CN102427209B - Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment - Google Patents
Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment Download PDFInfo
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- CN102427209B CN102427209B CN201110403629.7A CN201110403629A CN102427209B CN 102427209 B CN102427209 B CN 102427209B CN 201110403629 A CN201110403629 A CN 201110403629A CN 102427209 B CN102427209 B CN 102427209B
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Abstract
The invention relates to a sliding mechanism for obstacle crossing of a line inspection robot. The sliding mechanism comprises at least three groups of sliding assemblies mounted in an equipment rack in sequence along a direction of a power transmission cable; and each group of sliding assemblies are provided with sliding suspension wheels which are suspended on the power transmission cable and can slide under driving of the equipment rack. In addition, the sliding mechanism further comprises a detection feedback unit located on the sliding assemblies at the front side and used for detecting circuit obstacles, and a signal control unit for sending a control signal to the at least three groups of sliding assemblies according to circuit obstacle detection results to control the sliding suspension wheels in each group of sliding assemblies in sequence to deviate from the power transmission cable along the direction of the power transmission cable so as to cross the circuit obstacles. According to the sliding mechanism for obstacle crossing of the line inspection robot equipment and the line inspection robot equipment provided by the invention, the overall weight of the equipment can be supported by the sliding suspension wheels on the power transmission cable, and the plurality of groups of sliding assemblies can be controlled in sequence to automatically cross the obstacles in a sliding process; and the sliding mechanism and the inspection robot equipment are portable and compact in structure.
Description
Technical field
The present invention relates to robot field, more particularly, relate to a kind of inspection robot leaping over obstacles slipping mechanism and adopt the inspection robot equipment of this leaping over obstacles slipping mechanism.
Background technology
Transmission line is the pulse of power supply, customer power supply is played to vital effect, so be to guarantee safety to the requirement of transmission line, also will ensure economy simultaneously, for line security is moved efficiently, the precautionary measures that improve fault are must strengthen with improved.At present, the electric company in most of areas all will make an inspection tour transmission line, the cycle, the chances are one month once.
Yet, be subject to the restriction of technology, what current line inspection was mainly taked is manually with telescope, to check along the line, and tour speed is slow, and equipment conveying difficulty, wastes time and energy.Also there is only a few area to adopt the flying instruments such as telecontrolled aircraft, fire balloon to make an inspection tour, the difficult point of this kind of inspection method maximum is the operation of equipment, equipment can not close contact circuit, the picture harvester that equipment carries above can not be focused above circuit all the time, will cause like this picture weave serious, have loss, and very high to operating personnel's requirement, constantly keep operation, be only applicable in this way special circumstances or local use; Also have at present the inspecting robot of walking on the line among exploitation, but limited by technical merit, ubiquity volume is large, quality heavy, the defects such as gold utensil and deficiency on can not span line.
Summary of the invention
The technical problem to be solved in the present invention is, defect that can not leaping over obstacles for existing inspection robot, provides a kind of inspection robot leaping over obstacles slipping mechanism and inspection robot equipment.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of inspection robot leaping over obstacles slipping mechanism, comprise: along power transmission cable direction, be arranged in turn at least three group sliding assemblies in equipment rack, every group of sliding assembly all has for being suspended on power transmission cable the slippage change gear of slippage with the drive of equipment rack;
And described slipping mechanism also comprises:
Described in being arranged on, at least three group sliding assemblies, be positioned on the sliding assembly of front side the detection feedback unit for detection of circuitry obstacle; And
The signaling control unit being electrically connected to described detection feedback unit, for transmitting control signal to described at least three group sliding assemblies according to the circuitry obstacle testing result of described detection feedback unit, to control successively the slippage change gear of every group of sliding assembly along power transmission cable direction, depart from described power transmission cable to cross over described circuitry obstacle.
According in inspection robot leaping over obstacles slipping mechanism of the present invention, every group of sliding assembly in described at least three group sliding assemblies also comprises:
Be arranged on the package base in described equipment rack;
Be fixed on the linear stepping motor being electrically connected to described signaling control unit in described package base;
Be arranged on the straight line nut sleeve being moved up and down by linear stepping motor driving on the screw mandrel of described linear stepping motor;
Be fixed on the slip guide pillar on described straight line nut sleeve;
Be fixed on the change gear slippage swing arm that described slippage change gear side and lower end are connected at the rotation with in surface perpendicular to power transmission cable with described slip guide pillar;
The slip guide pillar pedestal being connected with described slip guide pillar sliding sleeve, and described slip guide pillar pedestal is fixed in described package base; And
One end is fixed on the outside of described change gear slippage swing arm, and the other end is fixed on described slip guide pillar pedestal, in order to give the swing arm spring of described change gear slippage swing arm pulling force laterally when described change gear slippage swing arm moves up.
According in inspection robot leaping over obstacles slipping mechanism of the present invention, every group of sliding assembly in described at least three group sliding assemblies also comprises:
Be arranged on described slippage change gear below for responding to the wire diameter feedback unit of the wire diameter of described power transmission cable,
The wire diameter regulation unit being electrically connected to described wire diameter feedback unit, transmits control signal to described linear stepping motor lifting for the wire diameter detecting according to described wire diameter feedback unit; And
Being arranged on described slip guide pillar regulates the height of described slippage change gear with the pull-fork assembly of the wire diameter of matched transmission line cable according to the height of described linear stepping motor.
According in inspection robot leaping over obstacles slipping mechanism of the present invention, described pull-fork assembly comprises: the positioning sliding bar that is arranged on the interior horizontal sliding of slippage slot of described slip guide pillar one side, and be fixed on the bent axle holder on described positioning sliding bar, and be rotatably installed in the location bent axle between the bent axle holder of adjacent sliding assembly, and described location bent axle is provided with the wire diameter that coordinates to adjust the altitude datum of slip guide pillar in slip guide pillar pedestal with described slip guide pillar pedestal and regulates shift fork.
According in inspection robot leaping over obstacles slipping mechanism of the present invention, transmit control signal when described detection feedback unit the detects circuitry obstacle linear stepping motor of controlling described sliding assembly of described detection feedback unit drives on slip guide pillar and moves, and 40-60 degree is opened laterally in described change gear slippage swing arm under the active force of described swing arm spring.
According in inspection robot leaping over obstacles slipping mechanism of the present invention, 50 degree are opened laterally in described change gear slippage swing arm under the active force of described swing arm spring.
According in inspection robot leaping over obstacles slipping mechanism of the present invention, described detection feedback unit is infrared sensor.
According in inspection robot leaping over obstacles slipping mechanism of the present invention, described at least three group sliding assemblies arrange according to even interval along power transmission cable direction.
The present invention is also corresponding provides a kind of inspection robot equipment, comprise as abovely for being suspended on the inspection robot leaping over obstacles slipping mechanism on described transmission line, and drive described inspection robot mobile travelling robot walking mechanism on power transmission cable.
Implement inspection robot leaping over obstacles slipping mechanism of the present invention and inspection robot equipment, there is following beneficial effect: inspection robot leaping over obstacles slipping mechanism of the present invention and inspection robot equipment are by hanging on the slippage change gear fastening overall weight on power transmission cable, and in slipping, can control successively and organize the automatic leaping over obstacles of sliding assembly more, make it all the time in travel condition, and without manually equipment being controlled in the process of leaping over obstacles; And inspection robot leaping over obstacles slipping mechanism of the present invention and the light compactness of inspection robot device structure.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is according to the front view of inspection robot leaping over obstacles slipping mechanism of the present invention;
Fig. 2 is according to the vertical view of inspection robot leaping over obstacles slipping mechanism of the present invention;
Fig. 3 is the state diagram when leaping over obstacles of inspection robot leaping over obstacles slipping mechanism according to a preferred embodiment of the invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.The noun of locality of the present invention " outside " " inner side " is to take power transmission cable as object of reference, and " front side " " centre " " rear side " is with for the direction of travel on power transmission cable with respect to inspection robot.
Refer to Fig. 1 and Fig. 2, be respectively according to front view and the vertical view of inspection robot leaping over obstacles slipping mechanism of the present invention.As depicted in figs. 1 and 2, the inspection robot leaping over obstacles slipping mechanism that this embodiment provides comprises: along power transmission cable 2 directions, be arranged in turn at least three group sliding assemblies in equipment rack, as shown in Figure 2 front side sliding assembly 91, middle sliding assembly 92 and rear side sliding assembly 93.This power transmission cable 2 is steel reinforced aluminium conductor.
Every group of sliding assembly in this at least three groups sliding assembly all has slippage change gear 1, and this slippage change gear 1 carries out slippage for being suspended on power transmission cable 2 tops.Inspection robot leaping over obstacles slipping mechanism is installed in equipment rack as a part of inspection robot equipment, and this inspection robot equipment also has for driving the travelling robot walking mechanism of whole equipment fair line walking.Inspection robot leaping over obstacles slipping mechanism provided by the invention carries the equipment self-weight of inspection robot and can cross over the circuitry obstacle on power transmission cable 2 for being suspended on power transmission cable 2, as line hardware, and travelling robot walking mechanism is used to inspection robot equipment that the driving source of walking is provided, inspection robot leaping over obstacles slipping mechanism can be walked by the driving source fair line slippage of this equipment.Therefore, the present invention is also corresponding provides above-mentioned inspection robot equipment.Wherein travelling robot walking mechanism can adopt travelling robot walking well known to those skilled in the art mechanism, such as be close to power transmission cable 2 left and right sides by power wheel, rotate the frictional force producing and drives inspection robot equipment walking etc.This travelling robot walking mechanism also can possess the ability of leaping over obstacles simultaneously.
Inspection robot leaping over obstacles slipping mechanism provided by the invention also comprises: detect feedback unit 11 and signaling control unit 15.Wherein, detection feedback unit 11 is arranged in above-mentioned at least three group sliding assemblies and is positioned on the sliding assembly of front side, for example, be arranged on front side sliding assembly 91, on the power transmission cable 2 for detection of the place ahead, whether has circuitry obstacle.This detection feedback unit 11 is preferably infrared sensor, and circuitry obstacle testing result is sent to signaling control unit 15.
In walking process, detect in the situation that feedback unit 11 detects circuitry obstacle, immediate feedback signal is to signaling control unit 15, the signal that signaling control unit 15 is come according to feedback sends control signal and controls the sliding assembly be positioned at front side, as front side sliding assembly 91 is done leaping over obstacles action, as shown in Figure 3, make the slippage change gear 1 of front side sliding assembly 91 depart from power transmission cable 2.Now, the slippage change gear 1 of sliding assembly 92 and rear side sliding assembly 93 is still in slip state.Owing to can carrying out slippage interlock by bent axle holder 14 between sliding assembly, thereby middle sliding assembly 92 and rear side sliding assembly 93 load-bearing at this moment maintain the stable of center of gravity.Signaling control unit 15 transmits control signal and controls slippage change gear 1 reset of front side sliding assembly 91 subsequently, and the action that in the middle of controlling, sliding assembly 92 repeats front side sliding assemblies 91 is with span line obstacle; Finally transmit control signal and control slippage change gear 1 reset of middle sliding assembly 92, the action of rear side sliding assembly 93 is with span line obstacle.By said process, just can rely at least three group sliding assemblies to circulate to carry out the action of span line obstacle in slipping, flexibly and safely span line obstacle.Therefore, the inspection robot equipment of inspection robot leaping over obstacles slipping mechanism of the present invention and formation thereof leaping over obstacles automatically in the process of leaping over obstacles, make it all the time in travel condition, and without manually equipment being controlled in the process of leaping over obstacles.
Inspection robot leaping over obstacles slipping mechanism of the present invention is not limited to the quantity that the present embodiment provides, and can adopt more sliding assembly, only need to control successively every group of sliding assembly and repeat above-mentioned leap action.In a preferred embodiment of the invention, above-mentioned at least three group sliding assemblies can arrange according to even interval along power transmission cable direction.And the interval that signaling control unit 15 can transmit control signal according to the sliding velocity adjustment of the distance between sliding assembly and inspection robot leaping over obstacles slipping mechanism, so that respectively organize sliding assembly leaping over obstacles successively.
Below the sliding assembly of inspection robot leaping over obstacles slipping mechanism of the present invention is specifically described.As shown in the figure, every group of sliding assembly in above-mentioned at least three group sliding assemblies also comprises: package base 12, linear stepping motor 8, straight line nut sleeve 7, slip guide pillar 6, change gear slippage swing arm 3, slip guide pillar pedestal 5 and swing arm spring 4.
Wherein, package base 12 is arranged in the equipment rack (not shown) of inspection robot equipment, and linear stepping motor 8 is fixed in package base 12 and with signaling control unit 15 and is electrically connected to.Straight line nut sleeve 7 is arranged on the screw mandrel of linear stepping motor 8 and is driven and moved up and down by linear stepping motor 8.The lower end of slip guide pillar 6 is fixed on straight line nut sleeve 7.Change gear slippage swing arm 3 is fixed on slippage change gear 1 side, and its lower end is connected at the rotation with in surface perpendicular to power transmission cable 2 with slip guide pillar 6, for example, by rotating shaft, connect, and can rotate to the direction away from power transmission cable 2.
Above-mentioned slip guide pillar 6, in slip guide pillar pedestal 5, be connected, and the side of slip guide pillar pedestal 5 is fixed in package base 12 with these slip guide pillar pedestal 5 sliding sleeves.One end of swing arm spring 4 is fixed on the outside of change gear slippage swing arm 5, and the other end is fixed on slip guide pillar pedestal 5, in order to give change gear slippage swing arm 5 pulling force laterally when change gear slippage swing arm 5 moves up.
As shown in Figure 3, power transmission cable 2 is fixed on porcelain insulator 17 by porcelain insulator wire clamp 18, then is fixed on porcelain insulator connecting plate 16.Therefore, when inspection robot leaping over obstacles slipping mechanism is walked on power transmission cable 2, every a segment distance, will run into the porcelain insulator wire clamp 18 being fixed on power transmission cable 2, this is suspended on obstruction the walking of the slippage change gear 1 on power transmission cable 2.
When signaling control unit 15 detects while there is circuitry obstacle on power transmission cable 2 by detecting feedback unit 11.In signaling control unit 15, be provided with a set of control program, first smooth moving guide pillar pedestal 5 upward slidings of slip guide pillar 6 that transmit control signal and drive on straight line nut sleeve 7 to linear stepping motor 8, because slip guide pillar 6 and change gear slippage swing arm 3 are rotationally connected, therefore also corresponding moving up of change gear slippage swing arm 3, and then be subject to the active force of swing arm spring 4 to rotating away from the direction of power transmission cable 2, the slippage change gear 1 that makes to be arranged in change gear slippage swing arm 3 departs from power transmission cable 2, and keep certain distance, to realize span line obstacle.As shown in Figure 3, this change gear slippage swing arm 3 can be opened laterally 40-60 degree under the active force of swing arm spring 4.Preferably, this change gear slippage swing arm 3 can be opened laterally 50 degree under the active force of swing arm spring 4.
The control program of signaling control unit 15 is after the time period of setting, when this sliding assembly has striden across circuitry obstacle, transmit control signal and drive smooth moving guide pillar pedestal 5 down slidings of slip guide pillar 6 on straight line nut sleeve 7 to recover master reference height to linear stepping motor 8, because slip guide pillar 6 and change gear slippage swing arm 3 are rotationally connected, therefore also corresponding moving down of change gear slippage swing arm 3, and then enter in the sliding sleeve of slip guide pillar pedestal 5 and make change gear slippage swing arm 3 recover vertical positions, the slippage change gear 1 being now arranged in change gear slippage swing arm 3 hangs on the enterprising line slip of power transmission cable 2 again.
Further, the present invention can also adjust the height of slippage change gear 1 according to the wire diameter size of power transmission cable 2, thereby matches and realize slippage with slippage change gear 1 more exactly.
Thereby every group of sliding assembly in above-mentioned at least three group sliding assemblies also comprises: wire diameter feedback unit (not shown), wire diameter regulation unit (not shown) and pull-fork assembly.
Wire diameter feedback unit is arranged on slippage change gear 1 below for responding to the wire diameter of power transmission cable 2.This wire diameter feedback unit can be range finder, for responding to the lower surface of slippage change gear 1 and the distance between power transmission cable 2.Wire diameter regulation unit is electrically connected to wire diameter feedback unit, for the wire diameter result detecting according to wire diameter feedback unit, transmits control signal and realizes lifting to linear stepping motor 8.When the wire diameter of power transmission cable 2 hour, the distance between slippage change gear 1 and power transmission cable 2 is larger, wire diameter regulation unit transmits control signal to linear stepping motor 8, controls linear stepping motor 8 and drives 7 declines of straight line nut sleeves.When the wire diameter of power transmission cable 2 is larger, the distance between slippage change gear 1 and power transmission cable 2 is less, and wire diameter regulation unit transmits control signal to linear stepping motor 8, controls linear stepping motor 8 and drives straight line nut sleeves 7 to rise.And then pull-fork assembly regulates the height of slippage change gear according to the variation of the height of the slip guide pillar on straight line nut sleeve 7, thereby mate with the wire diameter of power transmission cable 2.
Pull-fork assembly comprises that positioning sliding bar 9, bent axle holder 14, location bent axle 13 and wire diameter regulate shift fork 10.Wherein, positioning sliding bar 9 is arranged on the interior horizontal sliding of slippage slot of slip guide pillar 6 one sides, on bent axle holder 14 and positioning sliding bar 9, location bent axle 13 is rotatably installed between the bent axle holder 14 of 2 adjacent sliding assemblies, and wire diameter regulates shift fork 10 to be fixed on the bent axle 13 of location.Wire diameter regulates shift fork 10 upper ends to coordinate to adjust the altitude datum of slip guide pillar 6 in slip guide pillar pedestal 5 with slip guide pillar pedestal 5.When linear stepping motor 8 is controlled 7 rising of straight line nut sleeve, positioning sliding bar 9 in the slippage slot of slip guide pillar 6 one sides to inner side slippage, wire diameter on the bent axle 13 of location regulates shift fork 10 to heighten the altitude datum of slip guide pillar 6 in slip guide pillar pedestal 5, thereby the height of rising slippage change gear 1, closely cooperates itself and power transmission cable 2.On the contrary, when linear stepping motor 8 is controlled 7 decline of straight line nut sleeve, positioning sliding bar 9 in the slippage slot of slip guide pillar 6 one sides to outside slippage, wire diameter on the bent axle 13 of location regulates shift fork 10 to turn down the altitude datum of slip guide pillar 6 in slip guide pillar pedestal 5, thereby the height of rising slippage change gear 1, closely cooperates itself and power transmission cable 2.
In sum, the invention solves many defects of traditional inspection method, and met the needs of following patrolling transmission line, and the inspection robot leaping over obstacles slipping mechanism providing and the inspection robot that consists of it are useful on extra high voltage network slippage and cross over the various lines gold utensil of installing on the line.This mechanism's energy consumption is little, and its structural configuration mode is convenient to combination flexibly between compactness, each parts of mechanism, overall volume is little, quality is light.And inspection robot equipment provided by the invention, from traditional to carry out the mode of load-bearing walking by same mechanism different, support mechanism and walking mechanism are separated, mechanism using inspection robot leaping over obstacles slipping mechanism as load-bearing, and travelling robot walking mechanism does not need to bear weight, be only responsible for driving whole equipment to advance, greatly beat the load that has alleviated travelling robot walking mechanism, strengthen the slope ability of creeping, extended walking cruising time.
The present invention is described according to specific embodiment, but it will be understood by those skilled in the art that when not departing from the scope of the invention, can carry out various variations and be equal to replacement.In addition,, for adapting to specific occasion or the material of the technology of the present invention, can carry out many modifications and not depart from its protection range the present invention.Therefore, the present invention is not limited to specific embodiment disclosed herein, and comprises all embodiment that drop into claim protection range.
Claims (7)
1. an inspection robot leaping over obstacles slipping mechanism, it is characterized in that, comprise: along power transmission cable direction, be arranged in turn at least three group sliding assemblies in equipment rack, every group of sliding assembly all has for being suspended on power transmission cable the slippage change gear of slippage with the drive of equipment rack;
And described slipping mechanism also comprises:
Described in being arranged on, at least three group sliding assemblies, be positioned on the sliding assembly of front side the detection feedback unit for detection of circuitry obstacle; And
The signaling control unit being electrically connected to described detection feedback unit, for transmitting control signal to described at least three group sliding assemblies according to the circuitry obstacle testing result of described detection feedback unit, to control successively the slippage change gear of every group of sliding assembly along power transmission cable direction, depart from described power transmission cable to cross over described circuitry obstacle;
Every group of sliding assembly in described at least three group sliding assemblies also comprises:
Be arranged on the package base in described equipment rack;
Be fixed on the linear stepping motor being electrically connected to described signaling control unit in described package base;
Be arranged on the straight line nut sleeve being moved up and down by linear stepping motor driving on the screw mandrel of described linear stepping motor;
Be fixed on the slip guide pillar on described straight line nut sleeve;
Be fixed on the change gear slippage swing arm that described slippage change gear side and lower end are connected at the rotation with in surface perpendicular to power transmission cable with described slip guide pillar;
The slip guide pillar pedestal being connected with described slip guide pillar sliding sleeve, and described slip guide pillar pedestal is fixed in described package base; And
One end is fixed on the outside of described change gear slippage swing arm, and the other end is fixed on described slip guide pillar pedestal, in order to give the swing arm spring of described change gear slippage swing arm pulling force laterally when described change gear slippage swing arm moves up;
Every group of sliding assembly in described at least three group sliding assemblies also comprises:
Be arranged on described slippage change gear below for responding to the wire diameter feedback unit of the wire diameter of described power transmission cable,
The wire diameter regulation unit being electrically connected to described wire diameter feedback unit, transmits control signal to described linear stepping motor for the wire diameter detecting according to described wire diameter feedback unit; And
Being arranged on described slip guide pillar regulates the height of described slippage change gear with the pull-fork assembly of the wire diameter of matched transmission line cable according to the height of described linear stepping motor.
2. inspection robot leaping over obstacles slipping mechanism according to claim 1, it is characterized in that, described pull-fork assembly comprises: the positioning sliding bar that is arranged on the interior horizontal sliding of slippage slot of described slip guide pillar one side, and be fixed on the bent axle holder on described positioning sliding bar, and be rotatably installed in the location bent axle between the bent axle holder of adjacent sliding assembly, and described location bent axle is provided with the wire diameter that coordinates to adjust the altitude datum of slip guide pillar in slip guide pillar pedestal with described slip guide pillar pedestal and regulates shift fork.
3. inspection robot leaping over obstacles slipping mechanism according to claim 1, it is characterized in that, transmit control signal when described detection feedback unit the detects circuitry obstacle linear stepping motor of controlling described sliding assembly of described detection feedback unit drives on slip guide pillar and moves, and 40-60 degree is opened laterally in described change gear slippage swing arm under the active force of described swing arm spring.
4. inspection robot leaping over obstacles slipping mechanism according to claim 3, is characterized in that, 50 degree are opened laterally in described change gear slippage swing arm under the active force of described swing arm spring.
5. inspection robot leaping over obstacles slipping mechanism according to claim 1, is characterized in that, described detection feedback unit is infrared sensor.
6. inspection robot leaping over obstacles slipping mechanism according to claim 1, is characterized in that, described at least three group sliding assemblies arrange according to even interval along power transmission cable direction.
7. an inspection robot equipment, it is characterized in that, comprise in claim 1-6 described in any one for being suspended on the inspection robot leaping over obstacles slipping mechanism on described transmission line, and drive described inspection robot mobile travelling robot walking mechanism on power transmission cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110403629.7A CN102427209B (en) | 2011-12-07 | 2011-12-07 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110403629.7A CN102427209B (en) | 2011-12-07 | 2011-12-07 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
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| CN102427209A CN102427209A (en) | 2012-04-25 |
| CN102427209B true CN102427209B (en) | 2014-03-26 |
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| CN201110403629.7A Expired - Fee Related CN102427209B (en) | 2011-12-07 | 2011-12-07 | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102751669B (en) * | 2012-07-27 | 2014-11-12 | 厦门大学 | Travelling mechanism of inspection robot for realizing obstacle crossing |
| CN102962834B (en) * | 2012-12-10 | 2015-07-29 | 东北大学 | A kind of inspection robot for high-voltage transmission lines mechanism |
| CN103490346B (en) * | 2013-10-11 | 2016-05-25 | 洛阳理工学院 | Under a kind of high-voltage line of active obstacle, clamp walking mechanism |
| CN103490344B (en) * | 2013-10-11 | 2017-03-22 | 洛阳理工学院 | Clamping obstacle-surmounting mechanism for high-voltage lines |
| CN103490345A (en) * | 2013-10-11 | 2014-01-01 | 洛阳理工学院 | Upper clamping obstacle crossing travelling mechanism for high-tension cable |
| CN103895015B (en) * | 2014-03-24 | 2016-03-30 | 上海大学 | A kind of split type active obstacle travelling robot |
| CN104176142B (en) * | 2014-08-04 | 2016-04-20 | 国家电网公司 | A kind of leaping over obstacles method for overhead power transmission line crusing robot |
| CN105000078B (en) * | 2015-08-05 | 2017-04-26 | 武汉和越装备技术有限公司 | Obstacle avoiding mechanism of high-tension line patrolling robot |
| CN205104842U (en) * | 2015-09-01 | 2016-03-23 | 国家电网公司 | Circuit hinders formula driving more |
| CN105552788A (en) * | 2015-12-17 | 2016-05-04 | 邢丽丽 | Adaptively-deicing power transmission line inspection robot |
| CN106129897B (en) * | 2016-07-28 | 2018-08-14 | 国家电网公司 | A kind of novel conductive wire foreign body eliminating apparatus |
| CN112332358B (en) * | 2020-11-30 | 2022-03-15 | 齐齐哈尔大学 | High-voltage line deicing robot walking device |
| CN114197311A (en) * | 2021-11-03 | 2022-03-18 | 中铁三局集团有限公司 | High-speed railway box girder bridge floor vibrating device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10248130A (en) * | 1997-02-28 | 1998-09-14 | Toshiba Corp | Stringing traveling unit and control method therefor |
| CN201075610Y (en) * | 2007-08-01 | 2008-06-18 | 北京深浪电子技术有限公司 | Aerial circuit over barrier polling robot |
| CN101665128B (en) * | 2009-09-04 | 2012-07-11 | 重庆市电力公司超高压局 | Robot used for detecting high voltage transmission lines |
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