CN205489277U - Polling robot - Google Patents
Polling robot Download PDFInfo
- Publication number
- CN205489277U CN205489277U CN201620227917.XU CN201620227917U CN205489277U CN 205489277 U CN205489277 U CN 205489277U CN 201620227917 U CN201620227917 U CN 201620227917U CN 205489277 U CN205489277 U CN 205489277U
- Authority
- CN
- China
- Prior art keywords
- control equipment
- transmission line
- walking
- equipment case
- crusing robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model relates to a polling robot, include: the flight control equipment case is the hollow shell structure, flight mechanism is including rotatable rotor, running gear, including linking bridge and walking supporting wheel, linking bridge connects the case in flight control equipment, and the walking supporting wheel rotationally sets up on linking bridge, guide mechanism, including guide rod, the one end that guide rod connects the flight control equipment case corresponds with the walking supporting wheel, and guide rod draws the guide passage footpath with common formation of linking bridge, and transmission line can follow and draw guide passage footpath relative slip. Above -mentioned polling robot, flight mechanism make it fly to the transmission line top, then guide mechanism and transmission line contact to make transmission line along drawing guide passage footpath and the coincidence of walking supporting wheel. Later, polling robot can follow the transmission line removal in order to overhaul transmission line. So, need not to serve transmission line through the manpower with polling robot, saved the human cost and avoided the potential safety hazard.
Description
Technical field
This utility model relates to ultra-high-tension power transmission line detection device field, particularly relates to a kind of crusing robot.
Background technology
Ultra-high-tension power transmission line is the tremulous pulse of power system, its development being directly connected to national economy and people group
Many orthobiosis, therefore its safe operation is increasingly paid attention to by departments at different levels.Overhead transmission line is not
Only to bear the internal pressure of intrinsic mechanical load and electric load, and also suffer the various of natural environment
External aggression, such as: burn into filth, thunderbolt, high wind, flood, landslide, depression, earthquake and bird pest etc.
And artificial destruction.Accumulating over a long period over time, certainly will make overhead transmission line various problem occur, as led
Line breaks that stock, lightning conducter fracture, shaft tower tilt, insulator flicker, gold utensil come off, hang kite on circuit or
Woven bag, line ice coating etc..Therefore, in order to ensure transmission line of electricity safe and stable operation, need power transmission line
Road carries out careful inspection to prevent fortuitous event from occurring.
And it is desirable to the robot being used for wireline inspection to be served by manpower wire or the ground patrolling and examining circuit
On line, upper and lower tower is very inconvenient, and not only patrol officer's physical demands is big, and efficiency is low, poor reliability,
Especially at the circuit of charging operation, the personal safety of operating personnel can be by the biggest threat.
Utility model content
Based on this, it is necessary to be difficult to serve the problem patrolling and examining circuit for the robot for wireline inspection, carry
For a kind of crusing robot and method for inspecting thereof that can quickly arrive at transmission line of electricity target location.
A kind of crusing robot, is used for patrolling and examining transmission line of electricity, including:
Flying control equipment case, in hollow housing structure；
Aviation mechanism, is connected to described flying control equipment case, including rotating rotor；
Walking mechanism, is connected to described flying control equipment case, supports wheel, described company including connecting support with walking
Connecing support and be connected to described flying control equipment case, described walking supports wheel and is rotatablely arranged at described connection support
On；
Guide mechanism, be connected to described flying control equipment case, including guiding bar, fly described in the connection of described guiding bar
It is corresponding that one end of control equipment box supports wheel with described walking, and described guiding bar is collectively forming with the described support that is connected
Path of navigation, described transmission line of electricity can slide relatively along described path of navigation.
Above-mentioned crusing robot, aviation mechanism makes it fly above transmission line of electricity, then guides mechanism with defeated
Electric line contacts, and makes transmission line of electricity keep contacting and relatively sliding with guiding bar and connection support, so that
Transmission line of electricity supports wheel along path of navigation with walking and overlaps.Afterwards, crusing robot can move along transmission line of electricity
So that transmission line of electricity is overhauled.So, it is not necessary to by manpower, crusing robot is served transmission line of electricity, tool
There is higher work efficiency, save human cost and avoid potential safety hazard.
Wherein in an embodiment, described crusing robot also includes control system, described control system bag
Include image acquiring device, sensing device and the control module being connected with described image acquiring device, sensing device,
Described image acquiring device is located at described flying control equipment case sidewall, described sensing device and described control module position
In described flying control equipment case.
Wherein in an embodiment, described connection support includes connecting cross bar and being connected montant, described connection
Montant one end is connected to described flying control equipment case, and the other end is provided with described connection cross bar；Described walking supports wheel
It is positioned on described connection cross bar.
Wherein in an embodiment, the central shaft bearing of trend that described walking supports wheel is connected montant with described
Bearing of trend is vertical, and described walking supports wheel and is circumferentially with can the walking of transmission line of electricity described in clamping prop up along outer rim
Support race.
Wherein in an embodiment, described connection montant is two, two described connection montants parallel and
Every setting, described connection cross bar connects two described connection montants.
Wherein in an embodiment, it is two that described walking supports wheel, and two described walkings support wheel respectively
It is positioned at described connection cross bar two ends.
Wherein in an embodiment, described guiding bar includes rake and is connected to the connection of described rake
Portion, described connecting portion is fixed in described flying control equipment case, described rake from described connecting portion to away from described
Connect holder orientation to extend.
Wherein in an embodiment, described guiding bar is two, and two described guiding bar is parallel and interval sets
Putting, described guiding mechanism also includes guiding connecting rod, and the described rake of two described guiding bars is by described
Guiding connecting rod connects.
Wherein in an embodiment, described aviation mechanism includes prolonging laterally from described flying control equipment case sidewall
The rotor connecting rod stretched, described rotor is located at described rotor connecting rod and is not connected with one end of described flying control equipment case.
Wherein in an embodiment, described walking mechanism also includes driving assembly, and described driving assembly includes
Driving motor and mediation member, described driving motor is located at described connection support near described flying control equipment case
One end, described mediation member be located at described connection support connect described walking support wheel one end, described
Motor is driven to be in transmission connection with described mediation member.
Accompanying drawing explanation
Fig. 1 is the structural representation of the crusing robot of an embodiment.
Detailed description of the invention
For the ease of understanding this utility model, below with reference to relevant drawings, this utility model is carried out more comprehensively
Description.Accompanying drawing gives preferred embodiment of the present utility model.But, this utility model can be with
Many different forms realize, however it is not limited to embodiment described herein.On the contrary, provide these real
The purpose executing example is to make the understanding to disclosure of the present utility model more thorough comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, and it can be directly at another
On individual element or element placed in the middle can also be there is.When an element is considered as " connection " another yuan
Part, it can be directly to another element or may be simultaneously present centering elements.Used herein
Term " vertical ", " level ", "left", "right" and similar statement simply to illustrate that mesh
's.
Unless otherwise defined, all of technology used herein and scientific terminology with belong to of the present utility model
The implication that those skilled in the art are generally understood that is identical.Institute in description of the present utility model herein
The term used is intended merely to describe the purpose of specific embodiment, it is not intended that in limiting this utility model.
Term as used herein " and/or " include the arbitrary and all of one or more relevant Listed Items
Combination.
As it is shown in figure 1, a kind of crusing robot 100 of this preferred embodiment, it is used for patrolling and examining transmission line of electricity, bag
Include flying control equipment case 10, walking mechanism 30, aviation mechanism 20 and guide mechanism 40.
Wherein, flying control equipment case 10 is in hollow housing structure.Aviation mechanism 20 is connected to flying control equipment case 10,
Including rotor 24 rotationally.Walking mechanism 30 is connected to flying control equipment case 10, including connect support 32 with
Walking supports wheel 34, connects support 32 and is connected to flying control equipment case 10, and walking supports wheel 34 and sets rotationally
In connecting on support 32.
Guide mechanism 40 to be connected to flying control equipment case 10, guide mechanism 40 to include guiding bar 42, guide bar 42
It is corresponding that one end of connection flying control equipment case 10 supports wheel 34 with walking, and guiding bar 42 is total to being connected support 32
With forming path of navigation, transmission line of electricity can slide relatively along path of navigation.
Above-mentioned crusing robot 100, aviation mechanism 20 makes it fly above transmission line of electricity, then vectoring aircraft
Structure 40 contacts with transmission line of electricity, and makes transmission line of electricity keep contacting and phase with guiding bar 42 and connection support 32
To slip, overlap so that transmission line of electricity supports wheel 34 along path of navigation with walking.Afterwards, crusing robot
100 can move to overhaul transmission line of electricity along transmission line of electricity.So, it is not necessary to by manpower by inspection machine
People 100 serves transmission line of electricity, has higher work efficiency, saves human cost and avoids the most hidden
Suffer from.
Please continue to refer to Fig. 1, connect support 32 and include connecting cross bar 322 and being connected montant 324, connect perpendicular
Bar 324 one end is connected to flying control equipment case 10, and another section is provided with connection cross bar 322.Walking supports 34, wheel
In connecting on cross bar 322, and walking supports the central shaft bearing of trend of wheel 34 and the extension being connected montant 324
Direction is vertical.This crusing robot 100 is rolled on transmission line of electricity by walking support wheel 34 and moves.
Further, walking supports wheel 34 and is circumferentially with walking support race 342 along outer rim.So, transmission of electricity
Circuit slips into walking support wheel 34 by connecting montant 324, and walking supports race 342 can be with transmission line of electricity weight
Close, thus stably roll along transmission line of electricity, and be difficult to deviate from transmission line of electricity, so that this crusing robot
The operation of 100 has higher stability.
Bar 42 is guided to include rake 422 and be connected to the connecting portion 424 of rake 422.Connecting portion 424
Being fixed in flying control equipment case 10, rake 422 extends to away from connection support 32 direction from connecting portion 424.
The width of race 342 is supported much larger than walking owing to guiding bar 42 to have certain length and this length,
Therefore make the first contact guidance bar 42 of crusing robot 100, then slide along path of navigation, and then prop up with walking
The difficulty that support race 342 overlaps is much smaller than in crusing robot 100 flight course, and walking supports race 342
Para-position direct with transmission line of electricity so that crusing robot 100 has a higher work efficiency, and reduce right
The requirement of control system degree of accuracy, saves manufacturing cost.
In the present embodiment, the connection montant 324 connected in support 32 is two, and two connect montant 324
Parallel and interval is arranged, and connects cross bar 322 and is connected to two two ends connecting montant 324.Walking supports wheel
34 are also two, and two walkings support wheel 34 and lay respectively at the two ends connecting cross bar 322.Guide bar 42 also
Having two, two guiding bar 42 is parallel and interval is arranged, and is correspondingly arranged with being connected montant 324.
In one embodiment, two guiding bars 42 are away from connecting support 32 one end by guiding connecting rod 44 even
Connect, thus add the stability guiding mechanism 40, it is to avoid two guiding bars 42 misplace.At transmission line of electricity
During sliding along path of navigation, transmission line of electricity is parallel with guiding connecting rod 44 all the time.
In one embodiment, guide bar 42 connecting portion 424 away from rake 422 one end end face be connected
Pole near guide bar 42 side end face be generally aligned in the same plane in so that transmission line of electricity can all the time with guiding
Bar 42 or connection support 32 contact.
Aviation mechanism 20 includes the rotor connecting rod 44 extended laterally from flying control equipment case 10 sidewall, rotor
24 are located at rotor connecting rod 44 is not connected with one end of flying control equipment case 10.In the present embodiment, rotor connects
Bar 44 is four, and four rotor connecting rods 44 are around flying control equipment case 10 surrounding, the relative rotor of rotor 24
Connecting rod 44 rotates, thus drives this crusing robot 100 to fly.
Crusing robot 100 also includes that walking supports wheel drive assembly (not shown), is used for driving walking to support
Wheel 34 rotation.
Specifically, walking supports wheel drive assembly and includes driving motor and mediation member, drives motor to be located at
Connection montant 324 is near one end of flying control equipment case 10, and mediation member is located in connection cross bar 322, drives
Galvanic electricity machine is in transmission connection with mediation member.In the present embodiment, drive motor and mediation member by scratching
Property driving member is in transmission connection.Further, mediation member is driven pulley, drives motor to lead to driven pulley
Cross V belt translation to be in transmission connection.
In the present embodiment, mediation member is adopted and is made from an insulative material, and is not produced by transmission line of electricity
High-voltage electromagnetic field affects.And drive motor due to be positioned at connection montant 324 near flying control equipment case 10 side,
Therefore distant with transmission line of electricity, thus can avoid being affected by electromagnetic field, prevent metal parts from entering
Magnetization is occurred to be attracted by transmission pressure and cause this crusing robot 100 unstability after entering high-voltage electromagnetic field.Tool
Body ground, mediation member uses ceramic material to make.
Further, crusing robot 100 connect support 32 parts such as grade and connect all parts fastening
Part is all adopted and is made from an insulative material, thus preferably avoids being affected by high-voltage electromagnetic field environment, can be free
Come in and go out high-voltage electromagnetic field environment.
In one embodiment, the flight equipment case 10 of this crusing robot 100 is not provided with one end of walking mechanism
Being provided with undercarriage 60, undercarriage 60 one end connects flight equipment case 10, and the other end stretches out, thus
This crusing robot 100 is played a supporting role when being positioned at horizontal plane.
Crusing robot 100 also includes control system, and control system includes image acquiring device 52, sensing dress
The control module put and be connected with sensing device with image acquiring device 52.Image acquiring device 52 is located at and is flown
Control equipment box 10 sidewall, sensing device and control module are positioned at flying control equipment case 10.Image acquiring device
52 coordinate with sensing device, thus obtain real-time coordinates and the duty of this crusing robot 100, control
Module can control flight and the duty of this crusing robot 100, thus be automatically performed and patrol and examine work.
Sensing device includes locating module and proximity transducer.Locating module can this crusing robot of Real-time Feedback
The three-dimensional coordinate at 100 places, and this coordinates feedback to information is sent and receives device.Proximity transducer is used for
The particular location confirming transmission line of electricity is coordinated with image acquiring device 52.Wherein in an embodiment, sensing
Device also includes the sensing such as gyroscope, altimeter and measurement module, thus more accurately obtains inspection machine
The three-dimensional coordinate of people 100 and duty.
Specifically, proximity transducer and image acquiring device 52 first confirm that this crusing robot 100 is wanted
The particular location of the transmission line of electricity fallen, locating module obtains crusing robot 100 coordinate relative to the earth, and
This coordinate is sent to earth station.It is relative that earth station constantly provides transmission line of electricity by the quick processing system of image
The three-dimensional coordinate of crusing robot 100 and coordinates feedback correct information.
Control system is according to the operating attitude of rotor 24 of existing robot, the feedback of image acquiring device 52
Information and the fuse information of sensing device, constantly finely tune rotary speed and the angle of rotor 24, thus adjust
The coordinate of inspection robot 100, is slowly adjusted to inspection robot 100 guide the guiding between bar 42 even
The position that extension bar 44 is parallel with transmission line of electricity, makes guiding bar 42 contact power transmission circuit towards the one of ground simultaneously
Side.
Then, control module controls the robot angle along rake 422 inclination of guiding bar 42 on oblique
Side's slowly flight, and make transmission line of electricity keep contact guidance bar 42.According to sensing device and image acquiring device
The Real-time Feedback regulation information that 52 provide, once transmission pressure departs from guiding bar 42, and control module corrects for machine
The angle of device people's aerial mobile, and adjust the angle guiding bar 42 at any time, make transmission line of electricity continue and guide bar
42 keep contact, until transmission line of electricity slips into the end guiding bar 42, thus contact with connecting montant 324.
In the process, guide the connecting rod 44 between bar 42 parallel with aerial line all the time.
Finally, control module controls the slow vertical drop of inspection robot 100, and transmission line of electricity is along connection
Move on the connection montant 324 of frame 32, till transmission line of electricity overlaps with walking support race 342.At this moment,
Inspection robot 100 stops falling, and whole line of fall process terminates.
In the above process, image acquiring device 52 conducting transmission line always is patrolled and examined, and by information send with
Receive device transmission location image.Ground station reception is to after image information, and fast image processing module is to image
The location image of acquisition device 52 quickly processes, and is quickly calculated target transmission line of electricity by related algorithm
Relative to the coordinate of robot body, and send robot three-dimensional coordinate adjustment data, and then feed back whole flying
Row control system, controls the flight of many rotor 24 robots.
In the present embodiment, image acquiring device 52 is binocular camera.
Above-mentioned crusing robot 100, control system controls aviation mechanism 20 and works, so that this crusing robot
100 fly to transmission line of electricity, then by guiding the guiding of mechanism 40 to make the walking of crusing robot 100
Support the support race 342 of the walking on wheel 34 to overlap with transmission line of electricity, thus support wheel 34 by walking and exist
Walk on transmission line of electricity and carry out patrolling and examining and reaching target location.Owing to directly flying near transmission line of electricity,
Therefore without manpower, this crusing robot 100 served transmission line of electricity, and by guiding mechanism 40 to guide,
Improve work efficiency and be directly directed at coincidence with transmission line of electricity without making walking support race 342.Further
Ground, owing to this crusing robot 100 uses insulant manufacture, and the driving motor of walking mechanism 30 away from
Transmission line of electricity, therefore can freely come in and go out high-voltage electromagnetic field environment, it is to avoid due in this crusing robot 100
Metal parts occurs magnetization to be attracted by transmission pressure after entering high-voltage electromagnetic field, cause this crusing robot 100
Unstability, cannot the problem of the line of fall.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the most right
The all possible combination of each technical characteristic in above-described embodiment is all described, but, if these skills
There is not contradiction in the combination of art feature, is all considered to be the scope that this specification is recorded.
Embodiment described above only have expressed several embodiments of the present utility model, its describe more concrete and
In detail, but therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that, it is right
For those of ordinary skill in the art, without departing from the concept of the premise utility, it is also possible to do
Going out some deformation and improvement, these broadly fall into protection domain of the present utility model.Therefore, this utility model is special
The protection domain of profit should be as the criterion with claims.
Claims (10)
1. a crusing robot, is used for patrolling and examining transmission line of electricity, it is characterised in that including:
Flying control equipment case, in hollow housing structure；
Aviation mechanism, is connected to described flying control equipment case, including rotating rotor；
Walking mechanism, is connected to described flying control equipment case, supports wheel, described company including connecting support with walking
Connecing support and be connected to described flying control equipment case, described walking supports wheel and is rotatablely arranged at described connection support
On；
Guide mechanism, be connected to described flying control equipment case, including guiding bar, fly described in the connection of described guiding bar
It is corresponding that one end of control equipment box supports wheel with described walking, and described guiding bar is collectively forming with the described support that is connected
Path of navigation, described transmission line of electricity can slide relatively along described path of navigation.
Crusing robot the most according to claim 1, it is characterised in that described crusing robot also wraps
Including control system, described control system includes image acquiring device, sensing device and fills with described Image Acquisition
Put, control module that sensing device connects, described image acquiring device is located at described flying control equipment case sidewall,
Described sensing device and described control module are positioned at described flying control equipment case.
Crusing robot the most according to claim 1, it is characterised in that described connection support includes even
Connecing cross bar and be connected montant, described connection montant one end is connected to described flying control equipment case, and the other end is provided with institute
State connection cross bar；Described walking supports wheel and is positioned on described connection cross bar.
Crusing robot the most according to claim 3, it is characterised in that described walking supports in wheel
Mandrel bearing of trend is with described to be connected montant bearing of trend vertical, and described walking supports wheel and is circumferentially with along outer rim
The walking of transmission line of electricity described in clamping can support race.
Crusing robot the most according to claim 3, it is characterised in that described connection montant is two,
Two described connection montant is parallel and interval is arranged, and described connection cross bar connects two described connection montants.
Crusing robot the most according to claim 3, it is characterised in that it is two that described walking supports wheel
Individual, two described walkings support wheel and lay respectively at described connection cross bar two ends.
Crusing robot the most according to claim 1, it is characterised in that described guiding bar includes tilting
Portion and be connected to the connecting portion of described rake, described connecting portion is fixed in described flying control equipment case, described in incline
Tiltedly portion extends to away from described connection holder orientation from described connecting portion.
Crusing robot the most according to claim 7, it is characterised in that described guiding bar is two,
Two described guiding bar is parallel and interval is arranged, and described guiding mechanism also includes guiding connecting rod, described in two
The described rake guiding bar is connected by described guiding connecting rod.
Crusing robot the most according to claim 1, it is characterised in that described aviation mechanism includes certainly
The rotor connecting rod that described flying control equipment case sidewall extends laterally, described rotor is located at described rotor connecting rod
It is not connected with one end of described flying control equipment case.
Crusing robot the most according to claim 1, it is characterised in that described walking mechanism is also wrapped
Including driving assembly, described driving assembly includes driving motor and mediation member, and institute is located at by described driving motor
Stating connection support near one end of described flying control equipment case, described mediation member is located at described connection support even
Connecing described walking and support one end of wheel, described driving motor is in transmission connection with described mediation member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620227917.XU CN205489277U (en) | 2016-03-22 | 2016-03-22 | Polling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620227917.XU CN205489277U (en) | 2016-03-22 | 2016-03-22 | Polling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205489277U true CN205489277U (en) | 2016-08-17 |
Family
ID=56652135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620227917.XU Withdrawn - After Issue CN205489277U (en) | 2016-03-22 | 2016-03-22 | Polling robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205489277U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105633855A (en) * | 2016-03-22 | 2016-06-01 | 广州供电局有限公司 | Inspection robot and inspection method thereof |
| CN106546511A (en) * | 2016-11-25 | 2017-03-29 | 国网河南省电力公司漯河供电公司 | Transmission line of electricity sulphurated siliastic coating method for detecting hydrophobic |
| CN106915454A (en) * | 2017-03-22 | 2017-07-04 | 南京祖航航空科技有限公司 | One kind can flying robot |
| CN106920443A (en) * | 2017-04-30 | 2017-07-04 | 国网江苏省电力公司职业技能训练基地 | A kind of circuit breaking body-sensing experience system |
| CN107059611A (en) * | 2017-05-18 | 2017-08-18 | 柳州欧维姆机械股份有限公司 | Many rotor drag-line detection robots and its method detected for drag-line |
| CN108347006A (en) * | 2018-04-27 | 2018-07-31 | 广州供电局有限公司 | Upkeep operation robot |
| CN108631210A (en) * | 2018-05-17 | 2018-10-09 | 东北大学 | A kind of inspection robot for high-voltage transmission lines |
-
2016
- 2016-03-22 CN CN201620227917.XU patent/CN205489277U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105633855A (en) * | 2016-03-22 | 2016-06-01 | 广州供电局有限公司 | Inspection robot and inspection method thereof |
| CN105633855B (en) * | 2016-03-22 | 2018-04-17 | 广州供电局有限公司 | Crusing robot and its method for inspecting |
| CN106546511A (en) * | 2016-11-25 | 2017-03-29 | 国网河南省电力公司漯河供电公司 | Transmission line of electricity sulphurated siliastic coating method for detecting hydrophobic |
| CN106915454A (en) * | 2017-03-22 | 2017-07-04 | 南京祖航航空科技有限公司 | One kind can flying robot |
| CN106920443A (en) * | 2017-04-30 | 2017-07-04 | 国网江苏省电力公司职业技能训练基地 | A kind of circuit breaking body-sensing experience system |
| CN107059611A (en) * | 2017-05-18 | 2017-08-18 | 柳州欧维姆机械股份有限公司 | Many rotor drag-line detection robots and its method detected for drag-line |
| CN108347006A (en) * | 2018-04-27 | 2018-07-31 | 广州供电局有限公司 | Upkeep operation robot |
| CN108631210A (en) * | 2018-05-17 | 2018-10-09 | 东北大学 | A kind of inspection robot for high-voltage transmission lines |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160817 Effective date of abandoning: 20180417 |