CN107202941B - A kind of change born of the same parents' climbing mechanism insulator detecting robot for the incision that is translatable - Google Patents

A kind of change born of the same parents' climbing mechanism insulator detecting robot for the incision that is translatable Download PDF

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Publication number
CN107202941B
CN107202941B CN201710268589.7A CN201710268589A CN107202941B CN 107202941 B CN107202941 B CN 107202941B CN 201710268589 A CN201710268589 A CN 201710268589A CN 107202941 B CN107202941 B CN 107202941B
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China
Prior art keywords
insulator
rectangular frame
climbing
same parents
horizontal
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CN107202941A (en
Inventor
李小彭
李树军
王泽�
孙猛杰
曹洲
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Northeastern University China
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Northeastern University China
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/12Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
    • G01R31/1227Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
    • G01R31/1245Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of line insulators or spacers, e.g. ceramic overhead line cap insulators; of insulators in HV bushings
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R1/00Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
    • G01R1/02General constructional details

Abstract

One kind provided by the invention can be translatable change born of the same parents' climbing mechanism insulator detecting robot of incision, including mobile unit and detecting element, and be integrated using the interconnection of mobile unit described in three groups, form the mobile mechanism for encircling insulator chain;Rectangular frame side, which is provided with, becomes born of the same parents' climbing mechanism, become on born of the same parents' climbing mechanism and driving device, claw are installed, synchronous belt type guide locking mechanism is provided on rectangular frame, it can carry out disassembly assembling, synchronous belt type guide locking mechanism and insulator chain flexible contact avoid generating abrasion to insulator surface during guiding, and pawl of creeping may be implemented the incision being translatable completely and exit insulator edge, with insulator surface without engaging friction, not Damage to insulation sublist finishing coat.Simultaneously as nail-press of creeping it is fashionable be equivalent to insulator edge it is tapered dock, to the error zmodem of insulator chain, the stability of mechanism operational process is effectively ensured in the stuck phenomenon for overcoming engagement in rotation formula climbing mechanism poor fault tolerance to occur when running.

Description

A kind of change born of the same parents' climbing mechanism insulator detecting robot for the incision that is translatable
Technical field
The invention belongs to isolator detecting technical fields, and in particular to a kind of change born of the same parents' climbing mechanism insulation for the incision that can be translatable Son detection robot.
Background technique
Can insulator be a kind of special insulation control that can be played an important role in overhead transmission lines, transport safely Row directly determines the stability of electric system.Currently, China's economy grows at top speed, industrial or agricultural rapid development, meanwhile, Ren Minsheng Running water is flat to be continuously improved, and super-pressure, system for ultra-high voltage transmission have been widely used, the construction and maintenance of power grid increasingly by Pay attention to, electric system transmission of electricity, power supply safety and it is reliable also more highlight importance.And the use of insulator chain is because of it Particularity can be chronically exposed in outside air, this can make it by the influence of various factors, as exposing to the weather drenches with rain, temperature is cold A problem that thermal change etc., resistance of insulator can reduce after endangering by these, generate cracking or even breakdown, and then completely Failure.Therefore, running insulator chain is detected, insulator is avoided phenomena such as short circuit, breakdown occur, it is defeated to guarantee The safe and reliable operation of electric line avoids having an impact the overall operation of electric system, causes huge economic losses.
The mode of traditional domestic detection insulator is manual work mode, and operator holds detection device, climbs up bar Tower detects all insulator operating statuses one by one, and there are several disadvantages for this traditional approach: firstly, insulating in overhead transmission line Sub-pieces enormous amount manually detects sub-pieces one by one, and labor intensity of operating staff is big, risk height, low efficiency;Its It is secondary, it is unable to quantitative measurment, the accuracy of measurement result is affected by environmental factor and human factor.It mostly uses at this stage Mechanical equipment carries out automatic detection to insulator to improve detection efficiency and reduce manual work risk.In recent years, scientific research Staff development goes out various insulator detecting robots, and for the operating status of Comprehensive Assessment insulator, this is for maintaining state's household electrical appliances Power transmission, which stablizes and promotes national economic development, to be of great significance.However, currently used robot is generally existing some total Same disadvantage, such as: structure is complicated, not can be carried out fractionation, is unfavorable for operator and carries and install, cannot effectively adapt to insulate The detection environment of son;It is to be in rolling contact with insulator surface when the running gear of robot uses idler wheel, the Guiding machine of plate Structure is rigid contact with insulator during guiding, and when running gear, which uses, creeps pawl, the movement for pawl of creeping has not been Full translation, generates engaging friction between insulator, these all can generate abrasion to insulator surface;In addition, having detected insulation After son, it is also necessary to carry out manual recovery.
In summary, it is necessary to a kind of change born of the same parents' climbing mechanism insulator detecting robot of incision that can be translatable is designed, with solution The certainly above problem.
Summary of the invention
Of the existing technology to overcome the problems, such as, the object of the present invention is to provide a kind of change born of the same parents' creepers of incision that can be translatable Structure insulator detecting robot, creep claw and the insulator surface of the detection robot limited can avoid pair without engaging friction Insulator surface, which generates, to be worn and can be detected along insulator crawling exercises.
To achieve the above object, the invention adopts the following technical scheme:
A kind of change born of the same parents' climbing mechanism insulator detecting robot for the incision that is translatable, including three groups of mobile units and detection member Part, the mobile unit include rectangular frame, climbing mechanism and guide locking mechanism, the vertical beam and insulator chain of rectangular frame Axis it is parallel, guide locking mechanism and climbing mechanism are set side by side along the horizontal beam of rectangular frame, guide locking mechanism installation Between the upper and lower horizontal beam of rectangular frame, climbing mechanism is installed on the vertical beam of the side of rectangular frame;It is moved described in three groups By the buckle on rectangular frame vertical beam, interference connects moving cell two-by-two, and the circumferential direction of insulator chain is encircled in formation, the inspection It surveys element to be fixedly mounted on rectangular frame, for detecting insulator.
The climbing mechanism includes driving lever, connecting rod, transverse shifting bar, final actuating element, upright slide block, horizontal cunning Block, linear slide bearing, spring, floating lever, driving device, wherein final actuating element includes L shape connecting rod and claw, driving The output shaft and driving lever of device are keyed, and one end of driving lever, connecting rod and L shape connecting rod passes sequentially through connection axis connection, connecting rod It is hinged on the horizontal slider of transverse shifting bar with the connecting shaft of L shape connecting rod, geometrical constraint is set on transverse shifting bar, limits it Sliding scale;By hinged, the other end and upright slide block of floating lever pass through linear slide axis for one end of floating lever and driving lever Connection is held, while floating lever is fixedly connected on rectangular frame by sleeve, on floating lever, spring one end is connected to spring pocket On upright slide block, the other end is fixedly connected on floating lever;Transverse shifting bar is fixed on upright slide block perpendicular to floating lever; It is fixedly connected with claw in the free end of L shape connecting rod, the claw is realized the incision being translatable completely by the drive of sliding block and exited Insulator, and then insulator outer is clamped.
The guide locking mechanism includes driving pulley, driven pulley, synchronous belt, mandrel and steering engine, wherein main belt Wheel, driven pulley are respectively parallel to the upper and lower horizontal beam of rectangular frame, and are connect respectively by mandrel with rectangular frame;It is synchronous Band is set between driving pulley and driven pulley, and synchronous belt is tangent with insulator radial edges close to insulator one side;Rudder Machine is mounted on driving pulley, for controlling the locking of mobile unit.
Further, the claw is a U-shaped mechanism, and concave side is contacted with insulator chain, is executed at convex side center with end Element consolidation, is respectively arranged with rubber sheet gasket with insulator contact face on claw, with to avoid in clamping process to insulator It causes to damage.
Further, the climbing mechanism is fixed on the level of the secondary rectangular frame extended outside the vertical beam of rectangular frame side At 120 degree of angles, oneself of secondary rectangular frame is arranged in buckle for Liang Shang, the horizontal beam of secondary rectangular frame and the horizontal beam of rectangular frame By on the vertical beam of end.
Beneficial effects of the present invention are to be connected by a snap and be integrated using three groups of mobile units, are formed to insulator chain Circumferential direction encircle, disassembly assembling can be carried out, be convenient for carrying and install, and rectangular frame is easy to process, guide locking mechanism with Insulator chain flexible contact avoids generating abrasion to insulator surface during guiding, and can be good at adapting to insulator The error of string;Pawl of creeping may be implemented the incision being translatable completely and to exit insulator edge, with insulator surface without engaging friction, Not Damage to insulation sublist finishing coat.Simultaneously as nail-press of creeping it is fashionable be equivalent to insulator edge it is tapered dock, to insulator The error zmodem of string, the stuck phenomenon that existing engagement in rotation formula climbing mechanism poor fault tolerance can be overcome to occur when running, has Effect guarantees the stability of mechanism operational process;It can be used in detection level, pendency and inclined insulator chain, the scope of application Extensively.
Detailed description of the invention
Fig. 1 be one kind of the present invention can be translatable incision become born of the same parents' climbing mechanism insulator detecting robot structural schematic diagram;
Fig. 2 be one kind of the present invention can be translatable incision change born of the same parents' climbing mechanism insulator detecting robot use state illustrate Figure;
Fig. 3 is the right view of Fig. 2;
Fig. 4 is the structural schematic diagram of one group of mobile unit;
Fig. 5 is the structural schematic diagram of guide locking mechanism;
Fig. 6 is the structural schematic diagram of one group of rectangular frame;
Fig. 7~Figure 12 is that one group of mobile unit of the invention is creeped the operation principle schematic diagram of a cycle;
In figure: 1 insulator chain;2 rectangular frames;3 electrical source of power;4 detecting elements;5 upright slide blocks;6 horizontal sliders;7 connect Spindle;8 driving levers;9 direct current generators;10 sleeves;11 connecting rods;12 floating levers;13 springs;14 transverse shifting bars;15 linear slides Bearing;16L shape connecting rod;17 driven synchronous pulleys;18 from moving mandrel;19 active synchronization belt wheels;20 synchronous belts;21 active mandrels; 22 steering engines;23 vertical beams;24 horizontal beams;25 buckles;26 claws.
Specific embodiment
It can be translatable change born of the same parents' climbing mechanism of incision below with reference to Fig. 1~Figure 12 and specific embodiment to one kind of the invention Insulator detecting robot is described in further detail.
According to FIG. 1 to FIG. 2, a kind of change born of the same parents' climbing mechanism insulator detecting robot for the incision that is translatable, including move Moving cell and detecting element, and be integrated using the interconnection of mobile unit described in three groups, form the movement for encircling insulator chain Three groups of mobile units are connected two-by-two by buckle when carrying out detection operation to insulator chain 1, form ring structure by mechanism, Insulator chain 1 circumferentially encircle, and the stepping movement that is translatable on insulator chain 1, by detecting element 4 to insulator chain 1 It is detected.
Because three groups of change born of the same parents' mobile unit structure compositions are identical, in this example, it is mobile to choose one group of change born of the same parents therein Unit is described in detail.
As shown in Fig. 3~Fig. 4, the mobile unit includes the rectangular frame 2 of middle part hollow out, as shown in fig. 6, rectangular frame Vertical beam 23 and horizontal beam 24 are provided on 2, the vertical beam 23 is parallel with 1 axis of insulator chain, horizontal beam 24 and insulator 1 circumference of going here and there is tangent, and the horizontal cross-arm that adjacent frame is stretched out is connected with each other by buckle 25 and is integrated, to form circumferential encircle absolutely The annular stop mechanism of edge substring 1 is connected on horizontal beam 24 and becomes born of the same parents' climbing mechanism, along insulator radial direction on rectangular frame 2 It is connected with synchronous belt type guide locking mechanism, plays the role of support guide when eccentric situation occurs in rectangular frame 2, to make machine Device people can move smooth along insulator, and to adapt to the error of insulator chain, detecting element 4 is mounted on the outside of rectangular frame 2, Insulator is detected, while driving device being installed on horizontal beam 24, the driving device drives driving lever 8 to do clockwise It is moved back and forth with counterclockwise, and then rectangular frame 2 is driven to be translatable along insulator outer.
As shown in figure 5, the guide locking mechanism includes: driven synchronous pulley 17, from moving mandrel 18, active synchronization belt wheel 19, synchronous belt 20, active mandrel 21 and steering engine 22, two synchronous pulleys in every group of guide locking mechanism are separately positioned on square The upper and lower ends of shape frame 2, synchronous belt 20 are located between two synchronous pulleys.
As shown, change born of the same parents' climbing mechanism includes that driving lever 8, connecting rod 11, transverse shifting bar 14, end execute member Part, spring 13 and floating lever 12, wherein final actuating element be by claw 26, L shape connecting rod 16 and horizontal slider 6 it is affixed and At, 8 one end of driving lever and robot floating lever 12 are hinged, and it does by the driving of direct current generator 9 and rotates clockwise and anticlockwise, the other end Hinged with connecting rod 11, connecting rod 11 and the sliding block of level sliding are hinged, and the sliding block and claw are consolidated by L shape connecting rod.Robot sheet Floating lever 12 on body is equipped with sleeve 10, upright slide block 5 and the spring 13 for applying constraint, and spring one end and sliding block consolidate, separately One end is fixed on floating lever 12, to apply spring constraining force.
The principle of creeping of one group of mobile unit is discussed in detail below with reference to Fig. 7~Figure 12:
Step (1): as shown in fig. 7, mobile unit is located at initial position, electrical source of power 3 will start to drive, at this time end Executive component is in free position by L shape bar 16 affixed horizontal slider and claw 26, and electrical source of power 3 drives, and driving lever 8 is suitable Hour hands rotation, drives connecting rod 11 to move, and then final actuating element is made to pass through L shape bar 16 affixed sliding block and claw level to the left Translation, have on the transverse shifting bar 14 where sliding block about geometrical constraint, when sliding block is moved downward to extreme position, card Pawl is translatable just and is cut into insulator edge, and state is as shown in Figure 8 at this time.
Step (2): as shown in figure 9, under the drive of electrical source of power 3, driving lever 8 continues to rotate clockwise, due to end Executive component is located at left side extreme position by L shape bar affixed sliding block and claw, cannot continue to slide, then in driving lever 8 Under effect, robot body, that is, floating lever 12 is with rectangular frame 2 and guide locking mechanism, under the constraint of guiding mechanism, edge Insulator chain 1 crawl into an insulator spacing upwards, locking device locks robot body on insulator chain 1.
Step (3): as shown in Figure 10, after guide locking mechanism and rectangular frame 2 rise an insulator spacing, Electrical source of power 3 inverts, and driving lever becomes rotating counterclockwise, and connecting rod 11 is driven to move, and then final actuating element is made to pass through L shape bar Affixed sliding block and claw is translatable horizontally to the right, and insulator edge is exited in claw translation, and because of on the transverse bar where sliding block Geometrical constraint about having, when sliding block is moved right to extreme position, claw is located at the position farthest from insulator chain 1, State is as shown in figure 11 at this time.
Step (4): moving right in sliding block to the position farthest from insulator chain, main under the drive of electrical source of power 3 Lever 8 continues to rotate counterclockwise, and due to the constraint of limit on the right-right-hand limit position, sliding block is no longer moved right, in 13 restraining force of spring and master Under the action of lever 8, the sliding block on floating lever 12 drives transverse shifting bar 14 and final actuating element affixed by L shape bar Sliding block and claw climb an insulator spacing upwards together, and state is as shown in figure 12 at this time.So far, a walking cycle knot Beam becomes the cycle movement of born of the same parents' climbing mechanism then under the drive of electrical source of power 3, and robot repeats step in insulator outer (1) movement of~step (4).
Finally it should be noted that: it is above-described for the preferable specific embodiment of the present invention, but protection of the invention Range is not limited thereto, and anyone skilled in the art within the technical scope of the present disclosure, can be easily The change or replacement expected, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with power Subject to the protection scope of sharp claim.

Claims (3)

  1. Change born of the same parents' climbing mechanism insulator detecting robot of incision 1. one kind can be translatable, it is characterised in that: mobile single including three groups Member and detecting element, the mobile unit include rectangular frame, climbing mechanism and guide locking mechanism, the vertical beam of rectangular frame Parallel with the axis of insulator chain, guide locking mechanism and climbing mechanism are set side by side along the horizontal beam of rectangular frame, guide lock Tight mechanism is installed between the upper and lower horizontal beam of rectangular frame, and climbing mechanism is installed on the vertical beam of the side of rectangular frame; By the buckle on rectangular frame vertical beam, interference connects mobile unit described in three groups two-by-two, forms the circumferential ring to insulator chain It embraces, the detecting element is fixedly mounted on rectangular frame, for detecting to insulator;
    The climbing mechanism includes driving lever, connecting rod, transverse shifting bar, final actuating element, upright slide block, horizontal slider, straight Line sliding bearing, spring, floating lever, driving device, wherein final actuating element includes L shape connecting rod and claw, driving device Output shaft and driving lever are keyed, and one end of driving lever, connecting rod and L shape connecting rod passes sequentially through connection axis connection, and connecting rod and L shape connect The connecting shaft of bar is hinged on the horizontal slider of transverse shifting bar, and geometrical constraint is arranged on transverse shifting bar, is limited it and is slided model It encloses;By hinged, the other end of floating lever is connect with upright slide block by linear slide bearing for one end of floating lever and driving lever, Floating lever is fixedly connected on rectangular frame by sleeve simultaneously, and for spring pocket on floating lever, spring one end is connected to vertical cunning On block, the other end is fixedly connected on floating lever;Transverse shifting bar is fixed on upright slide block perpendicular to floating lever;Connect in L shape The free end of bar is fixedly connected with claw, for clamping insulator outer;
    The guide locking mechanism includes driving pulley, driven pulley, synchronous belt, mandrel and steering engine, wherein driving pulley, from Movable belt pulley is respectively parallel to the upper and lower horizontal beam of rectangular frame, and is connect respectively by mandrel with rectangular frame;Synchronous belt is arranged Between driving pulley and driven pulley, and synchronous belt is tangent with insulator radial edges close to insulator one side;Steering engine installation On driving pulley, for controlling the locking of mobile unit.
  2. Change born of the same parents' climbing mechanism insulator detecting robot of incision, feature 2. one kind according to claim 1 can be translatable It is, the claw is a U-shaped mechanism, and concave side is contacted with insulator chain, is consolidated at convex side center with final actuating element, claw Upper and insulator contact face is respectively arranged with rubber sheet gasket, with to avoid causing to damage to insulator in clamping process.
  3. Change born of the same parents' climbing mechanism insulator detecting robot of incision 3. one kind according to claim 1 or 2 can be translatable, it is special Sign is that the climbing mechanism is fixed on the horizontal beam of the secondary rectangular frame extended outside the vertical beam of rectangular frame side, secondary square At 120 degree of angles, the free end that secondary rectangular frame is arranged in buckle is vertical for the horizontal beam of shape frame and the horizontal beam of rectangular frame Liang Shang.
CN201710268589.7A 2017-04-24 2017-04-24 A kind of change born of the same parents' climbing mechanism insulator detecting robot for the incision that is translatable Active CN107202941B (en)

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Citations (1)

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CN204575755U (en) * 2014-12-09 2015-08-19 国家电网公司 The sub-measuring robots of a kind of Intelligent insulation

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KR100961841B1 (en) * 2008-05-31 2010-06-08 한국전력공사 Robot machanism for inspection of live-line suspension insulator string
CN203109949U (en) * 2013-01-12 2013-08-07 山东鲁能智能技术有限公司 Intelligent detecting robot for connecting rod peristalsis insulator string
CN203798827U (en) * 2014-01-10 2014-08-27 深圳市北粤科技开发有限公司 Insulator detection robot clamping mechanism and robot
CN203727501U (en) * 2014-03-25 2014-07-23 山东鲁能智能技术有限公司 Insulator string intelligent detecting robot climbing device
CN104090179A (en) * 2014-06-19 2014-10-08 哈尔滨工程大学 Insulator detection robot suitable for multiple occasions
CN106002912B (en) * 2016-04-29 2018-01-02 东北大学 A kind of insulator becomes born of the same parents and detects robot mechanism
CN206012760U (en) * 2016-09-18 2017-03-15 三峡大学 Articulated type pole-climbing detects robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204575755U (en) * 2014-12-09 2015-08-19 国家电网公司 The sub-measuring robots of a kind of Intelligent insulation

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