CN108808542B - Power transmission line broken strand repairing robot mechanism - Google Patents
Power transmission line broken strand repairing robot mechanism Download PDFInfo
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- CN108808542B CN108808542B CN201710311412.0A CN201710311412A CN108808542B CN 108808542 B CN108808542 B CN 108808542B CN 201710311412 A CN201710311412 A CN 201710311412A CN 108808542 B CN108808542 B CN 108808542B
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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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables
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Abstract
The invention belongs to the technical field of power transmission line strand breakage repair, and particularly relates to a power transmission line strand breakage repair robot mechanism. Including repair instrument, electrical apparatus box, forearm, postbrachium, preceding running gear and back running gear, wherein forearm and postbrachium set up respectively in the preceding of electrical apparatus box, the rear side, the end of forearm and postbrachium is connected with preceding running gear and back running gear respectively, the repair instrument set up on the electrical apparatus box and lie in between forearm and the postbrachium. The invention can automatically repair the broken strand, improve the efficiency, reduce the labor intensity of personnel and improve the personal safety.
Description
Technical Field
The invention belongs to the technical field of power transmission line strand breakage repair, and particularly relates to a power transmission line strand breakage repair robot mechanism.
Background
Transmission lines are an extremely important component of electric power systems. The transmission line is under open air for a long time, so the operation environment is very poor and the transmission line is influenced by various natural conditions. The transmission line can cause the embrittlement of the material under the long-term action of various stresses, and the surface of the wire can be damaged due to lightning flashover, external force damage and the like; especially, the transmission lines on the seashore and in industrial areas are more easily corroded, so that the transmission lines have the defects of cracks, strand breakage and the like. The damage and strand breakage of the overhead line can reduce the current-carrying capacity slightly, and the line breakage accident can be caused seriously to influence the safe operation of the line. Therefore, once a wire is damaged or broken, it should be handled immediately.
At present, measures adopted by the power department after the power transmission line has a broken strand are mainly to repair the broken strand manually. Because the position of the broken strand is in the center of the line in the first gear, the person is required to go out to work, the time for wire stroking and winding is long, the labor intensity is high, and the danger is high, so that equipment capable of quickly repairing the broken strand needs to be developed to replace the person to repair the broken strand of the power transmission line, the efficiency is improved, the labor intensity of the person is reduced, and the safe operation of the power transmission line is ensured.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a broken strand repairing robot mechanism for a power transmission line. The mechanism can automatically repair broken strands, improves the efficiency, lightens the labor intensity of personnel and improves the personal safety.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a transmission line broken strand repair robot mechanism, includes repair instrument, electrical apparatus box, forearm, postbrachium, preceding running gear and back running gear, wherein forearm and postbrachium set up respectively in preceding, the rear side of electrical apparatus box, the end of forearm and postbrachium rotationally is connected with preceding running gear and back running gear respectively, the repair instrument set up on the electrical apparatus box and be located between forearm and the postbrachium.
The front walking device comprises walking wheels, a walking driving motor and a walking wheel supporting frame, wherein the walking wheel supporting frame is connected with the upper end of the front arm through a horizontally placed passive rotating joint, a wheel shaft of each walking wheel is rotatably arranged on the walking wheel supporting frame, the walking driving motor is arranged on the walking wheel supporting frame, and an output shaft is fixedly connected with the wheel shaft of each walking wheel;
the rear walking device and the front walking device have the same structure.
The repairing tool comprises a winding mechanism, a lifting mechanism and a rotating mechanism, wherein the winding mechanism is fixedly connected with the lifting mechanism, the lifting mechanism is used for realizing the ascending or descending of the winding mechanism, the lifting mechanism is fixedly connected with the rotating mechanism, and the rotating mechanism is used for realizing the rotation of the winding mechanism and the lifting mechanism.
Winding mechanism includes winding mechanism drive arrangement, support frame, rolling gear, line roller and winding frame, and wherein support frame and rolling gear are the loop configuration that has the open-ended, the support frame with elevating system connects, rolling gear set up in the inboard of support frame and with support frame slidable ground be connected, winding mechanism drive arrangement install on the support frame and be connected with the rolling gear transmission, winding mechanism drive arrangement drive rolling gear makes circumferential motion along the support frame, line roller and winding frame all with rolling gear links firmly.
The winding mechanism driving device comprises a motor a, a gear a and a motor support a, the motor a is installed on the support frame through the motor support a, an output shaft of the motor a is connected with the gear a, and the gear a is meshed with the rolling gear.
The winding mechanism driving devices are in two groups, through holes are formed in two sides of the supporting frame, and the two groups of winding mechanism driving devices are in transmission connection with the rolling gears in the through holes in the two sides of the supporting frame.
Elevating system includes elevating system drive arrangement, lifting screw, screw back shaft, bearing frame, lead screw, guide rail, slider and rotary mechanism link, winding mechanism link and link, and wherein lead screw and guide rail set up along vertical direction, the upper and lower end of lead screw is rotationally connected with winding mechanism link and link respectively, the upper and lower end of guide rail respectively with winding mechanism link and link fixed connection, lifting screw and lead screw threaded connection, and with rotary mechanism rotationally connects, elevating system drive arrangement installs on rotary mechanism, and with the lifting screw transmission is connected, the slider is installed on the rotary mechanism link and with guide rail sliding connection, the rotary mechanism link with rotary mechanism connects.
The upper end of the lifting screw is in transmission connection with the lifting mechanism driving device, the lower end of the lifting screw is provided with a screw support shaft, the screw support shaft is rotatably connected with a bearing seat through a bearing, the bearing seat is connected with the rotating mechanism, and the screw rod is in threaded connection with a locking nut a and a locking nut b which are located below the lifting screw.
The lifting mechanism driving device comprises a motor c, a first synchronous belt wheel, a second synchronous belt wheel and a synchronous belt, wherein the motor c is installed on the rotating mechanism, an output shaft of the motor c is connected with the first synchronous belt wheel, and the second synchronous belt wheel is fixedly connected with the lifting nut and is in transmission connection with the first synchronous belt wheel through the synchronous belt.
The rotating mechanism comprises a motor d, a gear c, a fixing plate and a gear d, wherein the motor d is installed on the electric appliance box body, an output shaft is connected with the gear c, the fixing plate is rotatably installed on the electric appliance box body through a sliding bearing, the gear d is fixedly connected with the fixing plate and meshed with the gear c, and the lifting mechanism is installed on an installation hole formed in the fixing plate.
The invention has the following advantages and beneficial effects:
1. the wire smoothing process is simple and effective.
2. The broken strand repairing method has a good broken strand repairing effect.
3. The invention improves the personal safety. The invention replaces workers to carry out wire smoothing and pressure connection operation, reduces danger and improves personal safety.
4. The invention reduces the labor intensity of personnel. According to the invention, after the broken strands occur in the circuit, the broken strands are smoothed out and pressed instead of being discharged by workers, so that the labor intensity of the workers can be reduced, and the efficiency is improved.
5. The invention can cross over the obstacles such as a vibration damper, a crimping pipe and the like, and realizes the broken strand repair operation of the power transmission line in the first gear.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the front walking device of the present invention;
FIG. 3 is a schematic view of the construction of the repair tool of the present invention;
FIG. 4 is one of the structural schematic diagrams of the winding mechanism of the present invention;
FIG. 5 is a second schematic view of the winding mechanism of the present invention;
FIG. 6 is a schematic view of the construction of the lifting mechanism of the present invention;
fig. 7 is a schematic structural view of the rotating mechanism of the present invention.
Wherein: 1 is a winding mechanism, 101 is a motor a, 102 is a gear a, 103 is a motor support a, 104 is a motor b, 105 is a gear b, 106 is a motor support b, 107 is a support frame, 108 is a rolling gear, 109 is a wire roller, 110 is a winding frame, 2 is a lifting mechanism, 201 is a motor c, 202 is a first synchronous pulley, 203 is a second synchronous pulley, 204 is a synchronous belt, 205 is a lifting screw nut, 206 is a screw nut support shaft, 207 is a bearing seat, 208 is a lock nut a, 209 is a lock nut b, 210 is a lead screw, 211 is a guide rail, 212 is a slide block, 213 is a rotating mechanism connecting frame, 214 is a winding mechanism connecting frame, 215 is a connecting frame, 3 is a rotating mechanism, 301 is a motor d, 302 is a gear c, 303 is a fixing plate, 304 is a sliding bearing, 305 is a gear d, 10 is a repair tool, 20 is an electrical appliance box, 30 is a front arm, 40 is a rear arm, 50 is a traveling device, 501 is a traveling wheel, 502 is a walking drive motor, 503 is a walking wheel support frame, and 60 is a rear walking device.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
As shown in fig. 1, the mechanism of the power transmission line strand breakage repair robot provided by the invention comprises a repair tool 10, an electrical box 20, a front arm 30, a rear arm 40, a front traveling device 50 and a rear traveling device 60, wherein the front arm 30 and the rear arm 40 are respectively arranged at the front side and the rear side of the electrical box 20, the tail ends of the front arm 30 and the rear arm 40 are respectively connected with the front traveling device 50 and the rear traveling device 60, and the repair tool 10 is arranged on the electrical box 20 and is located between the front arm 30 and the rear arm 40.
As shown in fig. 2, the front traveling device 50 includes a traveling wheel 501, a traveling drive motor 502 and a traveling wheel support frame 503, wherein the traveling wheel support frame 503 is connected to the upper end of the front arm 30 through a horizontally disposed passive rotating joint, the axle of the traveling wheel 501 is rotatably mounted on the traveling wheel support frame 503, the traveling drive motor 502 is mounted on the traveling wheel support frame 503, and the output axle is fixedly connected to the axle of the traveling wheel 501.
The rear walking device 60 has the same structure as the front walking device 50, the front arm 30 and the rear arm 40 have the same structure, and the rear walking device 60 is connected with the upper end of the rear arm 40 through another horizontally-placed passive rotary joint.
As shown in fig. 3, the repairing tool 10 includes a winding mechanism 1, an elevating mechanism 2 and a rotating mechanism 3, wherein the winding mechanism 1 is fixedly connected to the elevating mechanism 2, and the elevating mechanism 1 is used to realize the ascending or descending of the winding mechanism 1. The lifting mechanism 2 is fixedly connected with the rotating mechanism 3, and the winding mechanism 1 and the lifting mechanism 2 can rotate through the rotating mechanism 3.
As shown in fig. 4 and 5, the winding mechanism 1 includes a winding mechanism driving device, a supporting frame 107, a rolling gear 108, a wire roller 109 and a winding frame 110, wherein the supporting frame 107 and the rolling gear 108 are both of an annular structure with an opening, the supporting frame 107 is connected to the lifting mechanism 2, and the rolling gear 108 is disposed inside the supporting frame 107 and slidably connected to the supporting frame 107. The winding mechanism driving device is mounted on the supporting frame 107 and is in transmission connection with the rolling gear 108, the winding mechanism driving device drives the rolling gear 108 to move circumferentially along the supporting frame 107, and the wire roller 109 and the winding frame 110 are respectively and fixedly connected to two sides of the rolling gear 108.
The winding mechanism driving device can be one group or two groups.
In this embodiment, the two winding mechanism driving devices are provided, through holes are provided on two sides of the supporting frame 107, and the two winding mechanism driving devices are in transmission connection with the rolling gear 108 at the through holes on two sides of the supporting frame 107.
One group of the winding mechanism driving devices comprises a motor a101, a gear a102 and a motor support a103, wherein the motor a101 is installed on one side of the support frame 107 along the horizontal direction through the motor support a103, an output shaft of the motor a101 is connected with the gear a102, and the gear a102 is meshed with a rolling gear 108 at a through hole on one side of the support frame 107.
The other group of winding mechanism driving devices comprises a motor b104, a gear b105 and a motor support b106, wherein the motor b104 is installed on the other side of the support frame 107 in the horizontal direction through the motor support b106, an output shaft of the motor b104 is connected with the gear b105, and the gear b105 is meshed with a rolling gear 108 at a through hole on the other side of the support frame 107.
The supporting frame 107 is a 270-degree circular ring and is embedded with an annular sliding guide rail, and the rolling gear 108 is a 270-degree annular gear and is in sliding connection with the annular sliding guide rail.
The motor a101 and the motor b104 respectively drive the gear a102 and the gear b105 in the same direction to realize the circumferential rotation of the rolling gear 108 along the support frame 107, and as the winding frame 110 and the wire roller 109 are fixedly connected with the rolling gear 108, the circumferential rotation of the winding frame 110 and the wire roller 109 is further realized.
As shown in fig. 6, the lifting mechanism 2 includes a lifting mechanism driving device, a lifting screw 205, a screw support shaft 206, a bearing seat 207, a screw 210, a guide rail 211, a slider 212, a rotating mechanism connecting frame 213, a winding mechanism connecting frame 214 and a connecting frame 215, wherein the screw 210 and the guide rail 211 are arranged along a vertical direction, the upper end and the lower end of the screw 210 are respectively rotatably connected with the winding mechanism connecting frame 214 and the connecting frame 215, and the upper end and the lower end of the guide rail 211 are respectively fixedly connected with the winding mechanism connecting frame 214 and the connecting frame 215. The lifting screw nut 205 is in threaded connection with the lead screw 210 and is rotatably connected with the rotating mechanism 3, the lifting mechanism driving device is installed on the rotating mechanism 3 and is in transmission connection with the lifting screw nut 205, the slider 212 is installed on a rotating mechanism connecting frame 213 and is in sliding connection with the guide rail 211, and the rotating mechanism connecting frame 213 is connected with the rotating mechanism 3. The winding mechanism connecting frame 214 is fixedly connected with the winding mechanism 1.
The upper end of the lifting screw nut 205 is in transmission connection with the lifting mechanism driving device, the lower end of the lifting screw nut 205 is provided with a screw nut supporting shaft 206, the screw nut supporting shaft 206 is rotatably connected with a bearing seat 207 through a bearing, and the bearing seat 207 is connected with the rotating mechanism 3. The screw 210 is threadedly connected with a locking nut a208 and a locking nut b209 which are positioned below the lifting nut 205, and the nut support shaft 206 limits the vertical movement of the lifting nut 205 through a bearing and is locked by the locking nut a208 and the locking nut b 209.
The lifting mechanism driving device comprises a motor c201, a first synchronous pulley 202, a second synchronous pulley 203 and a synchronous belt 204, wherein the motor c201 is installed on the rotating mechanism 3, an output shaft of the motor c201 is connected with the first synchronous pulley 202, and the second synchronous pulley 203 is fixedly connected with the lifting nut 205 and is in transmission connection with the first synchronous pulley 202 through the synchronous belt 204. The second synchronous pulley 203 is coaxial with the lifting nut 205.
The motor c201 drives the first synchronous pulley 202 to rotate, and drives the second synchronous pulley 203 to rotate through the synchronous belt 204, so that the lifting nut 205 rotates, and the screw 210 ascends or descends. Because the guide rail 211 is fixedly connected with the lead screw 210 through the connecting frame 215 and the winding mechanism connecting frame 214, the ascending or descending of the guide rail 211 along the sliding block 212 is realized at the same time, and the movement of the guide rail 211 ensures the smoothness of the ascending or descending movement of the lead screw 210. Because the winding mechanism 1 is fixedly connected with the lifting mechanism 2 through the winding mechanism connecting frame 214, the winding mechanism 1 can ascend or descend.
As shown in fig. 7, the rotating mechanism 3 includes a motor d301, a gear c302, a fixed plate 303 and a gear d305, wherein the motor d301 is mounted on the electrical appliance casing 20, and an output shaft is connected with the gear c302, the fixed plate 303 is rotatably mounted on the electrical appliance casing 20 through a sliding bearing 304, and the gear d305 is fixedly connected with the fixed plate 303 and is meshed with the gear c 302. The fixing plate 303 is provided with a mounting hole connected with the lifting mechanism 2, and the lifting mechanism 2 is mounted on the mounting hole of the fixing plate 303.
The motor d301 drives the fixing plate 303 to rotate through the transmission of the gear c302 and the gear d305, and the sliding bearing 304 is installed on the electrical appliance box body 20 and is fixedly connected with the fixing plate 303, so that the fixing plate 303 rotates along the circumference of the electrical appliance box body 20. Because the lifting mechanism 2 and the winding mechanism 1 are fixedly connected with the fixed plate 303, the circumferential rotation of the lifting mechanism 2 and the winding mechanism 1 is realized.
The operation process of the invention is as follows:
the first step is as follows: one end of the aluminum wire is wound on the winding support frame 110, and then the aluminum wire is stroked on the wire roller 109 in sequence.
The second step is that: the robot is on line, the broken strand repairing operation mechanism walks along the power transmission line, and the robot stops walking to the position near the broken strand.
The third step: and lifting the lifting mechanism 2 to enable the circle center of the support frame 107 of the winding mechanism 1 to be positioned near the position of the circle center of the power transmission line.
The fourth step: the robot advances slowly, and simultaneously motor a101 and motor b104 drive rolling gear 108 to rotate on the inner circumference of support frame 107, drive wire roller 109 and winding frame 110 to rotate circumferentially, and then realize the winding of aluminum wire on the transmission line.
The fifth step: after the broken strands of the power transmission line are completely wound back to the line, the lifting mechanism 2 descends, the winding mechanism 1 descends to the position below the power transmission line, and the rotating mechanism 3 drives the lifting mechanism 2 and the winding mechanism 1 to continuously rotate circumferentially, so that the continuous stranding of the wires at two ends of the wire roller 109 and the winding frame 110 is realized, and the tail end of an aluminum wire is prevented from being loosened.
Claims (8)
1. The mechanism is characterized by comprising a repairing tool (10), an electric appliance box body (20), a front arm (30), a rear arm (40), a front walking device (50) and a rear walking device (60), wherein the front arm (30) and the rear arm (40) are respectively arranged at the front side and the rear side of the electric appliance box body (20), the tail ends of the front arm (30) and the rear arm (40) are respectively and rotatably connected with the front walking device (50) and the rear walking device (60), and the repairing tool (10) is arranged on the electric appliance box body (20) and is positioned between the front arm (30) and the rear arm (40);
the repairing tool (10) comprises a winding mechanism (1), a lifting mechanism (2) and a rotating mechanism (3), wherein the winding mechanism (1) is fixedly connected with the lifting mechanism (2), the lifting mechanism (1) is used for realizing the ascending or descending of the winding mechanism (1), the lifting mechanism (2) is fixedly connected with the rotating mechanism (3), and the winding mechanism (1) and the lifting mechanism (2) can rotate through the rotating mechanism (3);
winding mechanism (1) is including winding mechanism drive arrangement, support frame (107), rolling gear (108), line roller (109) and winding frame (110), and wherein support frame (107) and rolling gear (108) are the loop configuration who has the open-ended, support frame (107) with elevating system (2) are connected, rolling gear (108) set up in the inboard of support frame (107) and with support frame (107) slidable connection, winding mechanism drive arrangement install on support frame (107) and with rolling gear (108) transmission connection, winding mechanism drive arrangement drive rolling gear (108) make circumferential motion along support frame (107), line roller (109) and winding frame (110) all with rolling gear (108) link firmly.
2. The mechanism of the power transmission line broken strand repairing robot as claimed in claim 1, wherein the front walking device (50) comprises a walking wheel (501), a walking driving motor (502) and a walking wheel support frame (503), wherein the walking wheel support frame (503) is connected with the upper end of the front arm (30) through a horizontally placed passive rotating joint, the axle of the walking wheel (501) is rotatably mounted on the walking wheel support frame (503), the walking driving motor (502) is mounted on the walking wheel support frame (503), and the output shaft is fixedly connected with the axle of the walking wheel (501);
the rear running gear (60) and the front running gear (50) have the same structure.
3. The mechanism of the power transmission line strand breakage repairing robot according to claim 1, wherein the winding mechanism driving device comprises a motor a (101), a gear a (102) and a motor support a (103), the motor a (101) is mounted on the support frame (107) through the motor support a (103), an output shaft of the motor a (101) is connected with the gear a (102), and the gear a (102) is meshed with a rolling gear (108).
4. The mechanism of the power transmission line broken strand repairing robot as claimed in claim 1, wherein the number of the winding mechanism driving devices is two, through holes are formed in two sides of the supporting frame (107), and the two winding mechanism driving devices are in transmission connection with the rolling gear (108) at the through holes in the two sides of the supporting frame (107).
5. The mechanism of claim 1, wherein the lifting mechanism (2) comprises a driving device of the lifting mechanism, a lifting nut (205), a nut supporting shaft (206), a bearing seat (207), a lead screw (210), a guide rail (211), a sliding block (212), a rotating mechanism connecting frame (213), a winding mechanism connecting frame (214) and a connecting frame (215), wherein the lead screw (210) and the guide rail (211) are arranged along a vertical direction, the upper end and the lower end of the lead screw (210) are respectively and rotatably connected with the winding mechanism connecting frame (214) and the connecting frame (215), the upper end and the lower end of the guide rail (211) are respectively and fixedly connected with the winding mechanism connecting frame (214) and the connecting frame (215), the lifting nut (205) is in threaded connection with the lead screw (210) and is rotatably connected with the rotating mechanism (3), the lifting mechanism driving device is installed on the rotating mechanism (3) and is in transmission connection with the lifting nut (205), the sliding block (212) is installed on a rotating mechanism connecting frame (213) and is in sliding connection with a guide rail (211), and the rotating mechanism connecting frame (213) is connected with the rotating mechanism (3).
6. The mechanism of the power transmission line broken strand repairing robot according to claim 5, wherein the upper end of the lifting nut (205) is in transmission connection with the lifting mechanism driving device, the lower end of the lifting nut driving device is provided with a nut supporting shaft (206), the nut supporting shaft (206) is rotatably connected with a bearing seat (207) through a bearing, the bearing seat (207) is connected with the rotating mechanism (3), and a locking nut a (208) and a locking nut b (209) which are located below the lifting nut (205) are in threaded connection with the lead screw (210).
7. The mechanism of the power transmission line broken strand repairing robot according to claim 5, wherein the lifting mechanism driving device comprises a motor c (201), a first synchronous pulley (202), a second synchronous pulley (203) and a synchronous belt (204), wherein the motor c (201) is installed on the rotating mechanism (3), an output shaft of the motor c is connected with the first synchronous pulley (202), and the second synchronous pulley (203) is fixedly connected with the lifting nut (205) and is in transmission connection with the first synchronous pulley (202) through the synchronous belt (204).
8. The mechanism of the power transmission line broken strand repairing robot according to claim 1, wherein the rotating mechanism (3) comprises a motor d (301), a gear c (302), a fixing plate (303) and a gear d (305), wherein the motor d (301) is installed on the electrical appliance box body (20), an output shaft is connected with the gear c (302), the fixing plate (303) is rotatably installed on the electrical appliance box body (20) through a sliding bearing (304), the gear d (305) is fixedly connected with the fixing plate (303) and meshed with the gear c (302), and the lifting mechanism (2) is installed on a mounting hole formed in the fixing plate (303).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710311412.0A CN108808542B (en) | 2017-05-05 | 2017-05-05 | Power transmission line broken strand repairing robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311412.0A CN108808542B (en) | 2017-05-05 | 2017-05-05 | Power transmission line broken strand repairing robot mechanism |
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| CN108808542A CN108808542A (en) | 2018-11-13 |
| CN108808542B true CN108808542B (en) | 2020-01-21 |
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| CN109698475B (en) * | 2019-01-25 | 2020-03-24 | 武汉大学 | Overhead high-voltage transmission line live working robot |
| CN111128480B (en) * | 2019-11-29 | 2021-07-27 | 汪逸凡 | Cable protection layer winding robot |
| CN111181093B (en) * | 2020-03-06 | 2024-07-02 | 国机智能技术研究院有限公司 | Power transmission wire winding repair tool |
| CN111431084A (en) * | 2020-03-29 | 2020-07-17 | 南京电博机器人技术有限公司 | Conductor broken strand repairing method based on snakelike wire climbing robot |
| CN113067291B (en) * | 2021-03-01 | 2021-11-02 | 武汉大学 | Live working robot for repairing broken strand wire by wire protection strip |
| CN114204481B (en) * | 2021-12-10 | 2024-01-12 | 广西电网有限责任公司玉林供电局 | Portable automatic repairing device for broken strands of ground wire of power transmission line and using method of device |
| CN114976993B (en) * | 2022-06-28 | 2023-07-18 | 国网福建省电力有限公司福州供电公司 | Broken strand trimming mechanical arm device for overhead high-voltage transmission line and working method of broken strand trimming mechanical arm device |
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