CN203574296U - Drive wheel mechanism - Google Patents
Drive wheel mechanism Download PDFInfo
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- CN203574296U CN203574296U CN201320756708.0U CN201320756708U CN203574296U CN 203574296 U CN203574296 U CN 203574296U CN 201320756708 U CN201320756708 U CN 201320756708U CN 203574296 U CN203574296 U CN 203574296U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 59
- 238000007689 inspection Methods 0.000 claims abstract description 27
- 230000003068 static effect Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 abstract description 9
- 238000000926 separation method Methods 0.000 abstract 4
- 238000013459 approach Methods 0.000 abstract 1
- 230000009471 action Effects 0.000 description 25
- 230000005540 biological transmission Effects 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004643 material aging Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a drive wheel mechanism which comprises a base, a first installation plate, a second installation plate, a driving drive wheel, a driven drive wheel, a rotation drive device and a separation/combination drive device, wherein the first installation plate and the second installation plate can be slidingly arranged on the base and are arranged in parallel, the driving drive wheel is arranged on the first installation plate, the driven drive wheel is arranged on the second installation plate, the rotation drive device drives the driving drive wheel to rotate, and the separation/combination drive device drives at least one of the first installation plate and the second installation plate to slide. When the drive wheel mechanism approaches an obstacle and cannot drive by, the separation/combination driving device drives the driving drive wheel and the driven drive wheel to be separated so as to enable the driving drive wheel and the driven drive wheel to be out of a lap-joint state. When the drive wheel mechanism bypasses the obstacle, the separation/combination driving device drives the driving drive wheel and the driven drive wheel to be combined so as to enable the driving drive wheel and the driven drive wheel to be re-lapped on a line. The drive wheel mechanism has an obstacle crossing function, and the application range of line inspection robots is expanded.
Description
Technical field
The utility model relates to inspection robot technical field, more particularly, relates to a kind of drive wheel mechanism.
Background technology
Adopting high pressure and superhigh pressure overhead power transmission line is the long major way apart from transmission & distribution electric power, and the safe operation of high pressure and supertension line is the guarantee of long distance power transmission.But, overhead transmission line long term exposure in the wild, because being subject to lasting mechanical tension, expose to the weather, the impact of material aging, often there is disconnected thigh, wearing and tearing, corrosion equivalent damage, as repaired not in time replacing, small breakage and defect just may expand originally, finally causes serious accident, cause large-area power-cuts, thereby bring great economic loss and serious social influence.
In early days, traditional patrolling method adopts artificial visually examine and aircraft to cruise.Artificial visually examine is often wasted time and energy and is got half the result with twice the effort, and is limited by operating personnel's experience and individual quality, and personal safety also can not get ensureing.Aircraft cruises can only detect the first half of power transmission line.
In prior art except above-mentioned two kinds of line walking modes, also there is a kind of robot routine inspection mode, utilize robot inspection of power transmission line and safeguard EHV transmission network, not only can alleviate the labour intensity of workman's a thousand li line walking and live line working, and to improving grid automation level, ensureing that electric power netting safe running is significant.In robot research field, Power Robot belongs to typical specialized robot, its research range of application is more and more wider, formed in the world the application study focus of Power Robot research field especially of the aspects such as unique Power Robot Applied research fields, particularly Robotics are patrolled and examined at overhead transmission line, foreign bodies removal.Overhead transmission line robot is with the artificial carrier of mobile apparatus, carries detecting instrument or power tool, along ground wire or the guidewire movement of overhead transmission line, to circuit detect, the operation such as maintenance.
Multiple driving wheels of existing inspection robot overlap on the line, and driving wheel is at least two conventionally, and driving wheel is by a DC brushless motor driven rotary, when driving wheel rotates, has just realized inspection robot walking on the line.But must there are some obstacles on circuit, the driving wheel of existing inspection robot does not have the function of leaping over obstacles, causes the range of application of inspection robot limited.
Therefore, how to guarantee that the driving wheel of inspection robot has obstacle crossing function, improve the range of application of inspection robot, become those skilled in the art's technical problem urgently to be resolved hurrily.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of drive wheel mechanism, with the driving wheel that guarantees inspection robot, has obstacle crossing function, improves the range of application of inspection robot.
For achieving the above object, the utility model provides following technical scheme:
A kind of drive wheel mechanism, for inspection robot, comprising:
Base;
Be mounted slidably on described base, and the first mounting panel being arranged in parallel and the second mounting panel;
Be arranged at rotationally the active drive wheel on described the first mounting panel;
Be arranged at rotationally the driven driving wheel on described the second mounting panel, after described active drive wheel and described driven driving wheel coordinate, form overlap joint driving wheel on the line;
The rotating driving device that drives described active drive wheel to rotate;
Drive deciliter drive unit of at least one slip in described the first mounting panel and described the second mounting panel.
Preferably, in above-mentioned drive wheel mechanism, on described base, be provided with the first carriage;
On described the first mounting panel and the second mounting panel, be provided with the second carriage being slidably matched with described the first carriage.
Preferably, in above-mentioned drive wheel mechanism, described the first carriage is slide rail, and described the second carriage is slide block, offers the chute being slidably matched with described slide rail on described slide block.
Preferably, in above-mentioned drive wheel mechanism, described the first carriage is chute, and described the second carriage is the slide rail coordinating with described chute.
Preferably, in above-mentioned drive wheel mechanism, described the first carriage is two that are arranged in parallel, and the both sides of described the first mounting panel and described the second mounting panel are respectively arranged with described the second carriage coordinating with two described the first carriages.
Preferably, in above-mentioned drive wheel mechanism, also comprise the static housing being arranged on described base;
Described deciliter drive unit comprises:
Be arranged at the first drive motors on described static housing, on the output shaft of described the first drive motors, be provided with first deciliter driven wheel;
The leading screw that two ends are connected with described the second mounting panel with described the first mounting panel respectively;
The second deciliter driven wheel being connected with described threads of lead screw, described second deciliter driven wheel engages with described first deciliter driven wheel.
Preferably, in above-mentioned drive wheel mechanism, also comprise the guide post being arranged on described static housing;
On described the first mounting panel and described the second mounting panel, be provided with guide plate, on described guide plate, offer the pilot hole being slidably matched with described guide post.
Preferably, in above-mentioned drive wheel mechanism, described leading screw is two-way leading screw.
Preferably, in above-mentioned drive wheel mechanism, also comprise the linear axis bearing that is arranged at described base both sides;
On described the first mounting panel and described the second mounting panel, be provided with the linear bearing coordinating with each self-corresponding described linear axis bearing respectively.
Preferably, in above-mentioned drive wheel mechanism, described rotating driving device comprises:
Be arranged at the second drive motors on described the first mounting panel, on the output shaft of described the second drive motors, be provided with the first swing pinion;
Be arranged at the second swing pinion on the driving shaft of described active drive wheel, described the second swing pinion engages with described the first swing pinion.
From above-mentioned technical scheme, can find out, the drive wheel mechanism that the utility model provides is when work, and rotating driving device drives the driving wheel rotation of active drive wheel and driven driving wheel composition, thereby realizes along the function of circuit walking.When a drive wheel mechanism in inspection robot cannot cross near barrier, by a deciliter drive unit, drive the first mounting panel and the second mounting panel to do separating action, thereby make active drive wheel and driven driving wheel do separating action, so that initiatively driving wheel and driven driving wheel avoid circuit, depart from overlap joint state.Inspection robot walks on, when this drive wheel mechanism cut-through thing, by a deciliter drive unit, drive the first mounting panel and the second mounting panel to do near action, thereby make active drive wheel and driven driving wheel do combination action, so that obtain initiatively driving wheel and driven driving wheel composition driving wheel, and be again overlapped on circuit.The obstacle detouring action of other drive wheel mechanism of inspection robot, identical with aforesaid way.The utlity model has obstacle crossing function, improved the range of application of inspection robot.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The structural representation of the drive wheel mechanism that Fig. 1 provides for the utility model embodiment;
The front view of the drive wheel mechanism that Fig. 2 provides for the utility model embodiment;
The structural representation of the drive wheel mechanism course of action one that Fig. 3 provides for the utility model embodiment;
The structural representation of the drive wheel mechanism course of action two that Fig. 4 provides for the utility model embodiment;
The structural representation of the drive wheel mechanism course of action three that Fig. 5 provides for the utility model embodiment;
The structural representation of the drive wheel mechanism course of action four that Fig. 6 provides for the utility model embodiment.
Wherein:
101 is active drive wheel, and 102 is driven driving wheel, and 103 is the second swing pinion, 104 is the first swing pinion, and 105 is the second drive motors, and 106 is the first mounting panel, 107 is the second mounting panel, and 108 is guide post, and 109 is the first drive motors, 110 is static housing, and 111 is leading screw, and 112 is second deciliter driven wheel, 113 is the first carriage, 114 is base, and 115 is the second carriage, and 116 is linear axis bearing;
100 is the first drive wheel mechanism, and 200 is the second drive wheel mechanism, and 300 is circuit, and 400 is barrier.
Embodiment
Core of the present utility model is to provide a kind of drive wheel mechanism, with the driving wheel that guarantees inspection robot, has obstacle crossing function, improves the range of application of inspection robot.
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1 and Fig. 2, the structural representation of the drive wheel mechanism that Fig. 1 provides for the utility model embodiment; The front view of the drive wheel mechanism that Fig. 2 provides for the utility model embodiment.
The drive wheel mechanism that the utility model embodiment provides, for inspection robot, comprises base 114, the first mounting panel 106, the second mounting panel 107, active drive wheel 101, driven driving wheel 102, rotating driving device and deciliter drive unit.
Wherein, base 114 is support section of the present utility model, is used to the parts on it that installation basis is provided.The first mounting panel 106 and the second mounting panel 107 are arranged in parallel, and are all mounted slidably on base 114.The structure of the first mounting panel 106 and the second mounting panel 107 can be identical, also can be different, and in order to reduce manufacturing cost, the structure of the first mounting panel 106 and the second mounting panel 107 is preferably identical, can adopt a mould to manufacture.
For example, can on driven driving wheel 102, be provided for overlap joint overlap joint axle on the line, and offer spliced eye on overlap joint axle, on active drive wheel 101, grafting axle is set, when active drive wheel 101 and driven driving wheel 102 coordinate, overlap joint axle inserts in spliced eye, and realizes the interlock of active drive wheel 101 and driven driving wheel 102.On active drive wheel 101 and driven driving wheel 102, be provided with position-arresting disk, by position-arresting disk, avoid driving wheel by landing on circuit.
Rotating driving device is used for driving active drive wheel 101 to rotate, deciliter drive unit is for driving at least one slip of the first mounting panel 106 and the second mounting panel 107, also can drive the first mounting panel 106 and the second mounting panel 107 to slide round about by a deciliter drive unit, as long as can realize deciliter action of the first mounting panel 106 and the second mounting panel 107.
Refer to Fig. 3-Fig. 6, the structural representation of the drive wheel mechanism course of action one that Fig. 3 provides for the utility model embodiment; The structural representation of the drive wheel mechanism course of action two that Fig. 4 provides for the utility model embodiment; The structural representation of the drive wheel mechanism course of action three that Fig. 5 provides for the utility model embodiment; The structural representation of the drive wheel mechanism course of action four that Fig. 6 provides for the utility model embodiment.
It should be noted that, for the ease of understanding this programme, in Fig. 3-Fig. 6, the active drive of drive wheel mechanism wheel 101 and driven driving wheel 102 are when released state, the driving shaft of active drive wheel 101 and driven driving wheel 102 is non-occupied state, and when bonding state, the driving shaft of active drive wheel 101 and driven driving wheel 102 is black occupied state.
The drive wheel mechanism that the utility model provides is when work, and the driving wheel that rotating driving device drives active drive wheel 101 and driven driving wheel 102 to form rotates, thereby realizes the function of walking along circuit 300.
As shown in Figure 3, when the first drive wheel mechanism 100 in inspection robot cannot cross near barrier 400, by a deciliter drive unit, drive the first mounting panel 106 and the second mounting panel 107 to do separating action, thereby make active drive wheel 101 and driven driving wheel 102 do separating action, so that initiatively driving wheel 101 and driven driving wheel 102 avoid circuit 300, depart from overlap joint state.
As shown in Figure 4, inspection robot walks on, when this first drive wheel mechanism 100 cut-through thing 400, by a deciliter drive unit, drive the first mounting panel 106 and the second mounting panel 107 to do near action, thereby make active drive wheel 101 and driven driving wheel 102 do combination action, so that initiatively driving wheel 101 and driven driving wheel 102 form driving wheel, and be again overlapped on circuit 300.
As shown in Figure 5, inspection robot walks on, when the second drive wheel mechanism 200 in inspection robot cannot cross near barrier 400, by deciliter drive unit, drive the first mounting panel 106 of the second drive wheel mechanism 200 and the second mounting panel 107 to do separating action, thereby make active drive wheel 101 and driven driving wheel 102 do separating action, so that initiatively driving wheel 101 and driven driving wheel 102 avoid circuit 300, depart from overlap joint state.
As shown in Figure 6, inspection robot walks on, when this second drive wheel mechanism 200 cut-through thing 400, by deciliter drive unit, drive the first mounting panel 106 of the second drive wheel mechanism 200 and the second mounting panel 107 to do near action, thereby make active drive wheel 101 and driven driving wheel 102 do combination action, so that initiatively driving wheel 101 and driven driving wheel 102 form driving wheel, and be again overlapped on circuit 300.
In the utility model one specific embodiment, on base 114, be provided with on the first carriage 113, the first mounting panels 106 and the second mounting panel 107 and be provided with the second carriage 115 being slidably matched with the first carriage 113.In order to guarantee the slip along base 114 of the first mounting panel 106 and the second mounting panel 107, in prior art, there is multiple implementation, introduce herein and on base 114, be provided with the first carriage 113, the mode of the second carriage 115 is set on the first mounting panel 106 and the second mounting panel 107.
In the utility model one specific embodiment, the first carriage 113 is slide rail, and the second carriage 115 is slide block, offers the chute being slidably matched with slide rail on slide block.On base 114, arrange slide rail, and on the first mounting panel 106 and the second mounting panel 107, arrange to there is the slide block of chute, thereby realize the first mounting panel 106 and the second mounting panel 107 can do a deciliter action.Particularly, slide rail can be dovetail slide rail, and chute is dovetail groove.
Except above-mentioned execution mode, the first carriage 113 is chute, and the second carriage 115 is the slide rail coordinating with chute.On base 114, directly offer chute, or by slide block is set, on slide block, offers chute, and on the first mounting panel 106 and the second mounting panel 107, arrange slide rail, thereby realize the first mounting panel 106 and the second mounting panel 107 can do a deciliter action.Particularly, slide rail can be dovetail slide rail, and chute is dovetail groove.
For the stationarity that guarantees to slide, the first carriage 113 is two that are arranged in parallel, and the both sides of the first mounting panel 106 and the second mounting panel 107 are respectively arranged with the second carriage 115 coordinating with two the first carriages 113.The utility model, by two the first carriages 113 are set, has improved the area that the first mounting panel 106 and the second mounting panel 107 are slidably matched.Take the first mounting panel 106 as example, the second carriage 115 is arranged on to the both sides of the first mounting panel 106, thereby improves the stable support to the first mounting panel 106.
In the utility model one specific embodiment, the static housing 110 being arranged on base 114 that also can comprise of the present utility model, static housing 110 is used to its upper-part that stable support is provided, except the parts for support drive wheel mechanism, also can be used for supporting other mechanisms of inspection robot.
Deciliter drive unit comprises the first drive motors 109, first deciliter driven wheel, leading screw 111 and second deciliter driven wheel 112.
Wherein, be arranged on the output shaft of the first drive motors 109, the first drive motors 109 on static housing 110 and be provided with first deciliter driven wheel, by the first drive motors 109, can drive first deciliter driven wheel to rotate.
One end of leading screw 111 is connected with the first mounting panel 106, and the other end is connected with the second mounting panel 107.Second deciliter driven wheel 112 is threaded with leading screw 111, and second deciliter driven wheel 112 engages with first deciliter driven wheel.When the first drive motors 109 is worked, first deciliter driven wheel rotates, and drive second deciliter driven wheel 112 to rotate, due to second deciliter driven wheel 112 and leading screw 111 threaded engagement, so in second deciliter driven wheel 112 rotation process, leading screw 111 can be moved, thereby drives the first mounting panel 106 to do separate or close action with the second mounting panel 107.
Leading screw 111 is two-way leading screw, and so-called two-way leading screw should be understood to leading screw 111 and is comprised of two different leading screws of rotation direction, and one of two leading screws is connected with the first mounting panel 106, and another leading screw is connected with the second mounting panel 107.Regard two-way leading screw as a leading screw, the one end that can be regarded as two-way leading screw is connected with the first mounting panel 106, and the other end is connected with the second mounting panel 107.
In the utility model one specific embodiment, the utility model also can comprise the guide post 108 being arranged on static housing 110, on the first mounting panel 106 and the second mounting panel 107, be provided with guide plate, on guide plate, offer the pilot hole being slidably matched with guide post 108.The bearing of trend that it will be appreciated by persons skilled in the art that guide post 108 should be identical with the glide direction of the first mounting panel 106 and the second mounting panel 107, identical with the bearing of trend of the first carriage 113.The utility model is by increasing guide post 108, more stable in the time of can making the first mounting panel 106 and the second mounting panel 107 slide.
Further, the utility model also can comprise being arranged on linear axis bearing 116, the first mounting panels 106 of base 114 both sides and the second mounting panel 107 and is provided with the linear bearing coordinating with each self-corresponding linear axis bearing 114 respectively.Linear axis bearing 114 and linear bearing also can play the effect that limits the first mounting panel 106 and the second mounting panel 107 glide directions, the stability while also contributing to the first mounting panel 106 and the second mounting panel 107 to slide simultaneously.
In the utility model one specific embodiment, rotating driving device comprises the second drive motors 105, the first swing pinion 104 and the second swing pinion 103.
Wherein, the second drive motors 105 is arranged on the first mounting panel 106, and concrete can be removable installed on the first mounting panel 106 by set bolt.On the output shaft of the second drive motors 105, be provided with the first swing pinion 104, by the work of the second drive motors 105, drive the first swing pinion 104 to rotate.
The second swing pinion 103 is arranged on the driving shaft of active drive wheel 101, and the second swing pinion 103 engages with the first swing pinion 104.In order to be convenient to the layout of the second drive motors 105, the first swing pinion 104 and the second swing pinion 103 are all designed to bevel gear particularly.The utility model drives the first swing pinion 104 to rotate by the work of the second drive motors 105, in the rotary course of the first swing pinion 104, drive the second swing pinion 103 to rotate, then make 101 rotations of active drive wheel, thereby realize the walking function of drive wheel mechanism.
In this specification, each embodiment adopts the mode of going forward one by one to describe, and each embodiment stresses is and the difference of other embodiment, between each embodiment identical similar part mutually referring to.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the utility model.To the multiple modification of these embodiment, will be apparent for those skilled in the art, General Principle as defined herein can, in the situation that not departing from spirit or scope of the present utility model, realize in other embodiments.Therefore, the utility model will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a drive wheel mechanism, for inspection robot, is characterized in that, comprising:
Base (114);
Be mounted slidably in described base (114) above, and the first mounting panel (106) being arranged in parallel and the second mounting panel (107);
Be arranged at rotationally the active drive wheel (101) on described the first mounting panel (106);
Be arranged at rotationally the driven driving wheel (102) on described the second mounting panel (107), after described active drive wheel (101) and described driven driving wheel (102) coordinate, form overlap joint driving wheel on the line;
The rotating driving device that drives described active drive wheel (101) to rotate;
Drive deciliter drive unit of at least one slip in described the first mounting panel (106) and described the second mounting panel (107).
2. drive wheel mechanism as claimed in claim 1, is characterized in that, is provided with the first carriage (113) on described base (114);
On described the first mounting panel (106) and the second mounting panel (107), be provided with the second carriage (115) being slidably matched with described the first carriage (113).
3. drive wheel mechanism as claimed in claim 2, is characterized in that, described the first carriage (113) is slide rail, and described the second carriage (115) is slide block, offers the chute being slidably matched with described slide rail on described slide block.
4. drive wheel mechanism as claimed in claim 2, is characterized in that, described the first carriage (113) is chute, and described the second carriage (115) is the slide rail coordinating with described chute.
5. drive wheel mechanism as claimed in claim 2, it is characterized in that, described the first carriage (113) is two that are arranged in parallel, and the both sides of described the first mounting panel (106) and described the second mounting panel (107) are respectively arranged with described the second carriage (115) coordinating with two described the first carriages (113).
6. the drive wheel mechanism as described in claim 1-5 any one, is characterized in that, also comprises the static housing (110) being arranged on described base (114);
Described deciliter drive unit comprises:
Be arranged at the first drive motors (109) on described static housing (110), on the output shaft of described the first drive motors (109), be provided with first deciliter driven wheel;
The leading screw (111) that two ends are connected with described the second mounting panel (107) with described the first mounting panel (106) respectively;
The second deciliter driven wheel (112) being threaded with described leading screw (111), described second deciliter driven wheel (112) engages with described first deciliter driven wheel.
7. drive wheel mechanism as claimed in claim 6, is characterized in that, also comprises the guide post (108) being arranged on described static housing (110);
On described the first mounting panel (106) and described the second mounting panel (107), be provided with guide plate, on described guide plate, offer the pilot hole being slidably matched with described guide post (108).
8. drive wheel mechanism as claimed in claim 6, is characterized in that, described leading screw (111) is two-way leading screw.
9. the drive wheel mechanism as described in claim 1-5 any one, is characterized in that, also comprises the linear axis bearing (116) that is arranged at described base (114) both sides;
On described the first mounting panel (106) and described the second mounting panel (107), be provided with the linear bearing coordinating with each self-corresponding described linear axis bearing (114) respectively.
10. the drive wheel mechanism as described in claim 1-5 any one, is characterized in that, described rotating driving device comprises:
Be arranged at the second drive motors (105) on described the first mounting panel (106), on the output shaft of described the second drive motors (105), be provided with the first swing pinion (104);
Be arranged at described active drive and take turns the second swing pinion (103) on the driving shaft of (101), described the second swing pinion (103) engages with described the first swing pinion (104).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320756708.0U CN203574296U (en) | 2013-11-26 | 2013-11-26 | Drive wheel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320756708.0U CN203574296U (en) | 2013-11-26 | 2013-11-26 | Drive wheel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203574296U true CN203574296U (en) | 2014-04-30 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320756708.0U Expired - Lifetime CN203574296U (en) | 2013-11-26 | 2013-11-26 | Drive wheel mechanism |
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| Country | Link |
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| CN (1) | CN203574296U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104577881A (en) * | 2015-01-23 | 2015-04-29 | 国家电网公司 | Intelligent line patrol trolley lighting trolley body device and line patrol method |
| CN106272466A (en) * | 2016-09-15 | 2017-01-04 | 周珍芳 | High-voltage line climbing robot based on transfer arm obstacle detouring |
| CN106725900A (en) * | 2016-12-20 | 2017-05-31 | 中国农业大学 | A kind of head operation type variable clamping device |
| CN110970830A (en) * | 2019-12-03 | 2020-04-07 | 国网河南省电力公司鹤壁供电公司 | Transmission line obstacle detection device |
-
2013
- 2013-11-26 CN CN201320756708.0U patent/CN203574296U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104577881A (en) * | 2015-01-23 | 2015-04-29 | 国家电网公司 | Intelligent line patrol trolley lighting trolley body device and line patrol method |
| CN106272466A (en) * | 2016-09-15 | 2017-01-04 | 周珍芳 | High-voltage line climbing robot based on transfer arm obstacle detouring |
| CN106725900A (en) * | 2016-12-20 | 2017-05-31 | 中国农业大学 | A kind of head operation type variable clamping device |
| CN110970830A (en) * | 2019-12-03 | 2020-04-07 | 国网河南省电力公司鹤壁供电公司 | Transmission line obstacle detection device |
| CN110970830B (en) * | 2019-12-03 | 2023-10-24 | 国网河南省电力公司鹤壁供电公司 | Obstacle detection device for power transmission line |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140430 |