CN209056847U - A kind of cable robot running gear and cable robot - Google Patents
A kind of cable robot running gear and cable robot Download PDFInfo
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- CN209056847U CN209056847U CN201821763368.3U CN201821763368U CN209056847U CN 209056847 U CN209056847 U CN 209056847U CN 201821763368 U CN201821763368 U CN 201821763368U CN 209056847 U CN209056847 U CN 209056847U
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Abstract
The utility model discloses a kind of cable robot running gears, including bracket, driving motor and multiple traveling wheels, it is equipped on the bracket and the traveling wheel multiple shafts correspondingly, the traveling wheel is fixedly mounted in the shaft and rotates synchronously with the shaft, the running gear further includes primary transmission mechanism and secondary drive mechanism, the secondary drive mechanism is connected between two neighboring shaft, the output shaft of the driving motor is connect by the primary transmission mechanism with one of shaft, so that the shaft drives remaining shaft to synchronously rotate by secondary drive mechanism, to drive the traveling wheel to walk in cable upstream.The running gear of the utility model can effectively improve walking smoothness and stationarity of the cable robot on cable, while production cost can also be effectively reduced.In addition, the utility model additionally provides a kind of cable robot using above-mentioned running gear.
Description
[technical field]
The utility model relates to cable robotic technology field more particularly to a kind of cable robot running gears and electricity
Cable robot.
[background technique]
Cable robot in the prior art running gear includes driving motor and at least three traveling wheel, driving motor
Output shaft drive the rotation of one of traveling wheel, and remaining traveling wheel is then used as driven wheel under the action of frictional force in cable
Upper rotation, to realize that cable robot is walked in cable upstream, so, since driven wheel is realized by force of sliding friction
Rotation, rather than driven and rotated by driving motor, cable robot can be caused not walk swimmingly because of driving force deficiency, though
So a driving motor can be equipped with for each traveling wheel to be operated alone to solve the above problems, but will increase motor in this way
The weight of quantity and cable robot, causes production cost to greatly improve.
[utility model content]
A kind of cable machine is provided the technical problem to be solved by the utility model is to overcome the deficiencies in the prior art
People's running gear and cable robot can effectively improve walking smoothness and stationarity of the cable robot on cable,
Production cost can also be effectively reduced simultaneously.
In order to solve the above technical problems, the utility model adopts the following technical solution:
A kind of cable robot running gear, including bracket, driving motor and multiple traveling wheels are installed on the bracket
Have that multiple shafts, the traveling wheel are fixedly mounted in the shaft and same with the shaft correspondingly with the traveling wheel
Step rotation, the running gear further includes primary transmission mechanism and secondary drive mechanism, and the secondary drive mechanism is connected to phase
Between adjacent two shafts, the output shaft of the driving motor is connect by the primary transmission mechanism with one of shaft, with
The shaft is set to drive remaining shaft to synchronously rotate by secondary drive mechanism, to drive the traveling wheel in cable upstream
It walks.
Running gear in the utility model can make rack-mount multiple traveling wheels that can become driving wheel, to mention
Walking smoothness and stationarity of the high cable robot on cable, reduce the sliding friction between each traveling wheel and cable
Power, while compared to the scheme for being equipped with a motor to each traveling wheel, the running gear of the utility model also greatly reduces electricity
The quantity of machine and the weight of complete machine, to reduce production cost.
Further, the primary transmission mechanism and the secondary drive mechanism are chain-drive mechanism or V belt translation machine
Structure.
Further, there are three shaft, three shafts are respectively front rotary shaft, middle shaft and turn afterwards for installation on the bracket
The output shaft of axis, the driving motor passes through primary transmission mechanism and the transfer axis connection, the middle shaft and the forward
Axis passes through the secondary drive mechanism with rear shaft respectively and connects.
Further, the setting height of the middle shaft is lower than the setting height of the front rotary shaft and rear shaft.
Further, the front rotary shaft and rear shaft are arranged with height.
Further, the traveling wheel is equipped with the metallic channel to match with cable.
A kind of cable robot, including running gear described in control device and any of the above-described technical solution, the control
Device includes shell and is mounted on the intracorporal control unit of shell, and described control unit is connect with the driving motor, the driving
Motor is mounted on the roof of the shell, and the roof of the shell, which is also insulated, several pillars, and the bracket passes through
The post insulator is mounted on above the driving motor.
Further, the cable robot further includes fall-proofing device, the fall-proofing device include support column and
Blend stop, the support column are mounted on side of the bracket towards cable, and the blend stop, which slides up and down, is mounted on the support column
On, the traveling wheel and cable are limited between the blend stop and the bracket.
These features and advantages of the utility model will the detailed exposure in following specific embodiment, attached drawing.
[Detailed description of the invention]
The utility model is described further with reference to the accompanying drawing:
Fig. 1 is the complete machine structure schematic diagram of cable sweeping robot in the utility model embodiment one；
Fig. 2 is the structural schematic diagram of running gear in the utility model embodiment one；
Fig. 3 is the configuration schematic diagram of running gear in the utility model embodiment one；
Fig. 4 is the structural schematic diagram of self-adaptive regulating in the utility model embodiment one；
Fig. 5 is the structural schematic diagram of clearing apparatus in the utility model embodiment one；
Fig. 6 is the configuration schematic diagram of clearing apparatus in the utility model embodiment one；
Fig. 7 is status diagram when two cleaning heads are opened up and down in the utility model embodiment one；
Fig. 8 is the status diagram in the utility model embodiment one after upper and lower two cleaning heads assembling；
Fig. 9 is the assembly structure diagram of self-adaptive regulating and clearing apparatus in the utility model embodiment one；
Figure 10 is the assembly structure diagram of camera and mounting plate in the utility model embodiment one；
Figure 11 is the structural schematic diagram of mounting plate in the utility model embodiment one.
[specific embodiment]
The utility model discloses a kind of cable robot running gears, including bracket, driving motor and multiple walkings
Wheel, is equipped with that multiple shafts, the traveling wheel are fixedly mounted on described turn correspondingly with the traveling wheel on the bracket
It being rotated synchronously on axis and with the shaft, the running gear further includes primary transmission mechanism and secondary drive mechanism, and described two
Grade transmission mechanism is connected between two neighboring shaft, and the output shaft of the driving motor passes through the primary transmission mechanism and its
In the connection of shaft so that the shaft drives remaining shaft to synchronously rotate by secondary drive mechanism, thus described in drive
Traveling wheel is walked in cable upstream.
Running gear in the utility model can make rack-mount multiple traveling wheels that can become driving wheel, to mention
Walking smoothness and stationarity of the high cable robot on cable, reduce the sliding friction between each traveling wheel and cable
Power, while compared to the scheme for being equipped with a motor to each traveling wheel, the running gear of the utility model also greatly reduces electricity
The quantity of machine and the weight of complete machine, to reduce production cost.
The technical solution of the utility model embodiment is explained below with reference to the attached drawing of the utility model embodiment and
Illustrate, but following embodiments are only the preferred embodiment of the utility model, and not all.Based on the implementation example in the implementation mode,
Those skilled in the art's obtained other embodiments without making creative work, belong to the utility model
Protection scope.
Embodiment one,
Shown in 3, the artificial cable sweeping robot of cable machine in the present embodiment, cable sweeping robot
Including control device 1, running gear 2, clearing apparatus 3 and self-adaptive regulating 4, control device 1 includes shell 11, Yi Jian
Control unit and supplying cell packet 12 in shell 11, supplying cell packet 12 be detachably inserted into shell 11 and with control
Unit realizes grafting power supply, and running gear 2 is fixedly mounted on the roof of shell 11, and clearing apparatus 3 is filled by automatic adjusument
4 are set to be mounted on running gear 2.
Specifically, the running gear 2 in the present embodiment includes bracket 21, driving motor 22 and multiple traveling wheels 23, walking
Wheel 23 is equipped with the metallic channel that matches with cable, multiple positive integers referred to more than or equal to 3 in the present embodiment, on bracket 21 between
Every being equipped with the one-to-one multiple shafts 24 of traveling wheel 23, bearing, row are equipped between the mounting hole in shaft 24 and bracket 21
It walks wheel 23 and is fixedly connected on one end that shaft 24 is located at 21 right side of bracket by keyway arrangements, to realize traveling wheel 23 and shaft 24
It rotates synchronously, the running gear 2 in the present embodiment further includes the primary transmission mechanism 25 and secondary transmission positioned at 21 left side of bracket
Mechanism 26, secondary drive mechanism 26 are connected between two neighboring shaft 24, and the output shaft of driving motor 22 passes through primary transmission
Mechanism 25 is connect with one of shaft 24, so that the shaft 24 drives remaining shaft 24 to do synchronization by secondary drive mechanism 26
Rotation, so that traveling wheel 23 be driven to walk in cable upstream.In this way, can make installation, multiple traveling wheels 23 are equal on the stent 21
Driving wheel, which can be become, reduces each walking to improve walking smoothness and stationarity of the cable sweeping robot on cable
Force of sliding friction between wheel 23 and cable, while compared to the scheme for being equipped with a motor to each traveling wheel, this programme is also big
Reduce the quantity of motor and the weight of complete machine greatly, to reduce production cost.
In order to reduce the noise of transmission mechanism generation, while two larger situations of 24 centre distance of shaft are also adapted to,
Primary transmission mechanism 25 and secondary drive mechanism 26 in the present embodiment are chain-drive mechanism or tape handler.The present embodiment
Shaft 24 there are three installations on middle bracket 21, three shafts 24 respectively front rotary shaft, middle shaft and rear shaft, driving motor 22
Output shaft passes through secondary transmission machine by primary transmission mechanism 25 and transfer axis connection, middle shaft and front rotary shaft and rear shaft respectively
Structure 26 connects.
Specifically, primary transmission mechanism 25 and the preferred tape handler of secondary drive mechanism 26, primary transmission mechanism 25 is wrapped
Include level-one driving wheel 251, primary transmission band 252 and level-one driven wheel 253, the output of level-one driving wheel 251 and driving motor 22
Axis is fixedly connected, and level-one driven wheel 253 is fixedly connected with middle shaft, and primary transmission band 252 connects level-one driving wheel 251 and level-one
Driven wheel 253, secondary drive mechanism 26 include second level driving wheel, secondary transmission band and second level driven wheel, and second level driving wheel is in
Shaft is fixedly connected, and front rotary shaft and rear shaft have been respectively fixedly connected with above-mentioned second level driven wheel, secondary transmission band connection second level master
Driving wheel and second level driven wheel, in this way, can be driven by primary transmission mechanism 25 when the output shaft rotation of driving motor 22
The rotation of middle shaft, and by secondary drive mechanism 26 drive front rotary shaft and rear shaft do synchronize rotate in same direction, thus driving three
Traveling wheel 23 is synchronous and rotates in same direction.
Since the centre of aerial cable can make cable form recessed arc curve to sinking, in order to keep cable clear
It sweeps robot and can be fitted on cable and smoothly walk, the setting height of the middle shaft of the present embodiment is lower than front rotary shaft and rear turns
The setting height of axis, and front rotary shaft and rear shaft are arranged with height, in this way, after intermediate traveling wheel compresses cable downwards,
It can guarantee that front walking wheel and rear walking wheel are fitted on cable, to ensure that cable sweeping robot is steady on cable
Ground walking.
It is understood that primary transmission mechanism may also include level-one driving gear and level-one driven gear, level-one is actively
Gear is fixedly mounted on the output shaft of driving motor, and level-one driven gear is fixedly mounted in middle shaft, level-one driving gear
With level-one driven gear engaged transmission；Secondary drive mechanism includes second level driving gear and second level driven gear, and front rotary shaft is with after
Above-mentioned second level driven gear is fixedly installed in shaft respectively, the engagement of second level driving gear is connected to level-one driven gear and second level
It between driven gear, is designed in this way, 3 traveling wheels can also be made to become driving wheel.
Driving motor 22 is mounted on the roof of shell 11 in the present embodiment, shell 11, traveling wheel 23, bearing and bracket 21
It is metalwork, the roof of shell 11 is also insulated the pillar 12 for having several metal materials, and bracket 21 is pacified by pillar 12
Above driving motor 22, and insulation spacer is equipped between the bottom surface of pillar 12 and the roof of shell, to prevent cable from cleaning
In cable livewire work, fax is defeated by shell 11 by running gear for robot, causes internal control unit control failure, thus
The operation when cable charges of cable sweeping robot can be achieved, have a power failure without cable.
As shown in Fig. 5 to 8, the clearing apparatus 3 in the present embodiment includes two cleaning heads 31 for being located at cable or more two sides,
Two 31 releasable connections of cleaning head, two cleaning heads 31 form the channel 30 passed through for current supply cable after assembling, cleaning head 31 wraps
It includes mounting plate 310, clean motor 311 and grinding wheel 312, clean motor 311 and grinding wheel 312 is fixedly mounted on mounting plate 310, electricity
After cable passes through channel, grinding wheel 312 and conductive cable contacts clean motor 311 and grinding wheel 312 are driven to rotate, produce between grinding wheel 312 and cable
Raw sliding friction, to remove the dirt on cable by friction part；In addition, the hardness of grinding wheel 312 is lower, and the material of cable is hard
Degree is higher, therefore any damage will not be caused to cable, can be to cable when multiple grinding wheels 312 are arranged in the periphery of cable
On whole circumference position cleaned, to improve to the cleaning intensity of cable, it follows that the cleaning in the utility model fills
It sets and eliminates the structures such as detergent bucket and recycling bin, simplify the structure of clearing apparatus 3, to alleviate cable sweeping robot
Main screw lift, it is easy to carry and assembling.
It is placed on cable for the ease of cable sweeping robot, the left side of two mounting plates 310 is hinged in the present embodiment
It is fixed, and right side releasable connection is fixed, there are above-mentioned channels 30 between two mounting plates 310, in this way, clean by cable
When robot is placed on cable, cable can enter in channel 30 from the right side of clearing apparatus, and simultaneously from traveling wheel 23
Right side enters in metallic channel.
Preferably, the left side of two mounting plates is hingedly fixed by hinge in the present embodiment, and right side is fixed by hasp.
Certainly, the left side of two mounting plates can also hingedly be fixed by shaft, and right side is locked or is buckled clamping by screw
It is fixed.
It is understood that the right side of two mounting plates is hingedly fixed if traveling wheel is located at the left side of bracket, and two
The left side releasable connection of mounting plate is fixed.
In order to improve the cleaning effect to cable, the cleaning head 31 in the present embodiment includes multiple grinding wheels 312, preferably
Two grinding wheels 312 are set, are set on mounting plate 310 accordingly there are two the shaft being located at left and right sides of cable, grinding wheel 312 is fixed
It is rotated synchronously in shaft and with shaft, cleaning head 31 further includes transmission mechanism, and transmission mechanism includes transmission belt 313, driving wheel
314 and two driven wheels 315, driving wheel 314 is fixedly mounted on the output shaft for cleaning motor 311, and driven wheel 315 is fixedly mounted
In shaft, driving wheel 314 and the distribution triangular in shape of two driven wheels 315 are simultaneously driven by transmission belt 313, so, can
Realize that the output shaft for cleaning motor 311 drives two shafts synchronous and rotates in same direction by transmission mechanism, to make two grinding wheels
312 synchronize and rotate in same direction, to guarantee cable stress balance.After two cleaning heads 31 are completed, four grinding wheels 312 can be to electricity
Upper left quarter, upper right quarter, lower left quarter and the right lower quadrant of cable are cleaned, to improve the cleaning effect to cable.
It is arranged in a staggered manner before and after two grinding wheels 312 in the present embodiment on same cleaning head 31, wherein being located above cable
The forward grinding wheel 312 being arranged on cleaning head 31 and 312, grinding wheel rearward being arranged on the cleaning head 31 being located at below cable
In one of the left and right side of cable, and it is located at the grinding wheel 312 being arranged on the cleaning head 31 above cable rearward and position
The forward grinding wheel 312 being arranged on cleaning head 31 below cable is located at the other side of cable.So, can increase
Under the premise of 312 diameter of grinding wheel, two grinding wheels 312 is avoided to interfere.
Preferably, in the present embodiment up and down the cleaning motor 311 of two cleaning heads 31 output rotational axis direction on the contrary, with
Turn to the grinding wheel on two cleaning heads 31 on the contrary, in this way, can further make cable stress balance.
It is understood that transmission mechanism included by cleaning head may also include driving gear, driven gear and driving cog
Wheel, cleans and is equipped with driving gear on the output shaft of motor, and driven gear is equipped in shaft, and transmission gear engagement is mounted on master
Between moving gear and driven gear.
Further, the transmission mechanism in the present embodiment is mounted on the rear side of mounting plate 310, i.e., towards running gear 2
Side, and clean motor 311 and grinding wheel 312 is installed in the front side of mounting plate, and grinding wheel 312 is located at two cleaning motors 311
It limits in the space formed.In this way, both can be reduced the entire length size of clearing apparatus, the entirety of clearing apparatus 3 is promoted
Appearance, and can play the role of being effectively protected to grinding wheel 312.In order to avoid transmission mechanism accumulation dust leads to transmission failure, this
Cleaning head 31 in embodiment further includes protective cover 316, and protective cover 316 is mounted on rear side of mounting plate and the cover transmission mechanism.
It is understood that clearing apparatus may also include 3 or 3 or more cleaning heads, two neighboring cleaning head is removable
It connects, driving motor and at least one grinding wheel is installed on each cleaning head, driving motor drives grinding wheel rotation to remove cable
On dirt.
It is understood that grinding wheel can also be form grinding wheel, two mounting plates are distributed in the left and right sides of cable, and shaft is
Horizontally disposed, so that the axis of grinding wheel is vertical with cable, two grinding wheels on two cleaning heads are respectively distributed to the upper and lower of cable
Two sides are walked so that grinding wheel be enable to rotate along cable, can also achieve the effect that remove cable dirt in this way.
As shown in Fig. 4, Fig. 7 to Fig. 9, the self-adaptive regulating 4 in the present embodiment includes fixed frame 41 and swing rod 42, Gu
The one end for determining frame 41 is fixed on the bracket 21 of running gear 2, and one end of the other end and swing rod 42 is rotatablely connected, swing rod 42 it is another
One end is fixedly mounted with the cleaning head 31 being located on the upside of cable, swings up and down so that clearing apparatus 3 can fix relatively frame 41.When
Cable sweeping robot row to cable crooked position when, clearing apparatus can adaptively be adjusted by self-adaptive regulating
It is whole, it is interfered to avoid cleaning head and cable and causes clamping stagnation, ensure that cable sweeping robot can be smooth on cable
Walking.
Specifically, self-adaptive regulating 4 further includes connecting rod 44, the other end of fixed frame and one end of swing rod are respectively equipped with
U-shaped link block 45 is equipped with pin shaft 46 in U-shaped link block 45, and the both ends of connecting rod 44 are respectively equipped with matches with two rotations of pin shafts 46
The through-hole of conjunction, is designed in this way, and is able to ascend the freedom degree of swing rod 42, so as to the tendency of better appropriate cable.
Self-adaptive regulating 4 in the present embodiment further includes front limit idler wheel 43 and rear limited roller 47, on swing rod 42
It is additionally provided with the fixing axle positioned at 3 front and rear sides of clearing apparatus, front limit idler wheel 43 and rear limited roller 47 are rotatably installed in respectively
In two fixing axles, and it is fitted on cable under Gravitative Loads.In this way, which can be avoided cable is located at front limit idler wheel 43
Friction clamping stagnation occurs for position and mounting plate between rear limited roller 47, while can also be further ensured that grinding wheel 312 and cable
Contact, promoted clearing apparatus 3 cleaning effect.
In order to keep structure more compact, the hasp in the present embodiment includes fixinig plate and lock, fixinig plate and lock
One of them is fixed on swing rod 42, another is fixed on the cleaning head 31 on the downside of cable.
It is understood that the other end of fixed frame and one end of swing rod can be also rotatablely connected by shaft.
As shown in figures 1 and 3, cable sweeping robot falls in order to prevent, the cable scavenging machine in the present embodiment
Device people further includes fall-proofing device 5, and fall-proofing device 5 includes support column 51 and blend stop 52, and support column 51 is mounted on 21 court of bracket
To the side of cable, the i.e. right side of bracket 21, and blend stop 52 is slided up and down and is mounted on support column 51, by cable sweeping robot
When being placed on cable, blend stop 52 is lifted upwards, cable is made to enter metallic channel and channel 30 from the right side of cable sweeping robot
It is interior, after the completion of placement, blend stop 52 is unclamped, blend stop 52 slides down to lowest part under the effect of gravity, so that traveling wheel 23 and electricity
Cable is limited between blend stop 52 and bracket 21, so as to avoid cable sweeping robot from falling.
As shown in Fig. 1, Figure 10 to 11, the cable sweeping robot in the present embodiment further includes mounting rack 6, and mounting rack 6 is solid
It is scheduled on the left side of bracket 21, the back side rear and front end of mounting rack 6 is separately installed with preceding camera 7 and rear camera 8, mounting rack
6 back side is equipped with multiple spaced cable clamping interfaces 61, the connecting wire card of preceding camera 7 and rear camera 8 in cable clamping interface,
And the roof of shell 11 and inside also are provided with multiple fixture blocks for being clamped connecting line and can so prevent connecting line from twining
It interferes around or with other structures.
Cable sweeping robot in the present embodiment further includes the shell being located on the outside of whole device, is set on the right side of shell
There is current supply cable to enter the installing port in metallic channel, shell is resin piece, in order to cable sweeping robot cable charge when into
Row operation.
It should be noted that the control device, running gear and fall-proofing device in the present embodiment can also be used in other electricity
On cable robot, such as cable spray robot, cable deicing machine people, electrical cable washer device people and cable inspection robot
Deng within the protection scope of the present utility model.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, being familiar with the those skilled in the art should be understood that the utility model includes but is not limited to attached drawing and specific embodiment party above
Content described in formula.The modification of any function and structure principle without departing from the utility model is intended to be included in claims
Range in.
Claims (8)
1. a kind of cable robot running gear, including bracket, driving motor and multiple traveling wheels, it is equipped on the bracket
Multiple shafts, the traveling wheel are fixedly mounted in the shaft and synchronous with the shaft correspondingly with the traveling wheel
Rotation, which is characterized in that the running gear further includes primary transmission mechanism and secondary drive mechanism, the secondary drive mechanism
It is connected between two neighboring shaft, the output shaft of the driving motor passes through the primary transmission mechanism and one of shaft
Connection, so that the shaft drives remaining shaft to synchronously rotate by secondary drive mechanism, to drive the traveling wheel in electricity
It walks on cable.
2. cable robot according to claim 1 running gear, which is characterized in that the primary transmission mechanism and institute
Stating secondary drive mechanism is chain-drive mechanism or tape handler.
3. cable robot according to claim 2 running gear, which is characterized in that on the bracket there are three installations
Shaft, three shafts are respectively front rotary shaft, middle shaft and rear shaft, and the output shaft of the driving motor passes through primary transmission mechanism
With the transfer axis connection, the middle shaft passes through the secondary drive mechanism with the front rotary shaft and rear shaft respectively and connect.
4. cable robot according to claim 3 running gear, which is characterized in that the setting height of the middle shaft
Lower than the setting height of the front rotary shaft and rear shaft.
5. cable robot according to claim 3 running gear, which is characterized in that the front rotary shaft and rear shaft are same
Height is arranged.
6. cable robot according to claim 1 running gear, which is characterized in that the traveling wheel is equipped with and electricity
The metallic channel that cable matches.
7. a kind of cable robot, which is characterized in that including running gear described in one of control device and claim 1 to 6,
The control device includes shell and is mounted on the intracorporal control unit of shell, and described control unit is connect with the driving motor,
The driving motor is mounted on the roof of the shell, and the roof of the shell, which is also insulated, several pillars, described
Bracket is mounted on above the driving motor by the post insulator.
8. cable robot according to claim 7, which is characterized in that the cable robot further includes dropproof dress
It sets, the fall-proofing device includes support column and blend stop, and the support column is mounted on side of the bracket towards cable, described
Blend stop, which slides up and down, to be mounted on the support column, and the traveling wheel and cable are limited between the blend stop and the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821763368.3U CN209056847U (en) | 2018-10-29 | 2018-10-29 | A kind of cable robot running gear and cable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821763368.3U CN209056847U (en) | 2018-10-29 | 2018-10-29 | A kind of cable robot running gear and cable robot |
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| Publication Number | Publication Date |
|---|---|
| CN209056847U true CN209056847U (en) | 2019-07-02 |
Family
ID=67051738
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821763368.3U Active CN209056847U (en) | 2018-10-29 | 2018-10-29 | A kind of cable robot running gear and cable robot |
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| CN (1) | CN209056847U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110376228A (en) * | 2019-08-30 | 2019-10-25 | 云南电网有限责任公司电力科学研究院 | A kind of detection system applied to aerial high-voltage power transmission line |
| CN117509328A (en) * | 2024-01-03 | 2024-02-06 | 北京双泰气动设备有限公司 | Take-up and pay-off device synchronous with walking distance |
-
2018
- 2018-10-29 CN CN201821763368.3U patent/CN209056847U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110376228A (en) * | 2019-08-30 | 2019-10-25 | 云南电网有限责任公司电力科学研究院 | A kind of detection system applied to aerial high-voltage power transmission line |
| CN110376228B (en) * | 2019-08-30 | 2021-11-26 | 云南电网有限责任公司电力科学研究院 | Detection system applied to overhead high-voltage transmission line |
| CN117509328A (en) * | 2024-01-03 | 2024-02-06 | 北京双泰气动设备有限公司 | Take-up and pay-off device synchronous with walking distance |
| CN117509328B (en) * | 2024-01-03 | 2024-04-02 | 北京双泰气动设备有限公司 | Take-up and pay-off device synchronous with walking distance |
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