CN104022458A - Suspended inspection robot on superhigh-voltage power transmission line - Google Patents
Suspended inspection robot on superhigh-voltage power transmission line Download PDFInfo
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- CN104022458A CN104022458A CN201410217535.4A CN201410217535A CN104022458A CN 104022458 A CN104022458 A CN 104022458A CN 201410217535 A CN201410217535 A CN 201410217535A CN 104022458 A CN104022458 A CN 104022458A
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- 238000007689 inspection Methods 0.000 title abstract description 10
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- 239000000725 suspension Substances 0.000 claims description 27
- 230000009184 walking Effects 0.000 claims description 14
- 238000012360 testing method Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000009194 climbing Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract 1
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- 125000006850 spacer group Chemical group 0.000 description 8
- 230000001595 contractor effect Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 6
- 230000009183 running Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
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- 230000007423 decrease Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
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Abstract
The invention provides a suspended inspection robot on a superhigh-voltage power transmission line. By the use of the suspended inspection robot, the problem that most current inspection robots have obstacle-crossing difficulties or part of obstacle-crossing robots are hard to control and are large in size is solved. The suspended inspection robot contains a control cabinet, inside which a control system is arranged. Detection equipment is arranged on the control cabinet. The top of the control cabinet is also provided with four actuating arms, wherein two of the four actuating arms are positioned in the middle of the control cabinet and the two actuating arms face each other and are laid back and forth in a staggered pattern. The other two actuating arms are positioned at two ends of the control cabinet, and the two actuating arms face each other and are laid back and forth. Each actuating arm contains a driving wheel set positioned on the top; a vertical driving mechanism is connected below the driving wheel set; the bottom of the vertical driving mechanism is connected with a horizontal driving mechanism; and the control system is connected with the driving wheel set, the vertical driving mechanism and the horizontal driving mechanism in an electronic control pattern. The suspended inspection robot provided by the invention has characteristics of strong obstacle crossing ability, large climbing gradient, stable structure, high control precision, simple operation, good real-time performance and the like.
Description
Technical field
The invention belongs to electric wire inspection device technical field, relate to the suspension type crusing robot on a kind of inspection device, particularly a kind of extra high voltage network that can realize barrier leap.
Background technology
Because the many ground of Chinese people is wide, the geographical position complexity of many remote districts, thereby be subject to for a long time without electric puzzlement.In recent years, along with the development of Chinese national economy, many remote districts are also realized the universal of electric power resource gradually, but because distance is remote, the transmission of single use high voltage transmission line can improve economic input greatly, so ultra high-tension transmission line transmission is arisen at the historic moment.The safety checking protection electrical network of patrolling and examining of ultra high-tension transmission line is very important, but ultra high-tension transmission line is widely distributed, and some areas geographical environment is comparatively complicated; manual inspection mode is because labour intensity is large; patrol and examine precision low, no longer applicable, therefore can only seek new routine inspection mode.
The development of mobile robot technology is the technology platform that provides new of patrolling and examining of the built on stilts extra-high voltage line of force.In recent years, the research of crusing robot has become one of the study hotspot in robot research field.But based on realistic situation, most of crusing robot obstacle climbing ability is limited, or part robot can realize obstacle crossing function, but due to the complex structure of this type of robot, therefore control difficultly, and volume is large, for patrolling and examining with transport of robot brought inconvenience.
Summary of the invention
The object of the invention is to have the problems referred to above for existing technology, proposed a kind of obstacle climbing ability strong, ramp angle is large, stabilized structure, volume is little, and when walking, fail safe is good, control precision is high, simple to operate, the suspension type crusing robot on the good extra high voltage network of real-time.
Object of the present invention can realize by following technical proposal: the suspension type crusing robot on extra high voltage network, comprise control cabinet, in described control cabinet, control system is set, on described control cabinet, testing equipment is set, the top of described control cabinet also arranges four actuating arms, wherein two actuating arms are positioned at control cabinet middle part, these two actuating arms towards relatively, and front-back staggered is laid, other two actuating arms are positioned at control cabinet two ends, these two actuating arms towards relatively, and one in front and one in back lay, described actuating arm comprises the driving wheels that are positioned at top, the below of described driving wheels connects longitudinal driving mechanism, the bottom of described longitudinal driving mechanism connects transversal driving mechanism, described control system electricly connects driving wheels, longitudinal driving mechanism and transversal driving mechanism.
Suspension type crusing robot on this extra high voltage network is applicable to the high voltage power transmission route of 500KV, and actuating arm is by driving wheels to realize the walking on power transmission line; Realize the expanding-contracting action of body at vertical direction by longitudinal driving mechanism, stretch out, contraction state; Realize body translation motion in the horizontal direction by transversal driving mechanism, slip into, skid off state.Thus in the time running into barrier, four actuating arms match and carry out the orderly action of stretching out, shrink and slip into, skid off, to realize the leap function to barrier.
In suspension type crusing robot on above-mentioned extra high voltage network, described driving wheels comprise motor, described motor connects driving wheel, on the border of described driving wheel, be arranged with the walking groove for inlay card power transmission line, the outside socket motor square tube shell of described motor, the distolateral connecting plate for electric motor that arranges of described motor square tube shell, described motor is connected by circuit with control system.The relative intervening portion of two actuating arms is specially, and driving wheel is all towards inner side, and motor all toward the outer side, and two driving wheels are front-back staggered setting.Driving wheel adopts the excellent power glue material of polyurethane, and it has the advantages that resistance to wear is good, shock absorption is good, and is beneficial to prolongation working life.
In suspension type crusing robot on above-mentioned extra high voltage network, described longitudinal driving mechanism comprises longitudinal driving cylinder, described longitudinal driving cylinder has the longitudinal extension axle stretching out straight up, the top of the described longitudinal extension axle cylinder connecting plate that is connected, described driving wheels are fixed on the end face of cylinder connecting plate, and described longitudinal driving cylinder is connected by circuit with control system.
In suspension type crusing robot on above-mentioned extra high voltage network, the outside socket cylinder square tube shell of described longitudinal driving cylinder, the bottom of the described cylinder square tube shell air cylinder base that is connected, in described cylinder square tube shell, stretch out some longitudinal guide shafts that can vertically slide, the top of the described longitudinal guide shaft above-mentioned cylinder connecting plate that is connected.Longitudinally guide shaft is hollow structure, and four longitudinal guide shafts are set altogether, and each right angle place of cylinder square tube shell arranges a longitudinal guide shaft.
In suspension type crusing robot on above-mentioned extra high voltage network, described transversal driving mechanism comprises horizontal driving cylinder, described horizontal driving cylinder has the straight transversal stretching axle stretching out, the carrying platform being the level of state is set on described transversal stretching axle, described longitudinal driving mechanism is fixed on the end face of carrying platform, and described horizontal driving cylinder is connected by circuit with control system.
In suspension type crusing robot on above-mentioned extra high voltage network, the two ends of the described horizontal driving cylinder locating rack that is connected, described locating rack is fixed on control cabinet top, and horizontal guide rod is set on described locating rack, on described horizontal guide rod, be socketed slide block, the described slide block above-mentioned carrying platform that is connected.Laterally drive cylinder to order about that transversal stretching axle stretches out, contractive action, transversal stretching axle drives carrying platform translation motion, simultaneously carrying platform by slide block along laterally guide rod slippage.
In suspension type crusing robot on above-mentioned extra high voltage network, described testing equipment comprises video camera, infrared instrument and signal transceiver, described video camera, infrared instrument are connected by circuit and signal transceiver, and described signal transceiver is connected and is positioned at ground base station control center by wireless signal.Testing equipment is fixed on the forward end position at control cabinet top, its circuit image information exchange by shooting is crossed wireless bridge and passes to the base station control center on ground, be convenient to ground handling personnel and determine power transmission line position and the ambient conditions thereof damaged, to keep in repair.
In suspension type crusing robot on above-mentioned extra high voltage network, described control system comprises industrial master board, motion control card, data collecting card, two Wireless Transmitter and servo controller.
In suspension type crusing robot on above-mentioned extra high voltage network, the two ends of the described control cabinet mounting plate that is connected, actuating arm is connected on described mounting plate.
Compared with prior art, the advantage of the suspension type crusing robot on this extra high voltage network and good effect are:
1. security protection is good: two driving wheels hanging wires simultaneously when walking, and two other driving wheel hanging wire simultaneously when obstacle detouring, and four driving wheels are all positioned opposite, and robot can not fallen down from power transmission line because of rocking, and have ensured the stable of robot operation.
2. the obstacle climbing ability of creeping is strong: the driving wheel at robot middle part has high-power brake motor control to drive, therefore its locomotor activity is strong, and can cross over the obstacles such as suspension clamp on power transmission line, stockbridge damper, conductor spacer, and ramp angle is large.
3. control simply, precision is high: when walking, manually control, when obstacle detouring, automatically control, its obstacle detouring time is short, and efficiency is high.
4. patrol and examine quality high, be widely used: be mounted with video camera and infrared instrument, the line information of walking clearly can be transferred to ground base station, ensured the quality of polling transmission line work; Also remote controlled, can be widely used in the work of patrolling and examining of transmission line.
Brief description of the drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is planar structure schematic diagram of the present invention.
Fig. 3 is the perspective view of actuating arm in the present invention.
Fig. 4 is the planar structure schematic diagram of actuating arm in the present invention.
Fig. 5 a is that obstacle detouring process first element of the present invention is described schematic diagram.
Fig. 5 b is second action description schematic diagram of obstacle detouring process of the present invention.
Fig. 5 c is the 3rd action description schematic diagram of obstacle detouring process of the present invention.
Fig. 5 d is the 4th action description schematic diagram of obstacle detouring process of the present invention.
Fig. 5 e is the 5th action description schematic diagram of obstacle detouring process of the present invention.
Fig. 5 f is the 6th action description schematic diagram of obstacle detouring process of the present invention.
Fig. 5 g is the 7th action description schematic diagram of obstacle detouring process of the present invention.
Fig. 5 h is the 8th action description schematic diagram of obstacle detouring process of the present invention.
Fig. 5 i is the 9th action description schematic diagram of obstacle detouring process of the present invention.
Fig. 5 j is that obstacle detouring process tenth skill of the present invention is described schematic diagram.
In figure, 1, control cabinet; 2, testing equipment; 3, actuating arm; 4, locating rack; 5, laterally drive cylinder; 6, horizontal guide rod; 7, slide block; 8, carrying platform; 9, air cylinder base; 10, cylinder square tube shell; 11, longitudinally drive cylinder; 12, longitudinal guide shaft; 13, cylinder connecting plate; 14, motor square tube shell; 15, connecting plate for electric motor; 16, driving wheel; 17, motor; 18, power transmission line; 19, conductor spacer.
Embodiment
Be below specific embodiments of the invention by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiment.
As shown in Fig. 1,2,3 and 4, the suspension type crusing robot on this extra high voltage network comprises control cabinet 1, and the interior control system that arranges of control cabinet 1, arranges testing equipment 2 on control cabinet 1.The top of control cabinet 1 also arranges four actuating arms 3, and wherein two actuating arms 3 are positioned at control cabinet 1 middle part, these two actuating arms 3 towards relatively, and front-back staggered is laid; Other two actuating arms 3 are positioned at control cabinet 1 two ends, these two actuating arms 3 towards relatively, and one in front and one in back lay.The two ends of control cabinet 1 mounting plate that is connected, the actuating arm 3 that is positioned at two ends is specifically arranged on mounting plate.
Actuating arm 3 comprises the driving wheels that are positioned at top, drives the below of wheels to connect longitudinal driving mechanism, and the bottom of longitudinal driving mechanism connects transversal driving mechanism, and transversal driving mechanism is arranged on the top of control cabinet 1.Control system electricly connects and drives wheels, longitudinal driving mechanism and transversal driving mechanism.
Drive wheels to comprise motor 17, motor 17 connects driving wheel 16, is arranged with the walking groove for inlay card power transmission line 18 on the border of driving wheel 16.The outside socket motor square tube shell 14 of motor 17, the distolateral connecting plate for electric motor 15 that arranges of motor square tube shell 14, motor 17 is connected by circuit with control system.The relative intervening portion of two actuating arms 3 is specially, and driving wheel 16 is all towards inner side, and motor 17 is all toward the outer side, and two driving wheels 16 be front-back staggered setting.Driving wheel 16 adopts the excellent power glue material of polyurethane, and it has the advantages that resistance to wear is good, shock absorption is good, and is beneficial to prolongation working life.In walking, motor 17 drives driving wheel 16 to rotate, thereby driving wheel 16 is advanced along power transmission line 18.
Longitudinal driving mechanism comprises longitudinal driving cylinder 11, longitudinally drives the outside socket cylinder square tube shell 10 of cylinder 11, the bottom of cylinder square tube shell 10 air cylinder base 9 that is connected.Longitudinally drive cylinder 11 to there is the longitudinal extension axle stretching out straight up, the top of the longitudinal extension axle cylinder connecting plate 13 that is connected.In cylinder square tube shell 10, stretch out four longitudinal guide shafts 12 that can vertically slide, longitudinally guide shaft 12 be hollow structure, and each right angle place of cylinder square tube shell 10 arranges a longitudinal guide shaft 12, the top of the longitudinal guide shaft 12 cylinder connecting plate 13 that is connected.Motor square tube shell 14 in driving wheels is fixed on the end face of cylinder connecting plate 13, longitudinally drives cylinder 11 to be connected by circuit with control system.
Transversal driving mechanism comprises horizontal driving cylinder 5, laterally drives cylinder 5 to be connected by circuit with control system.Laterally drive cylinder 5 to there is the straight transversal stretching axle stretching out, the carrying platform 8 being the level of state is set on transversal stretching axle.Laterally drive the two ends of cylinder 5 locating rack 4 that is connected, and locating rack 4 is fixed on control cabinet 1 top.Two horizontal guide rods 6 that parallel are set on locating rack 4, on every horizontal guide rod 6, are socketed slide block 7, and the be connected bottom surface of carrying platform 8 of slide block 7.Longitudinal driving mechanism is fixed on the end face of carrying platform 8, is specifically connected with carrying platform 8 by the air cylinder base 9 that is positioned at bottom.Laterally drive cylinder 5 to order about that transversal stretching axle stretches out, contractive action, transversal stretching axle drives carrying platform 8 translation motions, simultaneously carrying platform 8 by slide block 7 along laterally guide rod 6 slippages.
Testing equipment 2 comprises video camera, infrared instrument and signal transceiver, and video camera, infrared instrument are connected by circuit and signal transceiver, and signal transceiver is connected and is positioned at ground base station control center by wireless signal.Testing equipment 2 is fixed on the forward end position at control cabinet 1 top, its circuit image information exchange by shooting is crossed wireless bridge and passes to the base station control center on ground, be convenient to ground handling personnel and determine power transmission line 18 positions and the ambient conditions thereof damaged, to keep in repair.
Control system comprises industrial master board, motion control card, data collecting card, two Wireless Transmitter and servo controller.
Suspension type crusing robot on this extra high voltage network is applicable to the high voltage power transmission route of 500KV, and actuating arm 3 is by driving wheels to realize the walking on power transmission line 18; Realize the expanding-contracting action of body at vertical direction by longitudinal driving mechanism, stretch out, contraction state; Realize body translation motion in the horizontal direction by transversal driving mechanism, slip into, skid off state.Thus in the time running into barrier, four actuating arms 3 match and carry out the orderly action of stretching out, shrink and slip into, skid off, to realize the leap function to barrier.
The concrete running of the suspension type crusing robot on this extra high voltage network is:
While walking, as Fig. 5 a, be positioned at two actuating arms 3 at middle part by driving wheel 16 hanging wires, and two actuating arms 3 at middle part are in the vertical in extended state, in the horizontal in slipping into state on power transmission line 18; Two actuating arms 3 at two ends are in the vertical in contraction state, in the horizontal in skidding off state.As Fig. 5 b, in the time running into barrier as conductor spacer 19, robot stops walking, and two actuating arms 3 at middle part carry out contractive action by the driving of longitudinal driving cylinder 11, and two actuating arms 3 at control cabinet 1 and two ends also rise thereupon simultaneously.As Fig. 5 c, two actuating arms 3 at two ends are stretched out action by the driving of longitudinal driving cylinder 11, and two actuating arms 3 at two ends slip into action by horizontal driving cylinder 5 simultaneously.As Fig. 5 d, two actuating arms 3 at two ends carry out contractive action by the driving of longitudinal driving cylinder 11, until the driving wheel 16 of two ends actuating arm 3 is realized hanging wire operation, now two actuating arms 3 at middle part have departed from power transmission line 18.As Fig. 5 e, then two actuating arms 3 at middle part are completed and stretch out and skid off action with horizontal driving cylinder 5 by longitudinal driving cylinder 11.As Fig. 5 f, two actuating arms 3 at two ends are stretched out action by the driving of longitudinal driving cylinder 11, two actuating arms 3 at control cabinet 1 and middle part also decline thereupon simultaneously, and two actuating arms 3 at middle part longitudinally shrink, now two actuating arms 3 at middle part are positioned under power transmission line 18, and the driving wheel 16 of front-end driven arm 3 is positioned on the front power transmission line 18 of conductor spacer 19.As Fig. 5 g, walk on along power transmission line 18 by two actuating arms 3 at two ends, until the driving wheel 16 of rear end actuating arm 3 stops walking while running into conductor spacer 19, now two actuating arms 3 at middle part are passed by from conductor spacer 19 belows.As Fig. 5 h, two actuating arm 3 contractive action at two ends, two actuating arms 3 at control cabinet 1 and middle part also rise thereupon simultaneously, and action is stretched out, slipped into two actuating arms 3 at middle part.As Fig. 5 i, two actuating arms 3 at middle part carry out contractive action, until the driving wheel 16 of middle part actuating arm 3 is realized hanging wire operation, now two of two ends actuating arms 3 have departed from power transmission line 18, and two actuating arms 3 at two ends complete in turn and stretch out, skid off, contractive action.As Fig. 5 j, two actuating arms 3 at middle part are stretched out action, and two actuating arms 3 at control cabinet 1 and two ends also decline thereupon simultaneously, and whole crusing robot is got back to initial state, has now crossed conductor spacer 19, can continue walking on power transmission line 18.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendments or supplement 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 more used control cabinet 1 herein; Testing equipment 2; Actuating arm 3; Locating rack 4; Laterally drive cylinder 5; Laterally guide rod 6; Slide block 7; Carrying platform 8; Air cylinder base 9; Cylinder square tube shell 10; Longitudinally drive cylinder 11; Longitudinally guide shaft 12; Cylinder connecting plate 13; Motor square tube shell 14; Connecting plate for electric motor 15; Driving wheel 16; Motor 17; Power transmission line 18; Conductor spacer 19 terms such as grade, but do not get rid of the possibility that uses other term.Use these terms to be only used to describe more easily and explain essence of the present invention; They are construed to any additional restriction is all contrary with spirit of the present invention.
Claims (9)
1. the suspension type crusing robot on extra high voltage network, comprise control cabinet, in described control cabinet, control system is set, on described control cabinet, testing equipment is set, it is characterized in that, the top of described control cabinet also arranges four actuating arms, wherein two actuating arms are positioned at control cabinet middle part, these two actuating arms towards relatively, and front-back staggered is laid, other two actuating arms are positioned at control cabinet two ends, these two actuating arms towards relatively, and one in front and one in back lay, described actuating arm comprises the driving wheels that are positioned at top, the below of described driving wheels connects longitudinal driving mechanism, the bottom of described longitudinal driving mechanism connects transversal driving mechanism, described control system electricly connects driving wheels, longitudinal driving mechanism and transversal driving mechanism.
2. the suspension type crusing robot on extra high voltage network according to claim 1, it is characterized in that, described driving wheels comprise motor, described motor connects driving wheel, on the border of described driving wheel, be arranged with the walking groove for inlay card power transmission line, the outside socket motor square tube shell of described motor, the distolateral connecting plate for electric motor that arranges of described motor square tube shell, described motor is connected by circuit with control system.
3. the suspension type crusing robot on extra high voltage network according to claim 1, it is characterized in that, described longitudinal driving mechanism comprises longitudinal driving cylinder, described longitudinal driving cylinder has the longitudinal extension axle stretching out straight up, the top of the described longitudinal extension axle cylinder connecting plate that is connected, described driving wheels are fixed on the end face of cylinder connecting plate, and described longitudinal driving cylinder is connected by circuit with control system.
4. the suspension type crusing robot on extra high voltage network according to claim 3, it is characterized in that, the outside socket cylinder square tube shell of described longitudinal driving cylinder, the bottom of the described cylinder square tube shell air cylinder base that is connected, in described cylinder square tube shell, stretch out some longitudinal guide shafts that can vertically slide, the top of the described longitudinal guide shaft above-mentioned cylinder connecting plate that is connected.
5. the suspension type crusing robot on extra high voltage network according to claim 1, it is characterized in that, described transversal driving mechanism comprises horizontal driving cylinder, described horizontal driving cylinder has the straight transversal stretching axle stretching out, the carrying platform being the level of state is set on described transversal stretching axle, described longitudinal driving mechanism is fixed on the end face of carrying platform, and described horizontal driving cylinder is connected by circuit with control system.
6. the suspension type crusing robot on extra high voltage network according to claim 5, it is characterized in that, the two ends of the described horizontal driving cylinder locating rack that is connected, described locating rack is fixed on control cabinet top, horizontal guide rod is set on described locating rack, on described horizontal guide rod, be socketed slide block, the described slide block above-mentioned carrying platform that is connected.
7. according to the suspension type crusing robot on the extra high voltage network described in any one in claim 1 to 6, it is characterized in that, described testing equipment comprises video camera, infrared instrument and signal transceiver, described video camera, infrared instrument are connected by circuit and signal transceiver, and described signal transceiver is connected and is positioned at ground base station control center by wireless signal.
8. according to the suspension type crusing robot on the extra high voltage network described in any one in claim 1 to 6, it is characterized in that, described control system comprises industrial master board, motion control card, data collecting card, two Wireless Transmitter and servo controller.
9. according to the suspension type crusing robot on the extra high voltage network described in any one in claim 1 to 6, it is characterized in that, the two ends of the described control cabinet mounting plate that is connected, actuating arm is connected on described mounting plate.
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| CN201410217535.4A CN104022458B (en) | 2014-05-22 | 2014-05-22 | Suspended inspection robot on superhigh-voltage power transmission line |
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| CN201410217535.4A CN104022458B (en) | 2014-05-22 | 2014-05-22 | Suspended inspection robot on superhigh-voltage power transmission line |
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| CN104022458B CN104022458B (en) | 2017-05-24 |
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Cited By (18)
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| CN105244808A (en) * | 2015-10-27 | 2016-01-13 | 山东科技大学 | Cable climbing robot for power transmission line to perform on-line monitoring |
| CN105305296A (en) * | 2015-10-10 | 2016-02-03 | 王俊 | High-voltage line inspection robot |
| CN105429050A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Press wheel device for inspection robot of overhead high-voltage power transmission line |
| CN105429302A (en) * | 2015-12-17 | 2016-03-23 | 任荣源 | On-line detection system for real-time wind deviation of power transmission line |
| CN105514864A (en) * | 2015-12-11 | 2016-04-20 | 沈阳航空航天大学 | High-voltage line inspection robot with wheel mechanisms |
| CN106058733A (en) * | 2016-07-28 | 2016-10-26 | 国家电网公司 | Aerial work platform |
| CN106992469A (en) * | 2017-05-31 | 2017-07-28 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
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| CN108161891A (en) * | 2018-02-12 | 2018-06-15 | 江西省送变电工程有限公司 | High voltage cable conductor spacer assists mounting robot and barrier-avoiding method |
| CN108161890A (en) * | 2018-02-12 | 2018-06-15 | 江西省送变电工程有限公司 | High voltage cable conductor spacer assists mounting robot mechanism and conductor spacer installation method |
| CN108347010A (en) * | 2018-02-12 | 2018-07-31 | 江西省送变电工程有限公司 | Mounting robot walking machine arm is assisted for high voltage cable conductor spacer |
| CN108356852A (en) * | 2018-02-12 | 2018-08-03 | 江西省送变电工程有限公司 | The driving device of mounting robot is assisted for high voltage cable conductor spacer |
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