CN104269774A - Deicing device for electric transmission line - Google Patents
Deicing device for electric transmission line Download PDFInfo
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- CN104269774A CN104269774A CN201410477337.1A CN201410477337A CN104269774A CN 104269774 A CN104269774 A CN 104269774A CN 201410477337 A CN201410477337 A CN 201410477337A CN 104269774 A CN104269774 A CN 104269774A
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- road wheel
- transmission line
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- cutting
- deicer
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Abstract
The invention provides a deicing device for an electric transmission line. The deicing device for the electric transmission line comprises a shell, a power source, two or more walking wheels, a beating portion, a cutting portion and a remote control device. The remote control device comprises a remote control module. The shell comprises a vertical box, an upper box body and a lower box body, wherein the vertical box is vertically arranged, the upper box body is connected to the front side of the vertical box, and the lower box body is sealed. A passing space where the electric transmission line passes is formed between the upper box body and the lower box body. An opening is formed in the bottom of the upper box body. The waking wheels are installed at the upper box body in the transverse direction. The lower half portions of the walking wheels extend out of the upper box body. The power source and the remote control module are installed in the lower box body. The walking wheels are connected with a walking wheel motor. Through site simulation tests, the deicing device can effectively walk on a single divided conductor and double divided conductors and stride across a spacer, and the beating function and the cutting function can be both effectively achieved under the remote control condition.
Description
Technical field
The present invention relates to transmission line maintenance field, especially relate to a kind of deicer for transmission line.
Background technology
AC/DC transmission line in the winter time icing is one of maximum natural calamity of electric power system.Cold raindrop dropped to temperature be below the freezing point (0 DEG C) object on just form glaze.If condense on electric wire, just form Ice.If the institute's live wire within the scope of is all encased by ice, Here it is line ice coating.
For the high-tension bus-bar of long distance powedr transmission, it relies on steel tower to support, and icing makes steel tower increase heavy burden, and serious icing can make these electric wires of the unable support of steel tower and collapse.And insulator string on steel tower has had icing just can only operate a switch make power transmission line stop transmission of electricity, so cause large-area power breakdown.Line ice coating forms serious disaster.And artificial deicing is the unique way ensureing that electrical network is unimpeded at present.In late January, 2008 just there is serious line ice coating in Central China, causes the some electrical power supply discontinuity of more than 10 province.
Because of the power failure that icing causes, even the damage sequence such as grid disconnection is usually very serious, and repair difficulty is large, the cycle is long.In order to ensure the reliability of electric power system, improving the efficiency of high voltage transmission line deicing, reducing the loss, the safety of surfaceman, develop the machinery of deicing safely and effectively, to replace people to carry out conducting wire deicing, there is good application prospect and Practical significance.
Summary of the invention
The object of the present invention is to provide a kind of deicer for power transmission line, effectively can remove and cover the ice sheet that is wrapped on transmission line, and can not circuit be damaged, can the barrier of spanning spacers one class when advancing.
Technical scheme of the present invention is:
Deicer for power transmission line, comprise shell, power supply, road wheel, knock part, cutting part and remote control, remote control comprises remote control module, shell comprises the lower box of the perpendicular case vertically arranged and the upper box be connected on front side of perpendicular case and sealing, what the centre of upper box and lower box was configured for that transmission line passes through passes through space, the bottom of upper box is provided with opening, two or more road wheel transversely direction is arranged on upper box place, the latter half of road wheel stretches out upper box, and power supply and remote control module are arranged in lower box; Described road wheel is connected with road wheel motor; The wheel limit that described road wheel comprises the left and right sides and the road wheel wheel rim be positioned in the middle of two-wheeled limit; The road wheel wheel rim of described road wheel is the arc of indent, arc radius bottom road wheel wheel rim should be suitable with the diameter of transmission line, the wheel edge circumferencial direction of the road wheel left and right sides is provided with the leap tooth of barrier on span transmission line, the quantity of crossing over tooth is 3 ~ 6, and road wheel motor adopts turbine and worm reducing motor;
Described shell knocks partly and cutting part in the connection of the side of direct of travel, knock partly to comprise and knock motor, knock motor and be connected with main shaft, the plane of rotation at main shaft place is vertical with transmission line, the both sides up and down of main shaft are connected with knocks spring, and the top of knocking spring is connected with knocks hammer, knocks hammer and adopts nylon material, when main shaft does not rotate, knock the summit of the hammer radius of gyration lower than the minimum point bottom road wheel wheel rim;
Described cutting part comprises linear pushing mechanism and is connected to the cutting base of linear pushing device front end, linear pushing mechanism and upper box hinged, cutting base is connected with circular saw, and circular saw comprises cutting motor and discoidal cutting blade, and cutting blade is positioned at position directly over transmission line; When linear pushing mechanism reaches range, the lowermost end of cutting blade is higher than transmission line is 1 ~ 2 centimetre along distance;
Described power supply, road wheel motor, knock motor, cutting motor and be all connected with remote control remote pilot.
The quantity of crossing over tooth is 4.
Road wheel material adopts aluminium alloy; Shell adopts coated carbon steel material.
Bottoms between two leap teeth that wheel limit is adjacent are also provided with arc convex.
Road wheel is two parts of split, left half road wheel and right half road wheel is divided into the vertical plane at circuit place, the outside of left half road wheel and right half road wheel is equipped with back-moving spring, the middle part of left half road wheel and right half road wheel is laterally respectively equipped with sliding eye and sliding bar, and sliding bar is inserted into sliding eye and is slidably matched with it.
Linear pushing mechanism is electric pushrod.
When linear pushing mechanism reaches range, the lowermost end of cutting blade is 1 centimetre higher than transmission line upper along distance h2.
Described perpendicular case offers the ventilation hole for reducing wind surface.
Described upper box is connected with handle, and described road wheel motor is arranged on the rear side of perpendicular case.
Cutting motor and knock motor and adopt the direct current machine of 3600r/min.
The present invention can be widely used in the de-icing work of the single, double bundle conductor of 35kV-330kV, to reducing deicing cost, improves the fail safe of deicing efficiency and mechanical deicing and serves important function.The present invention utilizes mechanical deicing's principle, directly can contact power failure or live wire, and by cutting, beat two kinds of mechanical systems wire icing removed, not damage wires can be ensured while operation, compared with traditional mechanical deicing's mode, save manpower, and improve fail safe.
Housing parts adopts metal material, makes device be increased to wire current potential close to wire process housing current potential, protection internal circuit board.For improving the popularity that this device uses, the design of road wheel being considered and crosses over this situation of double bundle conductor conductor spacer, outside road wheel, being provided with four draw-in grooves, replacing race walking through conductor spacer draw-in groove, making the smooth cross-domain conductor spacer of device.In machine power, be ensure machine power, the present invention adopt capacity be the lithium battery of 50Ah as power supply, when being full of electricity, voltage is 12.6V.Traction drive motor adopts the miniature band turbine and worm deceleration d.c. motor of 55r/min.Cutting motor and knock motor and all select the direct current machine of 3600r/min as power source, ensures that ice detachment is efficiently carried out.In remote control system, adopt specialized aviation model remote-transmitter to receive external member, receiver channel is debugged, makes it to control each motor.The speed rotated for controlling circular saw has installed electron speed regulator additional, can carry out quantization operation according to on-site actual situations.
To different icing by vibrate, beat, the realization of comparatively effective mechanical deicing's mode such as spatula, in deicing function realizes, this device is provided with cutting part and knocks part, can realize by means of only knocking part for the less situation of ice covering thickness, icing structure can be destroyed by auxiliary mode of cutting for thicker icing and being knocked realize effective deicing by knocking hammer again.
For preventing deicing function parts from causing damage to wire, the auxiliary of device is cut with certain limit function, and namely its range can not contact to wire.What realize knocking function knocks part simultaneously, and hammer body adopts nylon rod as material, is connected with spring simultaneously, ensures that operation process guardwire while guarantee power is injury-free.
The icing problem of the charged architomy lead wire and earth wire of energy remote processing ultra-high-tension power transmission line of the present invention, double bundle conductor.Its major advantage is as follows:
1, the remote control system of device adopts large-scale model plane grade standard, within theoretical effectively remote range 1 kilometer;
2, equipment has anti-electromagnetic interference function, can use on alive circuit;
3, this device road wheel adopts two-way Dual Drive and with auto-lock function, keeps walking stable; Be designed with the function simultaneously realizing spanning spacers on double bundle conductor; Road wheel adopts aluminum alloy material to prevent damage wires simultaneously;
4, knock part to knock hammer for nylon rod material and be connected by spring, not only ensure to knock in process not damage wires, the process also released energy by spring store box make to knock power be effectively played;
5, cutting part assists the structural deterioration of cutting and can realize thicker icing by gear, plays booster action to knocking ice detachment.
Effectively walking is can be implemented on single, double bundle conductor and spanning spacers, it knocks, cutting function all effectively can realize in remote control situation by this deicer of field test.Meanwhile, after simulation ice detachment completes, do not find that therefore wire itself sustains damage, demonstrate its practicality, there is stronger promotion prospect.Can ensure that the reliability service aspect of transmission line plays a significant role under special weather condition in the winter time.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the right view of Fig. 1;
Fig. 3 is the structural representation of cutting part of the present invention when rotating;
Fig. 4 is the structural representation of road wheel when adopting a left side half road wheel separately and right half road wheel.
Embodiment
As shown in Figure 1, the present invention includes shell 1, power supply 2, road wheel 3(wheels), knock part, cutting part (comprising push rod and cutting blade), remote control module etc. six part composition.
Power supply 2 adopts lithium battery, and can provide 1 hours flying power battery, capacity is 50AH, is full of voltage 12.6V, stablizes protective current 10A.Mains switch place is provided with voltage instruction.
Shell 1 comprises vertical perpendicular case 4 and is connected to the upper box 6 of upper-lower position and the lower box 7 of perpendicular case 4 the same side, and perpendicular case 4 also can be tabular.Upper box 6 is open lower side, and lower box 7 is the casing closed, and power supply 2 and control module, remote control module etc. are installed in the inside.Perpendicular case 4 for being fixedly connected with upper box 6, lower box 7, adopting welding or bolt to connect, ensures bonding strength.Between upper box 6, lower box 7 for be used for by transmission line 13 by space 5.The top of shell 1 is connected with handle 9, is convenient for carrying.
The present invention is because of the particularity of its operational environment, and demand fulfillment can normally work this requirement on live wire.If be applied to live wire, device enters from highfield and leaves live wire in a flash, produces the capacitor charge and discharge phenomenon of electrified body to body because of potential transfer.In normal live line working process, for preventing the generation of this phenomenon, in must ensureing, whole deicer and electrified body should be in the potential difference that not have between same current potential and whole device various piece simultaneously.Consider and crust of the device requirement of strength for above factor, shell 1 adopts 1mm coated carbon steel material to make, and is convenient to deicer consistent with wire current potential current potential close to wire process housing each several part current potential, protection internal circuit board.Shell 1 is of a size of: 600mm (length) × 140mm (wide) × 500mm (height), and mechanical cover ensures can realize equal potential working when operation.Strictly be positioned at same current potential for assurance device in wire, road wheel 3 adopts aluminum alloy material to make simultaneously.
Shell 1 offers the ventilation hole passed through for wind, to reduce the pinnacled wind area of shell, swiftly flowing wind is blown over from this ventilation hole.Ventilation hole can be opened on the perpendicular case 4 on rear side of by space 5.Quantity and the position of ventilation hole set according to actual conditions.
As shown in Figure 2, road wheel 3 is arranged in upper box 6 in the horizontal direction, and road wheel 3 is two or more, and the present embodiment adopts two, and the center line of two road wheels 3 is positioned at sustained height.The part of road wheel 3 is stretched out from upper box 6, and the back side of perpendicular case 4 is provided with road wheel motor 8, and road wheel 3 is driven by road wheel motor 8.
The road wheel wheel rim 3-1 of road wheel 3 is the arc of indent, and the arc radius of the bottom of road wheel wheel rim 3-1 should be suitable with the diameter of transmission line, and the width of road wheel wheel rim 3-1 also should be suitable with transmission line, ensures smooth and easy passing through.
Can double bundle conductor be applied to for realizing deicer, the problem of road wheel spanning spacers must be solved, can spanning spacers smoothly through conductor spacer at road wheel 3.
The wheel limit 3-2 of the left and right sides of road wheel 3 is profile of tooth, and wheel limit 3-2 plays the stability that clamping transmission line ensures when being suspended on transmission line simultaneously.Tooth is called crosses over tooth 3-3, cross over tooth 3-3 uniform along the circumferencial direction of road wheel 3, quantity is 3 ~ 6, the present embodiment adopts 4, arc length length between adjacent two teeth is more conducive to stablizing by conductor spacer when crossing over, and arc length is excessive, and conductor spacer needs the long period just can encounter second leap tooth, and efficiency is passed through in impact, arc length is too small, and two spaces crossed between tooth 3-3 cannot hold conductor spacer, so these needs set according to actual conditions.Adopt 4, between adjacent leap tooth 3-3, angle is 90 °, more easily meets by requiring.Also be provided with arc convex 3-4 in wheel limit 3-2 adjacent two bottoms crossed between tooth 3-3, in order to by which better, prevent bottom to be stuck on conductor spacer.
Two road wheel 3 consistent size, drive respectively through two worm speed-down motors simultaneously, greatly improve walking stability on wire, and also ensure that power is reliable, road wheel 3 is applicable to the wire of LGJ-185-300 model simultaneously.Road wheel 3 material adopts aluminium alloy simultaneously, can effectively prevent it to the wearing and tearing of wire.
Worm speed-down department of electrical engineering miniature band turbine and worm deceleration d.c. motor, motor maximum (top) speed is 55r/min.Can change the direction of rotation of the positive and negative change motor of wiring of motor, turbine and worm reducing motor possesses self-locking performance, namely at motor when not having electric, output shaft be turn motionless, i.e. self-locking.Its auto-lock function can realize the effective brake to deicer, and implement device can hover operation on wire.
As shown in Figure 4, road wheel 3 can also be similar to two parts replacing with split, left and right two are divided into: left half road wheel 19 and right half road wheel 20 with the vertical plane at circuit place, the outside of left half road wheel 19 and right half road wheel 20 is equipped with back-moving spring 21, back-moving spring 21 is connected on upper box 6, the middle part of left half road wheel 19 and right half road wheel 20 is laterally respectively equipped with sliding eye 22 and sliding bar 23, and sliding bar 23 is inserted into sliding eye 22 and is slidably matched with it.When transmission line is wider, automatically can regulate the relative position of sliding eye 22 and sliding bar 23, widen the spacing between left half road wheel 19 and right half road wheel 20, thus adapt to the transmission line of multiple diameter specification.
Be hinged with on the right side of shell 1 and knock part and cutting part.
Knock partly to comprise and knock motor 18 and main shaft 10, main shaft 10 is connected laterally at the lower right side of shell 1, the both sides of main shaft 10 are all vertically connected with knocks spring 11 and knocks hammer 12, the hammer body knocking hammer 12 beaing icing adopts nylon rod to make, its intensity, lower than aluminium stranded conductor, can effectively prevent from causing damage to wire in the process of beaing.Knock hammer 12 employing and knock spring 11 as support, can prevent from knocking hammer to beat wire and icing formation rigidity, it can be prevented equally to form damage to wire, and simultaneously spring effectively can also store and delivered energy in the process of beaing, and is enablely used more effectively.Knock hammer 12 rotate to the position of highest point should be suitable with the height of transmission line 13, generally just in time knock on transmission line 13, because knock spring 11 to have retractility, when knocking spring 11 and not extending, the height knocking hammer 12 should lower than the overhead height of transmission line 13.The length of knocking hammer 12 also should be suitable.When main shaft 10 does not rotate, knock the summit of hammer 12 radius of gyration lower than the minimum point bottom road wheel wheel rim 3-1, that is: when knocking spring 11 and not elongating, the difference in height h1 knocking hammer 12 top and transmission line 13 top is greater than 0, specifically should set according to the different ductilities of spring.
Knock motor can be arranged in lower box.In the present embodiment, knocking spring 11 and knocking hammer 12 is two groups, also can arrange many groups, is symmetrically connected on main shaft 10.
The nylon hammer that just can touch wire by two carries out rotation to wire and icing and beats, and reaches and destroys icing structure, make the object of coating ice falling.This part adopt rotating speed be the direct current machine of 3600r/min as power source, motor is by remote control start and stop.
As shown in Figure 1,3, cutting part can realize cutting icing thicker on wire, reaches the object destroying icing structure, is to supplement the one of knocking deicing mode.Cutting part is connected to shell 1 upper right, and cutting part comprises electric pushrod 14, and electric pushrod 14 adopts direct current machine to provide power, and electric pushrod 14 also can be similar to and replace with other linear pushing mechanism, such as pinion and rack.The front end of electric pushrod 14 is connected with cutting base 15, cutting base 15 is provided with circular saw, circular saw comprises cutting motor 16 and cutting blade 17, cutting blade 17 is vertically connected on cutting motor 16, the range of electric pushrod 14 should ensure the upper edge of the lowermost end of cutting blade 17 higher than transmission line 13, the maximum elongation distance of push rod is through Practical Calculation, and maximum cutting distance h2 is about 1cm above wire.While effectively destroying icing structure, be unlikely to because misoperation causes gear destruction wire.
Cutting part is with push-rod electric machine 14 and cutting motor 16 for power, and cutting motor rotating speed is 3600r/min, and motor, all by remote control start and stop, is regulated gear cutting position by push-rod electric machine and hydraulic stem, realizes the positional dissection to wire icing.
Remote control module
The remote-transmitter receiving system of remote control module adopts specialized aviation model remote-transmitter to receive external member, debugs, make it to control each motor to receiver channel.The speed rotated for controlling circular saw has installed electron speed regulator additional, can carry out quantization operation according to on-site actual situations.
Companion receiver parameter: frequency range: 2.400GHz-2.4835GHz; Sensitivity :-97dBm; Lost-control protection function; Decoding process: PPM/PCMS 1024/PCMS 4096; Power supply: 4.8-6V; Size: 34.85 × 21 × 11.3mm; Weight: 5.8g; Frequency hopping speed is high, adopts and expands frequency-hopping system (FHSS & DSSS): not only have employed DSSS technology, and can carry out approximately every 4 milliseconds of (ms) frequency hoppings once in DSSS technical foundation; Receiver exports to pwm signal stability your pupil of steering wheel to mate precise digital steering wheel: the details of nanosecond (nS) observed by available oscilloscope; 4096 data not only increase resolution, reaction speed also significantly promotes; Automatically PPM, PCMS, 4096 PCMS, tri-kinds of transmission modes are identified when receiver start; Employing can the DSSS of frequency hopping, and reliability is high, and tens of equipment work and mutually without impact simultaneously.
During use, open electricity and adjust mains switch, if now no signal input motor will send the alarm sound of " beep ~ beep ~ beep "." ~ ~ miaow of trembling " sound can be sent when opening the injection of transmitter supply normal signal, proving to transmit and receiving dynamo-electric tune and be connected.
Claims (10)
1. deicer for power transmission line, it is characterized in that: comprise shell, power supply, road wheel, knock part, cutting part and remote control, remote control comprises remote control module, shell comprises the lower box of the perpendicular case vertically arranged and the upper box be connected on front side of perpendicular case and sealing, what the centre of upper box and lower box was configured for that transmission line passes through passes through space, the bottom of upper box is provided with opening, two or more road wheel transversely direction is arranged on upper box place, the latter half of road wheel stretches out upper box, power supply and remote control module are arranged in lower box, described road wheel is connected with road wheel motor, the wheel limit that described road wheel comprises the left and right sides and the road wheel wheel rim be positioned in the middle of two-wheeled limit, the road wheel wheel rim of described road wheel is the arc of indent, arc radius bottom road wheel wheel rim should be suitable with the diameter of transmission line, the wheel edge circumferencial direction of the road wheel left and right sides is provided with the leap tooth of barrier on span transmission line, the quantity of crossing over tooth is 3 ~ 6, and road wheel motor adopts turbine and worm reducing motor,
Described shell knocks partly and cutting part in the connection of the side of direct of travel, knock partly to comprise and knock motor, knock motor and be connected with main shaft, the plane of rotation at main shaft place is vertical with transmission line, the both sides up and down of main shaft are all connected with knocks spring, and the top of knocking spring is connected with knocks hammer, knocks hammer and adopts nylon material, when main shaft does not rotate, knock the summit of the hammer radius of gyration lower than the minimum point bottom road wheel wheel rim;
Described cutting part comprises linear pushing mechanism and is connected to the cutting base of linear pushing device front end, linear pushing mechanism and upper box hinged, cutting base is connected with circular saw, and circular saw comprises cutting motor and discoidal cutting blade, and cutting blade is positioned at position directly over transmission line; When linear pushing mechanism reaches range, the lowermost end of cutting blade is higher than transmission line is 1 ~ 2 centimetre along distance;
Described power supply, road wheel motor, knock motor, cutting motor and be all connected with remote control remote pilot.
2. deicer for power transmission line according to claim 1, is characterized in that: the quantity of crossing over tooth is 4.
3. deicer for power transmission line according to claim 1 and 2, is characterized in that: road wheel material adopts aluminium alloy; Shell adopts coated carbon steel material.
4. deicer for power transmission line according to claim 1 and 2, is characterized in that: the bottoms between two leap teeth that wheel limit is adjacent are also provided with arc convex.
5. deicer for power transmission line according to claim 1 and 2, it is characterized in that: road wheel is two parts of split, left half road wheel and right half road wheel is divided into the vertical plane at circuit place, the outside of left half road wheel and right half road wheel is equipped with back-moving spring, the middle part of left half road wheel and right half road wheel is laterally respectively equipped with sliding eye and sliding bar, and sliding bar is inserted into sliding eye and is slidably matched with it.
6. deicer for power transmission line according to claim 1, is characterized in that: linear pushing mechanism is electric pushrod.
7. deicer for power transmission line according to claim 1 and 2, is characterized in that: when linear pushing mechanism reaches range, and the lowermost end of cutting blade is 1 centimetre higher than transmission line upper along distance h2.
8. deicer for power transmission line according to claim 1 and 2, is characterized in that: described perpendicular case offers the ventilation hole for reducing wind surface.
9. deicer for power transmission line according to claim 1 and 2, is characterized in that: described upper box is connected with handle, and described road wheel motor is arranged on the rear side of perpendicular case.
10. deicer for power transmission line according to claim 1 and 2, is characterized in that: cutting motor and knock motor and adopt the direct current machine of 3600r/min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410477337.1A CN104269774B (en) | 2014-09-18 | 2014-09-18 | Deicer for power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410477337.1A CN104269774B (en) | 2014-09-18 | 2014-09-18 | Deicer for power transmission line |
Publications (2)
| Publication Number | Publication Date |
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| CN104269774A true CN104269774A (en) | 2015-01-07 |
| CN104269774B CN104269774B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410477337.1A Expired - Fee Related CN104269774B (en) | 2014-09-18 | 2014-09-18 | Deicer for power transmission line |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106655004A (en) * | 2017-02-09 | 2017-05-10 | 国网湖北省电力公司电力科学研究院 | Multidimensional removal device for fittings of overhead transmission line |
| CN107059657A (en) * | 2017-03-22 | 2017-08-18 | 安徽理工大学 | High-altitude hawser deicing mechanism |
| CN109038447A (en) * | 2018-09-04 | 2018-12-18 | 国网山东省电力公司齐河县供电公司 | Power transmission cable conductor spacer and interval bar system with deicing function |
| CN110154642A (en) * | 2019-06-17 | 2019-08-23 | 国网福建省电力有限公司泉州供电公司 | A kind of traveling wheel of crusing robot |
| CN113852022A (en) * | 2021-09-22 | 2021-12-28 | 深圳市骏鼎达新材料股份有限公司 | Multifunctional composite protective sleeve |
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| CN106655004A (en) * | 2017-02-09 | 2017-05-10 | 国网湖北省电力公司电力科学研究院 | Multidimensional removal device for fittings of overhead transmission line |
| CN107059657A (en) * | 2017-03-22 | 2017-08-18 | 安徽理工大学 | High-altitude hawser deicing mechanism |
| CN109038447A (en) * | 2018-09-04 | 2018-12-18 | 国网山东省电力公司齐河县供电公司 | Power transmission cable conductor spacer and interval bar system with deicing function |
| CN110154642A (en) * | 2019-06-17 | 2019-08-23 | 国网福建省电力有限公司泉州供电公司 | A kind of traveling wheel of crusing robot |
| CN113852022A (en) * | 2021-09-22 | 2021-12-28 | 深圳市骏鼎达新材料股份有限公司 | Multifunctional composite protective sleeve |
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|---|---|
| CN104269774B (en) | 2016-08-17 |
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