CN203086055U - Integrated work robot on overhead transmission line - Google Patents
Integrated work robot on overhead transmission line Download PDFInfo
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- CN203086055U CN203086055U CN 201220699170 CN201220699170U CN203086055U CN 203086055 U CN203086055 U CN 203086055U CN 201220699170 CN201220699170 CN 201220699170 CN 201220699170 U CN201220699170 U CN 201220699170U CN 203086055 U CN203086055 U CN 203086055U
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- locking
- forearm
- postbrachium
- wheel
- transmission line
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Abstract
The utility model provides an integrated work robot on overhead transmission line. The integrated work robot on overhead transmission line comprises a front arm (3) in hinge connection with an intermediate revolution joint (6), and a back arm (9), wherein a front suspension arm (1) is arranged on the front arm (3), a back suspension arm is arranged on the back arm (9), the front suspension arm (1) comprises a front support (18), a front locking framework (13) and a front driving wheel (11) which are arranged on the front support (18), and a front locking wheel (12) arranged on the front locking framework (13), the front locking framework (13) is arranged on the front support (18) and can be lifted up and down, the front driving wheel (11) is arrange above wire, the front locking wheel (12) is arranged below the front driving wheel (11), and the front locking wheel (12) and the front driving wheel (11) form a wire clamping space.
Description
Technical field
The utility model relates to power domain, relates to a kind of overhead transmission line synthetic job robot, is used for patrolling and examining transmission line.
Background technology
Because the transmission line distributed points is many, wide, the overwhelming majority is away from cities and towns, of living in a varied topography, natural environment is abominable, and power line and shaft tower annex long term exposure are in the open air, the influence of the mechanical tension that can be continued, electric flashover, material aging and produce disconnected strand, wearing and tearing, corrosion equivalent damage, change as untimely reparation, originally small breakage and defective just may enlarge, and finally cause serious accident, cause large-area power-cuts, thereby cause great economic loss and serious social influence.So, must carry out the periodical inspection inspection to transmission line, grasp at any time and understand the ruuning situation of transmission line and the situation of change in circuit surrounding environment and route protection district, so that in time find and remove a hidden danger, power supply safety is guaranteed in trouble-saving generation.
Recently, crusing robot has appearred again, robot can carry various detecting sensors closely, the operation conditions of Monitoring Line of various visual angles, can alleviate the labour intensity of workman's line walking, improve the quality and the operating efficiency of patrolling and examining operation.The gold utensil of inspection robot on can span line, as suspension clamp, stockbridge damper, conductor spacer, shading ring etc., walk automatically in road along the line, is subjected to the influence of natural environment little, the scope of patrolling and examining is big.
For example: application number is 201010614326.5 " a kind of polling transmission line or deicing robot "; This robot comprises forearm, postbrachium and waist joint, forearm and postbrachium are symmetricly set on the waist joint, be respectively arranged with the transmission line jockey on forearm and the postbrachium, robot can carry various detecting sensors closely, the operation conditions of Monitoring Line of various visual angles, can alleviate the labour intensity of workman's line walking, improve the quality and the operating efficiency of patrolling and examining operation, gold utensil on can span line, as suspension clamp, stockbridge damper, conductor spacer, shading ring etc., walking automatically in road along the line, is subjected to the influence of natural environment little, the scope of patrolling and examining is big.But the driving wheel that should have now in the robot is to place directly over the lead, adopts two paws rotatable, can embrace lead, and driving wheel is pressed on the lead; When the driving wheel off-line, at first to open paw, then the mode by side-sway make driving wheel leave lead directly over; The action of reaching the standard grade is just in time opposite, by side-sway make driving wheel be in lead directly over, closed then paw is embraced lead; Because driving wheel takes off, reaching the standard grade needs paw to rotate the realization switching, two fingers of paw must have strict symmetric relation, and must satisfy the strict characteristics of motion, otherwise can have a strong impact on mechanism characteristics, therefore, parts processing, debugging to mechanism in existing structure have higher requirement, have increased difficulty of processing; Moreover two finger interlaced arrangement of paw are when single armed is walked, have only a driving wheel and pair of finger to embrace electric wire, and finger is to contact with electric wire, is unsettled to compressing of electric wire, so robot is shaken easily, in addition the walking off-line, less stable.
The utility model content
The purpose of this utility model is to provide a kind of overhead transmission line synthetic job robot, with solve existing robots with point embrace lead and cause when single armed is walked, robot is shaken easily, the problem of less stable.The utility model also will solve existing robots processing and the big problem of installation difficulty.
Another purpose of the present utility model is to realize to make robot be convenient to transportation to the disassembling fast, assemble of robot.
For this reason, the utility model proposes a kind of overhead transmission line synthetic job robot, described overhead transmission line synthetic job robot comprises:
The forearm 3 and the postbrachium 9 that are articulated and connected by middle revolute joint 6,
Back boom 5 is arranged on the described postbrachium 9;
Described front boom 1 comprises: fore-stock 18, be arranged on preceding locking framework 13 and the front driving wheel 11 on the described fore-stock 18 and be arranged on described before the preceding locking wheel 12 of locking on the framework 13, locking framework 13 liftable being arranged on the described fore-stock 18 before described, described front driving wheel 11 is arranged on the top of electric wire, locking wheel 12 is positioned at the below of described front driving wheel 11 before described, and described preceding locking wheel 12 and described front driving wheel 11 form the space of clamping electric wires;
Described back boom 5 comprises: after-poppet 58, be arranged on back locking framework 53 and the rear drive sprocket 51 on the described after-poppet 58 and be arranged on back locking wheel 52 on the described back locking framework 53, described back locking framework 53 liftable being arranged on the described after-poppet 58, described back locking wheel 52 is positioned at the below of described rear drive sprocket 51, and described back locking wheel 52 and described rear drive sprocket 51 form the space of the described electric wire of clampings.
Further, described forearm 3 comprises: forearm crossbeam 31, forearm are with 33 synchronously, forearm guide rail 35 and forearm slide block 37, described forearm be with synchronously 33 and described forearm guide rail 35 be arranged on the described forearm crossbeam 31, described forearm slide block 37 connects described forearm and is with 33 and be arranged in the described forearm guide rail 35 synchronously.
Described postbrachium 9 comprises: postbrachium crossbeam, postbrachium are with 93 synchronously, postbrachium guide rail 95 and postbrachium slide block 97, described postbrachium be with synchronously 93 and described postbrachium guide rail 95 be arranged on the described postbrachium crossbeam, described postbrachium slide block 97 connects described postbrachium and is with 93 and be arranged in the described postbrachium guide rail 95 synchronously.
Further, the number of described preceding locking wheel 12 is two, and two described preceding locking wheels 12 are symmetrical arranged about described front driving wheel 11.
Further, described front boom 1 also comprises: be arranged on preceding locking leading screw 16 and the preceding locking screw 17 that is set in outside the described preceding locking leading screw 16 in the described fore-stock 18, described preceding locking framework 13 is connected described preceding locking on the screw 17.
Further, described fore-stock 18 comprises: front boom joint pin 181 and the preceding connection slide block 183 that is connected with described front boom joint pin 181, described front boom joint pin 181 comprises: bottom boss 1815, the described preceding slide block 183 that connects has the slot 1835 that holds described bottom boss 1815.
Further, described front boom joint pin 181 also comprises: the inner chamber 1810 of side-closed, locking leading screw 16 is arranged in the described inner chamber 1810 before described, described fore-stock 18 also comprises: drive the preceding locking motor of described preceding locking leading screw 16, described preceding locking motor is arranged in the described inner chamber 1810.
Further, described forearm 3 is identical with described postbrachium 9 structures, and described front boom 1 is identical with described back boom 5 structures.
Further, described preceding locking wheel 12 and described front driving wheel 11 are equipped with the V-shaped groove of the described electric wire of clamping.
Further, described preceding locking wheel 12 is the driving wheel of motorized motions, and described preceding locking wheel 12 is a driven pulley.
The mode that the utility model adopts locking wheel and driving wheel to lock, locking wheel is that line contacts with electric wire, along on the contact line segment of wire length direction, the side direction of locking wheel can have correcting and hold up steady effect electric wire, bigger location area is arranged, it is more stable to embrace electric wire than finger, the stability in the time of can improving robot single armed walking greatly.In addition, the locking process is that the straight line by locking wheel moves realization, need not to hold electric wire tightly as finger, does not need to point the program of upset, and the straight line of locking wheel moves and replaces the finger upset.And, not only reduced difficulty of processing by locking wheel replacement paw (finger), promoted the stability of system simultaneously greatly.
And then the utility model drives (preceding) locking wheel with (preceding) locking leading screw, and the mobile of locking wheel stablizes, is easy to regulate, and can adapt to the locking of various different circuits.
And then; the motor that the utility model will drive the locking leading screw is arranged in the inner chamber of front boom joint pin; the side of motor is sealed; component protection is also all arranged up and down and stop; thereby; this motor can be able to good maintenance, and in the adverse circumstances of working especially in the open air, motor can stand the adverse effect of weathers such as low temperature, strong wind under the protection of inner chamber.
Description of drawings
Fig. 1 is the overall structure schematic diagram of the overhead transmission line synthetic job robot of the utility model embodiment;
Fig. 2 shows structure according to the front boom of the utility model embodiment with cutaway view;
Fig. 3 shows according to the driving wheel of the utility model embodiment and the position of locking wheel and electric wire with cutaway view and concerns that wherein, driving wheel and locking wheel do not clamp electric wire as yet;
Fig. 4 has illustrated decomposition texture according to the front boom of the utility model embodiment with stereogram;
Fig. 5 has illustrated syndeton according to forearm and the postbrachium of the utility model embodiment with stereogram;
Fig. 6 a to Fig. 6 o shows the obstacle detouring process according to the overhead transmission line synthetic job robot of the utility model embodiment.
The drawing reference numeral explanation:
1, front boom 11, front driving wheel 12, preceding locking wheel 13, preceding locking framework 14, optical axis 15, cantilever frame 16, preceding locking leading screw 17, preceding locking screw 18, fore-stock 19, preceding locking motor 3, forearm 31, forearm crossbeam 32, the synchronous translator 33 of forearm, forearm is with 331 synchronously, forearm is with runner 35 synchronously, forearm guide rail 37, forearm slide block 5, back boom 51, rear drive sprocket 52, back locking wheel 53, back locking framework 54, optical axis 55, cantilever frame 56, preceding locking leading screw 57, preceding locking screw 58, after-poppet 59, back locking motor 6, middle revolute joint 60, hinge 62, motor 7, electric wire 8, barrier 9, postbrachium 91, postbrachium crossbeam 93, postbrachium is with 95 synchronously, postbrachium guide rail 97, postbrachium slide block 181, front boom joint pin 182, screw 183, the preceding slide block 1810 that connects, inner chamber 1815, bottom boss 1835, slot
Embodiment
Understand for technical characterictic of the present utility model, purpose and effect being had more clearly, now contrast description of drawings embodiment of the present utility model.
As shown in Figure 1, the overhead transmission line synthetic job robot according to the utility model embodiment comprises:
By forearm 3 and postbrachium 9 that middle revolute joint 6 is articulated and connected, as Fig. 6 a, 6d and Fig. 6 e, forearm 3 can form various angles with postbrachium 9 by mutual rotation.As Fig. 4, middle revolute joint 6 has hinge 60 and drives the motor 62 that hinge 60 rotates, and rotates by motor 62 driving hinges 60, and middle revolute joint 6 drives forearm 3 and rotates by mutual with postbrachium 9, realizes obstacle detouring.The concrete structure of middle revolute joint 6 has been prior art, file that can the reference background technology.
Back boom 5 is arranged on the described postbrachium 9;
As shown in Figures 2 and 3, described front boom 1 comprises: fore-stock 18, be arranged on preceding locking framework 13 and the front driving wheel 11 on the described fore-stock 18 and be arranged on described before the preceding locking wheel 12 of locking on the framework 13, locking framework 13 liftable being arranged on the described fore-stock 18 before described, described front driving wheel 11 is arranged on the top of electric wire, locking wheel 12 is positioned at the below of described front driving wheel 11 before described, and described preceding locking wheel 12 and described front driving wheel 11 form the space of clamping electric wires.
Fore-stock 18 is played a supporting role, preceding locking framework 13 fore-stock 18 relatively moves up and down, thereby driving the preceding locking wheel 12 that is arranged on the described preceding locking framework 13 moves up and down, front driving wheel 11 (wheel disc) can sideshake (side-sway), about front driving wheel 11 can sideshake (side-sway) and, be prior art, the content of mentioning in can the reference background technology.
As Fig. 6 a, Fig. 6 d, promptly front driving wheel 11 (wheel disc) can form certain included angle with electric wire 7, realizes reaching the standard grade and off-line, generally speaking, front driving wheel 11 can not move up and down along straight line, and described preceding locking wheel 12 is the driving wheel of motorized motions, and described preceding locking wheel 12 is a driven pulley.Move up and down preceding locking wheel 12 and described front driving wheel 11 clamping electric wires 7 by preceding locking wheel 12.
Similar with front boom 1, as Fig. 3, described back boom 5 comprises: after-poppet 58, be arranged on back locking framework 53 and the rear drive sprocket 51 on the described after-poppet 58 and be arranged on back locking wheel 52 on the described back locking framework 53, described back locking framework 53 liftable being arranged on the described after-poppet 58, described back locking wheel 52 is positioned at the below of described rear drive sprocket 51, and described back locking wheel 52 and described rear drive sprocket 51 form the space of the described electric wire of clampings.
The mode that the utility model adopts locking wheel and driving wheel to lock, locking wheel is that line contacts with electric wire, along on the contact line segment of wire length direction, locking wheel has correcting and holds up steady effect electric wire, it is more stable to embrace electric wire than finger, the stability in the time of can improving robot single armed walking greatly.In addition, the locking process is that the straight line by locking wheel moves realization, need not to hold electric wire tightly as finger, does not need to point the program of upset.
Further, as Fig. 1, described forearm 3 comprises: forearm crossbeam 31, forearm are with 33 synchronously, forearm guide rail 35 and forearm slide block 37, described forearm be with synchronously 33 and described forearm guide rail 35 be arranged on the described forearm crossbeam 31, described forearm slide block 37 connects described forearm and is with 33 and be arranged in the described forearm guide rail 35 synchronously.Forearm crossbeam 31 for described forearm be with synchronously 33 and described forearm guide rail 35 provide support, as Fig. 5, forearm is with 33 to be arranged on forearm and to be with synchronously on the runner 331 synchronously, driving forearm by the synchronous translator 32 of forearm is with runner 331 to rotate synchronously, forearm is with 33 to rotate synchronously, move along forearm guide rail 35 thereby drive forearm slide block 37, to realize the adjustment of distance between front boom 1 and the back boom 5, to adapt to the barrier of various different sizes.
In like manner, as Fig. 1, described postbrachium 9 comprises: postbrachium crossbeam 91, postbrachium are with 93 synchronously, postbrachium guide rail 95 and postbrachium slide block 97, described postbrachium be with synchronously 93 and described postbrachium guide rail 95 be arranged on the described postbrachium crossbeam, described postbrachium slide block 97 connects described postbrachium and is with 93 and be arranged in the described postbrachium guide rail 95 synchronously.Postbrachium slide block 97 can move along postbrachium guide rail 95, moves thereby drive back boom 5, realizes the adjustment of distance between front boom 1 and the back boom 5, to adapt to the barrier of various different sizes.
Further, described forearm 3 is identical with described postbrachium 9 structures, and described front boom 1 is identical with described back boom 5 structures, the adjustment of being convenient to move, the coordination of action.
Further, as shown in Figures 2 and 3, the number of described preceding locking wheel 12 is two, and two described preceding locking wheels 12 place the lead below, are symmetrical arranged about described front driving wheel 11.Like this, formed the leg-of-mutton clamping to electric wire 7, clamping is stable, forms the reliable circuit mode of holding with a firm grip.Further, described before locking wheel 12 and described front driving wheel 11 be equipped with the V-shaped groove of the described electric wire of clamping, clamping is got up more stable, forms the reliable circuit mode of holding with a firm grip.
Further, as shown in Figures 2 and 3, described front boom 1 also comprises: be arranged on preceding locking leading screw 16 and the preceding locking screw 17 that is set in outside the described preceding locking leading screw 16 in the described fore-stock 18, described preceding locking framework 13 is connected described preceding locking on the screw 17.By the stable transmission of leading screw, can lock the distance that framework 13 moves before the accurate adjustment.
Further, as Fig. 4, described fore-stock 18 comprises: front boom joint pin 181 and the preceding connection slide block 183 that is connected with described front boom joint pin 181, described front boom joint pin 181 comprises: bottom boss 1815, the described preceding slide block 183 that connects has the slot 1835 that holds described bottom boss 1815.Bottom boss 1815 can slip in the slot 1835 fast, forms described front boom joint pin 181 and the quick connection that preceding is connected slide block 183, then with screw 182 lockings.Behind the removable screw 182, connect slide block 183 before just front boom joint pin 181 can being skidded off, make the two quick separation.This quick ways of connecting makes that robot possesses fast, disassembles reliably, assemble ability, so that transportation, preserve.
Further, as Fig. 4, described front boom joint pin 181 also comprises: the inner chamber 1810 of side-closed, locking leading screw 16 is arranged in the described inner chamber 1810 before described, described fore-stock 18 also comprises: drive the preceding locking motor 19 of described preceding locking leading screw 16, described preceding locking motor is arranged in the described inner chamber 1810.The side of motor is sealed, and also all has parts (for example, preceding locking framework 13) to protect and stop up and down; thereby; this motor can be able to good maintenance, and in the adverse circumstances of working especially in the open air, motor can stand the adverse effect of weathers such as low temperature, strong wind under the protection of inner chamber.
As Fig. 6 a to Fig. 6 o, the flowchart process that robot of the present utility model carries out the obstacle detouring operation is as follows:
1 forearm detects barrier, enters the obstacle detouring state, shown in Fig. 6 a
Locking wheel on 2 forearms moves down, release, shown in Fig. 6 b
Driving wheel side-sway on 3 forearms, off-line are shown in Fig. 6 c
4 forearms rotate, shown in Fig. 6 d
Driving wheel on 5 postbrachiums rotates, and drive machines people walks forward, shown in Fig. 6 e
6 forearms upwards rotate, shown in Fig. 6 f
Driving wheel side-sway on 7 forearms is reached the standard grade, shown in Fig. 6 g
Move, lock on the locking wheel on 8 forearms, shown in Fig. 6 h
Locking wheel on 9 postbrachiums moves down, and release is shown in Fig. 6 i
Driving wheel side-sway on 10 postbrachiums, off-line are shown in Fig. 6 j
11 postbrachiums are to lower swing, shown in Fig. 6 k
Driving wheel on 12 forearms rotates, and drive machines people walks forward, shown in Fig. 6 l
13 postbrachiums are swing upwards, shown in Fig. 6 m
Driven wheel side on 14 postbrachiums is laid out line, shown in Fig. 6 n
Move on the locking wheel on 15 postbrachiums, locking is shown in Fig. 6 o
Robot carries out in the obstacle detouring process, the action of each driving wheel, locking wheel, forearm and postbrachium can realize by motor separately, can dispose infrared, Ultraviolet sensor on front boom and the back boom to detect barrier, robot can also carry the deicing module, can accomplish that ice promptly removes, reduce the influence of icing to greatest extent, guarantee power supply safety transmission line.
The above only is the schematic embodiment of the utility model, is not in order to limit scope of the present utility model.For each part of the present utility model can make up under the condition of not conflicting mutually; any those skilled in the art; equivalent variations of having done under the prerequisite that does not break away from design of the present utility model and principle and modification all should belong to the scope that the utility model is protected.
Claims (9)
1. an overhead transmission line synthetic job robot is characterized in that, described overhead transmission line synthetic job robot comprises:
Forearm (3) that is articulated and connected by middle revolute joint (6) and postbrachium (9),
Front boom (1) is arranged on the described forearm (3);
Back boom (5) is arranged on the described postbrachium (9);
Described front boom (1) comprising: fore-stock (18), be arranged on preceding locking framework (13) and the front driving wheel (11) on the described fore-stock (18) and be arranged on described before preceding locking wheel (12) in locking framework (13), liftable being arranged on the described fore-stock (18) of locking framework (13) before described, described front driving wheel (11) is arranged on the top of electric wire, locking wheel (12) is positioned at the below of described front driving wheel (11) before described, and described preceding locking wheel (12) and described front driving wheel (11) form the space of clamping electric wire;
Described back boom (5) comprising: after-poppet (58), be arranged on back locking framework (53) and the rear drive sprocket (51) on the described after-poppet (58) and be arranged on back locking wheel (52) on the described back locking framework (53), liftable being arranged on the described after-poppet (58) of described back locking framework (53), described back locking wheel (52) is positioned at the below of described rear drive sprocket (51), and described back locking wheel (52) and described rear drive sprocket (51) form the space of the described electric wire of clamping.
2. overhead transmission line synthetic job as claimed in claim 1 robot is characterized in that,
Described forearm (3) comprising: forearm crossbeam (31), forearm are with (33), forearm guide rail (35) and forearm slide block (37) synchronously, described forearm is with (33) and described forearm guide rail (35) to be arranged on the described forearm crossbeam (31) synchronously, the described forearm of described forearm slide block (37) connection is with (33) synchronously and is arranged in the described forearm guide rail (35)
Described postbrachium (9) comprising: postbrachium crossbeam, postbrachium are with (93), postbrachium guide rail (95) and postbrachium slide block (97) synchronously, described postbrachium is with (93) and described postbrachium guide rail (95) to be arranged on the described postbrachium crossbeam synchronously, and the described postbrachium of described postbrachium slide block (97) connection is with (93) synchronously and is arranged in the described postbrachium guide rail (95).
3. overhead transmission line synthetic job as claimed in claim 1 robot is characterized in that, described before the number of locking wheel (12) be two, two described before locking wheels (12) be symmetrical arranged about described front driving wheel (11).
4. overhead transmission line synthetic job as claimed in claim 2 robot, it is characterized in that, described front boom (1) also comprises: be arranged on the preceding locking leading screw (16) in the described fore-stock (18) and be set in described preceding preceding locking screw (17) of locking outside the leading screw (16), described preceding locking framework (13) is connected described preceding locking on the screw (17).
5. overhead transmission line synthetic job as claimed in claim 2 robot, it is characterized in that, described fore-stock (18) comprising: front boom joint pin (181) and the preceding connection slide block (183) that is connected with described front boom joint pin (181), described front boom joint pin (181) comprising: bottom boss (1815), the described preceding slide block (183) that connects has the slot (1835) that holds described bottom boss (1815).
6. overhead transmission line synthetic job as claimed in claim 5 robot, it is characterized in that, described front boom joint pin (181) also comprises: the inner chamber of side-closed (1810), locking leading screw (16) is arranged in the described inner chamber (1810) before described, described fore-stock (18) also comprises: drive the preceding locking motor of described preceding locking leading screw (16), described preceding locking motor is arranged in the described inner chamber (1810).
7. overhead transmission line synthetic job as claimed in claim 2 robot is characterized in that described forearm (3) is identical with described postbrachium (9) structure, and described front boom (1) is identical with described back boom (5) structure.
8. overhead transmission line synthetic job as claimed in claim 2 robot is characterized in that, described before locking wheel (12) and described front driving wheel (11) be equipped with the V-shaped groove of the described electric wire of clamping.
9. overhead transmission line synthetic job as claimed in claim 2 robot is characterized in that, described before locking wheel (12) be the driving wheel of motorized motions, described preceding locking wheel (12) is a driven pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220699170 CN203086055U (en) | 2012-12-17 | 2012-12-17 | Integrated work robot on overhead transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220699170 CN203086055U (en) | 2012-12-17 | 2012-12-17 | Integrated work robot on overhead transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203086055U true CN203086055U (en) | 2013-07-24 |
Family
ID=48831860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220699170 Expired - Fee Related CN203086055U (en) | 2012-12-17 | 2012-12-17 | Integrated work robot on overhead transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203086055U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103050908B (en) * | 2012-12-17 | 2016-03-30 | 北京国网富达科技发展有限责任公司 | Overhead transmission line synthetic job machine people |
| CN105835985A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Human-walking-simulated type line patrol robot mechanical structure and obstacle crossing method thereof |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
-
2012
- 2012-12-17 CN CN 201220699170 patent/CN203086055U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103050908B (en) * | 2012-12-17 | 2016-03-30 | 北京国网富达科技发展有限责任公司 | Overhead transmission line synthetic job machine people |
| CN105835985A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Human-walking-simulated type line patrol robot mechanical structure and obstacle crossing method thereof |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130724 Termination date: 20211217 |