CN105337220B - Unmanned plane is cut by laser block removing and transformer oil detection means - Google Patents
Unmanned plane is cut by laser block removing and transformer oil detection means Download PDFInfo
- Publication number
- CN105337220B CN105337220B CN201510911033.6A CN201510911033A CN105337220B CN 105337220 B CN105337220 B CN 105337220B CN 201510911033 A CN201510911033 A CN 201510911033A CN 105337220 B CN105337220 B CN 105337220B
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- Prior art keywords
- laser
- support
- transformer
- unmanned plane
- detector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 238000009434 installation Methods 0.000 claims abstract description 20
- 239000003973 paint Substances 0.000 claims abstract description 15
- 239000007921 spray Substances 0.000 claims abstract description 12
- 238000001914 filtration Methods 0.000 claims description 27
- 230000013011 mating Effects 0.000 claims description 15
- 239000012535 impurity Substances 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 238000005303 weighing Methods 0.000 claims description 7
- 238000000926 separation method Methods 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 5
- 230000008676 import Effects 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 10
- 238000003698 laser cutting Methods 0.000 abstract description 7
- 238000005520 cutting process Methods 0.000 abstract description 6
- 238000002679 ablation Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 239000012528 membrane Substances 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000005070 sampling Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011172 small scale experimental method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
Abstract
Unmanned plane is cut by laser block removing and transformer oil detection means, including unmanned plane body, the lower mounting bracket of unmanned plane body, the bottom installation Laser Power Devices and spray paint can of support, the side installation shower nozzle and generating laser of support, Laser Power Devices connect generating laser, the delivery outlet installation flexible pipe of spray paint can, one end connection shower nozzle of flexible pipe by wire.The present invention, to black paint is sprayed on the surface of light colour or transparent " barrier ", to increase the barrier effect to light beam, is reduced transmission, increases ablation energy by shower nozzle and spray paint can.Transparent membrane can be sprayed into black by the present invention before laser cutting, then reuse generating laser release laser and carry out cutting operation, so as to so that unmanned plane laser cutting block removing and transformer oil detection means can be cut to light colour or transparent " barrier ".
Description
Technical field
The present invention relates to a kind of laser failure eliminating device, specifically a kind of unmanned plane laser cutting block removing and transformer oil
Detection means.
Background technology
With the continuous progress of science and technology, unmanned plane gradually applies to power industry, and is carried and grasped by unmanned plane
Make arm and defect expressivity is carried out to alive circuit, progressively turn into the trend of electric power development.Hung on removing power line conductive, ground wire
Foreign matter be an important process, such as not in time processing be likely to result in line short, tripping operation serious consequence.It is existing nobody
For the laser that machine laser cutting failure eliminating device is sent for transparent plastic film, laser beam is can to pass through plastic sheeting
, most energy can not be gathered on film, so cutting can not be realized；And for opaque light colour object, laser
Beam then can largely be reflected, and can not also realize cutting.
The content of the invention
It is an object of the invention to provide a kind of laser cutting block removing of unmanned plane and transformer oil detection means, can solve the problem that
State problem.
The present invention to achieve the above object, is achieved through the following technical solutions：Unmanned plane is cut by laser block removing and transformer
Oily detection means, including unmanned plane body, the lower mounting bracket of unmanned plane body, the bottom installation Laser Power Devices of support and spray
Paint can, the side installation shower nozzle and generating laser of support, Laser Power Devices connect generating laser by wire, spray paint can it is defeated
Outlet installation flexible pipe, one end connection shower nozzle of flexible pipe.
In order to further realize the purpose of the present invention, following technical scheme can also be used：Present invention additionally comprises transformer
Main body and detector, the bottom both sides of described support install support bar, electric putter and sleeve are set on support bar, electric putter
Piston rod coordinates with sleeve, and the end connection plug of sleeve, plug is arranged on the bottom of support bar；Transformer body is provided with oil
Bucket；Detector includes detector housing, and spectrometer unit and device for filtering impurities, device for filtering impurities are set in detector housing
Including support, two volume measuring instruments are installed on support and a filter, two volume measuring instruments are separately mounted to filter
Upper and lower part, volume measuring instrument and filter series connection；Volume measuring instrument is by bottle, separation net, infrared survey instrument and floating
Ball forms, and bottle upper and lower part sets inlet and outlet respectively, sets vertical separation net in bottle, floater shot is located at bottle
Interior, bottle upper side installation infrared survey instrument, infrared survey instrument is located at floater shot side；Filter is by filtration barrel body, several
Screen pack and a upper capping composition, filtration barrel body inwall set fixture block, and several screen packs are distributed up and down passes through branch between each other
Strut coordinates, and support bar card is placed on fixture block, and upper capping coordinates with filtration barrel body；Upper capping and the cubing on filter top
Instrument is connected by flexible pipe；Second communicating pipe was set between device for filtering impurities and spectrometer unit, the second communicating pipe was provided with defeated
Send pump；Thief hole is set on the oil drum of transformer body, style connecting hole is set on detector housing, style connecting hole connect into
Mouthful；Plug can coordinate with thief hole or style connecting hole respectively.The bottom of described support is installed by several rubber blankets, transformer
Several transformer mating holes are set on the oil drum of main body, several detector mating holes are set on detector housing, and rubber blanket can
Coordinate respectively with corresponding transformer mating holes or detector mating holes.Between described spectrometer unit and device for filtering impurities
De-watering apparatus is set, third connecting pipe is set between de-watering apparatus and spectrometer unit, triple valve is set on the second communicating pipe, three
Port valve connects one end of the first communicating pipe, the other end connection de-watering apparatus of the first communicating pipe；De-watering apparatus includes base, base
A upper installation two weighers and vacuum drainage cylinder, two weighers be located at vacuum drainage cylinder both ends respectively, weigher with very
Idle discharge water drum is connected；Weigher is made up of weighing cup and electronic scale, and weighing cup is fixedly mounted on the top of electronic scale；Vacuum drainage
Cylinder includes cylinder, and heating rod is set in cylinder, and the top of cylinder sets gas-liquid separator, gas-liquid separator connection vavuum pump.Institute
Input keyboard, overturning seat and display screen, display screen is set to be connected by overturning seat with spectrometer unit on the spectrometer unit stated.
The display screen of described spectrometer unit is exposed at outside detector housing.
The advantage of the invention is that：The present invention is by shower nozzle and spray paint can to light colour or the table of transparent " barrier "
Black paint is sprayed on face, to increase the barrier effect to light beam, transmission is reduced, increases ablation energy.The present invention can be cut in laser
Transparent membrane is sprayed into black before cutting, then reuse generating laser release laser carry out cutting operation, so as to so that
Unmanned plane is cut by laser block removing and transformer oil detection means and light colour or transparent " barrier " can be cut.This
Invention also has the advantages of simple for structure compact, manufacturing cost is cheap and easy to use.
Brief description of the drawings
Fig. 1 is one of structural representation of the present invention；Fig. 2 is the two of structural representation of the present utility model；Fig. 3 is detection
Device structural representation；Fig. 4 is Fig. 3 I partial enlargement structural representation；Fig. 5 is Fig. 3 II partial enlargement structural representation；Fig. 6
It is Fig. 2 III partial enlargement structural representation；Fig. 7 is Fig. 3 IV partial enlargement structural representation.
Reference：1 support bar, 2 rubber blanket, 3 unmanned plane body, 4 shower nozzle, 5 generating laser, 6 Laser Power Devices 7 are soft
The filter 16 of 14 volume measuring instrument of pipe 8 spray paint can, 9 support, 10 weigher, 11 triple valve, 12 delivery pump, 13 support 15
17 second communicating pipe of a connecting pipe, 18 vavuum pump, 19 gas-liquid separator, 20 third connecting pipe, 21 bottle, 22 separation nets 23 were red
Covered on the support bar 31 of the import 26 of 24 floater shot of external pelivimetry instrument 25 outlet 27 filtration barrel body, 28 fixture block, 29 screen pack 30
The transformer of 32 detector housing, 33 electric putter, 34 sleeve, 35 plug, 36 thief hole, 37 oil drum, 38 transformer body 39 coordinates
The display screen 46 of 44 overturning seat of the spectrometer unit 43 of hole 40 detector mating holes, 41 style connecting hole 42 input keyboard 45 claims
The heating rod of 49 base of measuring cup 47 electronic scale, 48 vacuum drainage cylinder 50.
Embodiment
Unmanned plane is cut by laser block removing and transformer oil detection means, as illustrated, including unmanned plane body 3, unmanned plane
The lower mounting bracket 9 of body 3, the bottom installation Laser Power Devices 6 and spray paint can 8 of support 9, the side installation He of shower nozzle 4 of support 9
Generating laser 5, Laser Power Devices 6 connect generating laser 5 by wire, and the delivery outlet of spray paint can 8 installs flexible pipe 7, flexible pipe 7
One end connects shower nozzle 4.
The present invention, to black paint is sprayed on the surface of light colour or transparent " barrier ", is come by shower nozzle 4 and spray paint can 8
Increase the barrier effect to light beam, reduce transmission, increase ablation energy.The present invention can be before laser cutting by transparent membrane
Black is sprayed into, generating laser 5 is then reused and discharges laser progress cutting operation, so as to so that unmanned plane laser cutting is removed
Barrier and transformer oil detection means can be cut to light colour or transparent " barrier ".
In current power system, transformer body hanging position is higher, long-term use of transformer oil in transformer
In insoluble greasy filth, fiber and foul etc. be present, these materials may cause spectrometer to block, and cause instrument failure.In order to gram
Above mentioned problem is taken, present invention additionally comprises transformer body 38 and detector, the bottom both sides installation support bar 1 of described support 9,
Electric putter 33 and sleeve 34, piston rod and the sleeve 34 of electric putter 33 is set to coordinate on support bar 1, the end connection of sleeve 34 is inserted
First 35, plug 35 is arranged on the bottom of support bar 1；Transformer body 38 is provided with oil drum 37；Detector includes detector housing
32, detector housing 32 is interior to set spectrometer unit 42 and device for filtering impurities, device for filtering impurities to include support 13, support 13
Two volume measuring instruments 14 of upper installation and a filter 15, two volume measuring instruments 14 are separately mounted to the top of filter 15
And bottom, volume measuring instrument 14 and filter 15 are connected；Volume measuring instrument 14 is by bottle 21, separation net 22, infrared survey instrument 23
Formed with floater shot 24, the upper and lower part of bottle 21 sets import 25 and outlet 26 respectively, and vertical isolation is set in bottle 21
Net 22, floater shot 24 are located in bottle 21, and the upper side of bottle 21 installation infrared survey instrument 23, infrared survey instrument 23 is positioned at floating
The side of ball 24；Filter 15 is made up of the upper capping 31 of filtration barrel body 27, several screen packs 29 and one, and the inwall of filtration barrel body 27 is set
Fixture block 28 is put, several screen packs are distributed about 29 to be coordinated by support bar 30 between each other, and the card of support bar 30 is placed on fixture block 28,
Upper capping 31 coordinates with filtration barrel body 27；Upper capping 31 is connected with the volume measuring instrument 14 on the top of filter 15 by flexible pipe；It is miscellaneous
Second communicating pipe 17 was set between matter filter and spectrometer unit 42, the second communicating pipe 17 was provided with delivery pump 12；Transformation
Thief hole 36 is set on the oil drum 37 of device main body 38, includes and style connecting hole 41, style connecting hole 41 is set on detector housing 32
Connect import 25；Plug 35 can coordinate with thief hole 36 or style connecting hole 41 respectively.Transformer oil can be timed inspection
Survey, avoid because oil quality change influences the normal operation of transformer.The present invention is by unmanned plane easily to transformer oil
It is sampled, during sampling, plug 35 is inserted into thief hole 36, being pulled by electric putter 33 makes sleeve 34 produce negative pressure, from
And complete sampling；Sample oil is transported at detector by unmanned plane, plug 35 is inserted into style connecting hole 41, electric putter
33 promotions make to be detected in the sample oil Injection Detector in sleeve 34.Tested transformer oil can be carried out before detection
Filter, insoluble greasy filth, fiber and dirt filtration are come out, avoid blocking spectrometer., can after being filtered by device for filtering impurities
To calculate the volume number shared by acquisition impurity, determine tested transformer oil reuses after whether can carrying out filtration treatment, from
And decide whether to be necessary the transformer oil renewed again, avoid wasting.It is convenient to be cleared up after filtering.Transformer oil warp after filtering
After crossing kaleidophon detection, it is possible to reduce the influence of solid matter, exclude physical factor, obtain experimental result and more press close to production making
With.
In order to improve the accuracy of cooperation, several rubber blankets 2 are installed in the bottom of described support 9, transformer body 38
Several transformer mating holes 39 are set on oil drum 37, several detector mating holes 40, the energy of rubber blanket 2 are set on detector housing 32
It is enough to coordinate respectively with corresponding transformer mating holes 39 or detector mating holes 40.Soft rubber blanket 2 can prevent support 9 with
Ground rigid contact, support 9 is avoided to damage., can be with after rubber blanket 2 and transformer mating holes 39 or detector mating holes 40 coordinate
Improve precision during sampling.
Due to many moisture in transformer oil also be present, moisture can also influence testing result, to the transformer of long-term use
The water content detection of oil and an important indicator.In order to realize small-scale experiment, described spectrometer unit 42 and contaminant filter
De-watering apparatus is set between device, third connecting pipe 20, the second communicating pipe 17 are set between de-watering apparatus and spectrometer unit 42
Upper setting triple valve 11, triple valve 11 connect one end of the first communicating pipe 16, the other end connection water removal dress of the first communicating pipe 16
Put；De-watering apparatus includes base 49, and two weighers 10 and a vacuum drainage cylinder 48, two weighers 10 are installed on base 49
It is located at the both ends of vacuum drainage cylinder 48 respectively, weigher 10 is connected with vacuum drainage cylinder；Weigher 10 is by weighing cup 46 and electronic scale
47 compositions, weighing cup 46 are fixedly mounted on the top of electronic scale 47；Vacuum drainage cylinder 48 includes cylinder, and heating rod is set in cylinder
50, the top of cylinder sets gas-liquid separator 19, and gas-liquid separator 19 connects vavuum pump 18.Transformer oil after filtering is added
Weighed in weigher 10, entered after weighing in vacuum drainage cylinder 48, improving temperature by heating rod 50 makes moisture evaporation,
Pressure is reduced by vavuum pump 18, the moisture in transformer oil is extruded, moisture is separated by gas-liquid separator 19.After draining
Transformer oil enter back into another weigher 10 and weighed, so that it is determined that the water content in transformer oil.According to water content
It may determine that whether transformer oil can recycle.
Input keyboard 43, overturning seat 44 and display screen 45 are set on described spectrometer unit 42, and display screen 45 is by turning over
Swivel base 44 is connected with spectrometer unit 42.Display screen 45 and input keyboard 43 are structure as a whole with spectrometer unit 1, user
Just, without connection equipment in addition, the turnover of display screen 45 can be protected into display screen 45 when not in use, display screen 45 can be covered in
Input on keyboard 43, can also protect input keyboard 43.The display screen 45 of described spectrometer unit 42 is exposed at detector housing
Outside 32, convenient observation and processing.
Technical scheme is not restricted in the range of embodiment of the present invention.The not detailed description of the present invention
Technology contents be known technology.
Claims (1)
1. unmanned plane is cut by laser block removing and transformer oil detection means, it is characterised in that：Including unmanned plane body（3）, nobody
Machine body（3）Lower mounting bracket（9）, support（9）Bottom installation Laser Power Devices（6）And spray paint can（8）, support（9）'s
Side is installed by shower nozzle（4）And generating laser（5）, Laser Power Devices（6）Generating laser is connected by wire（5）, spray paint can（8）
Delivery outlet installation flexible pipe（7）, flexible pipe（7）One end connection shower nozzle（4）；Also include transformer body（38）And detector, institute
The support stated（9）Bottom both sides installation support bar（1）, support bar（1）Upper setting electric putter（33）And sleeve（34）, electric putter
（33）Piston rod and sleeve（34）Coordinate, sleeve（34）End connection plug（35）, plug（35）Installed in support bar（1）
Bottom；Transformer body（38）It is provided with oil drum（37）；Detector includes detector housing（32）, detector housing（32）It is interior
Spectrometer unit is set（42）And device for filtering impurities, device for filtering impurities include support（13）, support（13）Upper installation two
Volume measuring instrument（14）With a filter（15）, two volume measuring instruments（14）It is separately mounted to filter（15）Top and
Bottom, volume measuring instrument（14）And filter（15）Series connection；Volume measuring instrument（14）By bottle（21）, separation net（22）, it is infrared
Measuring instrument（23）And floater shot（24）Composition, bottle（21）Upper and lower part sets import respectively（25）And outlet（26）, bottle
（21）It is interior that vertical separation net is set（22）, floater shot（24）Positioned at bottle（21）It is interior, bottle（21）Upper side installation is infrared
Measuring instrument（23）, infrared survey instrument（23）Positioned at floater shot（24）Side；Filter（15）By filtration barrel body（27）, several filterings
Net（29）With a upper capping（31）Composition, filtration barrel body（27）Inwall sets fixture block（28）, several screen packs（29）Divide up and down
Cloth passes through support bar between each other（30）Coordinate, support bar（30）Card is placed on fixture block（28）On, upper capping（31）With filtration barrel body
（27）Coordinate；Upper capping（31）With filter（15）The volume measuring instrument on top（14）Connected by flexible pipe；Device for filtering impurities
With spectrometer unit（42）Between the second communicating pipe was set（17）, the second communicating pipe（17）It is provided with delivery pump（12）；Transformer
Main body（38）Oil drum（37）Upper setting thief hole（36）, detector housing（32）Upper setting style connecting hole（41）, style company
Connect hole（41）Connect import（25）；Plug（35）Can respectively with thief hole（36）Or style connecting hole（41）Coordinate；Described
Support（9）Bottom several rubber blankets are installed（2）, transformer body（38）Oil drum（37）It is upper that several transformer mating holes are set
（39）, detector housing（32）It is upper that several detector mating holes are set（40）, rubber blanket（2）Can respectively with corresponding transformer
Mating holes（39）Or detector mating holes（40）Coordinate；Described spectrometer unit（42）Set and remove between device for filtering impurities
Water installations, de-watering apparatus and spectrometer unit（42）Between set third connecting pipe（20）, the second communicating pipe（17）It is upper to set three
Port valve（11）, triple valve（11）Connected for the first communicating pipe（16）One end, the first communicating pipe（16）The other end connection water removal dress
Put；De-watering apparatus includes base（49）, base（49）Two weighers of upper installation（10）With a vacuum drainage cylinder（48）, two
Weigher（10）It is located at vacuum drainage cylinder respectively（48）Both ends, weigher（10）Connected with vacuum drainage cylinder；Weigher（10）By
Weighing cup（46）And electronic scale（47）Composition, weighing cup（46）It is fixedly mounted on electronic scale（47）Top；Vacuum drainage cylinder
（48）Including cylinder, heating rod is set in cylinder（50）, the top of cylinder sets gas-liquid separator（19）, gas-liquid separator（19）
Connect vavuum pump（18）；Described spectrometer unit（42）It is upper that input keyboard is set（43）, overturning seat（44）And display screen（45）,
Display screen（45）Pass through overturning seat（44）With spectrometer unit（42）Connection；Described spectrometer unit（42）Display screen（45）
It is exposed at detector housing（32）It is outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510911033.6A CN105337220B (en) | 2015-12-10 | 2015-12-10 | Unmanned plane is cut by laser block removing and transformer oil detection means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510911033.6A CN105337220B (en) | 2015-12-10 | 2015-12-10 | Unmanned plane is cut by laser block removing and transformer oil detection means |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105337220A CN105337220A (en) | 2016-02-17 |
| CN105337220B true CN105337220B (en) | 2018-02-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510911033.6A Active CN105337220B (en) | 2015-12-10 | 2015-12-10 | Unmanned plane is cut by laser block removing and transformer oil detection means |
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| Country | Link |
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| CN (1) | CN105337220B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105665887B (en) * | 2016-04-20 | 2017-12-19 | 哈工大机器人集团（哈尔滨）资产经营管理有限公司 | A kind of high-voltage line arch maintenance robot |
| CN107831212A (en) * | 2017-10-14 | 2018-03-23 | 胡振锋 | A kind of machine components failure detector |
| CN107738047B (en) * | 2017-10-31 | 2019-05-10 | 南京中高知识产权股份有限公司 | Welding system and its working method suitable for multirobot efficient collaboration, both |
| CN107570924B (en) * | 2017-10-31 | 2019-02-22 | 南京中高知识产权股份有限公司 | Intelligent welding system and its working method suitable for cluster cooperation |
| CN111509615A (en) * | 2020-04-20 | 2020-08-07 | 南京环电科技有限公司 | Transmission line foreign matter cleaning device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008044299A1 (en) * | 2008-12-03 | 2010-06-10 | Robert Bosch Gmbh | Device for monitoring an operating fluid for motor vehicles and method for operating the same |
| CN102585991B (en) * | 2011-12-22 | 2014-06-04 | 北京盈胜泰科技术有限公司 | Method and system for removing and supplying antioxidant from/to transformer insulating oil impurities |
| CN203806140U (en) * | 2014-04-24 | 2014-09-03 | 安徽瓦尔特机械贸易有限公司 | High-altitude obstacle-clearing unmanned plane |
| CN104014940B (en) * | 2014-05-29 | 2016-03-16 | 大族激光科技产业集团股份有限公司 | The coating boring method of ceramic substrate, coating sol and coating unit |
| CN104348110A (en) * | 2014-11-18 | 2015-02-11 | 国家电网公司 | Overhead high voltage line laser obstacle removal instrument |
| CN204448047U (en) * | 2015-01-24 | 2015-07-08 | 成都岛津仪器设备有限公司 | The liquid getting device that rifle head comes off can be prevented |
| CN104655396B (en) * | 2015-02-15 | 2018-11-09 | 中国石油大学(华东) | Product oil takes water and takes impurity Simulation of Multiphase Flow experimental rig and method |
| CN205231625U (en) * | 2015-12-10 | 2016-05-11 | 国家电网公司 | Unmanned aerial vehicle laser removes barrier device |
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2015
- 2015-12-10 CN CN201510911033.6A patent/CN105337220B/en active Active
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| CN105337220A (en) | 2016-02-17 |
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