CN205753188U - Walking mechanism, inspection robot frame for movement - Google Patents
Walking mechanism, inspection robot frame for movement Download PDFInfo
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- CN205753188U CN205753188U CN201620440391.3U CN201620440391U CN205753188U CN 205753188 U CN205753188 U CN 205753188U CN 201620440391 U CN201620440391 U CN 201620440391U CN 205753188 U CN205753188 U CN 205753188U
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Abstract
The utility model discloses a kind of walking mechanism, inspection robot frame for movement, belong to robotics.Described inspection robot frame for movement includes frame, road wheel and pinch wheels combined type running mechanism it is provided with in described frame, described road wheel and pinch wheels combined type running mechanism include at least one unit of walking, described walking unit includes a pair walking subdivision wheel, described walking subdivision wheel includes actively walking subdivision wheel and passive walking subdivision is taken turns, and described actively walk subdivision wheel and passive walking subdivision is taken turns has been respectively arranged below the first row traveling wheel arm and second and walks wheel arm；Being provided with clamping subdivision wheel below described walking subdivision wheel, described clamping subdivision wheel includes the first clamping subdivision wheel and the second clamping subdivision wheel, and the lower end of described each clamping subdivision wheel is provided with spindle motor and leading screw.Compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and can the advantage of throwing over barrier.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of walking mechanism, inspection robot frame for movement.
Background technology
Employing high pressure and supertension overhead power transmission line are the major ways of distance transmission & distribution electric power.Electric lines of force and shaft tower adnexa are chronically exposed to field, because of by lasting mechanical tension, electrically dodge iron, material aging is affected and easily produces disconnected stock, weares and teares, corrodes equivalent damage, as repaired replacing not in time, the most small breakage and defect are it is possible to expand, ultimately result in major accident, cause large-area power failure and huge economic loss.The method that current transmission pressure patrols and examines, safeguard mainly has two kinds: ground ocular estimate and aerophotographic method.Ocular estimate uses manual inspection, and this method labor intensity is big, and work efficiency and detection accuracy are low, poor reliability, there is inspection blind area；Aerophotographic method uses helicopter line walking, although this method has higher detection efficiency and precision, but this method is restricted by some environmental factorss, and the technical difficulty simultaneously patrolled and examined is high, and operating cost is higher.The development of inspection robot technology, the inspection work for high voltage transmission line provides new technological means.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but cannot cross over for barrier present on transmission line of electricity, it is impossible to realize patrolling and examining continuously of extra high voltage network.Therefore, it is necessary to provide one can reduce labor intensity, reduce operating cost, again can the inspection robot frame for movement of throwing over barrier.
Utility model content
The technical problems to be solved in the utility model is to provide one and can reduce labor intensity, reduce operating cost, again can the walking mechanism of throwing over barrier, inspection robot frame for movement.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
On the one hand, it is provided that a kind of road wheel and pinch wheels combined type running mechanism, including at least one unit of walking, wherein:
Described walking unit includes a pair walking subdivision wheel, what described walking subdivision wheel included can docking mutually and separate actively walk subdivision wheel and passive walking subdivision are taken turns, and described actively walks subdivision wheel and passive walking subdivision is taken turns has been respectively arranged below the first row traveling wheel arm and second and walks wheel arm；
A pair liftable clamping subdivision wheel of matched clamping circuit it is provided with below described walking subdivision wheel, described clamping subdivision wheel includes the first clamping subdivision wheel and the second clamping subdivision wheel that can dock mutually and separate, and the lower end of described first clamping subdivision wheel and the second clamping subdivision wheel is provided with spindle motor and the leading screw controlling its lifting.
Further, it is provided with bevel gear structure in the middle part of described subdivision wheel of actively walking, described passive walking subdivision wheel is provided with and the groove structure of described bevel gear structure tabling.
Further, described the first row traveling wheel arm top is provided with direct current generator mounting seat, it is provided with horizontally arranged direct current generator and decelerator in described direct current generator mounting seat, described decelerator is connected with described subdivision wheel of actively walking by shaft coupling, described second walking wheel arm top is horizontally arranged with aluminium-alloy pipe, and described aluminium-alloy pipe is connected with described passive walking subdivision wheel by bearing.
Further, it is provided with cone boss structure in the middle part of described first clamping subdivision wheel, described second clamping subdivision wheel is provided with and the groove structure of described cone boss structure tabling.
Further, described spindle motor is provided above leading screw base, is provided with described leading screw and slide bar in described leading screw base, and described leading screw is provided with slide block, and described slide block is connected with each clamping subdivision wheel by bearing.
On the other hand, a kind of inspection robot frame for movement is provided, including frame, described frame is provided with above-mentioned road wheel and pinch wheels combined type running mechanism, the lower end of described the first row traveling wheel arm and the second walking wheel arm is all arranged in described frame by rotating shaft, and each rotating shaft is all driven by motor.
This utility model has the advantages that
Walking mechanism of the present utility model, inspection robot frame for movement, inspection robot frame for movement includes frame, road wheel and pinch wheels combined type running mechanism it is provided with in frame, road wheel and pinch wheels combined type running mechanism include at least one unit of walking, walking unit includes a pair liftable clamping subdivision wheel of a pair walking subdivision wheel and matched clamping circuit, walking subdivision wheel includes actively walk subdivision wheel and the passive walking subdivision wheel that can dock mutually and separate, what subdivision of actively walking wheel and passive walking subdivision were taken turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm, clamping subdivision wheel includes the first clamping subdivision wheel and the second clamping subdivision wheel that can dock mutually and separate, the lower end of the first clamping subdivision wheel and the second clamping subdivision wheel is provided with spindle motor and the leading screw controlling its lifting.Stability when the structure design of unit of more than walking adds inspection robot climb and fall and mechanical arm upkeep operation, thus safety when improving travelling robot walking.
To sum up, this utility model can be straight and have on the circuit of certain slope and walk, it is possible to strengthens inspection robot climb and fall and stability during mechanical arm upkeep operation, improves safety during travelling robot walking.This utility model solves in prior art, the problem that artificial line walking labor intensity is big and aircraft line walking operating cost is high, and can cross conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that patrolling and examining continuously circuit.Therefore, compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and can the advantage of crossing over blockage.
Accompanying drawing explanation
Fig. 1 is road wheel of the present utility model and the structural representation of pinch wheels combined type running mechanism；
Fig. 2-Fig. 4 is the view that each step of the obstacle-detouring method of inspection robot frame for movement of the present utility model is corresponding.
Detailed description of the invention
For making the technical problems to be solved in the utility model, technical scheme and advantage clearer, it is described in detail below in conjunction with the accompanying drawings and the specific embodiments.
On the one hand, this utility model provides a kind of road wheel and pinch wheels combined type running mechanism, as it is shown in figure 1, include at least one unit of walking, wherein:
Walking unit includes a pair walking subdivision wheel 11, walking subdivision wheel 11 includes that actively walk subdivision wheel 11-1 and passive walking subdivision wheel 11-2, subdivision of actively walking wheel 11-1 and the passive walking subdivision wheel 11-2's that can dock mutually and separate has been respectively arranged below the first row traveling wheel arm 1 and the second walking wheel arm 15；
A pair liftable clamping subdivision wheel 6 of matched clamping circuit 7 it is provided with below walking subdivision wheel 11, clamping subdivision wheel 6 includes the first clamping subdivision wheel 6-1 and the second clamping subdivision wheel 6-2 that can dock mutually and separate, and the lower end of the first clamping subdivision wheel 6-1 and second clamping subdivision wheel 6-2 is provided with spindle motor 2 and the leading screw 4 controlling its lifting.
Road wheel of the present utility model and pinch wheels combined type running mechanism include at least one unit of walking, walking unit includes a pair liftable clamping subdivision wheel of a pair walking subdivision wheel and matched clamping circuit, walking subdivision wheel includes actively walk subdivision wheel and the passive walking subdivision wheel that can dock mutually and separate, what subdivision of actively walking wheel and passive walking subdivision were taken turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm, clamping subdivision wheel includes the first clamping subdivision wheel and the second clamping subdivision wheel that can dock mutually and separate, the lower end of the first clamping subdivision wheel and the second clamping subdivision wheel is provided with spindle motor and the leading screw controlling its lifting.Stability when the structure design of unit of more than walking adds inspection robot climb and fall and mechanical arm upkeep operation, thus safety when improving travelling robot walking.
Preferably, as in figure 2 it is shown, be provided with bevel gear structure 16 in the middle part of the subdivision wheel 11-1 that actively walks, passive walking subdivision wheel 11-2 is provided with and the groove structure of bevel gear structure 16 tabling.This design improves the compatible degree between walking subdivision wheel, beneficially improves the stability moved on the line.Same, in order to improve the compatible degree between clamping subdivision wheel 6, it is provided with cone boss structure 17 in the middle part of the first clamping subdivision wheel 6-1, the second clamping subdivision wheel 6-2 is provided with and the groove structure of cone boss structure 17 tabling.In addition to the above-mentioned embodiment be given, it can well known to a person skilled in the art other modes various to use, and here is omitted.
Further, the first row traveling wheel arm 1 top is provided with direct current generator mounting seat 8, horizontally arranged direct current generator 9 and decelerator 10 it is provided with in direct current generator mounting seat 8, decelerator 10 is connected with the subdivision wheel 11-1 that actively walks by shaft coupling, second walking wheel arm 15 top is horizontally arranged with aluminium-alloy pipe 12, and aluminium-alloy pipe 12 is connected with passive walking subdivision wheel 11-2 by bearing.This design is easy to control, can improve accuracy and the fastness of walking subdivision wheel docking.
As a kind of improvement of the present utility model, spindle motor 2 is provided above leading screw base 3, leading screw 4 and slide bar 5 it is provided with in leading screw base 3, slide block 13 it is provided with on leading screw 4, leading screw 4 is by screw drive slide block 13, the movement of slide block 13 can be carried out spacing and guide by slide bar 5, and slide block 13 is connected with each clamping subdivision wheel 6 by bearing 14.The design of this structure controls simple, convenient, the accuracy of motion can be improved, it is capable of clamping subdivision wheel rise under the effect of spindle motor and leading screw and move down, thus coordinate stability when strengthening inspection robot climb and fall and mechanical arm upkeep operation with walking subdivision wheel, improve the safety of inspection robot self.It addition, walking subdivision wheel 11 and clamping subdivision wheel 6 the most slightly difference, can reach good chimeric.
In this utility model, in order to increase the stability of walking subdivision wheel 11 connection, walking subdivision wheel 11 is internally provided with and controls walking subdivision wheel 11 docking and the built-in electromagnetic sucker separated and built-in iron block.
High voltage power transmission process is a diversified process, and according to difference and the difference of transmission of electricity features of terrain of transmission voltage, whole transmission line structure is also not quite similar.When walking mechanism of the present utility model is applied to inspection robot, inspection robot can be provided with one or more groups this walking mechanism, or be also provided with other kinds of walking mechanism.
On the other hand, a kind of inspection robot frame for movement is provided, including frame, frame is provided with above-mentioned road wheel and pinch wheels combined type running mechanism, the lower end of the first row traveling wheel arm 1 and the second walking wheel arm 15 is all arranged in frame by rotating shaft, and each rotating shaft is all driven by motor.
nullInspection robot frame for movement of the present utility model includes frame，Road wheel and pinch wheels combined type running mechanism it is provided with in frame，Road wheel and pinch wheels combined type running mechanism include at least one unit of walking，Walking unit includes a pair liftable clamping subdivision wheel of a pair walking subdivision wheel and matched clamping circuit，Walking subdivision wheel includes actively walk subdivision wheel and the passive walking subdivision wheel that can dock mutually and separate，What subdivision of actively walking wheel and passive walking subdivision were taken turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm，Clamping subdivision wheel includes the first clamping subdivision wheel and the second clamping subdivision wheel that can dock mutually and separate，The lower end of the first clamping subdivision wheel and the second clamping subdivision wheel is provided with spindle motor and the leading screw controlling its lifting，Walking subdivision wheel and clamping subdivision wheel can dock or separate under the effect of the first row traveling wheel arm and the second walking wheel arm，Clamping subdivision wheel can rise or fall under the effect of spindle motor and leading screw.This utility model can be straight and have on the circuit of certain slope and walk, it is possible to strengthens inspection robot climb and fall and stability during mechanical arm upkeep operation, improves safety during travelling robot walking.
Inspection robot frame for movement of the present utility model merely illustrates the frame for movement of robot body, is not directed to the design of other auxiliary device (such as photographic head, the mechanical hand etc. of refuse cleaning of walking observation).In terms of control system, this utility model can use ground to control platform or robot self intelligentized control method two ways.
Inspection robot frame for movement of the present utility model can have various motion method when obstacle detouring, and effect is preferable, control the most at least following two, describes in detail separately below.
Obstacle-detouring method one, as in Figure 2-4, including:
Step 1: as shown in Figure 4, when not running into obstacle, walking subdivision wheel 11 docks and is erected on circuit 7 under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15, clamping subdivision wheel 6 docks under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15 and is matched for clamping tightly circuit 7 with walking subdivision wheel 11, and walking subdivision wheel 11 drives inspection robot to move ahead；
Step 2: as shown in Figure 2, when running into obstacle, inspection robot halts, and walking subdivision wheel 11 and clamping subdivision wheel 6 separate and depart from circuit 7 respectively under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15, and clamping subdivision wheel 6 moves down under the effect of spindle motor 2 and leading screw 4；
Step 3: as shown in Figure 3-4, walking subdivision docks and is again erected on circuit 7 under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15 after taking turns 11 leaping over obstacles, clamping subdivision wheel 6 docks under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15, and then it is matched for clamping tightly circuit 7 with walking subdivision wheel 11 after rising under the effect of spindle motor 2 and leading screw 4, after multipair walking subdivision wheel 11 and clamping subdivision take turns 6 leaping over obstacles, go to step 1, wait obstacle detouring next time.
Obstacle-detouring method two, including:
Step 1: as shown in Figure 4, when not running into obstacle, walking subdivision wheel 11 docks and is erected on circuit 7 under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15, clamping subdivision wheel 6 docks under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15 and is matched for clamping tightly circuit 7 with walking subdivision wheel 11, and walking subdivision wheel 11 drives inspection robot to move ahead；
Step 2: as shown in Figure 2, when running into obstacle, inspection robot halts, and clamping subdivision wheel 6 moves down under the effect of spindle motor 2 and leading screw 4, then, walking subdivision wheel 11 and clamping subdivision wheel 6 separate under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15 respectively and depart from circuit 7；
Step 3: after walking subdivision wheel 11 and clamping subdivision take turns 6 across obstacles, clamping subdivision wheel 6 rises under the effect of spindle motor 2 and leading screw 4, then, walking subdivision wheel 11 and clamping subdivision wheel 6 dock and cooperate clamping circuit 7 under the effect of the first row traveling wheel arm 1 and the second walking wheel arm 15, after multipair walking subdivision wheel 11 and clamping subdivision take turns 6 leaping over obstacles, go to step 1, wait obstacle detouring next time.
It should be noted that obstacle-detouring method of the present utility model focuses on have employed the method that the inspection robot of above-mentioned walking mechanism carries out obstacle detouring.If be also provided with on inspection robot other kinds of can the walking mechanism of obstacle detouring, then this other kinds of walking mechanism uses its obstacle-detouring method given tacit consent to carry out obstacle detouring, not within focal point of the present utility model.
This utility model is when running into barrier, obstacle-detouring method one is that walking subdivision is taken turns and clamping subdivision wheel concurrently separates under the effect of the first row traveling wheel arm and the second walking wheel arm respectively and departs from circuit, then, clamping subdivision wheel moves down under the effect of spindle motor and leading screw, in order to reduce the abrasion to transmission line of electricity, improve the life-span of transmission line of electricity, inspection robot in obstacle-detouring method two is when running into barrier, clamping subdivision wheel moves down under the effect of spindle motor and leading screw, then, walking subdivision wheel and clamping subdivision wheel separate under the effect of the first row traveling wheel arm and the second walking wheel arm respectively and depart from circuit.What two kinds of obstacle-detouring methods of above-mentioned inspection robot frame for movement were told about the most emphatically is the obstacle detouring of walking unit, and inspection robot also has the structure of other grasping circuits, thus replaces to realize obstacle detouring.This utility model solves in prior art, the problem that artificial line walking labor intensity is big and aircraft line walking operating cost is high, and can cross conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that patrolling and examining continuously circuit.Therefore, compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and can the advantage of throwing over barrier.
The above is preferred implementation of the present utility model; it should be pointed out that, for those skilled in the art, on the premise of without departing from principle described in the utility model; can also make some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (6)
1. a road wheel and pinch wheels combined type running mechanism, it is characterised in that include at least
Individual walking unit, wherein:
Described walking unit includes a pair walking subdivision wheel, and described walking subdivision wheel includes docking mutually
With actively walk subdivision wheel and the passive walking subdivision wheel that separate, described subdivision of actively walking is taken turns and passive
What walking subdivision was taken turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm；
A pair liftable clamping of matched clamping circuit it is provided with below described walking subdivision wheel
Subdivision is taken turns, and described clamping subdivision wheel includes the first clamping subdivision wheel and second that can dock mutually and separate
Clamping subdivision wheel, the lower end of described first clamping subdivision wheel and the second clamping subdivision wheel is provided with control
The spindle motor of its lifting and leading screw.
Road wheel the most according to claim 1 and pinch wheels combined type running mechanism, its feature
Being, being provided with bevel gear structure in the middle part of described subdivision wheel of actively walking, described passive walking subdivision is taken turns
On be provided with and the groove structure of described bevel gear structure tabling.
Road wheel the most according to claim 2 and pinch wheels combined type running mechanism, its feature
Being, described the first row traveling wheel arm top is provided with direct current generator mounting seat, and described direct current generator is installed
Being provided with horizontally arranged direct current generator and decelerator on seat, described decelerator passes through shaft coupling with described
Subdivision of actively walking wheel connects, and described second walking wheel arm top is horizontally arranged with aluminium-alloy pipe, described
Aluminium-alloy pipe is connected with described passive walking subdivision wheel by bearing.
Road wheel the most according to claim 1 and pinch wheels combined type running mechanism, its feature
It is, in the middle part of described first clamping subdivision wheel, is provided with cone boss structure, described second clamping subdivision
It is provided with on wheel and the groove structure of described cone boss structure tabling.
Road wheel the most according to claim 1 and pinch wheels combined type running mechanism, its feature
Being, described spindle motor is provided above leading screw base, is provided with described silk in described leading screw base
Thick stick and slide bar, described leading screw is provided with slide block, and described slide block is by bearing with each clamping subdivision wheel even
Connect.
6. an inspection robot frame for movement, including frame, it is characterised in that set in described frame
It is equipped with the arbitrary described road wheel of claim 1-5 and pinch wheels combined type running mechanism, described first
The lower end of walking wheel arm and the second walking wheel arm is all arranged in described frame by rotating shaft, and each rotating shaft is equal
Driven by motor.
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| CN201620440391.3U CN205753188U (en) | 2016-05-12 | 2016-05-12 | Walking mechanism, inspection robot frame for movement |
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| CN105811310A (en) * | 2016-05-12 | 2016-07-27 | 山东大学 | Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure |
| CN108150813A (en) * | 2018-02-09 | 2018-06-12 | 张吉东 | A kind of steel wire rope oiling lubricating device |
| CN108248654A (en) * | 2018-02-01 | 2018-07-06 | 湘潭大学 | A kind of portable power-assisted hand-cart for shopping that can be automatically climbed along balustrade |
| CN108695765A (en) * | 2018-06-20 | 2018-10-23 | 广州供电局有限公司 | Barrier clearing device for clearing up power transmission line hanger |
| CN108777447A (en) * | 2018-07-12 | 2018-11-09 | 国网江苏省电力有限公司扬州供电分公司 | A kind of walking dolly for aerial cable |
| CN109742684A (en) * | 2019-03-14 | 2019-05-10 | 张辉 | A kind of conducting wire is removed obstacles equipment automatically |
| CN109579706B (en) * | 2018-09-26 | 2020-09-01 | 国网浙江省电力有限公司台州供电公司 | Optical cable ground distance detection intelligent system based on internet of things technology |
| CN111891242A (en) * | 2020-08-01 | 2020-11-06 | 国网安徽省电力有限公司安庆供电公司 | Optical cable inspection robot capable of crossing obstacles |
| CN112158779A (en) * | 2020-09-04 | 2021-01-01 | 国网山东省电力公司潍坊供电公司 | Power transmission line equipotential operation manned electric lifting mechanism and use method thereof |
| CN115366123A (en) * | 2022-08-26 | 2022-11-22 | 国网江苏省电力有限公司苏州供电分公司 | High-voltage transmission line inspection robot and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105811310B (en) * | 2016-05-12 | 2018-07-27 | 山东大学 | Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method |
| CN105811310A (en) * | 2016-05-12 | 2016-07-27 | 山东大学 | Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure |
| CN108248654A (en) * | 2018-02-01 | 2018-07-06 | 湘潭大学 | A kind of portable power-assisted hand-cart for shopping that can be automatically climbed along balustrade |
| CN108150813B (en) * | 2018-02-09 | 2023-12-15 | 山东德克斯特环保科技发展有限公司 | Steel wire rope oiling and lubricating device |
| CN108150813A (en) * | 2018-02-09 | 2018-06-12 | 张吉东 | A kind of steel wire rope oiling lubricating device |
| CN108695765A (en) * | 2018-06-20 | 2018-10-23 | 广州供电局有限公司 | Barrier clearing device for clearing up power transmission line hanger |
| CN108777447A (en) * | 2018-07-12 | 2018-11-09 | 国网江苏省电力有限公司扬州供电分公司 | A kind of walking dolly for aerial cable |
| CN108777447B (en) * | 2018-07-12 | 2024-01-26 | 国网江苏省电力有限公司扬州供电分公司 | Walking trolley for overhead cable |
| CN109579706B (en) * | 2018-09-26 | 2020-09-01 | 国网浙江省电力有限公司台州供电公司 | Optical cable ground distance detection intelligent system based on internet of things technology |
| CN109742684A (en) * | 2019-03-14 | 2019-05-10 | 张辉 | A kind of conducting wire is removed obstacles equipment automatically |
| CN109742684B (en) * | 2019-03-14 | 2020-11-13 | 张辉 | Automatic clearance barrier equipment of wire |
| CN111891242A (en) * | 2020-08-01 | 2020-11-06 | 国网安徽省电力有限公司安庆供电公司 | Optical cable inspection robot capable of crossing obstacles |
| CN111891242B (en) * | 2020-08-01 | 2022-11-08 | 国网安徽省电力有限公司安庆供电公司 | Optical cable inspection robot capable of crossing obstacles |
| CN112158779B (en) * | 2020-09-04 | 2022-05-24 | 国网山东省电力公司潍坊供电公司 | Power transmission line equipotential operation manned electric lifting mechanism and use method thereof |
| CN112158779A (en) * | 2020-09-04 | 2021-01-01 | 国网山东省电力公司潍坊供电公司 | Power transmission line equipotential operation manned electric lifting mechanism and use method thereof |
| CN115366123A (en) * | 2022-08-26 | 2022-11-22 | 国网江苏省电力有限公司苏州供电分公司 | High-voltage transmission line inspection robot and working method thereof |
| CN115366123B (en) * | 2022-08-26 | 2024-02-23 | 国网江苏省电力有限公司苏州供电分公司 | Line inspection robot for high-voltage transmission line and working method thereof |
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