CN113212583B - Climbing and inspecting robot for power transmission line pole tower - Google Patents
Climbing and inspecting robot for power transmission line pole tower Download PDFInfo
- Publication number
- CN113212583B CN113212583B CN202110547171.6A CN202110547171A CN113212583B CN 113212583 B CN113212583 B CN 113212583B CN 202110547171 A CN202110547171 A CN 202110547171A CN 113212583 B CN113212583 B CN 113212583B
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- transmission line
- power transmission
- lower mounting
- rack
- mounting frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a climbing and inspecting robot for a power transmission line tower, which comprises a lower mounting rack and an upper mounting rack, wherein the lower mounting rack and the upper mounting rack are identical in structure, the lower mounting rack and the upper mounting rack are fixedly connected through a plurality of connecting rods, and the connecting rods are of telescopic rod structures; the upper mounting frame and the lower mounting frame respectively comprise two bilaterally symmetrical racks with arc inner sides, one ends of the two racks are connected through the adjusting seat, and openings for putting in power transmission line rods are formed at the other ends of the two racks. When the patrol robot climbs, the lower mounting frame is fixed on the power transmission line rod, the connecting rod is stretched, the upper mounting frame is fixed on the power transmission line rod, the lower mounting frame is loosened, the connecting rod is shortened, the patrol robot can climb along the power transmission line rod after repeated adjustment, and the patrol robot is very convenient to use.
Description
Technical Field
The invention relates to the technical field of power transmission, in particular to a climbing inspection robot for a power transmission line tower.
Background
The power transmission must rely on high voltage transmission lines. Because the distribution points of the power transmission line are multi-faceted and wide, the terrain is complex, the natural environment is severe, the power line and the tower accessories are exposed in the field for a long time, and damages such as strand breakage, abrasion, corrosion and the like are generated due to the influence of continuous mechanical tension, electrical flashover and material aging, and the power transmission line and the tower accessories need to be repaired or replaced in time. Therefore, the power transmission line must be regularly inspected, the running condition of the power transmission line, the change condition of the surrounding environment of the line and the change condition of the line protection area are mastered and known at any time, so that hidden dangers can be timely found and eliminated, accidents are prevented, and power supply safety is ensured.
The inspection of the transmission line is to master the running condition of the line at any time, discover equipment defects and threaten the safe running condition of the line in time, determine maintenance items and provide a basis for the maintenance of the line. The power transmission line inspection work is a basic work and has a very important position in the power transmission line maintenance work. Wherein, the towers and hardware, insulators, wires and the like on the towers are the key contents of line inspection. In order to ensure the patrol effect, the tower climbing inspection needs to be carried out, and particularly after a newly-built line is put into operation for one year, the tower climbing inspection needs to be carried out for the first time.
At present, only few iron towers are provided with manned lifting equipment, the tower climbing operation of a large number of iron towers can only be completed by manpower, the labor intensity is high, the working efficiency is low, and a plurality of dangerous points such as high-altitude falling, object striking, electric shock and the like exist in the tower climbing operation. In bad weather, the danger is increased, and only the tower climbing operation can be stopped. Especially when meeting trouble tour or coping with emergency, the shortcoming of manpower tower climbing tour is more outstanding.
Therefore, aiming at the current situation, the power transmission line pole and tower climbing inspection robot needs to be developed urgently so as to overcome the defects in the current practical application.
Disclosure of Invention
The invention aims to provide a climbing and inspecting robot for a power transmission line tower, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a climbing and patrolling robot for a power transmission line tower comprises a lower mounting rack and an upper mounting rack, wherein the lower mounting rack and the upper mounting rack are identical in structure, the lower mounting rack and the upper mounting rack are fixedly connected through a plurality of connecting rods, and the connecting rods are of telescopic rod structures; the upper mounting frame and the lower mounting frame respectively comprise two bilaterally symmetrical racks with arc inner sides, one ends of the two racks are connected through an adjusting seat, and the other ends of the two racks are provided with openings for the power transmission line rods to be placed in; the clamping mechanism is arranged on the arc-shaped side of the rack and used for fixing the upper mounting frame or the lower mounting frame on the power transmission line rod, the clamping mechanism comprises an arc-shaped clamping block and a sliding plate connected with the arc-shaped clamping block, the sliding plate is slidably mounted on the inner side of the rack, a driving cavity is formed in the rack, an adjusting telescopic rod is fixedly mounted in the driving cavity, and the telescopic end of the adjusting telescopic rod is fixedly connected with the sliding plate.
As a further scheme of the invention: the arc side of arc grip block evenly is provided with a plurality of non-slip raised.
As a further scheme of the invention: adjusting screw is installed in the inside rotation of adjusting the seat, adjusting screw's left and right sides symmetry is provided with two kinds of external screw threads that revolve to opposite, adjusting seat's left and right sides symmetry slidable mounting has two connection swivel nuts, adjusting screw with connect one side threaded connection of swivel nut, connect the opposite side and the frame fixed connection of swivel nut.
As a further scheme of the invention: the outside of adjusting the seat is rotated and is installed adjust knob, adjust knob's pivot stretches into the inside of adjusting the seat, and through bevel gear group with adjusting screw transmission is connected.
As a further scheme of the invention: all sides of lower mounting bracket bottom evenly are provided with a plurality of swinging arms, the upper end of swinging arm is articulated through articulated seat and is installed under on the mounting bracket, and the lower extreme of swinging arm rotates installs the gyro wheel.
As a further scheme of the invention: the inner side of the swinging rod is connected with the lower mounting frame through a connecting spring.
As a further scheme of the invention: go up fixed mounting and have a plurality of appearance of patrolling on the mounting bracket, patrol and install detection mechanism on the appearance, detection mechanism includes camera mechanism, current-voltage detection mechanism.
As a further scheme of the invention: the rotary seat and the bottom mounting rack are arranged below the lower mounting rack, the rotary seat and the bottom mounting rack are identical to the lower mounting rack in structure, and the clamping mechanism is arranged on the bottom mounting rack.
As a further scheme of the invention: the upper part of the rotary seat is fixedly connected with the lower mounting frame, and the lower part of the rotary seat is rotatably connected with the bottom mounting frame; two arc racks are symmetrically installed on the left side and the right side of the bottom of the rotary seat, two main gears are symmetrically installed on the left side and the right side of the upper portion of the bottom installation frame in a rotating mode, and the main gears are meshed with the arc racks on the same side.
As a further scheme of the invention: and a driving motor for driving the main gear to rotate is further mounted at the bottom of the bottom mounting rack.
Compared with the prior art, the invention has the beneficial effects that: when the patrol robot climbs, the lower mounting frame is fixed on the power transmission line rod, the connecting rod is extended, the upper mounting frame is fixed on the power transmission line rod, the lower mounting frame is loosened, the connecting rod is shortened, the patrol robot climbs along the power transmission line rod by repeated adjustment, the bottom mounting frame can be fixed on the power transmission line rod in the climbing process, the lower mounting frame and the upper mounting frame are loosened, the rack and the rotary seat are driven to rotate by the main gear, and the whole patrol robot is driven to rotate.
Drawings
Fig. 1 is a schematic structural diagram of a climbing inspection robot for a power transmission line tower.
Fig. 2 is another schematic structural diagram of the climbing patrol robot for the power transmission line tower.
Fig. 3 is a schematic structural diagram of an upper mounting frame or a lower mounting frame in the power transmission line tower climbing inspection robot.
Fig. 4 is a schematic structural diagram of a clamping mechanism in the power transmission line pole and tower climbing inspection robot.
Fig. 5 is a schematic structural diagram of an embodiment 2 of the power transmission line tower climbing patrol robot.
Fig. 6 is a schematic structural diagram of a bottom mounting rack in embodiment 2 of the power transmission line tower climbing patrol robot.
In the figure: 1-lower mounting rack, 2-connecting rod, 3-upper mounting rack, 4-inspection instrument, 5-detection mechanism, 6-clamping mechanism, 7-swinging rod, 8-roller, 9-hinged seat, 10-adjusting seat, 11-adjusting knob, 12-driving cavity, 13-adjusting telescopic rod, 14-connecting threaded sleeve, 15-adjusting screw rod, 16-bevel gear set, 17-anti-skid protrusion, 18-rotating seat, 19-bottom mounting rack, 20-arc rack, 21-master gear and 22-rotating motor.
Detailed Description
The technical solution of the present patent will be further described in detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the figures, which are based on the orientations and positional relationships shown in the figures, and are used for convenience in describing the patent and for simplicity in description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Example 1
Referring to fig. 1-4, in the embodiment of the invention, the climbing and patrolling robot for the power transmission line tower comprises a lower mounting frame 1 and an upper mounting frame 3, wherein the lower mounting frame 1 and the upper mounting frame 3 have the same structure, the lower mounting frame 1 and the upper mounting frame 3 are fixedly connected through a plurality of connecting rods 2, and the connecting rods 2 are telescopic rod structures; the upper mounting frame 3 and the lower mounting frame 1 respectively comprise two bilaterally symmetrical racks with arc inner sides, one ends of the two racks are connected through an adjusting seat 10, and the other ends of the two racks are provided with openings for the power transmission line rods to be placed in; the inspection robot comprises a rack, and is characterized in that a clamping mechanism 6 used for fixing an upper mounting frame 3 or a lower mounting frame 1 on a power transmission line rod is installed on the arc-shaped side of the rack, the clamping mechanism 6 comprises an arc-shaped clamping block and a sliding plate connected with the arc-shaped clamping block, the sliding plate is slidably installed on the inner side of the rack, a driving cavity 12 is formed in the rack, an adjusting telescopic rod 13 is fixedly installed in the driving cavity 12, the telescopic end of the adjusting telescopic rod 13 is fixedly connected with the sliding plate and used for adjusting the sliding of the sliding plate, so that the arc-shaped clamping block is clamped outside the power transmission line rod, the inspection robot is fixed, the lower mounting frame 1 is fixed on the power transmission line rod when the inspection robot climbs, the upper mounting frame 3 is fixed on the power transmission line rod after the connecting rod 2 is extended, the lower mounting frame 1 is loosened, the connecting rod 2 is shortened, and the inspection robot climbs along the power transmission line rod by repeating the operations;
in the embodiment of the invention, it should be noted that the arc-shaped side of the arc-shaped clamping block is uniformly provided with a plurality of anti-skid protrusions 17, so that the arc-shaped clamping block is more stable when climbing;
further, in the embodiment of the present invention, an adjusting screw 15 is rotatably installed inside the adjusting seat 10, two kinds of external threads with opposite rotation directions are symmetrically arranged on the left and right sides of the adjusting screw 15, two connecting screw sleeves 14 are symmetrically and slidably installed on the left and right sides of the adjusting seat 10, the adjusting screw 15 is in threaded connection with one side of the connecting screw sleeve 14, the other side of the connecting screw sleeve 14 is fixedly connected with the rack, and the distance that the connecting screw sleeve 14 slides into and slides out of the adjusting seat 10 is changed by rotating the adjusting screw 15, so that the distance between the two racks is changed, and the two racks can be smoothly clamped on the power transmission line rod;
still further, in the embodiment of the present invention, an adjusting knob 11 is rotatably installed on an outer side of the adjusting seat 10, and a rotating shaft of the adjusting knob 11 extends into the adjusting seat 10 and is in transmission connection with the adjusting screw 15 through a bevel gear set 16, so as to control the adjusting screw 15 to rotate.
In another embodiment of the invention, a plurality of swing rods 7 are uniformly arranged on the periphery of the bottom of the lower mounting frame 1, the upper ends of the swing rods 7 are hinged to the lower mounting frame 1 through hinge seats 9, the lower ends of the swing rods 7 are rotatably provided with rollers 8, and the inner sides of the swing rods 7 are connected with the lower mounting frame 1 through connecting springs, so as to assist in guiding the patrol robot to climb.
In another embodiment of the present invention, a plurality of inspection instruments 4 are fixedly mounted on the upper mounting frame 3, a detection mechanism 5 is mounted on the inspection instruments 4, and the detection mechanism 5 includes a camera mechanism and a current-voltage detection mechanism, and is used for detecting the power transmission line rod.
Example 2
Referring to fig. 1-4, in the embodiment of the invention, the climbing and patrolling robot for the power transmission line tower comprises a lower mounting frame 1 and an upper mounting frame 3, wherein the lower mounting frame 1 and the upper mounting frame 3 have the same structure, the lower mounting frame 1 and the upper mounting frame 3 are fixedly connected through a plurality of connecting rods 2, and the connecting rods 2 are telescopic rod structures; the upper mounting frame 3 and the lower mounting frame 1 respectively comprise two bilaterally symmetrical racks with arc inner sides, one ends of the two racks are connected through an adjusting seat 10, and the other ends of the two racks are provided with openings for the power transmission line rods to be placed in; the inspection robot comprises a rack, and is characterized in that a clamping mechanism 6 used for fixing an upper mounting frame 3 or a lower mounting frame 1 on a power transmission line rod is installed on the arc-shaped side of the rack, the clamping mechanism 6 comprises an arc-shaped clamping block and a sliding plate connected with the arc-shaped clamping block, the sliding plate is slidably installed on the inner side of the rack, a driving cavity 12 is formed in the rack, an adjusting telescopic rod 13 is fixedly installed in the driving cavity 12, the telescopic end of the adjusting telescopic rod 13 is fixedly connected with the sliding plate and used for adjusting the sliding of the sliding plate, so that the arc-shaped clamping block is clamped outside the power transmission line rod, the inspection robot is fixed, the lower mounting frame 1 is fixed on the power transmission line rod when the inspection robot climbs, the upper mounting frame 3 is fixed on the power transmission line rod after the connecting rod 2 is extended, the lower mounting frame 1 is loosened, the connecting rod 2 is shortened, and the inspection robot climbs along the power transmission line rod by repeating the operations;
in the embodiment of the invention, it should be noted that the arc-shaped side of the arc-shaped clamping block is uniformly provided with a plurality of anti-skidding protrusions 17, so that the arc-shaped clamping block is more stable when climbing;
further, in the embodiment of the present invention, an adjusting screw 15 is rotatably installed inside the adjusting seat 10, two external threads with opposite turning directions are symmetrically arranged on the left side and the right side of the adjusting screw 15, two connecting screw sleeves 14 are symmetrically and slidably installed on the left side and the right side of the adjusting seat 10, the adjusting screw 15 is in threaded connection with one side of the connecting screw sleeve 14, the other side of the connecting screw sleeve 14 is fixedly connected with the rack, and the distance that the connecting screw sleeve 14 slides into and slides out of the adjusting seat 10 is changed by rotating the adjusting screw 15, so that the distance between the two racks is changed, and the two racks can be smoothly clamped on the power transmission line rod;
still further, in the embodiment of the present invention, an adjusting knob 11 is rotatably installed on the outer side of the adjusting seat 10, and a rotating shaft of the adjusting knob 11 extends into the adjusting seat 10 and is in transmission connection with the adjusting screw 15 through a bevel gear set 16, so as to control the adjusting screw 15 to rotate.
In another embodiment of the invention, a plurality of swing rods 7 are uniformly arranged on the periphery of the bottom of the lower mounting frame 1, the upper ends of the swing rods 7 are hinged to the lower mounting frame 1 through hinge seats 9, the lower ends of the swing rods 7 are rotatably provided with rollers 8, and the inner sides of the swing rods 7 are connected with the lower mounting frame 1 through connecting springs, so as to assist in guiding the patrol robot to climb.
In another embodiment of the present invention, a plurality of inspection instruments 4 are fixedly mounted on the upper mounting frame 3, a detection mechanism 5 is mounted on the inspection instruments 4, and the detection mechanism 5 includes a camera mechanism and a current-voltage detection mechanism, and is used for detecting the power transmission line rod.
Referring to fig. 5-6, the present embodiment is different from embodiment 1 in that:
a rotary seat 18 and a bottom mounting rack 19 are arranged below the lower mounting rack 1, the rotary seat 18 and the bottom mounting rack 19 are both identical in structure to the lower mounting rack 1, a clamping mechanism 6 is arranged on the bottom mounting rack 19, the upper part of the rotary seat 18 is fixedly connected with the lower mounting rack 1, and the lower part of the rotary seat 18 is rotatably connected with the bottom mounting rack 19; the two arc-shaped racks 20 are symmetrically arranged on the left side and the right side of the bottom of the rotary seat 18, the two main gears 21 are symmetrically and rotatably arranged on the left side and the right side of the upper portion of the bottom mounting rack 19, the main gears 21 are meshed with the arc-shaped racks 20 on the same side and are used for driving the arc-shaped racks 20 to rotate, when the inspection robot rotates, the bottom mounting rack 19 is fixed on a power transmission line rod, the lower mounting rack 1 and the upper mounting rack 3 are loosened, the racks 20 and the rotary seat 18 are driven to rotate through the main gears 21, and then the whole inspection robot is driven to rotate;
further, in the embodiment of the present invention, a driving motor for driving the main gear 21 to rotate is further installed at the bottom of the bottom mounting bracket 19.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several variations and modifications without departing from the concept of the present invention, and these should be considered as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (8)
1. A climbing and patrolling robot for a power transmission line tower comprises a lower mounting rack (1) and an upper mounting rack (3), wherein the lower mounting rack (1) and the upper mounting rack (3) are identical in structure, and the lower mounting rack (1) and the upper mounting rack (3) are fixedly connected through a plurality of connecting rods (2), and the climbing and patrolling robot is characterized in that the connecting rods (2) are of a telescopic rod structure; the upper mounting frame (3) and the lower mounting frame (1) respectively comprise two bilaterally symmetrical racks with arc inner sides, one ends of the two racks are connected through an adjusting seat (10), and openings for the power transmission line rods to be placed in are formed at the other ends of the two racks; a clamping mechanism (6) used for fixing the upper mounting frame (3) or the lower mounting frame (1) on the power transmission line rod is installed on the arc-shaped side of the rack, the clamping mechanism (6) comprises an arc-shaped clamping block and a sliding plate connected with the arc-shaped clamping block, the sliding plate is installed on the inner side of the rack in a sliding mode, a driving cavity (12) is formed in the rack, an adjusting telescopic rod (13) is fixedly installed in the driving cavity (12), and the telescopic end of the adjusting telescopic rod (13) is fixedly connected with the sliding plate; an adjusting screw (15) is rotatably mounted inside the adjusting seat (10), two types of external threads with opposite rotation directions are symmetrically arranged on the left side and the right side of the adjusting screw (15), two connecting threaded sleeves (14) are symmetrically and slidably mounted on the left side and the right side of the adjusting seat (10), the adjusting screw (15) is in threaded connection with one side of each connecting threaded sleeve (14), and the other side of each connecting threaded sleeve (14) is fixedly connected with the rack; adjust the outside of seat (10) and rotate and install adjust knob (11), the pivot of adjust knob (11) stretches into the inside of adjusting seat (10), and through bevel gear group (16) with adjusting screw (15) transmission is connected.
2. The power transmission line pole and tower climbing patrol robot according to claim 1, wherein a plurality of anti-skid protrusions (17) are uniformly arranged on the arc side of the arc-shaped clamping block.
3. The robot of patrolling in transmission line shaft tower climbing of claim 1, characterized in that, a plurality of swinging arms (7) are evenly provided with to lower mounting bracket (1) bottom week side, the upper end of swinging arm (7) is articulated to be installed on lower mounting bracket (1) through articulated seat (9), and gyro wheel (8) are installed in the rotation of the lower extreme of swinging arm (7).
4. The power transmission line pole tower climbing patrol robot according to claim 3, wherein the inner side of the swinging rod (7) is connected with the lower mounting frame (1) through a connecting spring.
5. The robot of patrolling in climbing of transmission line shaft tower of claim 1, characterized in that, fixed mounting has a plurality of appearance (4) of patrolling on last mounting bracket (3), patrol and install detection mechanism (5) on appearance (4), detection mechanism (5) include camera mechanism, current-voltage detection mechanism.
6. The power transmission line pole and tower climbing patrol robot as claimed in any one of claims 1-5, wherein a rotating seat (18) and a bottom mounting rack (19) are arranged below the lower mounting rack (1), the rotating seat (18) and the bottom mounting rack (19) are both identical in structure to the lower mounting rack (1), and the bottom mounting rack (19) is provided with a clamping mechanism (6).
7. The power transmission line tower climbing patrol robot as claimed in claim 6, wherein the upper part of the rotating seat (18) is fixedly connected with the lower mounting frame (1), and the lower part of the rotating seat (18) is rotatably connected with the bottom mounting frame (19); two arc-shaped racks (20) are symmetrically installed on the left side and the right side of the bottom of the rotary seat (18), two main gears (21) are symmetrically installed on the left side and the right side of the upper portion of the bottom installation rack (19) in a rotating mode, and the main gears (21) are meshed with the arc-shaped racks (20) on the same side.
8. The robot for climbing and patrolling on power transmission line towers as recited in claim 7, wherein a driving motor for driving the main gear (21) to rotate is further mounted at the bottom of the bottom mounting rack (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110547171.6A CN113212583B (en) | 2021-05-19 | 2021-05-19 | Climbing and inspecting robot for power transmission line pole tower |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110547171.6A CN113212583B (en) | 2021-05-19 | 2021-05-19 | Climbing and inspecting robot for power transmission line pole tower |
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| CN113212583A CN113212583A (en) | 2021-08-06 |
| CN113212583B true CN113212583B (en) | 2023-01-20 |
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| CN115864214B (en) * | 2022-11-22 | 2023-09-05 | 国网浙江省电力有限公司舟山供电公司 | Automatic wire climbing robot for cable deformation detection |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105000079A (en) * | 2015-08-06 | 2015-10-28 | 中国林业科学研究院林业新技术研究所 | Climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES2352930B2 (en) * | 2010-11-23 | 2011-07-18 | Universidad De Oviedo | ROBOTIC PLATFORM FOR POST ASCENT. |
| CN203109949U (en) * | 2013-01-12 | 2013-08-07 | 山东鲁能智能技术有限公司 | Intelligent detecting robot for connecting rod peristalsis insulator string |
| CN203109950U (en) * | 2013-01-12 | 2013-08-07 | 山东鲁能智能技术有限公司 | Peristaltic insulator chain intelligent detection robot |
| CN108340983A (en) * | 2018-02-12 | 2018-07-31 | 三峡大学 | The climbing robot and operating method safeguarded for Nuclear piping detection |
| CN108858216A (en) * | 2018-06-21 | 2018-11-23 | 长沙理工大学 | A kind of Work robot with taper roofbolt climbing function |
| CN109365406A (en) * | 2018-11-20 | 2019-02-22 | 宁波恒晨电力建设有限公司 | A kind of climbing sweeping robot for substation's support insulator |
| CN112174057A (en) * | 2020-10-27 | 2021-01-05 | 安徽山巅电力科技有限公司 | A climbing device for electric power is maintained |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105000079A (en) * | 2015-08-06 | 2015-10-28 | 中国林业科学研究院林业新技术研究所 | Climbing robot |
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