CN205310243U - Robot is patrolled and examined to rail mounted - Google Patents

Robot is patrolled and examined to rail mounted Download PDF

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Publication number
CN205310243U
CN205310243U CN201521030350.9U CN201521030350U CN205310243U CN 205310243 U CN205310243 U CN 205310243U CN 201521030350 U CN201521030350 U CN 201521030350U CN 205310243 U CN205310243 U CN 205310243U
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CN
China
Prior art keywords
robot
rail
crusing robot
unit
car
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN201521030350.9U
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Chinese (zh)
Inventor
宋有聚
宋章军
申红俊
樊太岳
戴功献
王小桂
王秀英
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CHONGQING HANDE HI-TECH ROBOT Co Ltd
SHENZHEN CITY SCHROEDER MEASUREMENT AND CONTROL EQUIPMENT Co Ltd
Original Assignee
CHONGQING HANDE HI-TECH ROBOT Co Ltd
SHENZHEN CITY SCHROEDER MEASUREMENT AND CONTROL EQUIPMENT Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by CHONGQING HANDE HI-TECH ROBOT Co Ltd, SHENZHEN CITY SCHROEDER MEASUREMENT AND CONTROL EQUIPMENT Co Ltd filed Critical CHONGQING HANDE HI-TECH ROBOT Co Ltd
Priority to CN201521030350.9U priority Critical patent/CN205310243U/en
Application granted granted Critical
Publication of CN205310243U publication Critical patent/CN205310243U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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    • Y02B60/50

Abstract

The utility model is suitable for a patrol and examine the robotechnology neck, provide a robot is patrolled and examined to rail mounted, including the robot, main control unit, ability source module, determine module and wireless communication module. The robot includes two section at least automobile body units, and each automobile body unit includes motion drive module and assembly pulley, the motion drive modular dirve assembly pulley rolls on the track, two sections adjacent automobile body units are connected through a gentle and agreeable joint, can be relatively rotatory in level and/or vertical direction, and the robot can move on the track of turning and/or climbing. The robot can near equipment and the environment of real -time detection track to with information transmission to remote control center, the staff can know the information that detects in real time, and can send control command to the robot. The utility model discloses a robot testing result is stable, need not personnel to witnessed inspections, has saved the manual work, the robot can obtain field data and information the conflagration breaing out, reaching the spot fast when hazardous gas is leaked.

Description

A kind of rail mounted crusing robot
Technical field
The utility model belongs to crusing robot technical field, relates in particular to a kind of rail mounted crusing robot.
Background technology
The various facilities such as municipal administration, electric power, communication, combustion gas, plumbing all need to carry out the monitoring of timing, withJust find timely the unexpected problem occurring. At present, the facility in most of fields has all come by manual inspectionBecome monitoring.
But, adopt the mode of manual inspection to have following shortcoming: one, manual inspection detects quality and depends on workPeople's experience and sense of responsibility, careful degree; Two, along with human cost promotes, the work that this repeatability is uninterestingBe difficult to recruit; Three, people is difficult to detect hazardous gas and exceeds standard, the potential safety hazards such as equipment hot-spot; Four,Once have an accident, people reaches the spot the very difficult very first time, even if the very first time arrives the scene of the accident, also canEmitting huge life danger. So, adopt manual inspection manual detection to exist unstable result, artificialHigh and the workman's personal safety of cost can not get the problem ensureing.
Replace people to patrol and examine with robot, can avoid the difficult problem in a lot of manual inspection processes, and energyAllocate at any time robot and arrive assigned address, can in the situation that whether the unknown have dangerous situation, detect and patrolDepending on. The at present wheeled and crawler type crusing robot of walking on the ground, when ground obstacle more, orTime with a varied topography, apply limited. And for pipe gallery, under large-scale pipeline, this environment in tunnel, at topOr set up track in the air, patrol and examine and have more reliability with the mobile robot who orbits. WithGround moving crusing robot is compared, and rail polling robot has advantages of rapidly and efficiently, is not subject to groundFeature restriction, does not take ground space yet.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of rail mounted crusing robot, is intended to separateCertainly high, the workman's personal safety of the existing cost of labor of available technology adopting manual inspection can not get ensureing withAnd adopt ground mobile robot to patrol and examine the problem that is subject to terrain surface specifications restriction.
The utility model is achieved in that a kind of rail mounted crusing robot, comprises robot body, masterControl unit, energy module, for detection of the detection components of equipment and surrounding environment and with remote control centerCarry out the wireless communication module of exchanges data; Described main control unit, energy module, detection components and wirelessCommunication module is all installed on described robot body; Described main control unit receives from remote control centerOrder, the movement in orbit of control body, carries out related command and action; Described robotBody comprises at least two joint car body unit, and the car body unit described in each comprises motion driver module and pulleyGroup; Described motion driver module drives described assembly pulley to roll on track, adjacent two joint car body unit itBetween connect by a submissive joint, two adjacent joint car body unit by described submissive joint can level with/Or relatively rotation on vertical direction.
Further, described submissive joint comprises the first connector, middleware and the second connector, described inFirst, second connector is installed on described middleware, and, connect respectively two adjacent joint car body unit,Described the first connector can be in the horizontal direction with respect to described middleware rotation, described the second connector can beOn vertical direction, rotate with respect to described middleware.
Further, described middleware is hollow form, is equipped with cable and conducting slip ring in it, described electricityCable is connected between two conducting slip rings, and described cable is realized with car body unit by described conducting slip ring can phaseTo the electrical connection of rotating.
Further, described detection components comprises camera, temperature sensor, humidity sensor and oxygen contentAt least one in sensor.
Further, described rail mounted crusing robot also comprises mechanical arm, and described mechanical arm is installed onOn described robot body, the end of described mechanical arm is provided with camera.
Further, described rail mounted crusing robot also comprises fire extinguisher, described in described fire extinguisher is fixed onOn basic machine, the shower nozzle of described fire extinguisher is connected with the end of described manipulator.
Further, described energy module comprises rechargeable battery, and the charging socket of described rechargeable battery revealsGo out described robot body outer surface.
Further, at least one assembly pulley is installed on car body unit described in each, each assembly pulley comprises twoThe individual pulley that is distributed in track both sides, in described assembly pulley, at least one is driving wheel, described assembly pulley hangingIn the plate upper surface of crusing robot orbit, the interval of two pulleys in described each group assembly pulleyWidth is less than the width of sole-plate.
Further, described in each, the top of car body unit is provided with contact roller, and contact roller is follower, instituteState between the end face of car body unit and contact roller and be also gripped with spring, make contact roller and track by described springBase plate lower surface keep close contact.
Compared with prior art, beneficial effect is the utility model: rail mounted survey monitor of the present utility modelDevice people shuttles back and forth in orbit, can carry out real-time detection near equipment track and environment, and will detectInformation exchange cross wireless communication module and be transferred to long-range manipulation center. Staff can be real at manipulation centerThe concrete condition of equipment and surrounding environment thereof is understood on time ground, and can send instruction to crusing robot, controls itConcrete operations action. Compare with ground moving crusing robot, rail polling robot has rapidly and efficientlyAdvantage, and not restricted by terrain surface specifications. Than adopting manual inspection, rail mounted of the present utility model patrolsInspection robot testing result is stable, and operating personnel only need control at remote control center, without arriving Site Detection,Save artificial; Meanwhile, crusing robot can be deep in scene in the time of breaking out of fire, hazardous gas spillageDetect. And, between the car body unit of robot body, connect by submissive joint, therefore, can fitBe combined on the track of turning and/or climb and move, thereby robot can be applied in more complicated place, makesUse wide scope.
Brief description of the drawings
Fig. 1 is that the rail mounted crusing robot that the utility model embodiment provides moves on the track of hangingSchematic diagram.
Fig. 2 is the decomposition texture schematic diagram of the rail mounted crusing robot in Fig. 1.
Fig. 3 is the decomposition texture schematic diagram in the submissive joint in Fig. 2.
Fig. 4 is the structural representation of the rail mounted crusing robot in Fig. 1 while being applied in pipe gallery.
Detailed description of the invention
In order to make technical problem to be solved in the utility model, technical scheme and beneficial effect more clear brightIn vain, below in conjunction with drawings and Examples, the utility model is further elaborated. Should be appreciated thatSpecific embodiment described herein is only in order to explain the utility model, and is not used in restriction the utility model.
As shown in Figures 1 and 2, be a preferred embodiment of the present utility model, a kind of rail mounted inspection machinePeople, comprises robot body 1, main control unit, energy module, inspection for detection of equipment, surrounding environmentSurvey assembly, carry out wireless communication module (all not shown in figure), the installation of exchanges data with remote control centerMechanical arm 4 on robot body.
Above-mentioned main control unit, energy module, detection components and wireless communication module are all installed on robot originallyOn body 1. Main control unit receives the order from remote control center, and control body 1 is at track 300Upper movement, execution related command and action. Energy module is to the main control unit on robot body 1, wirelessCommunication modules etc. provide power supply. Wireless communication module is connected with main control unit, and it is for detecting detection componentsTo information and robot oneself state information send to remote control center 200 (as shown in Figure 4), withAnd receive the action command from remote control center 200, and then control the tool of whole crusing robot 100Gymnastics is done.
The rail mounted crusing robot 100 of the present embodiment shuttles back and forth on track 300, can be near track 300Equipment and environment carry out real-time detection, and the information exchange detecting crossed to wireless communication module be transferred to farThe manipulation center 200 of journey, staff manipulation center 200 can understand in real time equipment and around ringThe concrete condition in border, and can send instruction to crusing robot 100, control its concrete operations action.
Than adopting manual inspection, rail mounted crusing robot 100 testing results of the present utility model are stable,Operating personnel only need control at remote control center 200, without to Site Detection, have saved artificial; Meanwhile,Crusing robot 100 detects in being deep into scene in the time of breaking out of fire, hazardous gas spillage. And groundFace moves crusing robot and compares, and rail mounted crusing robot 100 of the present utility model has rapidly and efficientlyAdvantage, and not restricted by terrain surface specifications.
Robot body 1 comprises at least two joint car body unit 11, on each car body unit 11, is provided with at leastOne assembly pulley 110 and transmission module. In each assembly pulley 110, at least one pulley 111 is driving wheels, slidingDriving wheel in wheel 111 and the transmission module in car body unit 11 are in transmission connection. Transmission module and motion driveModule is in transmission connection, motion driver module and main control unit electrical connection. Main control unit is by wireless telecommunications mouldPiece receives from the instruction at remote control center 200, thereby, the rotation of main control unit control pulley 111 withStop, and then control the motion process of whole crusing robot 100. Between two adjacent joint car body unit 11Connect by a submissive joint 12, adjacent two joint car body unit 11 by submissive joint 12 can level with/ or vertical direction on relatively rotation.
Refer to Fig. 3, in the present embodiment, submissive joint 12 comprises the first connector 121, middleware 122And second connector 123. First, second connector 121,123 is installed on middleware 122, and,Be connected with adjacent two joint car body unit 11 respectively, the first connector 121 can be in the horizontal direction with respect inBetween part 122 rotate, the second connector 123 can rotate with respect to middleware 122 by the vertical direction; Pass throughAbove-mentioned submissive joint 12 structures, two adjacent joint car body unit 11 can be on level and vertical directionRelatively rotation. Therefore, crusing robot 100 can be adapted at turn and/or climbing track 300 on operation,Thereby crusing robot 100 can be applied in more complicated place, the scope of application is wide.
Can keep again electrical connection in order to realize adjacent two joint car body unit 11 in relative rotation simultaneously, above-mentionedMiddleware 122 is set to hollow form, is equipped with cable (not shown) and conducting slip ring 1221 in it.Stube cable between adjacent two joint car body unit 11 is set in middleware 122, has avoided cable to expose, withAnd other objects scrapings around cable and track 300 in running, protect cable. Cable connectsBetween two conducting slip rings 1221, cable is realized with car body unit 11 by conducting slip ring 1221 can be relativeThe electrical connection of rotating. By conducting slip ring 1221 is set, can avoids directly adopting cable to connect, and occur electricityThe problem that cable is damaged by excessive distortion.
Particularly, above-mentioned detection components comprises camera 3, temperature sensor, humidity sensor, oxygen contentSensor. Operating personnel can, according to the needs of application places, add the sensor or the sensor that configure otherCombination.
Refer to Fig. 4, in order in depth to understand the technical solution of the utility model, enumerate the present embodiment belowThe concrete application of crusing robot 100 city underground piping pipe gallery. Certainly, the utility model is patrolled and examinedThe application places of robot 100 is not defined as following example application.
Urban Underground pipe gallery, is " common trench " again, refers to and will be arranged on ground, underground or built on stiltsAll kinds of public class pipeline concentrate and be contained in one, and leave the walk tunnel structure of passage for maintainer.Build a tunnel space at Urban Underground, by various to municipal administration, electric power, communication, combustion gas, plumbing etc.Pipeline is integrated in one, and is provided with special access hole, hoisting port and monitoring system, implement unified planning, design,Build and management, thoroughly change the messy situation that each pipeline is in the past built separately, managed separately. Each pipelineNeed to open time, only need notify relevant responsible organization, connect interface, both be convenient to repair, save againThe resource of country.
For the various device in pipe gallery is detected, the detection components of the present embodiment comprises above-mentionedCamera 3, temperature sensor, humidity sensor, oxygen content sensor. Above-mentioned camera 3 adopts high definitionCamera, it can be taken in real time to crusing robot 100 situation of pipe gallery in the process of patrolling and examining.Temperature sensor is for detection of the air themperature in pipe gallery. Humidity sensor is for detection of in pipe galleryAir humidity. Oxygen content sensor is for detection of the content of oxygen in pipe gallery. In robot body 1Alignment sensor also can be installed, for obtaining crusing robot 100 in the mobile position of shuttle rail 300Information, can understand in time crusing robot 100 and move how many distances, how far had etc. from starting point.
Mechanical arm 4 is for improving the executive capability of crusing robot 100, and the end of mechanical arm 4 is installedThere is above-mentioned camera 3, by regulating the rotational angle in mechanical arm 4 each joints, can control camera 3Aim at the mark (particularly dashboard) make a video recording and identify.
The all right installation infrared video camera of end of manipulator 4, RFID (RF identification, RadioFrequencyIdentification) read write line etc. Infrared video camera is used for detecting the hot-spot of power cable. RFID readsWrite device and can read the electronic tag on cable and other equipment, equipment is identified, contribute to equipment to enterRow is sorted out management or is understood the specifying information of the equipment having an accident.
Optimally, above-mentioned crusing robot 100 also comprises fire extinguisher (not shown), and fire extinguisher is installed onRobot body 1 outside, the instrument carrying as robot body 1, the shower nozzle of fire extinguisher and machineryThe end of arm 4 connects, by controlling stretching, extension or the pendulum angle of mechanical arm 4, adjustable fire extinguisherInjection direction and target location.
Above-mentioned energy module comprises rechargeable battery (not shown), and the charging socket of rechargeable battery exposesRobot body 1 outer surface. Crusing robot 100 can be established in the charging directly and in robot docking station 400For docking charging, without manual operation.
In order to coordinate the suspension type track in pipe gallery, above-mentioned each assembly pulley 110 comprises that two are distributed inThe pulley 111 of track 300 both sides, described assembly pulley 110 is hung on crusing robot 100 orbits 300Base plate 301 upper surfaces, in described each assembly pulley 110, the interval width of two pulleys 111 is less than trackThe width of base plate 301, thus assembly pulley 110 can be nested on sole-plate 301, makes crusing robot 100Suspended is on track 300.
The top of each car body unit 11 is provided with contact roller 112, and contact roller 112 is positioned at assembly pulley 110Below, contact roller 110 is follower, between the end face of car body unit 11 and contact roller 112, is also gripped with bulletSpring (not shown), keeps closely contact roller 112 and base plate 301 lower surfaces of track by springContact, thus make crusing robot 100 in running, can not jolt and shake, ensure survey monitorDevice people 100 stable operation.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model,All any amendments of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., all shouldWithin being included in protection domain of the present utility model.

Claims (9)

1. a rail mounted crusing robot, is characterized in that, comprises robot body, main control unit, energySource module, carry out data friendship for detection of the detection components of equipment and surrounding environment and with remote control centerThe wireless communication module changing; Described main control unit, energy module, detection components and wireless communication module are equalBe installed on described robot body; Described main control unit receives the order from remote control center, controlRobot body processed movement in orbit, carries out related command and action; Described robot body comprise toFew two joint car body unit, the car body unit described in each comprises motion driver module and assembly pulley; Described fortuneMoving driver module drives described assembly pulley to roll on track, soft by one between two adjacent joint car body unitConnect along joint, two adjacent joint car body unit can be on level and/or vertical direction by described submissive jointRelatively rotation.
2. rail mounted crusing robot as claimed in claim 1, is characterized in that, described submissive joint bagDraw together the first connector, middleware and the second connector, described first, second connector be installed on described inBetween on part, and, connect respectively two adjacent joint car body unit, described the first connector can be in the horizontal directionUpper with respect to described middleware rotation, described the second connector can in the vertical direction with respect to described middlewareRotation.
3. rail mounted crusing robot as claimed in claim 2, is characterized in that, during described middleware isEmpty shape, is equipped with cable and conducting slip ring in it, described cable is connected between two conducting slip rings, instituteState cable and realize relatively turnable electrical connection by described conducting slip ring and car body unit.
4. the rail mounted crusing robot as described in claims 1 to 3 any one, is characterized in that, instituteState detection components and comprise at least one in camera, temperature sensor, humidity sensor and oxygen content sensorKind.
5. the rail mounted crusing robot as described in claims 1 to 3 any one, is characterized in that, instituteState rail mounted crusing robot and also comprise mechanical arm, described mechanical arm is installed on described robot body;The end of described mechanical arm is provided with camera.
6. rail mounted crusing robot as claimed in claim 5, is characterized in that, described rail mounted is patrolled and examinedRobot also comprises fire extinguisher, and described fire extinguisher is fixed on described basic machine, the shower nozzle of described fire extinguisherBe connected with the end of described manipulator.
7. the rail mounted crusing robot as described in claims 1 to 3 any one, is characterized in that, instituteState energy module and comprise rechargeable battery, the charging socket of described rechargeable battery exposes described robot bodyOuter surface.
8. the rail mounted crusing robot as described in claims 1 to 3 any one, is characterized in that, everyAt least one assembly pulley is installed on car body unit described in one, and each assembly pulley comprises that two are distributed in track both sidesPulley, in described assembly pulley, at least one is driving wheel, described assembly pulley is hung on crusing robot operationThe plate upper surface of track, the interval width of two pulleys in described each assembly pulley is less than sole-plateWidth.
9. rail mounted crusing robot as claimed in claim 8, is characterized in that, car body list described in eachThe top of unit is provided with contact roller, and contact roller is follower, between the end face and contact roller of described car body unitAlso be gripped with spring, make the base plate lower surface of contact roller and track keep close contact by described spring.
CN201521030350.9U 2015-12-10 2015-12-10 Robot is patrolled and examined to rail mounted Withdrawn - After Issue CN205310243U (en)

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105397795A (en) * 2015-12-10 2016-03-16 深圳市施罗德工业测控设备有限公司 Rail type polling robot
CN106393054A (en) * 2016-11-21 2017-02-15 山东大学 Line patrol robot for comprehensively monitoring power lines and method thereof
CN106512266A (en) * 2016-10-27 2017-03-22 中国矿业大学 Hanging rail type fire controlling and routing inspection robot
CN106540390A (en) * 2016-10-27 2017-03-29 中国矿业大学 Hanger rail type fire protection patrol robot system
CN107525535A (en) * 2017-08-17 2017-12-29 宁夏软件工程院有限公司 A kind of high reliability sampler
CN108445887A (en) * 2018-04-27 2018-08-24 杭州巨骐信息科技股份有限公司 Distributed-power environmental monitoring system
CN108621122A (en) * 2018-05-07 2018-10-09 国网河北省电力有限公司 A kind of crusing robot displacement drive mechanism
CN109305176A (en) * 2018-10-11 2019-02-05 国家电网公司 A kind of auxiliary climbing mechanism of rail mounted crusing robot
CN109571413A (en) * 2018-11-21 2019-04-05 杭州亚美利嘉科技有限公司 Suspension type robot
CN109760106A (en) * 2019-01-03 2019-05-17 中建地下空间有限公司 A kind of modularization extension rail pipe gallery intelligent inspection robot
WO2019134326A1 (en) * 2018-01-04 2019-07-11 杭州申昊科技股份有限公司 Rail-suspended smart inspection robot
CN110597136A (en) * 2019-09-24 2019-12-20 苏州南师大科技园投资管理有限公司 Intelligent inspection system for production line
CN111668753A (en) * 2020-06-12 2020-09-15 国网湖南省电力有限公司 Power transmission line is along preventing weighing down track tower climbing robot skeleton

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105397795A (en) * 2015-12-10 2016-03-16 深圳市施罗德工业测控设备有限公司 Rail type polling robot
WO2017096989A1 (en) * 2015-12-10 2017-06-15 深圳市施罗德工业测控设备有限公司 Inspection robot travelling on rail
CN105397795B (en) * 2015-12-10 2018-01-16 深圳市施罗德工业测控设备有限公司 A kind of rail mounted crusing robot
CN106512266B (en) * 2016-10-27 2019-11-15 中国矿业大学 Hanger rail type fire protection patrol robot
CN106512266A (en) * 2016-10-27 2017-03-22 中国矿业大学 Hanging rail type fire controlling and routing inspection robot
CN106540390A (en) * 2016-10-27 2017-03-29 中国矿业大学 Hanger rail type fire protection patrol robot system
CN106540390B (en) * 2016-10-27 2019-08-13 中国矿业大学 Hanger rail type fire protection patrol robot system
CN106393054A (en) * 2016-11-21 2017-02-15 山东大学 Line patrol robot for comprehensively monitoring power lines and method thereof
CN107525535A (en) * 2017-08-17 2017-12-29 宁夏软件工程院有限公司 A kind of high reliability sampler
WO2019134326A1 (en) * 2018-01-04 2019-07-11 杭州申昊科技股份有限公司 Rail-suspended smart inspection robot
CN108445887A (en) * 2018-04-27 2018-08-24 杭州巨骐信息科技股份有限公司 Distributed-power environmental monitoring system
CN108621122B (en) * 2018-05-07 2020-08-21 国网河北省电力有限公司 Displacement transmission structure of inspection robot
CN108621122A (en) * 2018-05-07 2018-10-09 国网河北省电力有限公司 A kind of crusing robot displacement drive mechanism
CN109305176A (en) * 2018-10-11 2019-02-05 国家电网公司 A kind of auxiliary climbing mechanism of rail mounted crusing robot
CN109305176B (en) * 2018-10-11 2020-01-14 国家电网公司 Auxiliary climbing mechanism of rail type inspection robot
CN109571413A (en) * 2018-11-21 2019-04-05 杭州亚美利嘉科技有限公司 Suspension type robot
CN109760106A (en) * 2019-01-03 2019-05-17 中建地下空间有限公司 A kind of modularization extension rail pipe gallery intelligent inspection robot
CN110597136A (en) * 2019-09-24 2019-12-20 苏州南师大科技园投资管理有限公司 Intelligent inspection system for production line
CN110597136B (en) * 2019-09-24 2020-07-28 苏州南师大科技园投资管理有限公司 Intelligent inspection system for production line
CN111668753A (en) * 2020-06-12 2020-09-15 国网湖南省电力有限公司 Power transmission line is along preventing weighing down track tower climbing robot skeleton

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Granted publication date: 20160615

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