CN109659891B - Deicing mechanism with position self-adaptive adjustment function and self-adaptive adjustment method thereof - Google Patents
Deicing mechanism with position self-adaptive adjustment function and self-adaptive adjustment method thereof Download PDFInfo
- Publication number
- CN109659891B CN109659891B CN201811537857.1A CN201811537857A CN109659891B CN 109659891 B CN109659891 B CN 109659891B CN 201811537857 A CN201811537857 A CN 201811537857A CN 109659891 B CN109659891 B CN 109659891B
- Authority
- CN
- China
- Prior art keywords
- module
- deicing
- sliding block
- overhead line
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000003044 adaptive effect Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000010410 layer Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011247 coating layer Substances 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
Abstract
The invention discloses a deicing mechanism with a position self-adaptive adjustment function and a self-adaptive adjustment method thereof, and the deicing mechanism comprises a main body frame, an infrared ranging module, a control adjustment module, a screw rod sliding block module and a deicing module, wherein the infrared ranging module, the control adjustment module, the screw rod sliding block module and the deicing module are all arranged on the main body frame, the main body frame is of a T-shaped structure, the infrared ranging module comprises a first sensor and a second sensor, the first sensor is arranged at the front end of a top plate of the main body frame, and the second sensor is arranged on the same horizontal plane of the axis of a knocking motor of the deicing module; the control and regulation module is arranged at the middle end of the top plate of the main body frame; according to the technical scheme, the knocking deicing module can adaptively adjust the position, so that the deicing of the overhead lines with different diameters can be realized, the problem that an ice layer cannot be knocked in the process that the overhead line climbs down a slope and the T-shaped rotating rod is blocked by the overhead line or the thick ice layer is solved, and the deicing efficiency can be effectively improved.
Description
Technical Field
The invention relates to the field of deicing robots, in particular to a deicing mechanism with a position self-adaptive adjustment function and a self-adaptive adjustment method thereof.
Background
The winter icing of high voltage overhead transmission lines and overhead lightning conductors seriously threatens the safe and stable operation of the power system. Since the ice disaster of the south electric network in 2008, various large-scale ice melting devices and deicing robots are layered endlessly. The existing deicing method mainly comprises thermal deicing and mechanical deicing, and through a large number of demonstration, the mechanical deicing method has the advantages of lower cost, higher efficiency and the like compared with the thermal deicing method.
At present, the mechanical deicing device has the defects that the hoisting incoming line is complicated, the position of the deicing mechanism cutter head cannot be automatically adjusted to adapt to overhead lines with different diameters, and the like, and the mechanical deicing device can only be disassembled and adjusted before the machine works, so that the operation is more complicated. On the other hand, there is little research on the way in which a mechanical deicing device is subjected to locked-rotor.
Disclosure of Invention
In view of the above, in order to solve the problems in the prior art, the invention provides a deicing mechanism with a position self-adaptive adjustment function and a self-adaptive adjustment method thereof, which can be used for deicing overhead lines with different diameters, solve the problems that the deicing structure cannot strike an ice layer during climbing and descending of the overhead line and the T-shaped rotating rod is blocked by the overhead line or thick ice, and effectively improve deicing efficiency.
In order to achieve the above object, the technical scheme of the present invention is as follows.
The overhead line deicing mechanism with the position self-adaptive adjustment function comprises a main body frame, an infrared ranging module, a control adjusting module, a screw rod sliding block module and a deicing module, wherein the infrared ranging module, the control adjusting module, the screw rod sliding block module and the deicing module are all arranged on the main body frame and are connected through wires to transmit information; the main body frame is of a T-shaped structure, the infrared ranging module comprises a first sensor and a second sensor, the first sensor is arranged at the front end of a top plate of the main body frame, and the second sensor is arranged on a sliding block of the screw rod sliding block module and is in the same horizontal plane with the axis of a knocking motor of the deicing module; the control and regulation module is arranged at the middle end of the top plate of the main body frame and comprises an analog-digital signal converter, a PLC controller and a stepping motor driver.
Further, the screw rod sliding block module comprises a sliding block, a stepping motor and a screw rod, wherein the screw rod penetrates through the sliding block and is connected with the stepping motor, and the sliding block controls the screw rod to rotate left and right and move up and down through the stepping motor.
Further, the deicing module comprises a knocking motor and a T-shaped rotating rod, the knocking motor is arranged on the sliding block, is connected with the T-shaped rotating rod and drives the T-shaped rotating rod to rotate, and the radius R of a rotating arm of the T-shaped rotating rod is 15cm;
an adaptive adjustment method of a deicing mechanism with a position adaptive adjustment function comprises the following steps:
step 1, the first sensor detects that the distance between the vertical horizontal plane direction and the overhead line is X 1 The second sensor detects that the distance between the vertical horizontal plane direction and the overhead line is X 2 The method comprises the steps of carrying out a first treatment on the surface of the X when overhead line is level 1 H is the vertical distance from the upper end plate of the main frame to the horizontal overhead line, and when the hammer head of the T-shaped rotating rod (D2) just can knock the overhead line to deice, X 2 ＝R；
Step 2, analog signals measured by the first sensor and the second sensor are transmitted to a control and regulation module to be subjected to analog-digital signal conversion, and the moving direction and distance of the sliding block and the deicing module are obtained through calculation of a PLC;
and step 3, obtaining the pulse number output to the stepping motor driver by the PLC by combining the data obtained in the step 2 with the parameters of the stepping motor, namely the number of steps that the stepping motor should operate.
Further, the calculation method in the step 2 is as follows:
wherein DeltaX is 1 Is the vertical distance DeltaX between the overhead line when being tilted up and the straight line where the first sensor is located when the overhead line is horizontal 2 The distance between the hammer head of the current T-shaped rotating rod and the overhead line is the distance that the deicing module and the sliding block should move; when DeltaX 2 When=0, the stepper motor driver controls the stepper motor to be inoperative; when DeltaX 2 When the temperature is more than 0, the stepping motor rotates forwards, and the sliding block drives the deicing mechanism to move upwards; when DeltaX 2 When the speed is less than 0, the stepping motor reversely rotates, and the sliding block drives the deicing mechanism to move downwards.
Further, the calculation method in the step 3 is as follows:
wherein N is the number of steps that the stepper motor should run, d is the lead of the screw rod, θ is the step angle of the stepper motor, and N is the fine fraction of the stepper motor.
Further, the adaptive adjustment method comprises two stages:
stage 1: before the deicing machine is put on the overhead line, a sliding block for fixing the deicing mechanism is positioned at the lowest end and is called a reset state; when the deicing mechanism starts to work, the deicing mechanism executes a self-adaptive adjusting method, and the control adjusting module generates a control signal to drive the screw rod sliding block module to move, so that the deicing module moves until the hammer head of the T-shaped rotating rod knocks to an ice layer of the overhead line;
stage 2: the deicing mechanism performs the position self-adaptive adjustment method once every 0.5s in the running process of the overhead line; when DeltaX 2 When the movement of the deicing module is completed, the first sensor and the second sensor do not work any more, and the PLC controller does not generate other control signals any more.
Further, when the T-shaped rotating rod is blocked by the overhead line or thick ice, the current of the T-shaped rotating rod suddenly rises to trigger the overcurrent relay protection switch, the knocking motor stops working, at the moment, the self-adaptive adjustment method resets, namely, the stepping motor drives the sliding block to move downwards to the lowest end of the screw rod, and the stage 1 in the self-adaptive adjustment method is executed again.
Compared with the prior art, the deicing mechanism with the position self-adaptive adjustment function and the self-adaptive adjustment method thereof have the following advantages and beneficial effects:
the overhead line deicing mechanism with the position self-adaptive adjustment function and the control method thereof solve the problems that an ice layer cannot be knocked in the process that the overhead line climbs down a slope and a T-shaped rotating rod is blocked by the overhead line when the deicing structure is in the climbing down slope of the overhead line, and can effectively improve deicing efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an overhead line deicing mechanism with position adaptive adjustment according to the present invention.
Fig. 2 is a flow chart of the operation of an overhead line de-icing mechanism with position adaptive adjustment in accordance with the present invention.
Fig. 3 is a schematic diagram of the adaptive adjustment method of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and specific examples. It should be noted that the described embodiments are only some embodiments of the invention, and not all embodiments.
The embodiment of the invention discloses a working process of an overhead line deicing mechanism with a position self-adaptive adjustment function after being on line, comprising the working processes of a horizontal overhead line and an overhead line with a certain angle; the rotating radius R of the T-shaped rotating rod of the deicing module is 150mm, and when the screw rod sliding block is positioned at the lowest part of the screw rod, X is the same as the rotating radius R of the T-shaped rotating rod of the deicing module 2 The lead of the screw rod sliding block model is 4mm, the step angle of the stepping motor is 1.8 degrees, and the fine fraction of the stepping motor is 32.
As shown in fig. 1, the structure diagram of the overhead line deicing mechanism with the position self-adaptive adjustment function comprises a main body frame, an infrared ranging module, a control and adjustment module B, a screw rod sliding block module and a deicing module, wherein the infrared ranging module, the control and adjustment module, the screw rod sliding block module and the deicing module are all arranged on the main body frame and are connected through wires for information transmission; the main body frame is of a T-shaped structure, the infrared ranging module comprises a first sensor A1 and a second sensor A2, the first sensor A1 is arranged at the front end of a top plate of the main body frame, the second sensor A2 is arranged on a sliding block C1 of the screw rod sliding block module, and the axis of the knocking motor D1 of the deicing module is in the same horizontal plane; the control and regulation module B is arranged at the middle end of the top plate of the main body frame and comprises an analog-digital signal converter, a PLC controller and a stepping motor driver.
Preferably, the screw rod sliding block module comprises a sliding block C1, a stepping motor C2 and a screw rod C3, wherein the screw rod C3 penetrates through the sliding block C1 and is connected with the stepping motor C2, and the sliding block C1 controls the screw rod C3 to rotate left and right and move up and down through the stepping motor C2.
Further, the deicing module comprises a knocking motor D1 and a T-shaped rotating rod D2, wherein the knocking motor D1 is installed on the sliding block C1, is connected with the T-shaped rotating rod D2 and drives the T-shaped rotating rod D2 to rotate, and the radius R of the rotating arm of the T-shaped rotating rod D2 is 15cm.
As shown in fig. 2, a working flow chart of the overhead line deicing mechanism with the position adaptive adjustment function of the present invention comprises the following steps:
step 1, the first sensor A1 measures that the distance between the vertical horizontal plane direction and the overhead line is X 1 The second sensor A2 measures the distance X between the vertical horizontal plane direction and the overhead line 2 The method comprises the steps of carrying out a first treatment on the surface of the X when overhead line is level 1 H is the vertical distance from the upper end plate of the main frame to the horizontal overhead line, and when the hammer head of the T-shaped rotating rod D2 just can knock the overhead line to deice, X 2 ＝R；
Step 2, analog signals measured by the first sensor A1 and the second sensor A2 are transmitted to a control and regulation module B to be subjected to analog-digital signal conversion, and the direction and distance of movement of the sliding block C1 and the deicing module are obtained through calculation of a PLC;
and step 3, obtaining the pulse number output to the stepping motor driver by the PLC by combining the data obtained in the step 2 with the parameters of the stepping motor, namely the number of steps that the stepping motor should operate.
Further, the calculation method in the step 2 is as follows:
wherein DeltaX is 1 Is the vertical distance DeltaX between the overhead line when tilted and the straight line where the first sensor (A1) is located when the overhead line is horizontal 2 Is a current T-shaped rotary rodThe distance between the hammer head of the deicing module and the overhead line, namely the distance that the deicing module and the sliding block should move; when DeltaX 2 When=0, the stepper motor driver controls the stepper motor to be inoperative; when DeltaX 2 When the temperature is more than 0, the stepping motor rotates forwards, and the sliding block drives the deicing mechanism to move upwards; when DeltaX 2 When the speed is less than 0, the stepping motor reversely rotates, and the sliding block drives the deicing mechanism to move downwards.
Further, the calculation method in the step 3 is as follows:
wherein N is the number of steps that the stepper motor should run, d is the lead of the screw rod, θ is the step angle of the stepper motor, and N is the fine fraction of the stepper motor.
The deicing mechanism is used for hoisting a horizontal overhead line, at the moment, the screw rod sliding block C1 is positioned at the lowest part of the screw rod C3, the knocking motor D1 of the deicing module starts to work, the position self-adaptive adjustment method also starts to work, and at the moment, the first sensor A1 and the second sensor A2 measure X 1 And X 2 And calculates DeltaX by the controller 1 ＝H-X 1 ＝0，ΔX 2 ＝X 2 R=100 mm because of Δx 2 >0, i.e. the stepper motor controlled slider should be moved up by 100mm, further counting the number of pulses to control the output to the stepper motor driver:
the stepping motor driver receives 160000 pulses sent by the controller, drives the stepping motor to rotate forward to drive the sliding block to move upwards, and the knocking motor of the deicing module drives the T-shaped rotating rod D2 to rotate in the moving process, and the hammer head of the T-shaped rotating rod D2 knocks the ice layer to deicing; when DeltaX 2 =0, the stepper motor is no longer working, and then the adaptive adjustment method is performed once every 0.5s interval.
When the deicing mechanism climbs on the overhead line, the overhead line is driven by the gravity of the machineThe road is upwarped, the hammer head of the T-shaped rotary rod D2 cannot strike the ice coating layer of the overhead line, and at the moment, delta X 2 >0, the PLC controller generates a certain number of pulses to enable the stepping motor to rotate forwards so as to enable the deicing module to move upwards, and the hammer head can continuously strike the ice layer; if DeltaX 2 <And 0, the PLC controller sends out a corresponding signal to enable the stepping motor to reversely rotate so as to enable the deicing module to move downwards.
As shown in fig. 3, the principle schematic diagram of the self-adaptive adjustment method of the present invention is that if the deicing module is blocked by an overhead line or an ice layer, the current suddenly rising from the knocking motor D1 will trigger the overcurrent relay protection switch, the knocking motor D1 stops working immediately, the self-adaptive adjustment method will perform a reset operation, i.e. the stepping motor C2 drives the slider C1 to move down to the lowest end of the screw rod C3, and the self-adaptive adjustment method is executed from the beginning.
After deicing is completed, the knocking motor D2 stops working, and the screw rod sliding block C1 performs reset operation.
In summary, the deicing mechanism with the position self-adaptive adjustment function and the self-adaptive adjustment method thereof solve the problems that the deicing structure cannot strike an ice layer in the climbing and descending process of the overhead line and the T-shaped rotating rod is blocked by the overhead line, and can effectively improve deicing efficiency.
Claims (5)
1. The self-adaptive adjusting method of the deicing mechanism with the position self-adaptive adjusting function is characterized in that the deicing mechanism with the position self-adaptive adjusting function comprises a main body frame, an infrared ranging module, a control adjusting module (B), a screw rod sliding block module and a deicing module, wherein the infrared ranging module, the control adjusting module, the screw rod sliding block module and the deicing module are all arranged on the main body frame and are connected through wires to transmit information; the method is characterized in that: the infrared ranging module comprises a first sensor (A1) and a second sensor (A2), the first sensor (A1) is arranged at the front end of a top plate of the main body frame, and the second sensor (A2) is arranged on a sliding block (C1) of the screw rod sliding block module and is in the same horizontal plane with the axis of a knocking motor (D1) of the deicing module; the saidThe control and regulation module (B) is arranged at the middle end of the top plate of the main body frame and comprises an analog-digital signal converter, a PLC controller and a stepping motor driver; the screw rod sliding block module comprises a sliding block (C1), a stepping motor (C2) and a screw rod (C3), wherein the screw rod (C3) penetrates through the sliding block (C1) and is connected with the stepping motor (C2), and the sliding block (C1) controls the screw rod (C3) to rotate left and right and move up and down through the stepping motor (C2); the deicing module comprises a knocking motor (D1) and a T-shaped rotating rod (D2), wherein the knocking motor (D1) is arranged on the sliding block (C1), is connected with the T-shaped rotating rod (D2) and drives the T-shaped rotating rod (D2) to rotate; the radius of the rotating arm of the T-shaped rotating rod (D2) isR；The self-adaptive adjusting method comprises the following steps:
step 1, the first sensor (A1) measures that the distance between the vertical horizontal plane direction and the overhead line isX 1 The second sensor (A2) measures the distance between the vertical horizontal plane direction and the overhead line as followsX 2 The method comprises the steps of carrying out a first treatment on the surface of the When the overhead line is level with the overhead line,X 1 =H，Hfor the vertical distance from the upper end plate of the main body frame to the horizontal overhead line, when the hammer head of the T-shaped rotating rod (D2) just can knock the overhead line to deicing,X 2 =R；
step 2, transmitting analog signals measured by the first sensor (A1) and the second sensor (A2) to a control and regulation module (B) for analog-digital signal conversion, and calculating by a PLC controller to obtain the moving direction and distance of the sliding block (C1) and the deicing module, wherein the specific calculation method comprises the following steps:
（1）
in the method, in the process of the invention,for the vertical distance between the overhead line when tilted up and the straight line where the first sensor (A1) is located when the overhead line is horizontal, +.>The distance between the hammer head of the current T-shaped rotating rod and the overhead line is the distance that the deicing module and the sliding block should move; when->When=0, the stepper motor driver controls the stepper motor to be inoperative; when->When the temperature is more than 0, the stepping motor rotates forwards, and the sliding block drives the deicing module to move upwards; when->When the temperature is less than 0, the stepping motor reversely rotates, and the sliding block drives the deicing module to move downwards;
step 3, obtaining the pulse number output to a stepping motor driver by the PLC by combining the distance data obtained in the step 2 and the parameters of the stepping motor, namely the number of steps that the stepping motor should operate;
the calculation method for the pulse number obtained in the step 3 is as follows:
（2）
in the method, in the process of the invention,Nin order to number of steps the stepper motor should run,dis the lead of the screw rod,θfor the step angle of the stepper motor,nis a fine fraction of a stepper motor.
2. The adaptive adjustment method of a deicing mechanism with a position adaptive adjustment function according to claim 1, characterized in that: radius of rotating arm of the T-shaped rotating rod (D2)R15cm.
3. The adaptive adjustment method of a deicing mechanism with a position adaptive adjustment function according to claim 1, characterized in that: the main body frame is of a T-shaped structure.
4. A method of adapting according to any one of claims 1-3, characterized in that the method of adapting comprises two phases:
stage 1: before the deicing mechanism is put on the overhead line, a sliding block for fixing the deicing mechanism is positioned at the lowest end and is called a reset state; when the deicing mechanism starts to work, the deicing mechanism executes a self-adaptive adjusting method, and the control adjusting module generates a control signal to drive the screw rod sliding block module to move, so that the deicing module moves until the hammer head of the T-shaped rotating rod knocks to an ice layer of the overhead line;
stage 2: the self-adaptive adjusting method is executed once every 0.5s in the running process of the overhead line; when (when)When the number of pulses obtained by the PLC is not zero, the stepping motor is rotated to adjust the position of the deicing module, and before the deicing module is moved, the first sensor (A1) and the second sensor (A2) do not work any more, and the PLC does not generate other control signals.
5. The adaptive tuning method of claim 4, wherein: the knocking motor (D1) is provided with an overcurrent relay protection switch, when the T-shaped rotating rod (D2) is blocked by an overhead line or thick ice to cause the knocking motor (D1) to generate locked rotation, the current of the knocking motor (D1) suddenly rises to trigger the overcurrent relay protection switch, the knocking motor (D1) stops working, at the moment, the self-adaptive adjusting method performs reset operation, namely, the stepping motor drives the sliding block to move downwards to the lowest end of the screw rod, and the stage 1 in the self-adaptive adjusting method is executed again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811537857.1A CN109659891B (en) | 2018-12-15 | 2018-12-15 | Deicing mechanism with position self-adaptive adjustment function and self-adaptive adjustment method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811537857.1A CN109659891B (en) | 2018-12-15 | 2018-12-15 | Deicing mechanism with position self-adaptive adjustment function and self-adaptive adjustment method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109659891A CN109659891A (en) | 2019-04-19 |
| CN109659891B true CN109659891B (en) | 2024-04-16 |
Family
ID=66114362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811537857.1A Active CN109659891B (en) | 2018-12-15 | 2018-12-15 | Deicing mechanism with position self-adaptive adjustment function and self-adaptive adjustment method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109659891B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110649552B (en) * | 2019-08-20 | 2021-08-06 | 贵州电网有限责任公司 | Deicing stick for deicing device of icing line |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101567538A (en) * | 2008-04-21 | 2009-10-28 | 国网北京电力建设研究院 | Stump-jump multi-divided conductor deicing robot |
| JP2011125112A (en) * | 2009-12-09 | 2011-06-23 | Kansai Electric Power Co Inc:The | Snow removal apparatus |
| WO2015141238A1 (en) * | 2014-03-18 | 2015-09-24 | 株式会社日立ハイテクファインシステムズ | Overhead power line inspection device |
| CN107834484A (en) * | 2017-11-27 | 2018-03-23 | 四川弘毅智慧知识产权运营有限公司 | A kind of deicing robot control system for integrating mechanical deicing and heating power deicing |
| CN209516579U (en) * | 2018-12-15 | 2019-10-18 | 华南理工大学 | A kind of intelligent robot for removing ice of overhead transmission line |
-
2018
- 2018-12-15 CN CN201811537857.1A patent/CN109659891B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101567538A (en) * | 2008-04-21 | 2009-10-28 | 国网北京电力建设研究院 | Stump-jump multi-divided conductor deicing robot |
| JP2011125112A (en) * | 2009-12-09 | 2011-06-23 | Kansai Electric Power Co Inc:The | Snow removal apparatus |
| WO2015141238A1 (en) * | 2014-03-18 | 2015-09-24 | 株式会社日立ハイテクファインシステムズ | Overhead power line inspection device |
| CN107834484A (en) * | 2017-11-27 | 2018-03-23 | 四川弘毅智慧知识产权运营有限公司 | A kind of deicing robot control system for integrating mechanical deicing and heating power deicing |
| CN209516579U (en) * | 2018-12-15 | 2019-10-18 | 华南理工大学 | A kind of intelligent robot for removing ice of overhead transmission line |
Non-Patent Citations (1)
| Title |
|---|
| 一种新型输电线路除冰机器人设计;许良 等;;中国高新技术企业;20160901(第25期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109659891A (en) | 2019-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11904348B2 (en) | Self-traction wire coating robot and wire routing and wire hanging method | |
| CN109659891B (en) | Deicing mechanism with position self-adaptive adjustment function and self-adaptive adjustment method thereof | |
| CN205905433U (en) | Laser selective melting equipment base plate automatic levelling device | |
| CA2494119A1 (en) | Variable length wind turbine blade | |
| CN109122217B (en) | But sprinkling irrigation machine of anti-wind | |
| CN101666105B (en) | Method for controlling rising velocity of movable arm of excavator, control system and excavator | |
| CN203269786U (en) | Glass substrate thinning and etching equipment | |
| CN102555093B (en) | Tension control system and control method for multi-wire cutting of silicon wafer | |
| CN203689073U (en) | Steel wire fixed-length cutting control system | |
| CN203751484U (en) | Intersecting-line cutting device and ellipticity measurement mechanism thereof | |
| CN205772445U (en) | A kind of cable stretch automatic regulating apparatus | |
| CN2413814Y (en) | Controller for water tank wire draw bench | |
| CN2836959Y (en) | Cast liquid feeding machine for die casting machine | |
| CN209179088U (en) | A kind of underwater immersed tube simulator of submerged floating tunnel | |
| CN206720321U (en) | LOW E automatic sheet-fetching centering electrical control gears | |
| CN201897721U (en) | Wire arranging control system of aluminium clad wire winder | |
| CN103645666B (en) | A kind of control method of platform type horizontal plane planar motion mechanism | |
| CN214348703U (en) | Adjusting and positioning mechanism for aluminum profile extrusion | |
| CN216848115U (en) | Mechanical electromagnetic wave reflection angle regulating and controlling device | |
| CN205232133U (en) | All -weather self -adaptation unipolar solar energy tracking means | |
| CN113484712B (en) | New-type probe lift detection mechanism | |
| CN216477449U (en) | Intelligent coal mine electromechanical fully-mechanized support spraying dust removal equipment | |
| CN201928223U (en) | Direct current governor system of pipe mill | |
| CN217924674U (en) | Plastering device | |
| CN204536920U (en) | The pinpoint vehicle-mounted pick-up instrument cradle head device of a kind of energy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |