CN112332300B - Bottle rotating device for robot for live replacement of tension single insulator of extra-high voltage line - Google Patents
Bottle rotating device for robot for live replacement of tension single insulator of extra-high voltage line Download PDFInfo
- Publication number
- CN112332300B CN112332300B CN202011383939.2A CN202011383939A CN112332300B CN 112332300 B CN112332300 B CN 112332300B CN 202011383939 A CN202011383939 A CN 202011383939A CN 112332300 B CN112332300 B CN 112332300B
- Authority
- CN
- China
- Prior art keywords
- insulator
- robot
- wheel
- bottle
- chain wheel
- 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.)
- Expired - Fee Related
Links
- 239000012212 insulator Substances 0.000 title claims abstract description 123
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 19
- 239000010959 steel Substances 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 5
- 239000012211 strain insulator Substances 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 8
- 229910052573 porcelain Inorganic materials 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Images
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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electric Cable Installation (AREA)
Abstract
The patent discloses a bottle rotating device for a robot for replacing strain monolithic insulators of an extra-high voltage line in an electrified way, and the bottle rotating device comprises a bottle rotating device (3), a hydraulic telescopic rod (4), a fixed rod (5), a camera (10) and a ground control computer, wherein two friction wheels (302) of the bottle rotating device (3) are clamped on a steel cap (201) of a monolithic insulator 2 to be replaced, the two friction wheels (302) are driven to rotate in the same direction through a motor (305), and a hydraulic source of the hydraulic telescopic rod (4) is connected with a robot hydraulic system; the hydraulic telescopic rod (4) contracts to drive the jaw arm (304) to move upwards, so that the rims of the two friction wheels (302) are clamped on the outer circumference of the steel cap (201) of the insulator (2); the advantage of this patent is: the robot can automatically and precisely rotate the related insulator when the deteriorated insulator is replaced, so that the automation degree of the robot is improved.
Description
Technical Field
The patent relates to a high tension transmission line changes insulator instrument, especially changes special high tension line strain insulator single chip insulator rotating-bottle device for robot with electricity.
Background
In long-term operation of an insulator in a power transmission line, the insulator is influenced by various severe weather such as strong wind, thunderstorm, hail, icing and the like, is easily damaged and is degraded into a zero-value or low-value insulator, so that the normal operation of a power transmission network is further influenced, and a large-area power failure accident can be caused seriously; for this reason, it is necessary to periodically replace the insulator having a zero or low value and deteriorated and broken. In order not to affect normal power supply, the deteriorated insulator is required to be replaced in a live manner.
Since more than sixty years of live working in 1954, the technical personnel wear shielding clothes and rely on insulating tools to enter a strong electric field to replace insulators, so that the defects of personnel risk and heavy tools are caused; along with the higher voltage class of a national power grid transmission line, the extra-high voltage and extra-high voltage alternating-current and direct-current power lines which adopt 330kV-1000kV long-distance power transmission are more and more, but tension insulators of the extra-high voltage and extra-high voltage transmission line mostly use insulators with tonnage of 420kN, 530kN and 550kN at present, the weight of a single insulator reaches 17kg to 22kg, constructors only lift the insulators, the constructors are very labor-consuming, deteriorated insulators can not be replaced almost without other tools, and tools used for construction are very heavy. Therefore, the traditional equipotential manual operation method is very difficult to work even if power failure is adopted, the labor intensity of the manual operation method is high, and the working environment of constructors is very dangerous.
In recent years, special robots developed and put into use in succession in an electric power system can be used for overhauling operation of a power transmission line, such as a deicing robot, an insulator detection robot, a manned operation robot, a line patrol robot and the like, but the robot for replacing insulators is still under development, can walk on an insulator string, can convey the insulators at high altitude and automatically clamp (hydraulically tighten) the insulators, but is still incomplete in an experimental stage. For example, chinese patent No. 202010147802.0 entitled "jig for replacing extra-high voltage and extra-high voltage single-sheet insulator robots with electricity" discloses a jig for replacing insulators, which is essentially a hydraulic tightening device controlled by robot operation, automatically tightens insulators adjacent to both ends of an insulator to be replaced, but also requires manual auxiliary operation by a constructor on a robot moving platform, manually pulls out a pin and manually removes a degraded insulator from an insulator string, and then manually installs a new insulator, and particularly, before removing the degraded insulator, the insulator needs to manually rotate a porcelain bottle to a proper position (a steel cap of the insulator is tightly and fixedly connected with the porcelain bottle, after the insulator is newly installed, the head of a pin on the steel cap of the insulator needs to be upward according to electric operating regulations, but in the long-term operation process, the insulator can rotate under the influence of wind power and environment; therefore, when the insulator is removed, in order to conveniently take the insulator up and down, the pin hole on the steel cap of the removed insulator is required to be upward, namely the opening of the steel cap is downward, and the opening of the steel cap of the insulator connected with the ball head of the insulator is upward, namely the pin hole is downward).
Therefore, the automation function of replacing the insulator robot needs to be further developed, so that the insulator robot is more intelligent to replace, and the participation workload of personnel is reduced.
Disclosure of Invention
The purpose of this patent is exactly to design a change bottle device for special high tension line strain insulator monolithic insulator robot with electricity, and when the monolithic insulator of high altitude change degradation, the robot can rotate relevant insulator to the position of regulation automatically.
The technical scheme of this patent is: change special high tension line strain insulator single chip insulator rotating-bottle device for robot with electricity, characterized by: the bottle rotating device is provided with an inner arc-shaped clamping jaw body, two friction wheels are arranged on the inner arc of the clamping jaw body, the two friction wheels are driven to rotate in the same direction by a motor, and the motor is electrically connected with a controller of a robot; a jaw arm is fixedly connected to the jaw body, the end part of the jaw arm is hinged to the lower end of the fixed rod, and the upper end of the fixed rod is rigidly connected to the lower part of a moving platform of the robot; the lower end of the hydraulic telescopic rod is hinged to the jaw arm, the upper end of the hydraulic telescopic rod is hinged to the lower portion of the moving platform, and a hydraulic source of the hydraulic telescopic rod is connected with a robot hydraulic system; the hydraulic telescopic rod contracts to drive the claw arm to move upwards, so that the rims of the two friction wheels are clamped on the outer circumference of the insulator steel cap; the ground control computer and the mobile platform are respectively provided with a wireless communication module, and the wireless communication module on the mobile platform is respectively electrically connected with a camera and a controller arranged on the mobile platform;
a chain wheel is fixedly arranged on a wheel shaft of each friction wheel, and the friction wheels synchronously rotate along with the chain wheels; a duplex chain wheel is fixedly arranged on an output shaft of the motor, and two chain wheels of the duplex chain wheel synchronously rotate along with the output shaft of the motor; one chain wheel of the duplex chain wheel is connected with a chain wheel on one friction wheel shaft through a transmission chain to form chain transmission, and the other chain wheel of the duplex chain wheel is connected with a chain wheel on the other friction wheel shaft through the transmission chain to form chain transmission;
the two bottle rotating devices are connected below the robot moving platform through a fixed rod and a hydraulic telescopic rod respectively, and are arranged in parallel, and the distance between the two bottle rotating devices is the same as the distance between two adjacent insulators;
and a rubber layer is arranged on the rim of the friction wheel.
The advantage of this patent is: the robot can automatically and accurately rotate the related insulator when the deteriorated insulator is replaced, a manipulator of the robot is convenient to pull out pins and take out the deteriorated insulator from the insulator string, and the automation degree of the robot is improved.
Drawings
FIG. 1 is a schematic view of a bottle rotator in operation;
FIG. 2 is an enlarged schematic view of the bottle rotator;
FIG. 3 is a schematic view of the bottle rotator returning to the initial state;
fig. 4 is a schematic structural view of an insulator tightening clamp;
fig. 5 is a schematic view (in plan view) showing a connection state of the insulator tightening clamp, the bottle rotator and the moving platform;
fig. 6 is a schematic structural view of a monolithic insulator.
In the figure: 1-moving a platform; 101-left running pulley; 102-a guide pulley; 103-right walking belt wheel; 104-a platform body; 105-a walking motor; 2-an insulator; 201-steel cap; 2011-pin holes; 2012-a gap; 202-porcelain bottle; 203-bulb; 3-a bottle rotator; 301-a jaw body; 302-a friction wheel; 303-a sprocket; 304-a jaw arm; 3041 connecting the telescopic rod with the hole; 3042-hinge holes; 305-a motor; 306-a twin sprocket; 307-a drive chain; 4-hydraulic telescopic rod; 5-fixing the rod; 6-a power supply; 7-a controller; 8-a wireless communication module; 9 tightening the clamp of the insulator; 901-front card; 902-hydraulic tightener; 903-rear card; 904-adjusting the lead screw; 10 cameras; 11-R pin.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 6, the insulator 2 is formed by fastening a porcelain insulator 202, a steel cap 201 at the rear end of the porcelain insulator 202 and a ball 203 at the center of the front end of the porcelain insulator 202, a pin hole 2011 is arranged on one side of the outer circle of the steel cap 201, a T-shaped notch 2012 is arranged on the other side of the outer circle of the steel cap 201, after the ball 203 of one insulator 2 is inserted into the notch 2012 of the steel cap 201 of the insulator 2 adjacent to the front end, the two adjacent insulators 2 are connected after the R pin 11 is inserted from the pin hole 2011, and the insulators 2 are connected end to form an insulator string through the R pin 11. In the using process, when replacing a single insulator string 2, the robot moving platform 1 is placed on a parallel strain insulator string with double strings, as shown in fig. 1 and fig. 5, a power supply 6, a controller 7, a wireless communication module 8, a robot hydraulic system, a new insulator seat frame to be replaced and the like are arranged on a platform body 104 of the robot moving platform 1, a left walking belt wheel 101, a right walking belt wheel 103 and two groups of guide belt wheels 102 are arranged below the platform body 104 of the moving platform 1, the right walking belt wheel 103, the left walking belt wheel 101 and the guide belt wheels 102 are belt walking mechanisms formed by arranging belts on the excircle of the belt wheels and crossing a plurality of insulator insulators 202, wherein the two groups of guide belt wheels 102 are arranged at a certain angle (about 90 degrees), and are clamped at two sides of a plurality of (usually three to six) wheel rims 2 on one group of insulator strings (right insulator strings), the guiding and positioning functions are realized; the traveling belt wheels 101 and 103 are respectively arranged on the tops of a plurality of (usually three to six) porcelain bottles 202 of the insulators 2 on the two groups of insulator strings, traveling motors 105 are arranged on the belt wheels of the traveling belt wheels, and the two groups of traveling belt wheels are driven by the traveling motors 105 to move on the insulator strings along the direction of the lead.
The invention relates to a bottle rotating device for a robot for replacing strain monolithic insulators of an extra-high voltage line in an electrified way, which comprises a bottle rotating device 3, a hydraulic telescopic rod 4, a fixed rod 5, a camera 10 and a ground control computer, wherein as shown in figures 1 and 2, the bottle rotating device 3 comprises a claw body 301, two friction wheels 302, a motor 305 and a claw arm 304, one side of the claw body 301 is in an inner circular arc shape, the two friction wheels 302 are arranged on the inner circular arc, the claw arm 304 is fixed at the end part of the claw body 301, the motor 305 is a right-angle motor (namely a rotor shaft of the motor is vertical to an output shaft of the motor), the motor 305 is fixedly connected to the claw body 301, the two friction wheels 302 are driven by the motor 305 to rotate, and the motor 305 is electrically connected with a robot controller 7; a chain wheel 303 is fixedly arranged on the wheel shaft of each friction wheel 302, and the friction wheels 302 rotate synchronously along with the chain wheel 303; a duplex chain wheel 306 is fixedly arranged on an output shaft of the motor 305, and two chain wheels of the duplex chain wheel 306 synchronously rotate along with the output shaft of the motor 305; one of the two-link chain wheel 306 is connected with the chain wheel 303 on the axle of one friction wheel 302 through a transmission chain 307 to form chain transmission, and the other chain wheel on the two-link chain wheel 306 is connected with the chain wheel 303 on the axle of the other friction wheel 302 through the other transmission chain 307 to form chain transmission.
The end of the claw arm 304 is hinged to the lower end of the fixed rod 5 through the hinge hole 3042 at the end, and the upper end of the fixed rod 5 is rigidly connected below the platform body 104 of the robot moving platform 1; the lower end of the hydraulic telescopic rod 4 is hinged to the jaw arm 304 through a telescopic rod connecting hole 3041 on the jaw arm 304, the upper end of the hydraulic telescopic rod 4 is hinged below the platform body 104 of the mobile platform 1, and a hydraulic source of the hydraulic telescopic rod 4 is connected with a robot hydraulic system; the robot controller 7 controls the hydraulic telescopic rod 4 to act, the hydraulic telescopic rod 4 contracts to drive the jaw arm 304 to move upwards, and the rims of the two friction wheels 302 are clamped on the outer circumference of the steel cap 201 of the insulator 2; the controller 7 sends out a bottle rotating instruction, and the motor 305 drives the two friction wheels to rotate in the same direction, so as to drive the insulator 2 to rotate; when the motor 305 rotates forward, the insulator 2 held by the bottle rotator 3 rotates clockwise, and when the motor 305 rotates backward, the insulator 2 rotates counterclockwise. In order to increase the friction between the two friction wheels 302 and the insulator steel cap 201, a rubber layer is provided on the rims of the two friction wheels.
The ground control computer and the platform body 104 of the robot moving platform 1 are respectively provided with a wireless communication module 8, the wireless communication module 8 on the platform body 104 of the moving platform 1 is respectively electrically connected with a camera 10 and a robot controller 7 which are arranged on the platform body 104 of the moving platform 1, the wireless communication module 8 on the moving platform 1 is in wireless communication with the wireless communication module 8 in the ground control computer, real-time images of the insulators 2 are transmitted to the ground control computer for display in a wireless communication mode, the ground control computer sends action instructions to the robot controller 7 in a wireless mode according to the image instructions, the hydraulic telescopic rod 4 and the motor 305 are accurately controlled to act, and the insulators 2 are rotated to required positions.
As shown in fig. 4, the insulator tightening fixture 9 comprises a front clamp 901, a rear clamp 903, an adjusting screw 902 and a hydraulic tightener 904, wherein the adjusting screw 902 and the hydraulic tightener 904 are respectively and rigidly connected to two ends of the front clamp 901 and the rear clamp 903 through bolts, and are fixed on the platform body 104 of the moving platform 1 through the bolts at two ends of the adjusting screw 902, and a hydraulic power source of the hydraulic tightener 904 is connected with a robot hydraulic system.
The working process of the bottle rotating device is as follows: the robot driver 7 controls the walking motor 105 to act to drive the moving platform 1 to move to the single insulator 2 to be replaced on the tension double-string insulator, the insulator tightening clamps 9 on the moving platform 1 are clamped on the insulators 2 on two adjacent sides of the deteriorated single insulator 2 to be replaced, according to the principle of crossing four clamps and three clamps, the robot operates the insulator tightening clamps 9, the adjusting screw 902 is adjusted to adjust the distance between the front clamp 901 and the rear clamp 903, so that the rear clamp 903 is clamped on the steel cap 201 of the insulator 2 adjacent to the rear end of the deteriorated insulator 2 to be replaced, the front clamp 901 is clamped on the steel cap 201 of the second insulator 2 at the front end of the deteriorated insulator 2 to be replaced, and after the hydraulic tightener 904 is tightened, the tension on the deteriorated single insulator 2 to be replaced and the insulator 2 adjacent to the front end thereof is loosened; at this time, according to the image information acquired by the camera 10 in real time, an operator on the ground observes the position of the R pin 11 on the insulator 2 from a ground control computer, operates the hydraulic telescopic rod 4 through the controller 7, so that the hydraulic telescopic rod 4 is contracted and shortened, lifts the bottle rotator 3 upwards, enables the two friction wheels 302 in the inner arc groove of the bottle rotator 3 to be clamped on the steel cap 201 of the insulator 2 to be rotated, and then starts the motor 305 to enable the two friction wheels 302 to drive the insulator 2 to rotate for an angle until the required position is reached; the controller 7 operates the telescopic hydraulic rod 4 to extend the telescopic hydraulic rod 4, so that the spinner 3 is disengaged from the insulator 2 and is retracted to the initial position, as shown in fig. 3. When the insulator 2 adjacent to the front of the single insulator 2 to be replaced is rotated, the moving platform 1 moves forwards to enable the bottle rotating device 3 to move to the insulator 2, and the operation is repeated.
According to the field construction experience, in general, when a single insulator 2 is replaced, the single insulator 2 and an adjacent insulator 2 in front of the single insulator 2 need to be rotated, for convenience of operation, two bottle rotating devices 3 are arranged, as shown in fig. 5, and are respectively connected below a platform body 104 of a robot moving platform 1 through a fixed rod 5 and a hydraulic telescopic rod 4, the two bottle rotating devices 3 are arranged in parallel, and the distance between the two bottle rotating devices is the same as the distance between the two adjacent insulators 2. Therefore, when the single insulator 2 is replaced, the insulator tightening fixture 9 only needs to clamp and tighten the insulator once, the single insulator 2 to be replaced and the insulator 2 adjacent to the front side of the insulator 2 can be rotated respectively, and the working efficiency is greatly improved.
Claims (4)
1. Change special high tension line strain insulator single chip insulator rotating-bottle device for robot with electricity, characterized by: the bottle rotating device comprises a bottle rotating device (3), a hydraulic telescopic rod (4), a fixing rod (5), a camera (10) and a ground control computer, wherein the bottle rotating device (3) is provided with an inner arc-shaped jaw body (301), two friction wheels (302) are arranged on the inner arc of the jaw body (301), the two friction wheels (302) are driven to rotate in the same direction through a motor (305), and the motor (305) is electrically connected with a controller (7) of a robot; a jaw arm (304) is fixedly connected to the jaw body (301), the end part of the jaw arm (304) is hinged to the lower end of the fixed rod (5), and the upper end of the fixed rod (5) is rigidly connected below the moving platform (1) of the robot; the lower end of the hydraulic telescopic rod (4) is hinged to the jaw arm (304), the upper end of the hydraulic telescopic rod (4) is hinged to the lower portion of the moving platform (1), and a hydraulic source of the hydraulic telescopic rod (4) is connected with a robot hydraulic system; the hydraulic telescopic rod (4) contracts to drive the jaw arm (304) to move upwards, so that the rims of the two friction wheels (302) are clamped on the outer circumference of the steel cap (201) of the insulator (2); the ground control computer and the mobile platform (1) are respectively provided with a wireless communication module (8), and the wireless communication module (8) on the mobile platform (1) is respectively electrically connected with a camera (10) and a controller (7) which are arranged on the mobile platform (1).
2. The rotary bottle device for the robot for live replacement of the tension single insulator of the extra-high voltage line according to claim 1, which is characterized in that: a chain wheel (303) is fixedly arranged on the wheel shaft of each friction wheel (302), and the friction wheels (302) rotate synchronously with the chain wheel (303); a duplex chain wheel (306) is fixedly arranged on an output shaft of the motor (305), and two chain wheels of the duplex chain wheel (306) synchronously rotate along with the output shaft of the motor (305); one chain wheel of the duplex chain wheel (306) is connected with the chain wheel (303) on the axle of one friction wheel (302) through a transmission chain (307) to form chain transmission, and the other chain wheel of the duplex chain wheel (306) is connected with the chain wheel (303) on the axle of the other friction wheel (302) through the transmission chain (307) to form chain transmission.
3. The rotary bottle device for the robot for live replacement of the tension single insulator of the extra-high voltage line according to claim 1, which is characterized in that: the two bottle rotating devices (3) are connected below the moving platform (1) through fixing rods (5) and hydraulic telescopic rods (4) respectively, the two bottle rotating devices (3) are arranged in parallel, and the distance between the two bottle rotating devices is the same as that between the two adjacent insulators (2).
4. The rotary bottle device for the robot for live replacement of the tension single insulator of the extra-high voltage line according to claim 1, which is characterized in that: the wheel rim of the friction wheel (302) is provided with a rubber layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011383939.2A CN112332300B (en) | 2020-11-30 | 2020-11-30 | Bottle rotating device for robot for live replacement of tension single insulator of extra-high voltage line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011383939.2A CN112332300B (en) | 2020-11-30 | 2020-11-30 | Bottle rotating device for robot for live replacement of tension single insulator of extra-high voltage line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112332300A CN112332300A (en) | 2021-02-05 |
| CN112332300B true CN112332300B (en) | 2021-11-09 |
Family
ID=74308357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011383939.2A Expired - Fee Related CN112332300B (en) | 2020-11-30 | 2020-11-30 | Bottle rotating device for robot for live replacement of tension single insulator of extra-high voltage line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112332300B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113852005B (en) * | 2021-09-29 | 2023-03-24 | 国网湖北省电力有限公司检修公司 | Automatic travelling mechanism for strain insulator string of extra-high voltage line |
| CN115302243B (en) * | 2022-08-25 | 2023-11-24 | 中国南方电网有限责任公司超高压输电公司昆明局 | Insulator dismounting device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011125187A (en) * | 2009-12-14 | 2011-06-23 | Chugoku Electric Power Co Inc:The | Operating rod for indirect hot line work |
| CN210468597U (en) * | 2019-08-29 | 2020-05-05 | 中国南方电网有限责任公司超高压输电公司昆明局 | Automatic device of changing of high altitude suspension insulator |
| CN111162481A (en) * | 2020-01-06 | 2020-05-15 | 安徽工业大学 | Rotary pin inserting and pulling device for suspension insulator |
| CN210577386U (en) * | 2019-08-29 | 2020-05-19 | 中国南方电网有限责任公司超高压输电公司昆明局 | A mechanism for insulator autogiration |
-
2020
- 2020-11-30 CN CN202011383939.2A patent/CN112332300B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011125187A (en) * | 2009-12-14 | 2011-06-23 | Chugoku Electric Power Co Inc:The | Operating rod for indirect hot line work |
| CN210468597U (en) * | 2019-08-29 | 2020-05-05 | 中国南方电网有限责任公司超高压输电公司昆明局 | Automatic device of changing of high altitude suspension insulator |
| CN210577386U (en) * | 2019-08-29 | 2020-05-19 | 中国南方电网有限责任公司超高压输电公司昆明局 | A mechanism for insulator autogiration |
| CN111162481A (en) * | 2020-01-06 | 2020-05-15 | 安徽工业大学 | Rotary pin inserting and pulling device for suspension insulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112332300A (en) | 2021-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112332300B (en) | Bottle rotating device for robot for live replacement of tension single insulator of extra-high voltage line | |
| CN113824061B (en) | Use method of power transmission line outer sheath inspection repair device with good stability | |
| CN112372619B (en) | Robot for live replacement of strain single-chip insulator of extra-high voltage line and operation method | |
| CN109244934B (en) | Ground wire suspension inspection robot | |
| CN110565460A (en) | Self-propelled rail bolt tightening and loosening device and method thereof | |
| CN105896370B (en) | Stockbridge damper more changing device, the robot with it and stockbridge damper replacing options | |
| CN105293139A (en) | Winding device for 90-degree cord fabric cut-off production line | |
| CN114759484A (en) | High-voltage wire inspection robot | |
| CN108927643B (en) | Device and method for disassembling and assembling sea horse type damper | |
| CN110666825B (en) | Multi-degree-of-freedom end effector for tool changing robot | |
| CN114094489A (en) | High-voltage line broken strand conductor preformed armor rod repairing system and method | |
| CN116316279A (en) | Electrified repair tool for high-voltage transmission cable grounding hanging ring and use method thereof | |
| CN114914844B (en) | Live working robot for power transmission line and application method thereof | |
| CN109980574A (en) | A kind of vibration damper on power transmission line replacement operation device and operational method | |
| CN214506342U (en) | Insulating rod live working mechanical arm assembly convenient to use | |
| CN212096392U (en) | Device for enabling tire to enter automatic trimming position | |
| CN110778864B (en) | Electric automation equipment mounting base | |
| CN109898375B (en) | Hydraulic rail replacing machine | |
| CN114188886A (en) | Insulating rod operating system for power industry | |
| CN210307565U (en) | Be applied to not hard up bolt tightening device of wire jumper connection palm of power circuit | |
| CN208522359U (en) | A kind of overhead transmission line fitting apparatus for examination and repair | |
| CN113964743A (en) | Repairing robot | |
| CN220223365U (en) | Wire arranging device for power wires of electric hoist | |
| CN219498754U (en) | Threading construction device for building electrical engineering | |
| CN215439306U (en) | Large-scale tower segmentation is quick to be organized in air device convenient to adjust |
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 | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211109 |