CN106972402A - High-altitude flame obstacle removing robot - Google Patents
High-altitude flame obstacle removing robot Download PDFInfo
- Publication number
- CN106972402A CN106972402A CN201610020492.XA CN201610020492A CN106972402A CN 106972402 A CN106972402 A CN 106972402A CN 201610020492 A CN201610020492 A CN 201610020492A CN 106972402 A CN106972402 A CN 106972402A
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- guide rail
- sliding block
- guide rails
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 239000000446 fuel Substances 0.000 claims abstract description 12
- 239000000295 fuel oil Substances 0.000 claims abstract description 7
- 238000000889 atomisation Methods 0.000 claims abstract description 6
- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 2
- 239000007921 spray Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 238000010276 construction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 239000007788 liquid Substances 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a kind of high-altitude flame obstacle removing robot, including Multi-axis aircraft two-stage telescoping mechanism and flaming system, flaming system includes pressurization fuel reservoir, nozzle and isolating high-pressure ignitor, pressurization fuel oil in fuel reservoir of pressurizeing is after nozzle atomization, it can be lighted by isolating high-pressure ignitor, two-stage telescoping mechanism includes one-level sliding block, one-level guide rail, two grades of sliding blocks, two grades of guide rails, extension rod and drive device, one-level sliding block is slidedly arranged on one-level guide rail, and be fixedly arranged on the mainframe of flaming system, two grades of sliding blocks are slidedly arranged on two grades of guide rails；While drive device driving with respect to two grades guide rails of two grades of sliding blocks are slided, synchronous driving one-level guide rail versus primary sliding block is slided in the same direction；Extension rod is fixed on two grades of sliding blocks, and nozzle and isolating high-pressure ignitor are installed on extension rod.The present invention uses remote control distributor flame scheme, and the process of removing obstacles is not required to power-off, simplifies operating process of removing obstacles, and alleviates operating personnel's burden, improves efficiency of removing obstacles, it is ensured that the safety of staff.
Description
Technical field
The present invention relates to the feeding robot of injection machine shaping discharging, one is specifically related to
Plant high-altitude flame obstacle removing robot.
Background technology
The foreign matter serious shadow of feeder line fault that even electricity, electric discharge are caused on high-tension line
Ring the reliable electricity consumption of electric power netting safe running and society.The barrier hanging wire such as balloon, kite
Situation happens occasionally, and prior art is typically direct power-off, is climbed by artificial to high pressure
Line carries out operation of removing obstacles, and substantial amounts of human and material resources will be consumed by manually removing obstacles, safety
It is difficult to be protected.This interruption maintenance or the method for removing obstacles of livewire work are not only endangered
Danger, and inefficiency, influence power network reliability service and social normal electricity consumption.Also
There are some to use circuit obstacle removing robot, it usually needs to put robot using crane,
Carry and installation workload is larger；The person is easily caused when misoperation or equipment fault
Injury, there is also larger potential safety hazard.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of high-altitude flame obstacle cleaning machine
Device people, using remote control distributor flame scheme, the process of removing obstacles need not be powered off, simplified
Remove obstacles operating process, alleviate operating personnel's burden, greatly improve efficiency of removing obstacles,
It ensure that the safety of staff.
The technical proposal of the invention is realized in this way：
A kind of high-altitude flame obstacle removing robot, including Multi-axis aircraft and flaming system,
The Multi-axis aircraft includes mainframe, and the flaming system includes pressurization fuel oil storage
Pressurization fuel oil in tank, nozzle and isolating high-pressure ignitor, the pressurization fuel reservoir is through institute
State after nozzle atomization, can be lighted by the isolating high-pressure ignitor, in addition to two-stage telescopic machine
Structure, the two-stage telescoping mechanism include one-level sliding block, one-level guide rail, two grades of sliding blocks,
Two grades of guide rails, extension rod and drive device, two grades of guide rails and the one-level guide rail
Arrange up and down, and its two ends is connected as one by connecting seat respectively, the one-level is slided
Block is slidedly arranged on the one-level guide rail, and the one-level sliding block is fixedly arranged on the mainframe
On, two grades of sliding blocks are slidedly arranged on two grades of guide rails；The drive device is located at
On the connecting seat, the drive device drives two grades of sliding blocks relatively described two grades
While guide rail is slided, the synchronous driving relatively described one-level sliding block of one-level guide rail is same
To slip；Described extension rod one end is fixed on two grades of sliding blocks, the nozzle and
The isolating high-pressure ignitor is installed on the other end of the extension rod.
Further, the drive device includes motor, two synchronizing wheels and together
Band is walked, two synchronizing wheels are installed on two connecting seats, the timing belt
It is sheathed in two synchronizing wheels, the power output shaft output power of the motor is extremely
One synchronizing wheel, two grades of sliding blocks are fixed on the timing belt of top,
The one-level sliding block is fixed on the timing belt of lower section.
Further, the one-level guide rail, two grades of guide rails are non-for small one and large one
Asymmetrical track.
Further, the Multi-axis aircraft is four-axle aircraft, the four axles flight
Device includes the mainframe, four connecting shafts extended from the mainframe and is located at
The rotor of the free end of each connecting shaft, four rotors are distributed in the master
Frame surrounding.
Further, the pressurization fuel reservoir is fixedly arranged on the mainframe, described
Pressurization fuel reservoir is connected to the nozzle by airway tube.
Further, what Multi-axis aircraft flew in addition to described in Wireless remote control is distant
Device is controlled, and the remote control being capable of flaming system described in Wireless remote control and described two
Level telescoping mechanism action.
The beneficial effects of the invention are as follows：The present invention provides a kind of high-altitude flame and removed obstacles machine
People, using remote control technology, manipulates Multi-axis aircraft, two-stage telescoping mechanism and adds
Flammable liquid flaming system is pressed, flaming system is arranged on flight by two-stage telescoping mechanism
On device, flaming system is in aircraft interior under original state；Operating personnel can pass through
Remote control control flaming system is expanded to aircraft exterior, carries out ignition operation, manipulation
Aircraft flight is to target proximity to be cleaned, and flaming system is retracted to winged after the completion of removing obstacles
Inside row device；Therefore, the present invention process of removing obstacles need not be powered off, and simplify the behaviour that removes obstacles
Make process, alleviate operating personnel's burden, greatly improve efficiency of removing obstacles, it is ensured that
The safety of staff.The two-stage telescoping mechanism is according to structure feature, and design is adopted
With small one and large one two asymmetrical tracks, lightweight is realized, be ensure that simultaneously
Integral rigidity；One-level guide rail and two grades of guide rails and drive device one, compact conformation,
Lightly.Drive flaming system to stretch by two-stage telescoping mechanism, facilitate flaming system
Expansion and withdrawal, retracted state ensure that aircraft smooth flight, deployed condition
Add overall flame distance.Flaming system uses pressurized combustible liquid, passes through nozzle
Pressurized combustible liquid is atomized, effective flame distance is up to 1.5~2m.
Brief description of the drawings
Fig. 1 is the viewing angle constructions schematic diagram of retracted state one of the present invention；
Fig. 2 is another viewing angle constructions schematic diagram of retracted state of the present invention；
Fig. 3 is the viewing angle constructions schematic diagram of deployed condition one of the present invention；
Fig. 4 is another viewing angle constructions schematic diagram of deployed condition of the present invention；
Fig. 5 coordinates deployed condition for two-stage telescoping mechanism in the present invention and flaming system
One viewing angle constructions schematic diagram；
Fig. 6 coordinates deployed condition for two-stage telescoping mechanism in the present invention and flaming system
Another viewing angle constructions schematic diagram；
Fig. 7 coordinates retracted state for two-stage telescoping mechanism in the present invention and flaming system
Structural representation.
With reference to accompanying drawing, make the following instructions：
1 --- Multi-axis aircraft 11 --- mainframe
12 --- connecting shaft 13 --- rotors
2 --- flaming systems 21 --- pressurization fuel reservoir
22 --- nozzle 23 --- isolating high-pressure ignitors
3 --- two-stage telescoping mechanism 31 --- one-level sliding blocks
32 --- one-level guide rail 33 --- two grades of sliding blocks
34 --- two grades of guide rails 35 --- extension rods
36 --- drive device 361 --- motors
362 --- synchronizing wheel 363 --- timing belts
37 --- connecting seat
Embodiment
In order to be more clearly understood that the technology contents of the present invention, implement especially exemplified by following
Example is described in detail, and its purpose, which is only that, is best understood from present disclosure and unrestricted
The protection domain of invention.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of high-altitude flame is removed obstacles machine
People, including Multi-axis aircraft 1 and flaming system 2, the Multi-axis aircraft include master
Frame 11, the flaming system includes pressurization fuel reservoir 21, nozzle 22 and high pressure
Pressurization fuel oil in igniter 23, the pressurization fuel reservoir is through the nozzle atomization
Afterwards, it can be lighted by the isolating high-pressure ignitor, in addition to two-stage telescoping mechanism 3, it is described
Two-stage telescoping mechanism include one-level sliding block 31, one-level guide rail 32, two grades of sliding blocks 33,
Two grades of guide rails 34, extension rod 35 and drive device 36, two grades of guide rails with it is described
Arranged above and below one-level guide rail, and its two ends is connected as one by connecting seat 37 respectively,
The one-level sliding block is slidedly arranged on the one-level guide rail, and the one-level sliding block is fixedly arranged on
On the mainframe, two grades of sliding blocks are slidedly arranged on two grades of guide rails；It is described to drive
Dynamic device is on the connecting seat, and the drive device drives two grades of sliding block phases
While slip to two grades of guide rails, the synchronous driving one-level guide rail is relatively described
One-level sliding block is slided in the same direction；Described extension rod one end is fixed on two grades of sliding blocks,
The nozzle and the isolating high-pressure ignitor are installed on the other end of the extension rod.This
Sample, passes through one-level sliding block, one-level guide rail, two grades of sliding blocks, two grades of guide rails, extension rods
And the cooperation of drive device, the nozzle and isolating high-pressure ignitor of flaming system are installed on and prolonged
On boom, it is possible to achieve the function of two grades of stretching motions of flaming system, by by two-stage
Telescoping mechanism and flaming system are arranged on the mainframe of Multi-axis aircraft, by long-range
Telecontrol engineering, can be achieved remote control Multi-axis aircraft, two-stage telescoping mechanism and flame
The function of system.I.e. flaming system is in inside Multi-axis aircraft in an initial condition,
Operating personnel can be expanded to outside Multi-axis aircraft by remote control control flaming system,
Ignition operation is carried out, manipulation Multi-axis aircraft flies to target proximity to be cleaned, removed obstacles
After the completion of flaming system be retracted to inside Multi-axis aircraft.Therefore, the present invention removed obstacles
Journey need not be powered off, and simplify operating process of removing obstacles, and alleviate operating personnel's burden,
Greatly improve efficiency of removing obstacles, it is ensured that the safety of staff.
It is preferred that, the drive device includes motor 361, two synchronizing wheels 362
With a timing belt 363, two synchronizing wheels are installed on two connecting seats,
The timing belt is sheathed in two synchronizing wheels, the power output shaft of the motor
Power is exported to a synchronizing wheel, two grades of sliding blocks are fixed in the described of top
On timing belt, the one-level sliding block is fixed on the timing belt of lower section.So,
Drive a synchronizing wheel timing belt can be driven to move by motor, timing belt can drive
The one-level sliding block affixed with it and two grades of sliding blocks, because one-level sliding block is fixedly arranged on mainframe
On, therefore, using mainframe as references object, one-level guide rail slides versus primary sliding block
It is dynamic, while with respect to two grades guide rails of two grades of sliding blocks are slided；Realize drive device driving two
While level with respect to two grades guide rails of sliding block are slided, moreover it is possible to which synchronous driving one-level guide rail is relative
The function that one-level sliding block is slided in the same direction.Such as, it is necessary to when deploying two-stage telescoping mechanism,
Top timing belt is moved out, and with respect to two grades guide rails of two grades of sliding blocks are moved out, and will be prolonged
Boom and nozzle push out, and lower section timing belt is inwardly moved, and one-level guide rail is with respect to one
Level sliding block (mainframe) is moved out, and two grades of sliding blocks, two grades of guide rails, drivings are filled
Put and the entirety of extension rod pushes out；The twice timing belt of flaming system can be achieved
Movement travel.When needing to withdraw two-stage telescoping mechanism, top timing belt is inwardly moved,
With respect to two grades guide rails of two grades of sliding blocks are inwardly moved, and extension rod and nozzle are withdrawn, lower section
Timing belt is moved out, and one-level guide rail versus primary sliding block (mainframe) is inwardly moved,
Overall by two grades of sliding blocks, two grades of guide rails, drive device and extension rod is withdrawn, so as to
Positioned in the flight of Multi-axis aircraft.
It is preferred that, the one-level guide rail, two grades of guide rails are non-right for small one and large one
Claim guide rail.So, according to structure feature, design is non-right using small one and large one
Claim guide rail, realize lightweight while ensure that integral rigidity.
It is preferred that, the Multi-axis aircraft is four-axle aircraft, the four-axle aircraft
Four connecting shafts 12 extending including the mainframe, from the mainframe and set
Rotor 13 in the free end of each connecting shaft, four rotors are distributed in
The mainframe surrounding.Multi-axis aircraft can also be six axle aircraft etc., can basis
Selection is actually needed, it is a kind of preferred scheme that four-axle aircraft is chosen herein, four axles fly
The function and structure of row device are prior art, be will not be described in detail herein.
It is preferred that, the pressurization fuel reservoir is fixedly arranged on the mainframe, described to add
Compression ignition oil tank is connected to the nozzle by airway tube.So, pressurization fuel oil passes through
Airway tube is lighted by isolating high-pressure ignitor again after entering nozzle atomization, to realize to barrier
Carry out the function that processing is removed in burning.
It is preferred that, in addition to the remote control that Multi-axis aircraft described in Wireless remote control flies
Device, and the remote control being capable of flaming system described in Wireless remote control and the two-stage
Telescoping mechanism is acted.So, Wireless remote control Multi-axis aircraft, flaming system and
The technology of two-stage telescoping mechanism is prior art, is not being repeated herein, the technical scheme
Innovation be：Flown using remote control technology manipulation Multi-axis aircraft to treating
Target proximity is removed, manipulation two-stage telescoping mechanism drives the development of the nozzles of flaming system extremely
Aircraft exterior, and flaming system progress ignition operation is manipulated, and after the completion of removing obstacles
Flaming system is retracted to aircraft interior；Burning removing is carried out to barrier to realize
The controlling remote control of processing.
To sum up, the present invention proposes a kind of high-altitude flame obstacle removing robot, using long-range distant
Control technology, control Multi-axis aircraft, two-stage telescoping mechanism and flaming system, flame system
System is installed on board the aircraft, under original state at flaming system by two-stage telescoping mechanism
In aircraft interior；Operating personnel can be expanded to winged by remote control control flaming system
Outside row device, ignition operation is carried out, aircraft flight is manipulated to target proximity to be cleaned,
Flaming system is retracted to aircraft interior after the completion of removing obstacles；Therefore, the present invention removed obstacles
Journey need not be powered off, and simplify operating process of removing obstacles, and alleviate operating personnel's burden,
Greatly improve efficiency of removing obstacles, it is ensured that the safety of staff.The two-stage telescopic machine
Structure is according to structure feature, and design employs small one and large one two and asymmetric led
Rail, realizes lightweight, while ensure that integral rigidity；One-level guide rail is led with two grades
Rail and drive device one are compact conformation, light and handy.Driven by two-stage telescoping mechanism
Flaming system stretches, and facilitates the expansion and withdrawal of flaming system, retracted state can
Ensure aircraft smooth flight, deployed condition adds overall flame distance.Flame system
System uses pressurized combustible liquid, passes through nozzle atomization pressurized combustible liquid, effective flame
Distance is up to 1.5~2m.
Above example is referring to the drawings, the preferred embodiments of the present invention to be carried out detailed
Explanation.Those skilled in the art to above-described embodiment by carrying out on various forms
Modification or change, but without departing substantially from the present invention essence in the case of, all fall in the present invention
Protection domain within.
Claims (6)
1. a kind of high-altitude flame obstacle removing robot, including Multi-axis aircraft (1) and spray
Fiery system (2), the Multi-axis aircraft includes mainframe (11), the flame system
System includes pressurization fuel reservoir (21), nozzle (22) and isolating high-pressure ignitor (23),
Pressurization fuel oil in the pressurization fuel reservoir, can be by described after the nozzle atomization
Isolating high-pressure ignitor is lighted, it is characterised in that：Also include two-stage telescoping mechanism (3), institute
Stating two-stage telescoping mechanism includes one-level sliding block (31), one-level guide rail (32), two grades of cunnings
Block (33), two grades of guide rails (34), extension rod (35) and drive device (36),
Two grades of guide rails above and below the one-level guide rail with arranging, and its two ends is respectively by even
Joint chair (37) is connected as one, and the one-level sliding block is slidedly arranged on the one-level guide rail,
And the one-level sliding block is fixedly arranged on the mainframe, two grades of sliding blocks are slidedly arranged on institute
State on two grades of guide rails；The drive device is on the connecting seat, the driving dress
While putting the relatively described two grades of guide rails of driving two grades of sliding blocks and slide, synchronous driving
The relatively described one-level sliding block of the one-level guide rail is slided in the same direction；Described extension rod one end is consolidated
It is connected on two grades of sliding blocks, the nozzle and the isolating high-pressure ignitor are installed on described
The other end of extension rod.
2. flame obstacle removing robot in high-altitude according to claim 1, its feature
It is：The drive device includes motor (361), two synchronizing wheels (362)
With a timing belt (363), two synchronizing wheels are installed on two connecting seats,
The timing belt is sheathed in two synchronizing wheels, the power output shaft of the motor
Power is exported to a synchronizing wheel, two grades of sliding blocks are fixed in the described of top
On timing belt, the one-level sliding block is fixed on the timing belt of lower section.
3. flame obstacle removing robot in high-altitude according to claim 1, its feature
It is：The one-level guide rail, two grades of guide rails are small one and large one asymmetrical track.
4. flame obstacle removing robot in high-altitude according to claim 1, its feature
It is：The Multi-axis aircraft is four-axle aircraft, and the four-axle aircraft includes institute
State mainframe, four connecting shafts (12) extended from the mainframe and located at every
The rotor (13) of the free end of the individual connecting shaft, four rotors are distributed in institute
State mainframe surrounding.
5. flame obstacle removing robot in high-altitude according to claim 1, its feature
It is：The pressurization fuel reservoir is fixedly arranged on the mainframe, the pressurization fuel oil
Storage tank is connected to the nozzle by airway tube.
6. flame obstacle removing robot in high-altitude according to claim 1, its feature
It is：Also include the remote control that Multi-axis aircraft described in Wireless remote control flies, and
The remote control can flaming system described in Wireless remote control and the two-stage it is flexible
Mechanism action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610020492.XA CN106972402B (en) | 2016-01-13 | 2016-01-13 | High-altitude flame obstacle removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610020492.XA CN106972402B (en) | 2016-01-13 | 2016-01-13 | High-altitude flame obstacle removing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106972402A true CN106972402A (en) | 2017-07-21 |
| CN106972402B CN106972402B (en) | 2018-06-22 |
Family
ID=59334338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610020492.XA Expired - Fee Related CN106972402B (en) | 2016-01-13 | 2016-01-13 | High-altitude flame obstacle removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106972402B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107977015A (en) * | 2017-12-07 | 2018-05-01 | 蔡璟 | A kind of intelligence auxiliary mountain-climbing system for mountaineering |
| CN113594959A (en) * | 2021-05-25 | 2021-11-02 | 衢州学院 | Three-arm coupling clamping type transmission line inspection obstacle avoidance and removal device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH11118090A (en) * | 1997-10-15 | 1999-04-30 | Hitachi Ltd | Thermal insulation device |
| CN203722130U (en) * | 2014-01-14 | 2014-07-16 | 国网山东齐河县供电公司 | High-voltage wire attachment removing device |
| CN104682267A (en) * | 2015-03-26 | 2015-06-03 | 国家电网公司 | Power transmission line fault removal device based on multi-axle air vehicle |
| CN204885998U (en) * | 2015-07-07 | 2015-12-16 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Overhead earth wire foreign matter cleaning device |
| CN205489261U (en) * | 2016-01-13 | 2016-08-17 | 昆山市工业技术研究院有限责任公司 | High altitude flame projecting robot that removes obstacles |
-
2016
- 2016-01-13 CN CN201610020492.XA patent/CN106972402B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11118090A (en) * | 1997-10-15 | 1999-04-30 | Hitachi Ltd | Thermal insulation device |
| CN203722130U (en) * | 2014-01-14 | 2014-07-16 | 国网山东齐河县供电公司 | High-voltage wire attachment removing device |
| CN104682267A (en) * | 2015-03-26 | 2015-06-03 | 国家电网公司 | Power transmission line fault removal device based on multi-axle air vehicle |
| CN204885998U (en) * | 2015-07-07 | 2015-12-16 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Overhead earth wire foreign matter cleaning device |
| CN205489261U (en) * | 2016-01-13 | 2016-08-17 | 昆山市工业技术研究院有限责任公司 | High altitude flame projecting robot that removes obstacles |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107977015A (en) * | 2017-12-07 | 2018-05-01 | 蔡璟 | A kind of intelligence auxiliary mountain-climbing system for mountaineering |
| CN113594959A (en) * | 2021-05-25 | 2021-11-02 | 衢州学院 | Three-arm coupling clamping type transmission line inspection obstacle avoidance and removal device |
| CN113594959B (en) * | 2021-05-25 | 2023-02-28 | 衢州学院 | Three-arm coupling clamping type transmission line inspection obstacle avoidance and removal device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106972402B (en) | 2018-06-22 |
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