CN106486954A - Can obstacle detouring many distributing cables synchronization deicing robots, open ice and obstacle-detouring method - Google Patents
Can obstacle detouring many distributing cables synchronization deicing robots, open ice and obstacle-detouring method Download PDFInfo
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- CN106486954A CN106486954A CN201611240354.9A CN201611240354A CN106486954A CN 106486954 A CN106486954 A CN 106486954A CN 201611240354 A CN201611240354 A CN 201611240354A CN 106486954 A CN106486954 A CN 106486954A
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- electric magnet
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- anvil
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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
- H02G7/16—Devices for removing snow or ice from lines or cables
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Abstract
The present invention relates to the field such as roboticses, 10kV distribution line maintenance tool, medium-voltage distribution technology, specifically can obstacle detouring many distributing cables synchronization deicing robots, open ice and obstacle-detouring method.Can obstacle detouring many distributing cables synchronization deicing robots mainly by front actuator, rear actuator and the mainframe box being connected between the two are constituted.Rely on the linear motion feature of linear electromagnetic iron core, icing electric wire is carried out with shock realization and opens ice.Use front actuator, obstacle detouring is realized in the order action of rear actuator.The invention has the beneficial effects as follows：Structure is simple, and parts are few, easy to maintenance, there is stronger adaptive capacity to environment, three cables can be carried out with anti-ice operation simultaneously, and possess the ability of flexible throwing over barrier, for the 10kV distribution line deicing under sleety weather, there is good market application foreground.
Description
Technical field
The present invention relates to the field such as roboticses, 10kV distribution line maintenance tool, medium-voltage distribution technology, specifically
Be can obstacle detouring many distributing cables synchronization deicing robots, open ice and obstacle-detouring method.
Background technology
The sleet weather that cold wave causes can cause long-pending full glaze on electric wire, in the maximum harm Shi Shi supply line of glaze
Disconnected, when glaze in electric wire, electric wire icing contract on cooling, add the concussion that wind causes, electric wire and telephone wire can be made to be unequal to
Heavy burden and be pressed down, several kilometers so that tens kilometers of electric pole is in a row toppled over, cause transmission of electricity, communicating interrupt, have a strong impact on work as
The industrial and agricultural production on ground.
Many cities the situation that high-tension line in a row collapses because of glaze in history.Southern temperature is relatively northern
High, when snowing, often with rainwater, this results in, and snow is rapid to be melted, and increased the adhesiveness of electric wire, so, water
Congeal into ice quickly in subzero with the mixture of snow.In addition, southern weather is moister, more open snowflake originally
Can condense, lead to the icing on electric wire.
Traditional deicing mode mostly manually beats cable, and vibrations cable removes and freezes, in this way very
Danger, deicing efficiency is not high simultaneously.Some deicing robots are using mode deicing such as heating, but equipment is not readily portable, and
Because in the case that icing is thicker, heating dynamics not, leads to deicing efficiency low.Several deicing relatively common at present
Method：
Concrete feature is respectively：1. heating power deicing mainly utilizes wire self-heating or additional heating source so as in wire
On ice and snow cannot amass and cover, or make it amass the ice dissolution covered, but this mode consume substantial amounts of energy, operation is multiple
Miscellaneous；2. mechanical deicing's mode is many beats mode deicing using work about electric power personnel on site using club, and this mode is it cannot be guaranteed that work
Make the safety of personnel and inefficiency, or even cannot be carried out operation under some complex environments.
Using automatically deicing robot low cost, simple to operate, improve efficiency, ensure Employee Security.But current transmission of electricity
Line deicing robot once can only carry out deicing to a ultra-high-tension power transmission line and patrol and examine, less efficient.
201220248179.9 patent provides transmission line of electricity cable deicing robot, including main body obstacle crossing device, deicing
Dolly, telescopic arm, deicing dolly and telescopic arm all have two, and two telescopic arms are separately mounted to the two ends of main body obstacle crossing device,
Two deicing dollies are separately mounted on two telescopic arms.Using deicing on main body obstacle crossing device and two telescopic arms and telescopic arm
Dolly cooperates and realizes 3 cable deicing simultaneously, can be applicable on the high-tension lines such as 35kV, 66kV, 110kV 3 with cable water
Carry out automatic de-icing operation it is achieved that a robot once can carry out deicing to 3 cables simultaneously on the circuit that plain cloth is put,
The obstacle on cable not only can be crossed over, and shaft tower can be crossed, realize working continuously on multi gear circuit, it is to avoid circuit
The every shaft tower of workman is accomplished by repeatedly stepping on bar/tower and installs and uninstalls robot.But there is complicated mechanism maintenance cost
High problem.
201520734783.6 are related to overhead cable deicing robot, including running gear, deicer and driving means,
Running gear and deicer are all connected with driving means, and running gear is provided with wheel, and wheel is connected with servomotor, removes
Ice production apparatus include tapping folder, tap folder front end and are provided with tapping board, tapping board is provided with deicing nail, tap folder rear end and are provided with
Electric magnet, electric magnet is connected with the time relay, and tapping folder middle setting has back-moving spring, and driving means include driving power supply,
Driving power supply is connected with servomotor and electric magnet.The overhead cable deicing robot of the present invention, deicing efficiency is high, and deicing is done
Only, structure is simple, enables remote manipulation, and being capable of remote reviewing deicing effect.But can only a deicing single line cable, efficiency
Relatively low.
Content of the invention
For the technical problem mentioned in prior art, the present invention provide can obstacle detouring many distributing cables synchronization deicing machines
People, open ice and obstacle-detouring method.
The present invention is achieved in the following ways：
Can obstacle detouring many distributing cables synchronization deicing robots, mainly by front actuator (21), rear actuator (22)
And the mainframe box (1) being connected between the two is constituted；Two adjustment position motor (2) are fixedly installed on mainframe box (1)；Front execution
, all mainly by adjustment position drive mechanism (3), motor for double-ended drive (5), electromagnetic brake is braked for mechanism (21) and rear actuator (22)
Device (7), fabric wheel (8), frame (12), side bracket (13), U-shaped ice anvil (16), execution straight-line electric Magnet (17), tup (19)
Composition；It is characterized in that, in front actuator (21) with rear actuator (22)：The motor shaft (6) of motor for double-ended drive (5) drives
The fabric wheel (8) at dynamic two ends；Fabric wheel (8) edge has pressuring line groove (11)；Motor shaft (6) in motor for double-ended drive (5) both sides
Respective middle part setting electromagnetic brake brake (7), motor shaft (6) passes through electromagnetic brake brake (7)；Electromagnetic brake brake
(7) it is fixed in frame (12) with execution straight-line electric Magnet (17)；Two execution straight-line electric Magnet (17) are coaxial, with regard to frame
(12) symmetric configuration, each fixed hammer in electric magnet projecting shaft (18) two ends (19)；Tup (19) is relative with U-shaped ice anvil (16)；Adjust
Whole position drive mechanism (3) is fixedly connected on motor for double-ended drive (5) body, and adjustment position motor is fixed in the end of its extension bar (4)
(2) motor shaft, and extension bar (4) is perpendicular with motor shaft.
Can obstacle detouring many distributing cables synchronization deicing robots icebreaking method, using described execution straight-line electric Magnet (17)
With U-shaped ice anvil (16), electric magnet projecting shaft (18) hits along the movement of central axis, the tup (19) realizing straight-line electric Magnet (17)
Hit the icing electric wire in region between tup (19) and U-shaped ice anvil (16), realize opening ice；Two execution straight-line electric Magnet (17)
Coaxially, with regard to frame (12) symmetric configuration so that two mutually close tups (19) can on two execution straight-line electric Magnet (17)
Periodically close, extruding, hammering are located at the icing electric wire between two tups (19), realize opening ice.
Can obstacle detouring many distributing cables synchronization deicing robots obstacle-detouring method, mainly have following steps：
The first step, starts motor for double-ended drive (5), and along intermediate line (28), side electric wire (30) runs；Front actuator (21) exists
Before, execution straight-line electric Magnet (17) action of front actuator (21), electric magnet projecting shaft (18) moves out, and drives tup
(19), with U-shaped ice anvil (16) as anvil, periodically tap the side electric wire (30) freezing；Electric magnet projecting shaft (18) inward, band
Dynamic tup (19), with relative tup (19) as anvil, taps the intermediate line (28) freezing；Realization is opened ice；
Second step, when running into barrier (27), the electric magnet of execution straight-line electric Magnet (17) of front actuator (21)
Projecting shaft (18) moves out, with tup (19) and U-shaped ice anvil (16) squish lip electric wire (30), thus playing fixing effect；
The motor for double-ended drive (5) of front actuator (21) stops；The motor for double-ended drive (5) of actuator (22) continues to run with, simultaneously afterwards
Adjustment position drive mechanism (3) and adjustment position motor (2) coordination, with sagitta mainframe box (1)；
3rd step, motor shaft (6) is held in the electromagnetic brake brake (7) of front actuator (21) tightly, and motor for double-ended drive (5) moves
Make, motor shaft (6) is fixing with respect to frame (12), then motor for double-ended drive (5) rotation, thus driving adjustment position drive mechanism (3)
And mainframe box (1), rear actuator (22) rotation, cross above front actuator (21)；Until the pressure of rear actuator (22)
Line wheel (8) touches electric wire；
4th step, the electric magnet projecting shaft (18) of execution straight-line electric Magnet (17) of rear actuator (22) moves out,
With tup (19) and U-shaped ice anvil (16) squish lip electric wire (30), thus playing fixing effect, front actuator (21) start with
The fabric wheel (8) of actuator (22) flips an angle for axis afterwards, and adjustment position drive mechanism (3) action simultaneously is with sagitta master
Cabinet (1), the attitude of actuator (21) before adjustment, and clear the jumps (27), complete obstacle detouring.
The invention has the beneficial effects as follows：Structure is simple, and parts are few, easy to maintenance, have stronger adaptive capacity to environment,
Three cables can be carried out with anti-ice operation simultaneously, and possess the ability of flexible throwing over barrier, under sleety weather
10kV distribution line deicing has good market application foreground.
Brief description
The present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the front view of the present invention.
Fig. 2 is the top view of the present invention.
Fig. 3 is the fragmentary detail view 1 of the present invention.
Fig. 4 is section view Fig. 1 of the present invention.
Fig. 5 is section view Fig. 2 of the present invention.
Fig. 6 is the fragmentary detail view 2 of the present invention.
Fig. 7 is the fragmentary detail view 3 of the present invention.
Fig. 8 is the overall structure figure of the present invention.
Fig. 9-15 is the obstacle detouring procedure chart of the present invention successively.
Wherein：
1- mainframe box, 2- adjustment position motor, 3- adjustment position drive mechanism, 4- extension bar, 5- motor for double-ended drive, 6- motor
Axle, 7- electromagnetic brake brake, 8- fabric wheel, 9- ferromagnetic ring, 10- rubber clamping is bored, 11- pressuring line groove, 12- frame, 13- sidepiece
Support, 14- rotary shaft, 15- electric magnet, 16-U type ice anvil, 17- executes straight-line electric Magnet, 18- electric magnet projecting shaft, and 19- hammers into shape
Head, 20- tup canine tooth, actuator before 21-, actuator after 22-, 27- barrier, 28- intermediate line, 29- hangs ice, 30- side
Electric wire.
Specific embodiment
The exemplary embodiment of the present invention to be described with reference to concrete accompanying drawing.
As shown in figures 1-15：
The present invention is achieved in the following ways：
Can obstacle detouring many distributing cables synchronization deicing robots, mainly by front actuator (21), rear actuator (22)
And the mainframe box (1) being connected between the two is constituted；Two adjustment position motor (2) are fixedly installed on mainframe box (1)；Front execution
, all mainly by adjustment position drive mechanism (3), motor for double-ended drive (5), electromagnetic brake is braked for mechanism (21) and rear actuator (22)
Device (7), fabric wheel (8), frame (12), side bracket (13), U-shaped ice anvil (16), execution straight-line electric Magnet (17), tup (19)
Composition；It is characterized in that, in front actuator (21) with rear actuator (22)：The motor shaft (6) of motor for double-ended drive (5) drives
The fabric wheel (8) at dynamic two ends；Fabric wheel (8) edge has pressuring line groove (11)；Motor shaft (6) in motor for double-ended drive (5) both sides
Respective middle part setting electromagnetic brake brake (7), motor shaft (6) passes through electromagnetic brake brake (7)；Electromagnetic brake brake
(7) it is fixed in frame (12) with execution straight-line electric Magnet (17)；Two execution straight-line electric Magnet (17) are coaxial, with regard to frame
(12) symmetric configuration, each fixed hammer in electric magnet projecting shaft (18) two ends (19)；Tup (19) is relative with U-shaped ice anvil (16)；Adjust
Whole position drive mechanism (3) is fixedly connected on motor for double-ended drive (5) body, and adjustment position motor is fixed in the end of its extension bar (4)
(2) motor shaft, and extension bar (4) is perpendicular with motor shaft.
As one of preferred embodiment, adjustment position drive mechanism (3) is straight-line electric Magnet or cylinder.
As one of preferred embodiment, tup (19) has tup canine tooth (20).
As one of preferred embodiment, also include electric magnet (15), there is outside fabric wheel (8) ferromagnetic ring of annular
(9), the electric magnet (15) in side bracket (13) corresponding with the position of ferromagnetic ring (9) so that electric magnet (15) and ferromagnetic ring
(9), when producing mutual magneticaction, side bracket (13) can rotate to an angle around rotary shaft (14), so that U-shaped ice
Anvil (16) is drawn close to tup (19) direction.
As one of preferred embodiment, described pressuring line groove (11) edge is fixedly installed rubber clamping cone
(10), rubber clamping cone (10) both side ends phase is drawn close, and tip spacing is less than the diameter of electric wire so that electric wire is in pressuring line groove (11)
Relatively steady statue is kept in the region surrounding with rubber clamping cone (10).
As one of preferred embodiment, rotary shaft (14) place setting torque spring so that U-shaped ice anvil (16) all the time to
Described tup (19) is drawn close.
Can obstacle detouring many distributing cables synchronization deicing robots icebreaking method, using described execution straight-line electric Magnet (17)
With U-shaped ice anvil (16), electric magnet projecting shaft (18) hits along the movement of central axis, the tup (19) realizing straight-line electric Magnet (17)
Hit the icing electric wire in region between tup (19) and U-shaped ice anvil (16), realize opening ice；Two execution straight-line electric Magnet (17)
Coaxially, with regard to frame (12) symmetric configuration so that two mutually close tups (19) can on two execution straight-line electric Magnet (17)
Periodically close, extruding, hammering are located at the icing electric wire between two tups (19), realize opening ice.
Can obstacle detouring many distributing cables synchronization deicing robots obstacle-detouring method, mainly have following steps：
The first step, starts motor for double-ended drive (5), and along intermediate line (28), side electric wire (30) runs；Front actuator (21) exists
Before, execution straight-line electric Magnet (17) action of front actuator (21), electric magnet projecting shaft (18) moves out, and drives tup
(19), with U-shaped ice anvil (16) as anvil, periodically tap the side electric wire (30) freezing；Electric magnet projecting shaft (18) inward, band
Dynamic tup (19), with relative tup (19) as anvil, taps the intermediate line (28) freezing；Realization is opened ice；
Second step, when running into barrier (27), the electric magnet of execution straight-line electric Magnet (17) of front actuator (21)
Projecting shaft (18) moves out, with tup (19) and U-shaped ice anvil (16) squish lip electric wire (30), thus playing fixing effect；
The motor for double-ended drive (5) of front actuator (21) stops；The motor for double-ended drive (5) of actuator (22) continues to run with, simultaneously afterwards
Adjustment position drive mechanism (3) and adjustment position motor (2) coordination, with sagitta mainframe box (1)；
3rd step, motor shaft (6) is held in the electromagnetic brake brake (7) of front actuator (21) tightly, and motor for double-ended drive (5) moves
Make, motor shaft (6) is fixing with respect to frame (12), then motor for double-ended drive (5) rotation, thus driving adjustment position drive mechanism (3)
And mainframe box (1), rear actuator (22) rotation, cross above front actuator (21)；Until the pressure of rear actuator (22)
Line wheel (8) touches electric wire；
4th step, the electric magnet projecting shaft (18) of execution straight-line electric Magnet (17) of rear actuator (22) moves out,
With tup (19) and U-shaped ice anvil (16) squish lip electric wire (30), thus playing fixing effect, front actuator (21) start with
The fabric wheel (8) of actuator (22) flips an angle for axis afterwards, and adjustment position drive mechanism (3) action simultaneously is with sagitta master
Cabinet (1), the attitude of actuator (21) before adjustment, and clear the jumps (27), complete obstacle detouring.
The invention has the beneficial effects as follows：Structure is simple, and parts are few, easy to maintenance, have stronger adaptive capacity to environment,
Three cables can be carried out with anti-ice operation simultaneously, and possess the ability of flexible throwing over barrier, under sleety weather
10kV distribution line deicing has good market application foreground
In addition, embodiments of the present invention are represent present disclosure one, can be known with other further
Technical combinations carry out changing to constitute it is also possible to omit part etc. without departing from the spirit and scope of the invention.
Finally it should be noted that：Above example is only not intended to limit in order to technical scheme to be described；To the greatest extent
Pipe has been described in detail to the present invention with reference to preferred embodiment, and those of ordinary skill in the art should be understood：Still
The specific embodiment of the present invention can be modified or equivalent is carried out to some technical characteristics；Without deviating from this
The spirit of bright technical scheme, it all should be covered in the middle of the technical scheme scope that the present invention is claimed.
Claims (8)
1. can obstacle detouring many distributing cables synchronization deicing robots, mainly by front actuator (21), rear actuator (22) with
And the mainframe box (1) being connected between the two is constituted；
Two adjustment position motor (2) are fixedly installed on mainframe box (1)；
Front actuator (21) and rear actuator (22) are all mainly by adjustment position drive mechanism (3), motor for double-ended drive (5), electricity
Magnetic contracting brake (7), fabric wheel (8), frame (12), side bracket (13), U-shaped ice anvil (16), execute straight-line electric Magnet
(17), tup (19) composition；
It is characterized in that, in front actuator (21) with rear actuator (22)：
The motor shaft (6) of motor for double-ended drive (5) drives the fabric wheel (8) at two ends；
Fabric wheel (8) edge has pressuring line groove (11)；
Respective middle part setting electromagnetic brake brake (7) of the motor shaft (6) in motor for double-ended drive (5) both sides, motor shaft (6) is worn
Cross electromagnetic brake brake (7)；
Electromagnetic brake brake (7) and execution straight-line electric Magnet (17) are fixed in frame (12)；
Two execution straight-line electric Magnet (17) are coaxial, with regard to frame (12) symmetric configuration, electric magnet projecting shaft (18) two ends are each solid
Determine tup (19)；Tup (19) is relative with U-shaped ice anvil (16)；
Adjustment position drive mechanism (3) is fixedly connected on motor for double-ended drive (5) body, and adjustment is fixed in the end of its extension bar (4)
The motor shaft of position motor (2), and extension bar (4) is perpendicular with motor shaft.
2. according to claim 1 can obstacle detouring many distributing cables synchronization deicing robots it is characterised in that adjustment position is driven
Motivation structure (3) is straight-line electric Magnet or cylinder.
3. according to claim 1 can obstacle detouring many distributing cables synchronization deicing robots it is characterised in that tup (19)
On there is tup canine tooth (20).
4. according to claim 1-3 arbitrarily described can obstacle detouring many distributing cables synchronization deicing robots it is characterised in that also
Including electric magnet (15), there is outside fabric wheel (8) ferromagnetic ring (9) of annular, the electric magnet (15) in side bracket (13) with
The position of ferromagnetic ring (9) corresponding so that when electric magnet (15) and ferromagnetic ring (9) produce mutual magneticaction, side bracket
(13) can rotate to an angle around rotary shaft (14), so that U-shaped ice anvil (16) is drawn close to tup (19) direction.
5. according to claim 4 can obstacle detouring many distributing cables synchronization deicing robots it is characterised in that described pressure
Wire casing (11) edge is fixedly installed rubber clamping cone (10), and rubber clamping cone (10) both side ends phase is drawn close, tip spacing
Keep relatively stable less than the diameter of electric wire in the region that (10) surround so that electric wire is bored in pressuring line groove (11) and rubber clamping
State.
6. according to claim 4 can obstacle detouring many distributing cables synchronization deicing robots it is characterised in that rotary shaft
(14) setting torque spring in place's is so that U-shaped ice anvil (16) is drawn close to described tup (19) all the time.
7. according to claim 1 can obstacle detouring many distributing cables synchronization deicing robots icebreaking method, its feature exists
In：
Using described execution straight-line electric Magnet (17) and U-shaped ice anvil (16), electric magnet projecting shaft (18) along the movement of central axis,
The tup (19) realizing straight-line electric Magnet (17) clashes into the icing electric wire being located at region between tup (19) and U-shaped ice anvil (16),
Realization is opened ice；
Two execution straight-line electric Magnet (17) are coaxially, with regard to frame (12) symmetric configuration so that two execute straight-line electric Magnet
(17) mutually close two tups (19) on can be periodically close, and extruding, hammering are located at the icing electricity between two tups (19)
Line, realizes opening ice.
8. according to claim 1 can obstacle detouring many distributing cables synchronization deicing robots obstacle-detouring method, mainly have with
Lower step：
The first step, starts motor for double-ended drive (5), and along intermediate line (28), side electric wire (30) runs；Front actuator (21) front,
Execution straight-line electric Magnet (17) action of front actuator (21), electric magnet projecting shaft (18) moves out, and drives tup (19),
With U-shaped ice anvil (16) as anvil, periodically tap the side electric wire (30) freezing；Electric magnet projecting shaft (18) inward, drives hammer
Head (19), with relative tup (19) as anvil, taps the intermediate line (28) freezing；Realization is opened ice；
Second step, when running into barrier (27), the electric magnet of execution straight-line electric Magnet (17) of front actuator (21) stretches out
Axle (18) moves out, with tup (19) and U-shaped ice anvil (16) squish lip electric wire (30), thus playing fixing effect；Before hold
The motor for double-ended drive (5) of row mechanism (21) stops；The motor for double-ended drive (5) of actuator (22) continues to run with afterwards, adjusts simultaneously
Position drive mechanism (3) and adjustment position motor (2) coordination, with sagitta mainframe box (1)；
3rd step, the electromagnetic brake brake (7) holding motor shaft (6) of front actuator (21), motor for double-ended drive (5) action,
Motor shaft (6) is fixing with respect to frame (12), then motor for double-ended drive (5) rotation, thus driving adjustment position drive mechanism (3) and master
Cabinet (1), rear actuator (22) rotation, cross above front actuator (21)；Until the fabric wheel of rear actuator (22)
(8) touch electric wire；
4th step, the electric magnet projecting shaft (18) of execution straight-line electric Magnet (17) of rear actuator (22) moves out, to hammer into shape
Head (19) and U-shaped ice anvil (16) squish lip electric wire (30), thus playing fixing effect, front actuator (21) is held after starting
The fabric wheel (8) of row mechanism (22) flips an angle for axis, and adjustment position drive mechanism (3) action simultaneously is with sagitta mainframe box
(1), before adjustment actuator (21) attitude, and clear the jumps (27), complete obstacle detouring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611240354.9A CN106486954A (en) | 2016-12-28 | 2016-12-28 | Can obstacle detouring many distributing cables synchronization deicing robots, open ice and obstacle-detouring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611240354.9A CN106486954A (en) | 2016-12-28 | 2016-12-28 | Can obstacle detouring many distributing cables synchronization deicing robots, open ice and obstacle-detouring method |
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| Publication Number | Publication Date |
|---|---|
| CN106486954A true CN106486954A (en) | 2017-03-08 |
Family
ID=58285927
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611240354.9A Withdrawn CN106486954A (en) | 2016-12-28 | 2016-12-28 | Can obstacle detouring many distributing cables synchronization deicing robots, open ice and obstacle-detouring method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107086530A (en) * | 2017-06-23 | 2017-08-22 | 国网江苏省电力公司镇江供电公司 | A kind of many distributing cables synchronization deicing robot with obstacle climbing ability |
| CN107508243A (en) * | 2017-09-20 | 2017-12-22 | 国家电网公司 | A kind of cable biting connecions pinking ice removing machine |
| CN108899848A (en) * | 2018-07-31 | 2018-11-27 | 国网河南省电力公司南召县供电公司 | A kind of distribution network line deicer |
| CN109950848A (en) * | 2019-02-16 | 2019-06-28 | 郑州工业应用技术学院 | Electric system elevated line deicing robot |
| CN110752540A (en) * | 2019-10-21 | 2020-02-04 | 黄碧茶 | Cable maintenance loading device capable of crossing barrier |
| CN114172104A (en) * | 2021-12-07 | 2022-03-11 | 浙江东禾工程设计有限公司 | Movable ice and snow removing device for high-voltage line and control method thereof |
| CN117955037A (en) * | 2024-03-26 | 2024-04-30 | 国网湖北省电力有限公司武汉供电公司 | Cable deicing device for power transmission |
-
2016
- 2016-12-28 CN CN201611240354.9A patent/CN106486954A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107086530A (en) * | 2017-06-23 | 2017-08-22 | 国网江苏省电力公司镇江供电公司 | A kind of many distributing cables synchronization deicing robot with obstacle climbing ability |
| CN107508243A (en) * | 2017-09-20 | 2017-12-22 | 国家电网公司 | A kind of cable biting connecions pinking ice removing machine |
| CN107508243B (en) * | 2017-09-20 | 2019-02-12 | 国网河北省电力有限公司晋州市供电分公司 | A kind of cable biting connecions pinking ice removing machine |
| CN108899848A (en) * | 2018-07-31 | 2018-11-27 | 国网河南省电力公司南召县供电公司 | A kind of distribution network line deicer |
| CN109950848A (en) * | 2019-02-16 | 2019-06-28 | 郑州工业应用技术学院 | Electric system elevated line deicing robot |
| CN110752540A (en) * | 2019-10-21 | 2020-02-04 | 黄碧茶 | Cable maintenance loading device capable of crossing barrier |
| CN114172104A (en) * | 2021-12-07 | 2022-03-11 | 浙江东禾工程设计有限公司 | Movable ice and snow removing device for high-voltage line and control method thereof |
| CN114172104B (en) * | 2021-12-07 | 2023-02-07 | 山东联能电力设计有限公司 | Movable ice and snow removing device for high-voltage line and control method thereof |
| CN117955037A (en) * | 2024-03-26 | 2024-04-30 | 国网湖北省电力有限公司武汉供电公司 | Cable deicing device for power transmission |
| CN117955037B (en) * | 2024-03-26 | 2024-06-11 | 国网湖北省电力有限公司武汉供电公司 | Cable deicing device for power transmission |
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Application publication date: 20170308 |