CN113001565A - Wheel clamp module for inspection and operation - Google Patents
Wheel clamp module for inspection and operation Download PDFInfo
- Publication number
- CN113001565A CN113001565A CN202110306556.3A CN202110306556A CN113001565A CN 113001565 A CN113001565 A CN 113001565A CN 202110306556 A CN202110306556 A CN 202110306556A CN 113001565 A CN113001565 A CN 113001565A
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- Prior art keywords
- wheel
- worm
- roller
- assembly
- clamping
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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
- 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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- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wheel clamp module for inspection and operation, which comprises a clamping transmission assembly, a clamping assembly and a roller assembly, wherein the output end of the clamping transmission assembly is connected with the clamping assembly, the roller assembly is fixed at the top of the clamping assembly, the roller assembly comprises a roller and a motor for driving the roller to rotate, the roller is divided into a first side surface and a second side surface, the diameter of the first side surface is larger than that of the second side surface, a cutting saw blade is arranged on the periphery of the first side surface, and an inner hexagonal groove for screwing a nut is arranged at the axis of the second side surface. The invention can be matched with a robot to finish line patrol movement, cross obstacles on the line, and perform simple maintenance operations such as removing sundries and screwing nuts on the line.
Description
Technical Field
The invention relates to the technical field of wheel clamps, in particular to a wheel clamp module for inspection and operation.
Background
The high-voltage transmission line and the transmission tower play an extremely important role as important equipment for transmitting electric power. Because the transmission line and the pole tower are exposed in the field environment at any time and are influenced by factors such as mechanical tension, wind power, solar irradiation, rain wash and the like, the equipment is easy to generate various faults, in addition, sundries such as plastic bags, cloth strips, kite lines and the like can be hung on the transmission line, and the problems can cause damage to an electric power system if the problems are not discovered and eliminated in time. Therefore, periodic inspection and maintenance of the transmission line are very necessary. At present, the line patrol of the power transmission line in China is mainly completed manually, and the line is observed on the ground or on a climbing tower by naked eyes or by means of a telescope. The manual line patrol is high in labor intensity and severe and dangerous in working environment.
The inspection robot provides a good choice for inspection of the transmission line. Compared with a manual inspection mode, the inspection robot is high in speed and efficiency, workers can be liberated from high-risk and heavy physical labor, the robot is used for replacing manual work to execute high-altitude operation on a high-voltage wire, so that certain requirements are met on the environment adaptability of the robot, the robot can walk along a power transmission line at a high speed, and can cross over obstacles such as vibration dampers, strain clamps, suspension clamps, spacers and the like, and even some maintenance operations can be performed. The requirements are mainly realized by an end effector of the robot, Chinese patent publication No. CN109066473A, the publication date is 12/21/2018, the patent discloses a walking device which comprises a walking wheel positioned above a ground wire and a clamping wheel positioned below the ground wire, the walking wheel and the clamping wheel are mutually meshed, wherein the walking wheel is fixedly connected with a connecting plate, the walking device in the invention can only complete walking on the ground wire and can not perform other maintenance work, and other functional components are required to be added if other maintenance work is required to be completed.
Disclosure of Invention
The invention aims to overcome the defects that the tail end module of the existing inspection robot can only complete the walking function on a line, and other functional components need to be additionally assembled if other maintenance work needs to be carried out, and provides a wheel clamp module. The invention can be matched with a robot to finish line patrol movement, cross obstacles on the line, and carry out simple maintenance operations such as removing sundries, screwing nuts and the like on the line.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a wheel clamp module, includes centre gripping drive assembly, centre gripping subassembly and wheel components, centre gripping drive assembly's output and centre gripping subassembly are connected, wheel components fixes the top of centre gripping subassembly, wheel components includes the gyro wheel and drives gyro wheel pivoted motor, the gyro wheel divide into first side and second side, the diameter ratio second side of first side is big, be equipped with the cutting saw bit on the periphery of first side, the axle center department of second side is equipped with the interior hexagonal recess that is used for screwing up the nut.
In the technical scheme, the clamping assembly can complete opening and closing actions under the control of the clamping transmission assembly, the cable is clamped or separated, the roller assembly is hung on the clamped cable, the motor drives the roller to rotate, the roller is hung on the cable and moves on the cable under the drive of the motor, the motor can control the rotating speed of the roller, the running speed of the roller on the cable is changed, meanwhile, the clamping assembly completes deceleration braking through changing the clamping degree of the cable, the opening and closing movement of the clamping assembly can clamp or loosen the cable, the robot is assisted to complete crossing actions on the cable, the cutting saw blade rotates along with the roller, sundries on the cable can be cut and cleared, and the hexagon socket head groove on the roller can be used for screwing nuts loosened on the cable.
Furthermore, centre gripping drive assembly is including the disk motor, base, shaft coupling, harmonic reduction gear subassembly, harmonic reduction gear output dish, worm bearing end cover and the worm that connect gradually, the worm is equipped with the bed frame outward, and the meshing of worm both sides has first worm wheel and the second worm wheel of armed lever, first worm wheel and second worm wheel all rotate through its boss and set up on the bed frame, the centre gripping subassembly is located the armed lever of first worm wheel and the armed lever of second worm wheel. In the technical scheme, the disc type motor transmits power to the worm through the coupler, the harmonic reducer assembly, the harmonic reducer output disc and the worm bearing end cover, the worm rotates along with the first worm wheel and the second worm wheel which are meshed with the worm in the rotating process, and the clamping assemblies correspondingly connected to the arm rod of the first worm wheel and the arm rod of the second worm wheel rotate along with the worm to complete opening and closing actions.
Furthermore, the clamping assembly comprises a first clamping jaw and a second clamping jaw which are respectively hinged to an arm rod of the first worm wheel and an arm rod of the second worm wheel, and the roller assembly is fixed to the first clamping jaw or the second clamping jaw. In this technical scheme, because the armed lever of first worm wheel and the armed lever of second worm wheel can follow the rotation of worm and rotate, so its first clamping jaw and the second clamping jaw that corresponds the connection can follow and accomplish the action of opening and shutting together.
Furthermore, still be equipped with first driven lever and second driven lever on the bed frame, the one end of first driven lever and second driven lever all with bed frame swing joint, the first driven lever and second driven lever other end respectively with first clamping jaw and second clamping jaw pass through pin activity hinge joint, and first driven lever and second driven lever drive first clamping jaw and second clamping jaw and accomplish the motion of opening and shutting along the armed lever of first worm wheel and the armed lever of second worm wheel. In this technical scheme, the first driven lever and the arm pole of second driven lever and first worm wheel and second worm wheel assist each other, drive first clamping jaw and second clamping jaw and accomplish the action of opening and shutting.
Further, the roller assembly still includes stand and synchronous belt drive component, the one end of stand is equipped with the bearing frame, and the other end is equipped with the motor cabinet, the gyro wheel passes through the roller bearing and is connected with the bearing frame, the motor is fixed on the motor cabinet, the one end of synchronous belt drive component and the output shaft of motor, the other end with the roller bearing is connected. Among this technical scheme, the motor passes through the synchronous belt drive component and drives the gyro wheel and rotate, and the centre gripping subassembly is with the cable centre gripping back, is to hang the wheel components at its top and lean on the cable, so when the gyro wheel rotates along with the motor, can make whole robot remove on the cable.
Further, the synchronous belt transmission member comprises a first synchronous wheel, a synchronous belt and a second synchronous wheel, the diameter of the first synchronous wheel is larger than that of the second synchronous wheel, the second synchronous wheel is sleeved on an output shaft of the motor, the first synchronous wheel is sleeved on the roller, and the synchronous belt connects the first synchronous wheel with the second synchronous wheel.
Furthermore, the shaft hole of the first synchronizing wheel is a D-shaped hole, and one end of the rolling shaft, which is close to the first synchronizing wheel, is in a D shape and is matched with the D-shaped hole.
Furthermore, the contact surfaces of the rolling shaft, the roller and the bearing seat are provided with clamp springs for preventing axial movement. The clamp spring can strengthen the fixed connection between the roller and between the roller and the bearing seat, and the roller is prevented from axially moving at the roller or the bearing seat.
Further, the cutting blade is fixed to the periphery of the first side surface by a screw.
Furthermore, a V-shaped groove is formed between the first side surface and the second side surface of the roller. The V-shaped groove on the roller enhances the stability of the roller in hanging and moving on the cable.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention designs the wheel rotation in a modularized way, so that the wheel rotation becomes a module, has standard mechanical and electrical interfaces, can be conveniently and quickly connected with other modules with the same interface, and has good universality and applicability;
2. the internal structure of the invention is divided into a clamping transmission component, a clamping component and a roller component, and the three parts have independence and can be conveniently disassembled, assembled and replaced;
3. the invention integrates rolling, clamping and operating functions into a whole, realizes continuous and rapid rolling, braking, sundries removal and nut tightening on a cable and discrete motions of climbing, obstacle crossing, line space transition and the like by the robot which is assisted and connected by the clamping component and the roller component, and greatly improves the mobility, the flexibility and the practicability of the line inspection robot;
4. according to the invention, the V-shaped groove between the two side surfaces of the roller can enhance the stability of the cable hanging.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is an exploded view of the clamping actuator assembly of the present invention.
FIG. 3 is a schematic structural view of a removing roller assembly according to the present invention.
Fig. 4 is a schematic structural view of the roller assembly of the present invention.
Fig. 5 is an exploded view of the scroll wheel assembly of the present invention.
The graphic symbols are illustrated as follows:
1-a worm; 2-a base frame; 3-arm lever; 4-a driven rod; 5-a base frame cover; 6-worm gear bearing end cover; 7-a disc motor; 8-a base; 9-a coupler; 10-harmonic reducer assembly; 11-harmonic reducer output disc; 12-worm bearing end caps; 13-a roller; 14-a first jaw; 15-a second jaw; 16-an electric machine; 17-a support frame; 18-a second synchronizing wheel; 19-a synchronous belt; 20-a first synchronizing wheel; 21-shaft end retainer ring; 22-a roller; 23-a cutting saw blade; 24-inner hexagonal groove.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Examples
Fig. 1 to 5 show an embodiment of a wheel clamp module according to the present invention. A wheel clamp module is shown in figure 1 and comprises a clamping transmission assembly, a clamping assembly and a roller assembly, wherein the output end of the clamping transmission assembly is connected with the clamping assembly, the roller assembly is fixed on the clamping assembly, the roller assembly comprises a roller 13 and a motor 16 driving the roller 13 to rotate, and the motor 16 drives the roller 13 to rotate through a synchronous belt transmission component. The clamping transmission assembly controls the clamping assembly to complete opening and closing actions, the clamping assembly can clamp the cable, the roller assembly at the top of the clamping assembly is hung on the cable, and the motor 16 drives the roller 13 to rotate, so that the roller clamping module can move on the cable.
As shown in fig. 2, the clamping transmission assembly comprises a disc motor 7, a base 8, a coupler 9, a harmonic reducer assembly 10, a harmonic reducer output disc 11, a worm bearing end cover 12 and a worm 1 which are connected in sequence, a base frame 2 is arranged outside the worm 1, a first worm wheel and a second worm wheel with an arm rod 3 are meshed on two sides of the worm 1, the coupler 9, the harmonic reducer assembly 10, the harmonic reducer output disc 11 and the worm bearing end cover 12 are placed in a cavity of the base 8, the disc motor 7 and the base 8 are fixed through fastening screws, and an output shaft of the disc motor 7 is connected with a wave generator of the harmonic reducer assembly 10 through the coupler 9; an input steel wheel in the harmonic reducer assembly 10 is fixedly connected with an output disc 11 of the harmonic reducer through a screw; the harmonic reducer output disc 11 is connected with one end of the worm 1, and the disc motor 7 transmits power to the worm 1 through the coupler 9, the harmonic reducer assembly 10, the harmonic reducer output disc 11 and the worm bearing end cover 6 to drive the worm 1 to rotate.
In addition, a base frame 2 is arranged outside the worm 1, a first worm wheel and a second worm wheel with arm rods 3 are meshed with two sides of the worm 1, the first worm wheel and the second worm wheel are arranged on two sides of the base frame 2 in a rotating mode through respective bosses, and the clamping assemblies are fixed on the arm rods 3 of the first worm wheel and the arm rods 3 of the second worm wheel. The clamping assembly comprises a first clamping jaw 14 and a second clamping jaw 15 which are respectively fixed on the arm rod 3 of the first worm wheel and the arm rod 3 of the second worm wheel, and the roller wheel assembly is fixed on the first clamping jaw 14. When the worm 1 rotates, the first worm wheel and the second worm wheel meshed with the two sides of the worm can rotate along with the rotation of the worm 1, and the arm rod 3 of the first worm wheel and the arm rod 3 of the second worm wheel swing in the rotating process, so that the first clamping jaw 14 and the second clamping jaw 15 are driven to complete opening and closing actions.
In one embodiment, the base frame 2 is further provided with a pair of driven rods 4 which are respectively a first driven rod and a second driven rod, the first driven rod and the second driven rod are symmetrically arranged on two sides of the base frame 2, the rotating ends of the respective arm rods 3 of the first worm wheel and the second worm wheel are rotatably arranged on two sides of the worm wheel through bosses, the rotating ends of the first driven rod and the second driven rod are movably hinged on the base frame 2 through pin shafts, the free ends of the arm rods 3 and the driven rods 4 are correspondingly and rotatably connected with the first clamping jaw 14 and the second clamping jaw 15 through pins, wherein the first clamping jaw 14 is movably hinged with the free ends of the first driven rod and the first worm wheel arm rod 3, and the second clamping jaw 15 is movably hinged with the free ends of the second driven rod and the second worm wheel arm rod 3. The first clamping jaw 14 and the second clamping jaw 15 are driven by the driven rod 4 and the arm rod 3 to rotate along with the worm 1 to complete opening and closing actions.
In one embodiment, the base frame cover 5 and the worm gear bearing end cover 6 are further included, the base frame cover 5 and the worm gear bearing end cover 6 cover the base frame 2 and the worm gear, and other objects are prevented from entering a transmission structure of the worm gear and the worm 1 and affecting the operation of the transmission structure.
In one embodiment, the roller assembly further includes a supporting frame 17, one end of the supporting frame 17 is provided with a bearing seat, the other end of the supporting frame 17 is provided with a motor seat, the roller 13 is connected with the bearing seat through a roller 22, the motor 16 is fixed on the motor seat, the synchronous belt transmission member includes a first synchronous wheel 20, a synchronous belt 19 and a second synchronous wheel 18, the diameter of the first synchronous wheel 20 is larger than that of the second synchronous wheel 18, the first synchronous wheel 20 is sleeved on the roller 22, the second synchronous wheel 18 is sleeved on an output shaft of the motor 16, and the synchronous belt 19 connects the first synchronous wheel 20 and the second synchronous wheel 18.
The roller 13 is divided into a first side surface and a second side surface, the diameter of the first side surface is larger than that of the second side surface, an annular cutting saw blade 23 is fixed on the periphery of the first side surface through a screw, an inner hexagonal groove 24 used for screwing a nut is arranged at the axis of the second side surface, a V-shaped groove is arranged between the first side surface and the second side surface, the V-shaped groove of the roller 13 is convenient for the hanging of a cable, in the using process, the first side surface of the roller 13 faces towards the supporting frame 17, after the roller 13 is installed on the rolling shaft 22, the roller 13 is arranged in the groove formed by the two clamping jaws and cannot be contacted with or rubbed with the clamping jaws, when the wheel clamping module works, the roller 13 is hung on a high-voltage cable, the first clamping jaw 14 and the second clamping jaw 15 are not completely closed, namely, the cable.
In addition, the shaft hole of the first synchronizing wheel 20 is a D-shaped hole, one end of the roller 22 close to the first synchronizing wheel 20 is in a D shape and is matched with the D-shaped hole, and snap springs for preventing the roller 22 from axially moving are arranged on the contact surfaces of the roller 22, the roller 13 and the bearing seat.
In one embodiment, the wheel clamp module is used as the tail end of the line patrol robot and is arranged at the two ends of the line patrol robot, and when the line patrol robot encounters an obstacle such as a vibration damper, a suspension clamp and a spacer, the first clamping jaw 14 and the second clamping jaw 15 close to clamp a cable under the action of the clamping transmission assembly, so that the line patrol robot can cross the obstacle.
The wheel clamp module enables the roller 13 to be hooked on the power transmission cable under the action of the robot body, and the clamping part works to enable the first clamping jaw 14 and the second clamping jaw 15 to gradually approach towards each other. When the first clamping jaw 14 and the second clamping jaw 15 are at a certain distance, the clamping transmission assembly stops working.
Referring to fig. 4 and 5, if the clamping transmission assembly stops working, the motor 16 starts working, and transmits power to the second synchronous wheel 18, the second synchronous wheel 18 transmits power to the roller 22 through the linkage of the synchronous belt 19 and the first synchronous wheel 20, the roller 22 transmits power to the roller 13 under the action of the key, and the roller 13 realizes rolling walking on the cable.
When the inspection robot meets the requirements of braking when going downhill or needs to prevent skidding when going uphill, the first clamping jaw 14 and the second clamping jaw 15 are driven by the clamping transmission assembly to further approach, and the first clamping jaw 14 and the second clamping jaw 15 are in contact with a cable, so that the friction force is increased, and the effects of braking and preventing skidding are achieved; when the inspection robot encounters an obstacle, the first clamping jaw 14 and the second clamping jaw 15 are driven by the clamping transmission assembly to further approach each other and clamp the cable, and the inspection robot can finish obstacle crossing.
When the line patrol robot encounters sundries such as plastic bags, cloth strips, kite lines and the like on the line, the motor 16 drives the cutting saw blade 22 on the roller 13 to rotate, and the cutting saw blade 22 contacts the sundries to clean the sundries on the line; when the nut of the vibration damper or other nuts loose on the line, the second side surface of the roller 13 with the inner hexagonal groove 24 is aligned with the nut, and then the motor 16 drives the roller 13 to rotate so as to tighten the nut.
The wheel clamp module of this embodiment simple structure, it is compact, including centre gripping drive assembly, centre gripping subassembly and wheel components, the triplex is dismantled and assembled, convenient and fast, can realize patrolling and examining the function on the high tension transmission line, meet the obstacle and can keep away the barrier, meet debris and can clear away debris appearing on the circuit, can also tighten up the not hard up nut on the circuit, can be very convenient combine together high-efficient the patrolling and examining and the maintenance work of accomplishing high tension transmission line with other robot components, can realize two kinds of motion modes of roll walking and grab clamp, join in marriage and take clear barrier and fastening nut operating function, can greatly conveniently pair with other part intercombinations of robot.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A wheel clamp module, its characterized in that: including centre gripping drive assembly, centre gripping subassembly and wheel components, centre gripping drive assembly's output and centre gripping subassembly are connected, wheel components fixes the top of centre gripping subassembly, wheel components includes the gyro wheel and drives gyro wheel pivoted motor, the gyro wheel divide into first side and second side, the diameter ratio second side of first side is big, be equipped with the cutting saw bit on the periphery of first side, the axle center department of second side is equipped with the interior hexagonal recess that is used for screwing up the nut.
2. A wheel clamp module according to claim 1, wherein: the clamping transmission assembly comprises a disc motor, a base, a coupler, a harmonic reducer assembly, a harmonic reducer output disc, a worm bearing end cover and a worm which are sequentially connected, a base frame is arranged outside the worm, a first worm wheel and a second worm wheel which are provided with arm rods are meshed with the two sides of the worm, the first worm wheel and the second worm wheel are arranged on the base frame in a rotating mode through bosses of the first worm wheel and the second worm wheel, and the clamping assembly is located on the arm rods of the first worm wheel and the second worm wheel.
3. A wheel clamp module according to claim 2, wherein: the clamping assembly comprises a first clamping jaw and a second clamping jaw which are respectively hinged to an arm rod of the first worm wheel and an arm rod of the second worm wheel, and the roller assembly is fixed to the first clamping jaw or the second clamping jaw.
4. A wheel clamp module according to claim 3, wherein: still be equipped with first driven lever and second driven lever on the bed frame, the one end of first driven lever and second driven lever all with bed frame swing joint, first driven lever and second driven lever other end respectively with first clamping jaw and second clamping jaw pass through pin swing joint, and first driven lever and second driven lever drive first clamping jaw and second clamping jaw and accomplish the motion of opening and shutting along the armed lever of first worm wheel and the armed lever of second worm wheel.
5. A wheel clamp module according to claim 3, wherein: the roller assembly further comprises a supporting frame and a synchronous belt transmission member, a bearing seat is arranged at one end of the supporting frame, a motor seat is arranged at the other end of the supporting frame, the roller is connected with the bearing seat through a roller, the motor is fixed on the motor seat, one end of the synchronous belt transmission member is connected with an output shaft of the motor, and the other end of the synchronous belt transmission member is connected with the roller.
6. A wheel clamp module according to claim 5, wherein: the synchronous belt transmission member comprises a first synchronous wheel, a synchronous belt and a second synchronous wheel, the diameter of the first synchronous wheel is larger than that of the second synchronous wheel, the second synchronous wheel is sleeved on an output shaft of the motor, the first synchronous wheel is sleeved on the roller, and the synchronous belt connects the first synchronous wheel and the second synchronous wheel.
7. The wheel clamp module of claim 6, wherein: the shaft hole of the first synchronizing wheel is a D-shaped hole, and one end of the rolling shaft, which is close to the first synchronizing wheel, is in a D shape and is matched with the D-shaped hole.
8. A wheel clamp module according to claim 5, wherein: and snap springs for preventing axial movement are arranged on the contact surfaces of the rolling shaft, the rolling wheel and the bearing seat.
9. A wheel clamp module according to claim 1, wherein: the cutting blade is fixed to the periphery of the first side surface by screws.
10. A wheel clamp module according to claim 1, wherein: and a V-shaped groove is formed between the first side surface and the second side surface of the roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110306556.3A CN113001565A (en) | 2021-03-23 | 2021-03-23 | Wheel clamp module for inspection and operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110306556.3A CN113001565A (en) | 2021-03-23 | 2021-03-23 | Wheel clamp module for inspection and operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113001565A true CN113001565A (en) | 2021-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110306556.3A Pending CN113001565A (en) | 2021-03-23 | 2021-03-23 | Wheel clamp module for inspection and operation |
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| CN (1) | CN113001565A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
-
2021
- 2021-03-23 CN CN202110306556.3A patent/CN113001565A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
| CN117206776B (en) * | 2023-11-08 | 2024-02-20 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
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