CN113612159A - Circuit walking device - Google Patents
Circuit walking device Download PDFInfo
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- CN113612159A CN113612159A CN202111057794.1A CN202111057794A CN113612159A CN 113612159 A CN113612159 A CN 113612159A CN 202111057794 A CN202111057794 A CN 202111057794A CN 113612159 A CN113612159 A CN 113612159A
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- 238000003825 pressing Methods 0.000 claims abstract description 209
- 238000010276 construction Methods 0.000 claims abstract description 9
- 238000005096 rolling process Methods 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 74
- 230000001965 increasing effect Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 description 35
- 238000000034 method Methods 0.000 description 7
- 238000009826 distribution Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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 application belongs to the technical field of electric power construction equipment, and particularly relates to a line walking device which comprises a vehicle body, and a power device, a line pressing wheel set and an auxiliary wheel set which are arranged on the side wall of the vehicle body; the power device is connected with the wire pressing wheel set and used for providing power; the line pressing wheel group comprises an upper line pressing wheel and a lower line pressing wheel, the upper line pressing wheel is positioned above the lower line pressing wheel, a space for accommodating the linear body is arranged between the upper line pressing wheel and the lower line pressing wheel, and the line pressing wheel group is used for rolling along the linear body under the driving of the power device; the auxiliary wheel set is positioned on the left side and/or the right side of the space, and included angles are formed between the axis of the auxiliary wheel set and the axes of the upper wire pressing wheel and between the axis of the auxiliary wheel set and the axes of the lower wire pressing wheel and used for limiting the space. The upper wire pressing wheel, the lower wire pressing wheel and the auxiliary wheel set can form limiting in the circumferential direction of the linear body, so that the circuit walking device is prevented from being disconnected, and the walking resistance is reduced.
Description
Technical Field
The application belongs to the technical field of electric power construction equipment, particularly, this application relates to a circuit running gear.
Background
The electric power industry has become one of the important post industries in China, and as the energy distribution and the power load demand distribution in China are unbalanced, the construction of a power grid is unprecedented and greatly developed for improving the utilization efficiency of electric power resources. Under the background that the current safety situation is very severe and the personal safety is extremely important, "mechanical people replacement and mechanical people replacement" is a necessary way in the power construction industry. The high-voltage transmission line is changed to lead and ground wires to cross and seal a net, a method of manual galloping or spanning frame erection operation is generally adopted, and an operator needs to work at high altitude and is constantly in an environment with high risk of falling. Furthermore, due to the restriction of environmental conditions, the traditional method for setting up the spanning frame for sealing the net in some areas is difficult to work.
At present, a transmission line inspection device is used for inspection and fault removal of a transmission line, the transmission line inspection device can walk on a high-voltage transmission line, and a camera arranged on the transmission line inspection device is used for inspecting the transmission line. When the power transmission line patrol device is used, the weight of the body of the power transmission line patrol device is only needed to be pulled, the gravity center of the power transmission line patrol device is kept stable in the walking process, and the power transmission line patrol device can be used for preventing the body from inclining, deviating and deviating from the line. For example, in patent application No. 202010230610.6 filed on 3/27/2020 and entitled automatic attitude adjustment for a power transmission line robot and an automatic attitude adjustment method, an automatic attitude adjustment for a power transmission line robot and an automatic attitude adjustment method are disclosed. However, the power transmission line robot with the automatically adjusted posture still has the following defects: two traveling wheels of the device are arranged on a line, so that accidents (such as sudden lateral strong wind which blows the device to fall off to form accidents) are easy to happen in extreme conditions; meanwhile, the traction force is small, the work of conveying tools, dragging tools, rescue workers and the like cannot be finished, the traction force can be blocked in the middle of the line during operation and cannot be recovered, and the later manual rescue process is complicated.
Disclosure of Invention
In order to solve the above problems, the present application provides a line traveling device, which has the following technical scheme:
a circuit walking device comprises a vehicle body, and a power device, a line pressing wheel set and an auxiliary wheel set which are arranged on the side wall of the vehicle body; the power device is connected with the wire pressing wheel set and used for providing power; the wire pressing wheel set comprises an upper wire pressing wheel and a lower wire pressing wheel, the upper wire pressing wheel is positioned above the lower wire pressing wheel, an interval for accommodating a linear body is arranged between the upper wire pressing wheel and the lower wire pressing wheel, and the wire pressing wheel set is used for rolling along the linear body under the driving of the power device; the auxiliary wheel set is located on the left side and/or the right side of the interval, and included angles are arranged between the axis of the auxiliary wheel set and the axis of the upper wire pressing wheel and the axis of the lower wire pressing wheel respectively and used for limiting the interval.
The above-described line travelling device is more preferably: the auxiliary wheel group is including being located respectively the left auxiliary wheel and the right auxiliary wheel of interval left and right sides, left side auxiliary wheel with right side auxiliary wheel is the symmetric distribution, is used for right the interval left and right sides is spacing.
The above-described line travelling device is more preferably: the axis of the upper wire pressing wheel and the axis of the lower wire pressing wheel are arranged in parallel, the axis of the left auxiliary wheel and the axis of the right auxiliary wheel are arranged in parallel, and the axis of the upper wire pressing wheel and the axis of the left auxiliary wheel are arranged perpendicularly.
The above-described line travelling device is more preferably: the left auxiliary wheel and the right auxiliary wheel are two and are in one-to-one correspondence, the left auxiliary wheel is located on the front side and the rear side of the line pressing wheel set respectively, and the right auxiliary wheel is located on the front side and the rear side of the line pressing wheel set respectively.
The above-described line travelling device is more preferably: the outer contour shapes and sizes of the left auxiliary wheel and the right auxiliary wheel are consistent.
The above-described line travelling device is more preferably: the distance between the left auxiliary wheel and the right auxiliary wheel is less than the left-right distance of the gap.
The above-described line travelling device is more preferably: the axial width of the left auxiliary wheel and the right auxiliary wheel is larger than the upper and lower distance of the interval.
The above-described line travelling device is more preferably: the wire clamping device is mounted on the vehicle body and used for being matched with the vehicle body to enclose a closed frame to prevent the linear body from being separated.
The above-described line travelling device is more preferably: the wire clamping device comprises a safety cover plate, a hinge and an anti-unscrewing screw; one end of the hinge is connected with the bottom of the safety cover plate, and the other end of the hinge is connected with the vehicle body; the anti-opening screw is arranged on the vehicle body (the handle arranged on the vehicle body) and is used for being clamped with the anti-opening clamping groove on the safety cover plate; the left auxiliary wheel is installed on the vehicle body, and the right auxiliary wheel is installed on the side wall, close to the space, of the safety cover plate.
The above-described line travelling device is more preferably: the upper wire pressing wheels are arranged at the same horizontal height and are linked through an upper transmission belt; the lower wire pressing wheels are arranged at the same horizontal height and are linked through a lower transmission belt; the upper drive belt and the lower drive belt form the gap therebetween.
The above-described line travelling device is more preferably: the outer contour shapes and sizes of the upper wire pressing wheel and the lower wire pressing wheel are consistent.
The above-described line travelling device is more preferably: the two ends of the upper wire pressing wheel along the axis direction of the upper wire pressing wheel are provided with bosses, a rough surface is arranged between the two bosses, and the bosses are in running fit with the upper transmission belt.
The above-described line travelling device is more preferably: and the outer peripheral surface of the upper transmission belt and/or the lower transmission belt is/are provided with a rough layer for increasing the friction force.
The above-described line travelling device is more preferably: the rough layer is any one or combination of grooves, bulges and frosted surfaces.
The above-described line travelling device is more preferably: and a tension wheel is arranged on the upper transmission belt and/or the lower transmission belt.
The above-described line travelling device is more preferably: and a pressure sensor is arranged on the lower wire pressing wheel.
The above-described line travelling device is more preferably: the power device comprises a first motor, the first motor is installed on the vehicle body, and the upper wire pressing wheel is installed on the first motor.
The above-described line travelling device is more preferably: the first motor is one and is connected with the upper wire pressing wheel.
The above-described line travelling device is more preferably: the first motor is a plurality of, every first motor all connects one go up the fabric wheel.
The above-described line travelling device is more preferably: the power device further comprises a second motor, the second motor is installed on the vehicle body, and the lower wire pressing wheel is installed on the second motor.
The above-described line travelling device is more preferably: the second motor is one and is connected with the lower wire pressing wheel.
The above-described line travelling device is more preferably: the second motor is a plurality of, every the second motor all connects one the fabric wheel down.
The above-described line travelling device is more preferably: the lifting device is connected with the upper wire pressing wheel and/or the upper wire pressing wheel and used for driving the upper wire pressing wheel and/or the lower wire pressing wheel to lift so as to adjust the spaced upper and lower distances.
The above-described line travelling device is more preferably: the trolley body is provided with a guide groove for providing motion guide for the lifting of the upper wire pressing wheel and/or the lower wire pressing wheel.
The above-described line travelling device is more preferably: the lifting device is any one of a hydraulic cylinder, an electric push rod and an air cylinder.
The above-described line travelling device is more preferably: the guide grooves are linear and are arranged in plurality, and the guide grooves are arranged in parallel; the lifting device is fixedly connected with the trolley body, is connected with the upper wire pressing wheel and/or the lower wire pressing wheel and is used for driving the upper wire pressing wheel and/or the lower wire pressing wheel to lift.
The above-described line travelling device is more preferably: the guide groove is arc-shaped; one end of the lifting device is hinged with the trolley body, and the other end of the lifting device is connected with the upper wire pressing wheel and/or the lower wire pressing wheel and is used for driving the upper wire pressing wheel and/or the lower wire pressing wheel to lift.
The above-described line travelling device is more preferably: the vehicle body is provided with a battery module, a main control module, a communication module, a distance sensor and a control button; the vehicle body is L-shaped and comprises a longitudinal chassis and a transverse chassis; the line pressing wheel set and the auxiliary wheel set are positioned on the side wall of the longitudinal case and above the transverse case; the wire clamping device is positioned above the transverse case and outside the wire pressing wheel set, and the wire clamping device is respectively connected with the transverse case and the longitudinal case; the battery module is arranged in the transverse case and used for supplying power, and the battery module is an aluminum battery; the main control module is arranged in the transverse case and used for providing operation control; the communication module is arranged on the vehicle body, is connected with the main control module and is used for remote control communication; the distance sensor is connected with the main control module and used for detecting the walking distance; the control button comprises a power switch and a lifting switch, and the power switch is connected with the battery module and used for controlling the power supply of the battery module; the lifting switch comprises an upper key, a lower key and a stop key and is used for controlling the lifting and the stop of the lifting device.
The above-described line travelling device is more preferably: the vehicle body is characterized by further comprising a handle, wherein the handle is arranged on the top of the vehicle body and used for providing a holding position.
The above-described line travelling device is more preferably: along the advancing direction of automobile body, be equipped with the holding tank on the handle, the holding tank is equipped with the rubber pad, the holding tank is used for holding the wire, the rubber pad is used for increasing frictional force and improves the sense of touch.
The above-described line travelling device is more preferably: the lifting ring is mounted on the vehicle body and located on the front side and the rear side of the vehicle body when the vehicle body is driven, and the lifting ring is used for externally connecting construction tools.
The above-described line travelling device is more preferably: the installation height of the hanging ring on the trolley body is lower than the height of the bottom end of the upper wire pressing wheel and higher than the height of the axis of the lower wire pressing wheel.
The above-described line travelling device is more preferably: and a tension sensor is arranged between the lifting ring and the vehicle body and used for detecting a tension value borne by the lifting ring.
Analysis can show that, compared with the prior art, the application has the advantages and beneficial effects that:
1. in this application, go up the fabric wheel and compress tightly the upper and lower both sides at the line body with fabric wheel down, fabric wheel and fabric wheel down are gone up in the cooperation of supplementary wheelset, can form spacingly in the circumference of the line body, avoid circuit running gear to take off the line, supplementary wheelset except can cooperate the fabric wheel group to avoid taking off the line, can also roll when circuit running gear walks to play certain guide effect, and reduce the walking resistance.
2. In this application, the distance between left auxiliary wheel and the right auxiliary wheel is less than the left distance of spaced, and at work, no matter what angle line running gear inclines to, the line body is pressed between last fabric wheel and the lower fabric wheel at all times, and line running gear can walk all the time, just possesses traction force. The axial width of the left auxiliary wheel and the right auxiliary wheel is greater than the vertical distance of the interval, so that the left auxiliary wheel and the right auxiliary wheel can play a role in the whole interval range.
3. The wire clamping device is arranged on the vehicle body, and can be matched with the vehicle body to form a closed frame to prevent the linear body from being separated; and secondly, the auxiliary wheel set can be provided with an installation position, so that the line walking device can be conveniently installed on the linear body.
4. In the application, a plurality of upper wire pressing wheels are positioned at the same horizontal height and are linked through an upper transmission belt; the lower wire pressing wheels are positioned at the same horizontal height and are linked through a lower transmission belt; an interval is formed between the upper transmission belt and the lower transmission belt, and when the linear body walks, the upper transmission belt is matched with the lower transmission belt to extrude the upper side and the lower side of the linear body, so that the friction force between the linear body and the upper transmission belt can be increased, and the traction force is further increased.
5. In the present application, the outer circumferential surface of the upper belt and/or the lower belt is provided with a rough layer, so that the frictional force with the linear body can be increased. The upper transmission belt and the lower transmission belt are both made of high-molecular wear-resistant materials, and cannot damage wires, ropes and the like. Bosses are arranged at two ends of the upper wire pressing wheel, and a rough surface is arranged between the two bosses, so that the upper transmission belt can be prevented from slipping; bosses are also arranged at the two ends of the lower wire pressing wheel, and a rough surface is arranged between the two bosses, so that the slipping of the lower transmission belt can be avoided. And tensioning wheels are arranged on the upper transmission belt and/or the lower transmission belt to ensure the tightness.
6. In this application, power device includes first motor and second motor, and first motor and second motor are the right angle motor, and the model is the same, conveniently arranges on the automobile body, and the fabric wheel is gone up in the first motor direct drive, and fabric wheel under the second motor direct drive can reduce power and run off.
7. In this application, still include elevating gear, elevating gear links to each other with last fabric wheel and/or last fabric wheel, can drive fabric wheel and/or fabric wheel lift down. The car body is provided with a guide groove which can provide motion guide. The guide groove can be linear or arc.
Drawings
Fig. 1 is a perspective view of the line running device of the present application.
Fig. 2 is a side view of the line running gear of the present application.
Fig. 3 is a first schematic view illustrating an open state of the wire clamping device of the line traveling device according to the present application.
Fig. 4 is a second schematic view illustrating an open state of the wire clamping device of the wire walking device according to the present application.
Fig. 5 is a schematic spatial distribution diagram of the wire pressing wheel set of the wire walking device of the present application.
Fig. 6 is a schematic view of the internal structure of the line running gear of the present application.
In the figure: 1-a vehicle body; 2-a left auxiliary wheel; 3, lower transmission belt; 4-uploading a transmission belt; 5-a handle; 6-preventing screw from being unscrewed; 7-a safety cover plate; 8-a hinge; 9-right auxiliary wheel; 10-an upper wire pressing wheel; 11-lower wire pressing wheel; 12-a tension wheel; 13-a guide groove; 14-a lifting device; 15-a second motor; 16-a first electric machine; 17-hanging ring.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected" and "connected" as used herein are intended to be broadly construed, and may include, for example, a fixed connection or a removable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
Please refer to fig. 1 to 6, wherein fig. 1 is a perspective view of the circuit running gear of the present application; FIG. 2 is a side view of the line running gear of the present application; fig. 3 is a first schematic view illustrating an open state of a wire clamping device of the wire walking device of the present application; fig. 4 is a second schematic view illustrating an open state of the wire clamping device of the wire traveling device according to the present application; fig. 5 is a schematic diagram of the spatial distribution of the line pressing wheel set of the line walking device of the present application; fig. 6 is a schematic view of the internal structure of the line running gear of the present application.
The application provides a line running gear, mainly include automobile body 1 and install power device, the line ball wheelset on 1 lateral wall of automobile body. The power device is connected with the wire pressing wheel set and provides power for the wire pressing wheel set during operation. The line ball wheelset includes wire wheel 10 and wire wheel 11 down, goes up wire wheel 10 and is located the top of wire wheel 11 down to be equipped with the interval that holds the linear body between last wire wheel 10 and wire wheel 11 down, the linear body can be for rope, wire etc. the last wire wheel 10 of wire wheel wheelset and/or wire wheel 11 can roll along the line body under power device's drive, thereby realize the walking along the line of circuit running gear. On automobile body 1, still install the auxiliary wheel group, the auxiliary wheel group is located alternate left side and/or right side to be equipped with the contained angle between the axis of auxiliary wheel group respectively and the axis of last fabric wheel 10 and the axis of fabric wheel 11 down, thereby can play the spacing effect of blockking to the interval, prevent that circuit running gear from taking off the line when the walking along the line.
In the line traveling device of the present application, the power unit drives the wire pressing wheel group, so that the upper wire pressing wheel 10 and the lower wire pressing wheel 11 can roll along the linear body, thereby realizing traveling on the linear body. When the wire-pressing wheel is in walking, the upper wire-pressing wheel 10 and the lower wire-pressing wheel 11 are tightly pressed on the upper side and the lower side of the linear body, the auxiliary wheel set is matched with the upper wire-pressing wheel 10 and the lower wire-pressing wheel 11, so that the limiting can be formed in the circumferential direction of the linear body, and the wire-pressing wheel can be prevented from being disengaged from the line walking device. Specifically, the axis of the upper wire pressing wheel 10 and the axis of the lower wire pressing wheel 11 may have a certain included angle, for example, 30 °, 45 °, 60 °, etc., when the linear body is placed in the gap, one side (left side or right side) of the linear body is closed and cannot be separated, and the other side is blocked by the auxiliary wheel set and cannot be separated. The axes of the upper wire pressing wheel 10, the lower wire pressing wheel 11 and the auxiliary wheel set form a triangular shape in the circumferential direction of the linear body, so that the wire falling can be avoided; the axis of the upper wire pressing wheel 10 and the axis of the lower wire pressing wheel 11 can also be parallel, at this time, the auxiliary wheel sets are positioned at the left side and the right side of the axis direction of the upper wire pressing wheel 10 (the lower wire pressing wheel 11), and the axis of the upper wire pressing wheel 10, the axis of the lower wire pressing wheel 11 and the axis of the auxiliary wheel sets form a quadrilateral shape in the circumferential direction of the linear body, so that wire falling can be avoided. In this application, supplementary wheelset except can cooperating the line ball wheelset and avoid the off-line, can also roll when line running gear walks to play certain guide effect, and reduce the walking resistance.
Further, in this application, the axis of the upper wire pressing wheel 10 and the axis of the lower wire pressing wheel 11 are arranged in parallel, and when the line running gear normally runs on a linear body, the axis of the upper wire pressing wheel 10 and the axis of the lower wire pressing wheel 11 are arranged horizontally, so that the stress of the upper wire pressing wheel 10 and the stress of the lower wire pressing wheel 11 are balanced. Correspondingly, the auxiliary wheel set comprises a left auxiliary wheel 2 and a right auxiliary wheel 9 which are respectively positioned at the left side and the right side of the interval, the left auxiliary wheel 2 and the right auxiliary wheel 9 are symmetrically distributed and can limit the left side and the right side of the interval, so that the upper wire pressing wheel 10 and the lower wire pressing wheel 11 are matched in the circumferential direction of the linear body to form a quadrangle, and the linear body is prevented from being separated from the interval. As the preferred scheme, the axis of the left auxiliary wheel 2 and the axis of the right auxiliary wheel 9 are arranged in parallel, and the axis of the upper wire pressing wheel 10 and the axis of the left auxiliary wheel 2 are arranged vertically, so that a rectangular frame can be formed in the circumferential direction of the linear body, the linear body can be prevented from dropping off, the linear body of the line walking device can be conveniently walked, the left auxiliary wheel 2 and/or the right auxiliary wheel 9 are stressed in a balanced manner when possibly stressed during walking, and the stress direction is perpendicular to the axes.
Further, in this application, left auxiliary wheel 2 and right auxiliary wheel 9 are two, and the one-to-one, and two left auxiliary wheels 2 are located the line ball wheelset respectively in the front and back both sides, and two right auxiliary wheels 9 are located the line ball wheelset respectively in the front and back both sides to can enlarge the enclosure range along line shape body length direction. Preferably, the number of the upper wire pressing wheel 10 and the lower wire pressing wheel 11 is two, the upper wire pressing wheel and the lower wire pressing wheel are located at four vertexes of a rectangle, the left auxiliary wheel 2 and the right auxiliary wheel 9 are located outside the wide side of the rectangle, the outer contour shapes and sizes of the left auxiliary wheel 2 and the right auxiliary wheel 9 are consistent, and interchangeability can be improved.
Further, in the present application, the distance between the left auxiliary wheel 2 and the right auxiliary wheel 9 is smaller than the left-right distance of the interval, so that when the linear body travels, the left auxiliary wheel 2 and the right auxiliary wheel 9 can achieve better constraint on the lateral deviation of the linear body, and when the linear body operates, no matter what angle the linear body is inclined, the linear body is always pressed between the upper wire pressing wheel 10 and the lower wire pressing wheel 11, and the linear body can travel all the time and has traction force. The axial height of the left and right auxiliary wheels 2, 9 is greater than the vertical distance of the gap, so that the left and right auxiliary wheels 2, 9 can function throughout the gap.
In this application, line ball wheelset, supplementary wheelset are mutually supported, can avoid the linear body to break away from, however has also introduced a new problem, and line ball wheelset and supplementary wheelset are packed into the linear body in the interval when fixed mounting and have certain degree of difficulty, inconvenient operation, for the ease of installation can only penetrate the linear body from one end sometimes. In order to simplify the installation of the linear body, the wire clamping device is arranged on the vehicle body 1, and firstly, the wire clamping device can be matched with the vehicle body 1 to form a closed frame to prevent the linear body from being separated; and secondly, an installation position can be provided for the auxiliary wheel set. Specifically, the wire clamping device comprises a safety cover plate 7, a hinge 8 and an anti-unscrewing screw 6. One end of the hinge 8 is connected with the bottom of the safety cover plate 7, and the other end of the hinge is connected with the vehicle body 1, so that the safety cover plate 7 is hinged with the vehicle body 1. The anti-unscrewing screw 6 is mounted on the vehicle body 1, specifically located on the handle 5 at the top of the vehicle body 1, and can be clamped with the anti-unscrewing groove on the safety cover plate 7, so that the safety cover plate 7 is conveniently unlocked or locked, and the anti-unscrewing screw 6 can be made by welding a strip-shaped plate at one end of a stud. The left auxiliary wheel 2 is installed on the vehicle body 1, the right auxiliary wheel 9 is installed on the side wall of the safety cover plate 7 close to the space and can swing along with the opening of the safety cover plate 7, when the safety cover plate 7 is opened, the left auxiliary wheel 2, the upper wire pressing wheel 10 and the lower wire pressing wheel 11 form an Contraband type, so that a gap for loading a linear body can be formed, and the circuit walking device can be conveniently installed on the linear body.
One of the purposes of the application is to avoid the line falling off when the line walking device walks along the line-shaped body; the second purpose is to improve the friction force between the line walking device and the linear body, so that the line walking device has certain traction force, can drag objects, and completes operations such as high-altitude rescue, wiring and the like. For example, in the construction work such as line replacement of a high-voltage line, manual galloping work is sometimes required, when two towers are far away from each other, the sag of the high-voltage line becomes large, and when workers walk to the lowest point, the workers sometimes hardly overcome the gradient to continue walking and need external force to drag to perform rescue.
In order to increase the traction, in the present application, there are a plurality of, preferably two, upper creasing wheels 10, the two upper creasing wheels 10 being located at the same level and being linked by an upper transmission belt 4; the number of the lower wire pressing wheels 11 is multiple, preferably two, and the two lower wire pressing wheels 11 are positioned at the same horizontal height and are linked through the lower transmission belt 3; the outer contour shapes and sizes of the upper wire pressing wheel 10 and the lower wire pressing wheel 11 are consistent. An interval is formed between the upper transmission belt 4 and the lower transmission belt 3, and when the linear body walks, the upper transmission belt 4 is matched with the lower transmission belt 3 to extrude the upper side and the lower side of the linear body, so that the friction force between the linear body and the linear body can be increased, and the traction force is further increased.
Further, in the present application, the outer circumferential surface of the upper belt 4 and/or the lower belt 3 is provided with a rough layer, so that the frictional force with the linear body can be increased. Specifically, the rough layer can be a frosted surface, namely, the smoothness of the peripheral surface is reduced, and the friction force is improved; the rough layer can be a groove, namely the grooves for accommodating the linear bodies are formed in the upper transmission belt 4 and the lower transmission belt 3 along the length direction of the linear bodies, so that the contact area between the linear bodies can be increased, and the friction force is improved; the rough layer can also be a protrusion, for example, a plurality of linear protrusions distributed in an array are arranged in parallel to the axial direction of the upper wire pressing wheel 10, so that the friction force can be increased. In the rough layer arrangement, the rough layer may be provided only on the upper belt 4, only on the lower belt 3, or both the upper belt 4 and the lower belt 3. As an optimal solution, in this application, the upper transmission belt 4 and the lower transmission belt 3 are both made of high molecular wear-resistant material, such as rubber, and do not cause damage to wires, ropes, etc., and the upper transmission belt 4 and the lower transmission belt 3 are both provided with rough layers. The upper belt 4 is roughened on the surface in contact with the upper wire wheel 10, and the lower belt 3 is also roughened on the surface in contact with the lower wire wheel 11.
Further, in the application, along the axis direction, bosses are arranged at two ends of the upper wire pressing wheel 10 along the axis direction of the upper wire pressing wheel 10, along the circumferential direction of the upper wire pressing wheel 10, the height of the boss does not exceed the thickness of the upper transmission belt 4, the side surfaces of the bosses are in running fit with the upper transmission belt, the upper transmission belt 4 can be prevented from being separated from the upper wire pressing wheel 10, and a rough surface is arranged between the two bosses, so that the upper transmission belt 4 can be prevented from slipping; the both ends of fabric wheel 11 also are equipped with the boss down, along the circumference of fabric wheel 11 down, the protruding height of boss is no longer than the thickness of underdrive belt 3, can avoid the underdrive belt 3 to break away from on by fabric wheel 11 down, is the rough surface between two bosss, can avoid the underdrive belt 3 to skid. To ensure the transmission efficiency and avoid slip failure, the upper belt 4 and/or the lower belt 3 may be provided with a tensioner 12 to ensure the tension.
In the lifting of the traction force, firstly, the slipping failure is avoided, and secondly, the power value is lifted on the premise of no slipping failure.
In the power device configuration of this application, can drive one or more last fabric wheels 10 alone, drive one or more lower fabric wheels 11 alone, also can drive one and go up fabric wheels 10 and one fabric wheels 11 down simultaneously, drive a plurality of last fabric wheels 10 and fabric wheels 11 down simultaneously. Specifically, the power device comprises a first motor 16, the first motor 16 is arranged on the vehicle body 1, the upper wire pressing wheel 10 is arranged on the first motor 16, and one first motor 16 can be connected with one upper wire pressing wheel 10; the number of the first motors 16 can also be multiple, and each first motor 16 is connected with one upper wire pressing wheel 10 so as to improve the traction force. Further, the power device also comprises a second motor 15, the second motor 15 is arranged on the vehicle body 1, the lower wire pressing wheel 11 is arranged on the second motor 15, and one second motor 15 can be connected with one lower wire pressing wheel 11; the number of the second motors 15 may be plural, and each second motor 15 is connected to one lower wire pressing wheel 11, thereby maximizing the traction input. As a preferred embodiment, in this application, first motor 16 and second motor 15 are right angle motors, and the model is the same, conveniently arranges on automobile body 1, and first motor 16 directly drives last fabric wheel 10, and second motor 15 directly drives lower fabric wheel 11, can reduce power loss.
In order to further expand the use function of the line travelling device and facilitate the adjustment of the spaced vertical distance and the pressure on the linear body according to different line diameters of the linear body, the lifting device 14 is further included in the application, and the lifting device 14 is connected with the upper wire pressing wheel 10 and/or the lower wire pressing wheel 11 and is used for driving the upper wire pressing wheel 10 and/or the lower wire pressing wheel 11 to lift. Specifically, the lifting device 14 may only drive the upper wire pressing wheel 10 to lift or the lifting device 14 may only drive the lower wire pressing wheel 11 to lift, and the lifting device 14 may also drive the upper wire pressing wheel 10 and the lower wire pressing wheel 11 to lift simultaneously. Preferably, in the present application, the lifting device 14 is designed to lift only the lower wire guide 11, and the upper wire guide 10 serves as a main force bearing member during traveling, so that the position thereof does not change, and the structural strength can be ensured.
In the scheme that the lifting device 14 drives the lower wire pressing wheel 11 to lift, the vehicle body 1 is provided with a guide groove 13 which can provide motion guide for the lifting of the lower wire pressing wheel 11. The lifting device 14 can be any one of a hydraulic cylinder, an electric push rod and an air cylinder, the lower wire pressing wheel 11 is pushed to change the position, and the lifting device 14 can be self-locked, so that the anchoring of the line walking device is realized. The lifting device 14 can be one and is simultaneously connected with a plurality of lower wire pressing wheels 11 for synchronous pushing; the number of the lifting devices 14 may be plural, and the lifting devices correspond to the plurality of lower wire pressing wheels 11 one by one. Be equipped with pressure sensor on the fabric wheel 11 down, can detect the pressure that fabric wheel 11 received down, avoid crushing wire, rope etc.. Of course, in other embodiments of the present application, the lifting device 14 can also optionally lift the upper wire guide wheel 10, and the guide groove 13 provides guidance for the upper wire guide wheel 10.
In the selection of the lifting track of the lower wire pressing wheel 11, the application has two different schemes.
In the first scheme, a plurality of guide grooves 13 are arranged in a linear manner, each guide groove 13 corresponds to one lower wire pressing wheel 11, and the guide grooves 13 are arranged in parallel; the lifting device 14 is fixedly connected with the vehicle body 1 and connected with the lower wire pressing wheel 11, and can drive the lower wire pressing wheel 11 to linearly lift along the guide groove 13. For example, the lifting devices 14 are linear motors, and the number of the lifting devices is the same as that of the lower wire pressing wheels 11, and the lifting devices cooperate with the lower wire pressing wheels 11 to drive the lower wire pressing wheels 11 to lift synchronously. When the lifting device is lifted along a straight line, the distance between the adjacent lower wire pressing wheels 11 is not changed.
In the second scheme, in the application, the guide groove 13 is in an arc shape; one end of the lifting device 14 is hinged with the vehicle body 1, and the other end is provided with the lower wire pressing wheel 11, so that the lower wire pressing wheel 11 can be driven to lift. For example, the lifting devices 14 are hydraulic cylinders, the number of which is the same as that of the lower wire pressing wheels 11, and the lifting devices correspond to one another, and when the hydraulic cylinders extend and retract, one ends of the lifting devices which are hinged to the vehicle body 1 rotate, and the ends of the lifting devices which are provided with the lower wire pressing wheels 11 lift along the arc-shaped guide grooves 13. Compared with the linear type, the circular-arc lifting track has a buffer, so that the lifting device 14 can be prevented from being clamped. When the lower belt is lifted up and down along the arc-shaped guide groove 13, the distance between the adjacent lower wire pressing wheels 11 is changed, and correspondingly, the lower transmission belt 3 has elasticity and is tensioned by the tensioning wheels 12, and the number of the tensioning wheels 12 is preferably two.
In this application, be equipped with battery module, host system, communication module, distance sensor and control button on the automobile body 1. Specifically, the vehicle body 1 is L-shaped and includes a longitudinal chassis and a lateral chassis. The vehicle body 1 is made of a steel plate of 3mm or more in order to secure mechanical strength. The line pressing wheel set and the auxiliary wheel set are positioned on the side wall of the longitudinal case and above the transverse case; the power device and the lifting device 14 are both arranged in the vertical case. The wire clamping device is positioned above the horizontal case and outside the wire pressing wheel set and is respectively connected with the horizontal case and the vertical case. The battery module is installed in horizontal quick-witted incasement, can be for power device, elevating gear 14 power supplies, and the battery module is preferred to be aluminium battery, has high storage energy density, long service life, advantage such as the rate of discharging certainly is low, can satisfy long-time operation and light requirement. The main control module is arranged in the transverse case, is respectively connected with the lifting device 14 and the power device and can provide operation control. As an implementable scheme, the main control module can adopt a single chip microcomputer with the model number of STM32F103VET 6. The communication module is arranged on the vehicle body 1, is connected with the main control module and can be in signal connection with a remote control terminal, so that remote control communication is facilitated during use; the distance sensor is connected with the main control module and can detect the traveling distance of the circuit traveling device; the control button comprises a power switch and a lifting switch, the power switch is connected with the battery module and can control the on-off of the power supply of the battery module; the lifting switch comprises an upper key, a lower key and a stop key, when the upper key is pressed, the lifting device 14 drives the lower wire pressing wheel 11 to ascend, when the lower key is pressed, the lifting device 14 drives the lower wire pressing wheel 11 to descend, and when the stop key is pressed, the lifting device 14 stops acting. Alternatively, in the present application, the distance sensor may be an optical distance sensor, for example using laser ranging.
In the present application, the handle 5 is further included, and the handle 5 is mounted on the top of the vehicle body 1, so that a user can provide a position for lifting the vehicle body 1, and the vehicle body 1 is convenient to carry. Preferably, in the present application, the handle 5 is u-shaped, the middle is a receiving groove, and the handle 5 includes a handle function and a wire fastening function. Specifically, along automobile body 1's direction of travel, be equipped with the holding tank on handle 5, the holding tank is equipped with the rubber pad, can increase frictional force and improve the sense of touch. When a user lifts, fingers are put on the rubber pad, the hand feeling is comfortable, and the friction force is increased; the holding tank can also be used for holding the wire, fastens the wire in the holding tank, and the person of facilitating the use carries simultaneously and draws circuit and automobile body 1, and the rubber pad also can play the effect of increase friction power this moment, prevents that the circuit from dropping.
In this application, still include rings 17, rings 17 install on automobile body 1, lie in automobile body 1's front and back both sides when automobile body 1 drives a vehicle, can provide external position for automobile body 1, make things convenient for external construction work instrument. Preferably, in the present application, the installation height of the suspension ring 17 on the vehicle body 1 is lower than the height of the bottom end of the upper wire guide wheel 10 and higher than the height of the axis of the lower wire guide wheel 11, so that the vehicle body 1 can be prevented from turning over due to tension when a construction tool is pulled and a constructor is rescued. A tension sensor is arranged between the hanging ring 17 and the vehicle body 1, and can detect the tension value borne by the hanging ring 17.
As shown in fig. 1 to 6, the following describes the working process of the present application in detail:
when the line walking device is used for transferring tools and instruments of a line worker, the line walking device is conveyed to a tower at one end of a working line by an overhead worker after the battery module is fully charged. And turning on a power switch, pressing a lower key of the lifting switch, and adjusting the upper width and the lower width of the interval between the upper transmission belt 4 and the lower transmission belt 3 to be larger than the diameter of the lead. And opening a safety cover plate 7 of the wire clamping device, hanging the line walking device on a lead, positioning the lead in the interval, and closing the safety cover plate 7. The upper key of the lifting switch is pressed, and the upper transmission belt 4 and the lower transmission belt 3 clamp the conducting wire and then the circuit walking device can be loosened by the hands of the worker. The object to be transported is placed on the hanging ring 17, and the worker can walk by using the remote control line walking device until reaching the designated position.
To sum up, compare with prior art, the advantage and the beneficial effect of this application lie in:
1. in this application, go up fabric wheel 10 and lower fabric wheel 11 and compress tightly the upper and lower both sides at the line body, fabric wheel 10 and lower fabric wheel 11 in the cooperation of supplementary wheelset can form spacingly in the circumference of the line body, avoids circuit running gear to take off the line, and supplementary wheelset except can cooperate the fabric wheel group to avoid taking off the line, can also roll when circuit running gear walks to play certain guide effect, and reduce the walking resistance.
2. In the present application, the distance between the left auxiliary wheel 2 and the right auxiliary wheel 9 is smaller than the left-right distance at the interval, and when the line traveling device is operated, no matter what angle the line traveling device is inclined, the linear body is always pressed between the upper wire pressing wheel 10 and the lower wire pressing wheel 11, and the line traveling device can travel all the time and has traction force. The axial width of the left and right auxiliary wheels 2, 9 is greater than the vertical distance of the gap, so that the left and right auxiliary wheels 2, 9 can function throughout the entire gap.
3. The wire clamping device is arranged on the vehicle body 1, and can be matched with the vehicle body 1 to enclose a closed frame to prevent the linear body from separating; and secondly, the auxiliary wheel set can be provided with an installation position, so that the line walking device can be conveniently installed on the linear body.
4. In the present application, the plurality of upper creasing rollers 10 are located at the same level and are linked by the upper transmission belt 4; the lower wire pressing wheels 11 are positioned at the same horizontal height and are linked through the lower transmission belt 3; an interval is formed between the upper transmission belt 4 and the lower transmission belt 3, and when the linear body walks, the upper transmission belt 4 is matched with the lower transmission belt 3 to extrude the upper side and the lower side of the linear body, so that the friction force between the linear body and the linear body can be increased, and the traction force is further increased.
5. In the present application, the outer circumferential surface of the upper belt 4 and/or the lower belt 3 is provided with a rough layer, which can increase the frictional force with the linear body. The upper transmission belt 4 and the lower transmission belt 3 are both made of high-molecular wear-resistant materials, and cannot damage wires, ropes and the like. Bosses are arranged at two ends of the upper wire pressing wheel 10, and a rough surface is arranged between the two bosses, so that the upper transmission belt 4 can be prevented from slipping; bosses are also arranged at the two ends of the lower wire pressing wheel 11, and a rough surface is arranged between the two bosses, so that the lower driving belt 3 can be prevented from slipping. Tensioning wheels 12 are provided on the upper belt 4 and/or the lower belt 3 to ensure the tightness.
6. In this application, power device includes first motor 16 and second motor 15, and first motor 16 and second motor 15 are the right angle motor, and the model is the same, conveniently arranges on automobile body 1, and creasing wheel 10 on the first motor 16 direct drive, creasing wheel 11 under the second motor 15 direct drive can reduce power and run off.
7. In the application, the lifting device 14 is further included, and the lifting device 14 is connected with the upper wire pressing wheel 10 and/or the upper wire pressing wheel 10 and can drive the upper wire pressing wheel 10 and/or the lower wire pressing wheel 11 to lift. The vehicle body 1 is provided with a guide groove 13 which can provide motion guidance. The guide groove 13 may be linear or arc.
It will be appreciated by those of ordinary skill in the art that the present application can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes that come within the scope of or equivalence to the scope of this application are intended to be embraced therein.
Claims (10)
1. A line walking device, comprising:
the device comprises a vehicle body, and a power device, a line pressing wheel set and an auxiliary wheel set which are arranged on the side wall of the vehicle body;
the power device is connected with the wire pressing wheel set and used for providing power;
the wire pressing wheel set comprises an upper wire pressing wheel and a lower wire pressing wheel, the upper wire pressing wheel is positioned above the lower wire pressing wheel, an interval for accommodating a linear body is arranged between the upper wire pressing wheel and the lower wire pressing wheel, and the wire pressing wheel set is used for rolling along the linear body under the driving of the power device;
the auxiliary wheel set is located on the left side and/or the right side of the interval, and included angles are arranged between the axis of the auxiliary wheel set and the axis of the upper wire pressing wheel and the axis of the lower wire pressing wheel respectively and used for limiting the interval.
2. The line walking apparatus of claim 1, wherein:
the auxiliary wheel set comprises a left auxiliary wheel and a right auxiliary wheel which are respectively positioned at the left side and the right side of the space, and the left auxiliary wheel and the right auxiliary wheel are symmetrically distributed and used for limiting the left side and the right side of the space;
the axis of the upper wire pressing wheel and the axis of the lower wire pressing wheel are arranged in parallel, the axis of the left auxiliary wheel and the axis of the right auxiliary wheel are arranged in parallel, and the axis of the upper wire pressing wheel and the axis of the left auxiliary wheel are arranged perpendicularly.
3. The line walking apparatus of claim 2, wherein:
the two left auxiliary wheels and the two right auxiliary wheels are respectively positioned at the front side and the rear side of the line pressing wheel group, and the two right auxiliary wheels are respectively positioned at the front side and the rear side of the line pressing wheel group;
the outer contour shapes and sizes of the left auxiliary wheel and the right auxiliary wheel are consistent; the distance between the left auxiliary wheel and the right auxiliary wheel is less than the left-right distance of the gap;
the axial width of the left auxiliary wheel and the right auxiliary wheel is larger than the upper and lower distance of the interval.
4. The line walking apparatus of claim 2, wherein:
the wire clamping device is mounted on the vehicle body and used for being matched with the vehicle body to enclose a closed frame to prevent the linear body from being separated;
the wire clamping device comprises a safety cover plate, a hinge and an anti-unscrewing screw;
one end of the hinge is connected with the bottom of the safety cover plate, and the other end of the hinge is connected with the vehicle body;
the anti-opening screw is arranged on the vehicle body and is used for being clamped with the anti-opening clamping groove on the safety cover plate;
the left auxiliary wheel is installed on the vehicle body, and the right auxiliary wheel is installed on the side wall, close to the space, of the safety cover plate.
5. The line walking apparatus of claim 1, wherein:
the upper wire pressing wheels are arranged at the same horizontal height and are linked through an upper transmission belt;
the lower wire pressing wheels are arranged at the same horizontal height and are linked through a lower transmission belt;
the outer contour shapes and sizes of the upper wire pressing wheel and the lower wire pressing wheel are consistent; bosses are arranged at two ends of the upper wire pressing wheel along the axial direction of the upper wire pressing wheel, a rough surface is arranged between the two bosses, and the bosses are in running fit with the upper transmission belt;
the upper drive belt and the lower drive belt form the gap therebetween;
the outer peripheral surface of the upper transmission belt and/or the lower transmission belt is/are provided with a rough layer for increasing the friction force;
the rough layer is any one or combination of a groove, a bulge and a frosted surface; a tension wheel is arranged on the upper transmission belt and/or the lower transmission belt;
and a pressure sensor is arranged on the lower wire pressing wheel.
6. The line walking apparatus of claim 5, wherein:
the power device comprises a first motor, the first motor is arranged on the vehicle body, and the upper wire pressing wheel is arranged on the first motor;
the first motor is connected with the upper wire pressing wheel; or the number of the first motors is multiple, and each first motor is connected with one upper wire pressing wheel;
the power device also comprises a second motor, the second motor is arranged on the vehicle body, and the lower wire pressing wheel is arranged on the second motor;
the second motor is connected with the lower wire pressing wheel; or the second motors are multiple, and each second motor is connected with one lower wire pressing wheel.
7. The line walking apparatus of claim 4, wherein:
the lifting device is connected with the upper wire pressing wheel and/or the upper wire pressing wheel and is used for driving the upper wire pressing wheel and/or the lower wire pressing wheel to lift so as to adjust the spaced vertical distance;
the trolley body is provided with a guide groove for providing motion guide for the lifting of the upper wire pressing wheel and/or the lower wire pressing wheel;
the lifting device is any one of a hydraulic cylinder, an electric push rod and an air cylinder.
8. The line walking apparatus of claim 7, wherein:
the guide grooves are linear and are arranged in plurality, and the guide grooves are arranged in parallel;
the lifting device is fixedly connected with the trolley body, is connected with the upper wire pressing wheel and/or the lower wire pressing wheel and is used for driving the upper wire pressing wheel and/or the lower wire pressing wheel to lift; and/or
The guide groove is arc-shaped;
one end of the lifting device is hinged with the trolley body, and the other end of the lifting device is connected with the upper wire pressing wheel and/or the lower wire pressing wheel and is used for driving the upper wire pressing wheel and/or the lower wire pressing wheel to lift.
9. The line walking apparatus of claim 7, wherein:
the vehicle body is provided with a battery module, a main control module, a communication module, a distance sensor and a control button;
the vehicle body is L-shaped and comprises a longitudinal chassis and a transverse chassis;
the line pressing wheel set and the auxiliary wheel set are positioned on the side wall of the longitudinal case and above the transverse case;
the wire clamping device is positioned above the transverse case and outside the wire pressing wheel set, and the wire clamping device is respectively connected with the transverse case and the longitudinal case;
the battery module is arranged in the transverse case and used for supplying power, and the battery module is an aluminum battery;
the main control module is arranged in the transverse case and used for providing operation control;
the communication module is connected with the main control module and is used for remote control communication;
the distance sensor is connected with the main control module and used for detecting the walking distance;
the control button comprises a power switch and a lifting switch, and the power switch is connected with the battery module and used for controlling the power supply of the battery module; the lifting switch comprises an upper key, a lower key and a stop key and is used for controlling the lifting and the stop of the lifting device.
10. The line walking apparatus of claim 1, wherein:
also comprises a handle and a hanging ring;
the handle is arranged on the top of the vehicle body and used for providing a holding position;
the handle is provided with a containing groove along the advancing direction of the vehicle body, the containing groove is provided with a rubber pad and is used for containing a conducting wire, and the rubber pad is used for increasing friction force and improving touch feeling;
the lifting rings are arranged on the vehicle body, are positioned on the front side and the rear side of the vehicle body when the vehicle body is driven, and are used for being externally connected with a construction operation tool;
the installation height of the hanging ring on the trolley body is lower than the height of the bottom end of the upper wire pressing wheel and higher than the height of the axis of the lower wire pressing wheel;
and a tension sensor is arranged between the lifting ring and the vehicle body and used for detecting a tension value borne by the lifting ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111057794.1A CN113612159A (en) | 2021-09-09 | 2021-09-09 | Circuit walking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111057794.1A CN113612159A (en) | 2021-09-09 | 2021-09-09 | Circuit walking device |
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| CN113612159A true CN113612159A (en) | 2021-11-05 |
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| CN202111057794.1A Pending CN113612159A (en) | 2021-09-09 | 2021-09-09 | Circuit walking device |
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Cited By (1)
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| CN114458909A (en) * | 2022-01-06 | 2022-05-10 | 新昌县新明实业有限公司 | Cable trench inspection system based on cable channel robot |
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