CN106921137A - A kind of power cable automatic de-icing unmanned plane - Google Patents
A kind of power cable automatic de-icing unmanned plane Download PDFInfo
- Publication number
- CN106921137A CN106921137A CN201611061312.9A CN201611061312A CN106921137A CN 106921137 A CN106921137 A CN 106921137A CN 201611061312 A CN201611061312 A CN 201611061312A CN 106921137 A CN106921137 A CN 106921137A
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- China
- Prior art keywords
- unmanned plane
- connector
- ice
- deicing
- sliding axles
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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
- H02G7/16—Devices for removing snow or ice from lines or cables
Abstract
The invention discloses a kind of power cable automatic de-icing unmanned plane, including unmanned plane body, head and deicing manipulator；The head includes loading arm, Y types connector, Y sliding axles, X sliding axles, U-shaped connector X to retaining spring and Y-direction retaining spring；Deicing machinery hand includes U-shaped pedestal, stepper motor, fixed plate, gripper, open ice brill and ice-cutter；The gripper includes the first mechanical finger and the second mechanical finger.The present invention effectively improves the security of cable deicing work, and high-altitude automation deicing operation, deicing effect is obvious, safe；Artificial deicing is difficult after solving the problems, such as to freeze under cable low temperature environment, efficiency is low, it is ensured that the stability of power Transmission under adverse circumstances.
Description
Technical field
The present invention relates to power system power supply maintenance technology field, and in particular to a kind of power cable automatic de-icing nobody
Machine.
Background technology
With the development of electric power network technique, remote power conveying has gradually been covered throughout the country, and power transmission line meets
The development in city and rural area, grid power transmission circuit is irreplaceable energy source line.China is vast in territory, and power network spreads over
All parts of the country, annual one to winter, especially northern area, outdoor temperature is extremely low, and long-term sleety weather is easily caused remotely
High voltage transmission line road surfaces freeze, and the transmission line of electricity weight after icing increases so that transmission line of electricity the phenomenon of fracture occurs even
There is the extreme situation that iron tower of power transmission line collapses, transmission of electricity interruption gives people life and brings great inconvenience, also for country makes
Into heavy economic losses.Current China high-tension line goes out ice work and relies primarily on artificial deicing, and the mode of artificial deicing is not only imitated
Rate is low and there is great potential safety hazard, easily causes and falls and electric shock accidents.Additionally, in the high voltage transmission line of complicated landform
That road carries out deicing is more difficult, significant wastage manpower and materials.
The content of the invention
For defect of the prior art, the technical problems to be solved by the invention are：How to provide a kind of for cable
The deicer of line, its deicing efficiency is high, can adapt to complicated landform.
The present invention adopts the following technical scheme that to make up the deficiencies in the prior art.A kind of power cable automatic de-icing nobody
Machine, including unmanned plane body, head and deicing manipulator；The deicing manipulator by head be fixedly connected on it is described nobody
Machine body lower part, deicing machinery hand includes U-shaped pedestal, stepper motor, fixed plate, gripper, open ice brill and ice-cutter；
Brill and the ice-cutter of opening ice is installed on gripper；Gripper is installed on U-shaped pedestal and is broken by driving stepper motor and then drive
Ice auger and ice-cutter carry out deicing to cable.
Further, the head includes loading arm, Y types connector, Y sliding axles, X sliding axles, U-shaped connector, X to fixed
Position spring and Y-direction retaining spring；The Y types connector is inverted and is connected to unmanned plane body by loading arm, and the Y types connect
Fitting is provided with Y-direction through hole and is coordinated with the Y sliding axles by the Y-direction through hole；The U-shaped connector is provided with X to logical
Hole is simultaneously coordinated to through hole by the X with the X sliding axles, and the U-shaped connector quantity is two and is respectively in Y sliding axles
Two ends, the U-shaped connector is provided with fixing hole, and the U-shaped connector is fixed on the respective end of Y sliding axles by fixing hole
Portion, through X is to through hole and is slidably socketed on U-shaped connector, the Y types connector is slidably socketed in Y cunnings to the X sliding axles
Moving axis；The Y-direction retaining spring quantity is two, and Y-direction retaining spring is separately fixed at the Y-direction through hole both sides and is set on institute
State on Y sliding axles；The X to retaining spring quantity be four, X to retaining spring be fixed on two U-shaped connector X to through hole outside
Both sides, and be socketed on X sliding axles.
Further, both sides form front apron and backboard before and after the U-shaped pedestal, and the X sliding axles of the head are consolidated
Dingan County is mounted between the front apron and backboard, and the U-shaped pedestal middle part is provided with the stepping electricity for installing stepper motor
Machine mounting groove, the stepper motor is fixed in stepper motor mounting groove；The gripper quantity is two, the gripper pair
Title is arranged on U-shaped pedestal front apron and backboard, and the gripper includes the first mechanical finger, the second mechanical finger, first
Connector, the second connector, meshing gear, servomotor and range sensor；The driving gear of the meshing gear and stepping
Electric machine main shaft is connected；First mechanical finger and the second mechanical finger top are provided with connecting hole, first mechanical finger
It is symmetrical arranged with the second mechanical finger and fixed plate inner side, first mechanical finger and the second machinery is hinged on by connecting hole
Fingerhold portion middle part is symmetrically arranged with arc groove, and a pair of range sensors are symmetrically arranged with arc groove；Described first
Connector is fixed on the driving gear of meshing gear and is connected to form the first oscillating guidebar mechanism with the first tool finger；Second connection
Part is fixed on the driven gear of meshing gear and is connected to form the second oscillating guidebar mechanism with the second tool finger；First machinery
Finger and the second mechanical finger bottom are provided with servomotor mounting groove；The servomotor is fixed on correspondingly
In servomotor mounting groove, the brill quantity that opens ice is two, and the brill that opens ice is separately mounted to two machines of U-shaped pedestal front apron
The servomotor spindle of tool finger；The ice-cutter quantity is two, and the ice-cutter is separately mounted to U-shaped pedestal backboard two
The servomotor spindle of individual mechanical finger.
Further, the unmanned plane body is six rotor wing unmanned aerial vehicles.So, the wind-force that rotor is produced is bigger, Neng Gou
Deicing manipulator completes de-icing work after-blow except ice slag remaining on cable.
Further, the stepper motor main shaft passes through U-shaped pedestal front apron and backboard.So, stepper motor is with regard to energy
Enough drive installations simultaneously are in U-shaped pedestal front apron and the gripper of backboard.
Further, the distance of the U-shaped pedestal front apron and backboard and X sliding axle equal lengths.So, X is slided
Axle can be adapted to and on U-shaped pedestal front apron and backboard.
Further, the loading arm, X sliding axles and Y sliding axles are hollow shaft member.In such manner, it is possible to mitigate head certainly
Weight, lifts operating efficiency.
Further, the unmanned plane body is provided with material reducing hole.So, unmanned plane body weight reduction, can extend
The power cable automatic de-icing unmanned plane working time.
Yet further, the fixed plate size is identical with U-shaped pedestal front apron and backboard size.So, fixed plate
Gripper inner components can be blocked with baffle combination.
During specific operation, power cable automatic de-icing unmanned plane is gone up to the air to overhead cable position under manual remote control operation
Put, unmanned plane deicing manipulator near cable, make cable be in the first mechanical finger and the second mechanical finger clamping part it
Between, patrol flight de-icing work is carried out by range sensor immediately.Unmanned plane body is connected by head and drives ice removing machine tool
Hand goes up to the air.Head is by being slidably matched between X sliding axles and U-shaped connector, Y sliding axles and Y type connectors and X is to positioning
The positioning of spring and Y-direction retaining spring so that head has two freedom of X-axis and Y-axis when deicing manipulator job space is driven
The motion in direction is spent, deicing manipulator can move operation and flexible job, reduce deicing manipulator in operation process
In cable is damaged in itself.The detection control stepper motor anglec of rotation of the range sensor on gripper,
Under stepper motor rotation, meshing gear rotarily drives the first connector and the rotation of the second connector, the machinery of coordinated signals first
The opening angle of finger and the second mechanical finger so that the clamping part and cable of the first mechanical finger and the second mechanical finger are protected
Hold suitable distance.The rotation of servomotor makes brill rotation of opening ice, and opens ice and creeps into and crush the ice cube condensed on cable and drop,
In order to improve deicing effect, ice-cutter carries out secondary deicing, cleaning cable remnants ice cubes under servomotor drive.While nothing
Man-machine body blows down penitent ice slag on cable under the effect of rotor wind power.
The beneficial effects of the invention are as follows：The present invention is provided with X-axis and the flexibly positioned head of Y-axis eliminates unmanned plane during flying mistake
The error produced in journey, two frees degree of head are slided positioning and are set and coordinate Distance-sensing with the setting of moving mechanical finger
Device ensure that will not be corrupted to cable body in ice detachment, effectively improve the security of de-icing work.High-altitude is automatic
Eliminate ice operation, deicing effect is substantially, safe, solving that artificial deicing after freeze under cable low temperature environment is difficult, efficiency
Low problem, it is ensured that the stability of power Transmission under adverse circumstances.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described.In all of the figs, similar element
Or the general reference by being similar in part is identified.In accompanying drawing, each element or part might not draw according to actual ratio.
Fig. 1 is stereogram of the invention.
Fig. 2 is the stereogram of deicing manipulator of the invention.
Fig. 3 is the side view of deicing manipulator of the invention.
Fig. 4 is the sectional view of deicing manipulator of the invention.
Fig. 5 is the stereogram of head of the invention.
Wherein：1- unmanned plane bodies, 101- material reducings hole, 2- heads, 201- loading arms, 202-Y type connectors, 203-U types
Connector, 204-X sliding axles, 205- fixing holes, 206-Y sliding axles, to through hole, to through hole, 209-Y is to positioning for 208-Y for 207-X
Spring, 210-X is to retaining spring, and 3- deicing manipulators, 301- stepper motors, 302- backboards, 303- meshing gears, 304- is solid
Fixed board, the mechanical fingers of 305- first, the mechanical fingers of 306- second, 307- ice-cutters, 308- servomotors, 309- opens ice brill,
310- range sensors, 311- clamping parts, the connectors of 312- first, the connectors of 313- second, 314- connecting holes, 315- servos electricity
Machine mounting groove, 316-U type pedestals, 3161- stepper motor mounting grooves, 317- bar type grooves, 318- grippers, 319- front aprons
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is only used as example, and protection model of the invention can not be limited with this
Enclose.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4 and Fig. 5：A kind of power cable automatic de-icing unmanned plane, including unmanned plane body 1,
Head 2 and deicing manipulator 3；The deicing manipulator 3 is fixedly connected on the bottom of unmanned plane body 1, institute by head 2
Deicing manipulator 3 is stated 309 and to be opened ice including U-shaped pedestal 316, stepper motor 301, fixed plate 304, gripper 318, the brill that opens ice
Knife 307；It is described open ice brill 309 and ice-cutter 307 be installed on gripper 318；Gripper 318 is installed on U-shaped pedestal 316 and by step
Stepper motor 301 drive so that drive open ice brill 309 and ice-cutter 307 deicing is carried out to cable.
As shown in Figure 5：The head 2 includes loading arm 201, Y types connector 202, Y sliding axles 206, X sliding axles 204, U
Type connector 203, X is to retaining spring 210 and Y-direction retaining spring 209；The Y types connector 202 is inverted and by loading arm
201 are connected to unmanned plane body 1, and the Y types connector 202 is provided with Y-direction through hole 208 and by the Y-direction through hole 208 and institute
Y sliding axles 206 are stated to coordinate；The U-shaped connector 203 is provided with X to through hole 207 and by the X to through hole 207 and the X
Sliding axle 204 coordinates, and the quantity of U-shaped connector 203 is two and is respectively in the two ends of Y sliding axles 206, the U-shaped connection
Part 203 is provided with fixing hole 205, and the U-shaped connector 203 is fixed on the respective end of Y sliding axles 206 by fixing hole 205,
, through X is to through hole 207 and is slidably socketed on U-shaped connector 203, the Y types connector 202 is slidably for the X sliding axles 204
It is socketed in Y sliding axles 206；The quantity of Y-direction retaining spring 209 is two, and Y-direction retaining spring 209 is separately fixed at the Y-direction
The both sides of through hole 208 are simultaneously set on the Y sliding axles 206；The X is four to the quantity of retaining spring 210, and X is to retaining spring
210 are fixed on two U-shaped connector 203X to the outer both sides of through hole 207, and are socketed on X sliding axles 204.
As shown in Figure 2, Figure 3, Figure 4：Both sides form front apron 319 and backboard 302, institute before and after the U-shaped pedestal 316
The X sliding axles 204 for stating head 2 are fixedly mounted between the front apron 319 and backboard 302, the middle part of the U-shaped pedestal 316
The stepper motor mounting groove 3161 for installing stepper motor 301 is provided with, the stepper motor 301 is fixed on stepper motor peace
In tankage 3161；The quantity of the gripper 318 is two, and the gripper 318 is symmetricly set on the front apron 319 of U-shaped pedestal 316
On backboard 302, the gripper 318 includes the first mechanical finger 305, the second mechanical finger 306, the first connector, the
Two connectors 312, meshing gear 303, servomotor 308 and range sensor 310；The driving gear of the meshing gear 303
It is connected with the main shaft of stepper motor 301；The top of first mechanical finger, 305 and second mechanical finger 306 is provided with connecting hole
314, the mechanical finger 306 of first mechanical finger 305 and second is symmetrical arranged and is hinged on fixed plate by connecting hole 314
304 inner sides, the middle part of 305 and second mechanical finger of the first mechanical finger, 306 clamping part 311 is symmetrically arranged with arc groove,
A pair of range sensors 310 are symmetrically arranged with arc groove；First connector 312 is fixed on the master of meshing gear 303
Moving gear is simultaneously connected the first oscillating guidebar mechanism of formation with the first tool finger 305；Second connector 313 is fixed on meshing gear
303 driven gear is simultaneously connected the second oscillating guidebar mechanism of formation with the second tool finger 306；First mechanical finger 305 with
The bottom of second mechanical finger 306 is provided with servomotor mounting groove 315；The servomotor 308 is installed solid correspondingly
It is scheduled in servomotor mounting groove 315,309 quantity of brill that open ice are two, and the brill 309 that opens ice is separately mounted to U-shaped base
Seat 316 front apron, 319 two servomotor spindles of mechanical finger；The quantity of the ice-cutter 307 is two, the ice-cutter
307 are separately mounted to U-shaped pedestal 316 backboard, 302 two servomotor spindles of mechanical finger.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5：The unmanned plane body 1 is six rotor wing unmanned aerial vehicles；So, rotor is produced
Raw wind-force is bigger, after-blow can remove ice slag remaining on cable after deicing manipulator 3 completes de-icing work.Stepper motor
301 main shafts pass through the front apron 319 of U-shaped pedestal 316 and backboard 302；So, stepper motor 301 just being capable of drive installation simultaneously
In the front apron 319 of U-shaped pedestal 316 and the gripper of backboard 302.Between the front apron of U-shaped pedestal 316 and backboard 302 away from
From with the equal length of X sliding axles 204；So, X sliding axles 204 can be adapted to and installed in the front apron 319 of U-shaped pedestal 316 with after
On baffle plate 302.The loading arm 201, X sliding axles 204 and Y sliding axles 206 are hollow shaft member；In such manner, it is possible to mitigate head
Deadweight, lifts operating efficiency.Unmanned plane body 1 is provided with material reducing hole 101；So, unmanned plane body weight reduction, can extend
The power cable automatic de-icing unmanned plane working time.The size of fixed plate 304 and the front apron 319 of U-shaped pedestal 316 and backboard
302 sizes are identical；So, fixed plate and baffle combination can block the inner components of gripper 318.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5：It is under manual remote control operation that power cable is automatic during specific operation
Deicing unmanned plane goes up to the air to overhead cable position, and unmanned plane deicing manipulator 3 makes cable be in the first machinery near cable
Between the clamping part 311 of 305 and second mechanical finger of finger 306, patrol flight deicing work is carried out by range sensor 310 immediately
Make.Unmanned plane body 1 is connected by head 2 and drives ice removing machine tool hand 3 to go up to the air.Head 2 passes through X sliding axles 204 and U-shaped connector
203rd, being slidably matched between Y sliding axles 206 and Y types connector 202 and X be to retaining spring and the positioning of Y-direction retaining spring,
So that head 2 has two motions in free degree direction of X-axis and Y-axis, deicing manipulator when deicing 3 job space of manipulator is driven
3 can move operation and flexible job, reduce deicing manipulator 3 cable is caused brokenly in itself in operation process
It is bad.The detection control anglec of rotation of stepper motor 301 of 318 range sensor 310 on gripper, in stepper motor
Under 301 rotate, meshing gear 303 rotarily drives the first connector 312 and the second connector 313 rotates, the machine of coordinated signals first
The opening angle of the mechanical finger 306 of tool finger 305 and second so that the folder of the first mechanical finger 305 and the second mechanical finger 306
Hold portion 311 and cable keeps suitable distance.The rotation of servomotor 315 makes the rotation of brill 309 of opening ice, and opens ice and bores 309 and then make
The ice cube condensed on cable is crushed and dropped, and in order to improve deicing effect, ice-cutter 307 is carried out under the drive of servomotor 308
Secondary deicing, cleaning cable remnants ice cubes.Six rotor wing unmanned aerial vehicle bodies 1 will be residual on cable under the effect of rotor wind power simultaneously
Remaining ice slag blows down.
Therefore the present invention has the advantages that deicing high degree of automation, deicing efficiency are high.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover in the middle of the scope of claim of the invention and specification.
Claims (9)
1. a kind of power cable automatic de-icing unmanned plane, it is characterised in that：Including unmanned plane body, head and deicing machinery
Hand；The deicing manipulator is fixedly connected on the unmanned plane body lower part by head, and the deicing machinery hand includes U-shaped base
Seat, stepper motor, fixed plate, gripper, open ice brill and ice-cutter；Brill and the ice-cutter of opening ice is installed on gripper；Machine
Machinery claw is installed on U-shaped pedestal and opens ice to bore by driving stepper motor and then drive carries out deicing with ice-cutter to cable.
2. power cable automatic de-icing unmanned plane according to claim 1, it is characterised in that：The head includes load-bearing
Arm, Y types connector, Y sliding axles, X sliding axles, U-shaped connector, X are to retaining spring and Y-direction retaining spring；The Y types connection
Part is inverted and is connected to unmanned plane body by loading arm, and the Y types connector is provided with Y-direction through hole and is led to by the Y-direction
Hole coordinates with the Y sliding axles；The U-shaped connector is provided with X to through hole and by the X to through hole and the X sliding axles
Coordinate, the U-shaped connector quantity is two and is respectively in Y sliding axles two ends, and the U-shaped connector is provided with fixing hole,
The U-shaped connector is fixed on the respective end of Y sliding axles by fixing hole, and the X sliding axles are through X to through hole and slip cap
It is connected on U-shaped connector, the Y types connector is slidably socketed in Y sliding axles；The Y-direction retaining spring quantity is two, Y
The Y-direction through hole both sides are separately fixed to retaining spring and be set on the Y sliding axles；The X is to retaining spring quantity
It it is four, X is fixed on two U-shaped connector X to both sides outside through hole to retaining spring, and is socketed on X sliding axles.
3. power cable automatic de-icing unmanned plane according to claim 1, it is characterised in that：Before and after the U-shaped pedestal
Both sides form front apron and backboard, and the X sliding axles of the head are fixedly mounted between the front apron and backboard, institute
The stepper motor mounting groove being provided with the middle part of U-shaped pedestal for installing stepper motor is stated, the stepper motor is fixed on stepping electricity
In machine mounting groove；The gripper quantity is two, and the gripper is symmetricly set on U-shaped pedestal front apron and backboard,
The gripper includes the first mechanical finger, the second mechanical finger, the first connector, the second connector, meshing gear, servo electricity
Machine and range sensor；The driving gear of the meshing gear is connected with stepper motor main shaft；First mechanical finger and
Two mechanical fingers top is provided with connecting hole, and first mechanical finger and the second mechanical finger are symmetrical arranged and by connecting hole
Fixed plate inner side is hinged on, first mechanical finger and the second mechanical finger clamping part middle part are symmetrically arranged with arc groove,
A pair of range sensors are symmetrically arranged with arc groove；First connector be fixed on the driving gear of meshing gear and with
First tool finger connects to form the first oscillating guidebar mechanism；Second connector is fixed on the driven gear of meshing gear and with second
Tool finger connects to form the second oscillating guidebar mechanism；First mechanical finger and the second mechanical finger bottom are provided with servo
Motor mounting groove；The servomotor is fixed in servomotor mounting groove correspondingly, and the brill quantity that opens ice is
Two, the brill that opens ice is separately mounted to two servomotor spindles of mechanical finger of U-shaped pedestal front apron；The ice-cutter number
It is two to measure, and the ice-cutter is separately mounted to two servomotor spindles of mechanical finger of U-shaped pedestal backboard.
4. power cable automatic de-icing unmanned plane according to claim 1, it is characterised in that：The unmanned plane body is
Six rotor wing unmanned aerial vehicles.
5. power cable automatic de-icing unmanned plane according to claim 3, it is characterised in that：The stepper motor main shaft
Through U-shaped pedestal front apron and backboard.
6. power cable automatic de-icing unmanned plane according to claim 3, it is characterised in that：The U-shaped pedestal front
The distance between plate and backboard and X sliding axle equal lengths.
7. power cable automatic de-icing unmanned plane according to claim 2, it is characterised in that：The loading arm, X are slided
Axle and Y sliding axles are hollow shaft member.
8. power cable automatic de-icing unmanned plane according to claim 1, it is characterised in that：The unmanned plane body sets
It is equipped with material reducing hole.
9. power cable automatic de-icing unmanned plane according to claim 3, it is characterised in that：The fixed plate size with
U-shaped pedestal front apron is identical with backboard size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061312.9A CN106921137B (en) | 2016-11-28 | 2016-11-28 | A kind of power cable automatic de-icing unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061312.9A CN106921137B (en) | 2016-11-28 | 2016-11-28 | A kind of power cable automatic de-icing unmanned plane |
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| Publication Number | Publication Date |
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| CN106921137A true CN106921137A (en) | 2017-07-04 |
| CN106921137B CN106921137B (en) | 2018-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611061312.9A Active CN106921137B (en) | 2016-11-28 | 2016-11-28 | A kind of power cable automatic de-icing unmanned plane |
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Cited By (8)
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| CN107919644A (en) * | 2017-12-11 | 2018-04-17 | 三峡大学 | The intelligent deicing mechanical arm and application method that a kind of arm strength is adjusted and can walked |
| CN107994529A (en) * | 2017-12-11 | 2018-05-04 | 三峡大学 | A kind of combined intelligent snow melt deicer and method based on High Performance Unmanned Aerial Vehicle |
| CN109759366A (en) * | 2019-03-04 | 2019-05-17 | 安徽理工大学 | A kind of novel high-altitude steel cable ice remover group |
| CN109798227A (en) * | 2017-11-17 | 2019-05-24 | 北京普华亿能风电技术有限公司 | A kind of unmanned plane lightning test system and method |
| CN110611285A (en) * | 2019-10-28 | 2019-12-24 | 张永明 | Four-wing three-paddle wind-solar complementary type deicing equipment for power transmission line |
| CN112821278A (en) * | 2021-01-21 | 2021-05-18 | 中国电建集团贵阳勘测设计研究院有限公司 | Transmission line clearance sacrifice device |
| CN117048865A (en) * | 2023-10-11 | 2023-11-14 | 成都庆龙航空科技有限公司 | Unmanned aerial vehicle carries laser rangefinder |
| CN117335353A (en) * | 2023-09-20 | 2024-01-02 | 国网浙江省电力有限公司绍兴供电公司 | Deicing system for power transmission line |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109798227A (en) * | 2017-11-17 | 2019-05-24 | 北京普华亿能风电技术有限公司 | A kind of unmanned plane lightning test system and method |
| CN109798227B (en) * | 2017-11-17 | 2020-07-14 | 北京普华亿能风电技术有限公司 | Unmanned aerial vehicle lightning stroke test system and method |
| CN107994529B (en) * | 2017-12-11 | 2023-07-28 | 三峡大学 | Combined intelligent snow melting and deicing device and method based on unmanned aerial vehicle |
| CN107994529A (en) * | 2017-12-11 | 2018-05-04 | 三峡大学 | A kind of combined intelligent snow melt deicer and method based on High Performance Unmanned Aerial Vehicle |
| CN107919644A (en) * | 2017-12-11 | 2018-04-17 | 三峡大学 | The intelligent deicing mechanical arm and application method that a kind of arm strength is adjusted and can walked |
| CN109759366A (en) * | 2019-03-04 | 2019-05-17 | 安徽理工大学 | A kind of novel high-altitude steel cable ice remover group |
| CN110611285A (en) * | 2019-10-28 | 2019-12-24 | 张永明 | Four-wing three-paddle wind-solar complementary type deicing equipment for power transmission line |
| CN112821278A (en) * | 2021-01-21 | 2021-05-18 | 中国电建集团贵阳勘测设计研究院有限公司 | Transmission line clearance sacrifice device |
| CN112821278B (en) * | 2021-01-21 | 2022-06-14 | 中国电建集团贵阳勘测设计研究院有限公司 | Transmission line clearance sacrifice device |
| CN117335353A (en) * | 2023-09-20 | 2024-01-02 | 国网浙江省电力有限公司绍兴供电公司 | Deicing system for power transmission line |
| CN117335353B (en) * | 2023-09-20 | 2024-03-08 | 国网浙江省电力有限公司绍兴供电公司 | Deicing system for power transmission line |
| CN117048865A (en) * | 2023-10-11 | 2023-11-14 | 成都庆龙航空科技有限公司 | Unmanned aerial vehicle carries laser rangefinder |
| CN117048865B (en) * | 2023-10-11 | 2023-12-19 | 成都庆龙航空科技有限公司 | Unmanned aerial vehicle carries laser rangefinder |
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|---|---|
| CN106921137B (en) | 2018-11-06 |
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