CN204927964U - Transmission line synthesizes work robot with straightway hinders mechanism more - Google Patents
Transmission line synthesizes work robot with straightway hinders mechanism more Download PDFInfo
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- CN204927964U CN204927964U CN201520605385.4U CN201520605385U CN204927964U CN 204927964 U CN204927964 U CN 204927964U CN 201520605385 U CN201520605385 U CN 201520605385U CN 204927964 U CN204927964 U CN 204927964U
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Abstract
The utility model provides a transmission line synthesizes work robot with straightway hinders mechanism more, including the first part of and latter half, this the first part of contains preceding shoulder (25), forearm support (2) and front wheel (4), and this latter half contains back porch (26), postbrachium support (18) and rear wheel (22), the front end of preceding shoulder (25) still is equipped with and makes front wheel (4) to follow the preceding slewing mechanism of the advancing direction removal of perpendicular to front wheel (4), and the rear end of back porch (26) still is equipped with and makes rear wheel (22) back slewing mechanism along the advancing direction removal of perpendicular to rear wheel (22). This transmission line synthesizes the work robot off -line and keeps away the barrier and to realize through a mechanism, has avoided off -line in the past and has hindered the action and need accomplish jointly by two actuating mechanism with keeping away, and that has simplified the robot hinders the mechanism more, has lightened the weight of robot.
Description
Technical field
The utility model relates to the checkout equipment field of transmission line, particularly a kind of power transmission line comprehensive Work robot with straightway barrier getting over mechanism.
Background technology
Power transmission line comprehensive Work robot can complete multiple operation on overhead transmission line, general is all complete different job tasks by carrying different power tools along the robot manipulating task platform of transmission line movement, such as, patrol and examine, deicing, to remove obstacles.Wherein robot manipulating task platform is the most important components of whole operating system, and the barrier getting over mechanism of robot is the important component part of robot manipulating task platform.Multi-form obstacle detouring also determines the different obstacle detouring mode of robot and process.Complicated barrier getting over mechanism makes robot obstacle detouring process complexity, construction weight large; And the simple barrier getting over mechanism of structure can simplify robot obstacle detouring process, improve stability and the reliability of robot work, also can alleviate the weight of robot, be convenient to robot transport and on roll off the production line.
On transmission line when walking and operation, the driving wheel of existing power transmission line comprehensive Work robot is placed in directly over wire, adopts two paws to embrace wire, driving wheel is pressed on wire.When preparation is rolled off the production line, in driving wheel off-line, first open paw, then by the mode of side-sway, driving wheel is left directly over wire.The action of reaching the standard grade with roll off the production line just in time contrary, first make driving wheel be in directly over wire by side-sway, then closed paw, embraces wire.
The off-line of existing power transmission line comprehensive Work robot driving wheel needs two actions---and paw opening and closing, driving wheel side-sway, this just makes, and the control of driver part is more loaded down with trivial details, complicated structure.Secondly, two fingers of paw must have strict symmetric relation, and must meet the strict characteristics of motion, otherwise can have a strong impact on mechanism characteristics, have higher requirement to the processing of mechanism, debugging.The last program needs former and later two mechanical arms to cooperatively interact just can complete the function of leaping over obstacles, and degree of freedom in system is many, complex structure.
Utility model content
Problem that is loaded down with trivial details and complicated structure is controlled in order to solve traditional synthetic job machine people.The utility model provides a kind of power transmission line comprehensive Work robot with straightway barrier getting over mechanism, contain the structure of an approximate straightway, make the off-line of robot barrier getting over mechanism and keep away barrier can be realized by a mechanism, avoiding off-line in the past and keeping away barrier action needs Liang Ge actuator jointly to complete, simplify the barrier getting over mechanism of robot, alleviate the weight of robot.
The utility model is the technical scheme solving the employing of its technical problem: a kind of power transmission line comprehensive Work robot with straightway barrier getting over mechanism, comprise first half and latter half, this first half contains crop, front arm support and front-wheel, and this latter half contains back porch, rear arm support and trailing wheel; The rear end of crop is connected with the front end of back porch, forearm Bracket setting is in the front end of crop, postbrachium Bracket setting is in the rear end of back porch, front-wheel is arranged at the upper end of front arm support, trailing wheel is arranged at the upper end of rear arm support, the front end of crop is also provided with and front-wheel edge can be made perpendicular to rotating mechanism before the direct of travel movement of front-wheel, and the rear end of back porch is also provided with and trailing wheel can be made along the rear rotating mechanism perpendicular to the direct of travel movement of trailing wheel.
Crop and back porch are all in column, crop and back porch are arranged all in the horizontal direction, the rear end of crop is fixed with front shoulder joint, the front end of back porch is fixed with rear shoulder joint, front shoulder joint is connected with back porch articulation, crop can rotate relative to back porch, and the axis of the rotating shaft between front shoulder joint and rear shoulder joint is arranged and in the horizontal direction perpendicular to back porch.
This front rotating mechanism comprises front runner and for supporting fixed guide support before front runner, front fixed guide support is tabular, lower end and the front runner of front arm support are rotationally connected by front bearing pin, the axis of the rotation axis of runner before the axis runout of front bearing pin, front runner is also connected with the first driver part for driving this front runner to rotate, when current runner rotates, front runner can promote forearm holder pivots and front-wheel is moved obliquely upward.
Front fixed guide support is vertical with crop, and the front lower end of fixed guide support is fixedly connected with the front end of crop, and forward wheel is positioned at front fixed guide support, and the axes normal of the described rotation axis of front runner is in front fixed guide support.
Front arm support is column, the groove vertically offered is provided with in front arm support, front fixed guide support is plugged in this groove, the top of front fixed guide support is also provided with guide chute, containing leading to axle in this guide chute, the axes normal of the front axis of guide is in front fixed guide support, and the front axis of guide is fixedly connected with front arm support, and the front axis of guide can slide along this guide chute.
Front-wheel is positioned at the left side of front arm support, the pivot center of front-wheel is arranged in the horizontal direction, and the pivot center of front-wheel is vertical with crop, and front-wheel is connected with the second driver part for driving this front-drive, the upper end of front arm support is provided with installing hole, and this second driver part is arranged in this installing hole.
This first half also comprises the clamping part for clamping transmission line being positioned at forearm pedestal upper end, and this clamping part is arranged on the front of front-wheel, and this clamping part is fixedly connected with front arm support by connector.
This clamping part contains fore paw leading screw and the support for supporting this fore paw leading screw, fore paw leading screw is arranged with the nut that two rotation directions are contrary, each described nut is all fixed with a fore paw, two fore paws are herringbone, when fore paw screw turns, between two fore paws can close to each other or away from, fore paw leading screw is also connected with the 3rd driver part for driving this fore paw screw turns.
The structure of described first half is identical with the structure of described latter half, described first half and described latter half mirror image each other.
This power transmission line comprehensive Work robot with straightway barrier getting over mechanism is also containing the control unit for controlling power transmission line comprehensive Work robot operation that this has straightway barrier getting over mechanism.
The beneficial effects of the utility model are:
1, by the cooperation of runner and the axis of guide, front and back wheel can be allowed to carry out the action of opening and closing according to desired trajectory;
2, decrease in robot obstacle detouring process, two-arm rotates the degree of freedom of redundancy.
3, according to different electric pressure and different model gold utensil, determine corresponding robot arm size and guide track, robot can be made to cross over different size barrier, improve the adaptive capacity to environment of robot.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the power transmission line comprehensive Work robot with straightway barrier getting over mechanism described in the utility model is described in further detail.
Fig. 1 is that this has the schematic perspective view of the power transmission line comprehensive Work robot of straightway barrier getting over mechanism.
Fig. 2 is front-wheel that this has the power transmission line comprehensive Work robot of straightway barrier getting over mechanism schematic diagram when contacting with transmission line.
The schematic diagram of Fig. 3 when to be this front-wheel with the power transmission line comprehensive Work robot of straightway barrier getting over mechanism move to the oblique upper of transmission line.
The wherein axis of guide before 1., 2. arm support before, 3. turbin generator before, 4. front-wheel, 5. fore paw leading screw, 6. fore paw, 7. fore paw motor, 8. runner before, 9. bearing pin before, 10. fixed guide support before, 11. forward turbin generators, shoulder joint before 12., shoulder joint after 13., runner motor after 14., 15. rear pin shafts, runner after 16., the axis of guide after 17., arm support after 18., 19. rear solid end motors, 20. rear solid ends, 21. rear solid end leading screws, 22. trailing wheels, 23. rear-wheel motors, fixed guide support after 24., 25. crops, 26. back porches, 27. rotating shafts, 28. transmission lines, 201. guide chute.
Embodiment
Below in conjunction with accompanying drawing, the power transmission line comprehensive Work robot with straightway barrier getting over mechanism described in the utility model is described in further detail.Have a power transmission line comprehensive Work robot for straightway barrier getting over mechanism, comprise first half and latter half, this first half contains crop 25, front arm support 2 and front-wheel 4, and this latter half contains back porch 26, rear arm support 18 and trailing wheel 22; The rear end of crop 25 is connected with the front end of back porch 26, the front end of crop 25 is provided with front arm support 2, the rear end of back porch 26 is provided with rear arm support 18, the upper end of front arm support 2 is provided with front-wheel 4, the upper end of rear arm support 18 is provided with trailing wheel 22, the front end of crop 25 is also provided with and front-wheel 4 can be made along perpendicular to rotating mechanism before the direct of travel movement of front-wheel 4, and the rear end of back porch 26 is also provided with the rear rotating mechanism that trailing wheel 22 can be made along the direct of travel movement perpendicular to trailing wheel 22, as shown in Figure 1.
This power transmission line comprehensive Work robot with straightway barrier getting over mechanism is operationally hung on transmission line 28 by front-wheel 4 and trailing wheel 22, as shown in Figure 2, the direct of travel of front-wheel 4 and trailing wheel 22 is inside or outside perpendicular to paper, front-wheel 4 and trailing wheel 22 rotate thus drive this power transmission line comprehensive Work robot to walk along transmission line 28, when this power transmission line comprehensive Work robot runs into obstacle, this front rotating mechanism can make front-wheel 4 move and away from barrier along the direct of travel perpendicular to front-wheel 4, the distance demand fulfillment of this movement enables front-wheel 4 when transmission line 28 moves, stride across this barrier and can not come in contact or collide, in like manner, this rear rotating mechanism also can make trailing wheel 22 move and away from barrier along the direct of travel perpendicular to trailing wheel 22, the distance demand fulfillment of movement enables trailing wheel 22 when transmission line 28 moves, stride across this barrier and can not come in contact or collide, as shown in Figure 3.
Crop 25 and back porch 26 are all in column, crop 25 and back porch 26 are all one in front and one in back arranged in the horizontal direction, the rear end of crop 25 is fixed with front shoulder joint 12, the front end of back porch 26 is fixed with rear shoulder joint 13, front shoulder joint 12 is rotationally connected with rear shoulder joint 13, crop 25 can rotate relative to back porch 26, and the axis of the rotating shaft 27 between front shoulder joint 12 and rear shoulder joint 13 is arranged and in the horizontal direction perpendicular to back porch 26.In addition, the distance between crop 25 and back porch 26 also can regulate.
This front rotating mechanism comprises front runner 8 and for supporting fixed guide support 10 before front runner 8, front fixed guide support 10 is tabular, the lower end of front arm support 2 and front runner 8 are rotationally connected by front bearing pin 9, the axis of the rotation axis of runner 8 before the axis runout of front bearing pin 9, front runner 8 is also connected with the first driver part for driving this front runner 8 to rotate.In the present embodiment, this first driver part is forward turbin generator 11, the axis being parallel of the motor shaft of forward turbin generator 11 and the rotation axis of front runner 8, and driving wheel and the front runner 8 of forward turbin generator 11 connection are tangent.When current runner 8 rotates, front runner 8 can promote front arm support 2 and rotates and front-wheel 4 is moved obliquely upward, the direct of travel of general front-wheel 4 and trailing wheel 22 is horizontal direction, as shown in Figure 3, the direct of travel of front-wheel 4 is along transmission line 28 perpendicular to paper, and front runner 8 can promote front arm support 2 and rotates and move and front-wheel 4 is moved to the upper right side of transmission line 28.
Front fixed guide support 10 is vertical with crop 25, and the lower end of front fixed guide support 10 is fixedly connected with the front end of crop 25, and front runner 8 is positioned at front fixed guide support 10, and the axes normal of the described rotation axis of front runner 8 is in front fixed guide support 10.
Front arm support 2 is column, the groove vertically offered is provided with in front arm support 2, a part for front fixed guide support 10 and front runner 8 is plugged in this groove, the top of front fixed guide support 10 is also provided with the guide chute 201 for controlling front arm support 2 and front-wheel 4 movement locus, containing leading to axle 1 in this guide chute 201, the axes normal of the front axis of guide 1 is in front fixed guide support 10, the front axis of guide 1 is fixedly connected with front arm support 2, and the front axis of guide 1 can slide along this guide chute.According to different electric pressure and different model gold utensil, determine the front fixed guide support 10 of corresponding robot and the guide track of front runner 8 size and guide chute 201, thus this robot can be made to cross over different size barrier, improve the adaptive capacity to environment of robot.
As depicted in figs. 1 and 2, front-wheel 4 is positioned at the left side of front arm support 2, the pivot center of front-wheel 4 is arranged in the horizontal direction, the pivot center of front-wheel 4 is vertical with crop 25, front-wheel 4 is connected with the second driver part for driving this front-wheel 4 to rotate, the upper end of front arm support 2 is provided with installing hole, and this second driver part is arranged in this installing hole.In the present embodiment, this second driver part is front turbin generator 3.
This first half also comprises the clamping part for clamping transmission line being positioned at front arm support 2 upper end, and this clamping part is arranged on the front of front-wheel 4, and this clamping part is fixedly connected with front arm support 2 by connector, and this clamping part and front-wheel 4 are synchronized with the movement.As shown in Figure 1, this clamping part contains fore paw leading screw 5 and the support for supporting this fore paw leading screw 5, fore paw leading screw 5 is arranged with the nut that two rotation directions are contrary, each described nut is all fixed with a fore paw 6, two fore paws 6 are in herringbone, when fore paw leading screw 5 rotates, between two fore paws 6 can close to each other or away from, fore paw leading screw 5 is also connected with the 3rd driver part for driving this fore paw leading screw 5 to rotate.In the present embodiment, the 3rd driver part is fore paw motor 7.When the power transmission line comprehensive Work robot that this has straightway barrier getting over mechanism is walked along transmission line 28, fore paw leading screw 5 rotates and makes two fore paws 6 close to each other, be equivalent to entangle transmission line 28, prevent this power transmission line comprehensive Work robot from dropping from transmission line 28, when this power transmission line comprehensive Work robot runs into obstacle, fore paw leading screw 5 rotate make two fore paws 6 mutually away from so that front-wheel 4 and this clamping part can leaping over obstacles.
This structure with the described first half of the power transmission line comprehensive Work robot of straightway barrier getting over mechanism is identical with the structure of described latter half, described first half and described latter half mirror image each other.
Described first half comprises the front axis of guide 1, front arm support 2, front turbin generator 3, front-wheel 4, fore paw leading screw 5, fore paw 6, fore paw motor 7, front runner 8, front bearing pin 9, front fixed guide support 10, forward turbin generator 11, front shoulder joint 12, crop 25.Described latter half comprises rear shoulder joint 13, rear runner motor 14, rear pin shaft 15, rear runner 16, the rear axis of guide 17, rear arm support 18, rear solid end motor 19, rear solid end 20, rear solid end leading screw 21, trailing wheel 22, rear-wheel motor 23, rear fixed guide support 24, back porch 26.In order to save length, due to described first half and described latter half mirror image each other, the concrete structure of described latter half is not described in detail.
This power transmission line comprehensive Work robot with straightway barrier getting over mechanism is also containing the control unit for controlling power transmission line comprehensive Work robot operation that this has straightway barrier getting over mechanism.This first driver part, this second driver part are all connected with this control unit with the 3rd driver part.
This power transmission line comprehensive Work robot with straightway barrier getting over mechanism can by the mode of artificial unlucky or pulley hanging, front-wheel 4 and trailing wheel 22 is suspended on need to patrol and examine or on the wire of operation or ground wire (transmission line 28).In time lead wire and earth wire there is no the barriers such as gold utensil, drive front-wheel 4 and trailing wheel 22 to advance respectively by front turbin generator 3 and rear-wheel motor 23, this power transmission line comprehensive Work robot is steadily walked in lead wire and earth wire.
When walking before the barrier crossed over, this power transmission line comprehensive Work robot stops walking, prepares obstacle detouring.First, need to open fore paw 6, namely fore paw leading screw 5 rotate make two fore paws 6 mutually away from, make the minimum range between two fore paws 6 be greater than the diameter of transmission line 28, runner 8 before simultaneously rotating, regulate fore paw 6 position, fore paw 6 and front-wheel 4 is made laterally to leave transmission line 28, as shown in Figure 3.Meanwhile, two rear solid ends 20 clamp, and give enough corresponding support force.And regulate the anglec of rotation (namely crop 25 is relative to the anglec of rotation of back porch 26) of front shoulder joint 12 and rear shoulder joint 13, make front-wheel 4 and this clamping part away from barrier.
After first half is opened completely, trailing wheel 22 advances, and promotes whole robot and walks forward.When latter half is close to barrier, halt.Regulate the anglec of rotation of shoulder joint and front runner 8, position when making fore paw 6 recover original normal walking, front-wheel 4 rides on transmission line 28, closes two fore paws 6 and also clamps.Afterwards, open rear solid end 20, continue the rotational angle regulating shoulder joint and rear runner 16, make latter half complete the opening procedure identical with above-mentioned first half, change arm work to complete.
Front-wheel 4 advances, and drags whole robot and walks forward.When whole robot has fully passed over barrier, regulate the anglec of rotation of the anglec of rotation of front shoulder joint 12 and rear shoulder joint 13 and rear runner 16, latter half is restored to initial position, and trailing wheel 22 has ridden on transmission line 28, closed rear solid end 6.
Now, robot has completed complete obstacle detouring work.According to demand, the work such as polling transmission line can be proceeded.
The above; be only specific embodiment of the utility model, the scope of utility model enforcement can not be limited with it, so the displacement of its equivalent assemblies; or the equivalent variations to do according to the utility model scope of patent protection and modification, all still should belong to the category that this patent is contained.In addition, the technical characteristic in the utility model and all can using by independent assortment between technical characteristic, between technical characteristic and technical scheme, between technical scheme and technical scheme.
Claims (10)
1. one kind has the power transmission line comprehensive Work robot of straightway barrier getting over mechanism, it is characterized in that, the described power transmission line comprehensive Work robot with straightway barrier getting over mechanism comprises first half and latter half, this first half contains crop (25), front arm support (2) and front-wheel (4), and this latter half contains back porch (26), rear arm support (18) and trailing wheel (22);
The rear end of crop (25) is connected with the front end of back porch (26), front arm support (2) is arranged at the front end of crop (25), rear arm support (18) is arranged at the rear end of back porch (26), front-wheel (4) is arranged at the upper end of front arm support (2), trailing wheel (22) is arranged at the upper end of rear arm support (18), the front end of crop (25) is also provided with and front-wheel (4) can be made along the front rotating mechanism perpendicular to the direct of travel movement of front-wheel (4), the rear end of back porch (26) is also provided with and trailing wheel (22) can be made along the rear rotating mechanism perpendicular to the direct of travel movement of trailing wheel (22).
2. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, it is characterized in that: crop (25) and back porch (26) are all in column, crop (25) and back porch (26) are arranged all in the horizontal direction, the rear end of crop (25) is fixed with front shoulder joint (12), the front end of back porch (26) is fixed with rear shoulder joint (13), front shoulder joint (12) and rear shoulder joint (13) are rotationally connected, crop (25) can rotate relative to back porch (26), the axis of the rotating shaft (27) between front shoulder joint (12) and rear shoulder joint (13) is arranged and in the horizontal direction perpendicular to back porch (26).
3. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, it is characterized in that: this front rotating mechanism comprises front runner (8) and the front fixed guide support (10) for supporting front runner (8), front fixed guide support (10) is tabular, lower end and the front runner (8) of front arm support (2) are rotationally connected by front bearing pin (9), the axis of the rotation axis of runner (8) before the axis runout of front bearing pin (9), front runner (8) is also connected with the first driver part for driving this front runner (8) to rotate, when current runner (8) rotates, front runner (8) can promote front arm support (2) and rotates and front-wheel (4) is moved obliquely upward.
4. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 3, it is characterized in that: front fixed guide support (10) is vertical with crop (25), the lower end of front fixed guide support (10) is fixedly connected with the front end of crop (25), front runner (8) is positioned at front fixed guide support (10), and the axes normal of the described rotation axis of front runner (8) is in front fixed guide support (10).
5. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 3, it is characterized in that: front arm support (2) is column, front arm support is provided with the groove vertically offered in (2), front fixed guide support (10) is plugged in this groove, the top of front fixed guide support (10) is also provided with guide chute, containing leading to axle (1) in this guide chute, the axes normal of the front axis of guide (1) is in front fixed guide support (10), the front axis of guide (1) is fixedly connected with front arm support (2), the front axis of guide (1) can slide along this guide chute.
6. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, it is characterized in that: front-wheel (4) is positioned at the left side of front arm support (2), the pivot center of front-wheel (4) is arranged in the horizontal direction, the pivot center of front-wheel (4) is vertical with crop (25), front-wheel (4) is connected with the second driver part for driving this front-wheel (4) to rotate, the upper end of front arm support (2) is provided with installing hole, and this second driver part is arranged in this installing hole.
7. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, it is characterized in that: this first half also comprises the clamping part for clamping transmission line being positioned at front arm support (2) upper end, this clamping part is arranged on the front of front-wheel (4), and this clamping part is fixedly connected with front arm support (2) by connector.
8. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 7, it is characterized in that: this clamping part contains fore paw leading screw (5) and the support for supporting this fore paw leading screw (5), fore paw leading screw (5) is arranged with the contrary nut of two rotation directions, each described nut is all fixed with a fore paw (6), two fore paws (6) are in herringbone, when fore paw leading screw (5) rotates, between two fore paws (6) can close to each other or away from, fore paw leading screw (5) is also connected with the 3rd driver part for driving this fore paw leading screw (5) to rotate.
9. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, is characterized in that: the structure of described first half is identical with the structure of described latter half, described first half and described latter half mirror image each other.
10. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, is characterized in that: this power transmission line comprehensive Work robot with straightway barrier getting over mechanism is also containing the control unit for controlling power transmission line comprehensive Work robot operation that this has straightway barrier getting over mechanism.
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| CN201520605385.4U CN204927964U (en) | 2015-08-12 | 2015-08-12 | Transmission line synthesizes work robot with straightway hinders mechanism more |
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| CN201520605385.4U CN204927964U (en) | 2015-08-12 | 2015-08-12 | Transmission line synthesizes work robot with straightway hinders mechanism more |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105826865A (en) * | 2016-05-25 | 2016-08-03 | 山东大学 | Suspended line inspection robot structure applicable to single wires and obstacle crossing method thereof |
| CN105826862A (en) * | 2016-05-12 | 2016-08-03 | 济南舜风科技有限公司 | Engaged-drive walking wheel structure, line patrol robot mechanical structure and obstacle crossing method of same |
| CN106711838A (en) * | 2015-08-12 | 2017-05-24 | 北京国网富达科技发展有限责任公司 | Power transmission line integrated operating robot with straight line obstacle crossing mechanism |
| CN115902548A (en) * | 2022-11-23 | 2023-04-04 | 国网江苏省电力有限公司镇江供电分公司 | Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot |
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2015
- 2015-08-12 CN CN201520605385.4U patent/CN204927964U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106711838A (en) * | 2015-08-12 | 2017-05-24 | 北京国网富达科技发展有限责任公司 | Power transmission line integrated operating robot with straight line obstacle crossing mechanism |
| CN106711838B (en) * | 2015-08-12 | 2024-03-26 | 北京国网富达科技发展有限责任公司 | Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism |
| CN105826862A (en) * | 2016-05-12 | 2016-08-03 | 济南舜风科技有限公司 | Engaged-drive walking wheel structure, line patrol robot mechanical structure and obstacle crossing method of same |
| CN105826865A (en) * | 2016-05-25 | 2016-08-03 | 山东大学 | Suspended line inspection robot structure applicable to single wires and obstacle crossing method thereof |
| CN105826865B (en) * | 2016-05-25 | 2018-02-27 | 山东大学 | Adapt to the suspension type inspection robot structure and its obstacle-detouring method of single conductor |
| CN115902548A (en) * | 2022-11-23 | 2023-04-04 | 国网江苏省电力有限公司镇江供电分公司 | Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot |
| CN115902548B (en) * | 2022-11-23 | 2023-09-22 | 国网江苏省电力有限公司镇江供电分公司 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
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