CN103078270A - Ground wire strain tower gap bridge device for inspection robot of power transmission line - Google Patents
Ground wire strain tower gap bridge device for inspection robot of power transmission line Download PDFInfo
- Publication number
- CN103078270A CN103078270A CN2013100300340A CN201310030034A CN103078270A CN 103078270 A CN103078270 A CN 103078270A CN 2013100300340 A CN2013100300340 A CN 2013100300340A CN 201310030034 A CN201310030034 A CN 201310030034A CN 103078270 A CN103078270 A CN 103078270A
- Authority
- CN
- China
- Prior art keywords
- ground wire
- gap bridge
- transmission line
- strain
- power transmission
- 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.)
- Granted
Links
Images
Landscapes
- Bridges Or Land Bridges (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an auxiliary device of an inspection robot of a power transmission line and particularly relates to a gap bridge device at a ground wire strain tower section. The device comprises a flexible gap bridge mechanism, a connection locating mechanism used for fixedly connecting the flexible gap bridge mechanism and two strain clamps, and a connection locating component used for fixedly connecting the gap bridge device and a strain tower head cross arm; and when the robot detects the strain gap bridge, a locking arm joint is loosened, so that two wheels can adapt to the shape of the gap bridge mechanism to roll on the gap bridge device so as to arrive at a ground wire on the other side of the tower, namely penetrating and passing through the strain tower. The device is provided with two sections of flexible spherical hinge components and two regulating mechanisms, so that the device can be arranged on different types of strain towers with different rotating angles and can adapt to wire galloping. The device is low in cost and simple in installation; and the robot can efficiently, safely and reliably penetrate through the strain tower by virtue of the device.
Description
Technical field
The present invention relates to a kind of transmission line polling robot servicing unit, especially relate to a kind of Overbridge device of ground wire strain rod tower section.
Background technology
Carrying out line data-logging with inspection robot and can arrive and manually be difficult to the circuit that arrives, improve and patrol and examine efficient, greatly lowered the labour intensity of patrolling and examining and the potential risks of artificial line walking, is the inexorable trend of Robotics and electric inspection process technical development.Especially the crusing robot travel that rolls has very large practical space, but the obstacle detouring problem of crusing robot becomes a great problem that robot is patrolling and examining ultra-high-tension power transmission line and uses.Especially for the strain rod tower section, transmission line is to be separated by the circuit of strain rod tower with both sides, more is not easy to robot and crosses.
On strain rod tower, the strain section of wire generally is one section sagging catenary, so that can be by the mode obstacle detouring of the staggered climbing of both arms along the robot that wire travels.And the strain section of ground wire, ground wire is not the catenary of droop, and in most cases irregular, and some centre has parallel groove clamp, and this causes the obstacle detouring mode of the staggered climbing of both arms can not be used for the ground wire robot.
If change the structure of robot, so that strain section can directly be crossed over by robot.When will cause increasing the overall dimension of robot, also can increase the weight of robot.This not only is not easy to the robot transportation and hangs stake and reach the standard grade, and has also greatly increased the Design and manufacture cost of robot.
In sum, because the complexity of ground wire strain section line construction, cause to use the obstacle detouring mode obstacle detouring of the staggered climbing of both arms, and solve the problems referred to above from the structure aspects of improving robot itself, physical dimension, weight, the cost of very difficult control and patrol and examine many-sided problem such as efficient.This has lost meaning so that use robot that transmission line is patrolled and examined.Therefore, under the prerequisite that is not affecting existing Transmission Line Design requirement, installing certain servicing unit additional at the strain section of ground wire, is the feasible measure that addresses the above problem.
Summary of the invention
The present invention solves the existing technical problem of prior art; Provide a kind of and ground wire strain rod tower both sides strain clamp to flexibly connect and but self adaptation transmission line galloping, auxiliary transmission line polling robot pass through the Overbridge device of ground wire strain rod tower.
It is to solve the existing technical problem of prior art that the present invention also has a purpose; Provide a kind of transmission line polling robot when the ground wire strain rod tower, only needed the robot two-wheel rolling travels just can finish along passing a bridge to pass through the strain rod tower obstacle, obstacle detouring simply, safety, efficient high ground wire strain rod tower Overbridge device.
It is to solve the existing technical problem of prior art that the present invention has a purpose again; Provide a kind of and adapted to that difference turns to, the strain rod tower of different corners, and the ground wire strain rod tower Overbridge device that is used for the power transmission line inspection robot safe and reliable, that cost is low.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot, it is characterized in that, comprise a flexible gap bridge mechanism, be used for the connecting locating mechanism that is fixedly connected with between flexible gap bridge mechanism and two strain clamps and for the positioning component that is connected that is fixedly connected with between gap bridge mechanism and the strain insulator tower head cross-arm.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot, two guiding tube assemblies that are connected with two flexible ball hinge components respectively that described flexible gap bridge mechanism comprises support bar, is separately positioned on two flexible ball hinge components at support bar two ends and is separately positioned on the gap bridge mechanism end.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot, center, described support bar two ends all has the screwed hole that is connected for an end of above-mentioned flexible ball hinge component.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot, described flexible ball hinge component comprise one section steel strand wire ground wire, described steel strand wire ground wire is cross-under ball stud, ball bowl pin and the bulb adjusting rod and many group bowl hook bolts that have a screwed hole successively, then blocks two ends with the hexagonal pressure head; Described ball stud is connected with above-mentioned support bar, and the bowl hook bolt of flexible ball hinge component end is connected with above-mentioned guiding tube assembly.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot, described guiding tube assembly comprises tube connector and is welded with the overlap joint pipe of U-shaped ring; The tube connector two ends have screwed hole, are connected with being connected to manage with above-mentioned bowl hook bolt respectively.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot, described connecting locating mechanism comprises yoke plate, chuck nut and regulates bearing; Be useful on the described yoke plate and place two trench structures of strain clamp, one of them trench structure is connected with the chuck nut that has screwed hole, have three oval holes on the yoke plate and be connected with adjusting bearing that the bottom has three screwed holes, the screwed hole of regulating the bearing another side is connected with above-mentioned tube connector.
At above-mentioned a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot, described connection positioning component comprises two supporting brackets, supporting bracket one end has the oval hole, is connected the other end and support bar welding with existing angle steel hole on the cross arm of tower.
Therefore, the present invention has following advantage: 1. flexibly connect with shaft tower both sides strain clamp, and can the self adaptation transmission line galloping; 2. when passing through the strain rod tower obstacle, inspection robot only need to be along the gap bridge two-wheel rolling, and obstacle detouring is simple, safety, efficient are high.3. can adapt to different models, the strain rod tower of different corners, and safe and reliable, cost is low.
Description of drawings
Fig. 1 is main TV structure schematic diagram of the present invention.
Fig. 2 is the plan structure schematic diagram of Fig. 1.
Fig. 3 is A-A sectional structure schematic diagram among Fig. 2.
Fig. 4 passes a bridge and the master of strain clamp bindiny mechanism TV structure schematic diagram.
Fig. 5 is the plan structure schematic diagram of Fig. 4.
Fig. 6 is the bindiny mechanism of Fig. 4 and the syndeton schematic diagram of wire clamp.
Fig. 7 is overall installation structural representation of the present invention.
Fig. 8 is the structural representation that inspection robot travels at Overbridge device.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.Among the figure, support bar 1, steel strand wire ground wire 2, ball stud 3, ball bowl pin 4, bowl hook bolt 5, bulb adjusting rod 6, hexagonal pressure head 7, tube connector 8, U-shaped ring 9, overlap joint pipe 10, yoke plate 11, chuck nut 12, adjusting bearing 13, supporting bracket 14, strain clamp 15, power transmission line 16, strain rod tower 17, crusing robot 18.
Embodiment:
This device is as the passage of machine detector people 18 by strain rod tower 17, and its main mechanism is one section flexible gap bridge mechanism.Flexible gap bridge mechanism is connected with strain rod tower 17 cross-arms by two supporting brackets 14, and the end of flexible gap bridge mechanism connects positioning component by two groups and is connected with strain clamp.When the crusing robot 18 that travels along the high-altitude transmission line drives to strain rod tower 17 along transmission line 16, unclamp the hammerlock joint, the shape that gets final product two-wheel self-adapting flexible gap bridge mechanism rolls across Overbridge device, arrives shaft tower 17 opposite sides, has namely passed through strain rod tower 17.The described inspection robot that travels along the high-altitude transmission line can select the patent No. to be: 201010195048.4, and name is called: a kind of robot for polling transmission line, the applying date is the robot that puts down in writing in the invention of 2010.06.02.
Flexible gap bridge mechanism is symmetrical mechanism, the centre is the support bar 1 that two ends have screwed hole, according to two angle steel holes of strain rod tower 17 tower head cross-arms centre-to-centre spacing, equidistant and symmetrical in two supporting brackets 14 of support bar welding, supporting bracket 14 is rigidly connected by bolt and cross arm of tower.
What be connected with the support bar two ends of flexible gap bridge mechanism is two sections flexible ball hinge components, flexible ball hinge component structure is successively cross-under ball stud 3, ball bowl pin 4 and form right bowl hook bolt 5 and bulb adjusting rod 6 of one section steel strand wire ground wire 2 more, then block the two ends of steel strand wire with hexagonal pressure head 7, the two ends of flexible ball hinge component are threaded with support bar 1 and tube connector 8 respectively.The Main Function of compliant section is to adapt to conductor galloping and adapt to the different model shaft tower.Increase or reduce bowl hook bolt 5 and adapt to different corner strain rod tower 17 coarse adjustment from the group number of bulb adjusting rod 6 as Overbridge device.
Flexible gap bridge mechanism end is two groups of guiding tube assemblies, comprises tube connector 8 and the overlap joint pipe 10 that is welded with U-loop 9; The screwed hole at tube connector 9 two ends, respectively with above-mentioned bowl hook bolt 5 be connected pipe 10 and is connected, middle through hole is connected with adjusting bearing 13, and overlapping 10 the effect of managing is that flexible gap bridge mechanism is smoothly transitted on the power transmission line 16, and power transmission line 16 places in the middle of the U-loop.
The connecting locating mechanism of gap bridge mechanism two ends and two strain clamps comprises yoke plate 11, chuck nut 12 and regulates bearing 13.Regulating the screwed hole of bearing 13 one sides and the through hole of above-mentioned tube connector 9 is connected by screw.Three screwed holes regulating bearing 13 bearing another sides are connected with three oval hole screws on the yoke plate 11, two trench structures are arranged on the yoke plate 11, strain clamp 15 places in the middle of the trench structure during installation, and one of them trench structure is connected with chuck nut 12 bolts that have screwed hole.Regulate the installation site of bearing 13 on yoke plate 11 and can regulate the micro-adjusting mechanism of these different corner strain rod towers 17 for gap bridge mechanism adapts to by the oval hole.
Specific embodiment described herein only is to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has more used support bar 1, steel strand wire ground wire 2, ball stud 3, ball bowl pin 4, bowl hook bolt 5, bulb adjusting rod 6, hexagonal pressure head 7, tube connector 8, U-shaped ring 9, overlap joint pipe 10, yoke plate 11, chuck nut 12, regulated the terms such as bearing 13, supporting bracket 14, strain clamp 15, power transmission line 16, strain rod tower 17, crusing robot 18, do not get rid of the possibility of using other term.Using these terms only is in order to describe more easily and explain essence of the present invention; They are construed to any additional restriction all is contrary with spirit of the present invention.
Claims (7)
1. ground wire strain rod tower Overbridge device that is used for the power transmission line inspection robot, it is characterized in that, comprise a flexible gap bridge mechanism, be used for the connecting locating mechanism that is fixedly connected with between flexible gap bridge mechanism and two strain clamps and for the positioning component that is connected that is fixedly connected with between gap bridge mechanism and the strain insulator tower head cross-arm.
2. a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot according to claim 1, it is characterized in that two guiding tube assemblies that are connected with two flexible ball hinge components respectively that described flexible gap bridge mechanism comprises support bar (1), is separately positioned on two flexible ball hinge components at support bar two ends and is separately positioned on the gap bridge mechanism end.
3. a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot according to claim 2 is characterized in that, described support bar (1) center, two ends all has the screwed hole that is connected for an end of above-mentioned flexible ball hinge component.
4. a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot according to claim 2, it is characterized in that, described flexible ball hinge component comprise one section steel strand wire ground wire (2), described steel strand wire ground wire (2) is cross-under ball stud (3), ball bowl pin (4) and the bulb adjusting rod (6) and many group bowl hook bolts (5) that have a screwed hole successively, then uses hexagonal pressure head (7) to block two ends; Described ball stud (3) is connected with above-mentioned support bar (1), and the bowl hook bolt (5) of flexible ball hinge component end is connected with above-mentioned guiding tube assembly.
5. a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot according to claim 4 is characterized in that, described guiding tube assembly comprises tube connector (8) and is welded with the overlap joint pipe (10) of U-shaped ring (9); Tube connector (9) two ends have screwed hole, respectively with above-mentioned bowl hook bolt (5) be connected pipe (10) and be connected.
6. a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot according to claim 5 is characterized in that, described connecting locating mechanism comprises yoke plate (11), chuck nut (12) and regulates bearing (13); Be useful on the described yoke plate (11) and place two trench structures of strain clamp, one of them trench structure is connected with the chuck nut that has screwed hole (12), have three oval holes on the yoke plate (11) and be connected with adjusting bearing (13) that the bottom has three screwed holes, the screwed hole of regulating bearing (13) another side is connected with above-mentioned tube connector (9).
7. a kind of ground wire strain rod tower Overbridge device for the power transmission line inspection robot according to claim 2, it is characterized in that, described connection positioning component comprises two supporting brackets (14), supporting bracket (14) one ends have the oval hole, be connected the other end and support bar (1) welding with existing angle steel hole on the cross arm of tower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310030034.0A CN103078270B (en) | 2013-01-25 | 2013-01-25 | A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310030034.0A CN103078270B (en) | 2013-01-25 | 2013-01-25 | A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103078270A true CN103078270A (en) | 2013-05-01 |
| CN103078270B CN103078270B (en) | 2015-10-28 |
Family
ID=48154719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310030034.0A Expired - Fee Related CN103078270B (en) | 2013-01-25 | 2013-01-25 | A kind of ground wire strain rod tower Overbridge device for power transmission line inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103078270B (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105703305A (en) * | 2016-03-29 | 2016-06-22 | 广东科凯达智能机器人有限公司 | Tower ground wire overbridge apparatus for power transmission line inspection robot |
| CN105811311A (en) * | 2016-05-18 | 2016-07-27 | 三峡大学 | Guide rail system used for inspection robot for power transmission line with functions of charging inspection robot and enabling inspection robot to pass through tower |
| CN106329439A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Barrier-free path of assisted overhead ground wire inspection robot spanning straight pole |
| CN106329438A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Barrier-free way for making circuit robot cross damper |
| CN106329451A (en) * | 2016-11-11 | 2017-01-11 | 广东电网有限责任公司电力科学研究院 | Common ground wire element for robot walking |
| CN106374388A (en) * | 2016-10-21 | 2017-02-01 | 国网山东省电力公司电力科学研究院 | Barrier-free patrolling robot system and method for overhead ground wire |
| CN106374408A (en) * | 2016-10-18 | 2017-02-01 | 国网山东省电力公司电力科学研究院 | Guide rail device and device for enabling inspection robot to directly pass through navigation mark ball |
| CN106374411A (en) * | 2016-11-11 | 2017-02-01 | 广东电网有限责任公司电力科学研究院 | OPGW ground wire assembly for robot walking |
| CN106655037A (en) * | 2016-10-21 | 2017-05-10 | 国网山东省电力公司电力科学研究院 | A barrier-free way for allowing an overhead ground wire patrol robot to pass across straight line poles and stockbridge dampers |
| CN107492858A (en) * | 2017-09-08 | 2017-12-19 | 国网山东省电力公司电力科学研究院 | The modified attachment structure of overhead transmission line line grounding wire and strain insulator tower head |
| CN107591729A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN109038371A (en) * | 2018-10-08 | 2018-12-18 | 国网江苏省电力有限公司检修分公司 | A kind of overhead transmission line wheeled crusing robot shaft tower obstacle detouring bridge |
| CN109659859A (en) * | 2019-01-28 | 2019-04-19 | 广东科凯达智能机器人有限公司 | Power transmission line intelligent cruising inspection system |
| CN111181067A (en) * | 2020-02-07 | 2020-05-19 | 云南电网有限责任公司电力科学研究院 | Track system of line inspection robot for overhead transmission line |
| CN111546383A (en) * | 2020-05-12 | 2020-08-18 | 中科开创（广州）智能科技发展有限公司 | Elbow for tower-crossing bridging equipment of tower-standing robot |
| CN111716320A (en) * | 2020-06-01 | 2020-09-29 | 国电南瑞科技股份有限公司 | Automatic line loading and unloading device for inspection robot with flexible track |
| CN113889903A (en) * | 2021-09-29 | 2022-01-04 | 国电南瑞科技股份有限公司 | Auxiliary hardware fitting device for robot to cross high-voltage tower |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03256512A (en) * | 1990-03-02 | 1991-11-15 | Hitachi Cable Ltd | Metal wheel passing anchor clamp and protector and terminal type prefabrication jumper |
| CN201478733U (en) * | 2009-08-07 | 2010-05-19 | 西昌电业局 | Flexible supporting part |
| CN202474714U (en) * | 2012-03-23 | 2012-10-03 | 宁夏电力公司吴忠供电局 | Bridge device of tension-resistant pole tower of inspection robot |
| CN202474713U (en) * | 2012-03-23 | 2012-10-03 | 宁夏电力公司吴忠供电局 | Overhead ground wire bridging device for inspection robot |
-
2013
- 2013-01-25 CN CN201310030034.0A patent/CN103078270B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03256512A (en) * | 1990-03-02 | 1991-11-15 | Hitachi Cable Ltd | Metal wheel passing anchor clamp and protector and terminal type prefabrication jumper |
| CN201478733U (en) * | 2009-08-07 | 2010-05-19 | 西昌电业局 | Flexible supporting part |
| CN202474714U (en) * | 2012-03-23 | 2012-10-03 | 宁夏电力公司吴忠供电局 | Bridge device of tension-resistant pole tower of inspection robot |
| CN202474713U (en) * | 2012-03-23 | 2012-10-03 | 宁夏电力公司吴忠供电局 | Overhead ground wire bridging device for inspection robot |
Non-Patent Citations (2)
| Title |
|---|
| 徐显金等: ""基于地线改造的巡检机器人机械结构设计"", 《机械设计与制造》, no. 11, 30 November 2011 (2011-11-30), pages 93 - 94 * |
| 徐显金等: ""沿架空地线行驶的自主巡检机器人及应用"", 《武汉大学学报（工学版）》, vol. 43, no. 6, 31 December 2010 (2010-12-31), pages 752 - 761 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105703305A (en) * | 2016-03-29 | 2016-06-22 | 广东科凯达智能机器人有限公司 | Tower ground wire overbridge apparatus for power transmission line inspection robot |
| CN105811311A (en) * | 2016-05-18 | 2016-07-27 | 三峡大学 | Guide rail system used for inspection robot for power transmission line with functions of charging inspection robot and enabling inspection robot to pass through tower |
| CN106374408A (en) * | 2016-10-18 | 2017-02-01 | 国网山东省电力公司电力科学研究院 | Guide rail device and device for enabling inspection robot to directly pass through navigation mark ball |
| CN106329439A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Barrier-free path of assisted overhead ground wire inspection robot spanning straight pole |
| CN106329438A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Barrier-free way for making circuit robot cross damper |
| CN106374388A (en) * | 2016-10-21 | 2017-02-01 | 国网山东省电力公司电力科学研究院 | Barrier-free patrolling robot system and method for overhead ground wire |
| CN106655037A (en) * | 2016-10-21 | 2017-05-10 | 国网山东省电力公司电力科学研究院 | A barrier-free way for allowing an overhead ground wire patrol robot to pass across straight line poles and stockbridge dampers |
| CN106329451A (en) * | 2016-11-11 | 2017-01-11 | 广东电网有限责任公司电力科学研究院 | Common ground wire element for robot walking |
| CN106374411A (en) * | 2016-11-11 | 2017-02-01 | 广东电网有限责任公司电力科学研究院 | OPGW ground wire assembly for robot walking |
| CN107591729A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN107492858A (en) * | 2017-09-08 | 2017-12-19 | 国网山东省电力公司电力科学研究院 | The modified attachment structure of overhead transmission line line grounding wire and strain insulator tower head |
| CN107591729B (en) * | 2017-09-08 | 2019-11-19 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN109038371A (en) * | 2018-10-08 | 2018-12-18 | 国网江苏省电力有限公司检修分公司 | A kind of overhead transmission line wheeled crusing robot shaft tower obstacle detouring bridge |
| CN109038371B (en) * | 2018-10-08 | 2024-02-02 | 国网江苏省电力有限公司检修分公司 | Tower obstacle crossing bridge for overhead transmission line wheel type inspection robot |
| CN109659859A (en) * | 2019-01-28 | 2019-04-19 | 广东科凯达智能机器人有限公司 | Power transmission line intelligent cruising inspection system |
| CN111181067A (en) * | 2020-02-07 | 2020-05-19 | 云南电网有限责任公司电力科学研究院 | Track system of line inspection robot for overhead transmission line |
| CN111546383A (en) * | 2020-05-12 | 2020-08-18 | 中科开创（广州）智能科技发展有限公司 | Elbow for tower-crossing bridging equipment of tower-standing robot |
| CN111716320A (en) * | 2020-06-01 | 2020-09-29 | 国电南瑞科技股份有限公司 | Automatic line loading and unloading device for inspection robot with flexible track |
| CN113889903A (en) * | 2021-09-29 | 2022-01-04 | 国电南瑞科技股份有限公司 | Auxiliary hardware fitting device for robot to cross high-voltage tower |
| CN113889903B (en) * | 2021-09-29 | 2023-08-25 | 国电南瑞科技股份有限公司 | Auxiliary hardware fitting device for robot crossing high-voltage iron tower |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103078270B (en) | 2015-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103078270A (en) | Ground wire strain tower gap bridge device for inspection robot of power transmission line | |
| CN105186423B (en) | Earth potential working non-bearing connecting clip simple in construction | |
| CN202121254U (en) | Cross arm lateral side clamp of double-fission double-suspension insulator string for erecting tower | |
| CN203799586U (en) | Signboard mounting support for power transmission line steel tube tower | |
| CN103192336A (en) | Method for bolt fastening of suspension clamp of power transmission line and special tool | |
| CN103437586B (en) | Composite rotation cross-arm | |
| CN201189645Y (en) | Cable clamp and bolt tightner of transformer device | |
| CN109038371B (en) | Tower obstacle crossing bridge for overhead transmission line wheel type inspection robot | |
| CN103624363B (en) | A kind of cantilever welding machine | |
| KR101831428B1 (en) | Supporter fixed tower for extra-high voltage power transmission line | |
| CN206480790U (en) | One kind is applied to underground railway track contact net anti-misoperation electrical verification stake | |
| CN102751687B (en) | Drainage armour clamp of high voltage alternative current circuit tension resisting tower | |
| CN204597370U (en) | The running gear of the horizontal double bundle conductor conductor spacer of 220kV can be crossed | |
| CN208378077U (en) | A kind of high-tension cable laying protection tool | |
| CN206134960U (en) | Electric power inspection earthing line | |
| CN104821515B (en) | The running gear of 220kV horizontal double bundle conductor conductor spacer can be crossed | |
| CN203114144U (en) | Overhung maintenance hook ladder | |
| CN204700804U (en) | A kind of livewire work maintenance spanner | |
| CN107425466A (en) | Wire lifts insulating support and its application method | |
| CN105762708A (en) | Line patrol robot | |
| CN103500961A (en) | Tool special for electrified replacement of strain insulator string | |
| CN203589662U (en) | Sectional ground wire connection structure | |
| CN208903753U (en) | Overhead transmission line assembled strain insulator string devices | |
| CN207559435U (en) | A kind of 10kV wire tensions intensive | |
| CN206471748U (en) | Universal 500kV straight lines wineglass tower line maintenance cross-arm hanging point device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151028 Termination date: 20220125 |