CN108818623B - Protection antiwind of high-voltage line inspection work robot removes framework - Google Patents
Protection antiwind of high-voltage line inspection work robot removes framework Download PDFInfo
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- CN108818623B CN108818623B CN201811012003.1A CN201811012003A CN108818623B CN 108818623 B CN108818623 B CN 108818623B CN 201811012003 A CN201811012003 A CN 201811012003A CN 108818623 B CN108818623 B CN 108818623B
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- 238000007689 inspection Methods 0.000 title abstract description 8
- 238000004804 winding Methods 0.000 claims abstract description 98
- 238000010008 shearing Methods 0.000 claims abstract description 24
- 238000007789 sealing Methods 0.000 claims description 20
- 230000000087 stabilizing effect Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 3
- 241000282376 Panthera tigris Species 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 8
- 230000009194 climbing Effects 0.000 abstract description 6
- 230000005484 gravity Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000002347 injection Methods 0.000 description 12
- 239000007924 injection Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 230000001681 protective effect Effects 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 3
- 241000345998 Calamus manan Species 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 2
- 206010020772 Hypertension Diseases 0.000 description 2
- 241000727913 Parthenocissus tricuspidata Species 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 235000012950 rattan cane Nutrition 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a movable framework for protecting and preventing winding of a high-voltage line inspection robot, which structurally comprises: antiwind shearing mechanism, high tension line, shifter, driver, link, gim peg, controller, robot main part, antiwind shearing mechanism includes fixer, slope deflector, disjunctor, steady piece, air duct, cylinder, spring, regulation pole, elevator block, drives around mechanism, drive main part, and the beneficial effect of production is: under slope deflector and cutter effect, can cut off the climbing tiger of winding on high-voltage line, avoid its winding to the wheel of removal, drive around under the effect of mechanism, can effectually release the tendril of shearing, avoid piling up in the shifter, make it fall down at the action of self gravity, under the effect of jet-propelled branch pipe, can make its remaining branch and leaf clean up, avoid its winding to go into the wheel of removal, improve the mobility efficiency of wheel, improve the life-span of its use.
Description
Technical Field
The invention relates to the field of high-altitude operation robots, in particular to a protective anti-winding moving framework of a high-voltage line inspection operation robot.
Background
At present, the high-altitude operation of the high-voltage wire mainly adopts a manual mode, the method is easy to enable people to operate in a severe environment of high temperature and high altitude for a long time, and the danger is extremely high, so that the high-voltage wire works by replacing the manual work through a robot, and the danger of the high-altitude operation can be effectively avoided.
However, in rural areas or high-voltage wire overhead operation in rural areas, due to the fact that the mountain climbing tiger exists in the rural areas or the countryside, the characteristic skin of the plant is provided with the skin hole, particularly, the tendrils are arranged on the branches, are very short and are mostly branched, sticky suckers are arranged at the top ends and the sharp ends of the tendrils, the tendrils can be adsorbed on the plant to be wound and grow, the wires are easy to be wound, leaves grow out of the wound positions, when the robot moves, the leaves and the branches are easy to wind on the wheels, the robot is difficult to advance, and when the robot moves forcibly, the robot is easy to idle, so that the temperature is overhigh and the robot is damaged.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a protective anti-winding moving framework of a high-voltage wire inspection robot, which aims to solve the problems that in the current high-voltage wire overhead operation in rural areas or in the rural areas, due to the fact that the mountain-climbing tiger exists in the field or the rural areas, the characteristic skin of the plant has a skin hole, particularly, a branch has a hair, the hair is very short and is provided with branches, sticky suckers are arranged at the top end and the tip of the hair, the hair is adsorbed on the hair, wound and grown, leaves grow at the wound position, and when the robot moves, the leaves and the branches are easily wound on wheels, so that the robot is difficult to advance, and if the robot moves forcibly, the robot is easy to idle, so that the temperature is overhigh and the robot is damaged.
In order to achieve the purpose, the invention is realized by the following technical scheme: a high-voltage line patrols protection antiwind of line work robot and removes framework, its structure includes: the anti-winding shearing device comprises an anti-winding shearing device body, a high-voltage wire, a mover, a driver, a connecting frame, a fixing bolt, a controller and a robot body, wherein the high-voltage wire is embedded in the anti-winding shearing device body and is arranged on the same axis, the high-voltage wire penetrates through the mover, the driver is embedded in the mover and is fixed through a bolt, the driver is electrically connected with the robot body through a lead, the upper end of the connecting frame is embedded below the mover, the inner surface of the lower end of the connecting frame is attached to the outer surface of the robot body and is fixed through the bolt, the fixing bolt is embedded on the connecting frame, the back of the controller is attached to the front of the robot body and is electrically connected with the front of the robot body through the lead, the robot body is connected with the mover through the connecting frame, and the anti-winding shearing device body comprises a, Steady piece, air duct, cylinder, spring, regulation pole, elevator, drive around mechanism, drive main part, the upper and lower both sides of fixer are equipped with the slope deflector respectively and are the integral structure, the right-hand member nestification of slope deflector has the disjunctor, the top of disjunctor is equipped with steady piece, steady piece and slope deflector structure as an organic whole, the lower extreme nestification of air duct is in the cylinder, the lower extreme of cylinder is inlayed and is had the regulation pole and on same axis, the lower extreme nestification of spring is in the top of elevator, the surface of adjusting the pole is laminated mutually and clearance fit with the internal surface of elevator, the left end nestification of elevator is on the right side of steady piece, drive around the mechanism inlay in drive main part and set up respectively in its both sides, drive main part nestification has the elevator.
In order to optimize the technical scheme, the method further comprises the following steps:
as preferred mode, it comprises jet-propelled branch pipe, first push winding rod, second push winding rod, third push winding rod to drive around the mechanism, jet-propelled branch pipe nestification is in first push winding rod, the upper end of first push winding rod is inlayed and is had the second push winding rod, the second pushes winding rod and third push winding rod on same axis, the third pushes away nested jet-propelled branch pipe that has on the winding rod, first push winding rod, second push winding rod and third push winding rod stretch out it through the corotation of motor, can push out winding rattan outside for the first time, avoids the wheel of removal to be twined.
As the preferred mode, the air injection branch pipe comprises a sealing block, a branch pipe main body, a sealing ring, a T-shaped unidirectional block and a top spring, wherein the sealing block is nested at the lower end of the branch pipe main body, the inner surface of the branch pipe main body is attached to the outer surface of the sealing ring, the top of the middle of the sealing ring is provided with the top spring, the lower surface of the T-shaped unidirectional block is attached to the upper surface of the branch pipe main body, the upper end of the top spring is nested at the lower end of the T-shaped unidirectional block, the branch pipe main body can be inflated through an air pump, the pressure of the branch pipe main body is greater than the pressure of outside air, the branch pipe main body is pushed out, and then the air is.
Preferably, the diameter distance between the anchors is variable according to the diameter of the actual hypertension wire.
Preferably, the inclined guide plate has a shape that the left end is inclined downwards and is in a circular arc shape, and the right end is inclined upwards.
Preferably, the cutter is provided at the right end of the inclined guide plate, and the vines are gathered at the right end by the advancing action of the cutter, so that the vines of the parthenocissus tricuspidata can be effectively cut under mutual pressure.
Advantageous effects
The invention relates to a protective anti-winding moving framework of a high-voltage wire inspection robot, which is characterized in that when a robot for high-altitude operation is placed on a high-voltage wire, the distance between fixing devices is adjusted according to the diameter of the high-voltage wire, air is pumped into an air cylinder through an air pump, so that the air cylinder pushes an adjusting rod outwards under the action of air pressure difference to drive a lifting block to move, the moving distance of the fixing devices is adjusted, the high-voltage wire is embedded into the adjusting fixing devices, when the robot advances and encounters a hill climbing tiger wound around the high-voltage wire, the vines of the robot are expanded under the action of the shape of an inclined guide plate under the action of the inclined guide plate, the later-stage cutting is facilitated, the high-voltage wire can be protected from being cut, the vines are collected in a blocking manner under the action of a steady block, the cutting device cuts the vines under the action of the pressure, and a first push-winding rod is pushed, wound and, The second winding pushing rod and the third winding pushing rod are pushed outwards to push the vines out, the wheels are prevented from being wound, the air pump is used for inflating air to push the air injection branch pipe out, air is injected to blow out residual branches and leaves of the branches and avoid blockage, air is pumped out through the air pump, the pressure inside the air injection branch pipe is smaller than the external pressure under the action of the T-shaped one-way block, the branch pipe body is retracted inwards through the pressure, and the first winding pushing rod, the second winding pushing rod and the third winding pushing rod are retracted inwards through the reverse rotation of the motor to be used.
The beneficial effects are that: under slope deflector and cutter effect, can cut off the climbing tiger of winding on high-voltage line, avoid its winding to the wheel of removal, drive around under the effect of mechanism, can effectually release the tendril of shearing, avoid piling up in the shifter, make it fall down at the action of self gravity, under the effect of jet-propelled branch pipe, can make its remaining branch and leaf clean up, avoid its winding to go into the wheel of removal, improve the mobility efficiency of wheel, improve the life-span of its use.
The anti-winding shearing device comprises an anti-winding shearing device-1, a high-voltage wire-2, a mover-3, a driver-4, a connecting frame-5, a fixing bolt-6, a controller-7, a robot main body-8, a fixer-101, an inclined guide plate-102, a disconnector-103, a stable block-104, an air guide pipe-105, an air cylinder-106, a spring-107, an adjusting rod-108, a lifting block-109, a winding driving mechanism-110, a driving main body-111, an air injection branch pipe-1101, a first winding rod-1102, a second winding rod-1103, a third winding rod-1104, a sealing block-11011, a branch pipe main body-11012, a sealing ring-11013, a T-shaped unidirectional block-11014, a top spring-11015, a sealing ring-11013, a T-shaped
Drawings
Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the invention when taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a protective anti-winding mobile framework of a high-voltage line inspection robot according to the present invention.
Fig. 2 is a detailed structural schematic diagram of the anti-winding shearing device of the invention.
Fig. 3 is a detailed structural diagram of the anti-winding shearing device in a top view.
Fig. 4 is a schematic structural diagram of the anti-winding shearing device in a top-down working state.
Fig. 5 is a detailed structural diagram of the working state of the driving and winding mechanism of the invention.
FIG. 6 is a detailed structural diagram of the jet branch pipe of the present invention.
FIG. 7 is a schematic top view of the gas injection manifold of the present invention.
Description of reference numerals: the anti-winding shearing device comprises an anti-winding shearing device-1, a high-voltage wire-2, a mover-3, a driver-4, a connecting frame-5, a fixing bolt-6, a controller-7, a robot main body-8, a fixer-101, an inclined guide plate-102, a disconnector-103, a stabilizing block-104, an air guide pipe-105, an air cylinder-106, a spring-107, an adjusting rod-108, a lifting block-109, a winding driving mechanism-110, a driving main body-111, an air injection branch pipe-1101, a first winding rod-1102, a second winding rod-1103, a third winding rod-1104, a sealing block-11011, a branch pipe main body-11012, a sealing ring-11013, a T-shaped unidirectional block-11014 and a top spring-11015.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 to 7, the present invention provides a moving structure for protecting and anti-winding a high voltage line inspection robot, comprising: the structure includes: the anti-winding shearing device comprises an anti-winding shearing device 1, a high-voltage wire 2, a moving device 3, a driver 4, a connecting frame 5, a fixing bolt 6, a controller 7 and a robot main body 8, wherein the high-voltage wire 2 is nested in the anti-winding shearing device 1 and is on the same axis, the high-voltage wire 2 penetrates through the moving device 3, the driver 4 is nested in the moving device 3 and is fixed through a bolt, the driver 4 is electrically connected with the robot main body 8 through a lead, the upper end of the connecting frame 5 is nested below the moving device 3, the inner surface of the lower end of the connecting frame 5 is abutted with the outer surface of the robot main body 8 and is fixed through a bolt, the fixing bolt 6 is nested on the connecting frame 5, the back surface of the controller 7 is abutted with the front surface of the robot main body 8 and is electrically connected through a lead, the robot main body 8 is connected with the moving, the anti-winding shearing device 1 comprises a fixer 101, an inclined guide plate 102, a cutter 103, a stabilizing block 104, an air duct 105, an air cylinder 106, a spring 107, an adjusting rod 108, a lifting block 109, a driving mechanism 110 and a driving body 111, wherein the upper side and the lower side of the fixer 101 are respectively provided with the inclined guide plate 102 and are of an integrated structure, the right end of the inclined guide plate 102 is nested with the cutter 103, the stabilizing block 104 is arranged above the cutter 103, the stabilizing block 104 and the inclined guide plate 102 are of an integrated structure, the lower end of the air duct 105 is nested in the air cylinder 106, the lower end of the air cylinder 106 is nested with the adjusting rod 108 and is on the same axis, the lower end of the spring 107 is nested above the lifting block 109, the outer surface of the adjusting rod 108 is abutted with and clearance fit with the inner surface of the lifting block 109, the left end of the lifting block 109 is nested on the right side of the stabilizing block 104, the winding mechanism 110 is embedded in a driving body 111 and is respectively arranged at two sides of the driving body 111, and the lifting block 109 is embedded in the driving body 111.
Preferably, the winding mechanism 110 is composed of a jet branch pipe 1101, a first winding rod 1102, a second winding rod 1103 and a third winding rod 1104, the jet branch pipe 1101 is nested in the first winding rod 1102, the second winding rod 1103 is inlaid at the upper end of the first winding rod 1102, the second winding rod 1103 and the third winding rod 1104 are on the same axis, the jet branch pipe 1101 is nested on the third winding rod 1104, the first winding rod 1102, the second winding rod 1103 and the third winding rod 1104 are extended through forward rotation of the motor, the wound rattan can be firstly pushed out to the outside, the moving wheel is prevented from being wound, and the winding rod can be retracted for standby use under the reverse rotation of the motor.
Preferably, the gas injection branch pipe 1101 is composed of a sealing block 11011, a branch pipe main body 11012, a sealing ring 11013, a T-shaped one-way block 11014, and a top spring 11015, the sealing block 11011 is fitted to the lower end of the branch pipe main body 11012, the inner surface of the branch pipe main body 11012 is fitted to the outer surface of the sealing ring 11013, the top spring 11015 is provided above the middle of the sealing ring 11013, the lower surface of the T-shaped one-way block 11014 is fitted to the upper surface of the branch pipe main body 11012, the upper end of the top spring 11015 is fitted to the lower end of the T-shaped one-way block 11014, the branch pipe main body 11012 can be inflated by an air pump to have a pressure greater than that of the outside air to push it out, at this time, the air is injected outward to eject the remaining dry branches and crushed leaves to avoid clogging, and when the air is pumped outward to the inside thereof by the air pump, the top thereof is closed to avoid the gas from flowing inward, the internal pressure of the air compressor is smaller than the external pressure, and the air compressor is pushed back inwards by the external pressure.
Preferably, the diameter distance between the anchors 101 is changed according to the diameter of the actual hypertension wire, and the air in the cylinder 106 is pumped out by the air pump, and the adjusting rod 108 is outwardly contracted by the air pressure difference to drive the lifting block 109, thereby adjusting the diameter.
Preferably, the inclined guide plate 102 is in a shape that the left end is inclined downwards and is in an arc shape, and the right end is inclined upwards, so that the arc shape can effectively protect the high-voltage wire and prevent the high-voltage wire from being cut, and the inclination of the left end and the right end can effectively expand the vines wound on the high-voltage wire for the first time, thereby being beneficial to cutting off in the later period and preventing the high-voltage wire from being cut.
Preferably, the cutter 103 is provided at the right end of the inclined guide plate 102, and the vines are gathered at the right end by the forward movement of the cutter, so that the vines of the parthenocissus tricuspidata can be effectively cut under the mutual pressure.
Preferably, the stabilizing blocks 104 can stably collect the vines inside, facilitate the cutting of the vines, prevent the vines from winding on the moving wheels, and prevent the growing leaves from being rolled into the wheels, so as to achieve the blocking effect.
Preferably, the winding mechanism 110 is provided on both sides of the driving body 111, and is capable of pushing out the vines collected by the stabilizing block 104, and dropping out under the action of its own gravity after being pushed out, thereby preventing the vines from winding around the moving wheel.
The use principle is as follows: when the robot for high-altitude operation is placed on a high-voltage wire, the distance between the fixing devices 101 is adjusted according to the diameter of the high-voltage wire, air is pumped into the air cylinder 106 through the air pump, the air cylinder is enabled to push the adjusting rod 108 outwards under the action of air pressure difference, the lifting block 109 is driven to move, the moving distance of the fixing devices 101 is adjusted, the high-voltage wire is embedded into the adjusting fixing devices 101, when the robot advances and encounters a hill-climbing tiger wound around the high-voltage wire, the vines of the robot are expanded under the action of the shapes of the vines under the action of the inclined guide plate 102, the high-voltage wire is protected from being cut, the vines are blocked and collected under the action of the stabilizing block 104, the cutting device 103 cuts the vines off the vines, and the first push winding rod, the second push winding rod 1103 and the third push winding rod 1104 are pushed outwards through forward rotation of the motor, the vines are pushed out to avoid winding wheels, air is pumped through the air pump to push out the air injection branch pipe 1101 for air injection, residual branches and residual leaves of the vines are blown out to avoid blockage, air is pumped through the air pump to enable the air injection branch pipe to be under the action of the T-shaped one-way block 11014, the pressure inside the air injection branch pipe is smaller than the external pressure, the branch pipe main body 11012 is contracted inwards through the pressure, and the first push winding rod 1102, the second push winding rod 1103 and the third push winding rod 1104 are retracted inwards through the reverse rotation of the motor to be prepared for use.
Through the mutual combination of the components, the invention has the advantages that the climbing tiger wound on the high-voltage wire can be cut off under the action of the inclined guide plate 102 and the cutter 103, the climbing tiger is prevented from being wound on the moving wheel, the cut vines can be effectively pushed out under the action of the winding mechanism 110, the vines are prevented from being accumulated in the mover 3, the vines can be cleaned under the action of the gravity of the mover, the remaining vines can be prevented from being wound on the moving wheel under the action of the air injection branch pipe 1101, the moving efficiency of the wheel is improved, and the service life of the wheel is prolonged.
The specific embodiments described herein are merely illustrative of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims appended hereto.
Claims (3)
1. A high-voltage line patrols protection antiwind of line work robot and removes framework, its structure includes: the anti-winding shearing device comprises an anti-winding shearing device (1), a high-voltage wire (2), a moving device (3), a driver (4), a connecting frame (5), a fixing bolt (6), a controller (7) and a robot main body (8), wherein the high-voltage wire (2) is nested in the anti-winding shearing device (1) and is arranged on the same axis, the high-voltage wire (2) penetrates through the moving device (3), the driver (4) is nested in the moving device (3), the driver (4) is electrically connected with the robot main body (8) through a lead, the anti-winding shearing device (1) comprises a fixer (101), inclined guide plates (102), a cutter (103) and a stabilizing block (104), the upper side and the lower side of the fixer (101) are respectively provided with the inclined guide plates (102), the right end of each inclined guide plate (102) is nested with the cutter (103), and the stabilizing block (104) is arranged above the cutter (103), the method is characterized in that: the mover (3) and the driver (4) are fixed through bolts, the upper end of the connecting frame (5) is nested below the mover (3), the inner surface of the lower end of the connecting frame (5) is attached to the outer surface of the robot main body (8) and fixed through the bolts, the fixing bolt (6) is nested on the connecting frame (5), the back surface of the controller (7) is attached to the front surface of the robot main body (8) and electrically connected through a lead, and the robot main body (8) is connected with the mover (3) through the connecting frame (5); the anti-winding shearing device (1) further comprises an air guide pipe (105), an air cylinder (106), a spring (107), an adjusting rod (108), a lifting block (109), a driving and winding mechanism (110) and a driving main body (111); the fixer (101) and the inclined guide plate (102) are of an integrated structure, the stabilizing block (104) and the inclined guide plate (102) are of an integrated structure, the lower end of the air guide pipe (105) is nested in the air cylinder (106), the lower end of the air cylinder (106) is embedded with the adjusting rod (108) and is on the same axis, the lower end of the spring (107) is nested above the lifting block (109), the outer surface of the adjusting rod (108) is attached to the inner surface of the lifting block (109) in a clearance fit mode, the left end of the lifting block (109) is nested on the right side of the stabilizing block (104), the driving winding mechanism (110) is embedded in the driving body (111) and is respectively arranged on two sides of the driving body, and the lifting block (109) is nested in the driving body (111).
2. The moving framework for protecting the high-voltage wire patrol robot from being wound according to the claim 1, wherein the moving framework comprises: the winding mechanism (110) is composed of a branch jet pipe (1101), a first winding pushing rod (1102), a second winding pushing rod (1103) and a third winding pushing rod (1104), the branch jet pipe (1101) is nested in the first winding pushing rod (1102), the second winding pushing rod (1103) is inlaid at the upper end of the first winding pushing rod (1102), the second winding pushing rod (1103) and the third winding pushing rod (1104) are on the same axis, and the branch jet pipe (1101) is nested on the third winding pushing rod (1104).
3. The moving framework for protecting the high-voltage wire patrol robot from being wound according to the claim 2, wherein the moving framework comprises: the jet branch pipe (1101) is composed of a sealing block (11011), a branch pipe main body (11012), a sealing ring (11013), a T-shaped one-way block (11014) and a top spring (11015), wherein the sealing block (11011) is nested at the lower end of the branch pipe main body (11012), the inner surface of the branch pipe main body (11012) is attached to the outer surface of the sealing ring (11013), the top spring (11015) is arranged above the middle of the sealing ring (11013), the lower surface of the T-shaped one-way block (11014) is attached to the upper surface of the branch pipe main body (11012), and the upper end of the top spring (11015) is nested at the lower end of the T-shaped one-way block (11014).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811012003.1A CN108818623B (en) | 2018-08-31 | 2018-08-31 | Protection antiwind of high-voltage line inspection work robot removes framework |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811012003.1A CN108818623B (en) | 2018-08-31 | 2018-08-31 | Protection antiwind of high-voltage line inspection work robot removes framework |
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| CN108818623B true CN108818623B (en) | 2020-08-04 |
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| CN106410668A (en) * | 2016-10-20 | 2017-02-15 | 国网新疆电力公司吐鲁番供电公司 | High-altitude line foreign matter removing device |
| CN107317256A (en) * | 2017-07-17 | 2017-11-03 | 国网浙江省电力公司台州供电公司 | A kind of inspection robot of wire using in transmission line of electricity as passage |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202134876U (en) * | 2011-07-19 | 2012-02-01 | 马雪松 | Cable deicer |
| RU2565068C1 (en) * | 2014-04-03 | 2015-10-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Приамурский государственный университет имени Шолом-Алейхема" (ФГБОУ ВПО "ПГУ им. Шолом-Алейхема") | Deicing device for overhead line wire |
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|---|---|
| CN108818623A (en) | 2018-11-16 |
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