CN206894141U - A kind of step-by-step movement line walking obstacle removing robot - Google Patents
A kind of step-by-step movement line walking obstacle removing robot Download PDFInfo
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- CN206894141U CN206894141U CN201720892370.XU CN201720892370U CN206894141U CN 206894141 U CN206894141 U CN 206894141U CN 201720892370 U CN201720892370 U CN 201720892370U CN 206894141 U CN206894141 U CN 206894141U
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Abstract
The utility model discloses a kind of step-by-step movement line walking obstacle removing robot, including：Walking mechanism, travel configuration are the connecting rod of scalable motion；The both ends of travel configuration are connected with the first control cabinet and the second control cabinet respectively, the stretching motion of the first control cabinet and the second control cabinet for controls connecting rod, realize that the step-by-step movement of robot is wriggled and walk；The first thread clamping mechanism and the second thread clamping mechanism are separately installed with first control cabinet and the second control cabinet, for realizing the clamping and release to high voltage transmission line under the control of the first control cabinet and the second control cabinet respectively；Clearing mechanism is also equipped with first control cabinet, it is used for the barrier that high voltage transmission line is removed under the control action of the first control cabinet；Manipulator is also equipped with first control cabinet, it is used under the control action of the first control cabinet, is on the one hand suspended on when robot advances with obstacle detouring on high voltage transmission line and plays Auxiliary support；On the other hand motion of removing obstacles can be carried out.
Description
Technical field
The utility model belongs to polling transmission line field, more particularly to a kind of step-by-step movement line walking obstacle removing robot.
Background technology
Ultra-high-tension power transmission line is the nucleus equipment of current China's power transmission, is responsible for and ensures more than ten00000000 population normal electricity consumptions
Important task, the safe operation of power network has been directly connected to people's daily life, affected the development of a national economic level,
Therefore guarantee ultra-high-tension power transmission line is safe and stable, reliable run becomes social hot issue.
It is the major way for carrying out middle and long distance power transmission using ultra-high-tension power transmission line, it will not only undertake normal mechanical load
With the internal pressure of electric load, the external world of filth, thunderbolt, high wind, landslide, depression and polybag, bird pest etc. is also suffered
Infringement, these factors will make each element accelerated ageing on circuit, if finding and removing not in time, it is possible to cause various lines
Road failure, safety to power system and stably causes serious threat.And ultra-high-tension power transmission line and shaft tower annex can be sudden and violent for a long time
Be exposed at field, make circuit by lasting mechanical tension, material aging, electric flashover influence and produce it is stranded, abrasion, corrosion
Equivalent damage, such as finishing is changed not in time, and originally small breakage and defect will expand, and eventually result in major accident, cause
The power failure of large area, so as to cause serious economic loss and severe social influence.Therefore by line data-logging to power transmission line
Road carries out regularly walkaround inspection, and the defects of timely discovering device and jeopardizes the potential safety hazard of circuit, proposes specific repair
Opinion, it is one important process of power department to avoid accident from occurring, to eliminate line defct.
Traditional ultra-high-tension power transmission line patrolling method uses manual inspection and aircraft inspection.Using the work of artificial inspection along the line
Industry mode is there is many defects, and its danger coefficient is high, and labor intensity is greatly, it is necessary to very big human cost.Simultaneously also can be by
The restriction of the severe natural conditions such as high mountain, lake, causes the result got half the result with twice the effort.And the latter starts late, it is necessary to very at home
Big expense, influenceed greatly by environmental constraints, and if misoperation can cause the loss of great manpower and materials.Therefore, electric power
There is an urgent need for inspection robot for department to substitute manpower to carry out the maintenance and inspection of ultra-high-tension power transmission line.
Further, since China's power network area coverage is wide, the geographical environment passed through is complicated, ultra-high-tension power transmission line-can meet with
By the ice damage accident of sternness.There is icing situation and may result in shaft tower inclination, broken string or even collapse in transmission line of electricity, and circuit
Uneven icing and the not same period are deiced phenomena such as also causing line oscillation, and these can trigger the things such as line tripping, power failure
Therefore cause to have a strong impact on to industrial and agricultural production and people's lives.At present, China is also without the deicing robot of maturation, Hen Duoyi
Some robots do not possess obstacle crossing function, it is impossible to completely instead of artificial de-icing method.To ensure the stability of power system, improve
The efficiency of deicing high-voltage power transmission line, existing line walking function is developed, robot also with efficient deicing performance substitutes
Or part substitutes the focus manually worked and always studied both at home and abroad.
With reference to the present Research of domestic HV Transmission Line Routing Inspection barrier-surpassing robot, the design feature of more each robot and
Its advantage and disadvantage, it can be deduced that to draw a conclusion：
First, most of inspection robots for having been used to real work can only all be carried out on one section of ultra-high-tension power transmission line
Continuous motion, it is impossible to carry out obstacle detouring, this adds increased the number that power worker reaches the standard grade, and increases the labor intensity of work, drops
Low efficiency.
Second, for the robot with obstacle crossing function, often structure is complex, less stable, and obstacle detouring action is multiple
It is miscellaneous, cause control system sufficiently complex, this adds increased cost, it is stayed in the experimental study stage more, is not reaching to reality
The stage come into operation.
3rd, the function of most of robots is relatively simple, only possesses single inspection function, can not realize and remove obstacles and remove
Ice function.So can only feedback line situation, also need to carry out cleaning obstacle, and carry out de-icing work if necessary, add
The workload of worker.
Therefore stablize line walking and obstacle crossing function, it is necessary to design and study to have, and be aided with the high pressure removed obstacles with deicing function
Power transmission line inspection obstacle removing robot.
Utility model content
In order to solve the deficiencies in the prior art, the utility model provides a kind of step-by-step movement line walking obstacle removing robot, and it is transported
Dynamic stability, control is simple, and obstacle detouring principle is simple, and the obstacle detouring of nearly all barrier, strong applicability can be achieved.
A kind of step-by-step movement line walking obstacle removing robot of the present utility model, including：
Walking mechanism, the travel configuration are the connecting rod of scalable motion；The both ends of travel configuration control with first respectively
Case and the second control cabinet are connected, and the stretching motion of the first control cabinet and the second control cabinet for controls connecting rod, realize robot
Step-by-step movement, which is wriggled, walks；
The first thread clamping mechanism and the second thread clamping mechanism are separately installed with first control cabinet and the second control cabinet, for respectively
The clamping and release to high voltage transmission line are realized under the control of the first control cabinet and the second control cabinet；
Clearing mechanism is also equipped with first control cabinet, it is used to remove height under the control action of the first control cabinet
Press the barrier of power transmission line；Manipulator is also equipped with first control cabinet, it is used for the control action in the first control cabinet
Under, on the one hand it is suspended on when robot advances with obstacle detouring on high voltage transmission line and plays Auxiliary support, keeps robot row
The stabilization walked；On the other hand motion of removing obstacles can be carried out.
Further, image collecting device is also equipped with the manipulator, described image harvester is used to gather height
Press the image on power transmission line and be sent in the first control cabinet.
Further, the clearing mechanism is deicing mechanism, and it is used for when high voltage transmission line has icing situation, is carried out
Deicing campaign.
Further, first control cabinet and the second control cabinet include housing, and controller is provided with the housing,
The controller is connected with drive mechanism and transmission mechanism successively.
Further, the deicing mechanism includes base, wire rod quality is provided with the base, the base is in the first control
It can be achieved to rotate in the presence of case processed.
Compared with prior art, the beneficial effects of the utility model are：
(1) step-type traveling mode is used, inspection can be carried out on single transmission line of electricity, without considering roller and height
Friction change between pressure transmission line, it is applied widely.
(2) Auxiliary support of manipulator ensure that robot is stable.
(3) bikini obstacle detouring is used during obstacle detouring, and thread clamping mechanism has arm type structure, ensure that robot can be steadily square
Just the obstacle detouring for carrying out stockbridge damper, gold utensil etc..
(4) paw section of manipulator is designed, it is integrated the functions such as card line, gripping, shearing, Ke Yishi
Now on ultra-high-tension power transmission line most of barriers it is fully erased.
(5) wire rod quality of deicing mechanism can be purged for the icing of ultra-high-tension power transmission line, ensure that robot can be with
Encroached on by ice and snow in severe winter and removed obstacles than more serious area progress line walking, it is strong to environmental suitability.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 is a kind of step-by-step movement line walking obstacle removing robot structural representation of the present utility model；
Fig. 2 (a) is the original state that step-by-step movement line walking obstacle removing robot step-by-step movement is wriggled when walking；
Fig. 2 (b) is the first control cabinet forward travel state that step-by-step movement line walking obstacle removing robot step-by-step movement is wriggled when walking；
Fig. 2 (c) is the first clamp system clamped condition that step-by-step movement line walking obstacle removing robot step-by-step movement is wriggled when walking；
Fig. 2 (d) is the second control cabinet forward travel state that step-by-step movement line walking obstacle removing robot step-by-step movement is wriggled when walking；
Fig. 2 (e) is that the second clamp system that step-by-step movement line walking obstacle removing robot step-by-step movement is wriggled when walking clamps, and completes fortune
The dynamic cycle；
Fig. 3 (a) is original state when step-by-step movement line walking obstacle removing robot crosses over stockbridge damper；
Fig. 3 (b) is that the second clamp system when step-by-step movement line walking obstacle removing robot crosses over stockbridge damper unclamps, and connecting rod is contraction-like
State；
Fig. 3 (c) is the second clamp system clamped condition when step-by-step movement line walking obstacle removing robot crosses over stockbridge damper；
Fig. 3 (d) is that manipulator when step-by-step movement line walking obstacle removing robot crosses over stockbridge damper clears the jumps；
Fig. 3 (e) is that the first clamp system when step-by-step movement line walking obstacle removing robot crosses over stockbridge damper unclamps, and connecting rod upholds shape
State；
Fig. 3 (f) is that the first clamp system when step-by-step movement line walking obstacle removing robot crosses over stockbridge damper clamps, the second clamping machine
Structure unclamps, connecting rod contraction state；
Fig. 4 (a) is that step-by-step movement line walking obstacle removing robot stops when detecting suspension clamp；
When Fig. 4 (b) is that step-by-step movement line walking obstacle removing robot crosses over suspension clamp, manipulator, which rotates, completes obstacle detouring；
When Fig. 4 (c) is that step-by-step movement line walking obstacle removing robot crosses over suspension clamp, the first clamp system is unclamped, and connecting rod is upheld
State, the first control cabinet obstacle detouring；
When Fig. 4 (d) is that step-by-step movement line walking obstacle removing robot crosses over suspension clamp, the first clamp system clamps；
When Fig. 4 (e) is that step-by-step movement line walking obstacle removing robot crosses over suspension clamp, the second clamp system unclamps, and connecting rod shrinks
State, robot are performed integrally obstacle detouring；
Fig. 5 (a) is that step-by-step movement line walking obstacle removing robot detects colored ribbon on ultra-high-tension power transmission line；
Fig. 5 (b) is the colored ribbon on the manipulator shearing ultra-high-tension power transmission line of step-by-step movement line walking obstacle removing robot；
Fig. 5 (c) is that the manipulator of step-by-step movement line walking obstacle removing robot clamps the residual colored ribbon on ultra-high-tension power transmission line；
Fig. 5 (d) is that the manipulator of step-by-step movement line walking obstacle removing robot removes the residual colored ribbon on ultra-high-tension power transmission line.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
The utility model is by analyzing the working environment of ultra-high-tension power transmission line line walking obstacle removing robot, institute of robot
The major obstacle thing run into has strain clamp, stockbridge damper, splicing fitting, suspension clamp etc..Carried out for each existing barrier
Obstacle detouring process analysis procedure analysis, substantially the walking process of line walking obstacle removing robot can be divided into three classes：Straight line is without barrier walking, straight line obstacle detouring
Walk, cross strain insulator transmission tower.For straight line obstacle detouring walking process, it is necessary to across stockbridge damper, gold utensil, suspension clamp, its span phase
To smaller, the gradient is smaller, convenient to carry out obstacle detouring.For crossing the strain insulator transmission tower stage, because span is big at strain clamp, the gradient
Greatly, wire jumper being present, its obstacle detouring process is sufficiently complex, greatly reduces the efficiency of obstacle detouring, improves cost of manufacture, therefore for turning over
More the strain insulator transmission tower stage is designed without obstacle detouring.In summary, stockbridge damper, splicing fitting are carried out to line walking obstacle removing robot, is hanged
The Obstacle Negotiation design of vertical line folder.
Fig. 1 is a kind of step-by-step movement line walking obstacle removing robot structural representation of the present utility model.
As shown in figure 1, a kind of step-by-step movement line walking obstacle removing robot of the present utility model, including：
Walking mechanism, the travel configuration are the connecting rod of scalable motion；The both ends of travel configuration control with first respectively
Case and the second control cabinet are connected, and the stretching motion of the first control cabinet and the second control cabinet for controls connecting rod, realize robot
Step-by-step movement, which is wriggled, walks；
The first thread clamping mechanism and the second thread clamping mechanism are separately installed with first control cabinet and the second control cabinet, for respectively
The clamping and release to high voltage transmission line are realized under the control of the first control cabinet and the second control cabinet；
Clearing mechanism is also equipped with first control cabinet, it is used to remove height under the control action of the first control cabinet
Press the barrier of power transmission line；Manipulator is also equipped with first control cabinet, it is used for the control action in the first control cabinet
Under, on the one hand it is suspended on when robot advances with obstacle detouring on high voltage transmission line and plays Auxiliary support, keeps robot row
The stabilization walked；On the other hand motion of removing obstacles can be carried out.
First control cabinet and the second control cabinet of the present utility model include housing, and controller is provided with the housing,
The controller is connected with drive mechanism and transmission mechanism successively.
First control cabinet and the second control cabinet of the present utility model mainly play support, connection and protection.
In another embodiment, image collecting device is also equipped with the manipulator, described image harvester is used for
Gather the image on high voltage transmission line and be sent in the first control cabinet.
Wherein, image collecting device can be achieved using camera.
In another embodiment, the clearing mechanism is deicing mechanism, and it is used for when high voltage transmission line has icing situation
When, carry out deicing campaign.
Wherein, the deicing mechanism includes base, wire rod quality is provided with the base, the base is in the first control cabinet
In the presence of can be achieved rotate.
The walking mechanism of step-by-step movement line walking obstacle removing robot of the present utility model uses step-type walking mechanism, can pass through
The forward travel of robot is realized in the alternating movement of more arms.Which employs bionics principle, with reference to the wriggling fortune of worm
Flowing mode, by " stretching --- contracting --- to stretch " motion and the clamping and release of cooperative mechanical arm of connecting rod, realize ultra-high-tension power transmission line
On creeping.The advantages of structure is motion stabilization, and control is simple, and obstacle detouring principle is simple, and nearly all barrier can be achieved
Hinder the obstacle detouring of thing, strong applicability.The motion process of walking mechanism is as follows, schematic diagram such as Fig. 2 (a)-Fig. 2 (e)：
The method of work of step-by-step movement line walking obstacle removing robot of the present utility model, including step-by-step movement line walking obstacle removing robot
Step-by-step movement wriggling walking process, its detailed process are：
Under the original state of robot step-by-step movement wriggling walking, the first thread clamping mechanism and the second thread clamping mechanism press from both sides
Tight high voltage transmission line, manipulator closure are stuck on high voltage transmission line, play aiding support, connecting rod is in contraction state, such as Fig. 2
(a) shown in；
Afterwards, the first thread clamping mechanism is opened, and the first control cabinet controls connecting rod is upheld, and the first control cabinet travels forward, such as Fig. 2
(b) shown in；
After connecting rod is upheld completely, the first thread clamping mechanism clamps, as shown in Fig. 2 (c)；Second thread clamping mechanism unclamps, and second
Control cabinet controls connecting rod completes contractile motion, and the second control cabinet moves forward, as shown in Fig. 2 (d)；Second thread clamping mechanism finally presss from both sides
Tightly, a period of motion of forward travel is completed, as shown in Fig. 2 (e)；In the cycle entirely advanced, remain at 2 points
With high voltage power transmission linear contact lay, the stability that whole robot advances ensure that.
Step-by-step movement line walking obstacle removing robot of the present utility model is mainly for barrier common on transmission line of electricity：It is shockproof
Hammer, splicing fitting, suspension clamp, strain clamp carry out obstacle detouring.
Wherein, this method also includes the obstacle detouring process of step-by-step movement line walking obstacle removing robot：For stockbridge damper, due to there is one
Metal bar is divided to be suspended on the lower section of power transmission line, it is necessary to consider the interference in vertical direction.Its obstacle detouring process is as follows, such as Fig. 3 (a) -3
(f)：
Original state：When detecting stockbridge damper barrier, the first control cabinet and the second control cabinet controls connecting rod stop turning
Dynamic, the first thread clamping mechanism and the second thread clamping mechanism clamp high voltage transmission line, and robot realizes brake, such as Fig. 3 (a).
Second thread clamping mechanism unclamps, and motor drive link completes contractile motion, and the second control cabinet moves forward, such as Fig. 3
(b)。
Second thread clamping mechanism clamps, such as Fig. 3 (c).
Manipulator surmounts obstacles, and is stuck on transmission line of electricity：Manipulator makes manipulator surmount obstacles by the rotation in each joint
Thing, neocaine of laying equal stress on is in transmission line of electricity, an aiding support, such as Fig. 3 (d).
First thread clamping mechanism is opened, and motor drive link is upheld afterwards, and the first control cabinet, which travels forward, to surmount obstacles, and is such as schemed
3(e)。
First thread clamping mechanism clamps, and subsequent second thread clamping mechanism unclamps, and connecting rod completes contractile motion, and the second control cabinet is forward
Overall obstacle detouring is realized in movement, such as Fig. 3 (f).
Because splicing fitting is small to the radial undulation of high voltage transmission line and accessible in vertical direction.And the row of robot
Enter wriggling when principle is step-by-step movement to advance, therefore motion of the splicing fitting for robot influences very little, obstacle detouring principle with across
More stockbridge damper is identical, and state during its obstacle detouring is identical with Fig. 3 (a) -3 (f).
For the line walking obstacle removing robot, only need to consider the obstacle on circuit across suspension clamp, its obstacle detouring principle with across
More stockbridge damper is identical, shown in its partial routine such as Fig. 4 (a) -4 (e).
When robot detects the catenary barrier on ultra-high-tension power transmission line, the first control cabinet and the second control cabinet control
Connecting rod processed stops operating, and the first thread clamping mechanism and the second thread clamping mechanism clamp high voltage transmission line, and robot realizes brake, such as schemed
4(a)。
Mechanical arm makes arm clear the jumps, neocaine of laying equal stress on is in ultra-high-tension power transmission line, such as figure by the rotation in each joint
4(b)。
Then, the first thread clamping mechanism is opened, and the first control cabinet controls connecting rod is upheld, and the first control cabinet, which travels forward, crosses barrier
Hinder thing, such as Fig. 4 (c)；
Finally, the first thread clamping mechanism clamps, such as Fig. 4 (d)；Subsequent second thread clamping mechanism unclamps, and the control of the second control cabinet connects
Bar completes contractile motion, and the second control cabinet moves forward and realizes overall obstacle detouring, such as Fig. 4 (e).
Common barrier is mainly polybag, balloon, celebration colored ribbon, kite, Advertisement wall scroll etc. on ultra-high-tension power transmission line.
Now by taking colored ribbon as an example, the process of removing obstacles is introduced：
Its detailed process is：
The control of first control cabinet receives ultra-high-tension power transmission line and colored ribbon information be present, as shown in Fig. 5 (a)；
First control cabinet control machinery hand is positioned at the colored ribbon below ultra-high-tension power transmission line, passes through the scissors pair of manipulator
Sheared in colored ribbon, as shown in Fig. 5 (b).
It is located for remaining colored ribbon, manipulator is moved at colored ribbon, and coloured silk is clamped by the clamping part of paw
Band, as shown in Fig. 5 (c).
Manipulator rotates, and subsequent manipulator unclamps, and colored ribbon is removed, as shown in Fig. 5 (d).
For severe winter deicing processing can be carried out to high-voltage line by the more serious area of freezing disaster, robot.It has
Body process is as follows：
1) the first control cabinet control deicing mechanism, makes wire rod quality be in ultra-high-tension power transmission line in same level；
2) base rotation of the first control cabinet control deicing mechanism, makes wire rod quality progressively covering on ultra-high-tension power transmission line
Ice, until contact；
3) last first control cabinet drives wire rod quality to rotate, and coordinates the forward travel of robot, realizes high voltage transmission line
The de-icing work on road.
Step-by-step movement line walking obstacle removing robot of the present utility model uses step-type traveling mode, can be in single power transmission line
Inspection is carried out on road, it is applied widely without considering that the friction between roller and ultra-high-tension power transmission line changes；The auxiliary of manipulator
Support ensure that robot is stable；Bikini obstacle detouring is used during obstacle detouring, and thread clamping mechanism has arm type structure, ensure that machine
Device people steadily can easily carry out the obstacle detouring of stockbridge damper, gold utensil etc.；The paw section of manipulator is designed, makes its truck
The functions such as line, gripping, shearing are in one, it is possible to achieve on ultra-high-tension power transmission line most of barriers it is fully erased；Deicing
The wire rod quality of mechanism can be purged for the icing of ultra-high-tension power transmission line, ensure that robot can be invaded in severe winter by ice and snow
Evil carries out line walking than more serious area and removed obstacles, strong to environmental suitability.
It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deformation still in protection model of the present utility model
Within enclosing.
Claims (5)
- A kind of 1. step-by-step movement line walking obstacle removing robot, it is characterised in that including：Walking mechanism, the travel configuration are the connecting rod of scalable motion；The both ends of travel configuration respectively with the first control cabinet and Second control cabinet is connected, and the stretching motion of the first control cabinet and the second control cabinet for controls connecting rod, realizes the stepping of robot Formula, which is wriggled, walks；The first thread clamping mechanism and the second thread clamping mechanism are separately installed with first control cabinet and the second control cabinet, for respectively The clamping and release to high voltage transmission line are realized under the control of one control cabinet and the second control cabinet；Clearing mechanism is also equipped with first control cabinet, it is defeated that it is used for the removing high pressure under the control action of the first control cabinet The barrier of electric wire；Manipulator is also equipped with first control cabinet, it is used under the control action of the first control cabinet, and one Aspect is suspended on high voltage transmission line when robot advances with obstacle detouring plays Auxiliary support, keeps the steady of robot ambulation It is fixed；On the other hand motion of removing obstacles can be carried out.
- 2. a kind of step-by-step movement line walking obstacle removing robot as claimed in claim 1, it is characterised in that also installed on the manipulator There is image collecting device, described image harvester is used to gather the image on high voltage transmission line and is sent to the first control cabinet It is interior.
- 3. a kind of step-by-step movement line walking obstacle removing robot as claimed in claim 1, it is characterised in that the clearing mechanism is deicing Mechanism, it is used for when high voltage transmission line has icing situation, carries out deicing campaign.
- 4. a kind of step-by-step movement line walking obstacle removing robot as claimed in claim 1, it is characterised in that first control cabinet and the Two control cabinets include housing, are provided with controller in the housing, the controller successively with drive mechanism and transmission mechanism It is connected.
- 5. a kind of step-by-step movement line walking obstacle removing robot as claimed in claim 3, it is characterised in that the deicing mechanism includes bottom , wire rod quality is installed, the base can be achieved to rotate in the presence of the first control cabinet on the base.
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| CN201720892370.XU CN206894141U (en) | 2017-07-21 | 2017-07-21 | A kind of step-by-step movement line walking obstacle removing robot |
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| CN201720892370.XU CN206894141U (en) | 2017-07-21 | 2017-07-21 | A kind of step-by-step movement line walking obstacle removing robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248710A (en) * | 2017-07-21 | 2017-10-13 | 山东大学 | A kind of step-by-step movement line walking obstacle removing robot and its method |
| CN108462102A (en) * | 2018-03-15 | 2018-08-28 | 长沙理工大学 | A kind of hot line maintenance robot anti-dropping apparatus |
| CN109809314A (en) * | 2019-03-12 | 2019-05-28 | 田有明 | A kind of 5G signal steel tower to maintain equipment and its method |
| CN110328676A (en) * | 2019-07-23 | 2019-10-15 | 袁利峰 | A kind of full-automatic crusing robot of high-voltage line |
| CN110380357A (en) * | 2019-07-23 | 2019-10-25 | 袁利峰 | A kind of high-voltage line inspection device |
| CN111564809A (en) * | 2020-05-06 | 2020-08-21 | 衢州学院 | High-voltage cable ice breaker |
-
2017
- 2017-07-21 CN CN201720892370.XU patent/CN206894141U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248710A (en) * | 2017-07-21 | 2017-10-13 | 山东大学 | A kind of step-by-step movement line walking obstacle removing robot and its method |
| CN108462102A (en) * | 2018-03-15 | 2018-08-28 | 长沙理工大学 | A kind of hot line maintenance robot anti-dropping apparatus |
| CN109809314A (en) * | 2019-03-12 | 2019-05-28 | 田有明 | A kind of 5G signal steel tower to maintain equipment and its method |
| CN109809314B (en) * | 2019-03-12 | 2020-11-20 | 中铁二十二局集团有限公司 | 5G signal iron tower maintenance equipment and method thereof |
| CN110328676A (en) * | 2019-07-23 | 2019-10-15 | 袁利峰 | A kind of full-automatic crusing robot of high-voltage line |
| CN110380357A (en) * | 2019-07-23 | 2019-10-25 | 袁利峰 | A kind of high-voltage line inspection device |
| CN110328676B (en) * | 2019-07-23 | 2022-08-12 | 广州科智电力科技有限公司 | Full-automatic inspection robot for high-voltage line |
| CN111564809A (en) * | 2020-05-06 | 2020-08-21 | 衢州学院 | High-voltage cable ice breaker |
| CN111564809B (en) * | 2020-05-06 | 2021-05-18 | 衢州学院 | High-voltage cable ice breaker |
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