CN109622461A - Insulator clean robot - Google Patents
Insulator clean robot Download PDFInfo
- Publication number
- CN109622461A CN109622461A CN201910083098.4A CN201910083098A CN109622461A CN 109622461 A CN109622461 A CN 109622461A CN 201910083098 A CN201910083098 A CN 201910083098A CN 109622461 A CN109622461 A CN 109622461A
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- CN
- China
- Prior art keywords
- aircraft
- insulator
- transfer roller
- controller
- driving motor
- 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.)
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- 239000012212 insulator Substances 0.000 title claims abstract description 65
- 238000004140 cleaning Methods 0.000 claims abstract description 50
- 230000009193 crawling Effects 0.000 claims abstract description 12
- 238000012546 transfer Methods 0.000 claims description 59
- 238000010248 power generation Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000010408 sweeping Methods 0.000 claims description 4
- 210000005069 ears Anatomy 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 description 11
- 230000005611 electricity Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000009413 insulation Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 241001062009 Indigofera Species 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B08B1/32—
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- B08B1/12—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a kind of insulator clean robots, it includes aircraft and aircraft case, the aircraft includes controller I and clearing apparatus, rotating device, crawling device and clearing apparatus that the aircraft bottom is set gradually from front to back, and calibration sensor group, bluetooth module I, radio frequency receiver, Hall sensor and the wireless charger I connecting respectively with the controller I are additionally provided on the aircraft.Regular automatic cleaning insulator may be implemented in the present invention.
Description
Technical field
The present invention relates to sweeping robots, especially insulator clean robot.
Background technique
Insulator is a kind of special insulation control, is played an important role in overhead transmission lines, insulator between one's early years
It is chiefly used in electric pole, slowly development connects tower for high-tension bus-bar, is mainly used for electric insulation and is mechanically fixed.But in humidity
In the case of, dirty insulator is easy to happen flashover electric discharge, so must clean up, it is clear that existing cleaning management is divided into power failure
Sweep, do not have a power failure cleaning and living water washing, have a power failure clean for high-tension bus-bar connection tower will obviously bring very big drawback, and work
There are great security risks when people Deng Ta is wiped with rag；Live cleaning is usually to be equipped with hairbrush or tie up with the exhausted of cotton yarn
Edge bar, wipes insulator on working line, this to being also possible that connecting tower for high-tension bus-bar does not still have with common electric pole
Method meets needs.In addition, most insulator is typically distributed across open air, artificial round-trip open air, which carries out cleaning, can additionally increase warp
Ji cost, and insulator will be cleaned periodically.Therefore a automatic cleaning, automatic charging, automatic addressing, automatic letter are set
Breath feedback, the automatic round-the-clock insulator cleaning robot for monitoring, saving the energy have a vast market foreground.
Summary of the invention
In view of the above shortcomings of the prior art, the present invention provides the insulators that regular automatic cleaning insulator may be implemented
Sweeping robot.
The technical solution adopted by the present invention to solve the technical problems is:
Insulator clean robot, it is characterised in that: it includes aircraft and aircraft case, and the aircraft includes control
Clearing apparatus, rotating device, crawling device and the clearing apparatus that device I and the aircraft bottom are set gradually from front to back,
Be additionally provided on the aircraft calibration sensor group being connect respectively with the controller I, bluetooth module I, radio frequency receiver,
Hall sensor and wireless charger I；The calibration sensor group includes that two spacing umbrella cover adjacent with insulator is equidistant
Sensor, for calibrate clean transfer roller whether fall between two umbrella covers of insulator, two sensors are slidably set
It sets in the lower end of the aircraft；
Be provided in the aircraft case controller II, bluetooth module II, radio-frequency front-end transmitter, wireless charger II,
Solar panel, wind power generation plant, battery and lifter plate；Bluetooth module II, after being matched with the bluetooth module I
Open the key of aircraft chamber door；The radio frequency receiver addresses aircraft according to the transmitting signal of the radio-frequency front-end transmitter
The position of case；Wireless charger II is matched with the wireless charger I, is charged for aircraft；Lifter plate, as aircraft
Land carrier；The bluetooth module II, radio-frequency front-end transmitter and wireless charger II are connect with the controller II respectively；Institute
It states solar panel and wind power generation plant is arranged on the outside of the aircraft case, and pass through charger and the aircraft case
Interior battery connection；One chamber door of the box back articulated connection, is arranged a chamber door in the aircraft case
Draw off gear；
The lead screw I of one horizontal direction of setting in the cabinet, the lifter plate bottom is provided with to be cooperated with the lead screw I
Nut, the cabinet front end be arranged a lead screw driving motor I, the output shaft of the lead screw driving motor I with it is described
Lead screw I is fixedly connected, in the groove that the lifting board ends are slidably arranged in the cabinet, the lead screw driving motor I
It controls and connects with the controller II；After chamber door is opened, the controller II controls the lead screw driving motor I and rotates, institute
Lifter plate is stated to skid off；Two magnet are set on the lifter plate, described in aircraft is detected according to the Hall sensor
The signal of magnet drops to the designated position of the lifter plate；Controller II controls lead screw driving motor I and rotates, the lifting
Plate slides into；The reel controller controls the spool rotation, and chamber door is closed；
The rotating device includes bracket I, connecting plate I, pusher cylinder I, clamping cylinder I, idler wheel and idler wheel driving motor,
The aircraft bottom is arranged a support plate, and the left and right sides of the support plate is symmetrically articulated and connected two brackets I, often
One connecting plate I of a I bottom of bracket articulated connection, is respectively set the rolling on the bracket I and connecting plate I
Wheel, the idler wheel are connect with the idler wheel driving motor, and I both ends of pusher cylinder are cut with scissors with the support plate and bracket I respectively
It connects in succession, I both ends of clamping cylinder are articulated and connected with the bracket I and connecting plate I respectively；
The crawling device includes bracket II, connecting plate II, pusher cylinder II, clamping cylinder II, Athey wheel and Athey wheel
Driving motor, two brackets II of the symmetrical articulated connection in the support plate bottom left and right sides, each II bottom of bracket
Be articulated and connected a connecting plate II, and the Athey wheel, the crawler belt are respectively set on the bracket II and connecting plate II
Wheel is connect with the Athey wheel driving motor, and II both ends of pusher cylinder are articulated and connected with the support and bracket II respectively,
II both ends of clamping cylinder are articulated and connected with the bracket II and connecting plate II respectively；
The clearing apparatus includes cleaning transfer roller, sliding panel, sliding panel driving mechanism and cleaning transfer roller driving motor, in institute
It states support plate bottom and is symmetrically set at least four pairs of cleaning transfer rollers, there are four upper and lower ends for setting in the support plate
The sliding slot of opening, the cleaning transfer roller top of every side four connect a sliding panel, each shaft for cleaning transfer roller
Top is connect by chain with the cleaning transfer roller driving motor after passing through the sliding slot and sliding panel, and limit is arranged on sliding panel
Position bearing, the outer ring of the Limit Bearing are fixed on the sliding panel, and inner ring is nested in the shaft for cleaning transfer roller, institute
Stating sliding panel driving mechanism includes lead screw II and lead screw driving motor II, and the lead screw driving motor II is fixed on the support plate
On, it is symmetrically set with forward screw thread area and reverse thread area on the lead screw II, a spiral shell is nested in each sliding panel
Mother, the nut of the sliding panel in left side are nested in reverse thread area, and the nut of the sliding panel on right side is nested in forward screw thread area, described
Lead screw driving motor II and the controller I control connect.
Further, aircraft bottom portion is provided with fixed frame, in the setting symmetrical above and below of the front end of the fixed frame
Two semicircle anchor ears.
Further, also set up setting infrared thermoviewer and ultraviolet imager in the aircraft bottom, it is described it is infrared at
As instrument and ultraviolet imager are connect with described image processor；The infrared thermoviewer is for monitoring insulator temperature；The purple
Outer imager is used to monitor the flashover state of insulator, and the aircraft is arranged in the infrared thermoviewer and ultraviolet imager
Bottom is provided with window corresponding with the infrared thermoviewer and ultraviolet imager in the bottom of the aircraft case, described red
Outer imager and ultraviolet imager are through window monitoring insulator.
Further, the chamber door draw off gear includes spool, reeling driver and two traction ropes, before the cabinet
The spool is respectively set in end top two sides, and one end of the traction rope is connect with the spool, the other end and the case
Door connection；The reeling driver is connect with the controller II, when the aircraft is close to the cabinet, the indigo plant of aircraft
After II successful matching of bluetooth module in tooth module I and aircraft case, controller II controls the reeling driver rotation, thus
Open the chamber door.
Further, the left side of each clearing apparatus cleaning transfer roller is wire brush transfer roller, the right side cleaning
Transfer roller is banister brush transfer roller.
Further, the cleaning transfer roller on the clearing apparatus of the aircraft front end turns for wire brush
Roller, the cleaning transfer roller on the clearing apparatus of rear end are banister brush transfer roller.
Further, the bottom middle position of the support plate is provided with sensor sliding seat, the sensor sliding
The open slot of vertical direction is provided on seat, the sliding shoe of the sensor upper end setting is located in the open slot, described
A bolt shifting chute is arranged in the side of sensor sliding seat, and the bolt front end passes through the bolt shifting chute and is inserted into the cunning
In threaded hole on motion block.
Progress one, controller I, video camera, image processor, memory, data transmission are provided on the aircraft
Module, foreign matter radar and navigation system, the video camera are connect with described image processor, described image processor and the number
It is connected according to transmission module, described image processor, memory, foreign matter radar and navigation system are connect with controller I respectively, described
There are two video camera settings, and is symmetrically arranged on the wing lower end pedestal of aircraft front end two sides, the navigation
System is flown for aircraft according to preset route, and aircraft is enable to fly onto the insulator on periphery.
The beneficial effects of the present invention are:
The present invention can fly on the insulator of periphery automatically according to the route of setting and clean, and cleaning while claps automatically
According to by the situation of cleaning progress information feedback, after the completion of cleaning, aircraft is flown into automatically in aircraft case, while monitoring insulator
Temperature and flashover, aircraft case utilize solar energy and wind power generation, charge at any time to aircraft, aircraft case is placed on
Open air saves and manually often travels to and fro between open air, until cleaning next time, continues to clean according to presetting route automatically,
Liberation labour completely.
By the way that calibration sensor group is arranged on board the aircraft, it can calibrate and clean two umbrellas whether transfer roller falls into insulator
Between set.Bluetooth module I is set on board the aircraft, the bluetooth module II matched with bluetooth module I is set in aircraft case, it can
Aircraft chamber door is opened to realize to match.Radio frequency receiver is set on board the aircraft, radio-frequency front-end is set in aircraft case and is sent out
Emitter can address the position of aircraft case according to the signal of radio-frequency front-end transmitter.Hall sensor is set on board the aircraft,
Corresponding two magnet is set on the lifter plate in aircraft case, the landing place of aircraft can be calibrated.On board the aircraft
Wireless charger I is set, wireless charger II is set in aircraft case, can be mutually paired, is charged for aircraft.Flying
Solar panel and wind power generation plant are set on row device case, can use the energy, reduce cost.It is arranged on board the aircraft red
Outer imager and ultraviolet imager can monitor the temperature and flashover state of insulator.Chamber door folding and unfolding is set in aircraft case
Automatically opening and being closed for chamber door may be implemented in device, and in the bottom of aircraft, setting clearing apparatus can be realized to insulator
It cleans；Cleaning transfer roller on clearing apparatus can be controlled by controller I to be moved left and right, and can make to clean transfer roller at any time close to exhausted
Edge is cleaned, it is ensured that it is more thorough to clean effect.Rotating device is set in the bottom of aircraft, aircraft can be made to surround
Insulator rotating further cleans insulator.Crawling device is set on board the aircraft, can be moved along insulator, and
And cleaning works is carried out in the process of moving.It is wire brush transfer roller that the left side of each clearing apparatus, which cleans transfer roller, and right side cleans
Transfer roller is banister brush transfer roller, can remove and be adhered durable dirt.In the bottom of support plate, sensor sliding seat is set, it can
The distance between two sensors are adjusted according to the set spacing of sweeping of insulation.
Detailed description of the invention
Attached drawing 1 is aircraft schematic perspective view of the invention；
Attached drawing 2 is aircraft left view structural representation of the invention；
Attached drawing 3 is aircraft schematic perspective view of the invention；
Attached drawing 4 is rotating device left view structural representation of the invention；
Attached drawing 5 is rotating device schematic perspective view of the invention；
Attached drawing 6 is crawling device left view structural representation of the invention；
Attached drawing 7 is sensor of the invention sliding seat schematic cross-sectional view (horizontal direction is seen)；
Attached drawing 8 is sensor of the invention sliding seat schematic cross-sectional view (vertical direction is seen)；
Attached drawing 9 is crawling device schematic perspective view of the invention；
Attached drawing 10 is clearing apparatus schematic perspective view of the invention；
Attached drawing 11 is the schematic cross-sectional view for cleaning transfer roller connection of the invention；
Attached drawing 12 is aircraft case schematic perspective view of the invention (display lead screw and window)；
Attached drawing 13 is aircraft case schematic perspective view of the invention (display fixed frame and semicircle anchor ear)；
Attached drawing 14 is the schematic perspective view that aircraft of the invention falls into lifter plate；
Attached drawing 15 is the left view structural representation that rotating device of the invention clamps insulator；
Attached drawing 16 is the state diagram (positional relationship of display calibration sensor group) that aircraft of the invention cleans insulator；
In figure, aircraft 1, video camera 11, Hall sensor 12, wireless charger I 13, support plate 14, insulator 2, umbrella
Set 21, sensor 3, sensor sliding seat 31, open slot 32, sliding shoe 33, bolt shifting chute 34, bolt 35, aircraft case 4,
Wireless charger II 41, solar panel 42, wind power generation plant 43, lifter plate 44, lead screw I 441, lead screw driving motor I
442, I fixing seat 443 of lead screw, magnet 444, chamber door 45, chamber door draw off gear 46, spool 461, reeling driver 462, traction rope
463, window 47, fixed frame 48, semicircle anchor ear 481, clearing apparatus 5, clean transfer roller 51, sliding panel 52, Limit Bearing 521,
Sliding panel driving mechanism 53, lead screw driving motor II 532, cleans transfer roller driving motor 54, rotating device 6, branch at lead screw II 531
Frame I 61, connecting plate I 62, pusher cylinder I 63, clamping cylinder I 64, idler wheel 65, idler wheel driving motor 66, crawling device 7, bracket
II 71, connecting plate II 72, pusher cylinder II 73, clamping cylinder II 74, Athey wheel 75, Athey wheel driving motor 76.
Specific embodiment
For a better understanding of the present invention, embodiments of the present invention are explained in detail with reference to the accompanying drawing.
As shown in attached drawing 1 to attached drawing 16, the present invention includes aircraft 1, and controller I, video camera are provided on aircraft 1
11, image processor, memory, data transmission module, foreign matter radar and navigation system, video camera 11 and image processor connect
Connect, image processor is connect with data transmission module, image processor, memory, foreign matter radar and navigation system respectively with control
Device I processed connects, and foreign matter radar is used for avoiding barrier, and there are two the settings of video camera 11, and before being symmetrically arranged at aircraft 1
On the wing lower end pedestal for holding two sides, video camera 11 is by the picture transfer of shooting to image processor, at image processor
Reason, sends control centre by data transmission module for information after processing, carries out information feedback in time.For aircraft, originally
Aircraft, the unmanned plane etc. that existing various structures can be used in invention, if Authorization Notice No. is in CN206541198U
The combined navigation device etc. of the vision guided navigation and inertial navigation based on aircraft of state's invention patent disclosure.
The calibration sensor group connecting respectively with controller I, bluetooth module I, radio frequency reception are additionally provided on aircraft 1
Device, Hall sensor 12 and wireless charger I 13.Navigation system is flown for aircraft 1 according to preset route, and aircraft is made
1 can accurately fly onto the insulator 2 on periphery.Start first to manipulate the simulation cleaning route of aircraft 1 by operator, finally will
The cleaning route simulated is burnt in navigation system, is controlled aircraft 1 by controller I and is flown according to preset route.Calibration
Sensor group, including the equidistant sensor 21 of two spacing umbrella cover 21 adjacent with insulator 2 clean transfer roller 51 for calibrating
Whether fall between two umbrella covers 21 of insulator 2, when umbrella cover 21 of two sensors 21 to quasi-insulator 2, cleans transfer roller
51 fairly fall between two umbrella covers 21, and the lower end of aircraft 1 is slidably arranged in two sensors 21, and 1 lower end of aircraft is solid
A fixed horizontal support plate 14, the bottom middle position of support plate 14 is provided with sensor sliding seat 31, sensor sliding seat
The open slot 32 of vertical direction is provided on 31, the fixed sliding shoe 33 in 3 upper end of sensor is located in open slot 32, sliding shoe 33
It is fixedly connected with sensor 3, one bolt shifting chute 34 is set in the side of sensor sliding seat 31,35 front end of bolt passes through spiral shell
Bolt shifting chute 34 is inserted into the threaded hole on sliding shoe 31, using preceding according to the distance between two neighboring umbrella cover 21 of insulator 2,
It adjusts sensor 3 and arrives corresponding position, finally tighten bolt 35.
The invention also includes aircraft case 4, controller II, bluetooth module II, radio-frequency front-end hair are provided in aircraft case 4
Emitter, wireless charger II 41, solar panel 42, wind power generation plant 43, battery and lifter plate 44.Bluetooth module
II, as the key for opening chamber door 45 after matching with bluetooth module I.Radio-frequency front-end transmitter, before radio frequency receiver is according to radio frequency
Hold the position of the transmitting signal addressing aircraft case 4 of transmitter.Wireless charger II 41 is matched with wireless charger I 13, is used for
Aircraft 1 charges, and wireless charger II 41 is arranged in 4 top lower surface of aircraft case, and wireless charger I 13 is located at aircraft 1
Upper surface.
Lifter plate 44 is the landing carrier of aircraft 1, and after the opening of aircraft case 4, lifter plate 44 is protruded horizontally up, aircraft
It falls on lifter plate 44, lifter plate 44 is being retracted into aircraft case 4.Bluetooth module II, radio-frequency front-end transmitter and wireless charging
Electric appliance II 41 is connect with controller II respectively；Solar panel 42 and wind power generation plant 43 are arranged in 4 outside of aircraft case,
Solar panel 42 is fixed on 4 upper surface of aircraft case, and wind power generation plant 43 is fixed on the front end of aircraft case 4, fine day
Solar panel 42 and wind power generation plant 43 generate electricity simultaneously, and rainy days is generated electricity using wind power generation plant 43, sufficiently meet
Power demand.Solar panel 42 and wind power generation plant 43 are connect by charger with the battery in aircraft case 4.
As shown in figures 12 and 14,4 rear end of aircraft case articulated connection, one chamber door 45, is arranged one in aircraft case 4
A chamber door draw off gear 46.Preferably, chamber door draw off gear 46 includes spool 461, reeling driver 462 and two traction ropes
463, a spool 461 is respectively set in two sides above cabinet front end, and traction rope 463 is wound on spool 461, and spool 461 is another
One end passes through the connection of aircraft case 4 and reeling driver 462, and reeling driver 462 is spool driving motor, spool driving electricity
Machine is connect by controller II with battery, and one end of traction rope 463 is connect with spool 461, and the other end is connect with chamber door 45,
One pull ring is set on chamber door 45, and traction rope 463 ties on pull ring.Reeling driver 462 is connect with controller II, works as aircraft
1 close to aircraft case 4 when, after II successful matching of bluetooth module in the bluetooth module I of aircraft 1 and aircraft case 4, controller
II control reeling driver 462 rotates, and chamber door 45 is opened.
In order to can detecte operating temperature, flashover and the other problems of other electric appliances of insulator and surrounding, flying
1 bottom of device also sets up setting infrared thermoviewer and ultraviolet imager, and infrared thermoviewer and ultraviolet imager and image processor connect
It connects.Infrared thermoviewer is used to monitor the flashover state of insulator 2 for monitoring 2 temperature of insulator, ultraviolet imager.Infrared imaging
The bottom of aircraft 1 is arranged in instrument and ultraviolet imager, the bottom of aircraft case 4 be provided with infrared thermoviewer and it is ultraviolet at
As the corresponding window 47 of instrument, aircraft case 4 is mounted on above insulator, when aircraft 1 is located in aircraft case 4, it is infrared at
As instrument and ultraviolet imager monitor insulator 2 through window 47.And monitoring information is transmitted to image processor, image processor
Control centre is sent information to by data transmission module, so that the operator of control centre can be and understand insulator at any time
2 service condition.It can also send monitoring information on memory, it is unified daily to be sent information by data transmission module
To control centre, observed convenient for operator is unified.It is of course also possible to the set time is arranged, aircraft flies out aircraft automatically
Case 4 is detected.
It is as follows for the specific set-up mode of lifter plate 44: the lead screw I of one horizontal direction of setting in aircraft case 4
441, I 441 front end of lead screw passes through aircraft case 4 and connect with lead screw driving motor I 442, and I 441 rear end of lead screw is fixed by lead screw I
Seat 443 is fixed.44 bottom of lifter plate is provided with the nut cooperated with lead screw I 441, and the rotation of lead screw I 441 drives lifter plate 44
It is moved forward and backward, the output shaft of lead screw driving motor I 442 is fixedly connected with lead screw I 441, and 44 both ends of lifter plate are slidably being flown
In the groove being arranged in device case 4, lead screw driving motor I 442 and the control of controller II are connected；After chamber door 45 is opened, controller
II control lead screw driving motor I 442 rotates, and lifter plate 44 skids off.As shown in attached drawing 12 and attached drawing 14, on 44 rear end of a lifter plate left side
Two magnet 444, the magnetic field signal for the magnet 444 that aircraft 1 is detected according to Hall sensor, landing is fixedly installed in right two sides
To the designated position of lifter plate 44.Controller II controls lead screw driving motor I 442 and rotates, and lifter plate 44 slides into.Reel controller
462 control spools 461 rotate, and chamber door 45 is closed.4 bottom of aircraft case is provided with fixed frame 48, on the front end of fixed frame 48
It is symmetrical arranged two semicircle anchor ears 481 down, it is by semicircle anchor ear 481 that aircraft case 4 is fixed, it should be noted that fly
The fixed position of row device case 4 ensures that infrared thermoviewer and ultraviolet imager can monitor insulator 2 through window 47.
1 bottom of aircraft is disposed with clearing apparatus 5, rotating device 6, crawling device 7 and clearing apparatus from front to back
5.With reference to the accompanying drawing, above-mentioned apparatus is described respectively.
As shown in figure 5, rotating device 6 includes bracket I 61, connecting plate I 62, pusher cylinder I 63, clamping cylinder I 64, idler wheel
65 and idler wheel driving motor 66, bracket I 61 and support plate 14 are articulated and connected, specific embodiment are as follows: the connecting pin of bracket I 61
One fixing seat is set, and fixing seat is bolted, and a through-hole I is arranged in fixing seat, is arranged on bracket I 61 identical
Through-hole II passes through through-hole I and through-hole II finally by straight pin, bracket I 61 and support plate 14 is articulated and connected.It is subsequent to mention
The specific embodiment that is articulated and connected and bracket I 61 are consistent with the articulated connection embodiment of support plate 14.Each I 61 bottom of bracket
Be articulated and connected a connecting plate I 62, and an idler wheel 65, idler wheel 65 and idler wheel driving are respectively set on bracket I 61 and connecting plate I 62
Dynamic motor 66 connects, and I 63 both ends of pusher cylinder are articulated and connected with support plate 14 and bracket I 61 respectively, I 64 both ends of clamping cylinder point
It is not articulated and connected with bracket I 61 and connecting plate I 62；Pusher cylinder I 63 and clamping cylinder I 64 are connected by solenoid valve I and air pump I
It connects, solenoid valve I and the control of controller I connect.In use, controller I controls pusher cylinder I 63 and clamping cylinder I 64 acts, make
Idler wheel 65 clamps insulator 2.And controller I controls clearing apparatus 5 and cleans to insulator 2, while cleaning, controller I
It controls idler wheel driving motor 66 to move, idler wheel 65 drives clearing apparatus 5 to rotate, and reaches 360 ° of any angles and cleans insulator 2
65 surface of idler wheel is arranged to rubber, it is preferred that be densely covered with rubber salient point in rubber surface to increase friction by purpose.
As shown in figure 9, crawling device 7 include bracket II 71, connecting plate II 72, pusher cylinder II 73, clamping cylinder II 74,
Athey wheel 75 and Athey wheel driving motor 76, two brackets II 71 of the symmetrical articulated connection in 14 bottom of the support plate left and right sides, each
II 71 bottom of bracket articulated connection, one connecting plate II 72, is respectively set an Athey wheel on bracket II 71 and connecting plate II 72
75, Athey wheel 75 is connect with Athey wheel driving motor 76, and II 73 both ends of pusher cylinder are cut with scissors with support frame 14 and bracket II 71 respectively
It connects in succession, II 74 both ends of clamping cylinder are articulated and connected with bracket II 71 and connecting plate II 72 respectively；After the completion of current location cleans,
Controller I controls Athey wheel driving motor 76 and rotates, and Athey wheel driving motor 76 drives Athey wheel 75 to rotate, and Athey wheel 75 drives
Clearing apparatus 5 is mobile.
As shown in Figure 10 and Figure 11, clearing apparatus 5 includes cleaning transfer roller 51, sliding panel 52,53 and of sliding panel driving mechanism
Transfer roller driving motor 54 is cleaned, is symmetrically set at least four pairs cleaning transfer rollers 51, support plate 14 in the bottom of support plate 14
There are four the sliding slot of upper and lower ends opening, 51 tops of cleaning transfer roller of every side four to connect a sliding panel 52, Mei Geqing for upper setting
It sweeps and is connect by chain with transfer roller driving motor 54 is cleaned after passing through sliding slot and sliding panel 52 at the top of the shaft of transfer roller 51, slided
Limit Bearing 521 is set on plate 52, and the outer ring of Limit Bearing 521 is fixed on sliding panel 52, and inner ring, which is nested with, is cleaning transfer roller 51
Shaft on, can prevent in this way clean transfer roller 51 fall.Sliding panel driving mechanism 53 includes lead screw II 531 and lead screw driving electricity
Machine II 532, lead screw driving motor II 532 are fixed in support plate 14, and forward screw thread area is symmetrically set on lead screw II 531
With reverse thread area, a nut is nested in each sliding panel 52, the nut of the sliding panel 52 in left side is nested in reverse thread
Area, the nut of the sliding panel 52 on right side are nested in forward screw thread area, and lead screw driving motor II 532 and the control of controller I connect.For
The dirt removal being adhered is fallen, wire brush is set by the cleaning transfer roller 51 on the clearing apparatus 5 for being located at aircraft 1 front end and turns
Roller, the cleaning transfer roller 51 on the clearing apparatus 5 of rear end are banister brush transfer roller.Preferably, it is cleaned in the left side of each clearing apparatus 5
Transfer roller 51 is wire brush transfer roller, and it is banister brush transfer roller that right side, which cleans transfer roller 52,.
Application method of the invention is as follows:
Before use, first fixing aircraft case 4, solar panel 42 and wind power generation plant 43 are installed, so
Afterwards, operator manipulates the simulation cleaning route of aircraft 1, and finally the cleaning route simulated is burnt in navigation system, by
Controller I controls aircraft 1 and flies according to preset route, and aircraft 1 determines 2 position of insulator by video camera.Pass through
Calibrate sensor group, it is ensured that clean transfer roller 51 between two neighboring umbrella cover 21, controller I controls rotating device 6 and clamps absolutely
Edge 2, aircraft 1 stop flight, and clearing apparatus 5 cleans insulator 2, and after the completion of current location cleans, controller I is controlled
Crawling device 7 processed is creeped, until completing cleaning works, video camera is sent to image processor, image processor for result is cleaned
It is sent to control centre by data transmission module, carries out information feedback in time.Controller I controls aircraft 1 and returns and flies later
Row device case 4, radio frequency receiver on aircraft 1 is according to the position of the transmitting signal addressing aircraft case 4 of radio-frequency front-end transmitter.
When aircraft 1 is close to aircraft case 4, I successful matching of bluetooth module II and bluetooth module, controller II controls spool driving electricity
Machine 462 rotates, and the chamber door 47 of aircraft case 4 is opened, meanwhile, lifter plate 44 skids off, and the Hall sensor on aircraft 1 is according to liter
444 position correction landing place of magnet on plate 44 drops, and the landing time is set as 20 seconds, after the completion of movement, and controller II controls
Lifter plate 44 slides into aircraft case 4.Wireless charger II 41 and wireless charger I 13 match, and aircraft 1 charges.Together
When infrared thermoviewer and ultraviolet imager through window 47 monitor insulator 2 temperature and flashover.Certainly, in cleaning process
In, when 1 not enough power supply of aircraft, can automatic alarm simultaneously interrupt sweep-out pattern, radio frequency receiver is according to radio-frequency front-end transmitter
The position for emitting signal addressing aircraft case 4, charges later.Continue to complete according to the route set before after fully charged clear
Sweep task.At set time intervals, aircraft 1 periodically cleans insulator 2.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to invention, not to the scope of the present invention
Limitation, based on the technical solutions of the present invention, those skilled in the art do not need to make the creative labor and can make
Various modifications or changes still within protection scope of the present invention.
Claims (8)
1. insulator clean robot, it is characterised in that: it includes aircraft and aircraft case, and the aircraft includes controller
I and the aircraft bottom clearing apparatus, rotating device, crawling device and the clearing apparatus that set gradually from front to back, in institute
It states and is additionally provided with the calibration sensor group connecting respectively with the controller I, bluetooth module I, radio frequency receiver, suddenly on aircraft
That sensor and wireless charger I；The calibration sensor group includes that two spacing umbrella cover adjacent with insulator is equidistant
Sensor cleans whether transfer roller falls between two umbrella covers of insulator for calibrating, and two sensors are slidably arranged
In the lower end of the aircraft；
Controller II, bluetooth module II, radio-frequency front-end transmitter, wireless charger II, the sun are provided in the aircraft case
It can solar panel, wind power generation plant, battery and lifter plate；Bluetooth module II, as with the bluetooth module I pairing after open
The key of aircraft chamber door；The radio frequency receiver addresses aircraft case according to the transmitting signal of the radio-frequency front-end transmitter
Position；Wireless charger II is matched with the wireless charger I, is charged for aircraft；Lifter plate lands as aircraft
Carrier；The bluetooth module II, radio-frequency front-end transmitter and wireless charger II are connect with the controller II respectively；It is described too
Positive energy solar panel and wind power generation plant are arranged on the outside of the aircraft case, and by charger and the aircraft case
The battery connection；One chamber door of the box back articulated connection, is arranged a chamber door folding and unfolding in the aircraft case
Device；
The lead screw I of one horizontal direction of setting in the cabinet, the lifter plate bottom are provided with the spiral shell with the lead screw I cooperation
A lead screw driving motor I, the output shaft of the lead screw driving motor I and the lead screw I is arranged in the front end of the cabinet in mother
Be fixedly connected, in the groove that is slidably arranged in the cabinet of lifting board ends, the lead screw driving motor I with it is described
The control connection of controller II；After chamber door is opened, the controller II controls the lead screw driving motor I and rotates, the lifting
Plate skids off；Two magnet are set on the lifter plate, the magnet that aircraft is detected according to the Hall sensor
Signal drops to the designated position of the lifter plate；Controller II controls lead screw driving motor I and rotates, and the lifter plate slides into；
The reel controller controls the spool rotation, and chamber door is closed；
The rotating device includes bracket I, connecting plate I, pusher cylinder I, clamping cylinder I, idler wheel and idler wheel driving motor, described
A support plate is arranged in aircraft bottom, and the left and right sides of the support plate is symmetrically articulated and connected two brackets I, Mei Gesuo
I bottom of bracket articulated connection, one connecting plate I is stated, the idler wheel, institute are respectively set on the bracket I and connecting plate I
It states idler wheel to connect with the idler wheel driving motor, I both ends of pusher cylinder hingedly connect with the support plate and bracket I respectively
It connects, I both ends of clamping cylinder are articulated and connected with the bracket I and connecting plate I respectively；
The crawling device includes bracket II, connecting plate II, pusher cylinder II, clamping cylinder II, Athey wheel and crawler belt wheel drive
Motor, symmetrically two brackets II of articulated connection, each II bottom of bracket are hinged for the support plate bottom left and right sides
Connect a connecting plate II, be respectively set the Athey wheel on the bracket II and connecting plate II, the Athey wheel with
The Athey wheel driving motor connection, II both ends of pusher cylinder are articulated and connected with the support and bracket II respectively, described
II both ends of clamping cylinder are articulated and connected with the bracket II and connecting plate II respectively；
The clearing apparatus includes cleaning transfer roller, sliding panel, sliding panel driving mechanism and cleaning transfer roller driving motor, in the branch
Fagging bottom is symmetrically set at least four pairs of cleaning transfer rollers, and there are four upper and lower ends to be open for setting in the support plate
Sliding slot, the cleaning transfer roller top of every side four connects a sliding panel, at the top of each shaft for cleaning transfer roller
It is connect by chain with the cleaning transfer roller driving motor after the sliding slot and sliding panel, limit shaft is set on sliding panel
It holds, the outer ring of the Limit Bearing is fixed on the sliding panel, and inner ring is nested in the shaft for cleaning transfer roller, the cunning
Movable plate driving mechanism includes lead screw II and lead screw driving motor II, and the lead screw driving motor II is fixed in the support plate,
It is symmetrically set with forward screw thread area and reverse thread area on the lead screw II, a nut is nested in each sliding panel,
The nut of the sliding panel in left side is nested in reverse thread area, and the nut of the sliding panel on right side is nested in forward screw thread area, the silk
Thick stick driving motor II and the controller I control connect.
2. insulator clean robot as described in claim 1, it is characterised in that: aircraft bottom portion is provided with fixation
Frame, in two semicircle anchor ears of the front end of fixed frame setting symmetrical above and below.
3. insulator clean robot as described in claim 1, it is characterised in that: also set up setting in the aircraft bottom
Infrared thermoviewer and ultraviolet imager, the infrared thermoviewer and ultraviolet imager are connect with described image processor；It is described red
Outer imager is for monitoring insulator temperature；The ultraviolet imager is used to monitor the flashover state of insulator, it is described it is infrared at
As the bottom of the aircraft is arranged in instrument and ultraviolet imager, the bottom of the aircraft case be provided with it is described it is infrared at
As instrument and the corresponding window of ultraviolet imager, the infrared thermoviewer and ultraviolet imager are through window monitoring insulator.
4. insulator clean robot as described in claim 1, it is characterised in that: the chamber door draw off gear include spool,
Reeling driver and two traction ropes, the spool, the traction rope is respectively set in two sides above the cabinet front end
One end connect with the spool, the other end is connect with the chamber door；The reeling driver is connect with the controller II, when
When the aircraft is close to the cabinet, after the bluetooth module I of aircraft and II successful matching of bluetooth module in aircraft case,
Controller II controls the reeling driver rotation, to open the chamber door.
5. insulator clean robot as described in claim 1, it is characterised in that: described in the left side of each clearing apparatus
Cleaning transfer roller is wire brush transfer roller, and the right side cleaning transfer roller is banister brush transfer roller.
6. insulator clean robot as described in claim 1, it is characterised in that: positioned at the described clear of the aircraft front end
The cleaning transfer roller on sweeping device is wire brush transfer roller, and the cleaning transfer roller on the clearing apparatus of rear end turns for banister brush
Roller.
7. insulator clean robot as described in claim 1, it is characterised in that: in the bottom middle position of the support plate
It is provided with sensor sliding seat, the open slot of vertical direction is provided on the sensor sliding seat, the sensor upper end is set
The sliding shoe set is located in the open slot, and a bolt shifting chute, the spiral shell is arranged in the side of the sensor sliding seat
Bolt front end passes through the bolt shifting chute and is inserted into the threaded hole on the sliding shoe.
8. insulator clean robot as described in claim 1, it is characterised in that: be provided on the aircraft controller I,
Video camera, image processor, memory, data transmission module, foreign matter radar and navigation system, the video camera and described image
Processor connection, described image processor are connect with the data transmission module, described image processor, memory, foreign matter thunder
It is connect respectively with controller I up to navigation system, there are two the video camera settings, and is symmetrically arranged at the aircraft
On the wing lower end pedestal of front end two sides, the navigation system is flown for aircraft according to preset route, enables aircraft
In enough flight to the insulator on periphery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910083098.4A CN109622461A (en) | 2019-01-27 | 2019-01-27 | Insulator clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910083098.4A CN109622461A (en) | 2019-01-27 | 2019-01-27 | Insulator clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109622461A true CN109622461A (en) | 2019-04-16 |
Family
ID=66062591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910083098.4A Withdrawn CN109622461A (en) | 2019-01-27 | 2019-01-27 | Insulator clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109622461A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111632891A (en) * | 2020-05-31 | 2020-09-08 | 袁利华 | High-voltage wire insulator cleaning system and cleaning method |
| CN112099554A (en) * | 2020-07-14 | 2020-12-18 | 国网安徽省电力有限公司检修分公司 | Control method and system for flushing insulator of high-voltage transmission line |
| CN112152141A (en) * | 2020-09-11 | 2020-12-29 | 国网山东省电力公司济南市章丘区供电公司 | Power supply cable adheres to debris cleaning device |
| CN112517479A (en) * | 2020-12-08 | 2021-03-19 | 葛玉力 | Electric insulator cleaning construction device and construction method |
| CN112605030A (en) * | 2020-11-30 | 2021-04-06 | 武汉理工大学 | Insulator cleaning device |
| CN112676205A (en) * | 2020-12-08 | 2021-04-20 | 任林赟 | Anti-pollution flashover cleaning construction system and construction method for power insulator |
| CN114104136A (en) * | 2021-11-10 | 2022-03-01 | 国网江苏省电力有限公司检修分公司 | Intelligent cleaning equipment for insulator of electrical equipment of transformer substation |
| CN114367487A (en) * | 2022-01-14 | 2022-04-19 | 广东电网能源发展有限公司 | Unmanned aerial vehicle high-voltage electrified water washing system and method and storage medium |
| CN114384933A (en) * | 2022-01-14 | 2022-04-22 | 广东电网能源发展有限公司 | Overhead line unmanned aerial vehicle electrified water washing control system and method and storage medium |
| CN114871166A (en) * | 2022-07-12 | 2022-08-09 | 国网山东省电力公司东营供电公司 | Live cleaning device and cleaning control method for bare conductor of power distribution overhead line |
| CN116706769A (en) * | 2023-08-02 | 2023-09-05 | 国网山东省电力公司威海供电公司 | Power supply line cleaning device for electric power maintenance |
| US20230348103A1 (en) * | 2022-04-27 | 2023-11-02 | Skydio, Inc. | Base Stations For Unmanned Aerial Vehicles (UAVs) |
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- 2019-01-27 CN CN201910083098.4A patent/CN109622461A/en not_active Withdrawn
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111632891A (en) * | 2020-05-31 | 2020-09-08 | 袁利华 | High-voltage wire insulator cleaning system and cleaning method |
| CN111632891B (en) * | 2020-05-31 | 2021-11-05 | 国网上海市电力公司 | High-voltage wire insulator cleaning system and cleaning method |
| CN112099554A (en) * | 2020-07-14 | 2020-12-18 | 国网安徽省电力有限公司检修分公司 | Control method and system for flushing insulator of high-voltage transmission line |
| CN112152141A (en) * | 2020-09-11 | 2020-12-29 | 国网山东省电力公司济南市章丘区供电公司 | Power supply cable adheres to debris cleaning device |
| CN112152141B (en) * | 2020-09-11 | 2021-10-15 | 国网山东省电力公司济南市章丘区供电公司 | Power supply cable adheres to debris cleaning device |
| CN112605030A (en) * | 2020-11-30 | 2021-04-06 | 武汉理工大学 | Insulator cleaning device |
| CN112517479A (en) * | 2020-12-08 | 2021-03-19 | 葛玉力 | Electric insulator cleaning construction device and construction method |
| CN112676205A (en) * | 2020-12-08 | 2021-04-20 | 任林赟 | Anti-pollution flashover cleaning construction system and construction method for power insulator |
| CN114104136A (en) * | 2021-11-10 | 2022-03-01 | 国网江苏省电力有限公司检修分公司 | Intelligent cleaning equipment for insulator of electrical equipment of transformer substation |
| CN114104136B (en) * | 2021-11-10 | 2022-10-21 | 国网江苏省电力有限公司检修分公司 | Intelligent cleaning equipment for insulator of electrical equipment of transformer substation |
| CN114367487A (en) * | 2022-01-14 | 2022-04-19 | 广东电网能源发展有限公司 | Unmanned aerial vehicle high-voltage electrified water washing system and method and storage medium |
| CN114384933A (en) * | 2022-01-14 | 2022-04-22 | 广东电网能源发展有限公司 | Overhead line unmanned aerial vehicle electrified water washing control system and method and storage medium |
| US20230348103A1 (en) * | 2022-04-27 | 2023-11-02 | Skydio, Inc. | Base Stations For Unmanned Aerial Vehicles (UAVs) |
| US11884422B2 (en) * | 2022-04-27 | 2024-01-30 | Skydio, Inc. | Base stations for unmanned aerial vehicles (UAVs) |
| CN114871166A (en) * | 2022-07-12 | 2022-08-09 | 国网山东省电力公司东营供电公司 | Live cleaning device and cleaning control method for bare conductor of power distribution overhead line |
| CN114871166B (en) * | 2022-07-12 | 2022-10-11 | 国网山东省电力公司东营供电公司 | Live cleaning device and cleaning control method for bare conductor of power distribution overhead line |
| CN116706769A (en) * | 2023-08-02 | 2023-09-05 | 国网山东省电力公司威海供电公司 | Power supply line cleaning device for electric power maintenance |
| CN116706769B (en) * | 2023-08-02 | 2023-10-20 | 国网山东省电力公司威海供电公司 | Power supply line cleaning device for electric power maintenance |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190416 |
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| WW01 | Invention patent application withdrawn after publication |