. The wheel type walking mechanism and the pawl type clamping mechanisms are arranged on the framework of a robot. The pawl type clamping mechanisms are used in pairs. According to the utility model, the principle of an under-driving mechanism is adopted by the wheel-pawl combined mechanism and the two movement modes of rotation and movement are realized through the clamping mechanisms driven by a single motor. Meanwhile, a self-locking mechanism is adopted so as to realize the automatic locking of the clamping mechanisms after the closure of the clamping mechanisms, so that the energy consumption is reduced. The wheel-pawl combined mechanism is compact and novel in structure, high in clamping efficiency and wide in application range.
Description
Technical field
The utility model relates to a kind of high-voltage line walking robot, especially relates to a kind of motion of realizing robot ambulation and holding function on the high voltage transmission line that works in, and belongs to the Robotics field.
Background technology
The maintenance of high-voltage fence hardware device is dangerous high very important work; Like the removal of patrolling and examining maintenance, freezing disaster ice and snow attachment when taking place of ultra-high-tension power transmission line etc. (referring to document: G. Andersson et al.; " Causes of the 2003 major grid blackouts in North America and Europe; and recommended means to improve system dynamic performance "
IEEE Trans. Power Systems, vol. 20, and is. 4, and Nov. 2005, pp.1922-1928.).These work are at present mainly accomplished by manual work; It will be the inexorable trend of future development that robot replaces manual work, when robot walks along the heavy grade ultra-high-tension power transmission line, be prone to take place skidding between road wheel and power transmission line; Therefore need to increase frictional force and realize that effective driving to robot is (referring to document: Montambault; S. and Pouliot, N. 2007, " Design and Validation of a Mobile Robot for Power Line Inspection and Maintenance); the document shows that existing mechanism big energy-consuming, efficient are low; climbing capacity and obstacle climbing ability are limited on the line, and the safeguard protection performance is poor, in being difficult to be applied to the tour of actual transmission line of electricity and safeguarding.
Summary of the invention
Be to solve the deficiency of prior art, the purpose of the utility model is to provide a kind of simple in structure, in light weight, climbing walking and obstacle detouring powerful, and the good high-voltage line walking robot wheel-claw compound mechanism of security protection.
For achieving the above object, the utility model is to realize through following technical scheme:
A kind of high-voltage line walking robot wheel-claw compound mechanism; It is characterized in that; Comprise the wheel type traveling mechanism that is used on high-voltage line, walking and be used for the clamping high-voltage line and the pawl formula clamping device of normal pressure is provided; Wheel type traveling mechanism and pawl formula clamping device all are arranged on the robot frame, and described pawl formula clamping device uses in pairs.
Above-mentioned wheel type traveling mechanism comprises travel driving motor and road wheel; Wherein, travel driving motor is arranged on the robot frame outside, and road wheel is arranged in the robot frame; And road wheel is connected with travel driving motor through wheel shaft; In addition, road wheel adopts aluminium alloy wheel hub, and is crimped with natural rubber in the race.
Above-mentioned pawl formula clamping device comprises clamping drive motors, worm couple, leading screw screw pair, riser and gripper jaw; Wherein, The clamping drive motors is fixed on the robot frame outside, and its output shaft is connected with worm screw in the worm couple, is arranged on the leading screw top in the leading screw screw pair with the worm gear of worm engaging; The screw that is connected with leading screw then is arranged on the riser; Riser is sleeved on the guide rail that laterally arranges with leading screw, and guide rail is provided with two, and an end of gripper jaw is fixed on the riser.
In addition, above-mentioned gripper jaw comprises in pawl point, the pawl and pawl is followed, and the end that its median claw is followed is fixed on the riser; The other end is connected through in rotating shaft and the pawl, and the rotating shaft place also is provided with torsion spring, the torsion spring and the rotating shaft coaxle heart; And the two ends stress point of torsion spring be separately fixed at pawl with pawl on, then intersecting vertically through rotating shaft with the pawl point in the pawl is connected, and can rotate around rotating shaft in the described pawl; And can be with pawl with under the drive of riser, moving up and down, in above-mentioned pawl point, the pawl and pawl with being two groups respectively, and be oppositely arranged; In addition, on robot frame, also be provided with gear shaft, outer surface forms that free-standing is tangent to be contacted in described gear shaft outer rim and the pawl; And on gear shaft, also being provided with rolling bearing, outer surface is tangent in the outer rim of described rolling bearing and the above-mentioned pawl contacts.
The material of above-mentioned pawl point is nonmetallic materials ABS or bakelite, and the pawl point can rotate freely.
The beneficial effect of the utility model is:
1, driving force is strong: the wheel-claw compound mechanism that the utility model adopts is convenient to robot and on high-voltage line, is walked and obstacle detouring; When the high-voltage line gradient bigger; The robot ambulation wheel is walked when skidding on power transmission line; Pawl formula clamping device can increase the frictional force between road wheel and the power transmission line, solves the problem of skidding, and has improved the driving force of robot effectively.
2, compact conformation: the utility model uses a motor, through frame for movement cleverly, has realized the clamping device folding and has promoted two actions, thereby alleviated the weight of total, has reduced the control difficulty of system, has improved the control system reliability.
3, clamping efficient is high: the pawl formula clamping device in the utility model, through the principle of owing to drive with the folding of clamping device with promote action and separate the energy conversion efficiency height.
4, applied range: the utility model can be widely used in that high-voltage line is patrolled and examined and robot moving mechanism such as high-voltage line ice and snow attachment removal.
Description of drawings
Fig. 1 is the high-voltage line walking robot tire composite construction front view of the utility model;
Fig. 2 is the closed sketch map of the described pawl formula of the utility model clamping device;
Fig. 3 is that the described pawl formula of the utility model clamping device clamps sketch map;
Fig. 4 is the application sketch map of the utility model one embodiment.
The main mark implication is following in the accompanying drawing:
1, road wheel 2, travel driving motor 3, clamping drive motors 4, worm screw
5, worm gear 6, leading screw 7, guide rail 8, screw
9, riser 10, pawl with 11, gear shaft 12, rotating shaft
13, in the pawl 14, pawl point.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the utility model is done concrete introduction.
Fig. 1 is the high-voltage line walking robot tire composite construction front view of the utility model; Fig. 2 is the closed sketch map of the described pawl formula of the utility model clamping device; Fig. 3 is that the described pawl formula of the utility model clamping device clamps sketch map; Fig. 4 is the application sketch map of the utility model one embodiment.
Like Fig. 1-shown in Figure 4: a kind of high-voltage line walking robot wheel-claw compound mechanism; Comprise the wheel type traveling mechanism that is used on high-voltage line, walking and be used for the clamping high-voltage line and the pawl formula clamping device of normal pressure is provided; Wheel type traveling mechanism and pawl formula clamping device all are arranged on the robot frame, and described pawl formula clamping device uses in pairs.
Above-mentioned wheel type traveling mechanism comprises travel driving motor 2 and road wheel 1, and wherein, travel driving motor 2 is arranged on the robot frame outside; Road wheel 1 is arranged in the robot frame; And road wheel 1 is connected with travel driving motor 2 through wheel shaft, and in addition, the described road wheel 1 of the utility model adopts aluminium alloy wheel hub; And in race, be crimped with natural rubber, thereby reduce the damage of 2 pairs of high-voltage lines of road wheel.
Above-mentioned pawl formula clamping device comprises clamping drive motors 3, worm couple, leading screw screw pair, riser 9 and gripper jaw, and wherein, clamping drive motors 3 is fixed on the robot frame outside; Its output shaft is connected with worm screw 4 in the worm couple; Be arranged on leading screw 6 tops in the leading screw screw pair with the worm gear 5 of worm screw 4 engagements, 8 of screws that are connected with leading screw 6 are arranged on the riser 9, and riser 9 is sleeved on the guide rail 7 that laterally arranges with leading screw 6; In this embodiment; Guide rail 7 is provided with two, but the utility model is not limited in and is provided with 2 parallel smooth guide rails 7, and the quantity of concrete guide rail 7 can be set according to the actual robot structure; In addition, an end of above-mentioned gripper jaw is fixed on the riser 9.
The utility model still keeps clamped condition in order to realize pawl formula clamping device after the motor outage; It utilizes worm couple to realize the auto-lock function of pawl formula clamping device; Rotatablely moving with leading screw screw adjutant transfers rectilinear motion to, has realized the lifting and the decline function of clamping device.
In the present embodiment, above-mentioned gripper jaw comprise in pawl point 14, the pawl 13 and pawl with 10, its median claw is fixed on the riser 9 with an end of 10; The other end is through 13 being connected in rotating shaft 12 and the pawl, and rotating shaft 12 places also are provided with torsion spring, the two ends stress point of torsion spring be separately fixed at pawl follow 10 and pawl on 13; Torsion spring and rotating shaft 12 concentrics make in the pawl that 13 can be around rotating shaft 12 passive rotations, and can move up and down under the drive of riser 9 with 10 with pawl; 13 drop to its outer rim and gear shaft 11 with riser 9 and break away from pawl; When no longer receiving gear shaft 11 restrictions, 13 rotate around rotating shaft 12 under the torsion spring active force in the pawl, realize the opening action of clamping device; 13 then intersect vertically through rotating shaft with pawl point 14 and to be connected in the above-mentioned pawl; Pawl point 14 can rotate freely, in above-mentioned pawl point 14, the pawl 13 and pawl respectively be two with 10, and be oppositely arranged.
In addition, on robot frame, also be provided with gear shaft 11,13 outer surfaces form that free-standing is tangent to be contacted in described gear shaft 11 outer rims and the pawl; On gear shaft 11, also be provided with rolling bearing; 13 outer surfaces are tangent in the outer rim of described rolling bearing and the above-mentioned pawl contacts, but is not connected, when having realized in the pawl 13 motions; The frictional force on its outer rim and gear shaft 11 surfaces becomes rolling friction by sliding friction, has reduced energy loss.
The damage that its pawl formula clamping device causes high-voltage line when walking on high-voltage line in order to reduce robot; The pawl point 14 of the utility model described pawl formula clamping device and high-voltage line contact portion adopts nonmetallic materials ABS or bakelite; Pawl point 14 can rotate freely; Pawl point 14 relatively high pressure lines roll when making robot ambulation, realize that sliding friction transfers rolling friction to.
The course of work of the utility model is:
Holding action:
As shown in Figure 1: under the torsion spring active force; 13 can keep open configuration as shown in Figure 1 in the pawl; Clamping drive motors 3 drives worm screw 4 and rotates; Thereby drive worm gear 5 and leading screw 6 rotates, leading screw 6 drives screws 8 and riser 9 moves up along smooth guide rail 7, thus drive pawl with 10 and pawl in 13 move up.13 upwards in the lifting process in the pawl, under gear shaft 11 active forces, begin around rotating shaft 12 rotating closed, during to closure state as shown in Figure 2; Pawl point 14 is in horizontal attitude at this moment, and keeps horizontal attitude with 13 liftings together in the pawl, and 14 continuation of pawl point promote and touch high-voltage line; As shown in Figure 3: this moment, clamping device was in clamped condition, after 3 outages of clamping this moment drive motors, because the self-locking action of worm gear 5 and worm screw 4; Clamping device can keep clamping, and this moment, road wheel 1 was walked on high-voltage line, and pawl point 14 relatively high pressure lines roll; And normal pressure is provided; Thereby increase the frictional force between road wheel 1 and the high-voltage line, can also protect robot walking safely on line simultaneously, be not blown off off-line.
Releasing action:
Releasing action and holding action are opposite; Clamping drive motors 3 drives worm screw 4 backward rotation, thereby drives worm gear 5 and leading screw 6 rotations, and leading screw 6 drives screws 8 and riser 9 moves down along smooth guide rail 7; Thereby drive pawl with 10 and pawl in 13 move down; Make pawl point 14 break away from and the contacting of high-voltage line, 13 continue to move down with pawl sharp 14 in the pawl, when rotating shaft 12 is lower than gear shaft 11 in the horizontal direction; 13 begin to make pawl formula clamping device be flared to state shown in Figure 1 around rotating shaft 12 rotations under the effect of torsion spring power in the pawl.
As shown in Figure 4: the pawl formula clamping device in the utility model is provided with 2 groups; And use in pairs; Two wheel type traveling mechanisms respectively are equipped with a pawl formula clamping device, and single wheel type traveling mechanism is equipped with two pawl formula clamping devices simultaneously also within the utility model protection domain.
The foregoing description does not limit the utility model in any form, and all employings are equal to the technical scheme that mode obtained of replacement or equivalent transformation, all drop in the protection domain of the utility model.
Claims (9)
1. high-voltage line walking robot wheel-claw compound mechanism; It is characterized in that; Comprise the wheel type traveling mechanism that is used on high-voltage line, walking and be used for the clamping high-voltage line and the pawl formula clamping device of normal pressure is provided; Wheel type traveling mechanism and pawl formula clamping device all are arranged on the robot frame, and described pawl formula clamping device uses in pairs.
2. high-voltage line walking robot wheel-claw compound mechanism according to claim 1; It is characterized in that; Described wheel type traveling mechanism comprises travel driving motor and road wheel; Travel driving motor is arranged on the robot frame outside, and road wheel is arranged in the robot frame, and road wheel is connected with travel driving motor through wheel shaft.
3. high-voltage line walking robot wheel-claw compound mechanism according to claim 2 is characterized in that, described road wheel adopts aluminium alloy wheel hub, and is crimped with natural rubber in the race.
4. high-voltage line walking robot wheel-claw compound mechanism according to claim 1; It is characterized in that; Described pawl formula clamping device comprises that clamping drive motors, worm couple, leading screw screw are secondary, riser and gripper jaw, and the clamping drive motors is fixed on the robot frame outside, and its output shaft is connected with worm screw in the worm couple; Be arranged on the leading screw top in the leading screw screw pair with the worm gear of worm engaging; The screw that is connected with leading screw then is arranged on the riser, and riser is sleeved on the guide rail that laterally arranges with leading screw, and an end of gripper jaw is fixed on the riser.
5. high-voltage line walking robot wheel-claw compound mechanism according to claim 4 is characterized in that, described gripper jaw comprises in pawl point, the pawl and pawl is followed; The end that pawl is followed is fixed on the riser, and the other end is connected through in rotating shaft and the pawl, and the rotating shaft place also is provided with torsion spring; Then intersect vertically with the pawl point in the pawl and be connected through rotating shaft; In above-mentioned pawl point, the pawl and pawl with being two groups respectively, and be oppositely arranged, in addition; On robot frame, also be provided with gear shaft, outer surface forms that free-standing is tangent to be contacted in described gear shaft outer rim and the pawl.
6. high-voltage line walking robot wheel-claw compound mechanism according to claim 5 is characterized in that, also is provided with rolling bearing on the described gear shaft, and outer surface is tangent in the outer rim of described rolling bearing and the above-mentioned pawl contacts.
7. high-voltage line walking robot wheel-claw compound mechanism according to claim 5 is characterized in that, the described torsion spring and the rotating shaft coaxle heart, and the two ends stress point of torsion spring be separately fixed at pawl with pawl on.
8. high-voltage line walking robot wheel-claw compound mechanism according to claim 5 is characterized in that, the material of described pawl point is nonmetallic materials ABS or bakelite.
9. high-voltage line walking robot wheel-claw compound mechanism according to claim 4 is characterized in that described guide rail is provided with two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120212663U CN202137762U (en) | 2011-06-22 | 2011-06-22 | Wheel-pawl combined mechanism of robot walking on high voltage wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120212663U CN202137762U (en) | 2011-06-22 | 2011-06-22 | Wheel-pawl combined mechanism of robot walking on high voltage wire |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202137762U true CN202137762U (en) | 2012-02-08 |
Family
ID=45548840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120212663U Expired - Lifetime CN202137762U (en) | 2011-06-22 | 2011-06-22 | Wheel-pawl combined mechanism of robot walking on high voltage wire |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202137762U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259341A (en) * | 2011-06-22 | 2011-11-30 | 昆山市工业技术研究院有限责任公司 | Combined mechanism of ratchet of high-voltage-cable walking robot |
| CN103884484A (en) * | 2012-12-21 | 2014-06-25 | 中国直升机设计研究所 | Automatic delivery apparatus |
| CN103928866A (en) * | 2014-04-18 | 2014-07-16 | 东北大学 | Walking and clamping mechanism suitable for high-voltage wire polling robot |
| CN105048338A (en) * | 2015-06-29 | 2015-11-11 | 国家电网公司 | Insulator string replacement assembly and insulator string replacement method |
| CN105107859A (en) * | 2015-08-21 | 2015-12-02 | 安徽宇晟浩瀚电子科技有限公司 | Clamping device for clamping displacement device |
| CN105291124A (en) * | 2015-10-16 | 2016-02-03 | 天津远卓科技发展有限公司 | Grabbing mechanism of bicycle conveying platform |
| CN105429047A (en) * | 2015-12-17 | 2016-03-23 | 合保电气（芜湖）有限公司 | Live working suspension apparatus |
| CN108512118A (en) * | 2018-05-10 | 2018-09-07 | 吴灏 | The walking clipping mechanism and clamp method of high-voltage line crusing robot |
| CN108639381A (en) * | 2018-03-28 | 2018-10-12 | 上海宇航系统工程研究所 | A kind of pop-up type locking relieving mechanism |
| CN109292441A (en) * | 2018-11-14 | 2019-02-01 | 贾棋棋 | Conversion equipment is used in a kind of conveying of material |
| CN110797793A (en) * | 2019-11-21 | 2020-02-14 | 国网河北省电力有限公司衡水供电分公司 | Electric recoiler for ground wire damper |
| CN110854735A (en) * | 2019-11-21 | 2020-02-28 | 国网河北省电力有限公司衡水供电分公司 | Ground wire damper recollecting device |
| CN110867770A (en) * | 2019-11-21 | 2020-03-06 | 国网河北省电力有限公司衡水供电分公司 | System for recovering damper |
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN112186637A (en) * | 2020-09-21 | 2021-01-05 | 国网山东省电力公司齐河县供电公司 | Cable crossing device for power construction |
-
2011
- 2011-06-22 CN CN201120212663U patent/CN202137762U/en not_active Expired - Lifetime
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259341B (en) * | 2011-06-22 | 2013-05-29 | 昆山市工业技术研究院有限责任公司 | Combined mechanism of ratchet of high-voltage-cable walking robot |
| CN102259341A (en) * | 2011-06-22 | 2011-11-30 | 昆山市工业技术研究院有限责任公司 | Combined mechanism of ratchet of high-voltage-cable walking robot |
| CN103884484A (en) * | 2012-12-21 | 2014-06-25 | 中国直升机设计研究所 | Automatic delivery apparatus |
| CN103884484B (en) * | 2012-12-21 | 2016-08-10 | 中国直升机设计研究所 | A kind of automatic release device |
| CN103928866A (en) * | 2014-04-18 | 2014-07-16 | 东北大学 | Walking and clamping mechanism suitable for high-voltage wire polling robot |
| CN105048338A (en) * | 2015-06-29 | 2015-11-11 | 国家电网公司 | Insulator string replacement assembly and insulator string replacement method |
| CN105048338B (en) * | 2015-06-29 | 2017-02-15 | 国家电网公司 | Insulator string replacement assembly and insulator string replacement method |
| CN105107859A (en) * | 2015-08-21 | 2015-12-02 | 安徽宇晟浩瀚电子科技有限公司 | Clamping device for clamping displacement device |
| CN105291124A (en) * | 2015-10-16 | 2016-02-03 | 天津远卓科技发展有限公司 | Grabbing mechanism of bicycle conveying platform |
| CN105429047A (en) * | 2015-12-17 | 2016-03-23 | 合保电气（芜湖）有限公司 | Live working suspension apparatus |
| CN108639381A (en) * | 2018-03-28 | 2018-10-12 | 上海宇航系统工程研究所 | A kind of pop-up type locking relieving mechanism |
| CN108512118A (en) * | 2018-05-10 | 2018-09-07 | 吴灏 | The walking clipping mechanism and clamp method of high-voltage line crusing robot |
| CN109292441A (en) * | 2018-11-14 | 2019-02-01 | 贾棋棋 | Conversion equipment is used in a kind of conveying of material |
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN110921227B (en) * | 2019-11-08 | 2020-10-16 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| US11283247B2 (en) | 2019-11-08 | 2022-03-22 | Institute Of Automation, Chinese Academy Of Sciences | Carrier mechanism for walking on line |
| CN110797793A (en) * | 2019-11-21 | 2020-02-14 | 国网河北省电力有限公司衡水供电分公司 | Electric recoiler for ground wire damper |
| CN110854735A (en) * | 2019-11-21 | 2020-02-28 | 国网河北省电力有限公司衡水供电分公司 | Ground wire damper recollecting device |
| CN110867770A (en) * | 2019-11-21 | 2020-03-06 | 国网河北省电力有限公司衡水供电分公司 | System for recovering damper |
| CN112186637A (en) * | 2020-09-21 | 2021-01-05 | 国网山东省电力公司齐河县供电公司 | Cable crossing device for power construction |
| CN112186637B (en) * | 2020-09-21 | 2021-09-14 | 国网山东省电力公司齐河县供电公司 | Cable crossing device for power construction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202137762U (en) | Wheel-pawl combined mechanism of robot walking on high voltage wire | |
| CN102259341B (en) | Combined mechanism of ratchet of high-voltage-cable walking robot | |
| CN101698298B (en) | Inspection robot wheel-claw compound mechanism | |
| CN101800403B (en) | Inspection robot for ultra-high voltage power transmission lines | |
| CN201544221U (en) | Swing type wheel arm paw composite inspection robot mechanism | |
| CN101771251B (en) | Moving obstacle-crossing mechanism of inspection robot | |
| CN104986233A (en) | Track swing arm type obstacle-crossing robot | |
| CN203451998U (en) | Wind-up trolley for steel joist arch bridge maintenance | |
| CN201656338U (en) | Ultra-high voltage power line inspecting robot | |
| CN201383636Y (en) | Traveling and obstacle-navigation mechanism of inspection robot | |
| CN201383635Y (en) | Inspection robot mechanism | |
| CN204068162U (en) | Removing ice of power transmission line robot | |
| CN201857789U (en) | Automatic multilayer parking device | |
| CN101771250A (en) | Inspection robot mechanism | |
| CN202308920U (en) | Mechanism body of high-voltage power-transmission cable crawling robot | |
| CN105964584A (en) | Multifunctional solar cell panel cleaning system | |
| CN207389169U (en) | A kind of intelligence carrying implement | |
| CN208345724U (en) | A kind of electric power mounting platform that electric power personnel use | |
| CN205949356U (en) | There is not solar cell panel cleaning device that self power up -downgoing was cleaned | |
| CN102849045B (en) | Brake energy-feedback system of vehicle | |
| CN203128031U (en) | Trolley windproof stop device of gantry crane | |
| CN205915970U (en) | Electric tricycle with adjustable photovoltaic board | |
| CN201702774U (en) | Wheel and jaw combined mechanism of inspection robot | |
| CN203558387U (en) | Heavy-load garbage truck adopting AC controller | |
| CN202481174U (en) | Walking device for rescue robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120208 Effective date of abandoning: 20130529 |
|
| RGAV | Abandon patent right to avoid regrant |