CN108879497A - A kind of overhead transmission line grounded-line studies for a second time courses one has flunked device and method for repairing and mending - Google Patents

A kind of overhead transmission line grounded-line studies for a second time courses one has flunked device and method for repairing and mending Download PDF

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Publication number
CN108879497A
CN108879497A CN201810797973.0A CN201810797973A CN108879497A CN 108879497 A CN108879497 A CN 108879497A CN 201810797973 A CN201810797973 A CN 201810797973A CN 108879497 A CN108879497 A CN 108879497A
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China
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line
grounded
winding
flunked
driving wheel
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CN201810797973.0A
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沈彦南
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沈彦南
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Priority to CN201810797973.0A priority Critical patent/CN108879497A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/16Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for repairing insulation or armouring of cables

Abstract

The invention discloses a kind of overhead transmission line grounded-lines to study for a second time courses one has flunked device and method for repairing and mending, including winding element, moving assembly and obstacle avoid component:Winding element include two can opposite screw winding disc, winding disc is equipped with the opening that can stick into grounded-line and cooperates the winding hole of grounded-line, and winding hole is externally provided with the portable hole that cooperation carries preformed armor rods;Moving assembly includes driving wheel, and the side of driving wheel is equipped with the concave card slot of cooperation grounded-line, for movement of the device in grounded-line;Obstacle evacuation component can make winding element far from grounded-line.Benefit of the invention is that the carrying and winding of pre-wire can be completed, the stranded auto-mending of grounded-line is completed, improves the efficiency of the stranded repairing of grounded-line;Can livewire work, reduce have a power failure maintenance loss;Operation safety, it is high-efficient;Tensioning wheel tensioning grounded-line cooperation driving wheel is completed to study for a second time courses one has flunked the climbing of device, improves the service ability of device.

Description

A kind of overhead transmission line grounded-line studies for a second time courses one has flunked device and method for repairing and mending
Technical field
The present invention relates to electric wire maintenance technique field, especially a kind of overhead transmission line grounded-line studies for a second time courses one has flunked device and repairing Method.
Background technique
The damaged, stranded of grounded-line is the common line accident of ultra-high-tension power transmission line.According to《Overhead transmission line grounded-line Study for a second time courses one has flunked directive/guide》(People's Republic of China (PRC) power industry standard DL/T1069-2016), now repair grounded-line generally use be Pre-twisted wire repairing strip, pre-twisted wire repairing strip there is safety, it is beautiful the advantages that.But disadvantage is also evident from, pre-twisted wire repairing Item needs to install one by one when installation, and the winding direction of repair strip requires strictly, and repair strip length is longer, and operation Personnel generally use the enterprising row conductor repairing of rope ladder, and scope of activities is small, mobile inconvenient, cause to repair conducting wire difficulty.And it needs Power failure outlet operation causes strong influence to the operation of power circuit.
For example, Authorization Notice No. is CN105932601B in Chinese patent literature, authorized announcement date is on January 12nd, 2018 The patent of invention of disclosed entitled " disconnected strand of overhead grounding wire method for repairing and mending ", this application discloses disconnected strand of overhead grounding wire repairing sides Method, belongs to aerial earth wire recovery technique field, this method include operating personnel climb with transmission rope to head of mast unlock it is aerial Ground wire wire clamp, aerial earth wire is disassembled, and landing is moved down and is placed at the cross-arm below aerial earth wire;Operation on shaft tower Aerial earth wire is drop at ipsilateral conducting wire by personnel by cross-arm, and with the connection gold utensil being connected on cross-arm by aerial earth wire Suspension is secured;Bar the tower operator and on-line operation personnel cooperate the on-line operation thereafter by hanging ladder pulley suspension on conducting wire Personnel take hanging ladder coaster and slide to progress repairing work at disconnected strand of overhead grounding wire with ground controller's cooperation, during which dough figurine Member, which controls aerial earth wire and conducting wire with rope, to be made to keep operation distance appropriate between the two.The disconnected strand of overhead grounding wire method for repairing and mending is suitable With any complicated external environment, the repairing used time can be shortened, recruitment is reduced, reduce labor intensity.Disadvantage is that needing Power failure operation, it is inconvenient that old electric wire personnel are repaired.
Therefore, it designs a kind of overhead transmission line grounded-line and studies for a second time courses one has flunked device and method for repairing and mending to improve the maintenance of grounded-line effect Rate is just necessary.
Summary of the invention
The present invention will overcome the shortcomings of that existing earth wire repair needs artificial outlet, provide a kind of overhead transmission line and lead Ground wire studies for a second time courses one has flunked device and method for repairing and mending, can substitute artificial outlet, realizes the repairing of the automatic preformed armor rods of electrification of damaged grounded-line Work, improves safety and the maintenance efficiency of earth wire repair.
To achieve the goals above, the present invention adopts the following technical scheme that.
A kind of overhead transmission line grounded-line studies for a second time courses one has flunked device, including winding element, moving assembly and obstacle avoid component:It twines Around component include two can opposite screw winding disc, winding disc is equipped with the opening that can stick into grounded-line and cooperation grounded-line Winding hole, winding hole be externally provided with cooperation carry preformed armor rods portable hole;Moving assembly includes driving wheel, and the side of driving wheel is set There is the concave card slot of cooperation grounded-line, for movement of the device in grounded-line;Obstacle evacuation component can make winding element separate Grounded-line.
Preferably, winding pedestal is respectively equipped with outside two winding discs, and the opposite winding pedestal rotatable movement of winding disc, two A winding pedestal can be relatively moved along the direction of parallel grounded-line.
Preferably, the downside of driving wheel is equipped with the tensioning apparatus that can increase driving wheel pressure.It improves driving wheel and leads ground The tensile force of line enables devices to reply gradient conducting wire, can climb and complete studying for a second time courses one has flunked for different height grounded-line.
Preferably, tensioning apparatus includes the tensioning frame of V-arrangement, the both ends on the upside of tensioning frame are respectively equipped with tensioning wheel, tensioning The lower end of frame is equipped with rotation worm gear, and the downside for rotating worm gear is equipped with the rotary worm of cooperation rotation worm gear.
Preferably, opening is located at the side in winding hole, the height of opening is equal with the winding diameter in hole.
Preferably, portable hole is uniformly distributed using winding hole as the center of circle on winding disc.
Preferably, the downside of winding element is equipped with bottom plate, moving assembly is located at the two sides of bottom plate, the downside of winding element Equipped with transverse slider, bottom plate is equipped with the lateral push rod that the parallel grounded-line of transverse slider can be pushed mobile.
Preferably, winding pedestal also is provided with the opening of cooperation grounded-line, winding pedestal is " C " font, and winding disc is located at The inside of pedestal is wound, winding disc includes the wrapped sheets that preformed armor rods are arranged and the fixed ring positioned at wrapped sheets side, winds hole location In in wrapped sheets, winding disc is also " C " font, and the outer ring surface of fixed ring is coplanar with wrapped sheets lateral surface, the outside of fixed ring with Wind the medial surface fitting of pedestal.
Preferably, obstacle evacuation component is located on transverse slider, obstacle evacuation component includes can be in vertical grounded-line side To mobile longitudinal leadscrew slide block mechanism, longitudinal leadscrew slide block mechanism includes longitudinal leadscrew and longitudinal sliding block, and winding element is fixed On longitudinal sliding block.
Preferably, the inside of fixed ring is equipped with the band driving wheel that winding disc can be driven to rotate, side and fixation with driving wheel Face contact on the inside of ring.
Preferably, with intermeshing driving cog is equipped between driving wheel and fixed ring.
Preferably, being connected with drive turbin generator with driving wheel, the two sides for winding pedestal are equipped with limitation winding disk axis side To mobile baffle, turbin generator is driven to be fixed on baffle.
Preferably, be equipped with three with driving wheel, one of them is located at winding disc far from the side being open with driving wheel, in addition two On a vertical axis for being located at winding disc with driving wheel.
A kind of method for repairing and mending for being studied for a second time courses one has flunked device based on above-mentioned overhead transmission line grounded-line, is included the following steps:
A, pre-twisted wire repairing strip is carried:The corresponding portable hole of two winding discs carries preformed armor rods, and preformed armor rods are horizontal in winding hole It is arranged in parallel;
B, obstacle is walked and avoided in grounded-line:Driving wheel is suspended in grounded-line by concave card slot and grounded-line cooperation, Driving motor drives driving wheel to walk in grounded-line, and obstacle evacuation component makes winding element far from grounded-line, completes obstacle and keeps away It allows;
C, pre-twisted wire repairing strip is wound:Grounded-line pierces into the opening of winding element and reaches the centre of gyration position of winding disc, and two A winding disc does opposite screw, when two winding discs spacing be more than pre-twisted wire repairing strip length after, preformed armor rods with twine Around disk detachment, preformed armor rods are completely wound around in grounded-line.
The invention has the beneficial effects that:
1, the carrying and winding of pre-wire can be completed, the stranded auto-mending of grounded-line is completed, improves the stranded repairing of grounded-line Efficiency;
2, can livewire work, reduce have a power failure maintenance loss;
3, the carrying of pre-wire and the repairing of grounded-line can be completed close to grounded-line without personnel, operation safety is high-efficient;
4, tensioning wheel tensioning grounded-line cooperation driving wheel is completed to study for a second time courses one has flunked the climbing of device, improves the service ability of device.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of obstacle evacuation component in the present invention.
Fig. 3 is the structural schematic diagram of winding element in the present invention.
Fig. 4 is the internal view of winding element of the present invention.
In figure:12 bracket of moving assembly 1 driving wheel, 11 driving motor, 13 winding element 2 winds pedestal 21 211 winding disc of interconnecting piece, 22 wrapped sheets, 221 fixed ring 222,223 portable holes 224 of opening wind 225 band of hole Driving wheel 23 drives 24 baffle of turbin generator, 25 obstacle evacuation 3 transverse slider of component, 31 mounting groove 311 to slide laterally 35 bottom plate of hole 312 radiating groove, 313 longitudinal leadscrew motor, 32 longitudinal leadscrew, 33 longitudinal sliding block, 34 longitudinally guiding bar 41 5 tensioning frame of lateral push rod 42 slide unit bracket, 43 laterally steering bar, 44 tensioning apparatus, 51 tensioning wheel 52 rotates 53 rotary worm 54 of worm gear.
Specific embodiment
The present invention is described further in the following with reference to the drawings and specific embodiments.
In Fig. 1, Fig. 2 and Fig. 3, a kind of overhead transmission line grounded-line studies for a second time courses one has flunked device, including winding element 2, moving assembly 1 Component 3 is avoided with obstacle:Winding element 2 include two can opposite screw winding disc 22, outside two winding discs 22 respectively Equipped with winding pedestal 21, opposite winding 21 rotatable movement of pedestal of winding disc 22, two winding pedestals 21 can be along parallel grounded-line Direction relative movement.
Winding disc 22 is equipped with the winding hole 225 of the opening 223 that can stick into grounded-line and cooperation grounded-line, winds pedestal 21 Opening 223 equipped with cooperation grounded-line, opening 223 are located at the side in winding hole 225, be open 223 height and winding hole 225 Diameter is equal.Winding pedestal 21 is " C " font, and the downside of winding pedestal 21 is equipped with the interconnecting piece 211 of cuboid.Winding disc 22 In the inside of winding pedestal 21, winding disc 22 includes the wrapped sheets 221 of setting preformed armor rods and the fixation positioned at 221 side of wrapped sheets Ring 222, winding hole 225 are located in wrapped sheets 221, and winding disc 22 is also " C " font, the outer ring surface and wrapped sheets of fixed ring 222 221 lateral surfaces are coplanar, and the outside of fixed ring 222 is bonded with the medial surface of winding pedestal 21.The inside of fixed ring 222 is equipped with energy band The band driving wheel 23 that dynamic winding disc 22 rotates, the side with driving wheel 23 and 222 inside face contact of fixed ring.Band driving wheel 23 and frictional disk It is driven by frictional force.Band driving wheel 23, which is connected with, drives turbin generator 24, and the two sides of winding pedestal 21 are equipped with limitation winding disc 22 The mobile baffle 25 of axis direction, drives turbin generator 24 to be fixed on baffle 25.It is one of to drive there are three band driving wheel 23 is set Wheel 23 is located at side of the winding disc 22 far from opening 223, other two is located on the vertical axis of winding disc 22 with driving wheel 23.
Winding hole 225 is externally provided with the portable hole 224 that cooperation carries preformed armor rods;Portable hole 224 is on winding disc 22 with winding Hole 225 is uniformly distributed for the center of circle.
Moving assembly 1 includes driving wheel 11, and the side of driving wheel 11 is equipped with the concave card slot of cooperation grounded-line, is used for device Movement in grounded-line;The downside of driving wheel 11 is equipped with the tensioning apparatus 5 that can increase 11 pressure of driving wheel.Improve driving wheel 11 With the tensile force of grounded-line, reply gradient conducting wire is enabled devices to, can climb and complete studying for a second time courses one has flunked for different height grounded-line.Tensioning Device 5 includes the tensioning frame 51 of V-arrangement, and the both ends of 51 upside of tensioning frame are respectively equipped with tensioning wheel 52, and the lower end of tensioning frame 51 is equipped with Worm gear 53 is rotated, rotation worm gear 53 is hinged on the side of bracket 13.The downside for rotating worm gear 53 is equipped with cooperation rotation worm gear 53 Rotary worm 54, one end of rotary worm 54 are equipped with the motor for being fixed on 13 side of bracket, are driven and rotated by rotary worm 54 The rotation of worm gear 53 can make tensioning wheel 52 be bonded simultaneously compaction driving wheel 11 with grounded-line, complete climbing.
The downside of winding element 2 is equipped with bottom plate 41, and moving assembly 1 is located at the two sides of bottom plate 41, and the downside of winding element 2 is set There is transverse slider 31, bottom plate 41 is equipped with the lateral push rod 42 that the parallel grounded-line of transverse slider 31 can be pushed mobile.Lateral push rod 42 two sides are equipped with laterally steering bar 44, and the both ends of laterally steering bar 44 are equipped with slide unit bracket 43, slide unit bracket 43 and bottom plate 41 It is fixed.The side of transverse slider 31 and lateral push rod 42 are fixed, and the downside of transverse slider 31 is equipped with to be cooperated with laterally steering bar 44 Slide laterally hole 312, slide laterally between hole 312 be equipped with radiating groove 313.Obstacle evacuation component 3 can make winding element 2 separate Grounded-line.Obstacle evacuation component 3 is located on transverse slider 31, and obstacle evacuation component 3 includes can be mobile in vertical grounded-line direction 33 slide block mechanism of longitudinal leadscrew, transverse slider 31 is equipped with rectangular mounting groove 311, and 33 slide block mechanism of longitudinal leadscrew is located at In mounting groove 311,33 slide block mechanism of longitudinal leadscrew includes longitudinal leadscrew 33 and longitudinal sliding block 34, and the two sides of longitudinal leadscrew 33 are equipped with Longitudinally guiding bar 35, longitudinal leadscrew 33 are connected with 33 motor 32 of longitudinal leadscrew, and winding element 2 is fixed on longitudinal sliding block 34, even Socket part 211 is connect with 34 screw of longitudinal sliding block.
Fig. 4 is the cross-sectional view of winding element 2 employed in the application another kind embodiment, Fig. 4 and implementation shown in Fig. 3 The difference of example is that intermeshing driving cog is equipped between band driving wheel 23 and fixed ring 222.It is driven by driving cog, winding disc 22 Slow-roll stabilization.
A kind of method for repairing and mending for being studied for a second time courses one has flunked device based on above-mentioned overhead transmission line grounded-line, is included the following steps:
A, pre-twisted wire repairing strip is carried:Two corresponding portable holes 224 of winding disc 22 carry preformed armor rods, and preformed armor rods are in winding hole Horizontal parallel is arranged in 225;
B, obstacle is walked and avoided in grounded-line:Driving wheel 11 is suspended on grounded-line by concave card slot and grounded-line cooperation On, driving motor 12 drives driving wheel 11 to walk in grounded-line, and obstacle evacuation component 3 makes winding element 2 far from grounded-line, complete It is avoided at obstacle;
C, pre-twisted wire repairing strip is wound:Grounded-line pierces into the opening 223 of winding element 2 and reaches the centre of gyration position of winding disc 22 It sets, two winding discs 22 do opposite screw, after the spacing of two winding discs 22 is more than the length of pre-twisted wire repairing strip, in advance Hank knotting and winding disc 22 are detached from, and preformed armor rods are completely wound around in grounded-line, realize earth wire repair.
By lateral push rod 42, longitudinal leadscrew motor 32 and turbin generator 24 is driven to drive, make two obstacles evacuation components 3, Two winding elements 2 and two winding discs 22 reach position as shown in figure.One group of pre-twisted wire repairing strip is worn by root, in parallel The portable hole 224 of the intermediate annular distribution of two winding discs 22 is crossed, pre-twisted wire repairing strip two sides are concordant, and preformed armor rods both ends are with respect to two The extension elongation of a winding disc 22 is consistent.
It drives driving wheel 11 to rotate by four driving motors 12, device is made to walk along grounded-line.It is vertical by two simultaneously Longitudinal sliding block 34 is driven to spindle motor 32, is located at two winding elements 2 on the outside of grounded-line, realizes the evacuation in walking process Obstacle.Device walking is driven to behind designated position by two longitudinal leadscrew motors 32, makes two winding elements 2 along vertically leading The direction of ground wire is close, enters grounded-line in winding hole 225 from the opening 223 of winding element 2 and reaches winding element 2 Centre of gyration position.It drives friction pulley 23 to rotate by driving friction turbin generator 24, makees two winding discs 22 relatively reversed same Speed rotation, while by driving lateral push rod 42 that two longitudinal slide unit components 3 is driven to make " back-to-back " synchronous translational, finally make two A winding disc 22 makees the screw of " back-to-back ", is distributed small through hole by the intermediate annular of two positioning disks, constrains dress in advance One group of good pre-twisted wire repairing strip makees the screw of " back-to-back ", and pre-twisted wire repairing strip is wrapped in grounded-line immediately.When two The spacing of a winding disc 22 is more than pre-twisted wire repairing strip and the disengaging of winding disc 22 after the length of pre-twisted wire repairing strip, preformed armor rods benefit It repairs item to be completely wound around in grounded-line, realizes earth wire repair.

Claims (10)

1. a kind of overhead transmission line grounded-line studies for a second time courses one has flunked device, characterized in that avoided including winding element, moving assembly and obstacle Component;
The winding element include two can opposite screw winding disc, winding disc be equipped with the opening that can stick into grounded-line and Cooperate the winding hole of grounded-line, winding hole is externally provided with the portable hole that cooperation carries preformed armor rods;
The moving assembly includes driving wheel, and the side of driving wheel is equipped with the concave card slot of cooperation grounded-line, is leading for device Movement on ground wire;
The obstacle evacuation component can make winding element far from grounded-line.
2. a kind of overhead transmission line grounded-line according to claim 1 studies for a second time courses one has flunked device, characterized in that two windings Winding pedestal is respectively equipped with outside disk, the opposite winding pedestal rotatable movement of winding disc, two winding pedestals can be along parallel grounded-line Direction relative movement.
3. a kind of overhead transmission line grounded-line according to claim 1 studies for a second time courses one has flunked device, characterized in that the driving wheel Downside is equipped with the tensioning apparatus that can increase driving wheel pressure.
4. a kind of overhead transmission line grounded-line according to claim 3 studies for a second time courses one has flunked device, characterized in that the tensioning apparatus Tensioning frame including V-arrangement, the both ends on the upside of tensioning frame are respectively equipped with tensioning wheel, and the lower end of tensioning frame is equipped with rotation worm gear, rotation The downside of worm gear is equipped with the rotary worm of cooperation rotation worm gear.
5. a kind of overhead transmission line grounded-line according to claim 1 studies for a second time courses one has flunked device, characterized in that the winding element Downside be equipped with bottom plate, moving assembly is located at the two sides of bottom plate, and the downside of winding element is equipped with transverse slider, and bottom plate is equipped with can The lateral push rod for pushing the parallel grounded-line of transverse slider mobile.
6. a kind of overhead transmission line grounded-line according to claim 1 studies for a second time courses one has flunked device, characterized in that the winding pedestal It also is provided with the opening of cooperation grounded-line, winding pedestal is " C " font, and winding disc is located at the inside of winding pedestal, and winding disc includes The wrapped sheets of preformed armor rods and the fixed ring positioned at wrapped sheets side are set, and winding hole is located in wrapped sheets, and winding disc is also " C " word The outer ring surface of shape, fixed ring is coplanar with wrapped sheets lateral surface, and the outside of fixed ring is bonded with the medial surface of winding pedestal.
7. a kind of overhead transmission line grounded-line according to claim 5 studies for a second time courses one has flunked device, characterized in that the obstacle evacuation Component is located on transverse slider, and obstacle evacuation component includes longitudinal leadscrew slide block mechanism that can be mobile in vertical grounded-line direction, Longitudinal leadscrew slide block mechanism includes longitudinal leadscrew and longitudinal sliding block, and winding element is fixed on longitudinal sliding block.
8. a kind of overhead transmission line grounded-line according to claim 1 studies for a second time courses one has flunked device, characterized in that the fixed ring Inside is equipped with the band driving wheel that winding disc can be driven to rotate, face contact on the inside of the side with driving wheel and fixed ring.
9. a kind of overhead transmission line grounded-line according to claim 8 studies for a second time courses one has flunked device, characterized in that the band driving wheel with Intermeshing driving cog is equipped between fixed ring.
10. a kind of overhead transmission line grounded-line based on the claims 1 to 9 studies for a second time courses one has flunked the method for repairing and mending of device, including with Lower step:
A, pre-twisted wire repairing strip is carried:The corresponding portable hole of two winding discs carries preformed armor rods, and preformed armor rods are horizontal in winding hole It is arranged in parallel;
B, obstacle is walked and avoided in grounded-line:Driving wheel is suspended in grounded-line by concave card slot and grounded-line cooperation, Driving motor drives driving wheel to walk in grounded-line, and obstacle evacuation component makes winding element far from grounded-line, completes obstacle and keeps away It allows;
C, pre-twisted wire repairing strip is wound:Grounded-line pierces into the opening of winding element and reaches the centre of gyration position of winding disc, and two A winding disc does opposite screw, when two winding discs spacing be more than pre-twisted wire repairing strip length after, preformed armor rods with twine Around disk detachment, preformed armor rods are completely wound around in grounded-line.
CN201810797973.0A 2018-07-19 2018-07-19 A kind of overhead transmission line grounded-line studies for a second time courses one has flunked device and method for repairing and mending Pending CN108879497A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109659857A (en) * 2018-12-26 2019-04-19 福建(泉州)哈工大工程技术研究院 Wrapping wire method based on robot at preformed armor rods repairing broken strand of power transmission line
CN110265917A (en) * 2019-06-24 2019-09-20 赵吉有 A kind of cable fast repair device
CN112186622A (en) * 2020-09-11 2021-01-05 国网山东省电力公司建设公司 Automatic winding device for preformed armor rods of electric transmission line conducting wires
CN113067291A (en) * 2021-03-01 2021-07-02 武汉大学 Live working robot for repairing broken strand wire by wire protection strip

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CN204012503U (en) * 2014-06-07 2014-12-10 国家电网公司 A kind of power circuit steel reinforced aluminium conductor patcher
CN106025922A (en) * 2016-07-07 2016-10-12 南昌大学 Robot for inspection of overhead high-voltage power transmission line
CN107017585A (en) * 2016-01-28 2017-08-04 中国科学院沈阳自动化研究所 A kind of broken strand of power transmission line smoothes out with the fingers return device
CN107196235A (en) * 2017-07-20 2017-09-22 长沙理工大学 Transmission line wire repairing Winder, robot and conducting wire mending operational method
CN108075396A (en) * 2016-11-14 2018-05-25 沈彦南 A kind of charged auto-mending robot of grounded-line

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204012503U (en) * 2014-06-07 2014-12-10 国家电网公司 A kind of power circuit steel reinforced aluminium conductor patcher
CN107017585A (en) * 2016-01-28 2017-08-04 中国科学院沈阳自动化研究所 A kind of broken strand of power transmission line smoothes out with the fingers return device
CN106025922A (en) * 2016-07-07 2016-10-12 南昌大学 Robot for inspection of overhead high-voltage power transmission line
CN108075396A (en) * 2016-11-14 2018-05-25 沈彦南 A kind of charged auto-mending robot of grounded-line
CN107196235A (en) * 2017-07-20 2017-09-22 长沙理工大学 Transmission line wire repairing Winder, robot and conducting wire mending operational method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109659857A (en) * 2018-12-26 2019-04-19 福建(泉州)哈工大工程技术研究院 Wrapping wire method based on robot at preformed armor rods repairing broken strand of power transmission line
CN110265917A (en) * 2019-06-24 2019-09-20 赵吉有 A kind of cable fast repair device
CN112186622A (en) * 2020-09-11 2021-01-05 国网山东省电力公司建设公司 Automatic winding device for preformed armor rods of electric transmission line conducting wires
CN113067291A (en) * 2021-03-01 2021-07-02 武汉大学 Live working robot for repairing broken strand wire by wire protection strip
CN113067291B (en) * 2021-03-01 2021-11-02 武汉大学 Live working robot for repairing broken strand wire by wire protection strip

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Application publication date: 20181123