CN106379436A - Wheel type obstacle crossing mechanism of transformer substation, robot and method of obstacle crossing mechanism - Google Patents
Wheel type obstacle crossing mechanism of transformer substation, robot and method of obstacle crossing mechanism Download PDFInfo
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- CN106379436A CN106379436A CN201611052045.9A CN201611052045A CN106379436A CN 106379436 A CN106379436 A CN 106379436A CN 201611052045 A CN201611052045 A CN 201611052045A CN 106379436 A CN106379436 A CN 106379436A
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- barrier
- chassis
- obstacle
- guide rail
- walking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wheel type obstacle crossing mechanism of a transformer substation, a robot and a method of the obstacle crossing mechanism. The wheel type obstacle crossing mechanism comprises a walking mechanism, wherein a chassis of the walking mechanism is provided with a guide rail mechanism; the chassis is configured to move along the guide rail mechanism; a lifting mechanism is arranged at one end of the bottom of the chassis and is configured to lift the walking mechanism to do perpendicular motion; a distance sensor is arranged on each of two sides of the chassis of the walking mechanism; and a binocular vision module is arranged at the upper end of the walking mechanism. When the binocular vision module detects an obstacle and the distance sensors measure that distances from the obstacle are within a set length, the lifting mechanism lifts the walking mechanism to rise to a height higher than the obstacle, and the chassis moves towards the obstacle direction along the guide rail mechanism, so that the chassis of the walking mechanism reaches a position above the obstacle, and obstacle crossing is realized. The wheel type obstacle crossing mechanism guarantees the requirement on the walking speed of a wheel type robot and has the obstacle crossing function which is not set in the common wheel type robot.
Description
Technical field
The present invention relates to a kind of wheel type barrier-crossing mechanism of transformer station, robot and its method.
Background technology
Transformer station is the hinge of electric power transmission network, and the safety of its equipment running status is most important, and equipment is had
Effect is patrolled and examined and is to ensure that the good operation of transformer station and the important guarantee to users' power supply reliability.With Power Robot skill
The development of art, robot patrols and examines and gradually replaces manual inspection, greatly reduces labour force.Current mobile crusing robot master
Structure is wanted to have：Wheeled, crawler type, lower limb foot formula, creeping motion type etc., are wherein most widely used with wheeled and crawler type.Wheeled tool
Have the advantages that structure is simple, the speed of service is fast, efficiency high, but be typically only applicable to relatively flat and hard road environment, more
Barrier ability, on soft and muddy ground, ability to act is poor.Lower limb foot formula divides creeping-type and legged again, and creeping-type is that imitation is climbed
A kind of bionic movement pattern of row class insect motion, is typically in static-stability state, is suitable for discrete complex environment, but row
Walk speed typically slow, and internal structure design get up more complicated；Legged is to imitate mammal quick walk
A kind of bionic movement pattern, be in unsteady state, control system when being suitable for discrete complex environment, but walking at a high speed
Extremely complex with frame for movement, there is presently no practical.
Mobile robot in substation inspection is mainly greatly wheeled robot, speed, but environmental suitability at present
Poor it is impossible to cross kerb and can not be in the complex environment downward driving such as meadow；Another kind is the crawler-type mobile with support arm
Robot, it can utilize support arm crossing over blockage, but is the drawbacks of caterpillar type robot under common flat cement road surface, moves
Dynamic slow, inefficient, and crawler belt is larger with frictional ground force, crawler belt is fragile, adds that the caterpillar type robot with support arm sets
Meter is complex, and also inconvenience controls.
Content of the invention
The present invention in order to solve the above problems it is proposed that a kind of wheel type barrier-crossing mechanism of transformer station, robot and its method, this
Invention is in the wheeled normal walking of common flat pavement usage；When running into the barrier that kerb etc. has certain altitude, using liter
Fall platform and guide rail mechanism carry out leaping over obstacles.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of wheel type barrier-crossing mechanism of transformer station, including walking mechanism, the chassis of walking mechanism is provided with guide rail mechanism, described
Chassis is configured to move along guide rail mechanism, and one end of described tray bottom is provided with elevating mechanism, described elevator
Structure is configured to lift walking mechanism and moves vertically；
The both sides on the chassis of walking mechanism are respectively arranged with a range sensor, and described walking mechanism upper end is provided with double
Mesh vision module, when described binocular vision module detects barrier, range sensor measurement distance barrier is in preseting length
When interior, elevating mechanism lifts the height that walking mechanism rises above barrier, and described chassis is along guide rail mechanism to obstacle object space
To motion so that walking mechanism chassis reach barrier upper end, realize obstacle detouring.
Preferably, described walking mechanism is wheel type traveling mechanism.
Preferably, described guide rail mechanism includes gripper shoe, and described gripper shoe is fixed with several screw type guide rails, described
One end of screw type guide rail is provided with motor, and motor connection has incremental encoder, and closed loop control is realized in the operating to motor.
Preferably, described gripper shoe is provided with reinforcement, to strengthen the intensity of gripper shoe.
Preferably, described screw type guide rail is provided with multiple slide blocks, the chassis of described walking mechanism is fixed on slide block.
Preferably, described guide rail mechanism two ends are provided with protective cover, to protect end construction and the motor of guide rail mechanism.
Preferably, described elevating mechanism includes upper and lower support member, is provided with X-type scissors fork between described upper and lower support member
Frame elevating mechanism, described upper supporting piece is provided with electric cylinder and drives X-type scissors crotch elevating mechanism to be moved up and down.
It is provided with absolute encoder on described elevating mechanism.
A kind of wheel type barrier-crossing robot of transformer station, including above-mentioned barrier getting over mechanism.
A kind of obstacle-detouring method based on above-mentioned barrier getting over mechanism, binocular vision module finds barrier, guides walking mechanism to arrive
Reach the edge of barrier, the range sensor at the two ends of walking mechanism measures the distance of walking mechanism and barrier, by two
Range sensor distance difference adjustment walking mechanism attitude is so as to just to barrier, control elevating mechanism to make its lifting vehicle with walking machine
Structure chassis, calculates the rising height of elevating mechanism by absolute encoder, after supporting to specified altitude assignment, according to now distance barrier
Hinder thing distance and walking mechanism dimension information to calculate the distance that need to move forward, drive guide rail mechanism so that chassis is translated until barrier
Upper end, shrinks elevating mechanism, makes walking mechanism contact ground, completes obstacle detouring.
After the completion of obstacle detouring, walking mechanism moves forward to certain position makes elevating mechanism have sufficient space to support, elevator
Structure launches to prop up chassis, and controls guide rail mechanism, makes chassis return to the initial position of guide rail mechanism, and controls elevating mechanism to recover
Initial position.
Measure the expanded angle of elevating mechanism by absolute encoder, with the bearing height of real time machine device people, in exhibition
Open procedure two range sensor continues measurement distance barrier Edge Distance, when range data increases suddenly, in conjunction with vehicle with walking machine
Structure chassis size, range sensor installation site and real-time bearing height calculate barrier actual height and robot needs to support
Height.
Beneficial effects of the present invention are：
(1) when wheel-pedrail robot is in substation inspection, the wheeled normal walking of common flat pavement usage is it is ensured that machine
Normal speed of travel when device people patrols and examines；When running into the obstacles such as kerb, rely on elevating mechanism and lead screw guide rails mechanism assists
Wheeled robot completes obstacle detouring；
(2) obstacle-detouring method of the present invention is simple, reliable, and design is simple, eliminates the links such as crawler haulage, has both ensured wheeled
The speed of travel of robot requires, and contains the obstacle crossing function that common wheeled robot does not have again；
(3) due to wheeled robot lighter in weight, elevating mechanism can small design hoistable platform, reduce robot put into
Cost, and high degree of automation.
Brief description
Fig. 1 is wheel type barrier-crossing robot of the transformer station schematic diagram of the present invention；
Fig. 2 is wheel type barrier-crossing robot front view；
Fig. 3 is the lead screw guide rails structural scheme of mechanism of wheel type barrier-crossing robot；
Fig. 4 is the hoistable platform mechanism schematic diagram of wheel type barrier-crossing robot；
Schematic diagram when Fig. 5 normally walks for wheel type barrier-crossing robot；
Fig. 6 is schematic diagram before wheel type barrier-crossing robot obstacle detouring；
Fig. 7 props up the schematic diagram of robot for the hoistable platform in wheel type barrier-crossing robot obstacle detouring；
Fig. 8 props up robot for hoistable platform, so that robot is moved forward by lead screw guide rails mechanism, robot trailing wheel is to step
Just going up the schematic diagram of position；
Fig. 9 packs up for hoistable platform mechanism, and robot drops to the schematic diagram on step road surface；
Figure 10 moves to forward the schematic diagram of home for robot；
Figure 11 crosses after kerb step for wheel type barrier-crossing robot, returns to initial position and starts normally to walk, obstacle detouring mistake
The schematic diagram that journey terminates.
1st, wheeled robot chassis；2nd, right organ type protective cover；3rd, lead screw guide rails mechanism, 4, elevating mechanism；5th, left organ
Formula protective cover；6th, binocular camera；7th, left range sensor；8th, right range sensor；9th, incremental encoder；10th, motor；11st, wind
Qin protective cover connecting plate；12nd, slide block；13rd, guide rail；14th, leading screw；15th, feed screw nut slide block；16th, gripper shoe；17th, reinforcement；
18th, upper supporting piece；19th, electric cylinder；20th, hold-down support；21st, lower support element；22nd, slide bar groove；23rd, slide bar；24th, absolute coding
Device；25th, flat road surface；26th, kerb road surface.
Specific embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
The present invention proposes a kind of new wheel type barrier-crossing robot of transformer station.This wheeled robot is on common flat road surface
Using wheeled normal walking；When running into kerb (kerb height be 100-200mm), wheeled robot use hoistable platform and
Its leaping over obstacles of lead screw guide rails mechanism assists.
Wheeled robot chassis 1 is common Intelligent Mobile Robot, and its internal drive mode is bi-motor front wheel driving
Dynamic.Wheeled robot chassis 1 is connected with lead screw guide rails mechanism 3 by 12, two feed screw nut slide blocks 15 of four slide blocks, wheel
12, the two feed screw nut slide blocks 15 in formula robot chassis 1 bottom and four slide blocks can be connected by screw, wheeled robot chassis
Left range sensor 7 and right range sensor 8 are installed in 1 lower section, symmetrical, apart from ground 80mm.Lead screw guide rails mechanism 3 and liter
Descending mechanism 4 secure weld is together.State when robot normally walks is as shown in figure 1, wheeled robot 1 and elevator in Fig. 1
The position of structure 4 is initial position.
Lead screw guide rails mechanism 3 is mainly by incremental encoder 9, motor 10, organ protective cover connecting plate 11, slide block 12, guide rail
13rd, leading screw 14, feed screw nut slide block 15, gripper shoe 16, reinforcement 17 form, and motor 10 is servomotor.Motor 10 is arranged at
One end of gripper shoe 16, gripper shoe 16 lower end is provided with reinforcement 17, and incremental encoder 9 is arranged on motor 10, on leading screw 14
It is provided with slide block 12 and feed screw nut slide block 15,12, two feed screw nut slide blocks 15 of four slide blocks are passed through on wheeled robot chassis 1
It is connected with lead screw guide rails mechanism 3.Gripper shoe 16 both sides are provided with organ protective cover connecting plate 11, are prevented with connecting left organ type
Guard shield 5 and right organ type protective cover 2.
Elevating mechanism 4 is mainly by upper supporting piece 18, electric cylinder 19, hold-down support 20, lower support element 21, slide bar groove 22, cunning
Bar 23, absolute encoder 24 form, gripper shoe 16, reinforcement 17 in the upper supporting piece 18 of elevating mechanism 4 and lead screw guide rails mechanism
Welding is organized integral together.Electric cylinder 19 is arranged on upper supporting piece 18, is connected by support base, each connecting rod in elevating mechanism 4
Between connected by articulated manner, slide bar groove 22 opens up slotted hole, slide bar 23 stretching in slide bar groove 22 with electric cylinder 19
Grooved in the hole moves forward and backward, and hold-down support 20 play fixed supporting role, and this mechanism is carried out using common scissors lifting platform principle
Design.
Electric cylinder 18 is scalable, and when electric cylinder 18 shrinks, hoistable platform raises, and measures lifting by absolute encoder 24
Platform launches corner dimension, and lead screw guide rails mechanism 3 is increased with wheeled robot chassis 1, and ground is left in wheeled robot chassis 1
Face, when electric cylinder 18 stretches, hoistable platform shrinks, and wheeled robot chassis 1 contacts ground, and elevating mechanism 4 returns to initial bit
Put.
When another elevating mechanism 4 launches, when motor 10 rotates forward clockwise, motor drives two feed screw nut slide blocks 15 to the left
Mobile, because 12, two feed screw nut slide blocks 15 of wheeled robot chassis 1 and four slide blocks closely connect, thus wheeled
Robot is moved to the left together with two feed screw nut slide blocks 15, when wheeled robot chassis 1 is moved to the left, left organ type
Protective cover 5 compresses, and right organ type protective cover 2 is launched, and organ type protective cover 5 and right organ type protective cover 2 exterior material can be selected for
Nylon cloth, internal backing material may be selected PVC board, primarily serves dust-proof, rain-proof effect；When motor 10 inverts counterclockwise, electricity
Machine drives two feed screw nut slide blocks 15 to move right, due to wheeled robot chassis 1 and 12, two feed screw nuts of four slide blocks
Slide block 15 closely connects, so wheeled robot moves right together with two feed screw nut slide blocks 15 returns to initial bit
Put, when wheeled robot chassis 1 moves right, left organ type protective cover 5 is launched, right organ type protective cover 2 is stretched.Left organ
Formula protective cover 5 is closely connected by screw with wheeled robot with the side of right organ type protective cover 2, and opposite side is protected with organ
Cover connecting plate 11 is closely connected by screw.
Concrete obstacle detouring process is as follows：
When normally walking in common smooth-riding surface 25, wheeled robot chassis 1 is equal with elevating mechanism 4 for wheel type barrier-crossing robot
In initial position, elevating mechanism 4 bottom exceeds road surface certain altitude, and lead screw guide rails mechanism 3 bottom is higher than step (100-200mm
Highly) road surface, when normally walking, this wheel type barrier-crossing robot relies on running on wheels, and its walking states is as shown in Figure 5.
As shown in figure 5, when robot need to patrol and examine to battery limits inside, robot prepares to cross kerb road surface 26
Access arrangement area, binocular camera 6 finds barrier at a distance, and guides robot barriers to entry thing edge, due to binocular camera
There is visual dead angle, when robot apart from barrier nearer when, as shown in fig. 6, use left range sensor 7 and right Distance-sensing
The distance on device 8 measurement distance kerb road surface 26, and adjust robots by two range sensor distance difference so as to just right
Barrier, as shown in fig. 7, launching under electric cylinder 19 driving with rear lifting mechanism 4, measures the angle of spread by absolute encoder 24
Degree, the bearing height of Data Computation Unit real time machine device people, is launching the left range sensor of process 7 and right range sensor
8 continue measurement distance kerb road surface 26 distance, when range data increases suddenly, in conjunction with robot size, range sensor
Installation site, bearing height calculate the height (road wheel on robot chassis 1 that barrier actual height and robot need to support
The height on lowest part a little higher than kerb road surface 26), when robot supports to specified altitude assignment, as shown in figure 8, according to Distance-sensing
The robot of device measurement calculates robot apart from obstacle distance and robot dimension information and need to move forward distance, by servo
Motor 10 drives the effect of lead screw guide rails mechanism 3 so that robot is moved, and position closed loop realized by incremental encoder 9, until wheeled machine
Above kerb road surface 26, now wheeled robot chassis 1, not in contact with kerb road surface 26, rises the trailing wheel on device people chassis 1
Descending mechanism 4 shrinks, and wheeled robot chassis 1 contacts ground, completes obstacle detouring.
But in order that all parts of wheel type barrier-crossing robot return to initial position and also need to follow the steps below：As Fig. 9, figure
Shown in 10, wheel type barrier-crossing robot moves forward to certain position makes elevating mechanism 4 have sufficient space to support, and elevating mechanism 4 is opened up
Open and prop up wheeled robot 1, rely on lead screw guide rails mechanism 3 so that wheeled robot chassis 1 is moved to the left, until to initial position
Afterwards, elevating mechanism 4 shrinks, and wheeled robot chassis 1 declines, and elevating mechanism 4 returns to initial position, and wheel type barrier-crossing robot starts
Normal walking, as shown in figure 11, so far, whole obstacle detouring process all terminates.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (10)
1. a kind of wheel type barrier-crossing mechanism of transformer station, including walking mechanism, is characterized in that：The chassis of walking mechanism is provided with guide rail machine
Structure, described chassis is configured to move along guide rail mechanism, and one end of described tray bottom is provided with elevating mechanism, described
Elevating mechanism is configured to lift walking mechanism and moves vertically；
The both sides on the chassis of walking mechanism are respectively arranged with a range sensor, and described walking mechanism upper end is provided with binocular vision
Feel module, when described binocular vision module detects barrier, when range sensor measurement distance barrier is in preseting length,
Elevating mechanism lifts the height that walking mechanism rises above barrier, and described chassis is transported along guide rail mechanism to barrier direction
Move so that walking mechanism chassis reach barrier upper end, realize obstacle detouring.
2. wheel type barrier-crossing mechanism of a kind of transformer station as claimed in claim 1, is characterized in that：Described guide rail mechanism includes supporting
Plate, described gripper shoe is fixed with several screw type guide rails, and one end of described screw type guide rail is provided with motor, motor connection
There is incremental encoder, closed loop control is realized in the operating to motor.
3. wheel type barrier-crossing mechanism of a kind of transformer station as claimed in claim 1, is characterized in that：It is provided with described screw type guide rail
Multiple slide blocks, the chassis of described walking mechanism is fixed on slide block.
4. wheel type barrier-crossing mechanism of a kind of transformer station as claimed in claim 1, is characterized in that：Described guide rail mechanism two ends are provided with
Protective cover, to protect end construction and the motor of guide rail mechanism.
5. wheel type barrier-crossing mechanism of a kind of transformer station as claimed in claim 1, is characterized in that：Described elevating mechanism includes upper and lower
Support member, is provided with X-type scissors crotch elevating mechanism, described upper supporting piece is provided with electronic between described upper and lower support member
Cylinder drives X-type scissors crotch elevating mechanism to be moved up and down.
6. wheel type barrier-crossing mechanism of a kind of transformer station as claimed in claim 1, is characterized in that：It is provided with described elevating mechanism absolutely
To encoder.
7. a kind of wheel type barrier-crossing robot of transformer station, is characterized in that：Including the obstacle detouring machine as any one of claim 1-6
Structure.
8. a kind of obstacle-detouring method based on the barrier getting over mechanism as any one of claim 1-6, is characterized in that：Binocular vision
Module finds barrier, guides walking mechanism to reach the edge of barrier, the range sensor measurement row at the two ends of walking mechanism
Walk the distance of mechanism and barrier, adjust walking mechanism attitudes by two range sensor distance difference so as to just to obstacle
Thing, control elevating mechanism make its lifting walking mechanism chassis, by absolute encoder calculate elevating mechanism rising height, when
After supportting specified altitude assignment, according to now calculating, apart from obstacle distance and walking mechanism dimension information, the distance that need to move forward, drive
Dynamic guide rail mechanism makes chassis translate until barrier upper end, shrinks elevating mechanism, makes walking mechanism contact ground, completes obstacle detouring.
9. obstacle-detouring method as claimed in claim 8, is characterized in that：After the completion of obstacle detouring, walking mechanism moves forward to a positioning
Put and make elevating mechanism have sufficient space to support, elevating mechanism launches to prop up chassis, and controls guide rail mechanism, makes chassis return to guide rail
The initial position of mechanism, and control elevating mechanism to recover initial position.
10. obstacle-detouring method as claimed in claim 8, is characterized in that：Measure the angle of spread of elevating mechanism by absolute encoder
Degree, with the bearing height of real time machine device people, launch process two range sensor continue measurement distance barrier edge away from
From when range data increases suddenly, in conjunction with walking mechanism chassis size, range sensor installation site and real-time bearing height
Calculate the height that barrier actual height and robot need to support.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611052045.9A CN106379436B (en) | 2016-11-24 | 2016-11-24 | Wheel type barrier-crossing mechanism, substation, robot and its method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052045.9A CN106379436B (en) | 2016-11-24 | 2016-11-24 | Wheel type barrier-crossing mechanism, substation, robot and its method |
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| Publication Number | Publication Date |
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| CN106379436A true CN106379436A (en) | 2017-02-08 |
| CN106379436B CN106379436B (en) | 2019-08-06 |
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Cited By (13)
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|---|---|---|---|---|
| CN107215370A (en) * | 2017-05-23 | 2017-09-29 | 安溪县智睿电子商务有限公司 | A kind of handling device with cat ladder function for smart home |
| CN108890610A (en) * | 2018-07-09 | 2018-11-27 | 长春工程学院 | A kind of mountainous region action intelligent robot of Distance positioning |
| CN110193837A (en) * | 2019-05-24 | 2019-09-03 | 北京海益同展信息科技有限公司 | Rail polling robot |
| CN110695955A (en) * | 2019-09-29 | 2020-01-17 | 深圳乐动机器人有限公司 | Robot obstacle crossing method and robot |
| CN111071361A (en) * | 2019-12-02 | 2020-04-28 | 燕山大学 | Single-degree-of-freedom scissor-fork-driven wall-climbing robot |
| CN111098308A (en) * | 2020-01-06 | 2020-05-05 | *** | Open-close type obstacle crossing line inspection robot based on remote control system |
| CN111688843A (en) * | 2020-06-29 | 2020-09-22 | 北京云迹科技有限公司 | Wheel type robot presser foot prevention device |
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| CN112318474A (en) * | 2020-10-29 | 2021-02-05 | 安徽国云智能科技有限公司 | Intelligent security patrol robot |
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| CN107215370B (en) * | 2017-05-23 | 2019-04-12 | 新昌县羽林街道正名轴承厂 | A kind of handling device with ladder function for smart home |
| CN107215370A (en) * | 2017-05-23 | 2017-09-29 | 安溪县智睿电子商务有限公司 | A kind of handling device with cat ladder function for smart home |
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| CN110695955A (en) * | 2019-09-29 | 2020-01-17 | 深圳乐动机器人有限公司 | Robot obstacle crossing method and robot |
| CN111071361A (en) * | 2019-12-02 | 2020-04-28 | 燕山大学 | Single-degree-of-freedom scissor-fork-driven wall-climbing robot |
| CN111098308A (en) * | 2020-01-06 | 2020-05-05 | *** | Open-close type obstacle crossing line inspection robot based on remote control system |
| CN111098308B (en) * | 2020-01-06 | 2021-08-03 | 王颐疆 | Open-close type obstacle crossing line inspection robot based on remote control system |
| CN111688843A (en) * | 2020-06-29 | 2020-09-22 | 北京云迹科技有限公司 | Wheel type robot presser foot prevention device |
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| CN113427463A (en) * | 2021-05-25 | 2021-09-24 | 杭州申昊科技股份有限公司 | Movable obstacle-crossing live working robot |
| WO2023274035A1 (en) * | 2021-06-29 | 2023-01-05 | 中国华能集团清洁能源技术研究院有限公司 | Automatic lift platform suitable for wheeled robot, and method for operating said platform |
| CN113924836A (en) * | 2021-09-24 | 2022-01-14 | 深圳伊洛农业装备智能有限公司 | Agricultural machinery equipment terraced fields and irrigation canals and ditches mechanism of crossing |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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Effective date of registration: 20201027 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
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