CN113120111B - Automatic detection device along line of power grid high-voltage cable - Google Patents
Automatic detection device along line of power grid high-voltage cable Download PDFInfo
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- CN113120111B CN113120111B CN202110407507.9A CN202110407507A CN113120111B CN 113120111 B CN113120111 B CN 113120111B CN 202110407507 A CN202110407507 A CN 202110407507A CN 113120111 B CN113120111 B CN 113120111B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
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Abstract
The invention relates to the technical field of high-voltage cable detection devices, in particular to an automatic detection device for high-voltage cables along a power grid, wherein a connecting seat at the front end and the rear end of a base is rotatably connected with a rotating base, one end of the top surface of the rotating base is connected with a fixed plate, the other end of the top surface of the rotating base is hinged with a rotating plate, a supporting wheel rotating shaft which is rotatably sleeved at the inner side of the top end of the fixed plate is sleeved with an orifice at the top end of the rotating plate, a shaft body is rotatably sleeved at the front end and the rear end of the top surface of a sliding support which is transversely and slidably connected with the center line of the top surface of the base, a driving motor for driving the shaft body to rotate is arranged in the sliding support, the middle part of the periphery of the driving wheel is provided with an annular groove structure with adjustable width, the base is provided with a power mechanism for driving the sliding support to simultaneously and reversely slide, a telescopic cylinder for driving balance weight plates at two sides of the base to horizontally move is arranged in the base, an infrared temperature detection device and a video camera device are arranged in the middle part of the top surface of the base, and a battery pack is arranged in the inner cavity of the base, a horizontal sensing module is integrated in the control box; the problem of high pressure cable because of the degree of difficulty that manual detection brought is big and danger coefficient is high is solved.
Description
Technical Field
The invention relates to the technical field of high-voltage cable detection devices, in particular to an automatic detection device along a power grid high-voltage cable.
Background
The power distribution network is used as an important component of a power grid, is directly oriented to terminal users, is closely related to the production and life of the masses of people, and is an important infrastructure for local economy and national civilian life guarantee. With the rapid development of power grids and the continuous improvement of urban cabling rate, higher requirements are put forward on the safe and reliable operation of low-voltage distribution network overhead lines.
The aerial cable is the important component part of distribution network, to a great extent influences the normal operating of distribution network, the cable of aerial cable is similar to the rope, strand by many or multiunit wire and form, whole outsourcing has highly insulated overburden, in the aerial cable system, because the cable is established between two electric wire tower poles, the tower pole walking detection must be climbed to artifical cable detection to the current, and the content that can detect is less, dangerous great and detection efficiency is low, just so increased the detection degree of difficulty, just so need can the device of automated inspection aerial cable running state.
Disclosure of Invention
The invention aims to provide an automatic detection device along a high-voltage cable of a power grid, which is used for solving the problems that manual operation is needed in the detection of the high-voltage cable at present, the difficulty is high and the danger coefficient is high.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic detection device along a power grid high-voltage cable comprises a base, a sliding support, a counterweight plate, infrared temperature detection equipment, shooting and recording equipment, a rotating base, a battery pack and a control box; the middle positions of the front end and the rear end of the base are respectively provided with a connecting seat;
the sliding support is clamped at two sides of the center line of the top surface of the base in a sliding manner along the transverse direction, the front end and the rear end of the top surface of the sliding support are respectively rotatably sleeved with a shaft body, a driving motor for driving the shaft body to rotate is arranged in the sliding support, a driving wheel is fixedly sleeved on the periphery of the shaft body, an annular groove structure with adjustable width is arranged in the middle of the periphery of the driving wheel, and a power mechanism for driving the sliding support to slide reversely is arranged in the middle of the top surface of the base;
the counterweight plates are respectively arranged on two sides of the base, and telescopic cylinders which respectively drive the counterweight plates to translate relative to the side faces of the base are arranged in the base;
the infrared temperature detection equipment and the shooting and recording equipment are respectively arranged in the middle of the top surface of the base;
the rotary base is rotatably connected in the connecting seat, one end of the top surface of the rotary base is fixedly connected with a fixed plate, the other end of the top surface of the rotary base is hinged with a rotating plate, a supporting wheel is rotatably sleeved on the inner side of the top end of the fixed plate, and an orifice which is rotatably sleeved and matched with a central shaft of the supporting wheel is formed in the side surface of the top end of the rotating plate;
the battery pack is arranged in the inner cavity of the base and used for providing power for power equipment;
the telescopic cylinder is characterized in that a horizontal sensing module is integrated in the control box, and the output end of the horizontal sensing module is electrically connected with the control end of the telescopic cylinder.
Preferably, the position of the top surface of the base, which is close to the front end and the rear end, is respectively provided with a sliding rail along the transverse direction, and the bottom end of the sliding support is provided with a sliding chute correspondingly connected with the sliding rail in a sliding manner.
Preferably, both sides of the central position of the top surface of the base are fixedly connected with fixing seats respectively, the side surfaces of the fixing seats are respectively and vertically rotatably sleeved with a screw rod, the middle position of each fixing seat is rotatably connected with a rotating body, the inner end of each screw rod is vertically and fixedly connected with the center of the side surface of the corresponding rotating body, and the middle part of the side surface of the sliding support is provided with a screw hole in threaded sleeve connection with the screw rod.
Preferably, the top surface of the sliding support close to the front end and the back end are respectively provided with a circular through hole, and the bottom end of the shaft body is rotatably sleeved in the circular through holes.
Preferably, the shaft body comprises a cylinder and a square column, the bottom end of the cylinder is rotatably sleeved in the circular through hole, a jack is arranged in the center of the bottom of the cylinder, and a power output shaft of the driving motor is fixedly inserted in the jack;
the bottom end of the square column is fixedly butted with the top end of the cylinder;
the driving wheel comprises a bottom wheel and a top wheel, cambered surface grooves are respectively formed in the periphery of the top end of the bottom wheel and the periphery of the bottom end of the top wheel, the bottom wheel is fixedly sleeved on the top end of the cylinder, the top wheel is slidably sleeved on the square cylinder, a square cylinder is arranged in the middle of the top surface of the top wheel, the square cylinder is slidably sleeved with the square cylinder, and a positioning bolt is sleeved on the vertical thread of the side wall of the square cylinder.
Preferably, the positions, close to the front end and the rear end, of the two side surfaces of the base are respectively and vertically and fixedly connected with a guide rod, and the positions, close to the front end and the rear end, of the side surfaces of the counterweight plate are respectively and correspondingly sleeved with the guide rods in a sliding manner.
Preferably, the telescopic cylinders are fixedly sleeved at the central positions of the two side surfaces of the base respectively, and the telescopic ends of the telescopic cylinders are fixedly connected with the middle parts of the inner side surfaces of the counterweight plates correspondingly.
Preferably, a torsion spring is sleeved on the periphery of a rotating shaft corresponding to the hinged position of the rotating plate and the rotating base.
Preferably, resistance increasing layers are arranged on the cambered surface grooves corresponding to the top wheels and the bottom wheels.
Preferably, the outer end of the screw rod is provided with a limiting circular plate, and the diameter of the limiting circular plate is larger than the aperture of the screw hole.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic detection device along the high-voltage cable of the power grid, provided by the invention, realizes automatic walking and detection along the cable, so that the problems of high detection difficulty and high danger coefficient caused by manual operation required by high-voltage cable detection in the prior art are solved.
2. The automatic detection device along the high-voltage cable of the power grid, which is disclosed by the invention, has the advantages that the guiding and supporting functions are provided by the supporting wheels, the driving wheels consisting of the bottom wheels and the top wheels are used for driving, meanwhile, the counterweight plate capable of translating relative to the base is arranged, and the translation of the counterweight plate is controlled by the horizontal sensing module, so that the temperature movement of the base in a horizontal state is ensured, and the detection precision is improved.
3. The bottom wheel and the top wheel can relatively adjust the positions, and the sliding support can slide towards two sides, so that the driving wheel consisting of the bottom wheel and the top wheel can adapt to high-voltage cables with different outer diameters.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic top view of the base of the present invention;
FIG. 4 is a bottom view of the base of the present invention;
FIG. 5 is a schematic perspective view of the sliding support of the present invention;
fig. 6 is a schematic perspective view of a shaft body according to the present invention.
In the figure: 100-a base; 101-a slide rail; 102-a connecting socket; 103-a guide rod; 104-a fixed seat; 105-a rotating body; 106-screw; 200-a sliding support; 2001-chute; 2002-screw holes; 2003-circular through holes; 201-a drive motor; 202-a shaft body; 2021-cylinder; 2022-square column; 2023-jack; 203-bottom wheels; 204-top wheel; 205-square cylinder; 206-positioning bolts; 300-a weight plate; 301-a telescopic cylinder; 400-infrared temperature detection equipment; 500-a camcorder device; 600-rotating the base; 601-a fixed plate; 602-a rotating plate; 603-support wheels; 604-a torsion spring; 700-a battery pack; 800-control box.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution, a power grid high voltage cable line automatic detection apparatus, which includes a base 100, a sliding support 200, a counterweight plate 300, an infrared temperature detection device 400, a video recording device 500, a rotating base 600, a battery pack 700, and a control box 800; the central positions of the front end and the rear end of the base 100 are respectively provided with a connecting seat 102;
the sliding support 200 is respectively clamped at two sides of the center line of the top surface of the base 100 along the transverse sliding, the front end and the rear end of the top surface of the sliding support 200 are respectively rotatably sleeved with a shaft body 202, a driving motor 201 for driving the shaft body 202 to rotate is arranged in the sliding support 200, the periphery of the shaft body 202 is fixedly sleeved with a driving wheel, the middle part of the periphery of the driving wheel is provided with an annular groove structure with adjustable width, and the middle part of the top surface of the base 100 is provided with a power mechanism for driving the sliding support 200 to simultaneously slide reversely;
the weight plates 300 are respectively arranged on two sides of the base 100, and telescopic cylinders 301 which respectively drive the weight plates 300 to translate relative to the side surfaces of the base 100 are arranged in the base 100;
wherein, the infrared temperature detecting device 400 and the recording device 500 are respectively installed at the middle part of the top surface of the base 100;
wherein, the rotating base 600 is rotatably connected in the connecting seat 102, one end of the top surface of the rotating base 600 is fixedly connected with a fixed plate 601, the other end of the top surface of the rotating base 600 is hinged with a rotating plate 602, the inner side of the top end of the fixed plate 601 is rotatably sleeved with a supporting wheel 603, and the side surface of the top end of the rotating plate 602 is provided with an orifice which is rotatably sleeved and matched with the central shaft of the supporting wheel 603;
the battery pack 700 is disposed in the inner cavity of the base 100, and the battery pack 700 is used for providing power for the power equipment;
a horizontal sensing module is integrated in the control box 800, and the output end of the horizontal sensing module is electrically connected with the control end of the telescopic cylinder 301; the horizontal sensing module is specifically an SVT620T type horizontal tilt angle detection module.
In this embodiment, the top surface of the base 100 near the front end and near the rear end is provided with a sliding rail 101 along the transverse direction, and the bottom end of the sliding support 200 is provided with a sliding groove 2001 corresponding to the sliding rail 101 for sliding and clamping.
In this embodiment, two sides of the center of the top surface of the base 100 are respectively and fixedly connected with the fixing bases 104, the side surfaces of the fixing bases 104 are respectively and vertically rotatably sleeved with the screws 106, the middle of the fixing bases 104 is rotatably connected with the rotating body 105, the inner ends of the screws 106 are vertically and fixedly connected with the center of the side surfaces of the rotating body 105, and the middle of the side surfaces of the sliding support 200 is provided with the screw holes 2002 which are in threaded sleeve connection with the screws 106.
In this embodiment, the top surface of the sliding support 200 near the front end and near the rear end is respectively provided with a circular through hole 2003, and the bottom end of the shaft body 202 is rotatably sleeved in the circular through hole 2003.
In this embodiment, the shaft body 202 includes a cylinder 2021 and a square column 2022, the bottom end of the cylinder 2021 is rotatably sleeved in the circular through hole 2003, a jack 2023 is disposed at the center of the bottom of the cylinder 2021, and a power output shaft of the driving motor 201 is fixedly inserted in the jack 2023;
wherein, the bottom end of the square column 2022 is fixedly butted with the top end of the cylinder 2021;
the driving wheel comprises a bottom wheel 203 and a top wheel 204, the periphery of the top end of the bottom wheel 203 and the periphery of the bottom end of the top wheel 204 are respectively provided with an arc groove, the bottom wheel 203 is fixedly sleeved on the top end of the cylinder 2021, the top wheel 204 is slidably sleeved on the square cylinder 2022, the middle of the top surface of the top wheel 204 is provided with a square cylinder 205, the square cylinder 205 is slidably sleeved with the square cylinder 2022, and the side wall of the square cylinder 205 is vertically sleeved with a positioning bolt 206 through threads.
In this embodiment, the guide rods 103 are vertically and fixedly connected to the positions close to the front end and the rear end of the two side surfaces of the base 100, respectively, and the positions close to the front end and the rear end of the side surfaces of the weight plate 300 are slidably sleeved with the guide rods 103, respectively.
In this embodiment, the telescopic cylinders 301 are respectively fixedly sleeved at the central positions of the two side surfaces of the base 100, and the telescopic ends of the telescopic cylinders 301 are respectively and correspondingly fixedly connected with the middle parts of the inner side surfaces of the weight plates 300.
In this embodiment, a torsion spring 604 is sleeved on the periphery of the rotation shaft corresponding to the hinge position of the rotation plate 602 and the rotation base 600.
In this embodiment, the arc grooves corresponding to the top wheel 204 and the bottom wheel 203 are provided with resistance increasing layers.
In this embodiment, the outer end of the screw 106 is provided with a limiting circular plate, and the diameter of the limiting circular plate is larger than the aperture of the screw hole 2002.
The working principle is as follows: when the cable support is used, the hole of the rotating plate 602 is separated from the central shaft of the support wheel 603, so that the rotating plate 602 rotates outwards to support the bottom of the support wheel 603 on a cable to be detected, then the rotating plate 602 is rotated to enable the hole at the top end of the rotating plate 602 to be buckled with the end head of the central shaft of the support wheel 603, and the rotating plate 602 can be prevented from falling off from the end head of the central shaft of the support wheel 603 under the action of the torsion spring 604; then, according to the outer diameter of the cable to be detected, the sliding distance of the sliding support 200 towards two sides is adjusted, and the height of the top wheel 204 is correspondingly adjusted at the same time; when the position of the sliding support 200 is adjusted, the rotating body 105 is rotated, so that the rotating body 105 drives the screw rods 16 on both sides to synchronously rotate, and the screw rods 106 respectively drive the sliding support 200 to slide towards both sides under the guiding action of the sliding rail 101; when the distance between the bottom wheel 203 and the top wheel 204 is adjusted, the positioning bolt 206 is firstly loosened to enable the top wheel 204 to slide upwards relative to the square column 2022, and when the distance slides to the adjusting position, the positioning bolt 206 is screwed down to enable the inner end of the positioning bolt 206 to tightly prop against the square column 2022, so that the effect of adjusting the distance between the bottom wheel 203 and the top wheel 204 can be achieved; the driving motor 201 drives the shaft body 202 to rotate, the shaft body 202 drives the driving wheel consisting of the bottom wheel 203 and the top wheel 204 to rotate, and the driving wheel rotates along the high-voltage cable, so that the whole base 100 moves forwards along the cable; the infrared temperature detection device 400 and the recording device 500 respectively perform line detection and image acquisition on the cable; in the operation process, the horizontal sensing module in the control box 800 constantly detects the horizontal state of the base 100, and when the horizontal state of the base 100 changes and inclines to one side, the telescopic cylinder 301 on the opposite side pushes the corresponding weight plate 300 to slide outwards along the guide rod 103, so as to balance the horizontal state of the base 100.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a power grid high voltage cable automatic checkout device along line which characterized in that includes: a base (100); a sliding support (200); a weight plate (300); an infrared temperature detection device (400); a videography device (500); a rotating base (600); a battery pack (700) and a control box (800); the middle positions of the front end and the rear end of the base (100) are respectively provided with a connecting seat (102); the sliding support (200) is respectively clamped at two sides of the center line of the top surface of the base (100) in a sliding manner along the transverse direction, the front end and the rear end of the top surface of the sliding support (200) are respectively rotatably sleeved with a shaft body (202), a driving motor (201) for driving the shaft body (202) to rotate is arranged in the sliding support (200), a driving wheel is fixedly sleeved on the periphery of the shaft body (202), the driving wheel comprises a bottom wheel (203) and a top wheel (204), the periphery of the top end of the bottom wheel (203) and the periphery of the bottom end of the top wheel (204) are respectively provided with an arc groove, the arc grooves correspondingly form an annular groove structure, the annular groove structure is provided with a width adjustable mechanism, and the middle part of the top surface of the base (100) is provided with a power mechanism for driving the sliding support (200) to reversely slide; the weight plates (300) are respectively arranged on two sides of the base (100), and telescopic cylinders (301) which respectively drive the weight plates (300) to translate relative to the side surfaces of the base (100) are arranged in the base (100); wherein, the infrared temperature detection device (400) and the video recording device (500) are respectively arranged in the middle of the top surface of the base (100); the rotary base (600) is rotatably connected into the connecting seat (102), one end of the top surface of the rotary base (600) is fixedly connected with a fixed plate (601), the other end of the top surface of the rotary base (600) is hinged with a rotating plate (602), a supporting wheel (603) is rotatably sleeved on the inner side of the top end of the fixed plate (601), and an orifice which is rotatably sleeved and matched with a central shaft of the supporting wheel (603) is formed in the side surface of the top end of the rotating plate (602); wherein the battery pack (700) is arranged in the inner cavity of the base (100), and the battery pack (700) is used for providing power for power equipment; wherein, a horizontal induction module is integrated in the control box (800), and the output end of the horizontal induction module is electrically connected with the control end of the telescopic cylinder (301).
2. The automatic detection device along the line of the high-voltage cable of the power grid according to claim 1, characterized in that: the base (100) top surface be close to the front end and be close to rear end position and transversely be provided with slide rail (101) respectively, the bottom of sliding support (200) be provided with slide rail (101) correspond the spout (2001) of slip joint.
3. The automatic detection device along the line of the high-voltage cable of the power grid according to claim 2, characterized in that: the base (100) top surface central point puts both sides fixedly connected with fixing base (104) respectively, the side of fixing base (104) is respectively rotated perpendicularly and is cup jointed screw rod (106), the position rotation in the middle of fixing base (104) is connected with rotator (105), the inner end of screw rod (106) with the perpendicular fixed connection in center of rotator (105) side, the middle part of sliding support (200) side be provided with screw (2002) that screw rod (106) screw thread cup jointed.
4. The automatic detection device along the line of the high-voltage cable of the power grid according to claim 3, characterized in that: round through holes (2003) are respectively formed in the positions, close to the front end and the rear end, of the top surface of the sliding support (200), and the bottom end of the shaft body (202) is rotatably sleeved in the round through holes (2003).
5. An automatic detection device for high-voltage cables along a power grid according to claim 4, characterized in that the shaft body (202) comprises: the power output shaft of the driving motor (201) is fixedly inserted in the insertion hole (2023); the bottom end of the square cylinder (2022) is fixedly butted with the top end of the cylinder (2021), the bottom wheel (203) is fixedly sleeved on the top end of the cylinder (2021), the top wheel (204) is sleeved on the square cylinder (2022) in a sliding manner, a square cylinder (205) is arranged in the middle of the top surface of the top wheel (204), the square cylinder (205) is sleeved on the square cylinder (2022) in a sliding manner, and a positioning bolt (206) is sleeved on the side wall of the square cylinder (205) in a vertical threaded manner.
6. The automatic detection device along the line of the power grid high-voltage cable according to claim 1, characterized in that: the guide rod (103) is vertically and fixedly connected to the positions, close to the front end and the rear end, of the two side faces of the base (100) respectively, and the positions, close to the front end and the rear end, of the side faces of the counterweight plate (300) are correspondingly sleeved with the guide rod (103) in a sliding mode respectively.
7. The automatic detection device along the line of the high-voltage cable of the power grid according to claim 6, characterized in that: the telescopic cylinder (301) is fixedly sleeved at the central positions of two side faces of the base (100) respectively, and the telescopic end of the telescopic cylinder (301) is fixedly connected with the middle part of the inner side face of the counterweight plate (300) correspondingly.
8. The automatic detection device along the line of the high-voltage cable of the power grid according to claim 1, characterized in that: a torsion spring (604) is sleeved on the periphery of a rotating shaft corresponding to the hinged position of the rotating plate (602) and the rotating base (600).
9. The automatic detection device along the line of the high-voltage cable of the power grid according to claim 1, characterized in that: resistance increasing layers are arranged on the cambered surface grooves corresponding to the top wheel (204) and the bottom wheel (203).
10. The automatic detection device along power grid high-voltage cable according to claim 3, characterized in that: the outer end of the screw rod (106) is provided with a limiting circular plate, and the diameter of the limiting circular plate is larger than the aperture of the screw hole (2002).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110407507.9A CN113120111B (en) | 2021-04-15 | 2021-04-15 | Automatic detection device along line of power grid high-voltage cable |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110407507.9A CN113120111B (en) | 2021-04-15 | 2021-04-15 | Automatic detection device along line of power grid high-voltage cable |
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| CN113120111A CN113120111A (en) | 2021-07-16 |
| CN113120111B true CN113120111B (en) | 2022-09-30 |
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| CN114559450B (en) * | 2022-04-28 | 2022-07-12 | 南通蓝拓泽语智能科技有限责任公司 | Intelligent inspection robot for maintaining high-voltage circuit system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2764047B2 (en) * | 1988-11-30 | 1998-06-11 | 三和テッキ株式会社 | Electric wire stop type suspension wheel |
| JP4060477B2 (en) * | 1999-02-02 | 2008-03-12 | 株式会社東芝 | Overhead running system |
| CN101574983B (en) * | 2009-06-12 | 2013-03-13 | 中国电力科学研究院 | Lead obstacle-crossing robot walking device |
| CN108539699A (en) * | 2018-05-21 | 2018-09-14 | 江苏亚特电缆有限公司 | A kind of high voltage transmission line deicer and de-icing method |
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