CN204089042U - The polling transmission line walking mechanism of rotary wind type leaping over obstacles - Google Patents
The polling transmission line walking mechanism of rotary wind type leaping over obstacles Download PDFInfo
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- CN204089042U CN204089042U CN201420615811.8U CN201420615811U CN204089042U CN 204089042 U CN204089042 U CN 204089042U CN 201420615811 U CN201420615811 U CN 201420615811U CN 204089042 U CN204089042 U CN 204089042U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 64
- 230000007246 mechanism Effects 0.000 title claims abstract description 56
- 230000009471 action Effects 0.000 claims abstract description 12
- 238000007689 inspection Methods 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 15
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 15
- 230000009194 climbing Effects 0.000 abstract description 8
- 208000010877 cognitive disease Diseases 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
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Abstract
The polling transmission line walking mechanism of a kind of rotary wind type leaping over obstacles that the utility model provides, comprise the loading plate for carrying inspection device, described loading plate is provided with at least two rotors for leaping over obstacles, described loading plate is also provided with at least two can reciprocating running gear and the control device for controlling rotor and running gear action climb shaft tower without the need to workman and can be installed in transmission line circuit on transmission line, substantially exempts staff and carry out operation of climbing; And can effectively cross over the barrier comprising shaft tower, completely without the need to human assistance across obstacle, and can the distance of accurately cognitive disorders thing and walking mechanism, ensure the Exact Travelling of across obstacle; Effectively avoid the potential safety hazard of climbing because of installation walking mechanism or auxiliary across obstacle workman and existing.
Description
Technical field
The utility model relates to electric inspection process field, particularly relates to a kind of polling transmission line walking mechanism of rotary wind type leaping over obstacles.
Background technology
In electrical network, be very important work for patrolling and examining of transmission line, foreign matter can be there is and get rid of in time by Timeliness coverage transmission line, effectively prevent transmission line from causing short trouble because of foreign matter, but also can the fault of Timeliness coverage transmission line self.
Traditional polling transmission line is manual type, namely workman investigates one by one along transmission line, but this mode easily occurs omitting for the fault of power delivery circuit, and for the area of bad environments, so easily cause casualties accident, therefore, the staff of electrical network abandons this polling transmission line mode gradually, and propose the inspection device of transmission line, although greatly improve and patrol and examine efficiency to transmission line, and decrease crew numbers and occur the accident of injures and deaths, but but there are the following problems for existing inspection device: existing inspection device still needs staff to climb to be placed on transmission line by inspection device, thus still easily there is electric shock accidents in operation, what is more important, existing power transmission line inspection device also can only be walked in transmission line walking between two shaft towers, and can not crossing pole, could must be realized by the mobile of staff, even if when there is obstacle between two shaft towers, such as stockbridge damper, existing walking mechanism of patrolling and examining can not be crossed over equally, so great impact is brought on the efficiency of patrolling and examining, and staff can not be exempted completely to climb and get an electric shock equivalent risk.
Therefore, need to propose a kind of new polling transmission line walking mechanism, substantially can exempt staff and carry out operation of climbing, effectively avoid because of the security risk operating and bring such as to climb, and can effectively cross over the barrier comprising shaft tower, avoid manual type across obstacle completely, the security risk reduced a staff further.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of polling transmission line walking mechanism of rotary wind type leaping over obstacles, substantially can exempt staff and carry out operation of climbing, effectively avoid because of the security risk operating and bring such as to climb, and can effectively cross over the barrier comprising shaft tower, avoid manual type across obstacle completely, the security risk reduced a staff further.
The polling transmission line walking mechanism of a kind of rotary wind type leaping over obstacles that the utility model provides, comprise the loading plate for carrying inspection device, described loading plate is provided with at least two rotors for leaping over obstacles, described loading plate is also provided with at least two can on transmission line reciprocating running gear and the control device for controlling rotor and running gear action;
Described running gear comprise trench structure pulley, for install pulley support bar, for installing mount pad and the driver of described support bar, described mount pad is platy structure and is fixedly installed on loading plate in the mode in the plate face perpendicular to loading plate, described mount pad is provided with chute along the extending direction of its lengthwise centers line, and the upper end of described chute forms deep-slotted chip breaker to the right skew of loading plate; Described support bar to be embedded in chute by two installation shaft and to pump under the driving of driver, and described pulley is installed on the end, upper end of described support bar by wheel shaft, and by a pulley drive drive pulley around own axis;
Described rotor is provided with rotor driver, and described driver, pulley drive and rotor driver are connected with described control device.
Further, described mount pad is provided with and enters line-locked locked component when walking mechanism is walked, and described locked component comprises the tab of U-shaped structure, lock shaft, lock gear, tooth bar and connecting plate; Described connecting plate is fixedly connected with the left side side of mount pad, the forward end bending of described connecting plate forms the engaging lug perpendicular to connecting plate plate face, described lock shaft also can along own axis through engaging lug, the bottom of described tab is fixedly connected with the front end of lock shaft, described lock gear is coaxially fixedly installed on the tail end of lock shaft, described locking teeth wheel and rack engagement, described tooth bar to be arranged at connecting plate perpendicular to the mode of loading plate and tooth bar can in above-below direction reciprocating motion, described tooth bar by driver drives in above-below direction reciprocating motion.
Further, described driver is linear electric motors, and the output of described driver is provided with slurcam, and the lower end of described tooth bar and support bar is all fixedly connected with slurcam and driver drives support bar and tooth bar pump simultaneously.
Further, the sidewall of described connecting plate is provided with tooth bar chute, and described tooth bar to be embedded in tooth bar chute and can reciprocating motion in tooth bar chute, and described tooth bar chute is towards the wrap direction of engaging lug.
Further, the described control device controlled processing unit that comprising position detection unit for detecting transmission line and the correspondence position of pulley, exercising the detection of obstacles unit of preceding object thing for detecting described walking mechanism, be electrically connected with the output of described position detection unit and detection of obstacles unit.
Further, described position detection unit comprises at least one transducer group, each transducer group comprises three range sensors, one of them range sensor is arranged at described loading plate and is positioned on longitudinal centre line, another two range sensors are arranged at loading plate and are respectively in the both sides of the longitudinal centre line of loading plate, and the range sensor being positioned at longitudinal centre line both sides is on same straight line to equal and three range sensors of the distance of the range sensor being positioned at center line.
Further, described controlled processing unit comprises the preposing signal process circuit be connected with the output of described position detection unit and detection of obstacles unit, the comparison circuit be connected with described preposing signal process circuit output, the central processing circuit that is connected with described preposing signal process circuit output and comparison circuit output, and described central processing circuit exports control command to driver and rotor driver.
Further, described detection of obstacles unit comprises ultrasonic detector for detecting described walking mechanism preceding object thing and distance of obstacle transducer, and described ultrasonic detector is connected with central processing circuit with the output of distance of obstacle transducer.
Further, described control device also comprises the remote control unit be connected with control treatment power supply wireless, the keyboard that described remote control unit comprises remote processing circuit, the display be connected with described remote processing circuit and is connected with described remote processing circuit; Described remote processing circuit to be connected with central processing circuit by wireless transmission circuit and to carry out data interaction.
Further, described control device also comprises image detecting element, the image processing circuit that described image detecting element comprises at least one camera and is connected with described camera, and described image processing circuit is connected with described central processing circuit.
The beneficial effects of the utility model: the polling transmission line walking mechanism of the rotary wind type leaping over obstacles that the utility model provides, climb shaft tower without the need to workman and can be installed on transmission line circuit, and basic release staff carries out operation of climbing; And can effectively cross over the barrier comprising shaft tower, completely without the need to human assistance across obstacle, and can the distance of accurately cognitive disorders thing and walking mechanism, ensure the Exact Travelling of across obstacle; Effectively avoid the potential safety hazard of climbing because of installation walking mechanism or auxiliary across obstacle workman and existing; Adaptive capacity to environment is strong.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described:
Fig. 1 is structural representation of the present utility model.
Fig. 2 is vertical view in Fig. 1.
Fig. 3 is the structural representation of mount pad of the present utility model.
Fig. 4 is control principle block diagram of the present utility model.
Fig. 5 is the utility model range sensor and transmission line distance test schematic diagram.
Embodiment
Fig. 1 is structural representation of the present utility model, and Fig. 2 is vertical view in Fig. 1, and Fig. 3 is the structural representation of mount pad of the present utility model, and Fig. 4 is control principle block diagram of the present utility model, as shown in the figure, the polling transmission line walking mechanism of a kind of rotary wind type leaping over obstacles that the utility model provides, comprise the loading plate 1 for carrying inspection device, described loading plate 1 is provided with at least two rotors 15 for leaping over obstacles, described loading plate 1 is also provided with at least two can on transmission line reciprocating running gear and the control device 18 for controlling rotor 15 and running gear action, wherein in the present embodiment, running gear adopts 3, be convenient to stable across obstacle, and three running gear spaced sets and the projection of circumferential center line of the chute of pulley overlap with the longitudinal centre line of loading plate, be beneficial to walking mechanism can exact residence on target transmission line,
Described running gear comprises the pulley 9 of trench structure, for installing the support bar 8 of pulley 9, for installing mount pad 6 and the driver 2 of described support bar 8, described mount pad 6 is platy structure and is fixedly installed on loading plate 1 in the mode in the plate face perpendicular to loading plate 1, described mount pad 6 is provided with chute 5 along the extending direction of its lengthwise centers line, the upper end of described chute 5 forms deep-slotted chip breaker to right (right namely shown in Fig. 1) skew of loading plate 6, as shown in Figure 3, by this structure, support bar deflects when can be made to slide into mount pad upper end, pulley is made to depart from transmission line, thus complete leap, described support bar 8 to be embedded in chute 5 by two installation shaft 4 and to pump under the driving of driver 2, described pulley 9 is installed on the end, upper end of described support bar 8 by wheel shaft 16, and by pulley drive 7 drive pulley 9 around own axis, thus complete walking motion, pulley drive is existing motor, upper and lower up and down namely shown in Fig. 1 described in the present embodiment,
Described rotor 15 is provided with rotor driver 19, described driver 2, pulley drive 7 and rotor driver 19 are connected with described control device 18, the utility model is climbed shaft tower without the need to workman and can be installed on transmission line circuit, and basic release staff carries out operation of climbing; And can effectively cross over the barrier comprising shaft tower, completely without the need to human assistance across obstacle, and can the distance of accurately cognitive disorders thing and walking mechanism, ensure the Exact Travelling of across obstacle; Effectively avoid the potential safety hazard of climbing because of installation walking mechanism or auxiliary across obstacle workman and existing; Adaptive capacity to environment is strong.
In the present embodiment, described mount pad 6 is provided with and enters line-locked locked component when walking mechanism is walked, and described locked component comprises the tab 10 of U-shaped structure, lock shaft 11, lock gear 13, tooth bar 14 and connecting plate 12, described connecting plate 12 is fixedly connected with the left side side of mount pad 6, the forward end bending of described connecting plate 12 forms the engaging lug 121 perpendicular to connecting plate 12 plate face, described lock shaft 11 also can along own axis through engaging lug 121, the bottom of described tab 10 is fixedly connected with the front end of lock shaft 11, described lock gear 13 is coaxially fixedly installed on the tail end of lock shaft 11, described lock gear 13 engages 14 with tooth bar, described tooth bar 14 is to be arranged at connecting plate 12 perpendicular to the mode of loading plate 1 and tooth bar can in above-below direction reciprocating motion, described tooth bar 14 drives in above-below direction reciprocating motion by driver 2, by this structure, transmission line can be locked between the groove of pulley and the tab of U-shaped structure, can effectively prevent walking mechanism from coming off in the process of walking, fail safe is high, and pass through said structure, tab and support bar is made to realize linking, when being convenient to walking mechanism is locked in transmission line and across obstacle, tab is separated with pulley, be beneficial to use.
In the present embodiment, described driver 2 is linear electric motors, the output of described driver 2 is provided with slurcam 3, and the lower end of described tooth bar 14 and support bar 8 is all fixedly connected with slurcam 3 and driver 2 drives support bar and tooth bar to pump simultaneously, by the effect of slurcam, realize tab and support bar links simultaneously, easy to use, certainly, driver also can adopt cylinder, but when adopting cylinder, mechanism is comparatively complicated, and increases the deadweight of walking mechanism.
In the present embodiment, the sidewall of described connecting plate 12 is provided with tooth bar chute 122, described tooth bar 14 to be embedded in tooth bar chute 122 and can reciprocating motion in tooth bar chute 122, described tooth bar chute 122 is towards the wrap direction of engaging lug 121, by this structure, the ride comfort of tooth bar in motion process and stationarity can be ensured, can ensure that tab and support bar realize stable interlock.
In the present embodiment, the controlled processing unit that described control device 18 comprising position detection unit for detecting transmission line and the correspondence position of pulley, exercising the detection of obstacles unit of preceding object thing for detecting described walking mechanism, be electrically connected with the output of described position detection unit and detection of obstacles unit, by the effect of controlled processing unit, can control reliably the action of walking mechanism, and the position of walking mechanism and barrier is detected, ensures smooth across obstacle.
In the present embodiment, described position detection unit comprises at least one transducer group, each transducer group comprises three range sensors, one of them range sensor is arranged at described loading plate and is positioned on longitudinal centre line, another two range sensors are arranged at loading plate and are respectively in the both sides of the longitudinal centre line of loading plate, and the range sensor being positioned at longitudinal centre line both sides is to the distance of the range sensor being positioned at center line is equal and three range sensors are on same straight line, wherein, the longitudinal centre line of loading plate refers to the center line of the above-below direction shown in Fig. 2, transducer group adopts two groups, equally as shown in Figure 2, to only have when the transducer being positioned at longitudinal centre line both sides detects that walking mechanism is equal to the distance of two sensors for the transmission line installed and the transducer being positioned at center line is less than default distance to the distance of this transmission line time, could control walk mechanism stable rest on transmission line, as shown in Figure 5, work as a=b, and during c < Y, walking mechanism is controlled accurately and stably rest on target transmission line by remote control unit, wherein a and b is the range sensor that the is positioned at loading plate longitudinal centre line both sides distance to target transmission line, c is the distance being positioned at range sensor on the longitudinal centre line of loading plate and target transmission line, Y is presetting distance, be stored in comparison circuit, S is transmission line.
In the present embodiment, described controlled processing unit comprises the preposing signal process circuit be connected with the output of described position detection unit and detection of obstacles unit, the comparison circuit be connected with described preposing signal process circuit output, the central processing circuit be connected with described preposing signal process circuit output and comparison circuit output, described central processing circuit exports control command to driver and rotor driver, central processing circuit adopts existing single-chip microcomputer, such as AVR single chip, preposing signal process circuit is existing circuit, comprise amplification, the function such as filtering and analog-to-digital conversion, also can be amplifying circuit, filter circuit and the integrated circuit of analog to digital conversion circuit.
In the present embodiment, described detection of obstacles unit comprises ultrasonic detector for detecting described walking mechanism preceding object thing and distance of obstacle transducer, described ultrasonic detector is connected with central processing circuit with the output of distance of obstacle transducer, by the effect of ultrasonic detector, whether the front can detecting walking mechanism exists barrier, such as less barrier, as stockbridge damper etc., if distant, operator cannot know and accurately observes barrier, range sensor is arranged on mount pad, for detecting the distance of mount pad and the barrier be positioned on direction of travel foremost, thus walking mechanism can be made to stay in the other best spanning position of barrier, wherein ultrasonic detector adopts prior art, not in this to go forth.
In the present embodiment, described control device also comprises the remote control unit be connected with control treatment power supply wireless, the keyboard that described remote control unit comprises remote processing circuit, the display be connected with described remote processing circuit and is connected with described remote processing circuit, described remote processing circuit to be connected with central processing circuit by wireless transmission circuit and to carry out data interaction, wherein remote control unit grips for staff and operates, remote processing circuit adopts existing single-chip microcomputer or micro-processor interface circuit, such as AVR single chip, remote control unit is also provided with memory, for the parameter in storage running process, be convenient to follow-up analytical work, wherein, display is for the parameter in display and control process and image information, keyboard is used for input of control commands, certainly, also touch control can be adopted to shield and to replace keyboard and display.
In the present embodiment, described control device also comprises image detecting element, the image processing circuit that described image detecting element comprises at least one camera and is connected with described camera, described image processing circuit is connected with described central processing circuit, by the effect of image detecting element, the image of the transmission line detected is transferred to remote control unit by central processing circuit, the situation of staff to transmission line is facilitated to understand, wherein, image processing circuit is existing single-chip microcomputer, such as AVR single chip.
Wherein rotor driver adopts motor, and above-mentioned each power consumption equipment all adopts storage battery to power, and online power taking equipment (for prior art) can certainly be adopted charge in batteries or be directly supplied to consuming parts.
Operation principle of the present utility model:
1. when just bringing into use, control command is exported by remote control unit to central processing circuit by staff, rotor works, and walking mechanism is risen to described in transmission line height and position, and the position of walking mechanism is adjusted gradually by staff, until above-mentioned middle a=b and c < Y time position time, release support bar, three support bars all move downward, ensure that pulley exact residence is on target transmission line, after walking mechanism stop is reliable, rotor quits work;
2. (the such as stockbridge damper when running into less barrier, bundle conductor support) etc., the range sensor being arranged at mount pad is had to detect the distance of barrier and walking mechanism, the image information that this distance and graphics processing unit export is transferred to remote control unit by central processing circuit, and staff controls walking mechanism and rests on best spanning position (this position is judged according to the distance of image information and the range sensor that is arranged at mount pad by staff), then the action of the first row walking apparatus is controlled, moved upward by driver drives support bar thus pulley and transmission line are departed from, move upward with hour rack, tab departs from pulley under the drive of tooth bar and locking wheel, when support bar moves to the upper end of chute, due to the skew effect of chute, support bar band movable pulley is deflected, pulley completely and transmission line depart from, then the long-range output control command of staff, and control the pulley drive action of two other running gear, thus drive pulley motion, and the distance of motion is the spacing of two running gears, thus complete the action of first running gear leaping over obstacles, and the running gear that staff controls across obstacle resets, even if pulley rests on target transmission line again, then above-mentioned action is repeated, until three whole across obstacles of running gear.
3. when running into shaft tower and tiring out the barrier of large volume, when walking mechanism is walked barrier place, staff controls rotor action again, and the rotary speed of rotor is enough to maintain walking mechanism current location, and staff's control lines walking apparatus and transmission line depart from (after disengaging, the support bar of running gear does not reset, the top of chute), then after making walking mechanism across obstacle by the dynamic action of rotor, then make walking mechanism be in a=b in a manner mentioned above and c < Y time position time, support bar band movable pulley resets, again rest in target line, continue next action.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (10)
1. the polling transmission line walking mechanism of a rotary wind type leaping over obstacles, it is characterized in that: comprise the loading plate for carrying inspection device, described loading plate is provided with at least two rotors for leaping over obstacles, described loading plate is also provided with at least two can on transmission line reciprocating running gear and the control device for controlling rotor and running gear action;
Described running gear comprise trench structure pulley, for install pulley support bar, for installing mount pad and the driver of described support bar, described mount pad is platy structure and is fixedly installed on loading plate in the mode in the plate face perpendicular to loading plate, described mount pad is provided with chute along the extending direction of its lengthwise centers line, and the upper end of described chute forms deep-slotted chip breaker to the right skew of loading plate; Described support bar to be embedded in chute by two installation shaft and to pump under the driving of driver, and described pulley is installed on the end, upper end of described support bar by wheel shaft, and by a pulley drive drive pulley around own axis;
Described rotor is provided with rotor driver, and described driver, pulley drive and rotor driver are connected with described control device.
2. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to claim 1, it is characterized in that: described mount pad is provided with and enters line-locked locked component when walking mechanism is walked, described locked component comprises the tab of U-shaped structure, lock shaft, lock gear, tooth bar and connecting plate; Described connecting plate is fixedly connected with the left side side of mount pad, the forward end bending of described connecting plate forms the engaging lug perpendicular to connecting plate plate face, described lock shaft also can along own axis through engaging lug, the bottom of described tab is fixedly connected with the front end of lock shaft, described lock gear is coaxially fixedly installed on the tail end of lock shaft, described locking teeth wheel and rack engagement, described tooth bar to be arranged at connecting plate perpendicular to the mode of loading plate and tooth bar can in above-below direction reciprocating motion, described tooth bar by driver drives in above-below direction reciprocating motion.
3. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to claim 2, it is characterized in that: described driver is linear electric motors, the output of described driver is provided with slurcam, and the lower end of described tooth bar and support bar is all fixedly connected with slurcam and driver drives support bar and tooth bar pump simultaneously.
4. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to claim 3, it is characterized in that: the sidewall of described connecting plate is provided with tooth bar chute, described tooth bar to be embedded in tooth bar chute and can reciprocating motion in tooth bar chute, and described tooth bar chute is towards the wrap direction of engaging lug.
5. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to the arbitrary claim of claim 1-4, is characterized in that: described control device comprising position detection unit for detecting transmission line and the correspondence position of pulley, exercising the detection of obstacles unit of preceding object thing for detecting described walking mechanism, the controlled processing unit that is electrically connected with the output of described position detection unit and detection of obstacles unit.
6. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to claim 5, it is characterized in that: described position detection unit comprises at least one transducer group, each transducer group comprises three range sensors, one of them range sensor is arranged at described loading plate and is positioned on longitudinal centre line, another two range sensors are arranged at loading plate and are respectively in the both sides of the longitudinal centre line of loading plate, and the range sensor being positioned at longitudinal centre line both sides is on same straight line to equal and three range sensors of the distance of the range sensor being positioned at center line.
7. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to claim 6, it is characterized in that: described controlled processing unit comprises the preposing signal process circuit be connected with the output of described position detection unit and detection of obstacles unit, the comparison circuit be connected with described preposing signal process circuit output, the central processing circuit that is connected with described preposing signal process circuit output and comparison circuit output, and described central processing circuit exports control command to driver and rotor driver.
8. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to claim 7, it is characterized in that: described detection of obstacles unit comprises ultrasonic detector for detecting described walking mechanism preceding object thing and distance of obstacle transducer, and described ultrasonic detector is connected with central processing circuit with the output of distance of obstacle transducer.
9. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to claim 8, it is characterized in that: described control device also comprises the remote control unit be connected with control treatment power supply wireless, the keyboard that described remote control unit comprises remote processing circuit, the display be connected with described remote processing circuit and is connected with described remote processing circuit; Described remote processing circuit to be connected with central processing circuit by wireless transmission circuit and to carry out data interaction.
10. the polling transmission line walking mechanism of rotary wind type leaping over obstacles according to claim 9, it is characterized in that: described control device also comprises image detecting element, the image processing circuit that described image detecting element comprises at least one camera and is connected with described camera, described image processing circuit is connected with described central processing circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420615811.8U CN204089042U (en) | 2014-10-22 | 2014-10-22 | The polling transmission line walking mechanism of rotary wind type leaping over obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420615811.8U CN204089042U (en) | 2014-10-22 | 2014-10-22 | The polling transmission line walking mechanism of rotary wind type leaping over obstacles |
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| CN204089042U true CN204089042U (en) | 2015-01-07 |
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| CN201420615811.8U Expired - Fee Related CN204089042U (en) | 2014-10-22 | 2014-10-22 | The polling transmission line walking mechanism of rotary wind type leaping over obstacles |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104283153A (en) * | 2014-10-22 | 2015-01-14 | 国家电网公司 | Rotor-wing-type power transmission line patrol inspection walking mechanism capable of crossing obstacles |
| CN107302205A (en) * | 2017-06-26 | 2017-10-27 | 马人欢 | High-altitude transmission line deicer |
| CN107359540A (en) * | 2017-07-11 | 2017-11-17 | 京东方科技集团股份有限公司 | Loading attachment |
| CN109346993A (en) * | 2018-12-07 | 2019-02-15 | 江苏迪伦智能科技有限公司 | A kind of overhead transmission line circuit scanning test robot obstacle crossing device and obstacle-detouring method |
| CN111676813A (en) * | 2020-06-19 | 2020-09-18 | 深圳市人工智能与机器人研究院 | Climbing robot |
| CN112720514A (en) * | 2020-12-18 | 2021-04-30 | 程秀珍 | Electric power intelligence patrols and examines robot with narrow space function of marcing |
-
2014
- 2014-10-22 CN CN201420615811.8U patent/CN204089042U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104283153A (en) * | 2014-10-22 | 2015-01-14 | 国家电网公司 | Rotor-wing-type power transmission line patrol inspection walking mechanism capable of crossing obstacles |
| CN107302205A (en) * | 2017-06-26 | 2017-10-27 | 马人欢 | High-altitude transmission line deicer |
| CN107302205B (en) * | 2017-06-26 | 2018-12-21 | 绍兴东升新材料科技有限公司 | High-altitude transmission line deicer |
| CN107359540A (en) * | 2017-07-11 | 2017-11-17 | 京东方科技集团股份有限公司 | Loading attachment |
| CN107359540B (en) * | 2017-07-11 | 2019-04-26 | 京东方科技集团股份有限公司 | Loading attachment |
| CN109346993A (en) * | 2018-12-07 | 2019-02-15 | 江苏迪伦智能科技有限公司 | A kind of overhead transmission line circuit scanning test robot obstacle crossing device and obstacle-detouring method |
| CN109346993B (en) * | 2018-12-07 | 2023-10-31 | 江苏迪伦智能科技有限公司 | Obstacle crossing device and obstacle crossing method for overhead transmission line inspection robot |
| CN111676813A (en) * | 2020-06-19 | 2020-09-18 | 深圳市人工智能与机器人研究院 | Climbing robot |
| CN112720514A (en) * | 2020-12-18 | 2021-04-30 | 程秀珍 | Electric power intelligence patrols and examines robot with narrow space function of marcing |
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Granted publication date: 20150107 Termination date: 20171022 |