CN108711814B - Power grid deicing inspection energy-saving robot - Google Patents
Power grid deicing inspection energy-saving robot Download PDFInfo
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- CN108711814B CN108711814B CN201810528656.9A CN201810528656A CN108711814B CN 108711814 B CN108711814 B CN 108711814B CN 201810528656 A CN201810528656 A CN 201810528656A CN 108711814 B CN108711814 B CN 108711814B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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Abstract
An energy-conserving robot is patrolled and examined in electric wire netting deicing includes: the motion mechanism, the knocking mechanism and the control system are connected with each other; the motion mechanism includes: initiative arm lock, synchronous drive wheel, driving motor, device and the translation device that opens and shuts, wherein: the synchronous driving wheel is connected with the driving clamping arm through a corresponding rotating shaft, and the driving motor, the opening and closing device and the translation device are respectively connected with the driving clamping arm. The invention realizes obstacle crossing on the electric wire by alternately opening and closing the clamping arms, has relatively simple and reliable structure, and can cross larger obstacles by adopting the mode, so that the machine has better environmental adaptability. Compared with the traditional deicing method, the efficiency is improved by adopting a mechanical knocking method; compared with a heating deicing mode, the energy can be saved. The machine is provided with various sensing devices, so that the machine has the capability of routing inspection on a power transmission line, great help is provided for the overhaul and maintenance of a power grid, and emergency rescue and disaster relief, and the expansibility is extremely high. In addition, the invention is suspended below the transmission line, and is convenient to avoid the extending arm of the high-voltage tower.
Description
Technical Field
The invention relates to a technology in the field of power transmission line deicing, in particular to a power grid deicing inspection energy-saving robot.
Background
In China, in winter, precipitation causes great harm to a high-voltage power transmission network. Generally, precipitation in cold tide cooling weather can be directly frozen into ice after meeting objects on the ground, so the ice and the rain can be often surrounded by ice and snow on a high-voltage transmission line and a power line tower to form the rime. Thus the high voltage wire tower will bear the weight of the rime additionally. When the weight of ice accumulated on the electric wire and the electric tower reaches a certain degree, the electric wire can even break the electric transmission line, and the electric wire tower is crushed. This will cause the transmission of electricity to break, seriously influence resident daily life and industrial and agricultural production, cause very big economic loss. In the prior art, the accumulated ice cannot be thoroughly removed by a natural passive deicing method; the thermal ice melting method consumes a large amount of energy, and has high cost; manual deicing is inefficient and dangerous.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the power grid deicing inspection energy-saving robot, which adopts a wheel type mechanism to enable the robot to travel on a high-voltage wire and cross most obstacles, and simultaneously adopts a mechanical knocking mode to remove accumulated ice, thereby improving the deicing efficiency and saving energy consumed by deicing.
The invention is realized by the following technical scheme:
the invention comprises the following steps: control system and motion mechanism and the mechanism of knocking that links to each other respectively, wherein: the control system respectively sends control instructions to the motion mechanism and the knocking mechanism to realize the overall movement of the robot and the knocking and ice breaking.
The motion mechanism comprises: initiative arm lock, synchronous drive wheel, driving motor, device and the translation device that opens and shuts, wherein: the synchronous driving wheel is connected with the driving clamping arm through a corresponding rotating shaft, and the driving motor, the opening and closing device and the translation device are respectively connected with the driving clamping arm.
The opening and closing device comprises: working cylinder, push rod motor, supply hydro-cylinder and driven subassembly, wherein: the working cylinder is arranged in the middle of the driving clamping arm, the telescopic driving oil supply cylinder of the push rod motor moves as a piston, and the driven assemblies are arranged on two sides of the driving clamping arm.
The driven assembly comprises: driven arm lock, follow driving wheel, worm gear motor, lead screw, gear pair and guide bar, wherein: the driven wheel is arranged on the driven clamping arm to advance with the auxiliary driving clamping arm and ensure that two driven clamping arms or one driving clamping arm and one driven clamping arm bear the weight of the machine all the time in the advancing process, the worm gear motor is arranged below the driven clamping arms, the screw rod is arranged between the two arms of the driven clamping arms, the gear pair is arranged beside the screw rod to drive the screw rod to rotate, and the guide bar transversely penetrates through the two arms of the driven clamping arms.
The driving clamping arm and the working cylinder are arranged on a sliding groove parallel to the advancing direction of the moving mechanism, and the sliding groove is designed into a dovetail shape to realize the guiding function.
The translation device comprises: toothed belt, toothed belt wheel and direct current motor, wherein: the tooth belt is located the one end that the power transmission line was kept away from to the initiative arm lock, and the tooth belt pulley sets up in the inboard of toothed belt, and direct current motor sets up in the side of tooth belt pulley.
The gear pair is formed by meshing a spiral cylindrical gear arranged on the screw rod with a spiral cylindrical gear arranged on a motor shaft of the worm gear motor.
The knocking mechanism comprises: scissors arm, central symmetry cam and strike the motor, wherein: the scissors arm sets up between initiative arm lock and the driven arm lock, and the centrosymmetric cam sets up in the below of scissors arm in order to control the scissors arm motion, strikes the input shaft that motor and centrosymmetric cam and links to each other.
The centrosymmetric cam is a centrosymmetric small wheel with two spiral arms.
The control system comprises: set up sensor, the terminal controller that links to each other with the sensor and the server that the terminal controller links to each other on motion and strike the mechanism respectively, wherein: the sensor is connected with the terminal controller and outputs obstacle position information and mechanical knocking force information of the machine advancing direction, the terminal controller transmits the information to the server through Ethernet communication, the terminal controller is connected with the driving motor in the movement mechanism, the push rod motor and the knocking motor in the knocking mechanism and respectively sends out control commands, the server feeds the commands back to the terminal controller through operation, and the terminal controller is connected with the driving motor in the movement mechanism, the push rod motor and the knocking motor in the knocking mechanism and directly controls the working state of the motors.
Technical effects
Compared with the prior art, the invention realizes obstacle crossing on the electric wire by alternately opening and closing the clamping arms, has relatively simple and reliable structure, and can cross larger obstacles by adopting the mode, so that the machine has better environmental adaptability. Compared with the traditional deicing method, the efficiency is improved by adopting a mechanical knocking method; compared with a heating deicing mode, the energy can be saved. The machine is provided with various sensing devices, so that the machine has the capability of routing inspection on a power transmission line, great help is provided for the overhaul and maintenance of a power grid, and emergency rescue and disaster relief, and the expansibility is extremely high. In addition, the invention is suspended below the transmission line, and is convenient to avoid the extending arm of the high-voltage tower.
Drawings
FIG. 1 is a schematic view of a structure with an oblique downward viewing angle according to the present invention;
FIG. 2 is an enlarged partial view of the driven assembly;
FIG. 3 is a schematic view of the structure of the invention from an oblique upward view;
FIG. 4 is an enlarged view of a portion of the striking mechanism;
FIG. 5 is a front view of the present invention;
FIG. 6 is a top view of the present invention;
FIG. 7 is a side view of the present invention;
FIG. 8 is a schematic structural view of a centrosymmetric cam;
FIG. 9 is a control flow block diagram of the present invention;
in the figure: a is a control block diagram of a main program; b is a control block diagram of a cross-rod action subprogram;
FIG. 10 is a diagram of the operation of the present invention;
in the figure: the device comprises a motion mechanism A, a knocking mechanism B, a control system C, an opening and closing device D, a translation device E, a driven assembly F, a driving clamping arm 1, a synchronous driving wheel 2, a driving motor 3, a synchronous belt 4, a working cylinder 5, a sliding chute 6, a driven clamping arm 7, a bottom plate 8, a driven wheel 9, a sliding table 10, a push rod motor 11, an oil supply cylinder 12, a toothed belt 13, a direct current motor 14, a toothed belt wheel 15, a worm and gear motor 16, a screw rod 17, a gear pair 18, a nut 19, a guide bar 20, a scissor arm 21, a central symmetrical cam 22, a knocking motor 23 and a rotating shaft 24.
Detailed Description
As shown in fig. 1 and 3, the present embodiment includes a movement mechanism a, a knocking mechanism B, and a control system C, which are connected to each other.
The motion mechanism A comprises: initiative arm lock 1, synchronous drive wheel 2, driving motor 3, device D and translation device E open and shut, wherein: the synchronous driving wheel 2 is connected with the driving clamping arm 1 through a corresponding rotating shaft 24, and the driving motor 3, the opening and closing device D and the translation device E are respectively connected with the driving clamping arm 1.
The driving clamping arm 1 is fixedly arranged on the sliding table 10, the sliding table 10 is arranged in a sliding groove 6 parallel to the advancing direction of the movement mechanism, and the sliding groove 6 is designed into a dovetail shape to realize the guiding function.
The rotating shaft 24 is provided with a synchronous belt 4 to keep the rotation consistency of the synchronous driving wheel 2.
The opening and closing device D comprises: working cylinder 5, push rod motor 11, fuel feeding cylinder 12 and driven subassembly F, wherein: the working cylinder 5 is arranged in the middle of the driving clamping arm 1, the push rod motor 11 stretches and retracts to drive the oil supply cylinder 12 to move as a piston, and the driven assemblies F are arranged on two sides of the driving clamping arm 1.
As shown in fig. 2, the driven assembly F includes: driven arm lock 7, follow driving wheel 9, worm gear motor 16, lead screw 17, gear pair 18 and guide bar 20, wherein: the driven wheel 9 is arranged on the driven clamping arm 7 to advance with the auxiliary driving clamping arm 1 and ensure that two driven clamping arms 7 or one driving clamping arm 1 and one driven clamping arm 7 bear the weight of the machine all the time in the advancing process, the worm and gear motor 16 is arranged below the driven clamping arm 7, the screw rod 17 is arranged between two arms of the driven clamping arm 7, the gear pair 18 is arranged beside the screw rod 17 to drive the screw rod 17 to rotate, and the guide bar 20 transversely penetrates through the two arms of the driven clamping arm 7.
The driven clamping arm 7 is designed to be in a space fold line shape, the upper section of the driven clamping arm and the sliding groove 6 form an included angle of 60 degrees, the lower section of the driven clamping arm is horizontally and fixedly arranged on the bottom plate 8, and the bottom plate 8 is arranged below the sliding groove 6 in parallel and is fixedly connected with the sliding groove.
As shown in fig. 5-7, the synchronous driving wheel 2 and the driven wheel 9 are both concave-middle and convex-side pulleys to prevent too large deflection angle on the power transmission line, each pulley is divided into two halves, respectively mounted on the clamping arms, fixed on the power transmission line by clamping force and can keep the two halves rotating synchronously, and the radius of the pulley is 20 mm-30 mm.
The translation device E comprises: toothed belt 13, toothed belt wheel 15 and direct current motor 14, wherein: the toothed belt 13 is positioned at one end of the driving clamping arm 1 far away from the power transmission line, the toothed belt wheel 15 is arranged in the middle of the toothed belt 13, and the direct current motor 14 is arranged at the side of the toothed belt wheel 15.
The gear pair 18 is a spiral cylindrical gear arranged on the screw rod 17 and meshed with a spiral cylindrical gear arranged on a motor shaft of the worm and gear motor 16.
As shown in fig. 4, the knocking mechanism B includes: scissor arm 21, centrosymmetric cam 22, and tapping motor 23, wherein: the scissor arm 21 is arranged between the driving clamping arm 1 and the driven clamping arm 7, the centrosymmetric cam 22 is arranged below the scissor arm 21 to control the movement of the scissor arm 21, and the knocking motor 23 is connected with an input shaft of the centrosymmetric cam 22.
The cutter head of the scissor arm 21 is made of high-speed steel through grinding, has high hardness, high wear resistance and high heat resistance, and has the height of 94.5mm in the vertical direction.
As shown in fig. 8, the centrosymmetric cam 22 is a small centrosymmetric wheel with two radial arms.
The control system C comprises: set up sensor, the terminal controller that links to each other with the sensor and the server that the terminal controller links to each other on motion and strike the mechanism respectively, wherein: the server and the terminal controller carry out data interaction through Ethernet communication.
The server adopts a high-pass control board to send out various instructions to control the action of the machine; the terminal controller adopt the state of Arduino singlechip with the direct reading sensor and realize the operating condition of control simultaneous monitoring machine to the motor.
The control system C is disposed under the bottom plate 8 to add a counterweight to prevent disturbance such as side airflow.
As shown in fig. 9 and 10, the steps of the present invention for specifically performing the opening, closing, forward moving and knocking actions are as follows:
1) the machine knocks out the accumulated ice and moves forwards, and when a sensor senses that a suspension node is arranged in front of the machine;
2) the control system C sends out an instruction to execute the rod spanning action;
opening and closing the machine: the driven clamping arm 7 is opened and closed: a motor shaft of the worm and gear motor 16 is provided with a 45-degree spiral cylindrical gear, two ends of the screw rod 17 are provided with threads with opposite turning directions and are provided with 45-degree spiral cylindrical gears for meshing, 1:1 rotation is completed, the torque direction is changed, nuts 19 with opposite turning directions at two ends of the screw rod 17 are respectively matched with the screw rod 17 and are restrained by the guide bar 20 without axial rotation, when the worm and gear motor 16 rotates, the screw rod 17 is driven to rotate through the two meshed gears, so that the nuts 19 at two ends are separated or combined, and the opening and closing of the driven clamping arm 7 are controlled by controlling the rotation of the worm and gear motor 16; the active clamping arm 1 is opened and closed: the push rod motor 11 stretches and retracts to drive the piston of the oil supply cylinder 12 to move, oil is filled or returned to the rod cavity of the working cylinder 5, hydraulic oil enters the rodless cavity of the working cylinder 5, the working cylinder 5 contracts, the driving clamping arm 1 is tensioned, and merging action is completed; and returning hydraulic oil in the rodless cavity of the working cylinder 5, extending the working cylinder 5, and opening the driving clamping arm 1.
The machine advances: the direct current motor 14 drives the toothed belt 13, the toothed belt 13 moves horizontally to pull the sliding table 10, so that the driving clamping arm 1 moves horizontally forward, and the three groups of synchronous driving wheels 2 on the driving clamping arm 1 move forward together with the driving clamping arm 1 through the synchronous belts 4.
3) The rod spanning is finished, and the machine knocks: the lower sections of the left branch and the right branch of the scissor arm 21 are respectively provided with a roller to keep line contact with a central symmetrical cam 22 which makes a quick return, the central symmetrical cam 22 controls the movement of the scissor arm 21 through line contact, the movement needs to have the quick return characteristic, the push stroke is slow, the return stroke is quick, and the larger impact force generated by the return stroke is used for realizing larger knocking force. When the centrosymmetric cam 22 rotates, the scissor arm 21 is spread by the two swing arms of the centrosymmetric cam 22, when the swing arms rotate to the angle of contact with the scissor arm 21, the scissor arm 21 rebounds rapidly under the action of the tension spring and contacts with the small diameter in the middle of the centrosymmetric cam 22, and the pushing process and the return process of the whole period are completed.
The device adopts a mechanical knocking mode to deice through a knocking mechanism formed by the cam 22 and the scissor arm 21, the energy consumption is much lower than that of the currently and commonly used thermal ice melting method, and the following table shows the comparison of the energy consumption of mechanical deicing and thermal ice melting.
TABLE 1 energy consumption comparison of partial thermal deicing method and mechanical deicing method
As can be seen from the above table, the mechanical deicing method has much lower energy consumption than the thermal deicing method, and the knocking deicing adopted by the invention belongs to the utilization of collision deicing. According to experimental data, the energy required by mechanical deicing is 10-100 ten thousand times less than that required by thermal deicing, so that although the mechanical deicing efficiency can be as low as 1%, the energy consumption is still less than 1% of that of thermal deicing. Therefore, the energy efficiency of the method is remarkably improved compared with the existing mainstream thermal deicing method.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (1)
1. The utility model provides an energy-conserving robot is patrolled and examined in electric wire netting deicing which characterized in that includes: control system and motion mechanism and the mechanism of knocking that links to each other respectively, wherein: the control system respectively sends control instructions to the motion mechanism and the knocking mechanism to realize the overall movement and knocking and ice breaking of the robot;
the knocking mechanism comprises: scissors arm, central symmetry cam and strike the motor, wherein: the center symmetrical cam is a small wheel with two rotary arms and central symmetry, rollers are arranged on the lower sections of the left branch and the right branch of the shear arm respectively to keep line contact with the center symmetrical cam which makes a quick return, the center symmetrical cam controls the shear arm to move through line contact, the movement needs to have a quick return characteristic, the push stroke is slow, the return stroke is fast, and a large impact force generated by the return stroke is used for realizing a large striking force; when the centrosymmetric cam rotates, the scissor arm is propped open by the two swing arms of the centrosymmetric cam, when the swing arms rotate by an angle of contact with the scissor arm, the scissor arm rebounds rapidly under the action of the tension spring and contacts with the small diameter in the middle of the centrosymmetric cam, and the pushing process and the return process of the whole period are completed;
the motion mechanism comprises: initiative arm lock, synchronous drive wheel, driving motor, device and the translation device that opens and shuts, wherein: the synchronous driving wheel is connected with the driving clamping arm through a corresponding rotating shaft, and the driving motor, the opening and closing device and the translation device are respectively connected with the driving clamping arm;
the opening and closing device comprises: working cylinder, push rod motor, supply hydro-cylinder and driven subassembly, wherein: the working cylinder is arranged in the middle of the driving clamping arm, the oil supply cylinder is driven by the extension of the push rod motor to do piston motion, the driven components are arranged on two sides of the driving clamping arm, the driving clamping arm and the working cylinder are arranged on a sliding chute parallel to the advancing direction of the movement mechanism, and the sliding chute is designed into a dovetail shape to realize the guiding function; the driven clamping arm is opened and closed: a motor shaft of the worm and gear motor is provided with a 45-degree spiral cylindrical gear, two ends of the screw rod are provided with threads with opposite rotating directions and are provided with 45-degree spiral cylindrical gears which are meshed with each other to finish 1:1 rotation and change the torque direction, nuts with opposite rotating directions at two ends of the screw rod are respectively matched with the screw rod and are restrained by the guide bar from axially rotating, when the worm and gear motor rotates, the screw rod is driven to rotate through the two meshed gears, so that the nuts at two ends are separated or combined, and the opening and closing of the driven clamping arm are controlled by controlling the rotation of the worm and gear motor; opening and closing of the driving clamping arm: the push rod motor stretches and retracts to drive the piston of the oil supply cylinder to move, oil is filled or returned to the rod cavity of the working cylinder, hydraulic oil enters the rodless cavity of the working cylinder, the working cylinder contracts, the driving clamping arm is tensioned, and merging action is completed; returning hydraulic oil in a rodless cavity of the working cylinder, extending the working cylinder, and opening the driving clamping arm;
the driven assembly comprises: driven arm lock, follow driving wheel, worm gear motor, lead screw, gear pair and guide bar, wherein: the driven wheel is arranged on the driven clamping arm to assist the driving clamping arm to move forward and ensure that two driven clamping arms or one driving clamping arm and one driven clamping arm bear the weight of the machine all the time in the advancing process, the worm gear motor is arranged below the driven clamping arms, the screw rod is arranged between the two arms of the driven clamping arms, the gear pair is arranged beside the screw rod to drive the screw rod to rotate, the guide bar transversely penetrates through the two arms of the driven clamping arms, and the gear pair is a spiral cylindrical gear arranged on the screw rod and meshed with a spiral cylindrical gear arranged on a motor shaft of the worm gear motor;
the translation device comprises: toothed belt, toothed belt wheel and direct current motor, wherein: the tooth-shaped belt is positioned at one end of the driving clamping arm far away from the power transmission line, the tooth-shaped belt wheel is arranged on the inner side of the gear belt, and the direct current motor is arranged at the side of the tooth-shaped belt wheel; the direct current motor drives the toothed belt, the toothed belt moves horizontally to pull the sliding table, so that the driving clamping arm moves horizontally forwards, the rotating shaft is provided with a synchronous belt, and three groups of synchronous driving wheels on the driving clamping arm move forwards together with the driving clamping arm through the synchronous belt;
the control system is arranged at the lower part of the bottom plate of the sliding table to increase the balance weight;
the control system comprises: set up sensor, the terminal controller that links to each other with the sensor and the server that the terminal controller links to each other on motion and strike the mechanism respectively, wherein: the sensor is connected with the terminal controller and outputs the position information of the obstacle and the mechanical knocking force information in the advancing direction of the machine, the terminal controller transmits the information to the server through Ethernet communication, the terminal controller is connected with the driving motor in the movement mechanism, the push rod motor and the knocking motor in the knocking mechanism and respectively sends out control commands, the server feeds the commands back to the terminal controller through operation, and the terminal controller is connected with the driving motor in the movement mechanism, the push rod motor and the knocking motor in the knocking mechanism to directly control the working state of the motors;
the opening, closing, advancing and knocking specifically comprises the following steps:
1) the machine knocks out the accumulated ice and moves forwards, and when a sensor senses that a suspension node is arranged in front of the machine;
2) the control system sends out an instruction to execute the cross-rod action;
the opening and closing are specifically as follows: the driven clamping arm is opened and closed: a motor shaft of the worm and gear motor is provided with a 45-degree spiral cylindrical gear, two ends of the screw rod are provided with threads with opposite rotating directions and are provided with 45-degree spiral cylindrical gears which are meshed with each other to finish 1:1 rotation and change the torque direction, nuts with opposite rotating directions at two ends of the screw rod are respectively matched with the screw rod and are restrained by the guide bar from axially rotating, when the worm and gear motor rotates, the screw rod is driven to rotate through the two meshed gears, so that the nuts at two ends are separated or combined, and the opening and closing of the driven clamping arm are controlled by controlling the rotation of the worm and gear motor; opening and closing of the driving clamping arm: the push rod motor stretches and retracts to drive the piston of the oil supply cylinder to move, oil is filled or returned to the rod cavity of the working cylinder, hydraulic oil enters the rodless cavity of the working cylinder, the working cylinder contracts, the driving clamping arm is tensioned, and merging action is completed; returning hydraulic oil in a rodless cavity of the working cylinder, extending the working cylinder, and opening the driving clamping arm;
advancing, specifically: the direct current motor drives the toothed belt, the toothed belt moves horizontally to pull the sliding table, so that the driving clamping arm moves horizontally forwards, and three groups of synchronous driving wheels on the driving clamping arm move forwards together with the driving clamping arm through the synchronous belt;
3) the rod striding is finished, and the knocking specifically is: the lower sections of the left branch and the right branch of the shear arm are respectively provided with a roller to keep line contact with a central symmetrical cam which makes a quick return, the central symmetrical cam controls the shear arm to move through line contact, the movement needs to have the quick return characteristic, the pushing range is slow, the return stroke is quick, large knocking force is realized through large impact force generated by the return stroke, when the central symmetrical cam rotates, the shear arm is propped open by two swing arms of the central symmetrical cam, when the swing arms rotate through an angle in contact with the shear arm, the shear arm rebounds rapidly under the action of a tension spring, and is in contact with a small diameter in the middle of the central symmetrical cam, and the pushing range and the return stroke of the whole period are completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810528656.9A CN108711814B (en) | 2018-05-29 | 2018-05-29 | Power grid deicing inspection energy-saving robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810528656.9A CN108711814B (en) | 2018-05-29 | 2018-05-29 | Power grid deicing inspection energy-saving robot |
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| CN108711814B true CN108711814B (en) | 2020-11-03 |
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| CN110465919A (en) * | 2019-09-11 | 2019-11-19 | 天地（常州）自动化股份有限公司 | New type mining wire suspension type intelligent intrinsic safety type crusing robot |
| CN117532635B (en) * | 2024-01-09 | 2024-04-19 | 广州国巡机器人科技有限公司 | Inspection robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103269049A (en) * | 2013-06-09 | 2013-08-28 | 平顶山学院 | Power type ice removal device of electric power line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01248917A (en) * | 1988-03-26 | 1989-10-04 | Tokyo Electric Power Co Inc:The | Device for movement of overhead line |
| CN101567540B (en) * | 2009-06-04 | 2011-04-27 | 山东大学 | Deicing device for high-voltage power transmission cable |
| CN202550453U (en) * | 2012-05-10 | 2012-11-21 | 郭斌 | Knocking type deicing machine for high tension line |
| CN205051255U (en) * | 2015-10-27 | 2016-02-24 | 山东科技大学 | Robot is scrambleed to cable for transmission line on -line monitoring |
| CN205724781U (en) * | 2016-04-30 | 2016-11-23 | 马鞍山市翔宇机械自动化科技有限公司 | Deicing inspection robot |
| CN106272466A (en) * | 2016-09-15 | 2017-01-04 | 周珍芳 | High-voltage line climbing robot based on transfer arm obstacle detouring |
| CN106741264B (en) * | 2016-12-29 | 2019-04-19 | 山东科技大学 | Flexible cable Work robot wheel-claw compound mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103269049A (en) * | 2013-06-09 | 2013-08-28 | 平顶山学院 | Power type ice removal device of electric power line |
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