CN111570371A - Power grid remote control robot - Google Patents
Power grid remote control robot Download PDFInfo
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- CN111570371A CN111570371A CN202010445155.1A CN202010445155A CN111570371A CN 111570371 A CN111570371 A CN 111570371A CN 202010445155 A CN202010445155 A CN 202010445155A CN 111570371 A CN111570371 A CN 111570371A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention relates to the field of high-voltage electric maintenance robots, in particular to a power grid remote control robot which comprises an unmanned aerial vehicle and a cleaning robot, wherein a loading frame is fixedly arranged at the bottom of the unmanned aerial vehicle, an electric clamping mechanism is vertically arranged on the loading frame, the cleaning robot comprises two groups of walking components, two groups of overturning components, two groups of insulating column clamping components, a connecting column, a cleaning component, a detection component and a controller, each group of walking components comprises two walking wheels capable of moving on a cable, each group of insulating column clamping components comprises an electric clamping jaw and a lifting mechanism capable of clamping an insulating column, each overturning component comprises an installation frame, a first rotating mechanism and a second rotating mechanism, each cleaning component comprises a water storage tank and a water spray nozzle, each detection component comprises a camera, the cleaning robot can be carried to high altitude to operate by the unmanned aerial vehicle, and the cleaning robot can automatically clean the high-altitude insulating column, thereby improving the efficiency and avoiding the danger caused by manual cleaning.
Description
Technical Field
The invention relates to the field of high-voltage electric maintenance robots, in particular to a power grid remote control robot.
Background
The insulating column is a special part which provides use requirements, installation modes and surrounding application environment requirements for related equipment in the fields of communication cabinets, power and electricity, lightning protection, machinery, medical treatment, wind energy, frequency conversion equipment and the like, and mainly plays a role in fixing, supporting, connecting and insulating, and is also called as an insulator and an insulating spacer column.
The insulating column of electric wire netting is because the gathering of dust can lead to the emergence of electric leakage problem when rainy day to cause the accident, so need carry out regular washing to the insulating column, owing to rely on artifical cleaning operation of accomplishing mostly at abluent in-process, when wasing at the high altitude, have certain danger, and efficiency and low.
Therefore, it is necessary to design a power grid remote control robot to solve the above problems.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a power grid remote control robot, and the technical scheme solves the problems that the insulating column cleaning operation is finished manually, certain dangerousness exists when cleaning is carried out at high altitude, the efficiency is low and the like.
In order to solve the technical problems, the invention provides the following technical scheme:
a power grid remote control robot is provided, which comprises an unmanned aerial vehicle and a cleaning mechanism, wherein a loading frame is fixedly arranged at the bottom of the unmanned aerial vehicle, an electric clamping mechanism is vertically arranged on the loading frame, the cleaning mechanism is arranged at the end part of the electric clamping mechanism, the cleaning mechanism comprises two groups of walking components, two groups of overturning components, two groups of insulating column clamping components, a connecting column, a cleaning component, a detection component and a controller, the connecting column is horizontally arranged, the two groups of overturning components are respectively arranged at the two ends of the connecting column, the two groups of walking components are respectively and horizontally arranged at the end part of the overturning component, each group of walking components comprises two walking wheels capable of moving on a cable, the insulating column clamping components can be arranged beside the walking components in a lifting way, each insulating column clamping component comprises an electric clamping jaw and a lifting mechanism capable of clamping an insulating column, and the lifting, the electric clamping jaw is vertically and fixedly arranged on the lifting mechanism, the overturning component comprises a mounting frame, a first rotating mechanism and a second rotating mechanism, the mounting frame is positioned beside the end part of the connecting column and is positioned under the walking component, the first rotating mechanism and the second rotating mechanism are both arranged in the mounting frame, the first rotating mechanism is horizontally arranged, the first rotating mechanism is in transmission connection with the end part of the connecting column close to one side of the mounting frame, the second rotating mechanism is vertically arranged, the second rotating mechanism is in transmission connection with the bottom part of the walking component close to one end of the mounting frame, the cleaning component is positioned below the walking component, the cleaning component is connected with the connecting column, the cleaning component comprises a water storage tank and a water spray nozzle, the water spray nozzle is communicated with the water storage tank through a water pipe, the water spray direction of the water spray nozzle is obliquely and, the controller is fixedly installed in the middle of the top end of the connecting column, and the walking assembly, the overturning assembly, the insulating column clamping assembly, the cleaning assembly and the detection assembly are all electrically connected with the controller.
Preferably, the walking assembly further comprises an insulating shell, a rotating shaft and a walking driving mechanism with a self-locking function, the insulating shell is horizontally arranged, the rotating shaft is horizontally arranged inside the insulating shell, the rotating shaft and the insulating shell are coaxially arranged, two ends of the rotating shaft are respectively in shaft connection with two ends of the insulating shell, the walking driving mechanism is vertically arranged below the middle of the insulating shell, the walking driving mechanism is in transmission connection with the rotating shaft, and two walking wheels are respectively vertically fixedly sleeved at two ends of the rotating shaft.
Preferably, the walking drive mechanism is including the drive case, a servo motor, drive gear and driven gear, the middle part at insulating casing is installed to the drive case, drive case fixed mounting is at insulating casing's middle part, a servo motor, drive gear and driven gear all set up the inside at the drive case, the vertical fixed cover of driven gear is established at the pivot middle part, the vertical setting of a servo motor is under the pivot, the vertical upwards setting of a servo motor's output shaft, the drive gear level sets up between a servo motor and pivot, a servo motor's output shaft and drive gear bottom center department fixed connection, drive gear and driven gear meshing.
Preferably, the first rotating mechanism comprises a first rotating motor, a first rotating rod and a first connecting frame, the first rotating motor is horizontally and fixedly installed inside the mounting frame, the first connecting frame is fixedly installed at the end portion, close to the side wall of one side of the mounting frame, of the connecting column, the first rotating rod is located between the first rotating motor and the first connecting frame, the axis direction of the first rotating rod is perpendicular to the length direction of the connecting column, one end of the first rotating rod is fixedly connected with an output shaft of the first rotating motor, and the other end of the first rotating rod is fixedly connected with the first connecting frame.
Preferably, the second rotating mechanism comprises a second rotating motor, a second rotating rod and a second connecting frame, the second rotating motor is vertically and fixedly installed at the bottom end of the mounting frame, the second connecting frame is fixedly installed below one end, close to the mounting frame, of the traveling assembly, the second rotating rod is located between the second rotating motor and the second connecting frame, the second rotating rod is vertically arranged, one end of the second rotating rod is fixedly connected with an output shaft of the second rotating motor, and the other end of the second rotating rod is fixedly connected with the second connecting frame.
Preferably, elevating system is including the lift mounting bracket, second servo motor, screw thread telescopic link and horizontal lift board, lift mounting bracket fixed mounting is directly over the walking wheel, lift mounting bracket fixed mounting is on insulating casing, the vertical fixed mounting of second servo motor is on the top of lift mounting bracket, horizontal lift board horizontal installation is inside the lift mounting bracket, the vertical spout that is equipped with in lift mounting bracket both sides, horizontal lift board passes through spout and lift mounting bracket sliding connection, the vertical setting of screw thread telescopic link is between second servo motor and horizontal lift board, the top of screw thread telescopic link and second servo motor's output shaft fixed connection, screw thread telescopic link's bottom and horizontal lift board top fixed connection, one side of horizontal lift board is outwards extended, the vertical fixed mounting of electric clamping jaw is in the extension end of horizontal lift board.
Preferably, the electric clamping jaw is including the clamping jaw shell, electric putter, the propelling movement piece, two first connecting rods, two second connecting rods and two arc chucks, the vertical fixed mounting of clamping jaw shell is at the extension end of horizontal lift board, the vertical fixed mounting of electric putter is on the top of clamping jaw shell, the vertical downward setting of electric putter, the setting that the propelling movement piece can vertically go up and down is inside the clamping jaw shell, electric putter and propelling movement piece's top fixed connection, the one end and the propelling movement piece bottom one side of first connecting rod are articulated, the other end of first connecting rod is articulated with the top of second connecting rod, the middle part and the inside articulated of electric chuck of second connecting rod, two arc chucks are fixed mounting respectively in the one side that second connecting rod bottom is close to each other.
Preferably, the cleaning assembly further comprises a horizontal mounting frame and a third rotating mechanism, the water storage tank is horizontally and fixedly mounted inside the horizontal mounting frame, the two water spray nozzles are mounted on two sides of the top end of the horizontal mounting frame, the third rotating mechanism is vertically arranged in the middle of the bottom end of the connecting column, one end of the horizontal mounting frame is located below the third rotating mechanism, and the third rotating mechanism is fixedly connected with the horizontal mounting frame.
Preferably, the third rotary mechanism is including the third rotating electrical machines, third dwang and third link, the vertical fixed mounting of third rotating electrical machines is at the middle part of spliced pole bottom, third link fixed mounting is on the top that horizontal installation frame is close to spliced pole one side, the third dwang is located between third rotating electrical machines and the third link, the vertical setting of third dwang, the one end of third dwang and the output shaft fixed connection of third rotating electrical machines, the other end and the third link fixed connection of third dwang.
Preferably, the detection mechanism further comprises a purity sensor, the purity sensor is horizontally arranged on the side wall of the water storage tank, and the detection end of the purity sensor is located inside the water storage tank.
Compared with the prior art, the invention has the beneficial effects that:
the cleaning mechanism can be automatically conveyed onto a cable through the unmanned aerial vehicle, remote control can be realized through the camera arranged on the detection mechanism, cleaning operation on the insulating column is greatly facilitated, troubles caused by manual cleaning are avoided, cleaning efficiency can be further improved, and meanwhile dangerousness caused by manual cleaning is avoided;
the cleaning mechanism can be automatically conveyed onto the cable through the unmanned aerial vehicle, and the cleaning mechanism can be driven to automatically travel on the cable through the traveling assembly on the cleaning mechanism, so that the insulating column is remotely cleaned, and the cleaning efficiency is greatly improved;
the self-adjusting position of the connecting column can be driven to be adjusted through the first rotating mechanism and the second rotating mechanism, two groups of walking assemblies are arranged, and the mounting tower can be avoided through the matching of the two groups of walking assemblies, so that the automatic operation of a cleaning mechanism is avoided, and the cleaning efficiency of the insulating column is greatly improved;
the cleaning assembly is provided with the water spray nozzle, the insulating column can be automatically sprayed with water through the water spray nozzle, so that dirt on the insulating column is washed, the problem that the dirt is not cleaned for a long time and is conductive is avoided, meanwhile, the cleaning efficiency is greatly improved, the trouble caused by manual cleaning is avoided, and the insulating column is cleaned regularly, so that remote automatic cleaning can be realized through the cleaning mechanism, the cleaning efficiency is greatly improved, and meanwhile, the danger caused by manual cleaning is avoided;
can carry out real-time detection through detection mechanism and wash the washing operation of insulated column, further convenience is regularly washd the operation to the mood operation of insulated column, has avoided the emergence of the electrically conductive problem that filth on the insulated column leads to, and further assurance is to the normal power supply of cable.
The cleaning mechanism can automatically walk along the high-voltage cable, can realize convenient obstacle avoidance operation, and can realize displacement operation on the insulating column, so that the working efficiency is improved, and the cleaning efficiency of the cleaning mechanism is improved;
the unmanned aerial vehicle brings the cleaning mechanism to the high altitude for operation, and the cleaning mechanism automatically cleans the high altitude insulating column, so that the efficiency is improved, the danger caused by manual cleaning is avoided, and the unmanned aerial vehicle can unload and clamp the cleaning mechanism, so that the transportation is facilitated;
the cleaning mechanism can automatically walk along the high-voltage cable, convenient obstacle avoidance operation can be realized, and displacement operation can be realized on the insulating column, so that the working efficiency is improved, and the cleaning range of the cleaning mechanism is enlarged.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic perspective view of the cleaning mechanism of the present invention;
FIG. 5 is a front view of the cleaning mechanism of the present invention;
fig. 6 is a schematic perspective view of a first rotating mechanism according to the present invention;
fig. 7 is a schematic perspective view of a second rotating mechanism according to the present invention;
FIG. 8 is a perspective view of the walking assembly of the present invention;
FIG. 9 is a schematic perspective view of FIG. 8 with the drive housing removed;
FIG. 10 is a schematic perspective view of the lifting mechanism of the present invention;
FIG. 11 is a perspective view of the motorized clamp of the present invention;
FIG. 12 is a perspective view of the cleaning assembly of the present invention;
fig. 13 is a partial perspective view of the cleaning assembly of the present invention.
The reference numbers in the figures are:
the unmanned aerial vehicle comprises an unmanned aerial vehicle 1, a cleaning mechanism 2, a loading frame 3, an electric clamping mechanism 4, a walking component 5, a turnover component 6, an insulating column clamping component 7, a connecting column 8, a cleaning component 9, a detection component 10, a controller 11, walking wheels 12, electric clamping jaws 13, a lifting mechanism 14, a mounting frame 15, a first rotating mechanism 16, a second rotating mechanism 17, a water storage tank 18, a water spray nozzle 19, a camera 20, an insulating shell 21, a rotating shaft 22, a walking driving mechanism 23, a driving tank 24, a first servo motor 25, a driving gear 26, a driven gear 27, a first rotating motor 28, a first rotating rod 29, a first connecting frame 30, a second rotating motor 31, a second rotating rod 32, a second connecting frame 33, a lifting mounting frame 34, a second servo motor 35, a threaded telescopic rod 36, a horizontal lifting plate 37, a chute 38, a clamping jaw shell 39, an electric push rod 40, a push block 41, A first connecting rod 42, a second connecting rod 43, an arc-shaped clamping head 44, a horizontal mounting frame 45, a third rotating mechanism 46, a third rotating motor 47, a third rotating rod 48, a third connecting frame 49 and a purity sensor 50.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1-5, a power grid remote control robot comprises an unmanned aerial vehicle 1 and a cleaning mechanism 2, a loading frame 3 is fixedly installed at the bottom of the unmanned aerial vehicle 1, an electric clamping mechanism 4 is vertically arranged on the loading frame 3, the cleaning mechanism 2 is installed on the electric clamping mechanism 4, the cleaning mechanism 2 comprises two groups of walking assemblies 5, two groups of turning assemblies 6, two groups of insulating column clamping assemblies 7, a connecting column 8, a cleaning assembly 9, a detection assembly 10 and a controller 11, the connecting column 8 is horizontally arranged, the two groups of turning assemblies 6 are respectively arranged at two ends of the connecting column 8, the two groups of walking assemblies 5 are respectively and horizontally installed on the turning assemblies 6, each group of walking assemblies 5 comprises two walking wheels 12 capable of moving on a cable, the insulating column clamping assemblies 7 can be arranged beside the walking assemblies 5 in a lifting manner, the insulating column clamping assemblies 7 comprise electric clamping jaws 13 and a lifting mechanism 14 capable of clamping insulating columns, the lifting mechanism 14 is fixedly installed at the top end of the walking component 5, the electric clamping jaw 13 is vertically and fixedly installed on the lifting mechanism 14, the overturning component 6 comprises an installation frame 15, a first rotating mechanism 16 and a second rotating mechanism 17, the installation frame 15 is located beside the end part of the connecting column 8 and is located under the walking component 5, the first rotating mechanism 16 and the second rotating mechanism 17 are both installed in the installation frame 15, the first rotating mechanism 16 is horizontally arranged, the first rotating mechanism 16 is in transmission connection with the end part of the connecting column 8 close to one side of the installation frame 15, the second rotating mechanism 17 is vertically arranged, the second rotating mechanism 17 is in transmission connection with the bottom part of the walking component 5 close to one end of the installation frame 15, the cleaning component 9 is located under the walking component 5, the cleaning component 9 is connected with the connecting column 8, the cleaning component 9 comprises a water storage tank 18 and a water spray nozzle 19, the slope of the water spray direction of the water spray nozzle 19 is upwards set, the detection assembly 10 comprises a camera 20, the camera 20 is fixedly installed at the top end of the walking assembly 5, the controller 11 is fixedly installed at the middle part of the top end of the connecting column 8, and the walking assembly 5, the overturning assembly 6, the insulating column clamping assembly 7, the cleaning assembly 9 and the detection assembly 10 are all electrically connected with the controller 11. When the robot shown in the invention works, the unmanned aerial vehicle 1 drives the cleaning mechanism 2 to fly, the electric clamping mechanism 4 outputs to clamp the cleaning mechanism 2, the loading frame 3 is used for fixedly installing the electric clamping mechanism 4, when the unmanned aerial vehicle 1 carries the cleaning mechanism 2 to a working position, the electric clamping mechanism 4 is loosened to put down the cleaning mechanism 2, four walking wheels 12 on two groups of walking components 5 are all arranged on a high-voltage cable, the walking components 5 control the cleaning mechanism 2 to walk on the high-voltage cable, when the robot meets an installation tower, the robot is transversely overturned through the overturning component 6 so as to conveniently go forward around the installation tower, when the overturning component 6 works, the first rotating mechanism 16 outputs to drive the connecting column 8 to be lifted, so that one group of the walking components 5 is separated from the high-voltage cable, the second rotating mechanism 17 outputs to drive the lifted walking components 5 to rotate ninety degrees, so as to avoid the mounting column, the other group of walking components 5, the walking wheels 12, drive the robot to move forward, after the first group of walking components 5 bypasses the mounting tower, the second rotating component resets to make the first group of walking components 5 return to the position right above the high-voltage cable, the first rotating component resets to replace the first group of walking components 5 on the high-voltage cable, the process is repeated, the second group of walking components 5 also bypasses the mounting tower, thereby completing the obstacle avoidance function of the cleaning mechanism 2, when the cleaning mechanism 2 reaches the side of the insulating column, the electric clamping jaws 13 clamp the insulating column, the other group of insulating column clamping components 7 reach the position above the insulating column through rotation, the lifting mechanism 14 outputs to drive the electric clamping jaws 13 to descend, the electric clamping jaws 13 clamp the middle part of the insulating column, the lifting mechanism 14 can ensure that the electric clamping jaws 13 are not interfered by the walking wheels 12 in the clamping process, in the moving process of the robot, cleaning assembly 9 passes through water spray nozzle 19 to the insulating column blowout insulating water to wash the insulating column, water storage box 18 is used for storing insulating water, and camera 20 is used for detecting the object in 2 motion the place ahead of wiper mechanism, thereby is convenient for make and keeps away barrier and cleaning operation, and controller 11 is used for controlling robot's automatic operation.
The walking assembly 5 shown in fig. 8-9 further includes an insulating housing 21, a rotating shaft 22 and a walking driving mechanism 23 with a self-locking function, the insulating housing 21 is horizontally disposed, the rotating shaft 22 is horizontally disposed inside the insulating housing 21, the rotating shaft 22 and the insulating housing 21 are coaxially disposed, two ends of the rotating shaft 22 are respectively coupled to two ends of the insulating housing 21, the walking driving mechanism 23 is vertically installed below the middle portion of the insulating housing 21, the walking driving mechanism 23 is in transmission connection with the rotating shaft 22, and two walking wheels 12 are respectively and vertically fixed at two ends of the rotating shaft 22. When the walking assembly 5 works, the walking driving mechanism 23 outputs to drive the rotating shaft 22 to rotate in the insulating shell 21, the rotating shaft 22 drives the walking wheels 12 fixedly installed at two ends of the rotating shaft 22 to rotate, so that the walking function is realized, and the insulating shell 21 is used for installing the walking assembly 5;
the cleaning mechanism can be automatically conveyed onto a cable through the unmanned aerial vehicle, remote control can be realized through the camera arranged on the detection mechanism, cleaning operation on the insulating column is greatly facilitated, troubles caused by manual cleaning are avoided, cleaning efficiency can be further improved, and meanwhile dangerousness caused by manual cleaning is avoided;
on can carrying the cable with the wiper mechanism is automatic through unmanned aerial vehicle, through the walking subassembly on the wiper mechanism, can drive the automatic walking of wiper mechanism on the cable to carry out long-range washing operation, great improvement the cleaning efficiency to the insulating cylinder.
Referring to fig. 8-9, the traveling driving mechanism 23 includes a driving box 24, a first servo motor 25, a driving gear 26 and a driven gear 27, the driving box 24 is installed in the middle of the insulating housing 21, the driving box 24 is fixedly installed in the middle of the insulating housing 21, the first servo motor 25 is a motor, the driving gear 26 and the driven gear 27 are both disposed inside the driving box 24, the driven gear 27 is vertically and fixedly sleeved in the middle of the rotating shaft 22, the first servo motor 25 is vertically disposed right below the rotating shaft 22, an output shaft of the first servo motor 25 is vertically disposed upward, the driving gear 26 is horizontally disposed between the first servo motor 25 and the rotating shaft 22, the output shaft of the first servo motor 25 is fixedly connected to the center of the bottom end of the driving gear 26, and the driving gear 26 is meshed with the driven gear 27. When the walking driving mechanism 23 outputs, the first servo motor 25 outputs to drive the driving gear 26 to rotate, the driving gear 26 drives the driven gear 27 engaged with the driving gear to rotate, the driven gear 27 drives the rotating shaft 22 fixedly connected with the driven gear 27 to rotate, and finally drives the walking wheel 12 to rotate, so as to realize the function of driving and walking, and the driving box 24 is used for installing the walking driving mechanism 23.
Referring to fig. 6, the first rotating mechanism 16 includes a first rotating motor 28, a first rotating rod 29 and a first connecting frame 30, the first rotating motor 28 is horizontally and fixedly installed inside the mounting frame 15, the first connecting frame 30 is fixedly installed at an end portion of the connecting column 8 close to a side wall of the mounting frame 15, the first rotating rod 29 is located between the first rotating motor 28 and the first connecting frame 30, an axial direction of the first rotating rod 29 is perpendicular to a length direction of the connecting column 8, one end of the first rotating rod 29 is fixedly connected with an output shaft of the first rotating motor 28, and the other end of the first rotating rod 29 is fixedly connected with the first connecting frame 30. When the first rotating mechanism 16 outputs, the first rotating motor 28 outputs to drive the first rotating rod 29 to rotate, and the first rotating rod drives the first connecting frame 30 fixedly connected with the first rotating rod to rotate, so as to drive the connecting column 8 fixedly connected with the first connecting frame 30 to rotate, thereby realizing the rotating function of the connecting column 8.
Referring to fig. 7, the second rotating mechanism 17 includes a second rotating electrical machine 31, a second rotating rod 32 and a second connecting frame 33, the second rotating electrical machine 31 is vertically and fixedly mounted at the bottom end of the mounting frame 15, the second connecting frame 33 is fixedly mounted below one end of the traveling assembly 5 close to the mounting frame 15, the second rotating rod 32 is located between the second rotating electrical machine 31 and the second connecting frame 33, the second rotating rod 32 is vertically arranged, one end of the second rotating rod 32 is fixedly connected with an output shaft of the second rotating electrical machine 31, and the other end of the second rotating rod 32 is fixedly connected with the second connecting frame 33. When the second rotating mechanism 17 outputs, the second rotating motor 31 outputs to drive the second rotating rod 32 to rotate, and the second rotating rod drives the second connecting frame 33 fixedly connected with the second rotating rod to rotate, so as to drive the traveling assembly 5 fixedly connected with the second connecting frame 33 to rotate, thereby realizing the rotating function of the traveling assembly 5.
The self-adjusting position of the connecting column can be driven to be driven through the first rotating mechanism and the second rotating mechanism, the two groups of walking assemblies are arranged, and the mounting tower can be avoided through the matching of the two groups of walking assemblies, so that the automatic operation of the cleaning mechanism is avoided, and the cleaning efficiency of the insulating column is greatly improved.
The lifting mechanism 14 shown with reference to figure 10 comprises a lifting mounting bracket 34 and a second servo motor 35, screw telescopic rod 36 and horizontal lift board 37, lift mounting bracket 34 fixed mounting is directly over walking wheel 12, lift mounting bracket 34 fixed mounting is on insulating casing 21, the vertical fixed mounting of second servo motor 35 is on the top of lift mounting bracket 34, horizontal lift board 37 horizontal installation is inside lift mounting bracket 34, the vertical spout 38 that is equipped with in lift mounting bracket 34 both sides, horizontal lift board 37 passes through spout 38 and lift mounting bracket 34 sliding connection, the vertical setting of screw telescopic rod 36 is between second servo motor 35 and horizontal lift board 37, the top of screw telescopic rod 36 and the output shaft fixed connection of second servo motor 35, the bottom of screw telescopic rod 36 and the 37 top fixed connection of horizontal lift board, one side of horizontal lift board 37 outwards extends, the vertical fixed mounting of electric clamping jaw 13 is held in the extension of horizontal lift board 37. When elevating system 14 output, second servo motor 35 output drives threaded telescopic rod 36 flexible to the horizontal lift board 37 lift with threaded telescopic rod 36 fixed connection is driven, and then drives the synchronous lift operation that carries out of electric clamping jaw 13 of fixed mounting at horizontal lift board 37 extension end, realizes electric clamping jaw 13's raising and lowering functions, and lift mounting bracket 34 is used for installing elevating system 14, and spout 38 is used for playing direction and spacing effect to horizontal lift board 37's motion.
Referring to fig. 10-11, the electric clamping jaw 13 includes a clamping jaw housing 39, an electric push rod 40, a pushing block 41, two first connecting rods 42, two second connecting rods 43 and two arc-shaped chucks 44, the clamping jaw housing 39 is vertically and fixedly installed at an extending end of the horizontal lifting plate 37, the electric push rod 40 is vertically and fixedly installed at a top end of the clamping jaw housing 39, the electric push rod 40 is vertically and downwardly disposed, the pushing block 41 can be vertically and vertically disposed inside the clamping jaw housing 39, the electric push rod 40 is fixedly connected with a top portion of the pushing block 41, one end of the first connecting rod 42 is hinged to one side of a bottom end of the pushing block 41, the other end of the first connecting rod 42 is hinged to a top end of the second connecting rod 43, a middle portion of the second connecting rod 43 is hinged to the inside of the electric clamping jaw 13, and the two arc-shaped. When the electric clamping jaw 13 works, the electric push rod 40 outputs downwards to drive the pushing block 41 to move downwards, the pushing block 41 drives the first connecting rod 42 hinged with the pushing block to move, and the first connecting rod 42 drives the second connecting rod 43 to rotate along the hinged end of the second connecting rod 43 and the clamping jaw shell 39, so that the two arc-shaped clamping heads 44 are close to each other, and the clamping process of the insulating column is realized.
The cleaning assembly 9 shown in fig. 12-13 further includes a horizontal mounting frame 45 and a third rotating mechanism 46, the water storage tank 18 is horizontally and fixedly mounted inside the horizontal mounting frame 45, the two water spray nozzles 19 are mounted on two sides of the top end of the horizontal mounting frame 45, the third rotating mechanism 46 is vertically arranged in the middle of the bottom end of the connecting column 8, one end of the horizontal mounting frame 45 is located below the third rotating mechanism 46, and the third rotating mechanism 46 is fixedly connected with the horizontal mounting frame 45. When the cleaning mechanism 2 moves to the lower part of the insulating column, the water spray nozzle 19 pumps water from the water storage tank 18 and sprays insulating water to the insulating column, thereby completing the function of cleaning the insulating column of the cleaning assembly 9. The third rotating mechanism 46 is used for controlling the rotating direction of the cleaning assembly 9.
Referring to the third rotating mechanism 46 shown in fig. 12, the third rotating mechanism includes a third rotating electrical machine 47, a third rotating rod 48 and a third connecting frame 49, the third rotating electrical machine 47 is vertically and fixedly installed in the middle of the bottom end of the connecting column 8, the third connecting frame 49 is fixedly installed on the top end of the horizontal mounting frame 45 close to one side of the connecting column 8, the third rotating rod 48 is located between the third rotating electrical machine 47 and the third connecting frame 49, the third rotating rod 48 is vertically arranged, one end of the third rotating rod 48 is fixedly connected with an output shaft of the third rotating electrical machine 47, and the other end of the third rotating rod 48 is fixedly connected with the third connecting frame 49. When the third rotating mechanism 46 outputs, the third rotating motor 47 outputs to drive the third rotating rod 48 to rotate, and the third rotating rod drives the third connecting frame 49 fixedly connected with the third rotating rod to rotate, so as to drive the horizontal mounting frame 45 fixedly connected with the third connecting frame 49 to rotate, thereby realizing the rotating function of the cleaning assembly 9.
Be provided with water spray nozzle on wasing the subassembly, can carry out automatic water spray to the insulated column through water spray nozzle, thereby wash the filth on the insulated column, avoided the long-time not washing of filth and the emergence of taking place electrically conductive problem, simultaneously great improvement abluent efficiency, the trouble of leading to the fact through manual cleaning has been avoided, owing to need regularly wash the insulated column, consequently can realize long-range automatic washing through wiper mechanism, when great improvement cleaning efficiency, avoid the danger that manual cleaning caused.
The detection mechanism shown with reference to fig. 12 further comprises a purity sensor 50, the purity sensor 50 being horizontally disposed on a side wall of the reservoir 18, the detection end of the purity sensor 50 being located inside the reservoir 18. When the cleaning mechanism 2 is cleaned, it is necessary to use insulating water, i.e., non-conductive pure water, and therefore it is necessary to perform purity analysis on the water in the water reservoir 18 so as to determine whether the water in the water reservoir 18 is conductive.
Can carry out real-time detection through detection mechanism and wash the washing operation of insulated column, further convenience is regularly washd the operation to the mood operation of insulated column, has avoided the emergence of the electrically conductive problem that filth on the insulated column leads to, and further assurance is to the normal power supply of cable.
The cleaning mechanism can automatically walk along the high-voltage cable, can realize convenient obstacle avoidance operation, and can realize displacement operation on the insulating column, so that the working efficiency is improved, and the cleaning efficiency of the cleaning mechanism is improved;
the unmanned aerial vehicle brings the cleaning mechanism to the high altitude for operation, and the cleaning mechanism automatically cleans the high altitude insulating column, so that the efficiency is improved, the danger caused by manual cleaning is avoided, and the unmanned aerial vehicle can unload and clamp the cleaning mechanism, so that the transportation is facilitated;
the cleaning mechanism can automatically walk along the high-voltage cable, convenient obstacle avoidance operation can be realized, and displacement operation can be realized on the insulating column, so that the working efficiency is improved, and the cleaning range of the cleaning mechanism is enlarged.
The working principle of the invention is as follows:
when the robot shown in the invention works, the unmanned aerial vehicle 1 drives the cleaning mechanism 2 to fly, the electric clamping mechanism 4 outputs to clamp the cleaning mechanism 2, the loading frame 3 is used for fixedly installing the electric clamping mechanism 4, when the unmanned aerial vehicle 1 carries the cleaning mechanism 2 to a working position, the electric clamping mechanism 4 is loosened to put down the cleaning mechanism 2, four walking wheels 12 on two groups of walking components 5 are all arranged on a high-voltage cable, the walking components 5 control the cleaning mechanism 2 to walk on the high-voltage cable, when the robot meets an installation tower, the robot is transversely overturned through the overturning component 6 so as to conveniently go forward around the installation tower, when the overturning component 6 works, the first rotating mechanism 16 outputs to drive the connecting column 8 to be lifted, so that one group of the walking components 5 is separated from the high-voltage cable, the second rotating mechanism 17 outputs to drive the lifted walking components 5 to rotate ninety degrees, so as to avoid the mounting column, the other group of walking components 5, the walking wheels 12, drive the robot to move forward, after the first group of walking components 5 bypasses the mounting tower, the second rotating component resets to make the first group of walking components 5 return to the position right above the high-voltage cable, the first rotating component resets to replace the first group of walking components 5 on the high-voltage cable, the process is repeated, the second group of walking components 5 also bypasses the mounting tower, thereby completing the obstacle avoidance function of the cleaning mechanism 2, when the cleaning mechanism 2 reaches the side of the insulating column, the electric clamping jaws 13 clamp the insulating column, the other group of insulating column clamping components 7 reach the position above the insulating column through rotation, the lifting mechanism 14 outputs to drive the electric clamping jaws 13 to descend, the electric clamping jaws 13 clamp the middle part of the insulating column, the lifting mechanism 14 can ensure that the electric clamping jaws 13 are not interfered by the walking wheels 12 in the clamping process, in the moving process of the robot, cleaning assembly 9 passes through water spray nozzle 19 to the insulating column blowout insulating water to wash the insulating column, water storage box 18 is used for storing insulating water, and camera 20 is used for detecting the object in 2 motion the place ahead of wiper mechanism, thereby is convenient for make and keeps away barrier and cleaning operation, and controller 11 is used for controlling robot's automatic operation. When the walking assembly 5 works, the walking driving mechanism 23 outputs to drive the rotating shaft 22 to rotate in the insulating shell 21, the rotating shaft 22 drives the walking wheels 12 fixedly installed at two ends of the rotating shaft 22 to rotate, so that the walking function is realized, and the insulating shell 21 is used for installing the walking assembly 5. When the walking driving mechanism 23 outputs, the first servo motor 25 outputs to drive the driving gear 26 to rotate, the driving gear 26 drives the driven gear 27 engaged with the driving gear to rotate, the driven gear 27 drives the rotating shaft 22 fixedly connected with the driven gear 27 to rotate, and finally drives the walking wheel 12 to rotate, so as to realize the function of driving and walking, and the driving box 24 is used for installing the walking driving mechanism 23. When the first rotating mechanism 16 outputs, the first rotating motor 28 outputs to drive the first rotating rod 29 to rotate, and the first rotating rod drives the first connecting frame 30 fixedly connected with the first rotating rod to rotate, so as to drive the connecting column 8 fixedly connected with the first connecting frame 30 to rotate, thereby realizing the rotating function of the connecting column 8. When the second rotating mechanism 17 outputs, the second rotating motor 31 outputs to drive the second rotating rod 32 to rotate, and the second rotating rod drives the second connecting frame 33 fixedly connected with the second rotating rod to rotate, so as to drive the traveling assembly 5 fixedly connected with the second connecting frame 33 to rotate, thereby realizing the rotating function of the traveling assembly 5. When elevating system 14 output, second servo motor 35 output drives threaded telescopic rod 36 flexible to the horizontal lift board 37 lift with threaded telescopic rod 36 fixed connection is driven, and then drives the synchronous lift operation that carries out of electric clamping jaw 13 of fixed mounting at horizontal lift board 37 extension end, realizes electric clamping jaw 13's raising and lowering functions, and lift mounting bracket 34 is used for installing elevating system 14, and spout 38 is used for playing direction and spacing effect to horizontal lift board 37's motion. When the electric clamping jaw 13 works, the electric push rod 40 outputs downwards to drive the pushing block 41 to move downwards, the pushing block 41 drives the first connecting rod 42 hinged with the pushing block to move, and the first connecting rod 42 drives the second connecting rod 43 to rotate along the hinged end of the second connecting rod 43 and the clamping jaw shell 39, so that the two arc-shaped clamping heads 44 are close to each other, and the clamping process of the insulating column is realized. When the cleaning mechanism 2 moves to the lower part of the insulating column, the water spray nozzle 19 pumps water from the water storage tank 18 and sprays insulating water to the insulating column, thereby completing the function of cleaning the insulating column of the cleaning assembly 9. The third rotating mechanism 46 is used for controlling the rotating direction of the cleaning assembly 9. When the third rotating mechanism 46 outputs, the third rotating motor 47 outputs to drive the third rotating rod 48 to rotate, and the third rotating rod drives the third connecting frame 49 fixedly connected with the third rotating rod to rotate, so as to drive the horizontal mounting frame 45 fixedly connected with the third connecting frame 49 to rotate, thereby realizing the rotating function of the cleaning assembly 9. When the cleaning mechanism 2 is cleaned, it is necessary to use insulating water, i.e., non-conductive pure water, and therefore it is necessary to perform purity analysis on the water in the water reservoir 18 so as to determine whether the water in the water reservoir 18 is conductive.
It should be understood that the above-described embodiments are merely preferred embodiments of the invention and the technical principles applied thereto. It will be understood by those skilled in the art that various modifications, equivalents, changes, and the like can be made to the present invention. However, such variations are within the scope of the invention as long as they do not depart from the spirit of the invention. In addition, certain terms used in the specification and claims of the present application are not limiting, but are used merely for convenience of description.
Claims (10)
1. A power grid remote control robot is characterized by comprising an unmanned aerial vehicle (1) and a cleaning mechanism (2), wherein a loading frame (3) is fixedly installed at the bottom of the unmanned aerial vehicle (1), an electric clamping mechanism (4) is vertically arranged on the loading frame (3), the cleaning mechanism (2) is installed at the end part of the electric clamping mechanism (4), the cleaning mechanism (2) comprises two groups of walking components (5), two groups of overturning components (6), two groups of insulating column clamping components (7), a connecting column (8), a cleaning component (9), a detection component (10) and a controller (11), the connecting column (8) is horizontally arranged, the two groups of overturning components (6) are respectively arranged at the two ends of the connecting column (8), the two groups of walking components (5) are respectively horizontally arranged on the overturning components (6), each group of walking components (5) comprises two walking wheels (12) capable of moving on a cable, the insulating column clamping assembly (7) can be arranged beside the walking assembly (5) in a lifting mode, the insulating column clamping assembly (7) comprises an electric clamping jaw (13) and a lifting mechanism (14), the electric clamping jaw (13) can clamp an insulating column, the lifting mechanism (14) is fixedly arranged at the top end of the walking assembly (5), the electric clamping jaw (13) is vertically and fixedly arranged on the lifting mechanism (14), the overturning assembly (6) comprises a mounting frame (15), a first rotating mechanism (16) and a second rotating mechanism (17), the mounting frame (15) is located at the side of the end part of the connecting column (8) and is located under the walking assembly (5), the first rotating mechanism (16) and the second rotating mechanism (17) are both arranged in the mounting frame (15), the first rotating mechanism (16) is horizontally arranged, the first rotating mechanism (16) is in transmission connection with the end part, close to one side of the connecting column (8), of the mounting frame (, the second rotating mechanism (17) is vertically arranged, the second rotating mechanism (17) is in transmission connection with the bottom of one end, close to the mounting rack (15), of the walking component (5), the cleaning component (9) is positioned below the walking component (5), the cleaning component (9) is connected with the connecting column (8), the cleaning component (9) comprises a water storage tank (18) and a water spray nozzle (19), the water spray nozzle (19) is communicated with the water storage tank (18) through a water pipe, the water spray direction of the water spray nozzle (19) is obliquely and upwards arranged, the detection component (10) comprises a camera (20), the camera (20) is fixedly arranged at the top end of the walking component (5), the controller (11) is fixedly arranged in the middle of the top end of the connecting column (8), the walking assembly (5), the overturning assembly (6), the insulating column clamping assembly (7), the cleaning assembly (9) and the detection assembly (10) are all electrically connected with the controller (11).
2. The power grid remote control robot according to claim 1, wherein the walking assembly (5) further comprises an insulating housing (21), a rotating shaft (22) and a walking driving mechanism (23) with a self-locking function, the insulating housing (21) is horizontally arranged, the rotating shaft (22) is horizontally arranged inside the insulating housing (21), the rotating shaft (22) and the insulating housing (21) are coaxially arranged, two ends of the rotating shaft (22) are respectively coupled with two ends of the insulating housing (21), the walking driving mechanism (23) is vertically arranged below the middle portion of the insulating housing (21), the walking driving mechanism (23) is in transmission connection with the rotating shaft (22), and two walking wheels (12) are respectively vertically and fixedly sleeved at two ends of the rotating shaft (22).
3. The power grid remote control robot as claimed in claim 2, wherein the walking driving mechanism (23) comprises a driving box (24), a first servo motor (25), a driving gear (26) and a driven gear (27), the driving box (24) is installed in the middle of the insulating housing (21), the driving box (24) is fixedly installed in the middle of the insulating housing (21), the first servo motor (25), the driving gear (26) and the driven gear (27) are all arranged inside the driving box (24), the driven gear (27) is vertically and fixedly sleeved in the middle of the rotating shaft (22), the first servo motor (25) is vertically arranged right below the rotating shaft (22), an output shaft of the first servo motor (25) is vertically arranged upwards, the driving gear (26) is horizontally arranged between the first servo motor (25) and the rotating shaft (22), the output shaft of the first servo motor (25) is fixedly connected with the center of the bottom end of the driving gear (26), the drive gear (26) is meshed with the driven gear (27).
4. The power grid remote control robot according to claim 1, wherein the first rotating mechanism (16) comprises a first rotating motor (28), a first rotating rod (29) and a first connecting frame (30), the first rotating motor (28) is horizontally and fixedly installed inside the mounting frame (15), the first connecting frame (30) is fixedly installed at the end portion, close to the side wall of one side of the mounting frame (15), of the connecting column (8), the first rotating rod (29) is located between the first rotating motor (28) and the first connecting frame (30), the axial direction of the first rotating rod (29) is perpendicular to the length direction of the connecting column (8), one end of the first rotating rod (29) is fixedly connected with an output shaft of the first rotating motor (28), and the other end of the first rotating rod (29) is fixedly connected with the first connecting frame (30).
5. The power grid remote control robot according to claim 1, wherein the second rotating mechanism (17) comprises a second rotating motor (31), a second rotating rod (32) and a second connecting frame (33), the second rotating motor (31) is vertically and fixedly installed at the bottom end of the mounting frame (15), the second connecting frame (33) is fixedly installed below one end, close to the mounting frame (15), of the walking assembly (5), the second rotating rod (32) is located between the second rotating motor (31) and the second connecting frame (33), the second rotating rod (32) is vertically arranged, one end of the second rotating rod (32) is fixedly connected with an output shaft of the second rotating motor (31), and the other end of the second rotating rod (32) is fixedly connected with the second connecting frame (33).
6. The power grid remote control robot as claimed in claim 2, wherein the lifting mechanism (14) comprises a lifting mounting rack (34), a second servo motor (35), a threaded telescopic rod (36) and a horizontal lifting plate (37), the lifting mounting rack (34) is fixedly installed right above the traveling wheels (12), the lifting mounting rack (34) is fixedly installed on the insulating shell (21), the second servo motor (35) is vertically and fixedly installed at the top end of the lifting mounting rack (34), the horizontal lifting plate (37) is horizontally installed inside the lifting mounting rack (34), sliding grooves (38) are vertically arranged on two sides of the lifting mounting rack (34), the horizontal lifting plate (37) is slidably connected with the lifting mounting rack (34) through the sliding grooves (38), the threaded telescopic rod (36) is vertically arranged between the second servo motor (35) and the horizontal lifting plate (37), the top end of the threaded telescopic rod (36) is fixedly connected with an output shaft of the second servo motor (35), the bottom end of the threaded telescopic rod (36) is fixedly connected with the top end of the horizontal lifting plate (37), one side of the horizontal lifting plate (37) extends outwards, and the electric clamping jaw (13) is vertically and fixedly installed at the extending end of the horizontal lifting plate (37).
7. The power grid remote control robot according to claim 6, wherein the electric clamping jaw (13) comprises a clamping jaw housing (39), an electric push rod (40), a pushing block (41), two first connecting rods (42), two second connecting rods (43) and two arc-shaped clamping heads (44), the clamping jaw housing (39) is vertically and fixedly installed at the extending end of the horizontal lifting plate (37), the electric push rod (40) is vertically and fixedly installed at the top end of the clamping jaw housing (39), the electric push rod (40) is vertically and downwardly arranged, the pushing block (41) can be vertically and vertically arranged inside the clamping jaw housing (39), the electric push rod (40) is fixedly connected with the top of the pushing block (41), one end of the first connecting rod (42) is hinged with one side of the bottom end of the pushing block (41), the other end of the first connecting rod (42) is hinged with the top end of the second connecting rod (43), the middle part of the second connecting rod (43) is hinged with the inside the electric clamping jaw (13), the two arc-shaped chucks (44) are respectively and fixedly arranged on the sides of the bottom ends of the second connecting rods (43) close to each other.
8. The power grid remote control robot as claimed in claim 1, wherein the cleaning assembly (9) further comprises a horizontal mounting frame (45) and a third rotating mechanism (46), the water storage tank (18) is horizontally and fixedly mounted inside the horizontal mounting frame (45), the two water spray nozzles (19) are mounted on two sides of the top end of the horizontal mounting frame (45), the third rotating mechanism (46) is vertically arranged in the middle of the bottom end of the connecting column (8), one end of the horizontal mounting frame (45) is located below the third rotating mechanism (46), and the third rotating mechanism (46) is fixedly connected with the horizontal mounting frame (45).
9. The power grid remote control robot according to claim 8, wherein the third rotating mechanism (46) comprises a third rotating motor (47), a third rotating rod (48) and a third connecting frame (49), the third rotating motor (47) is vertically and fixedly installed in the middle of the bottom end of the connecting column (8), the third connecting frame (49) is fixedly installed at the top end of one side, close to the connecting column (8), of the horizontal installation frame (45), the third rotating rod (48) is located between the third rotating motor (47) and the third connecting frame (49), the third rotating rod (48) is vertically arranged, one end of the third rotating rod (48) is fixedly connected with an output shaft of the third rotating motor (47), and the other end of the third rotating rod (48) is fixedly connected with the third connecting frame (49).
10. The power grid remote control robot as claimed in claim 1, wherein the detection mechanism further comprises a purity sensor (50), the purity sensor (50) is horizontally disposed on a side wall of the water storage tank (18), and a detection end of the purity sensor (50) is located inside the water storage tank (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010445155.1A CN111570371A (en) | 2020-05-23 | 2020-05-23 | Power grid remote control robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010445155.1A CN111570371A (en) | 2020-05-23 | 2020-05-23 | Power grid remote control robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111570371A true CN111570371A (en) | 2020-08-25 |
Family
ID=72117526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010445155.1A Withdrawn CN111570371A (en) | 2020-05-23 | 2020-05-23 | Power grid remote control robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111570371A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305084A (en) * | 2021-05-25 | 2021-08-27 | 国网江西省电力有限公司吉安供电分公司 | Unmanned aerial vehicle is washd to high-tension line |
-
2020
- 2020-05-23 CN CN202010445155.1A patent/CN111570371A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305084A (en) * | 2021-05-25 | 2021-08-27 | 国网江西省电力有限公司吉安供电分公司 | Unmanned aerial vehicle is washd to high-tension line |
| CN113305084B (en) * | 2021-05-25 | 2022-05-31 | 国网江西省电力有限公司吉安供电分公司 | Unmanned aerial vehicle is washd to high-tension line |
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Application publication date: 20200825 |