CN111682451A - Obstacle-avoiding type efficient inspection electric power robot - Google Patents
Obstacle-avoiding type efficient inspection electric power robot Download PDFInfo
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- CN111682451A CN111682451A CN202010804434.2A CN202010804434A CN111682451A CN 111682451 A CN111682451 A CN 111682451A CN 202010804434 A CN202010804434 A CN 202010804434A CN 111682451 A CN111682451 A CN 111682451A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an obstacle-avoidable high-efficiency inspection electric power robot, which comprises: the inspection device is used for collecting the power transmission line; the inspection platform is used for installing an inspection device; the locking device is used for locking the inspection platform on the inspection line; the connecting rod is used for realizing walking and obstacle crossing through alternate movement; the driving device is arranged on the inspection platform; the inspection device is arranged on the inspection platform; one end of the connecting rod is hinged with the locking device, and the other end of the connecting rod is rotatably connected with the inspection platform through the driving device; when the inspection platform works, the driving device drives the connecting rod to rotate, and the connecting rod alternately acts in a parabolic mode under the dual actions of the driving device and gravity to drive the inspection platform to walk and cross obstacles so as to inspect the power transmission line. The obstacle-avoiding type high-efficiency inspection electric power robot has high degree of freedom and strong obstacle-crossing capability, and can efficiently realize inspection operation of the power transmission line so as to guarantee the working stability of the power transmission line, thereby being beneficial to wide application.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an obstacle-avoidable efficient inspection electric robot.
Background
With the development of the smart grid system, the coverage range of the transformer substation and the power line is wider and wider. The high-voltage transmission line is a life line of the power system, and the fault directly threatens the safe operation of the power system, so that the transmission line must be regularly inspected to find and eliminate hidden dangers in time and prevent accidents.
In the traditional operation, on-site operators are required to perform patrol inspection on the power transmission line regularly or irregularly, so that the workload is high, the patrol inspection is influenced by factors such as environmental factors and personnel quality, the patrol inspection is not in place easily, the detection data is inaccurate, and the patrol efficiency and quality often cannot achieve the expected effect. Aiming at the problems of low efficiency and low quality of manual inspection, the inspection robot for the power equipment is used for carrying out automatic inspection on the power transmission line at the present stage, and can replace manual work, and complete tasks with high reliability and high efficiency.
At present, a robot is applied to line patrol operation of a power transmission line, but on an overhead power transmission line, due to the fact that the application of the robot is not considered during design, components such as wire clamps and the like are arranged on the line, and therefore the robot cannot directly pass through the line, and the existing line patrol robot has the defects of low degree of freedom, low obstacle crossing capability and the like, so that the existing line patrol robot has a small function in the line patrol operation of the power transmission line and cannot be widely applied.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an obstacle-avoidable high-efficiency inspection electric power robot; the inspection electric power robot has high degree of freedom and strong obstacle-crossing capability, and can efficiently realize inspection operation of the power transmission line so as to guarantee the working stability of the power transmission line, thereby being beneficial to wide application.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a can keep away high-efficient electric power robot of patrolling and examining of barrier formula which characterized in that: the method comprises the following steps:
the inspection device is used for collecting the power transmission line;
the inspection platform is used for installing an inspection device;
the locking device is used for locking the inspection platform on the inspection line;
the connecting rod is used for realizing walking and obstacle crossing through alternate movement;
the driving device is arranged on the inspection platform;
the inspection device is arranged on the inspection platform; one end of the connecting rod is hinged with the locking device, and the other end of the connecting rod is rotatably connected with the inspection platform through the driving device; during operation, the driving device drives the connecting rod to rotate, the connecting rod alternately acts in a parabolic mode under the dual functions of the driving device and gravity, and the inspection platform is driven to walk and cross obstacles so as to inspect the power transmission line.
In the scheme, the driving device drives the connecting rod to rotate, so that the connecting rod alternately acts in a parabolic mode under the dual actions of the driving device and gravity to change the posture of the inspection robot, the degree of freedom is high, the inspection platform is driven to rapidly and efficiently walk and cross obstacles on an inspection line, and the inspection device inspects the power transmission line. The inspection electric power robot provided by the invention mostly relies on the action of gravitational potential energy in the motion process, the energy of a driving device consumed in the motion process is smaller, and compared with other inspection robots which need a motor to do work for a long time, the inspection electric power robot has obvious advantages in the long-distance inspection process and is suitable for inspection work of long-distance lines.
The driving device is a motor arranged on two sides of the inspection platform, and an output shaft of the motor is connected with the connecting rod.
The connecting rods are oppositely arranged.
The inspection device is an inspection camera or an inspection camera.
The inspection device is arranged on the front side and/or the rear side of the inspection platform.
The locking device comprises a first clamping arm, a second clamping arm, a first guide rail, a second guide rail, a transmission assembly, a driving part and a base hinged with the connecting rod; the first guide rail and the second guide rail are arranged on the base; the first clamping arm and the second clamping arm are respectively connected with the first guide rail and the second guide rail in a sliding manner; the first clamping arm and the second clamping arm are arranged oppositely and connected with the transmission assembly, the driving part is arranged on the base and connected with the transmission assembly, and the first clamping arm and the second clamping arm are driven to slide relatively along the first guide rail and the second guide rail, so that the first clamping arm and the second clamping arm are clamped or released.
The first guide rail and the second guide rail are arranged on the base in a staggered mode.
The transmission assembly comprises a first straight rack, a second straight rack and a rotary gear connected with the driving part; the first straight rack is connected with the first clamping arm, and the second straight rack is connected with the second clamping arm; the first straight rack and the second straight rack are positioned on two sides of the rotating gear and are in meshed connection with the rotating gear; when the clamping mechanism works, the driving part drives the rotating gear to rotate, and the first clamping arm and the second clamping arm are driven to move relatively.
The first clamping arm and the second clamping arm respectively comprise a bottom plate, a sliding block, an arm body, an upper clamping block and a lower clamping block; the bottom plate of the first clamping arm is in sliding connection with the first guide rail through a sliding block, and the bottom plate of the second clamping arm is in sliding connection with the second guide rail through a sliding block; one end of the arm body is connected with the upper clamping block and the lower clamping block, and the other end of the arm body is connected with the bottom plate; the arm body of the first clamping arm is opposite to the arm body of the second clamping arm.
The upper clamping block and the lower clamping block are both provided with inclined clamping surfaces; when the first clamping arm and the second clamping arm are clamped, the clamping surface of the upper clamping block of the first clamping arm and the clamping surface of the upper clamping block of the second clamping arm are spliced to form an upper clamping surface, the clamping surface of the lower clamping block of the second clamping arm and the clamping surface of the lower clamping block of the second clamping arm are spliced to form a lower clamping surface, and a clamping space is formed between the upper clamping surface and the lower clamping surface. The inclined clamping surface can improve the clamping friction force, and the lower clamping surface and the upper clamping surface are formed by splicing, so that the clamping area is increased, and the locking stability of the inspection circuit of the first clamping arm and the second clamping arm is greatly improved.
A first clamping arm and a second clamping arm are respectively connected with a base through a first guide rail and a second guide rail through a moving pair, a first straight rack and a second straight rack are respectively fixedly connected to the first clamping arm and the second clamping arm and are meshed with a rotating gear, and a driving part is arranged in the center of the base and is connected with the rotating gear through a rotating shaft to drive the rotating gear to rotate. When the driving part rotates anticlockwise, the rotating gear is driven to rotate anticlockwise, the first spur rack and the second spur rack move relatively due to the meshing relation with the rotating gear, the first clamping arm and the second clamping arm are close to each other to achieve the purpose of clamping, and the rotating gear rotates clockwise to release the first clamping arm and the second clamping arm.
The obstacle-avoiding type efficient inspection electric power robot has the characteristics that:
1. the adopted mechanism similar to a four-bar linkage can rapidly move along the line under the action of the driving device and gravity, and can avoid obstacles in real time after encountering the obstacles.
2. The gravitational potential energy is converted into kinetic energy which can avoid the obstacle and efficiently patrol the electric power robot, the burden of a driving device is reduced, unnecessary energy loss is reduced, the working time of patrolling the electric power robot can be greatly prolonged, and the manual patrolling cost and the danger are reduced.
3. The movement mode of the four-bar mechanism is easy to control, and the operation difficulty is reduced.
4. The robot is light in structure, and secondary damage to the inspection line or the electric wire can not be caused in the inspection process.
5. The robot embodies the excellent operation capability and variability of the metamorphic mechanism in the posture changing process.
The application occasions are as follows: the obstacle-avoiding type high-efficiency inspection power robot is used for long-distance electric wire inspection operation. The method has the main functions of checking the power transmission line, positioning the fault position and guaranteeing the working stability of the power transmission line.
Compared with the prior art, the invention has the following advantages and beneficial effects: the obstacle-avoiding type high-efficiency inspection electric power robot has high degree of freedom and strong obstacle-crossing capability, and can efficiently realize inspection operation of the power transmission line so as to guarantee the working stability of the power transmission line, thereby being beneficial to wide application.
Drawings
Fig. 1 is a schematic structural diagram of an inspection electric power robot of the invention;
FIG. 2 is a schematic diagram of a locking device in the inspection electric robot according to the present invention;
fig. 3 is a schematic diagram of a locking state of a locking device in the inspection electric power robot according to the invention;
fig. 4 is a diagram of the initial state of the motion of the inspection electric robot;
FIG. 5 is a first diagram of the inspection power robot motion transformation state of the invention;
FIG. 6 is a second diagram of the inspection power robot motion transformation state of the present invention;
fig. 7 is a third state diagram of the inspection electric power robot motion transformation of the invention;
wherein, 1 is the inspection device, 2 is the inspection platform, 3 is locking device, 3.1 is the clamp arm I, 3.2 is the clamp arm II, 3.3 is the guide rail I, 3.4 is the guide rail II, 3.5 is the motor II, 3.6 is the base, 3.7 is the spur rack I, 3.8 is the spur rack II, 3.9 is the rotary gear, 3.10 is the bottom plate, 3.11 is the slider, 3.12 is the arm body, 3.13 is the last clamp splice, 3.14 is the lower clamp splice, 4 is the connecting rod, 5 is the motor I, 6 is the clamping face, 7 is the circuit of patrolling and examining.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1 to 7, the obstacle-avoidable efficient inspection electric robot of the present invention includes:
the inspection device 1 is used for collecting the power transmission line;
the inspection platform 2 is used for installing the inspection device 1;
the locking device 3 is used for locking the inspection platform 2 on the inspection line;
a connecting rod 4 for realizing walking and obstacle crossing by alternative movement;
the motor I5 is arranged on the inspection platform 2;
the inspection device 1 is mounted on the inspection platform 2, one end of the connecting rod 4 is hinged with the locking device 3, and the other end of the connecting rod is rotatably connected with the inspection platform 2 through a motor I5; when the inspection device works, the first motor 5 drives the connecting rod 4 to rotate, and the connecting rod 4 alternately acts in a parabolic mode under the dual actions of the first motor 5 and gravity, so that the inspection platform 2 is driven to walk and cross obstacles, and the inspection device 1 inspects the power transmission line.
The inspection device comprises a motor I5, a connecting rod 4, two connecting rods 4, an inspection camera or an inspection camera and an inspection device 1, wherein the motor I5 is arranged on two sides of an inspection platform 2, an output shaft of the motor I5 is connected with the connecting rods 4, the two connecting rods 4 are oppositely arranged on two sides of the inspection platform 2, and the inspection device is arranged on the front side and/or the rear side of the inspection platform 2.
The locking device 3 comprises a first clamping arm 3.1, a second clamping arm 3.2, a first guide rail 3.3, a second guide rail 3.4, a transmission assembly, a second motor 3.5 and a base 3.6 hinged with a connecting rod 4, wherein the first guide rail 3.3 and the second guide rail 3.4 are arranged on the base 3.6, the first clamping arm 3.1 and the second clamping arm 3.2 are respectively connected with the first guide rail 3.3 and the second guide rail 3.4 in a sliding manner, the first clamping arm 3.1 and the second clamping arm 3.2 are oppositely arranged and connected with the transmission assembly, and the second motor 3.5 is arranged on the base 3.6 and connected with the transmission assembly to drive the first clamping arm 3.1 and the second clamping arm 3.2 to relatively slide along the first guide rail 3.3 and the second guide rail 3.4, so that the first clamping arm 3.1 and the second clamping arm 3.2 are clamped or released. And the first guide rail 3.3 and the second guide rail 3.4 are arranged on the base 3.6 in a staggered manner.
The transmission assembly comprises a first spur rack 3.7, a second spur rack 3.8 and a rotary gear 3.9 connected with a second motor 3.5, wherein the first spur rack 3.7 is connected with a first clamping arm 3.1, the second spur rack 3.8 is connected with a second clamping arm 3.2, and the first spur rack 3.7 and the second spur rack 3.8 are positioned on two sides of the rotary gear 3.9 and are in meshed connection with the rotary gear 3.9; when the clamping mechanism works, the second motor 3.5 drives the rotary gear 3.9 to rotate, and the first clamping arm 3.1 and the second clamping arm 3.2 are driven to move relatively.
The first clamping arm 3.1 and the second clamping arm 3.2 both comprise a base plate 3.10, a sliding block 3.11, an arm body 3.12, an upper clamping block 3.13 and a lower clamping block 3.14, wherein the base plate 3.10 of the first clamping arm 3.1 is in sliding connection with the first guide rail 3.3 through the sliding block 3.11, the base plate 3.10 of the second clamping arm 3.2 is in sliding connection with the second guide rail 3.4 through the sliding block 3.11, one end of the arm body 3.12 is connected with the upper clamping block 3.13 and the lower clamping block 3.14, the other end of the arm body is connected with the base plate 3.10, and the arm body 3.12 of the first clamping arm 3.1 is opposite to the arm body 3.12 of the second clamping arm 3.2. The upper clamping block 3.13 and the lower clamping block 3.14 are both provided with inclined clamping surfaces 6, when the first clamping arm 3.1 and the second clamping arm 3.2 are clamped, the clamping surface 6 of the upper clamping block 3.13 of the first clamping arm 3.1 and the clamping surface 6 of the upper clamping block 3.13 of the second clamping arm 3.2 are spliced to form an upper clamping surface, the clamping surface 6 of the lower clamping block 3.14 of the first clamping arm 3.1 and the clamping surface 6 of the lower clamping block 3.14 of the second clamping arm 3.2 are spliced to form a lower clamping surface, and a clamping space is formed between the upper clamping surface and the lower clamping surface. The inclined clamping surface 6 can improve the clamping friction force, and the lower clamping surface and the upper clamping surface are formed by splicing, so that the clamping area is increased, and the stability of the first clamping arm 3.1 and the second clamping arm 3.2 for locking the routing inspection circuit is greatly improved.
A first clamping arm 3.1 and a second clamping arm 3.2 are respectively connected with a base 3.6 through a first guide rail 3.3 and a second guide rail 3.4 by a moving pair, a first straight rack 3.7 and a second straight rack 3.8 are respectively fixedly connected to the first clamping arm 3.1 and the second clamping arm 3.2 and are meshed with a rotating gear 3.9, and a second motor 3.5 is arranged at the center of the base 3.6 and is connected with the rotating gear 3.9 by a rotating shaft to drive the rotating gear 3.9 to rotate. When the second motor 3.5 rotates anticlockwise, the rotating gear 3.9 is driven to rotate anticlockwise, the first spur rack 3.7 and the second spur rack 3.8 move relatively due to the meshing relation with the rotating gear 3.9, so that the first clamping arm 3.1 and the second clamping arm 3.2 are close to each other to achieve the purpose of clamping, and the clockwise rotation of the rotating gear 3.9 is realized by releasing the first clamping arm 3.1 and the second clamping arm 3.2.
The obstacle-avoidable efficient inspection electric robot has the following long-distance movement process:
1. in the initial state, the inspection electric robot is firmly locked on the inspection line 7 through the locking device 3, as shown in fig. 4.
2. The posture of the inspection electric robot is changed through the rotation of the first motor 5, so that the connecting rod 4 and the inspection platform 2 are approximately in a straight line, as shown in fig. 5.
3. The locking device 3 of the connecting rod 4 on one side is released, the first motor 5 provides locking force between the connecting rod 4 and the inspection platform 2, meanwhile, the first motor 5 starts to rotate, and the whole inspection electric robot starts to swing under the interaction of gravity and the first motor 5, as shown in fig. 6.
4. When the inspection electric power robot swings to the other side, the locking device 3 is in contact with the inspection line 7 and is locked, and the inspection electric power robot reaches a new position. Similarly, the inspection electric robot moves on the long-distance inspection line 7 for a long distance in this pattern, as shown in fig. 7.
Therefore, the patrol inspection electric power robot mostly depends on the action of gravitational potential energy in the motion process, the energy of the motor I5 consumed in the motion process is small, and compared with other patrol inspection robots which need the motor to do work for a long time, the patrol inspection electric power robot has obvious advantages in the long-distance patrol inspection process and is suitable for patrol inspection work of long-distance lines.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a can keep away high-efficient electric power robot of patrolling and examining of barrier formula which characterized in that: the method comprises the following steps:
the inspection device is used for collecting the power transmission line;
the inspection platform is used for installing an inspection device;
the locking device is used for locking the inspection platform on the inspection line;
the connecting rod is used for realizing walking and obstacle crossing through alternate movement;
the driving device is arranged on the inspection platform;
the inspection device is arranged on the inspection platform; one end of the connecting rod is hinged with the locking device, and the other end of the connecting rod is rotatably connected with the inspection platform through the driving device; when the inspection platform works, the driving device drives the connecting rod to rotate, and the connecting rod alternately acts in a parabolic mode under the dual actions of the driving device and gravity to drive the inspection platform to walk and cross obstacles so as to inspect the power transmission line.
2. The obstacle-avoiding type efficient inspection electric power robot according to claim 1, characterized in that: the driving device is a motor arranged on two sides of the inspection platform, and an output shaft of the motor is connected with the connecting rod.
3. The obstacle-avoiding type efficient inspection electric power robot according to claim 1, characterized in that: the connecting rods are oppositely arranged.
4. The obstacle-avoiding type efficient inspection electric power robot according to claim 1, characterized in that: the inspection device is an inspection camera or an inspection camera.
5. The obstacle-avoiding type efficient inspection electric power robot according to claim 1, characterized in that: the inspection device is arranged on the front side and/or the rear side of the inspection platform.
6. The obstacle-avoidable efficient inspection electric power robot according to any one of claims 1 to 5, wherein: the locking device comprises a first clamping arm, a second clamping arm, a first guide rail, a second guide rail, a transmission assembly, a driving part and a base hinged with the connecting rod; the first guide rail and the second guide rail are arranged on the base; the first clamping arm and the second clamping arm are respectively connected with the first guide rail and the second guide rail in a sliding manner; the first clamping arm and the second clamping arm are arranged oppositely and connected with the transmission assembly, the driving part is arranged on the base and connected with the transmission assembly, and the first clamping arm and the second clamping arm are driven to slide relatively along the first guide rail and the second guide rail, so that the first clamping arm and the second clamping arm are clamped or released.
7. The obstacle-avoidable efficient inspection electric power robot according to claim 6, wherein: the first guide rail and the second guide rail are arranged on the base in a staggered mode.
8. The obstacle-avoidable efficient inspection electric power robot according to claim 6, wherein: the transmission assembly comprises a first straight rack, a second straight rack and a rotary gear connected with the driving part; the first straight rack is connected with the first clamping arm, and the second straight rack is connected with the second clamping arm; the first straight rack and the second straight rack are positioned on two sides of the rotating gear and are in meshed connection with the rotating gear; when the clamping mechanism works, the driving part drives the rotating gear to rotate, and the first clamping arm and the second clamping arm are driven to move relatively.
9. The obstacle-avoidable efficient inspection electric power robot according to claim 6, wherein: the first clamping arm and the second clamping arm respectively comprise a bottom plate, a sliding block, an arm body, an upper clamping block and a lower clamping block; the bottom plate of the first clamping arm is in sliding connection with the first guide rail through a sliding block, and the bottom plate of the second clamping arm is in sliding connection with the second guide rail through a sliding block; one end of the arm body is connected with the upper clamping block and the lower clamping block, and the other end of the arm body is connected with the bottom plate; the arm body of the first clamping arm is opposite to the arm body of the second clamping arm.
10. The obstacle-avoidable efficient inspection electric power robot according to claim 9, wherein: the upper clamping block and the lower clamping block are both provided with inclined clamping surfaces; when the first clamping arm and the second clamping arm are clamped, the clamping surface of the upper clamping block of the first clamping arm and the clamping surface of the upper clamping block of the second clamping arm are spliced to form an upper clamping surface, the clamping surface of the lower clamping block of the second clamping arm and the clamping surface of the lower clamping block of the second clamping arm are spliced to form a lower clamping surface, and a clamping space is formed between the upper clamping surface and the lower clamping surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010804434.2A CN111682451A (en) | 2020-08-12 | 2020-08-12 | Obstacle-avoiding type efficient inspection electric power robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010804434.2A CN111682451A (en) | 2020-08-12 | 2020-08-12 | Obstacle-avoiding type efficient inspection electric power robot |
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| CN111682451A true CN111682451A (en) | 2020-09-18 |
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| CN202010804434.2A Pending CN111682451A (en) | 2020-08-12 | 2020-08-12 | Obstacle-avoiding type efficient inspection electric power robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959293A (en) * | 2021-03-23 | 2021-06-15 | 广东工业大学 | Modular double-wheel claw line patrol robot |
| CN113601531A (en) * | 2021-08-23 | 2021-11-05 | 合肥工业大学 | Magic cube solving robot with double-arm gear and rack transmission |
| CN114193476A (en) * | 2021-12-23 | 2022-03-18 | 株洲高新电业集团有限公司 | Electric power inspection robot |
| CN114434417A (en) * | 2022-01-26 | 2022-05-06 | 盐城工学院 | Control device of inspection robot |
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| CN205363904U (en) * | 2015-12-30 | 2016-07-06 | 海信（广东）空调有限公司 | Electric clamping jaw |
| CN107069534A (en) * | 2017-01-18 | 2017-08-18 | 西安交通大学 | A kind of HV Transmission Line Routing Inspection robot for flying to climb sliding three mode operation |
| CN109514526A (en) * | 2018-11-19 | 2019-03-26 | 西安交通大学 | It is a kind of can on high voltage transmission line Quick-climbing device |
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2020
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205363904U (en) * | 2015-12-30 | 2016-07-06 | 海信（广东）空调有限公司 | Electric clamping jaw |
| CN107069534A (en) * | 2017-01-18 | 2017-08-18 | 西安交通大学 | A kind of HV Transmission Line Routing Inspection robot for flying to climb sliding three mode operation |
| CN109514526A (en) * | 2018-11-19 | 2019-03-26 | 西安交通大学 | It is a kind of can on high voltage transmission line Quick-climbing device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959293A (en) * | 2021-03-23 | 2021-06-15 | 广东工业大学 | Modular double-wheel claw line patrol robot |
| CN113601531A (en) * | 2021-08-23 | 2021-11-05 | 合肥工业大学 | Magic cube solving robot with double-arm gear and rack transmission |
| CN114193476A (en) * | 2021-12-23 | 2022-03-18 | 株洲高新电业集团有限公司 | Electric power inspection robot |
| CN114434417A (en) * | 2022-01-26 | 2022-05-06 | 盐城工学院 | Control device of inspection robot |
| CN114434417B (en) * | 2022-01-26 | 2023-08-18 | 盐城工学院 | Control device of inspection robot |
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Application publication date: 20200918 |