CN107086530A - A kind of many distributing cables synchronization deicing robot with obstacle climbing ability - Google Patents
A kind of many distributing cables synchronization deicing robot with obstacle climbing ability Download PDFInfo
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- CN107086530A CN107086530A CN201710485459.9A CN201710485459A CN107086530A CN 107086530 A CN107086530 A CN 107086530A CN 201710485459 A CN201710485459 A CN 201710485459A CN 107086530 A CN107086530 A CN 107086530A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The synchronous deicing robot of a kind of many distributing cables with obstacle climbing ability that the present invention is provided, executing agency before main, executing agency afterwards, mainframe box is constituted, preceding executing agency is identical with the composition of rear executing agency and is symmetrical arranged in mainframe box in front and rear, preceding executing agency and rear executing agency also include adjustment position drive mechanism, motor for double-ended drive, electromagnetic brake brake, fabric wheel, frame, U-shaped ice anvil, perform straight-line electric magnet, tup, open ice and rely primarily on execution straight-line electric magnet, tup and U-shaped ice anvil are realized, throwing over barrier then relies on coordination before and after whole robot；The present invention is simple in construction, parts are few, it is easy to maintenance, with stronger adaptive capacity to environment, the synchronous anti-ice operation of three cables is especially realized, deicing effect is good, deicing efficiency is high, and possessing the ability of flexible throwing over barrier, it is to avoid the accident injury being likely to result in during artificial auxiliary, the deicing of the 10kV distribution lines under sleety weather has good market application foreground.
Description
Technical field
The present invention relates to robotic technology field, it is specifically related to a kind of many distributing cables with obstacle climbing ability and synchronously removes
Ice robot.
Background technology
The sleet weather that cold wave triggers can cause the full glaze of product on electric wire, and the maximum harm of glaze is made in supply line
Disconnected, when there is glaze on electric wire, electric wire icing contract on cooling adds concussion caused by wind, can be unequal to electric wire and telephone wire
Heavy burden and be pressed down, several kilometers so that tens kilometers of electric pole is in a row toppled over, are caused transmission of electricity, communicating interrupt, are had a strong impact on and are worked as
The industrial and agricultural production on ground.
There is the situation that high-tension line in a row collapses by glaze in many cities in history.Southern temperature is relatively northern
High, when snowing, often with rainwater, this is resulted in, and snow is rapid to be melted, and adds the adhesiveness of electric wire, so, water
Congealed into ice quickly in subzero with the mixture of snow.In addition, southern weather is moister, original more open snowflake
It can condense, cause the icing on electric wire.
Traditional deicing mode is generally manually to beat cable, and vibrations cable, which is removed, to freeze, using this side
Method is abnormally dangerous, while deicing efficiency is not high.Some deicing robots are not easy to using the mode deicing such as heating, but equipment
Carry, and due to heating dynamics not enough in the case where icing is thicker, cause deicing efficiency low.
Several de-icing methods relatively common at present：Specifically feature is respectively：1. heating power deicing mainly utilizes wire itself
Heating or additional heating source, make its ice and snow on wire not accumulate and cover, or make its ice dissolution that product is covered, but this
Mode consumes substantial amounts of energy, complex operation；2. beaten more than mechanical deicing's mode using work about electric power personnel on site using club
Mode deicing, this mode are it cannot be guaranteed that the safety and inefficiency of staff, or even can not enter under some complex environments
Row operation.
It is low using automatically deicing robot cost, it is simple to operate, efficiency is improved, Employee Security is ensured.But current transmission of electricity
Line deicing robot can only once carry out deicing and inspection to a ultra-high-tension power transmission line, less efficient.
There is provided transmission line of electricity cable deicing robot in patent CN201220248179.9, including main body obstacle crossing device,
Deicing dolly, telescopic arm, deicing dolly and telescopic arm have two, and two telescopic arms are separately mounted to the two of main body obstacle crossing device
End, two deicing dollies are separately mounted on two telescopic arms.Using on main body obstacle crossing device and two telescopic arms and telescopic arm
Deicing dolly, which cooperates, realizes the deicing simultaneously of 3 cables, can be applied on the high-tension lines such as 35kV, 66kV, 110kV 3 with line
Automatic de-icing operation is carried out on the horizontally disposed circuit of cable, realizing a robot can once be carried out to 3 cables simultaneously
Deicing, not only can be across the obstacle on cable, and can cross shaft tower, realizes working continuously on multi gear circuit, it is to avoid
Trackman every shaft tower, which is accomplished by stepping on bar/tower repeatedly, installs and uninstalls robot.But there is complicated mechanism dimension
Protect the problem of cost is high.
Be related to overhead cable deicing robot in patent CN201520734783.6, including running gear, deicer and
Drive device, running gear and deicer are connected with drive device, and wheel, wheel and servo electricity are provided with running gear
Machine is connected, and deicer, which includes tapping, to be pressed from both sides, and percussion folder front end, which is provided with tapping board, tapping board, is provided with deicing nail, taps folder
Rear end is provided with electromagnet, and electromagnet is connected with the time relay, taps and is provided with back-moving spring in the middle of folder, drive device includes
Driving power supply, driving power supply is connected with servomotor and electromagnet.The overhead cable deicing robot of the present invention, deicing efficiency
Height, deicing is clean, simple in construction, can realize straighforward operation, and being capable of remote reviewing deicing effect.But can only a deicing one
Cable, it is less efficient.
The content of the invention
It is an object of the invention to provide a kind of synchronous deicing robot of many distributing cables with obstacle climbing ability and its obstacle detouring
And icebreaking method, to solve technical problem present in prior art.
What the present invention was achieved through the following technical solutions：
A kind of many distributing cables synchronization deicing robot with obstacle climbing ability, including preceding executing agency, rear executing agency, main frame
Case, the preceding executing agency is identical with the component parts of the rear executing agency, the preceding executing agency and the rear execution machine
Structure is symmetrical arranged in the front and rear sides of the mainframe box in front and rear；
The mainframe box includes adjustment position motor, and adjustment position motor center is symmetricly set on the both sides of the mainframe box；
The preceding executing agency and the rear executing agency include adjustment position drive mechanism, motor for double-ended drive, electromagnetic brake respectively
Brake, fabric wheel, frame, side bracket, U-shaped ice anvil, execution straight-line electric magnet, tup；The adjustment position drive mechanism bag
Include extension bar, the extension bar is located at one end of the adjustment position mechanism, the end vertical of the extension bar fit be fixed on
In the rotary shaft of adjustment position motor；The motor for double-ended drive includes motor shaft, and the centre position of the motor shaft is set
The electromagnetic brake brake, the end of the motor shaft achieves a fixed connection with the fabric wheel respectively, the fabric wheel
Outside is connected with side support, and the side support is up-down structure, and the centre position level of the side support is provided with rotation
Axle, the upper and lower ends of the side support, which are realized, rotates connection, and the upper inner of the side support is realized with the fabric wheel
Connection is rotated, the lower end inside of the side support achieves a fixed connection with the U-shaped ice anvil, the U-shaped ice anvil is U-shaped knot
Structure, the opening of the U-shaped ice anvil is towards inner side；The electromagnetic brake brake is fixedly linked with the frame, the frame bag
Mainframe and first support and second support are included, the mainframe constitutes " ╪ with the first support, the second support " type
Structure, the mainframe is the relation that be arranged in parallel with the motor shaft, and the first support and the second support are respectively perpendicular
The both sides of the mainframe are arranged on, the electromagnetic brake brake and the execution straight-line electric magnet are separately fixed at described
The end of one support and the second support, the execution straight-line electric magnet is bilateral symmetry, the execution linear electromagnetic
Iron includes left ferromagnetism axle, right ferromagnetism axle, left coil, right coil, middle nonferromagnetic axle, the middle nonferromagnetic axle position
In the centre position of the execution straight-line electric magnet, the left coil is looped around on the outside of the left ferromagnetism axle, the right coil
It is looped around on the outside of the right ferromagnetism axle, the other end of the left ferromagnetism axle and the right ferromagnetism axle is installed with respectively
Tup, the tup includes interposition tup and margin location tup, and the interposition tup is located at the preceding executing agency and institute
The centre position of Shu Hou executing agencies, the margin location tup is located at the edge of the preceding executing agency and the rear executing agency
Position, the interposition hoe is is oppositely arranged relation, and the margin location hoe is respectively to be oppositely arranged pass with the U-shaped ice anvil
System；
Further, the circumferential edges of the fabric wheel are provided with pressuring line groove, and the both sides of the pressuring line groove are fixed with rubber clamping cone,
The both side ends of the rubber clamping cone are drawn close to inner side；
Further, the outside of the fabric wheel is provided with ferromagnetic ring, and the outside lower end of the side support is provided with electromagnet, described
The position of ferromagnetic ring and the electromagnet is to be oppositely arranged relation；
Further, the rotary shaft is provided with torque spring；
Further, the side of the tup is provided with tup canine tooth.
Icebreaking service relies primarily on execution straight-line electric magnet, tup and U-shaped ice anvil and realized, when carrying out icebreaking service,
Motor for double-ended drive starts, along medium line and side wire motion, and the execution straight-line electric magnet of executing agency is acted, ferromagnetism axle edge
Central axis is moved out respectively, drives tup, and two tups at edge periodically tap knot using U-shaped ice anvil as anvil
The both sides cable of ice, realization is opened ice, and it is anvil that two middle tups are relative, carries out periodically tapping icebreaking service；
And when carrying out obstacle detouring, the first step, the ferromagnetism axle of the execution straight-line electric magnet of preceding executing agency is moved out, with tup
With U-shaped ice anvil squish lip electric wire, fixation is played, the motor for double-ended drive of preceding executing agency stops, the twin shaft of rear executing agency
Stretch motor to continue to run with, while adjusting position drive mechanism and adjustment position motor coordination action sagitta mainframe box；Second step, preceding execution
The electromagnetic brake brake of mechanism holds motor shaft tightly, and motor for double-ended drive action, motor shaft is fixed relative to frame, now Double shaft-extension
Motor rotation so as to drive adjustment position drive mechanism and mainframe box, the rotation of rear executing agency, before crossing above executing agency until
The fabric wheel of executing agency touches electric wire afterwards；3rd step, the ferromagnetism of the execution straight-line electric magnet of rear executing agency is axially transported outward
It is dynamic, with tup and U-shaped ice anvil squish lip electric wire, fixation is played, preceding executing agency starts the fabric wheel of later executing agency
Rotated a certain angle for axis, while the action of position drive mechanism is adjusted with sagitta mainframe box, the posture of executing agency before adjustment
And clear the jumps and complete obstacle detouring, now front and rear execution locations of structures is exchanged.
The protrusion beneficial effect of the present invention：
A kind of synchronous deicing robot of many distributing cables with obstacle climbing ability of the present invention, simple in construction, parts are few, safeguard
It is convenient, with stronger adaptive capacity to environment, the synchronous anti-ice operation of three cables is especially realized, deicing effect is good, deicing
Efficiency high, and possess the ability of flexible throwing over barrier, it is to avoid artificial excessively involves, and is likely to result in when reducing artificial auxiliary
Accident injury etc., the deicing of the 10kV distribution lines under sleety weather has good market application foreground.
Brief description of the drawings
Fig. 1 front views of the present invention.
Fig. 2 top views of the present invention.
Partial enlarged drawing at Fig. 3 I of the present invention.
Fig. 4 A-A of the present invention are to sectional view.
Fig. 5 B-B direction sectional views of the present invention.
Partial enlarged drawing at Fig. 6 present invention II.
The fabric wheel sectional view of Fig. 7 present invention.
The execution linear electromagnetic iron construction schematic diagram of Fig. 8 present invention.
One of Fig. 9 obstacle detouring process exemplary steps figures of the present invention.
The two of Figure 10 obstacle detouring process exemplary steps figures of the present invention.
The three of Figure 11 obstacle detouring process exemplary steps figures of the present invention.
The four of Figure 12 obstacle detouring process exemplary steps figures of the present invention.
The five of Figure 13 obstacle detouring process exemplary steps figures of the present invention.
The six of Figure 14 obstacle detouring process exemplary steps figures of the present invention.
The seven of Figure 15 obstacle detouring process exemplary steps figures of the present invention.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, so as to the structure to the present invention
The technical problem think, solved, the technique effect for constituting the technical characteristic of technical scheme and bringing, which have, further to be understood, and is needed
It is noted that the explanation to these embodiments is schematical, the specific restriction to the present invention is not constituted.
The synchronous deicing robot of a kind of many distributing cables with obstacle climbing ability as seen from the figure, including preceding executing agency
21st, rear executing agency 22, mainframe box 1, the preceding executing agency 21 are identical with the component parts of the rear executing agency 22, described
Preceding executing agency 21 is symmetrical arranged with the rear executing agency 22 in the front and rear sides of the mainframe box 1 in front and rear；
The mainframe box 1 includes adjustment position motor 2, and the Central Symmetry of adjustment position motor 2 is arranged on the two of the mainframe box 1
Side；
The preceding executing agency 21 and the rear executing agency 22 include adjustment position drive mechanism 3, motor for double-ended drive 5, electricity respectively
Magnetic contracting brake 7, fabric wheel 8, frame 12, side bracket 13, U-shaped ice anvil 16, execution straight-line electric magnet 17, tup 19；Institute
Stating adjustment position drive mechanism 3 includes extension bar 4, and the extension bar 4 is located at one end of the adjustment position mechanism 3, the extension bar 4
End vertical fit be fixed in the rotary shaft of adjustment position motor 2, the other end of adjustment position drive mechanism 2
It is fixedly attached on the motor for double-ended drive 5, the motor for double-ended drive 5 includes motor shaft 6, the centre position of the motor shaft 6
The electromagnetic brake brake 7 is set, and the end of the motor shaft 6 achieves a fixed connection with the fabric wheel 8 respectively, the pressure
The circumferential edges of line wheel 8 are provided with pressuring line groove 11, and the both sides of the pressuring line groove 11 are fixed with rubber clamping cone 10, the rubber clamping
The both side ends of cone 10 are drawn close to inner side so that electric wire 28/30 is protected in the region that pressuring line groove 11 and rubber clamping cone 10 are surrounded
Hold stable state；The outside of the fabric wheel 8 is connected with side support 13, and the side support 13 is up-down structure, the side
The centre position level of side support 13 is provided with rotary shaft 14, and the upper and lower ends of the side support 13, which are realized, rotates connection, described
The upper inner of side support 13 realizes that rotation is connected with the fabric wheel 8, lower end inside and the U of the side support 13
Type ice anvil 16 achieves a fixed connection, and the outside of the fabric wheel 8 is provided with ferromagnetic ring 9, and the outside lower end of the side support 13 is set
There is an electromagnet 15, the position of the ferromagnetic ring 9 and the electromagnet 15 is is oppositely arranged relation；The U-shaped ice anvil 16 is U-shaped knot
Structure, the opening of the U-shaped ice anvil 16 is towards inner side；The electromagnetic brake brake 7 is fixedly linked with the frame 12, the machine
Frame 12 includes mainframe 121 and first support 122 and second support 123, the mainframe 121 and the first support 122, institute
State second support 123 and constitute " ╪ " type structure, the mainframe 121 is be arranged in parallel relation, described first with the motor shaft 6
Support 122 and the second support 123 are vertically disposed on the both sides of the mainframe 121, the electromagnetic brake brake 7
The end of the first support 122 and the second support 123 is separately fixed at the execution straight-line electric magnet 17, it is described to hold
Row straight-line electric magnet 17 is bilateral symmetry, and the execution straight-line electric magnet 17 includes left ferromagnetism axle 31, right ferromagnetism axle
32nd, left coil 33, right coil 34, middle nonferromagnetic axle 35, the middle nonferromagnetic axle 35 is located at the execution straight-line electric
The centre position of magnet 17, the left coil 33 is looped around the outside of left ferromagnetism axle 31, and the right coil 34 is looped around institute
The right outside of ferromagnetism axle 32 is stated, when left coil 33 is powered, the magnetic field of generation pushes away left ferromagnetism axle 31 to the left, and right coil 34 leads to
When electric, the magnetic field of generation pushes away to the right right ferromagnetism axle 32, and left coil 33 and the alternate energisation of right coil 34 can make ferromagnetism axle
31/32 moves left and right；The other end of the left ferromagnetism axle 31 and the right ferromagnetism axle 32 is installed with tup 19 respectively,
The side of the tup 19 is provided with tup canine tooth 20, and the tup 19 includes interposition hoe 191 and margin location tup 192, institute
Interposition tup 191 is stated positioned at the centre position of the preceding executing agency 21 and the rear executing agency 22, the margin location hammer
First 192 are located at the marginal position of the preceding executing agency 21 and the rear executing agency 22, and the interposition tup 191 is relative
Setting relation, the margin location tup 192 is respectively to be oppositely arranged relation with the U-shaped ice anvil 16；
Icebreaking service relies primarily on execution straight-line electric magnet 17, tup 19 and U-shaped ice anvil 16 and realized, when progress icebreaking service
When, motor for double-ended drive 5 starts, and is moved along medium line 28 and side electric wire 30, the execution straight-line electric magnet 17 of executing agency 21/22
Action, ferromagnetism axle 31/32 is moved out respectively along central axis, drives tup 19, two tups 192 at edge are with U
Type ice anvil 16 is anvil, periodically taps the both sides cable frozen, and realization is opened ice, and it is anvil that two middle tups 191 are relative,
Carry out periodically tapping icebreaking service, be that the ice sheet 29 on the surface of electric wire 28/30 ruptures；
And when carrying out obstacle detouring, the first step, the ferromagnetism axle 31/32 for performing straight-line electric magnet 17 of preceding executing agency 21 is to outward transport
It is dynamic, with margin location tup 192 and the squish lip electric wire of U-shaped ice anvil 16, play fixation, the motor for double-ended drive of preceding executing agency 21
5 stop, and the motor for double-ended drive 5 of rear executing agency 22 is continued to run with, and coordinate while adjusting position drive mechanism 3 and adjusting position motor 2
Act sagitta mainframe box 1；Second step, the electromagnetic brake brake 7 of preceding executing agency 21 holds motor shaft 6 tightly, and motor for double-ended drive 5 is moved
Make, motor shaft 6 is fixed relative to frame 12, the now rotation of motor for double-ended drive 5 adjusts position drive mechanism 3 and mainframe box so as to drive
1st, rear executing agency's rotation 22, crosses the preceding top of executing agency 21 until the fabric wheel 8 of rear executing agency 22 touches electric wire 28/
30；3rd step, the ferromagnetism axle 31/32 of the execution straight-line electric magnet 17 of rear executing agency 22 is moved out, with margin location tup
192 and the squish lip electric wire 30 of U-shaped ice anvil 19, fixation is played, preceding executing agency 21 starts the line ball of later executing agency 22
Wheel 8 rotates a certain angle for axis, is acted while adjusting position drive mechanism 3 with sagitta mainframe box 1, executing agency 21 before adjustment
Posture and the 27 completion obstacle detourings that clear the jumps, now it is front and rear execution the location swap of structure 21/22.
A kind of synchronous deicing robot of many distributing cables with obstacle climbing ability of the present invention, structure letter is answered, and parts are few,
It is easy to maintenance, with stronger adaptive capacity to environment, the synchronous anti-ice operation of three cables is especially realized, deicing effect is good,
Deicing efficiency is high, and possesses the ability of flexible throwing over barrier, it is to avoid excessively involving manually, reduces possible during artificial auxiliary
Accident injury caused etc., the deicing of the 10kV distribution lines under sleety weather has good market application foreground.
The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the invention, for this area
For technical staff, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made is any
Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (5)
1. a kind of synchronous deicing robot of many distributing cables with obstacle climbing ability, it is characterised in that including preceding executing agency, after
Executing agency, mainframe box, the preceding executing agency are identical with the component parts of the rear executing agency, the preceding executing agency with
The rear executing agency is symmetrical arranged in the front and rear sides of the mainframe box in front and rear；
The mainframe box includes adjustment position motor, and adjustment position motor center is symmetricly set on the both sides of the mainframe box；
The preceding executing agency and the rear executing agency include adjustment position drive mechanism, motor for double-ended drive, electromagnetic brake respectively
Brake, fabric wheel, frame, side bracket, U-shaped ice anvil, execution straight-line electric magnet, tup；The adjustment position drive mechanism bag
Include extension bar, the extension bar is located at one end of the adjustment position mechanism, the end vertical of the extension bar fit be fixed on
In the rotary shaft of adjustment position motor；The motor for double-ended drive includes motor shaft, and the centre position of the motor shaft is set
The electromagnetic brake brake, the end of the motor shaft achieves a fixed connection with the fabric wheel respectively, the fabric wheel
Outside is connected with side support, and the side support is up-down structure, and the centre position level of the side support is provided with rotation
Axle, the upper and lower ends of the side support, which are realized, rotates connection, and the upper inner of the side support is realized with the fabric wheel
Connection is rotated, the lower end inside of the side support achieves a fixed connection with the U-shaped ice anvil, the U-shaped ice anvil is U-shaped knot
Structure, the opening of the U-shaped ice anvil is towards inner side；The electromagnetic brake brake is fixedly linked with the frame, the frame bag
Mainframe and first support and second support are included, the mainframe constitutes " ╪ with the first support, the second support " type
Structure, the mainframe is the relation that be arranged in parallel with the motor shaft, and the first support and the second support are respectively perpendicular
The both sides of the mainframe are arranged on, the electromagnetic brake brake and the execution straight-line electric magnet are separately fixed at described
The end of one support and the second support, the execution straight-line electric magnet is bilateral symmetry, the execution linear electromagnetic
Iron includes left ferromagnetism axle, right ferromagnetism axle, left coil, right coil, middle nonferromagnetic axle, the middle nonferromagnetic axle position
In the centre position of the execution straight-line electric magnet, the left coil is looped around on the outside of the left ferromagnetism axle, the right coil
It is looped around on the outside of the right ferromagnetism axle, the other end of the left ferromagnetism axle and the right ferromagnetism axle is installed with respectively
Tup, the tup includes interposition tup and margin location tup, and the interposition tup is located at the preceding executing agency and institute
The centre position of Shu Hou executing agencies, the margin location tup is located at the edge of the preceding executing agency and the rear executing agency
Position, the interposition hoe is is oppositely arranged relation, and the margin location hoe is respectively to be oppositely arranged pass with the U-shaped ice anvil
System.
2. a kind of many distributing cables synchronization deicing robot with obstacle climbing ability according to claim 1, its feature exists
In the circumferential edges of the fabric wheel are provided with pressuring line groove, and the both sides of the pressuring line groove are fixed with rubber clamping cone, the rubber card
The both side ends tightly bored are drawn close to inner side.
3. a kind of many distributing cables synchronization deicing robot with obstacle climbing ability according to claim 1, its feature exists
In the outside of the fabric wheel is provided with ferromagnetic ring, and the outside lower end of the side support is provided with electromagnet, the ferromagnetic ring and institute
The position of electromagnet is stated to be oppositely arranged relation.
4. a kind of many distributing cables synchronization deicing robot with obstacle climbing ability according to claim 1, its feature exists
In the rotary shaft is provided with torque spring.
5. a kind of many distributing cables synchronization deicing robot with obstacle climbing ability according to claim 1, its feature exists
In the side of the tup is provided with tup canine tooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710485459.9A CN107086530A (en) | 2017-06-23 | 2017-06-23 | A kind of many distributing cables synchronization deicing robot with obstacle climbing ability |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710485459.9A CN107086530A (en) | 2017-06-23 | 2017-06-23 | A kind of many distributing cables synchronization deicing robot with obstacle climbing ability |
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| CN107086530A true CN107086530A (en) | 2017-08-22 |
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| CN201710485459.9A Pending CN107086530A (en) | 2017-06-23 | 2017-06-23 | A kind of many distributing cables synchronization deicing robot with obstacle climbing ability |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108110676A (en) * | 2018-01-29 | 2018-06-01 | 国家电网公司 | A kind of overhead line inspection obstacle removing robot |
| CN109571496A (en) * | 2018-12-06 | 2019-04-05 | 西安交通大学 | A kind of simulating crawling robot for HV Transmission Line Routing Inspection |
| CN111541214A (en) * | 2020-05-09 | 2020-08-14 | 冯晓丽 | Cable deicing robot |
| CN113054607A (en) * | 2021-04-25 | 2021-06-29 | 中国电建集团江西省电力设计院有限公司 | Spanning type split conductor ice coating removing device |
| CN114227711A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
| CN116619055A (en) * | 2023-07-25 | 2023-08-22 | 无锡普莱赛斯实业有限公司 | Multifunctional rack of numerical control machine tool |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108110676A (en) * | 2018-01-29 | 2018-06-01 | 国家电网公司 | A kind of overhead line inspection obstacle removing robot |
| CN108110676B (en) * | 2018-01-29 | 2020-05-12 | 国家电网公司 | Overhead line inspection and obstacle removal robot |
| CN109571496A (en) * | 2018-12-06 | 2019-04-05 | 西安交通大学 | A kind of simulating crawling robot for HV Transmission Line Routing Inspection |
| CN111541214A (en) * | 2020-05-09 | 2020-08-14 | 冯晓丽 | Cable deicing robot |
| CN113054607A (en) * | 2021-04-25 | 2021-06-29 | 中国电建集团江西省电力设计院有限公司 | Spanning type split conductor ice coating removing device |
| CN114227711A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
| CN114227711B (en) * | 2021-12-24 | 2024-06-07 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
| CN116619055A (en) * | 2023-07-25 | 2023-08-22 | 无锡普莱赛斯实业有限公司 | Multifunctional rack of numerical control machine tool |
| CN116619055B (en) * | 2023-07-25 | 2023-09-29 | 无锡普莱赛斯实业有限公司 | Multifunctional rack of numerical control machine tool |
| 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: 20170822 |
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