CN106374411A - OPGW ground wire assembly for robot walking - Google Patents
OPGW ground wire assembly for robot walking Download PDFInfo
- Publication number
- CN106374411A CN106374411A CN201610994785.8A CN201610994785A CN106374411A CN 106374411 A CN106374411 A CN 106374411A CN 201610994785 A CN201610994785 A CN 201610994785A CN 106374411 A CN106374411 A CN 106374411A
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- Prior art keywords
- opgw
- ground wire
- robot
- opgw ground
- link plate
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Classifications
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- 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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/05—Suspension arrangements or devices for electric cables or lines
-
- 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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/22—Arrangements of earthing wires suspended between mastheads
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- Bridges Or Land Bridges (AREA)
Abstract
An embodiment of the invention discloses an OPGW ground wire assembly for robot walking. A tower head and an OPGW ground wire are connected via a C-shaped hanging plate and a suspension wire clamp, a first gap bridge structure via which a robot can smoothly pass is arranged above the suspension wire clamp, sufficient space and a safe path are provided for the robot to walk on the ground wire, and the OPGW ground wire assembly can help solve a technical problem that a transversing type tour inspection robot is obstructed from directly passing by an assembly of an OPGW ground wire in technologies of the prior art. A method for the OPGW ground wire assembly disclosed in the embodiment of the invention comprises the following steps: the OPGW ground wire assembly comprises a first suspension plate connected with the tower head, the C-shaped suspension plate connected with the first suspension plate, the cylindrical suspension wire clamp connected with the C-shaped suspension plate and the first gap bridge structure; the first gap bridge structure is arranged above two ends of the suspension wire clamp and is connected with the OPGW ground wire in an overlapped manner, and the first gap bridge structure comprises a linear gap bridge horizontally arranged above the suspension wire clamp and an overlapping gap bridge used for connecting the linear gap bridge and the OPGW ground wire in an overlapping manner.
Description
Technical field
The present invention relates to transmission power line robot field, the opgw ground line component of more particularly, to a kind of robot ambulation.
Background technology
Nowadays, robot patrols and examines the important development direction that circuit is intelligent grid.With respect to artificial line walking, robot
Line walking both facilitated, and safety, and efficiency comparison is high.And robot line walking is to select robot to carry out on opgw ground wire mostly
Patrol and examine, because for wire, had the advantage that as robot ride path using opgw ground wire offline in robot
Be not required to will artificial powered equipotential live line work, robot uses comparatively safe, convenient；Inspection instrument can " occupy a commanding position " to bow and see line
Road, not only the angle of visual field is big, and can reduce the impact that sunlight is patrolled and examined to visible light camera imaging to greatest extent.
And pass through formula crusing robot for convenience and can successfully carry out line walking, need to some groups on opgw ground wire
Part is transformed, and prevents the assembly on opgw ground wire from hindering and passes through directly passing through of formula crusing robot.
Content of the invention
Embodiments provide a kind of opgw ground line component of robot ambulation, by c type link plate and suspension clamp
Connect tower head and opgw ground wire, above suspension clamp, be then provided for the first bridge structure that robot passes through, from
And be robot walk on bottom line provide abundance space and safety path, solve on opgw ground wire in prior art
Assembly hinder and pass through the technical problem directly passed through of formula crusing robot.
Embodiments provide a kind of opgw ground line component of robot ambulation, including the first extension being connected with tower head
Cylindrical shape suspension clamp that the c type link plate that plate is connected with described first link plate is connected with described c type link plate, be arranged on described outstanding
The first bridge structure that the two ends of vertical line folder top are overlapped with described opgw ground wire；
Described first bridge structure include be horizontally set on straight line above described suspension clamp pass a bridge, be arranged on described
The overlap joint gap bridge for overlapping described straight line gap bridge and described opgw ground wire at straight line gap bridge two ends.
Preferably,
Connected mode between described straight line is passed a bridge and described overlap joint is passed a bridge is to be hinged.
Preferably,
Described overlap joint is passed a bridge and described opgw ground wire between by being welded on u-shaped bolt and the monkey of described overlap joint gap bridge afterbody
Head card cooperation is fixedly connected.
Preferably,
Opgw ground line component near described suspension clamp is wrapped up by outer preformed armor rods.
Preferably,
The opgw ground line component of described robot ambulation also includes connecting described first link plate and c type described at least two is hung
The yoke plate of plate.
Preferably,
Connected mode between described c type link plate and described suspension clamp is to be hinged, and described c type link plate is outstanding with described
Vertical line folder connect the first pin joint with described c type link plate suspension centre on the same line.
Preferably,
Described first pin joint is not less than 350mm with the distance between the upper surface of described c type link plate h.
Preferably,
The road wheel central horizontal face of robot is not less than 100mm with the distance between the upper surface of described c type link plate h1.
Preferably,
Described suspension clamp centrage meets d >=0.5w+ △ with horizontal range d of described c type link plate side, and wherein w is
Described robot ambulation wheel width, △ is type link plate width safety allowance described in c.
Preferably,
The opgw ground line component of described robot ambulation, also includes being connected with common ground wire by double u-shaped coupling assemblies
Damper and parallel groove clamp；
By arranging fixed component, described pair of u-shaped coupling assembly is clamped commonly in the middle part of described pair of u-shaped coupling assembly
Line, described damper or described parallel groove clamp.
Preferably,
The mounting distance x1 between described damper on described opgw ground wire is not less than 800mm.
Preferably,
Between described damper and described outer preformed armor rods apart from x3 be not less than 300mm.
Preferably,
The opgw ground line component of described robot ambulation also include being arranged on outside opgw ground wire anchor support for supplying machine
Second bridge structure of device people walking.
Preferably,
Described second bridge structure include line slideway, the flexible guide rail being arranged on described line slideway two ends, for even
Meet guiding tube, the Zhang Talian outer with common ground wire for supporting described bridge structure of described flexible guide rail and described common ground wire
The guide support connecing.
Preferably,
Described line slideway passes through gold utensil fixed structure and bolt is connected with tower head connecting plate.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
1st, pass through c type link plate and suspension clamp connects tower head and opgw ground wire, be then provided for above suspension clamp
The first bridge structure that robot passes through, thus walk on bottom line for robot provide space and the safety of abundance
Path, solves the assembly on opgw ground wire in prior art and hinders the technology directly passed through passing through formula crusing robot to ask
Topic.
2nd, pass through double u-shaped coupling assemblies and connect common ground wire and damper, parallel groove clamp, by arranging suitable damper
Mounting distance and the distance of robot ambulation wheel surrounding, solve the obstruction of the assembly on common ground wire in prior art and pass through formula
The technical problem directly passed through of crusing robot is it is ensured that crusing robot can smoothly, efficiently work.
3rd, the first bridge structure and the second bridge structure not only make robot can smoothly pass through common ground wire anchor support
Place, and meet do not change existing anchor support ground wire connecting structure, do not dismantle the original bolt of shaft tower or structure build requirement, mistake
The flexible guide rail of bridge construction enables bridge structure to adapt to the motion of corner and line without limitation.
4th, line slideway passes through gold utensil fixed structure and bolt is connected so that line slideway is more stable with tower head connecting plate, enters
And make robot ambulation more steady.
5th, being hinged so that the first bridge structure can adapt to different operation slopes between overlap joint gap bridge and straight line gap bridge
Degree.
6th, the parcel of outer preformed armor rods plays a very good protection to opgw ground wire.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, also may be used
So that other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 in the embodiment of the present invention provide a kind of robot ambulation opgw ground line component single suspension clamp at
Structural representation；
Fig. 2 in the embodiment of the present invention provide a kind of robot ambulation opgw ground line component double suspension clamps at
Structural representation；
Fig. 3 in the embodiment of the present invention provide a kind of robot ambulation opgw ground line component damper opgw ground
Schematic view of the mounting position on line；
Fig. 4 and Fig. 5 is a kind of suspension clamp of the opgw ground line component of robot ambulation of offer in the embodiment of the present invention
Combining structure schematic diagram with c type link plate and road wheel；
Fig. 6 is a kind of opgw ground wire anchor support of the opgw ground line component of robot ambulation of offer in the embodiment of the present invention
The schematic diagram at place；
Fig. 7 is the damper junction of the opgw ground line component of a kind of robot ambulation of offer in the embodiment of the present invention
Structural representation；
Fig. 8 is the structural representation of damper junction of the prior art；
Fig. 9 is a kind of structure of the c type link plate of the opgw ground line component of robot ambulation of offer in the embodiment of the present invention
Schematic diagram.
Specific embodiment
Embodiments provide a kind of opgw ground line component of robot ambulation, by c type link plate and suspension clamp
Connect tower head and opgw ground wire, above suspension clamp, be then provided for the first bridge structure that robot passes through, from
And be robot walk on bottom line provide abundance space and safety path, solve on opgw ground wire in prior art
Assembly hinder and pass through the technical problem directly passed through of formula crusing robot.
For enabling the goal of the invention of the present invention, feature, advantage more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described it is clear that disclosed below to the technical scheme in the embodiment of the present invention
Embodiment be only a part of embodiment of the present invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of not making creative work, broadly falls into present invention protection
Scope.
Refer to Fig. 1 to Fig. 9, embodiments provide a kind of robot ambulation opgw ground line component, including with
The cylindrical shape suspension clamp that the c type link plate 3 that the first link plate 4 that tower head 5 connects is connected with the first link plate 4 is connected with c type link plate 3
2nd, it is arranged on the two ends of suspension clamp 2 top and the first bridge structure of opgw ground wire 1 overlap joint；
As depicted in figs. 1 and 2, the first bridge structure include with the straight line being horizontally set on suspension clamp 2 top pass a bridge 20,
It is arranged on the overlap joint gap bridge 18 for overlapping straight line gap bridge 20 and opgw ground wire at straight line gap bridge 20 two ends.
The connected mode that straight line is passed a bridge between 20 and overlap joint gap bridge 18 is to be hinged, and junction is the second pin joint 19, makes
Obtain the first bridge structure and can adapt to the different operation gradients.
Overlap joint is passed a bridge and is joined by the u-shaped bolt and hedgehog hydnum card being welded on overlap joint gap bridge 18 afterbodys between 18 and opgw ground wires 1
Conjunction is fixedly connected.
Opgw ground wire 1 near suspension clamp passes through outer preformed armor rods 14 and cushion parcel, and opgw ground wire is served very
Good protective effect.
The opgw ground line component of robot ambulation also includes connecting the yoke plate 7 of the first link plate 4 and at least two c type link plates 3,
As shown in Fig. 2 when opgw ground wire 1 is provided with double suspension clamp 2, c type link plate 3 and the first link plate 4 need by setting
Yoke plate 7 connects.
Connected mode between c type link plate 3 and suspension clamp 2 is to be hinged, and c type link plate 3 is connected with suspension clamp 2
First pin joint 6 with c type link plate 3 suspension centre on the same line.
First pin joint 6 and the distance between the upper surface of c type link plate 3 h are not less than 350mm.
The road wheel 8 central horizontal face of robot is not less than 100mm with the distance between the upper surface of c type link plate 3 h1.
Suspension clamp 2 centrage meets d >=0.5w+ △ with horizontal range d of c type link plate 3 side, and wherein w is robot
Road wheel 8 width, △ is c type link plate 3 width safety allowance.
The opgw ground line component of robot ambulation, is also included by preventing that double u-shaped coupling assemblies 9 are connected with opgw ground wire 1
Vibration hammer 10 and parallel groove clamp 11；
As shown in fig. 7, making double u-shaped coupling assemblies 9 clamp opgw by arranging fixed component in the middle part of double u-shaped coupling assemblies
Ground wire 1, damper 10 or and ditch line 11 press from both sides, fixed component can be bolt, by bolt so that double u-shaped coupling assembly 9
The sheet metal of both sides steps up, thus fixing opgw ground wire 1, damper 10 or parallel groove clamp 11, it should be noted that double u-shaped connects
Assembly 9 one end and opgw ground wire 1 fit tightly socket, and the other end is connected with damper 10, with respect to the damper shown in Fig. 8
10 connected mode, has lacked bulge-structure, and then is conducive to robot to pass through.
The mounting distance x1 between damper 10 on opgw ground wire 1 is not less than 800mm.
Between damper 10 and outer preformed armor rods 14 apart from x3 be not less than 300mm.
The opgw ground line component of robot ambulation also include being arranged on outside opgw ground wire anchor support for supplying robot
Second bridge structure of walking.
Second bridge structure include line slideway 12, the flexible guide rail 13 being arranged on line slideway 12 two ends, for connecting
The guiding tube of flexible guide rail 13 and opgw ground wire 1, it is used for supporting the guide rail being connected with tower outside opgw ground wire of bridge structure to prop up
Support member, wherein, is steel wire rope and adjustable in length in the middle of flexible guide rail 13, guide support 15 can be u-shaped screw.
Line slideway passes through gold utensil fixed structure 16 and bolt is connected with tower head connecting plate 17.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
Device and the specific work process of unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
It should be understood that disclosed system in several embodiments provided herein, apparatus and method are permissible
Realize by another way.For example, device embodiment described above is only schematically, for example, described unit
Divide, only a kind of division of logic function, actual can have other dividing mode when realizing, for example multiple units or assembly
Can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not execute.Another, shown or
The coupling each other discussing or direct-coupling or communication connection can be by some interfaces, the indirect coupling of device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The described unit illustrating as separating component can be or may not be physically separate, show as unit
The part showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.The mesh to realize this embodiment scheme for some or all of unit therein can be selected according to the actual needs
's.
In addition, can be integrated in a processing unit in each functional unit in each embodiment of the present invention it is also possible to
It is that unit is individually physically present it is also possible to two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be to be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If described integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part in other words prior art being contributed or all or part of this technical scheme can be in the form of software products
Embody, this computer software product is stored in a storage medium, including some instructions with so that a computer
Equipment (can be personal computer, server, or network equipment etc.) executes the complete of each embodiment methods described of the present invention
Portion or part steps.And aforesaid storage medium includes: u disk, portable hard drive, read only memory (rom, read-only
Memory), random access memory (ram, random access memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, above example only in order to technical scheme to be described, is not intended to limit；Although with reference to front
State embodiment the present invention has been described in detail, it will be understood by those within the art that: it still can be to front
State the technical scheme described in each embodiment to modify, or equivalent is carried out to wherein some technical characteristics；And these
Modification or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (15)
1. the first link plate that a kind of opgw ground line component it is characterised in that include of robot ambulation is connected with tower head with described
First link plate connect c type link plate be connected with described c type link plate cylindrical shape suspension clamp, be arranged on described suspension clamp
The first bridge structure that the two ends of side are overlapped with described opgw ground wire；
Described first bridge structure includes passing a bridge, being arranged on described straight line with the straight line being horizontally set on above described suspension clamp
The overlap joint gap bridge for overlapping described straight line gap bridge and described opgw ground wire at gap bridge two ends.
2. the opgw ground line component of robot ambulation according to claim 1 is it is characterised in that described straight line is passed a bridge and institute
Stating the connected mode between overlap joint gap bridge is to be hinged.
3. the opgw ground line component of robot ambulation according to claim 1 is it is characterised in that described overlap joint is passed a bridge and institute
State and be fixedly connected with hedgehog hydnum card cooperation by being welded on the u-shaped bolt of described overlap joint gap bridge afterbody between opgw ground wire.
4. the opgw ground line component of robot ambulation according to claim 1 is it is characterised in that near described suspension clamp
Opgw ground line component wrapped up by outer preformed armor rods.
5. the opgw ground line component it is characterised in that also include of robot ambulation according to claim 1 connects described the
The yoke plate of c type link plate described in one link plate and at least two.
6. the opgw ground line component of robot ambulation according to claim 1 is it is characterised in that described c type link plate and institute
Stating the connected mode between suspension clamp is to be hinged, and the first pin joint that described c type link plate is connected with described suspension clamp
With described c type link plate suspension centre on the same line.
7. robot ambulation according to claim 6 opgw ground line component it is characterised in that described first pin joint with
The distance between the upper surface of described c type link plate h is not less than 350mm.
8. the opgw ground line component of robot ambulation according to claim 1 is it is characterised in that in the road wheel of robot
Edema with the heart involved plane is not less than 100mm with the distance between the upper surface of described c type link plate h1.
9. the opgw ground line component of robot ambulation according to claim 1 is it is characterised in that described suspension clamp center
Line meets d >=0.5w+ △ with horizontal range d of described c type link plate side, and wherein w is described robot ambulation wheel width, and △ is
Type link plate width safety allowance described in c.
10. the opgw ground line component of robot ambulation according to claim 1 is it is characterised in that also include by double u-shapeds
Damper and parallel groove clamp that coupling assembly is connected with common ground wire；
Described pair of u-shaped coupling assembly is made to clamp common ground wire, institute by arranging fixed component in the middle part of described pair of u-shaped coupling assembly
State damper or described parallel groove clamp.
The opgw ground line component of 11. robot ambulations according to claim 10 is it is characterised in that on described opgw ground wire
Described damper between mounting distance x1 be not less than 800mm.
The opgw ground line component of 12. robot ambulations according to claim 4 and 10 is it is characterised in that described damper
And between described outer preformed armor rods apart from x3 be not less than 300mm.
The opgw ground line component of 13. robot ambulations according to claim 1 is it is characterised in that also include being arranged on
Outside opgw ground wire anchor support for the second bridge structure for robot ambulation.
The opgw ground line component of 14. robot ambulations according to claim 13 is it is characterised in that described second gap bridge is tied
Structure include line slideway, the flexible guide rail being arranged on described line slideway two ends, for connecting described flexible guide rail and described general
The guiding tube of logical ground wire, the guide support being connected with outside common ground wire tower for supporting described bridge structure.
The opgw ground line component of 15. robot ambulations according to claim 14 is it is characterised in that described line slideway leads to
Cross gold utensil fixed structure and bolt to be connected with tower head connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610994785.8A CN106374411A (en) | 2016-11-11 | 2016-11-11 | OPGW ground wire assembly for robot walking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610994785.8A CN106374411A (en) | 2016-11-11 | 2016-11-11 | OPGW ground wire assembly for robot walking |
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| CN106374411A true CN106374411A (en) | 2017-02-01 |
Family
ID=57893231
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| CN201610994785.8A Pending CN106374411A (en) | 2016-11-11 | 2016-11-11 | OPGW ground wire assembly for robot walking |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107492858A (en) * | 2017-09-08 | 2017-12-19 | 国网山东省电力公司电力科学研究院 | The modified attachment structure of overhead transmission line line grounding wire and strain insulator tower head |
| CN107565483A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | A kind of suspension clamp and its method of work with crusing robot positioning function |
| CN107553461A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN107565490A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | A kind of overhead transmission line ground configurations for being applied to whole accessible inspection |
| CN107591728A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The whole-process automatic travel mechanism of overhead transmission line ground wire, crusing robot and method |
| CN107591729A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN107749589A (en) * | 2017-10-09 | 2018-03-02 | 南京南瑞集团公司 | A kind of type variable wire clamp passed a bridge for transmission line polling robot strain insulator |
| CN107947016A (en) * | 2017-12-07 | 2018-04-20 | 广东科凯达智能机器人有限公司 | Ground wire suspension clamp Overbridge device for transmission line polling robot |
| CN111181067A (en) * | 2020-02-07 | 2020-05-19 | 云南电网有限责任公司电力科学研究院 | Track system of line inspection robot for overhead transmission line |
| CN112395666A (en) * | 2020-11-06 | 2021-02-23 | 华南理工大学 | Method for establishing elliptic cylinder conductive bridge model between ground wire and suspension clamp |
| CN113054587A (en) * | 2020-12-02 | 2021-06-29 | 国网河南省电力公司新乡县供电公司 | Novel transmission line foreign matter removing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107591729B (en) * | 2017-09-08 | 2019-11-19 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN107565483A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | A kind of suspension clamp and its method of work with crusing robot positioning function |
| CN107553461A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN107565490A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | A kind of overhead transmission line ground configurations for being applied to whole accessible inspection |
| CN107591728A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The whole-process automatic travel mechanism of overhead transmission line ground wire, crusing robot and method |
| CN107591729A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN107553461B (en) * | 2017-09-08 | 2019-11-15 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN107492858A (en) * | 2017-09-08 | 2017-12-19 | 国网山东省电力公司电力科学研究院 | The modified attachment structure of overhead transmission line line grounding wire and strain insulator tower head |
| CN107749589A (en) * | 2017-10-09 | 2018-03-02 | 南京南瑞集团公司 | A kind of type variable wire clamp passed a bridge for transmission line polling robot strain insulator |
| CN107947016A (en) * | 2017-12-07 | 2018-04-20 | 广东科凯达智能机器人有限公司 | Ground wire suspension clamp Overbridge device for transmission line polling robot |
| CN111181067A (en) * | 2020-02-07 | 2020-05-19 | 云南电网有限责任公司电力科学研究院 | Track system of line inspection robot for overhead transmission line |
| CN112395666A (en) * | 2020-11-06 | 2021-02-23 | 华南理工大学 | Method for establishing elliptic cylinder conductive bridge model between ground wire and suspension clamp |
| CN113054587A (en) * | 2020-12-02 | 2021-06-29 | 国网河南省电力公司新乡县供电公司 | Novel transmission line foreign matter removing device |
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Application publication date: 20170201 |