CN106602461A - Turnover type metamorphic moving mechanism - Google Patents
Turnover type metamorphic moving mechanism Download PDFInfo
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- CN106602461A CN106602461A CN201611103369.0A CN201611103369A CN106602461A CN 106602461 A CN106602461 A CN 106602461A CN 201611103369 A CN201611103369 A CN 201611103369A CN 106602461 A CN106602461 A CN 106602461A
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- housing
- flip
- arm
- insulator
- driving wheel
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a turnover type metamorphic moving mechanism to solve the problems that an existing detection insulator mechanism is large in volume, relatively complex in structure, likely to cause certain damages to the surface of an insulator in operation, relatively poor in adaptability, and the like. The turnover type metamorphic moving mechanism comprises a turnover arm buckled with an insulator, moving units interconnected into a whole body encircling an insulator string, and a detection unit. The technical key point is that at least three groups of the moving units with same structures are adopted, a driving wheel at an output shaft end of a transmission mechanism driven by a motor is used for assembling an internal engagement metamorphic turnover mechanism between two connecting racks of a support frame, and as a traveling gear for a detection work, the turnover type metamorphic moving mechanism makes full use of the characteristic of changing a work structure state of the internal engagement metamorphic turnover mechanism to accomplish switching between two structure states and achieve continuous upward movement of the entire moving mechanism. The turnover type metamorphic moving mechanism is reasonable in structure design, is easy to assemble and disassemble, is stable, safe and reliable in operation during the detection work, reduces damages to the surface of the insulator, is wide in application range, and can obviously improve the efficiency and accuracy of the detection work.
Description
Technical field
The present invention relates to a kind of running gear of testing stand outage wire pressing insulator operation, particularly a kind of for along absolutely
Edge substring is back and forth creeped the convertible Bian Bao travel mechanisms of operation, comprehensive detection insulator running status.It is adapted to detect for high pressure
The various levels of line, pendency and insulator is inclined, belong to allosteric state movement drive technology field.
Background technology
With the rapid growth of China's economy, the demand of every profession and trade power consumption constantly increases, and construction and the maintenance of electrical network are got over
It is taken seriously to get over, the continuous appearance of power industry new technology is put forward higher requirement to existing some equipment, insulator
It is the important component part of overhead high-voltage wire, its safety work directly determines the stability of power system.Due to insulation
Son is chronically exposed to the external world so that it is highly susceptible to the impact of natural conditions, as prolonged wind, sleety weather all can subtract
Short its normal service life.Traditional isolator detecting method includes：Direct observational method, ultrasonic Method for Measuring, infrared thermal imagery
Instrument detection method, laser Doppler method etc..Not only detection efficiency is low for said method, and accuracy rate is not high.
Therefore, people start with increasingly mature robot technology to develop different travel mechanisms of creeping, it is therefore an objective to
The use requirement that Comprehensive Assessment detects insulator is met, when more deeply and carefully finding that insulator is used on high voltage transmission line
The development of some potential risks that may be present, this development and national economy to power industry and life is significant.
According to patent literature, notification number for CN101769971B " a kind of insulator detecting robot ", disclosed inspection
Robot is surveyed mainly to the insulator chain of detection level.Its structure include two Athey wheels, casing, displacement telescoping mechanism and
Probe drive mechanism etc., two Athey wheels are located at respectively casing both sides, and are hinged with displacement telescoping mechanism respectively, two Athey wheels
Stroke sensor is connected to, casing lower section is connected with probe drive mechanism.Although this mechanism has upper string operation simple
Advantage, but, its crawler type walking mechanism for being adopted is not applied for detecting vertically insulated substring, there is also structure
Complexity, not portative defect.
The applicant once proposed a kind of " suspension insulator climbing of Publication No. CN103753559A for the problems referred to above
Mechanism ", is characterized in that：By two Motor drives, the first motor is arranged on lower annular backup pad, and second drives electricity
Machine is arranged on upper annular backup pad, and by hawser power is transmitted.Using the door-opening type structure of two semi-rings, what is had is excellent
Point can be conveniently and efficiently to be arranged on insulator chain.Guide post is fixed by spring expansion link, is so just run
Offset where error to insulator, can adjustment position as early as possible, it is ensured that mechanism does not offset in running, can be adaptive
Should different operating modes.It is in rolling contact with insulator surface by universal wheel, while universal wheel surface matcoveredn, prevents Damage to insulation
Sublist face.Said apparatus have that bar coupling part is more complicated, the restriction of angle are required higher, are likely to result in each universal wheel
Angle be difficult adjustment the problems such as, can make its contact with insulator run when produce deviation.
The applicant also proposed patent publication No. for " the imitative foot type movement of insulator detecting robot of CN104015826A
Mechanism ", the core of its travel mechanism for recording is that the movement of integrated model is realized using the parallel-crank mechanism for becoming frame.
Becoming frame parallel-crank mechanism includes that the drive rod with adapting rod, the gangbar with adapting rod, two ends are hingedly connected to
Flat motion bar, two ends between drive rod and adapting rod and between gangbar and adapting rod is hinged respectively with drive rod and gangbar
Flat motion bar；Drive rod and gangbar are alternate with two flat motion bars to be split, and the end of each bar is hinged, on each flat motion bar
It is symmetrically arranged with two claws that contact surface matches with exterior insulator profile.A driving is driven by a motor
Bar, two flat motion bars are respectively as frame in motion process.Find that this mobile device also there are in practical application to be overcome
Problem, i.e., when frame is converted, four bars become straight line and dead-centre position occur, easily cause mechanism operation
Stop, motor will be damaged when serious, cause the running status unreliability of integrated model, affect efficiency and the operation of detection operation
Stability.
Research institute of Korea Electric Power was published in 2008《Auto-control and system》On article《345kV transmission lines of electricity
Suspension insulator crusing robot development》In have developed a kind of suspension insulator detection robot, its principal organ is
It is divided into upper and lower two robot frames, insulator chain is surrounded respectively in its configuration, and power supply is provided by a battery module, actual
It is to be realized that Robot insulator chain is moved by three drive modules when using, meanwhile, integrated model is equipped with a detection mould
Block carries out operation Detection task, and moving integrally for robot is main by being in rolling contact realization with insulator surface.This mechanism
Use requirement precision it is higher, its subject matter is that have to insulator surface abrasion in running, bad adaptability, and can not
Back and forth walk along level insulation substring.
Notification number is " the insulator detecting robot mechanism " of CN203888924U, and this climbing mechanism uses creeping motion type
Reptile fashion, imitates the action that the mankind climb tree, and is adapted to differing heights, the insulator disk of different disk footpath sizes.This structure is adopted
It is multi link composite structure, is adapted to the insulator chain of the multi-forms such as level, pendency, Y types, V-type.Although the detection
Mechanism is contacted with insulator surface using point, and by upper and lower jaw steel cap is clamped, and can make the reliability raising that operates steadily of mechanism,
But because the driving device structure of this robot of mechanism is complicated, each linkage action is complicated when integrally creeping, with insulator
The point contact on surface can cause certain damage to insulator surface, when clamping insulator disk is moved, the folder that jaw is provided
Holding force is limited, so operation can be caused unstable, produces deflection.
" a kind of electric pole automatic climbing mechanism " of Publication No. CN105396270A, the structure of employing include anchor ear,
Lower anchor ear, workbench, connecting pole cylinder, Hydraulic Station.When climbing operation is carried out, the first telescopic oil cylinder, the second telescopic oil cylinder and
Three telescopic oil cylinders are all mounted on anchor ear and lower anchor ear, to realize their clamping and release action.It is being horizontally arranged with
Telescopic oil cylinder is to realize the action of climbing upwards of integrated model.Limited by its structure, it can only clamp column type shaft
Body and the movement for realizing draping orientation, the scope of application is restricted, and the hydraulic cylinder for needing is more, may produce overall weight
Amount is bigger than normal, operationally poor to the adaptability of the manufacturing and fixing error of insulator chain, is unfavorable for that carrying operation instrument etc. is asked
Topic.
The content of the invention
It is an object of the invention to provide a kind of convertible Bian Bao travel mechanisms, solve the body of existing detection insulation clamp mechanism
Product is bigger than normal, and structure is more complicated, easily certain damage is caused to insulator surface during operation, the problems such as adaptability is poor, its structure
It is reasonable in design, it is easy to installing/dismounting, it is stable in detection operation, safe and reliable, the damage to insulator surface is reduced, it is suitable for
Scope is wide, can significantly improve the efficiency and accuracy rate of detection work.
The technical solution adopted in the present invention is：The convertible Bian Bao travel mechanisms include the upset with insulator clamping
Arm, is interconnected to the overall mobile unit and detecting element for encircling insulator chain, is characterized in that：It is identical using structure
Mobile unit at least described in three groups, every group of mobile unit include bracing frame, be fixed on the hitch at bracing frame two ends, respectively group
Detecting element on two hitch, motor, transmission mechanism and battery case are mounted in, motor-driven transmission mechanism output is arranged on
The driving wheel of shaft end, the internal messing being mounted in by drive wheel group between two hitch of bracing frame becomes born of the same parents' switching mechanism；Each group is moved
Integral each other by adjacent hitch connection between moving cell, internal messing becomes what is be meshed with driving wheel in born of the same parents' switching mechanism
Conveyer belt is fixedly connected on the housing inner circumferential of kidney-shaped, and the two ends of flip-arm are symmetrically arranged with what is matched with exterior insulator profile
Claw, two flip-arms are respectively hinged at two arc ends of housing, the unlocking mechanism and driving wheel of flip-arm by retaining mechanism
Fit together, automatic locking of the flip-arm with housing and automatic unlocking are realized respectively with retaining mechanism and unlocking mechanism, work as drive
When driving wheel turns to the arc end of housing from housing straightway, unlocking mechanism is unlocked automatically, and now flip-arm can be around hinge
Spindle is rotated, and driving wheel is rotated in housing arc end and drives the conveyer belt being meshed to make internal messing become the change of born of the same parents' switching mechanism
Work structure state, driving wheel is rotated to drive and is interconnected to overall mobile unit along insulator chain axially shifting in housing straightway
It is dynamic.
The internal messing becomes the kidney-shaped housing that born of the same parents' switching mechanism includes being made up of two arc ends and straightway, is fixedly connected
In the conveyer belt being meshed with driving wheel of housing inner circumferential, the control being assembled on housing is hinged on housing arc end flip-arm lock
Fixed retaining mechanism, controls the unlocking mechanism for assembling on the drive wheel of flip-arm and housing unblock.
The internal messing becomes born of the same parents' switching mechanism when the first structure state for changing work structure state moves along a straight line, and flip-arm is by housing
On retaining mechanism be locked, remaining stationary as with the claw of insulator clamping on flip-arm is arranged on motor-driven biography
The driving wheel of motivation structure output shaft end is rotated, and along the conveyer belt straightway movement for being fixedly connected on housing inner circumferential, drive is mutually interconnected
It is connected into overall mobile unit to move axially along insulator chain；Internal messing becomes born of the same parents' switching mechanism in the second structure for changing work structure state
During state flip-flop movement, driving wheel turns to the arc end of housing, now realizes that flip-arm is automatic by the unlocking mechanism on housing
Unblock, in the case where the driving wheel being rotated further drives, internal messing becomes born of the same parents' switching mechanism around the end flip-arm jointed shaft upset, goes to another
With during insulator clamping, internal messing becomes born of the same parents' switching mechanism and changes into the first structure state claw on the flip-arm of one end.
The present invention has the advantage that and good effect is：Because the entirety that is interconnected to of the present invention encircles insulator chain
Mobile unit, adopts and is arranged on the driving wheel of motor-driven transmission mechanism output shaft end, and is become internal messing by driving wheel
Born of the same parents' switching mechanism is assembled between two hitch of bracing frame, is introduced internal messing and is become born of the same parents' switching mechanism as the row of detection operation
Walking apparatus, it is possible to which, by the force constraint or the geometrical constraint of structure of setting, the free degree for locking or discharging certain kinematic pair changes
Become its structural topology, different functions are realized with new work structure state.Therefore, make full use of internal messing to become born of the same parents' switching mechanism to have
Change work structure state the characteristics of realize different motion, be allowed to overcome existing insulation in combination with the process of isolator detecting
Problems present on sub- testing agency, take the lead in, by means of born of the same parents' principle is become, designing suitable for exhausted so as to become the applicant
The convertible Bian Bao travel mechanisms of edge detection.Fix because internal messing becomes the conveyer belt being meshed with driving wheel in born of the same parents' switching mechanism
It is connected to the housing inner circumferential of kidney-shaped, the two ends of flip-arm are symmetrically arranged with the claw matched with exterior insulator profile, two
Flip-arm is respectively hinged at two arc ends of housing by retaining mechanism, and unlocking mechanism and the drive wheel group of flip-arm are mounted in one
Rise, automatic locking of the flip-arm with housing and automatic unlocking are realized respectively with retaining mechanism and unlocking mechanism, thus it is former based on born of the same parents are become
The convertible Bian Bao travel mechanisms of reason design, reasonable in design, it is easy to installing/dismounting, stable in detection operation, safety
It is reliable, the damage to insulator surface is reduced, it is applied widely, can significantly improve the efficiency and accuracy rate of detection work.
It is described as follows：In general, the flip-arm mechanism that is locked is locked, and now clamping claw on the insulator is consolidated
Fixed motionless, when housing straightway is rotated, drive is connected with each other integral mobile unit and axially moves along insulator chain driving wheel
It is dynamic, linear motion is realized, it is now the linear motion of the first structure state；Drive what is be meshed when driving wheel is rotated in housing arc end
During conveyer belt, unlocking mechanism is actuated for unblock, and retaining mechanism failure begins turning with the flip-arm of insulator chain clamping, this
When be the process that born of the same parents occur to become, until the claw of housing other end flip-arm and insulator are completely attached to, upset is completed, this process
For the flip-flop movement of the second structure state, now unlocking mechanism failure, retaining mechanism starts again locking, then repeatedly dynamic above
Make, the switching between two structure states, realization moves integrally the continuous moving a cycle of mechanism, and utilization is assembled on hitch
Detecting element complete to detect work that reaching can move the purpose of unlimited distance using limited length simultaneously.Therefore, this
The bright volume for solving existing detection insulation clamp mechanism is bigger than normal, and structure is more complicated, and easily insulator surface is caused necessarily during operation
Damage, the problems such as adaptability is poor.
Description of the drawings
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 1 is a kind of overall structure diagram of the present invention；
Fig. 2 is a kind of structural representation of the mobile unit in Fig. 1；
Fig. 3 is a kind of structural representation of the upset Bian Bao travel mechanisms in Fig. 2；
Fig. 4 is sectional views of the Fig. 3 along line A-A；
Fig. 5 is a kind of use state schematic diagram of the present invention.
Number explanation in figure：1 flip-arm, 2 internal messings become born of the same parents' switching mechanism, 3 bracing frames, 4 transmission mechanisms, 5 motors, 6 inspections
Survey element, 7 hitch, 8 battery cases, 9 housings, 10 conveyer belts, 11 retaining mechanisms, 12 driving wheels, 13 unlocking mechanisms, 14 insulators
String.
Specific embodiment
The concrete structure of the present invention is described in detail according to Fig. 1～5.The convertible Bian Bao travel mechanisms include and insulation subcard
The flip-arm 1 for connecing, is interconnected to entirety and encircles the parts such as the mobile unit and detecting element 6 of insulator chain 14.The present embodiment
At least three groups mobile units of middle employing structure identical, therefore, only one group of mobile unit therein and mobile a cycle are entered
Row is described in detail, and the operation principle of the structure composition of remaining two groups of mobile unit and mobile a cycle is all identical, and here differs
One repeats.
Every group of mobile unit includes bracing frame 3, is fixed on the hitch 7 at the two ends of bracing frame 3, is respectively assembled in two connections
Detecting element 6, motor 5, transmission mechanism 4 and battery case 8 on frame 7, is arranged on the output shaft end of transmission mechanism 4 of the driving of motor 5
Driving wheel 12, internal messing between 3 two hitch 7 of bracing frame is assembled in by driving wheel 12 and becomes the grade zero of born of the same parents' switching mechanism 2
Part.Wherein detecting element 6, motor 5, transmission mechanism 4 and battery case 8 are using the component being usually used.Above-mentioned three groups of movements
Connect integral each other by adjacent hitch 7 between unit, be meshed with driving wheel 12 in internal messing change born of the same parents switching mechanism 2
Conveyer belt 10 be fixedly connected on the inner circumferential of housing 9 of kidney-shaped.
Internal messing becomes the kidney-shaped housing 9 that born of the same parents' switching mechanism 2 includes being made up of two arc ends and straightway, is fixedly connected on
The conveyer belt 10 being meshed with driving wheel 12 of the inner circumferential of housing 9, the control being assembled on housing 9 is hinged on the upset of housing arc end
The retaining mechanism 11 of the locking of arm 1, controls the grade part of unlocking mechanism 13 being assembled on driving wheel 12 of flip-arm 1 and the unblock of housing 9.
According to actual needs, conveyer belt 10 can select tooth-like belt, it is also possible to can realize the form of gear motion from chain etc., drive
Driving wheel 12 is matched respectively with it.The two ends of flip-arm 1 are symmetrically arranged with the claw matched with exterior insulator profile, and two
Individual flip-arm 1 is respectively hinged at two arc ends of housing 9, the unlocking mechanism 13 of flip-arm 1 and driving wheel by retaining mechanism 11
12 fit together, real respectively with retaining mechanism 11 and unlocking mechanism 13 during the engaged transmission of driving wheel and conveyer belt
Automatic locking and automatic unlocking of the existing flip-arm 1 with housing 9.Generally the mechanism 11 that is locked of flip-arm 1 pins, keep with
It is motionless between housing 9.When driving wheel 12 turns to housing arc end from housing straightway, unlocking mechanism 13 is solved automatically
Lock, now flip-arm 1 can be rotated around jointed shaft, and driving wheel 12 is rotated in housing arc end, drive the transmission being meshed
Band 10 makes internal messing become the change work structure state of born of the same parents' switching mechanism 2, and driving wheel 12 is rotated in housing straightway, and drive is interconnected to
Overall mobile unit is moved axially along insulator chain 14.
Internal messing becomes born of the same parents' switching mechanism 2 when the first structure state for changing work structure state moves along a straight line, and flip-arm 1 is by housing 9
On retaining mechanism 11 be locked, remaining stationary as with the claw of insulator clamping on flip-arm 1 is arranged on motor 5 and drives
The driving wheel 12 of the output shaft end of transmission mechanism 4 rotate, along the straightway of conveyer belt 10 movement for being fixedly connected on the inner circumferential of housing 9,
Drive is connected with each other integral mobile unit and moves axially along insulator chain 14；Internal messing becomes born of the same parents' switching mechanism 2 and is changing work
When making the second structure state flip-flop movement of structure state, driving wheel 12 turns to the arc end of housing 9, now by the unblock on housing 9
Mechanism 13 realizes the automatic unlocking of flip-arm 1, and in the case where the driving wheel 12 being rotated further drives, internal messing becomes born of the same parents' switching mechanism 2 around this
The end jointed shaft upset of flip-arm 1, goes to the claw on other end flip-arm 1 with during insulator clamping, and internal messing becomes born of the same parents' tipper
Structure 2 changes into the first structure state.Then the switching that above action is constantly completed between two structure states is repeated, realization moves integrally mechanism
Continuous moving a cycle, and reach utilization while complete detection work using the detecting element 6 that is assembled on hitch 7
Limited length can move the purpose of unlimited distance.
The course of work of the present invention is as follows：
Generally, flip-arm 1 is locked by retaining mechanism 11, and the claw on flip-arm 1 keeps and internal messing becomes born of the same parents' movement
The upright position transfixion of mechanism 2, while the housing 9 being hinged with flip-arm 1 and the conveyer belt 10 for being fixed on the inner circumferential of housing 9
Transfixion.Under the driving of motor 5, the driving wheel 12 of the output shaft end of transmission mechanism 4 is rotated, with conveyer belt 10 in housing 9
Straightway is meshed motion, drives the linear motion of integrated model, and now linear motion is change work structure state first
Structure state；When driving wheel 12 moves to the arc end of conveyer belt 10 in housing 9, unlocking mechanism 13 starts, is unlocked, retaining mechanism
11 failures, now claw is rotated with the flip-arm 1 of insulator clamping around jointed shaft, and now flip-flop movement process is change work
Make the second structure state of structure state.When the claw of other end flip-arm 1 is completely attached to next insulator, internal messing becomes born of the same parents' upset
The upset of mechanism 2 is completed, and now driving wheel 12 is engaged with the arc end of conveyer belt 10 in housing 9, and unlocking mechanism 13 fails, and locks machine
Structure 11 starts, and the mechanism 11 that is locked again of flip-arm 1 locks, and completes to change the phase co-conversion between work structure state.Then weigh again
Multiple above procedure, realizes the periodically continued motion of whole travel mechanism；Motor 5 is rotated backward can realize the anti-of integrated model
Reciprocating can be realized to movement, i.e. this travel mechanism.
Claims (3)
1. a kind of convertible Bian Bao travel mechanisms, including the flip-arm with insulator clamping, are interconnected to entirety and encircle insulation
The mobile unit and detecting element of substring, it is characterised in that：Using structure identical mobile unit at least described in three groups, per group
Mobile unit includes bracing frame, is fixed on the hitch at bracing frame two ends, be respectively assembled in detecting element on two hitch,
Motor, transmission mechanism and battery case, are arranged on the driving wheel of motor-driven transmission mechanism output shaft end, are assembled by driving wheel
Internal messing between two hitch of bracing frame becomes born of the same parents' switching mechanism；Each other by adjacent connection between each group mobile unit
Frame connection is integral, and internal messing becomes the conveyer belt being meshed with driving wheel in born of the same parents' switching mechanism and is fixedly connected in the housing of kidney-shaped
Week, the two ends of flip-arm are symmetrically arranged with the claw matched with exterior insulator profile, and two flip-arms pass through retaining mechanism
Two arc ends of housing are respectively hinged at, unlocking mechanism and the drive wheel group of flip-arm are fitted together, with retaining mechanism and unblock
Mechanism realizes respectively automatic locking of the flip-arm with housing and automatic unlocking, when driving wheel turns to housing from housing straightway
During arc end, unlocking mechanism is unlocked automatically, and now flip-arm can be rotated around jointed shaft, and driving wheel is in housing circular arc
End rotates and drives the conveyer belt being meshed to make internal messing become born of the same parents' switching mechanism change work structure state, and driving wheel turns in housing straightway
Dynamic drive is connected with each other integral mobile unit and moves axially along insulator chain.
2. convertible Bian Bao travel mechanisms according to claim 1, it is characterised in that：The internal messing becomes born of the same parents' switching mechanism
Including the kidney-shaped housing being made up of two arc ends and straightway, the biography being meshed with driving wheel of housing inner circumferential is fixedly connected on
Band is sent, the control being assembled on housing is hinged on the retaining mechanism of housing arc end flip-arm locking, control flip-arm and housing
The assembling of unblock unlocking mechanism on the drive wheel.
3. convertible Bian Bao travel mechanisms according to claim 1, it is characterised in that：The internal messing becomes born of the same parents' switching mechanism
Change work structure state the first structure state when, flip-arm by housing retaining mechanism lock, on flip-arm with insulation subcard
The claw for connecing is remained stationary as, and the driving wheel for being arranged on motor-driven transmission mechanism output shaft end is rotated, and edge is fixedly connected on shell
The conveyer belt straightway movement in week in vivo, drive is connected with each other integral mobile unit and moves axially along insulator chain；Inside nibble
Close and become born of the same parents' switching mechanism when the second structure state flip-flop movement of work structure state is changed, driving wheel turns to the arc end of housing, this
When flip-arm automatic unlocking is realized by the unlocking mechanism on housing, in the case where the driving wheel that is rotated further drives, internal messing becomes born of the same parents
Switching mechanism is around the end flip-arm jointed shaft upset, when going to claw and the insulator clamping on other end flip-arm, internal messing
Become born of the same parents' switching mechanism and change into the first structure state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611103369.0A CN106602461B (en) | 2016-12-05 | 2016-12-05 | Convertible Bian Bao mobile mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611103369.0A CN106602461B (en) | 2016-12-05 | 2016-12-05 | Convertible Bian Bao mobile mechanisms |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106602461A true CN106602461A (en) | 2017-04-26 |
| CN106602461B CN106602461B (en) | 2018-06-26 |
Family
ID=58594945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611103369.0A Expired - Fee Related CN106602461B (en) | 2016-12-05 | 2016-12-05 | Convertible Bian Bao mobile mechanisms |
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| Country | Link |
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| CN (1) | CN106602461B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113366987A (en) * | 2021-06-28 | 2021-09-10 | 北京林业大学 | Electric standing tree pruning machine based on metamorphic mechanism |
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| CN102621425A (en) * | 2012-03-31 | 2012-08-01 | 山东鲁能智能技术有限公司 | Electrified detection robot for horizontal insulator string |
| US20130042706A1 (en) * | 2011-08-21 | 2013-02-21 | Electric Power Research Institute, Inc. | Apparatus and method for inspecting high voltage insulators |
| CN202985567U (en) * | 2013-01-11 | 2013-06-12 | 山东鲁能智能技术有限公司 | Intelligent detection robot for insulator string |
| CN204575755U (en) * | 2014-12-09 | 2015-08-19 | 国家电网公司 | The sub-measuring robots of a kind of Intelligent insulation |
| CN105259078A (en) * | 2015-11-02 | 2016-01-20 | 国网山东省电力公司电力科学研究院 | Composite insulator detection system |
| CN106002912A (en) * | 2016-04-29 | 2016-10-12 | 东北大学 | Insulator metamorphic detection robot mechanism |
-
2016
- 2016-12-05 CN CN201611103369.0A patent/CN106602461B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130042706A1 (en) * | 2011-08-21 | 2013-02-21 | Electric Power Research Institute, Inc. | Apparatus and method for inspecting high voltage insulators |
| CN102621425A (en) * | 2012-03-31 | 2012-08-01 | 山东鲁能智能技术有限公司 | Electrified detection robot for horizontal insulator string |
| CN202985567U (en) * | 2013-01-11 | 2013-06-12 | 山东鲁能智能技术有限公司 | Intelligent detection robot for insulator string |
| CN204575755U (en) * | 2014-12-09 | 2015-08-19 | 国家电网公司 | The sub-measuring robots of a kind of Intelligent insulation |
| CN105259078A (en) * | 2015-11-02 | 2016-01-20 | 国网山东省电力公司电力科学研究院 | Composite insulator detection system |
| CN106002912A (en) * | 2016-04-29 | 2016-10-12 | 东北大学 | Insulator metamorphic detection robot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113366987A (en) * | 2021-06-28 | 2021-09-10 | 北京林业大学 | Electric standing tree pruning machine based on metamorphic mechanism |
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| Publication number | Publication date |
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| CN106602461B (en) | 2018-06-26 |
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