CN105618412A - Electrified cleaning insulating maintenance robot device for high-voltage power equipment - Google Patents
Electrified cleaning insulating maintenance robot device for high-voltage power equipment Download PDFInfo
- Publication number
- CN105618412A CN105618412A CN201610047717.0A CN201610047717A CN105618412A CN 105618412 A CN105618412 A CN 105618412A CN 201610047717 A CN201610047717 A CN 201610047717A CN 105618412 A CN105618412 A CN 105618412A
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- insulated
- cleaning
- pneumatic
- steering gear
- robot device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an electrified cleaning insulating maintenance robot device for high-voltage power equipment. The electrified cleaning insulating maintenance robot device comprises a traveling mechanism, a lifting mechanism and a cleaning insulating maintenance mechanical arm. The lifting mechanism comprises a motor linkage driving circuit, a motor, a balance monitoring device and two or more pneumatic insulating lifting rods. The motor linkage driving circuit is in signal connection with the motor. The balance monitoring device is in signal connection with the motor linkage driving circuit. The pneumatic insulating lifting rods are made of epoxy resin or glass fiber steel and installed on the traveling mechanism. The cleaning insulating maintenance mechanical arm is arranged on the lifting mechanism. According to the electrified cleaning insulating maintenance robot device for the high-voltage power equipment, the supporting stability is improved, the driving force of the lifting mechanism is reduced, and the phenomenon of creepage short circuits is effectively avoided; the degree of balance of the lifting mechanism can be adjusted automatically, the probability of tilting and turning is lowered, and the safety performance is improved.
Description
Technical field
The present invention relates to the enterprise such as general power industry and mine, oil, chemical industry and provide the charged cleaning insulated maintaining technical field of transformer station's inner high voltage power equipment for oneself. It is specifically related to a kind of high-tension electricity equipment live cleaning insulated maintaining robot device.
Background technology
The safety in production operational relation of transformer station's high-tension electricity equipment is to huge numbers of families and socioeconomic development stability. The power industry of China comes into the stage of bulk power grid, large-sized unit, high voltage, high automatization; but owing to social economy is substantially all economic growth of relatively attaching most importance to, light environmental conservation at the beginning of development; so; recent decades causes the power equipment surface contamination phenomenons such as outfield high-tension electricity equipment, electric capacitor, transformator serious due to environmental pollution; the Frequent Accidents such as the electrical network pollution flashover that caused, Electric Power Equipment Insulation destruction, to affect spread area big; both bring inconvenience to people's lives, cause serious financial consequences to national economy again.
For preventing and treating the generation of pollution flashover accident, the converting station electric power equipment such as high-tension electricity equipment are all carried out charged cleaning insulated maintaining by certain time interval by industrial power supply department every year. It is then will clean insulated maintaining per season or monthly clean insulated maintaining in some Chong Wu districts, what adopt is manual cleaning mode, personnel labor intensity is bigger, in addition, the working method of common artificial hand-held cleaning insulated maintaining hydraulic coupling spray gun, due to cleaning factor and personnel's technical quality difference such as insulated maintaining liquid quality, weather conditions, easy generation personnel get an electric shock injury accident.
A kind of Substation Insulator dry ice cleaning vehicle disclosed in the patent documentation that Chinese Patent Application No. is 201310358986.5, including telescopic cantilever device, Dry ice cleaning device and walking mobile platform, this walking mobile platform is provided with support post, and illustrate that it is safe and efficient, transformer station can carry out band electrocleaning, but this cleaning Vehicle does not illustrate whether its main support post is insulation structure.
A kind of transformer station charged automatic clearing apparatus of disconnecting link disclosed in the patent documentation that Chinese Patent Application No. is 201410459015.4, including hoistable platform, insulated platform, for cleaning the cleaning of transformer station's disconnecting link contact, and illustrate that insulated platform is insulator, will not conduct electricity, and then can hot line job, it is achieved band electrocleaning merit. But this rinser is also without illustrating whether its main hoistable platform is insulation structure.
Existing high-tension electricity equipment cleaning robot technology, the wired connection control mode of lifting supporting mechanism and dynamic Control owing to adopting metal structure, when robot ambulation, rising work occur to roll unexpected, very easily there is the major accident of creepage short circuit.
A kind of type super high voltage live cleaning robot disclosed in the patent documentation that Chinese Patent Application No. is 01126817.4, system is regulated including hydraulic pressure automatic horizontal, locomotive, revolving dial, insulated elevating mechanism, clean brush, cleaning arm, The Cloud Terrace, insulated platform, insulated platform data collecting system, central control system, remote operating terminal, its connected mode is: cleans brush and is connected on the telescopic arm of cleaning arm by movable joint, the standing part of cleaning arm and insulated platform are directly anchored on insulated elevating mechanism, insulated elevating mechanism is fixed on revolving dial, revolving dial is fixed on locomotive, locomotive is provided with hydraulic pressure automatic horizontal and regulates system, remote operating terminal carries out data exchange by radio communication and central control system. this invention automaticity is high, and multivariant robotics system has work space flexibly, solves the transportation problem of field work, eliminates the position error that uneven ground causes. document insulated elevating mechanism disclosed in Figure of description is supporter type lift mechanism, and this lifting structure needs very big driving force, and easily rocks the phenomenon causing instability, it is easy to the phenomenon of rollover occur, security performance is low.
Summary of the invention
In order to improve the stability of supporting, reduce the driving force of elevating mechanism, effectively avoid the phenomenon of creepage short circuit, in order to enable the degree of balance of self-adjustable liftable mechanism, reduce the phenomenon rolling and turning on one's side, improve security performance, the invention provides a kind of high-tension electricity equipment live cleaning insulated maintaining robot device.
For reaching above-mentioned purpose, high-tension electricity equipment live cleaning insulated maintaining robot device, including walking mechanism, elevating mechanism and cleaning insulated maintaining mechanical arm; Described elevating mechanism includes the pneumatic insulated lift bar of motor linkage driving circuit, motor, balance monitoring device and more than two; Motor linkage driving circuit is connected with motor signal, balance monitoring device is connected with motor linkage circuit signal, the material of pneumatic insulated lift bar is epoxy resin or glass fibre steel, and pneumatic insulated lift bar is arranged in walking mechanism, and cleaning insulated maintaining mechanical arm is located on elevating mechanism.
Pneumatic insulated lift bar is employing source of the gas is lifting drive, and is all made up of insulant. Present invention source of the gas exactly carries out energy for working media and signal transmits compress gas as power, it is achieved automatization's lifting process of pneumatic insulated lift bar, it comprises Pneumatic Transmission and pneumatic control. Employing source of the gas as the advantage of power is: (1) working media easily obtains, and operating pressure is relatively low, and used air can discharge on the spot, it is not necessary to recovery channel. (2) air viscosity is little, and long range propagation power loss is little, and (3) lifting strength is gentle to be pressed through voltage-controlled system and be more easily implemented, and will not destroy the workpiece of construction. (4) the air pressure size in pneumatic insulated lift bar determines that pneumatic insulated lift bar is freely lifted height, control is that passing ratio-Integrated Derivative controls (PID) principle and parameter tuning method obtains, the adjustable height bottleneck of Gonna breakthrough 6 meters, source of the gas power is more easily implemented.
Elevating mechanism is relatively easy to the restriction of penetration altitude and insulated lengths after using source of the gas power, its key point is for adopting air-cylinder type Seal Design, connecting articulare at each uses the insulant of oil sealing and high intensity to make sliding plunger so that pneumatic insulated lift bar can be made the not lateral bending of distance and be freely lifted. Owing to using high-strength insulating material and pneumatics, every grade of weight of pneumatic insulated lift bar can be controlled in less than 20 kilograms.
Single pneumatic insulated lift bar elevating control precision is between several centimetres, but in balance monitoring device Sensitive Detection elevating mechanism gradient with by under the premise of motor linkage driving drives motor, degree of stability and precision obtain further raising, lifting precision can be controlled within 2 centimetres, achieve the purpose of self-adjustable liftable balance of mechanism degree, reduce the phenomenon rolling and turning on one's side, improve safety.
Further, since adopt pneumatic insulated lift bar, therefore, the lifting of elevating mechanism is more steady. Owing to pneumatic insulated lift bar adopts insulant, so, can effectively avoid the phenomenon of creepage short circuit, improve security performance.
In sum, assembly of the invention, to clean dielectric or the charged cleaning insulated maintaining occasion of dry ice particulate high-pressure fog cleaning, has enough met real requirement.
Further, walking mechanism is provided with power motor and drives steering gear, the first charged lithium cells, first microprocessor circuit, a Zig-bee communication module and the first miniature antenna, power motor drives steering gear to drive walking mechanism, first charged lithium cells and power motor drive steering gear, first microprocessor circuit to be electrically connected, first is that processor circuit drives steering gear to be connected with power motor, oneth Zig-bee communication module is connected with first microprocessor circuit, and the first miniature antenna and a Zig-bee communication module connect; Also include and the remote controller of the first miniature antenna communication. This structure, signal is sent by remote controller, first miniature antenna receives the signal of remote controller, and signal is transferred to first microprocessor circuit through a Zig-bee communication module, first microprocessor circuit transfers signals to power motor and drives steering gear, drive steering gear to drive walking mechanism walking by power motor, it may be achieved distant control, improve security performance.
Further, elevating mechanism is provided with unmanned steering control unit, described unmanned steering control unit includes micromotor and drives steering gear, second charged lithium cells, second microcontroller circuit, 2nd Zig-bee communication module and the second miniature antenna, micromotor drives steering gear to be arranged on elevating mechanism, cleaning insulated maintaining mechanical arm is arranged on micromotor and drives in steering gear, second charged lithium cells and micromotor drive steering gear and the second microcontroller circuit to be electrically connected, second microcontroller circuit drives steering gear to be connected with micromotor, 2nd Zig-bee communication module and the second microcontroller circuit connect, second miniature antenna and the 2nd Zig-bee communication module connect, also include and the remote controller of the second miniature antenna communication. this structure, by remote controller generation signal, second miniature antenna receives the signal of remote controller, and is transferred in the second microcontroller circuit by signal through the 2nd Zig-bee communication module, and the second microprocessor controls micromotor and drives steering gear work, thus driving cleaning insulated maintaining manipulator motion, so, remote control can not only be realized, improve security performance, and can allow and clean the multi-faceted motion of insulated maintaining mechanical arm, convenient for cleaning.
Further, described cleaning insulated maintaining mechanical arm is formed by digital control processing by insulating resin sheet material. To improve insulating properties.
Further, being provided with the platform of more than two on pneumatic insulated lift bar from bottom to top, balance monitoring device is arranged on nethermost platform, so, can detect the heeling condition of elevating mechanism more accurately.
Further, being provided with nozzle on cleaning insulated maintaining mechanical arm, nozzle is connected to pump by pipeline. This structure, is pumped in nozzle by cleanout fluid or dry ice particles by high pressure by pump, realizes cleaning by nozzle ejection.
Further, described walking mechanism is crawler type walking mechanism or wheel type traveling mechanism.
Further, pneumatic insulated lift bar is four so that the stability of elevating mechanism is better.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further elaborated.
As it is shown in figure 1, high-tension electricity equipment live cleaning insulated maintaining robot device includes walking mechanism 1, elevating mechanism 2, cleaning insulated maintaining mechanical arm 3 and unmanned steering control unit 4.
Described walking mechanism 1 is crawler type walking mechanism or wheel type traveling mechanism.
Walking mechanism 1 is provided with power motor and drives steering gear, the first charged lithium cells, first microprocessor circuit, a Zig-bee communication module and the first miniature antenna, power motor drives steering gear to drive walking mechanism, first charged lithium cells and power motor drive steering gear, first microprocessor circuit to be electrically connected, first is that processor circuit drives steering gear to be connected with power motor, oneth Zig-bee communication module is connected with first microprocessor circuit, and the first miniature antenna and a Zig-bee communication module connect; Also include and the remote controller of the first miniature antenna communication. This structure, signal is sent by remote controller, first miniature antenna receives the signal of remote controller, and signal is transferred to first microprocessor circuit through a Zig-bee communication module, first microprocessor circuit transfers signals to power motor and drives steering gear, drive steering gear to drive walking mechanism walking by power motor, it may be achieved distant control, improve security performance.
Zig-bee is the synonym of IEEE802.15.4 agreement. It it is a kind of short-distance wireless communication technology with technical standard. Its protocol layer and mac-layer protocol are IEEE802.15.4 consensus standard, and Internet is formulated by Zig-bee Technology-based Alliance, the exploitation application of its application layer application needs according to user oneself, and it is developed. Zig-bee technology is mainly used in closely, small data quantity, low speed, ad hoc communication, it is possible to embed various controller. Described Zig-bee communication module is a kind of low cost, low-power consumption, network structure electronic module flexibly.
Described elevating mechanism 2 includes the pneumatic insulated lift bar 23 of motor linkage driving circuit 21, motor (not shown), balance monitoring device 22 and more than two.
Motor linkage driving circuit 21 is arranged in walking mechanism 1, gas is pressed in pneumatic insulated lift bar 23 by the executive components such as motor linkage driving circuit 21 controls motor, motor driving air compressor machine, it is achieved the rising of pneumatic insulated lift bar, when, after pressure release, pneumatic insulated lift bar 23 declines. In the present embodiment, pneumatic insulated lift bar 23 is formed by four, the material of pneumatic insulated lift bar 23 is epoxy resin or glass fibre steel, pneumatic insulated lift bar 23 is arranged in walking mechanism, corresponding each pneumatic insulated lift bar is connected to motor, so, four pneumatic insulated lift bars can be allowed to lift by corresponding motor simultaneously, the pneumatic insulated lift bar that can also allow correspondence individually lifts, it is achieved the adjustment of balance. Being provided with the platform 24 of more than two on pneumatic insulated lift bar 23 from bottom to top, described balance monitoring device 22 is balanced gyroscope, and balanced gyroscope is arranged on nethermost platform, so, can detect the heeling condition of elevating mechanism more accurately.
Most it is being that above platform is provided with unmanned steering control unit 4, described unmanned steering control unit 4 includes micromotor and drives steering gear, second charged lithium cells, second microcontroller circuit, 2nd Zig-bee communication module and the second miniature antenna, micromotor drives steering gear to be arranged on uppermost platform, cleaning insulated maintaining mechanical arm 3 is arranged on micromotor and drives in steering gear, second charged lithium cells and micromotor drive steering gear and the second microcontroller circuit to be electrically connected, second microcontroller circuit drives steering gear to be connected with micromotor, 2nd Zig-bee communication module and the second microcontroller circuit connect, second miniature antenna and the 2nd Zig-bee communication module connect, also include and the remote controller of the second miniature antenna communication. this structure, by remote controller generation signal, second miniature antenna receives the signal of remote controller, and is transferred in the second microcontroller circuit by signal through the 2nd Zig-bee communication module, and the second microprocessor controls micromotor and drives steering gear work, thus driving cleaning insulated maintaining manipulator motion, so, remote control can not only be realized, improve security performance, and can allow and clean the multi-faceted motion of insulated maintaining mechanical arm, convenient for cleaning.
Described cleaning insulated maintaining mechanical arm 3 is formed by digital control processing by insulating resin sheet material.
Being provided with nozzle 5 on cleaning insulated maintaining mechanical arm 3, nozzle 5 is connected to pump by pipeline, if utilizing assembly of the invention spray cleanout fluid, then pump directly will clean liquid crystal pipeline and nozzle ejection. If, with assembly of the invention spray drying ice, being then provided with pulverizer in walking mechanism, size-reduced dry ice is transported in nozzle by pump under the effect of high pressure, then sprays through nozzle.
In the present invention, pneumatic insulated lift bar is employing source of the gas is lifting drive, and is all made up of insulant. Present invention source of the gas exactly carries out energy for working media and signal transmits compress gas as power, it is achieved automatization's lifting process of pneumatic insulated lift bar, it comprises Pneumatic Transmission and pneumatic control. Employing source of the gas as the advantage of power is: (1) working media easily obtains, and operating pressure is relatively low, and used air can discharge on the spot, it is not necessary to recovery channel. (2) air viscosity is little, and long range propagation power loss is little, and (3) lifting strength is gentle to be pressed through voltage-controlled system and be more easily implemented, and will not destroy the workpiece of construction. (4) the air pressure size in pneumatic insulated lift bar determines that pneumatic insulated lift bar is freely lifted height, control is that passing ratio-Integrated Derivative controls (PID) principle and parameter tuning method obtains, the adjustable height bottleneck of Gonna breakthrough 6 meters, source of the gas power is more easily implemented.
Elevating mechanism is relatively easy to the restriction of penetration altitude and insulated lengths after using source of the gas power, its key point is for adopting air-cylinder type Seal Design, connecting articulare at each uses the insulant of oil sealing and high intensity to make sliding plunger so that pneumatic insulated lift bar can be made the not lateral bending of distance and be freely lifted. Owing to using high-strength insulating material and pneumatics, every grade of weight of pneumatic insulated lift bar can be controlled in less than 20 kilograms.
Single pneumatic insulated lift bar elevating control precision is between several centimetres, but in balance monitoring device Sensitive Detection elevating mechanism gradient with by under the premise of motor linkage driving drives motor, degree of stability and precision obtain further raising, lifting precision can be controlled within 2 centimetres, achieve the purpose of self-adjustable liftable balance of mechanism degree, reduce the phenomenon rolling and turning on one's side, improve safety.
Further, since adopt pneumatic insulated lift bar, therefore, the lifting of elevating mechanism is more steady. Owing to pneumatic insulated lift bar adopts insulant, so, can effectively avoid the phenomenon of creepage short circuit, improve security performance.
In sum, assembly of the invention, to clean dielectric or the charged cleaning insulated maintaining occasion of dry ice particulate high-pressure fog cleaning, has enough met real requirement.
Claims (8)
1.High-tension electricity equipment live cleaning insulated maintaining robot device, including walking mechanism, elevating mechanism and cleaning insulated maintaining mechanical arm; It is characterized in that: described elevating mechanism includes the pneumatic insulated lift bar of motor linkage driving circuit, motor, balance monitoring device and more than two; Motor linkage driving circuit is connected with motor signal, balance monitoring device is connected with motor linkage circuit signal, the material of pneumatic insulated lift bar is epoxy resin or glass fibre steel, and pneumatic insulated lift bar is arranged in walking mechanism, and cleaning insulated maintaining mechanical arm is located on elevating mechanism.
2.High-tension electricity equipment live according to claim 1 cleaning insulated maintaining robot device, it is characterized in that: in walking mechanism, be provided with power motor drive steering gear, first charged lithium cells, first microprocessor circuit, oneth Zig-bee communication module and the first miniature antenna, power motor drives steering gear to drive walking mechanism, first charged lithium cells drives steering gear with power motor, first microprocessor circuit is electrically connected, first is that processor circuit drives steering gear to be connected with power motor, oneth Zig-bee communication module is connected with first microprocessor circuit, first miniature antenna and a Zig-bee communication module connect, also include and the remote controller of the first miniature antenna communication.
3.High-tension electricity equipment live according to claim 1 cleaning insulated maintaining robot device, it is characterized in that: unmanned steering control unit is installed on elevating mechanism, described unmanned steering control unit includes micromotor and drives steering gear, second charged lithium cells, second microcontroller circuit, 2nd Zig-bee communication module and the second miniature antenna, micromotor drives steering gear to be arranged on elevating mechanism, cleaning insulated maintaining mechanical arm is arranged on micromotor and drives in steering gear, second charged lithium cells and micromotor drive steering gear and the second microcontroller circuit to be electrically connected, second microcontroller circuit drives steering gear to be connected with micromotor, 2nd Zig-bee communication module and the second microcontroller circuit connect, second miniature antenna and the 2nd Zig-bee communication module connect, also include and the remote controller of the second miniature antenna communication.
4.High-tension electricity equipment live according to claim 1 cleaning insulated maintaining robot device, it is characterised in that: described cleaning insulated maintaining mechanical arm is formed by digital control processing by insulating resin sheet material.
5.High-tension electricity equipment live according to claim 1 cleaning insulated maintaining robot device, it is characterised in that: being provided with the platform of more than two on pneumatic insulated lift bar from bottom to top, balance monitoring device is arranged on nethermost platform.
6.High-tension electricity equipment live according to claim 1 cleaning insulated maintaining robot device, it is characterised in that: being provided with nozzle on cleaning insulated maintaining mechanical arm, nozzle is connected to pump by pipeline.
7.High-tension electricity equipment live according to claim 1 cleaning insulated maintaining robot device, it is characterised in that: described walking mechanism is crawler type walking mechanism or wheel type traveling mechanism.
8.High-tension electricity equipment live according to claim 1 cleaning insulated maintaining robot device, it is characterised in that: pneumatic insulated lift bar is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610047717.0A CN105618412A (en) | 2016-01-25 | 2016-01-25 | Electrified cleaning insulating maintenance robot device for high-voltage power equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610047717.0A CN105618412A (en) | 2016-01-25 | 2016-01-25 | Electrified cleaning insulating maintenance robot device for high-voltage power equipment |
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| CN105618412A true CN105618412A (en) | 2016-06-01 |
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| CN201610047717.0A Pending CN105618412A (en) | 2016-01-25 | 2016-01-25 | Electrified cleaning insulating maintenance robot device for high-voltage power equipment |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428285A (en) * | 2016-09-14 | 2017-02-22 | 济南华北升降平台制造有限公司 | Intelligent walking robot for construction of high-speed rail and subway tunnels and installation of auxiliary facilities |
| CN106938265A (en) * | 2017-03-07 | 2017-07-11 | 宁波市镇海怡福莱文化创意有限公司 | A kind of porcelain connector jet clean method |
| CN107053215A (en) * | 2017-02-28 | 2017-08-18 | 大陆智源科技（北京）有限公司 | A kind of robot control system |
| CN107443355A (en) * | 2017-08-04 | 2017-12-08 | 国网山东省电力公司电力科学研究院 | A kind of mechanical arm and control method for partial discharge of switchgear detection |
| CN107457215A (en) * | 2017-09-04 | 2017-12-12 | 新奥泛能网络科技股份有限公司 | The cleaning equipment in power station |
| CN107906352A (en) * | 2017-12-20 | 2018-04-13 | 天津博宜特科技有限公司 | Automatic intelligent wire rope oiling station |
| CN108453748A (en) * | 2018-03-23 | 2018-08-28 | 国网上海市电力公司 | A kind of high pressure transformer and distribution power station cleaning auxiliary robot |
| CN109482580A (en) * | 2018-09-14 | 2019-03-19 | 国网浙江省电力有限公司金华供电公司 | A kind of disconnecting switch intelligence electrification Dry ice cleaning device |
| WO2023004496A1 (en) * | 2021-07-29 | 2023-02-02 | 2166568 Alberta Inc. | Tool for cleaning electrically energized equipment |
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| CN107443355B (en) * | 2017-08-04 | 2020-02-14 | 国网山东省电力公司电力科学研究院 | Mechanical arm for detecting partial discharge of switch cabinet and control method |
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| CN107906352A (en) * | 2017-12-20 | 2018-04-13 | 天津博宜特科技有限公司 | Automatic intelligent wire rope oiling station |
| CN108453748A (en) * | 2018-03-23 | 2018-08-28 | 国网上海市电力公司 | A kind of high pressure transformer and distribution power station cleaning auxiliary robot |
| CN109482580A (en) * | 2018-09-14 | 2019-03-19 | 国网浙江省电力有限公司金华供电公司 | A kind of disconnecting switch intelligence electrification Dry ice cleaning device |
| WO2023004496A1 (en) * | 2021-07-29 | 2023-02-02 | 2166568 Alberta Inc. | Tool for cleaning electrically energized equipment |
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