CN2759720Y - Polling robot mechanism - Google Patents

Polling robot mechanism Download PDF

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Publication number
CN2759720Y
CN2759720Y CN 200420075571 CN200420075571U CN2759720Y CN 2759720 Y CN2759720 Y CN 2759720Y CN 200420075571 CN200420075571 CN 200420075571 CN 200420075571 U CN200420075571 U CN 200420075571U CN 2759720 Y CN2759720 Y CN 2759720Y
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China
Prior art keywords
power transmission
transmission shaft
motor
casing
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Expired - Lifetime
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CN 200420075571
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Chinese (zh)
Inventor
王洪光
房立金
朱兴龙
赵明扬
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN 200420075571 priority Critical patent/CN2759720Y/en
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Abstract

The utility model discloses a polling robot mechanism, which is composed of a vehicle body, a front arm, a front traveling mechanism, a front clamping mechanism, a back arm, a back traveling mechanism, and a back clamping mechanism, wherein one end of the front and the back arms are respectively a front and back sliding block nut which are arranged in the vehicle body, and the other ends are respectively connected with the front and the back traveling mechanism. Furthermore, the arms which have four degrees of freedom are respectively composed of a front and a back offset rotation mechanism, a front and a back rotation mechanism, a front and a back vertical telescoping mechanism, and a front and a back horizontal moving mechanism, wherein one end of the front and the back offset rotation mechanism are respectively connected with the front and the back traveling mechanism, and the other ends are respectively connected with the front and the back horizontal moving mechanism through the front and the back rotation mechanism and the front and the back vertical telescoping mechanism. In addition, the front and the back horizontal moving mechanism are arranged in the vehicle body, the traveling mechanisms on which the clamping mechanisms are fixed travel on overhead ground wires, and the front and the back arm, the front and the back traveling mechanism, and the front and the back clamping mechanism all have the same structure. The utility model has the advantages of large working space, low power consumption, and good obstacle surmounting performance.

Description

A kind of inspection robot mechanism
Technical field
The utility model relates to mobile robot mechanism, specifically a kind ofly is applied to the inspection robot mechanism that extra high voltage network is patrolled and examined.
Background technology
In existing EHV transmission line patrol robot mechanism, the most of employing by wheeled composite moving mechanism (the document 1:Jun Sawada that combines with composite rod mechanism that moves, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " A Mobile Robot For Inspection of PowerTransmission Lines ", IEEE Trans.Power Delivery, 1991, Vol.6, No.1:pp.309-315; Document 2:Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, " Development of aMobile Inspection Robot for Power Transmission Lines ", J.of the Robotics Society of Japan, 1991, Vol.9, No.4, pp..457-463), multiple degrees of freedom travel mechanism (document 3:Shin-ichi Aoshima, the Takeshi Tsujimura that perhaps adopts many group mobile units to be composed in series, Tetsuro Yabuta, " A Wire Mobile Robotwith Multi-unit Structure ", IEEE/RSJ Intermational Workshop on Intelligent Robots andSystems ' 89, Sep.4-6,1989, Tsukuba, Japan, pp..414-421).The complex structure of these mechanisms, big energy-consuming, obstacle climbing ability is limited and be not easy to control, therefore, is difficult to be applied to actual extra high voltage network active obstacle and patrols and examines operation.
The utility model content
Above-mentioned travel mechanism complex structure, weight are big in order to overcome, big energy-consuming, obstacle climbing ability is limited and be not easy to the deficiency of control, and the utility model provides the EHV transmission line patrol robot mechanism of the wheel arm combined type that a kind of working space is big, energy consumption is low and obstacle climbing ability is strong.
To achieve these goals, technical solutions of the utility model are: it is made up of car body, preceding arm, pre-walking mechanism, front clamp mechanism, back arm, rear walking mechanism, rear grip mechanism, and an end of described forward and backward arm is arranged in car body for back, front-slider nut; The other end links to each other with forward and backward walking mechanism, described arm has four frees degree, form by forward and backward biasing slew gear, forward and backward slew gear, forward and backward vertical telescoping mechanism and forward and backward horizontal mobile mechanism respectively, wherein forward and backward biasing slew gear one end links to each other with forward and backward walking mechanism, the other end links to each other with forward and backward horizontal mobile mechanism behind forward and backward slew gear and forward and backward vertical telescoping mechanism, and forward and backward horizontal mobile mechanism is installed in the car body; Described walking mechanism is positioned on the aerial earth wire walks, and clamping device is installed on the walking mechanism; Described forward and backward arm, forward and backward walking mechanism, forward and backward clamping device structure is identical.
The utility model is based on wheel, the compound principle of arm, and the working method that combines with the wriggling walking is moved in employing continuously, has the function of walking and crossing over barrier on it along ultra high-tension transmission line.
The utlity model has following advantage:
1. the utility model adopts wheel arm composite structure, is beneficial to walking and obstacle detouring.This structure combines the advantage of wheeled travel mechanism, clamping device and articulated type arm, both can walk fast along the line, but also leaping over obstacles.
2. obstacle climbing ability is strong.The utility model utilization walking and clamping device, arm and the car body coordinated movement of various economic factors drive the car body leaping over obstacles, and can cross over various disorders in the extra high voltage network (damper, insulator, overhanging golden tool and aluminium hydraulic pressed connecting pipe etc.).
3. working space is big.The front and back arm has flexible and rotary joint, has the bigger elongation and the anglec of rotation, and the working range that arm is touched is bigger.
4. energy consumption is low.The utility model adopts the method for quality of regulation off-centre, motor driving moment is reduced, thereby reduced energy consumption.
5. range of application is wider.The utility model can be used as the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line.
Description of drawings
Fig. 1 is the utility model structural scheme of mechanism.
Fig. 2 is the utility model body construction travel mechanism schematic diagram.
Fig. 3 is the vertical telescoping mechanism schematic diagram of the utility model.
Fig. 4 is the utility model slew gear schematic diagram.
Fig. 5 is the utility model biasing slew gear schematic diagram.
Fig. 6 is the utility model clamping device schematic diagram.
Fig. 7 is the utility model walking mechanism schematic diagram.
Fig. 8 is an obstacle environment schematic diagram.
Fig. 9 a is that obstacle detouring process first element is described schematic diagram.
Fig. 9 b is second action description schematic diagram of obstacle detouring process.
Fig. 9 c is the 3rd action description schematic diagram of obstacle detouring process.
Fig. 9 d is the 4th action description schematic diagram of obstacle detouring process.
Figure 10 is another embodiment structural scheme of mechanism of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
Embodiment 1
As shown in Figure 1, frame for movement of the present utility model is made up of car body 1, preceding arm 2, pre-walking mechanism 3, front clamp mechanism 4, back arm 5, rear walking mechanism 6, rear grip mechanism 7, one end of described forward and backward arm 2,5 is forward and backward slider nut 14,15, is arranged in car body 1; The other end with before, rear walking mechanism 3,6 link to each other, described arm 2,5 all have four frees degree, respectively by preceding, back biasing slew gear 21,51, before, back slew gear 22,52, before, the vertical telescoping mechanism 23 in back, 53 and before, back horizontal mobile mechanism 24,54 form, wherein, back biasing slew gear 21,51 1 ends with before, rear walking mechanism 3,6 link to each other, before the other end warp, back slew gear 22,52 and before, the vertical telescoping mechanism 23 in back, 53 the back with before, back horizontal mobile mechanism 24,54 link to each other, preceding, back horizontal mobile mechanism 24,54 are installed in the car body 1; Described forward and backward arm 2,5, forward and backward walking mechanism 3,6, forward and backward clamping device 4,7 structures are identical.Present embodiment is that example elaborates with one of them.
With horizontal mobile mechanism before described is example, its structure: by forward and backward mobile leading screw 12,13, and forward and backward slider nut 14,15, guide rail 16 and first and second motor 17,18 are formed, and see Fig. 2.First and second motor 17,18, forward and backward leading screw 12,13 and guide rail 16 are installed on the car body 1, forward and backward slider nut 14,15 is installed on forward and backward mobile leading screw 12,13 and the guide rail 16, one end of reach movable wire thick stick 12 links to each other with first motor 17, one end of the mobile leading screw 13 in back links to each other with second motor 18, and forward and backward slider nut 14,15 links to each other with gripper shoe 96 in the forward and backward vertical telescoping mechanism 23,53 respectively.Leading screw 12 rotated before first motor 17 drove, and under guide rail 16 effects, drove front-slider nut 14 and moved, thereby arm 2 moves before driving, and second motor 18 drives the mobile leading screw 13 in back and rotates, under guide rail 16 effects, drive rear slider nut 15 and move, move thereby drive back arm 5.
With vertical telescoping mechanism before described is example, its structure (referring to Fig. 3): by hollow shaft 91, bearing 92, elevating screw 93, lifting nut 94, gripper shoe 96 and the 6th motor 95 are formed, bearing 92 is supported on hollow shaft 91 inwalls, be installed in elevating screw 93 1 ends (being used for supporting), the other end of elevating screw 93 be installed in gripper shoe 96 on the 6th motor 95 link to each other, the lifting nut 94 that is combined on elevating screw 93 is connected in the hollow shaft 91, before in gripper shoe 96 and the travel mechanism, the rear slider nut links to each other, and hollow shaft 91 links to each other with first casing 82 in the slew gear.The 6th motor 95 drives elevating screw 93 and rotates, and drives hollow shaft 91 by lifting nut 94 and realizes vertical lift.
With slew gear before described is example: referring to Fig. 4, its structure is made up of the 3rd power transmission shaft 81, first casing 82, second driven gear 83, second driving gear 84, the 4th power transmission shaft 85 and the 5th motor 86, the 3rd power transmission shaft 81, the 4th power transmission shaft 85 and the 5th motor 86 are supported on first casing 82, second driven gear 83 is installed on the 3rd power transmission shaft 81, second driving gear 84 is installed on the 4th power transmission shaft 85, with 83 engagements of second driven gear, one end of the 4th power transmission shaft 85 links to each other with the 5th motor 86, and the other end is supported on first casing 82; One end of the 3rd power transmission shaft 81 links to each other with biasing housing 66, and the other end is supported on first casing 82; The 5th motor 86 drives the 4th power transmission shaft 85 and second driving gear 84 rotates, and second driving gear 84 drives the 3rd power transmission shaft 81 by second driven gear 83 and rotates, and the biasing housing 66 that drives in the biasing slew gear rotates.
With biasing slew gear before described is example, and its structure is made up of the 4th motor 61, first power transmission shaft 62, first driving gear 63, second power transmission shaft 64, first driven gear 65 and biasing housing 66, sees Fig. 5.The 4th motor 61, first power transmission shaft 62, second power transmission shaft 64 are installed on the biasing housing 66, first driving gear 63 is installed on second power transmission shaft 64, first driven gear 65 is installed on first power transmission shaft 62, second power transmission shaft 64 is provided with first driving gear 63, the one end links to each other with the 4th motor 61, and the other end is supported on the biasing housing 66; First driven gear 65 is installed on first power transmission shaft 62, and meshes with first driving gear 63, and an end of first power transmission shaft 62 links to each other with second casing 32 of walking mechanism (3,6), and the other end is supported on biasing housing 66.The 4th motor 61 drives first driving gear 63 by second power transmission shaft 64 and rotates, driving first driven gear 65 rotates, thereby realize the rotation of first power transmission shaft 62, first power transmission shaft 62 is final to be driven walking mechanisms 3,6 and clamping device 4,7 and does the biasing gyration around the axis of first power transmission shaft 62.
With the pre-walking mechanism is example, and its structure is made up of the 3rd motor 31, second casing 32, road wheel 33 and axle 34, sees Fig. 6.The axle that links to each other with motor 31 34 is installed on second casing 32, and road wheel 33 is installed on the axle 34, and an end of the power transmission shaft 62 in second casing 32 and the biasing slew gear links to each other.The 3rd motor 31 rotates, and drive axle 34 and rotate, thereby realization road wheel 33 is walked on aerial earth wire 70.Walking mechanism 3,6 links to each other with the 3rd casing 41 by second casing 32 with clamping device 4,7.
With described front clamp mechanism is example, and its structure is made up of the 3rd casing 41, clamping leading screw 42, a pair of jaw 43, guide rod 44 and the 7th motor 45, sees Fig. 7.Clamping leading screw 42, guide rod 44 and the 7th motor 45 are installed on the 3rd casing 41, a pair of jaw 43 is installed on clamping leading screw 42 and the guide rod 44, screw thread on the clamping leading screw 42 is divided into two sections, be respectively first left-hand thread 46 and first right-hand thread 47, correspond respectively to second left-hand thread 48 and second right-hand thread 49 of jaw 43, one end of clamping leading screw 42 links to each other with the 7th motor 45, and the other end is installed on the 3rd casing 41, and the 3rd casing 41 links to each other with second casing 32 in the walking mechanism.The 7th motor 45 rotates, and drives 42 rotations of clamping leading screw, under the effect of guide rod 44, make a pair of jaw 43 mutually near and separately, thereby realize that 43 pairs of aerial earth wires of jaw 70 clamp and release functions.
Figure 8 shows that extra high voltage network obstacle environment, the major obstacle thing on aerial earth wire 70 is damper 71, insulator 72, overhanging golden tool and wire clamp 73 etc.This mechanism is by driven by servomotor, and by moving body, arm coordination, the also barrier at crossing pole place of can advancing along the line is referring to Fig. 9 .a, 9.b, 9.c, 9.d.
Current walking mechanism 3 stop at left damper 71 places (shown in Fig. 9 a), pre-walking mechanism 3 and front clamp mechanism 4 are under the effect of preceding arm 2, raising breaks away from aerial earth wire 70, and at this moment rear walking mechanism 6 driving car bodies 1 and preceding arm 2 are walked forward, stop to left damper 71 places.Arm 2 has been crossed the left damper 71 of below before this moment, and pre-walking mechanism 3 and front clamp mechanism 4 are under the effect of preceding arm 2, and descending falls back to (shown in Fig. 9 .b) on the aerial earth wire 70.It is similar that back arm 5 is crossed over the same arm of the process of left damper 71 2.
Current walking mechanism 3 is stopped at overhanging golden tool 73 places, pre-walking mechanism 3 and front clamp mechanism 4 are under the effect of preceding arm 2, raise and break away from aerial earth wire 70, and around the biasing mechanism Rotate 180 of forearm 2 °, to avoid overhanging golden tool 73, at this moment rear walking mechanism 6 driving car bodies 1 and preceding arm 2 are walked forward, and 73 places stop to overhanging golden tool.Arm 2 has been crossed the overhanging golden tool 73 of below before this moment, and pre-walking mechanism 3 and front clamp mechanism 4 are under the effect of preceding arm 2, and descending falls back to (shown in Fig. 9 .c) on the aerial earth wire 70.It is similar that back arm 5 is crossed over the same arm of the process of overhanging golden tools 73 2.
The process of crossing over right damper is similar substantially with the process of crossing over left damper, and the state after surmounting obstacles is shown in Fig. 8 .9.
Embodiment 2
Difference from Example 1 is: as shown in figure 10, in car body 1, with forward and backward reel 74,76, forward and backward gentle rope 75,77 has replaced original leading screw screw mechanism, has further alleviated weight.Forward and backward gentle rope 75,77 links to each other with forward and backward slide block 78,79 on the forward and backward arm 2,5 respectively, and forward and backward reel 74,76 links to each other with motor respectively, drives forward and backward gentle rope 75,77 and moves, and moves along guide rail 16 thereby drive forward and backward arm 2,5 respectively.

Claims (7)

1. inspection robot mechanism, its special being: be made up of car body (1), preceding arm (2), pre-walking mechanism (3), front clamp mechanism (4), back arm (5), rear walking mechanism (6), rear grip mechanism (7), an end of described forward and backward arm (2,5) is that forward and backward slider nut (14,15) is arranged in car body (1); The other end with before, rear walking mechanism (3,6) link to each other, described arm (2,5) respectively by preceding, back biasing slew gear (21,51), before, back slew gear (22,52), before, the vertical telescoping mechanism (23 in back, 53) and before, back horizontal mobile mechanism (24,54) form, wherein, back biasing slew gear (21,51) end with before, rear walking mechanism (3,6) link to each other, before the other end warp, back slew gear (22,52) and before, the vertical telescoping mechanism (23 in back, 53) back with before, back horizontal mobile mechanism (24,54) link to each other, preceding, back horizontal mobile mechanism (24,54) be installed in the car body 1; Described walking mechanism is positioned on the aerial earth wire, and clamping device is installed on the walking mechanism; Described forward and backward arm (2,5), forward and backward walking mechanism (3,6), forward and backward clamping device (4,7) structure is identical.
2. by the described inspection robot mechanism of claim 1, its special being: described horizontal mobile mechanism is by preceding, the mobile leading screw (12 in back, 13), before, rear slider nut (14,15), guide rail 16 and first, two motors (17,18) form, first, two motors (17,18), before, back leading screw (12,13) and guide rail (16) be installed on the car body (1), before, rear slider nut (14,15) be installed in before, the mobile leading screw (12 in back, 13) and on the guide rail (16), one end of reach movable wire thick stick (12) links to each other with first motor (17), one end of the mobile leading screw in back (13) links to each other with second motor (18), and is preceding, rear slider nut (14,15) link to each other with gripper shoe (96) in the vertical telescoping mechanism respectively.
3. by the described inspection robot mechanism of claim 1, its special being: described vertical telescoping mechanism is by hollow shaft (91), bearing (92), elevating screw (93), lifting nut (94), gripper shoe (96) and the 6th motor (95) are formed, bearing (92) is supported on hollow shaft (91) inwall, be installed in elevating screw (93) one ends, the other end of elevating screw (93) be installed in last the 6th motor of gripper shoe (96) (95) and link to each other, be combined on the lifting nut (94) of elevating screw (93), and be connected in the hollow shaft (91), before in gripper shoe (96) and the travel mechanism, the rear slider nut links to each other, and hollow shaft (91) links to each other with first casing (82) in the slew gear.
4. by the described inspection robot mechanism of claim 1, its special being: described slew gear is by the 3rd power transmission shaft (81), first casing (82), second driven gear (83), second driving gear (84), the 4th power transmission shaft (85) and the 5th motor (86) are formed, the 3rd power transmission shaft (81), the 4th power transmission shaft (85) and the 5th motor (86) are supported on first casing (82), second driven gear (83) is installed on the 3rd power transmission shaft (81), second driving gear (84) is installed on the 4th power transmission shaft (85), mesh with second driven gear (83), one end of the 4th power transmission shaft (85) links to each other with the 5th motor (86), and the other end is supported on first casing (82); One end of the 3rd power transmission shaft (81) links to each other with biasing housing (66), and the other end is supported on first casing (82).
5. by the described inspection robot mechanism of claim 1, its special being: described biasing slew gear is by the 4th motor (61), first power transmission shaft (62), first driving gear (63), second power transmission shaft (64), first driven gear (65) and biasing housing (66) are formed, the 4th motor (61), first power transmission shaft (62), second power transmission shaft (64) is installed on the biasing housing (66), first driving gear (63) is installed on second power transmission shaft (64), first driven gear (65) is installed on first power transmission shaft (62), second power transmission shaft (64) is provided with first driving gear (63), the one end links to each other with the 5th motor (61), and the other end is supported on the biasing housing (66); First driven gear (65) is installed on the power transmission shaft (62), and meshes with driving gear (63), and an end of first power transmission shaft (62) links to each other with second casing (32) of walking mechanism, and the other end is supported on the biasing housing (66).
6. by the described inspection robot mechanism of claim 1, its special being: described walking mechanism is made up of the 3rd motor (31), second casing (32), road wheel (33) and axle (34), the axle (34) that links to each other with motor (31) is installed on second casing (32), road wheel (33) is installed on the axle (34), and an end of the power transmission shaft (62) in second casing (32) and the slew gear of setovering links to each other.
7. by the described inspection robot mechanism of claim 1, its special being: described clamping device is by the 3rd casing (41), clamping leading screw (42), a pair of jaw (43), guide rod (44) and the 7th motor (45) are formed, clamping leading screw (42), guide rod (44) and the 7th motor (45) are installed on the 3rd casing (41), a pair of jaw (43) is installed on clamping leading screw (42) and the guide rod (44), screw thread on the clamping leading screw (42) is divided into two sections, be respectively first left-hand thread (46) and first right-hand thread (47), correspond respectively to second left-hand thread (48) and second right-hand thread (49) of jaw (43), one end of clamping leading screw (42) links to each other with the 7th motor (45), the other end is installed on the 3rd casing (41), and the 3rd casing (41) links to each other with second casing (32) in the walking mechanism.
CN 200420075571 2004-12-31 2004-12-31 Polling robot mechanism Expired - Lifetime CN2759720Y (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100358681C (en) * 2004-12-31 2008-01-02 中国科学院沈阳自动化研究所 Wheel arm combined patrol inspection robot mechanism
CN101698298B (en) * 2009-10-21 2011-07-27 昆山市工业技术研究院有限责任公司 Inspection robot wheel-claw compound mechanism
CN101771246B (en) * 2008-12-31 2011-12-07 中国科学院沈阳自动化研究所 Inspection robot mechanism with lifting and clamping functions
CN101771251B (en) * 2008-12-30 2012-02-08 中国科学院沈阳自动化研究所 Moving obstacle-crossing mechanism of inspection robot
CN102039590B (en) * 2009-10-13 2012-07-25 中国科学院沈阳自动化研究所 Double-arm four-wheel polling robot mechanism
CN102655314A (en) * 2011-03-04 2012-09-05 中国科学院沈阳自动化研究所 Broken strand crimping work robot mechanism of super-high-voltage power transmission line
CN103659815A (en) * 2012-09-10 2014-03-26 中国科学院沈阳自动化研究所 Routing inspection robot mechanism applicable to narrow routing inspection working space
CN108262746A (en) * 2017-12-31 2018-07-10 江苏密斯欧智能科技有限公司 A kind of suspension type crusing robot control system
CN109193452A (en) * 2018-09-27 2019-01-11 东北大学 A kind of power transmission line crusing robot
CN109263740A (en) * 2018-09-03 2019-01-25 国电南瑞科技股份有限公司 A kind of passive blocking device of traveling wheel for overhead transmission line circuit scanning test robot

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100358681C (en) * 2004-12-31 2008-01-02 中国科学院沈阳自动化研究所 Wheel arm combined patrol inspection robot mechanism
CN101771251B (en) * 2008-12-30 2012-02-08 中国科学院沈阳自动化研究所 Moving obstacle-crossing mechanism of inspection robot
CN101771246B (en) * 2008-12-31 2011-12-07 中国科学院沈阳自动化研究所 Inspection robot mechanism with lifting and clamping functions
CN102039590B (en) * 2009-10-13 2012-07-25 中国科学院沈阳自动化研究所 Double-arm four-wheel polling robot mechanism
CN101698298B (en) * 2009-10-21 2011-07-27 昆山市工业技术研究院有限责任公司 Inspection robot wheel-claw compound mechanism
CN102655314A (en) * 2011-03-04 2012-09-05 中国科学院沈阳自动化研究所 Broken strand crimping work robot mechanism of super-high-voltage power transmission line
CN102655314B (en) * 2011-03-04 2015-01-14 中国科学院沈阳自动化研究所 Broken strand crimping work robot mechanism of super-high-voltage power transmission line
CN103659815A (en) * 2012-09-10 2014-03-26 中国科学院沈阳自动化研究所 Routing inspection robot mechanism applicable to narrow routing inspection working space
CN103659815B (en) * 2012-09-10 2015-10-21 中国科学院沈阳自动化研究所 A kind ofly be applicable to narrow inspection robot mechanism of patrolling and examining working space
CN108262746A (en) * 2017-12-31 2018-07-10 江苏密斯欧智能科技有限公司 A kind of suspension type crusing robot control system
CN109263740A (en) * 2018-09-03 2019-01-25 国电南瑞科技股份有限公司 A kind of passive blocking device of traveling wheel for overhead transmission line circuit scanning test robot
CN109193452A (en) * 2018-09-27 2019-01-11 东北大学 A kind of power transmission line crusing robot
CN109193452B (en) * 2018-09-27 2019-08-02 东北大学 A kind of power transmission line crusing robot

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