CN113328383A - Overhead line climbing operation robot - Google Patents
Overhead line climbing operation robot Download PDFInfo
- Publication number
- CN113328383A CN113328383A CN202110730531.6A CN202110730531A CN113328383A CN 113328383 A CN113328383 A CN 113328383A CN 202110730531 A CN202110730531 A CN 202110730531A CN 113328383 A CN113328383 A CN 113328383A
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- clamping
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- climbing
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- 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
Abstract
The invention discloses an overhead line climbing operation robot which comprises a moving trolley, a pole-climbing module, a clamping module and a line patrol module, wherein the bottom ends of the pole-climbing module and the clamping module are fixed on the moving trolley, the opening of a clamping claw of the clamping module is vertically upward, the line patrol module is positioned right above the clamping module, and the bottom end of the line patrol module is connected in a clamping claw of the clamping module in a clamping manner. The moving trolley is convenient for the operating robot to rapidly move to the telegraph pole, and can automatically climb the telegraph pole through the pole climbing module, and the aim of continuous operation on the overhead transmission line is fulfilled through the line patrol module.
Description
Technical Field
The invention relates to the field of operation robots, in particular to an overhead line climbing operation robot.
Background
Because the power transmission line of the power grid has a plurality of distribution points and a wide area, most of the power transmission line is far away from towns, the power transmission line is complex in terrain and bad in natural environment, and the power line and the pole tower accessories are exposed in the field for a long time and can be influenced by continuous mechanical tension, electric flashover and material aging to generate damages such as strand breakage, abrasion and corrosion, if the power transmission line and the pole tower accessories are not repaired and replaced in time, the original tiny damage and defects can be enlarged, finally serious accidents are caused, large-area power failure is caused, and therefore great economic loss and serious social influence are caused. Therefore, the power transmission line must be regularly inspected, and the operation condition of the power transmission line, the change conditions of the surrounding environment of the line and the line protection area are mastered and known at any time, so that the hidden danger can be timely found and eliminated, the occurrence of accidents is prevented, and the power supply safety is ensured.
At present, the operation work of the overhead transmission line mainly depends on a manual creepage pole to complete the work of inspection, repair and the like, and the labor cost is high and the safety factor is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing an overhead line climbing robot which can automatically climb telegraph poles and realize the purpose of continuous operation on overhead power transmission lines.
The technical scheme of the invention is as follows:
an overhead line climbing operation robot comprises a moving trolley, a pole-climbing module, a clamping module and a line patrol module, wherein the bottom ends of the pole-climbing module and the clamping module are fixed on the moving trolley, the opening of a clamping claw of the clamping module is vertically upward, the line patrol module is positioned right above the clamping module, and the bottom end of the line patrol module is connected in the clamping claw of the clamping module in a clamping manner;
the climbing pole module comprises two vertical guide rods, a fixed clamping mechanism, a movable clamping mechanism and an electric lifting pole, the bottom ends of the two vertical guide rods are fixed on the movable trolley, the fixed clamping mechanism and the movable clamping mechanism are horizontally arranged, the fixed clamping mechanism is fixedly connected between the bottoms of the two vertical guide rods, the movable clamping mechanism is positioned right above the fixed clamping mechanism and is slidably connected to the two vertical guide rods, the electric lifting pole is fixed on the fixed clamping mechanism, the lifting end of the electric lifting pole is vertically upward, the movable clamping mechanism is fixedly connected with the lifting end of the electric lifting pole, and the climbing pole clamping jaws of the movable clamping mechanism and the fixed clamping mechanism are positioned outside the movable trolley;
patrol the line module including the electric box, fixed connection is in the clamping jaw of clamping module, patrol the line module and constitute by a plurality of line moving mechanism that patrol in the electric box top, every is patrolled line moving mechanism and all includes X axle straight line module, Z axle straight line module, remove the frame, electric walking wheel and industrial camera, X axle straight line module is fixed in the top of electric box, a plurality of X axle straight line modules of patrolling line moving mechanism are parallel to each other, the bottom mounting of Z axle straight line module is on the slider of X axle straight line module, remove on the frame is fixed in the slider of Z axle straight line module, the vertical setting of electric walking wheel and connect on removing the frame, industrial camera is fixed in and removes on the frame.
The clamping module comprises a vertical electric push rod and a clamping claw, the bottom end of the vertical electric push rod is a fixed end, the top end of the vertical electric push rod is a lifting moving end, the bottom end of the vertical electric push rod is fixed on the moving trolley, and the bottom end of the clamping claw is hinged to the top end of the vertical electric push rod and located outside the moving trolley.
The fixed clamping mechanism and the movable clamping mechanism respectively comprise a mounting frame, a climbing rod clamping jaw and a horizontal electric push rod, the climbing rod clamping jaw is of an X-shaped structure, the mounting frame of the fixed clamping mechanism is fixed between two vertical guide rods, the mounting frame of the movable clamping mechanism is fixedly connected with sliding blocks nested on the two vertical guide rods, an X-shaped cross point of the climbing rod clamping jaw is hinged to the mounting frame, a horizontal electric push rod is hinged between two ends of the climbing rod clamping jaw facing the same direction, arc-shaped clamping pieces are fixed on the other two ends of the climbing rod clamping jaw facing the same direction, arc-shaped notches of the two arc-shaped clamping pieces face to each other, a rubber gasket and two clamping wheel assemblies are respectively mounted on each arc-shaped clamping piece, the rubber gasket is fixedly mounted in the middle of the arc-shaped inner surface of each arc-shaped clamping piece, the two clamping wheel assemblies are mounted at two end parts of each arc-shaped clamping piece, each clamping wheel assembly comprises a U-shaped mounting frame, Bolt, spring, pinch-off pulley mounting bracket and pinch-off pulley, on the arc surface of arc pinch-off blades was fixed in at the both ends of U-shaped mounting bracket, the screw rod of bolt passed the horizontal part of U-shaped mounting bracket and stretched into the U-shaped inslot of U-shaped mounting bracket, the head of bolt and the horizontal part fixed connection of U-shaped mounting bracket, the end threaded connection of bolt screw rod had stop nut, spring and pinch-off pulley mounting bracket all suit on the screw rod of bolt, and the both ends of spring respectively with the horizontal part of U-shaped mounting bracket, pinch-off pulley mounting bracket in close contact with, the pinch-off pulley connect on the pinch-off pulley mounting bracket, the arc pinch-off blades on be provided with the guide hole that is used for pinch-off pulley mounting bracket to pass, the spring under the unstressed state, the pinch-off pulley be located the arc wall of arc pinch-off blades.
Every pinch roller subassembly all including two bolts, the screw rod of every bolt all passes the horizontal part of U-shaped mounting bracket and stretches into the U-shaped inslot of U-shaped mounting bracket, the equal threaded connection of end department of every bolt screw rod has a stop nut, all overlap on the screw rod of every bolt and be equipped with the spring that corresponds, pinch roller mounting bracket suit is on the screw rod of two bolts, the both ends of every spring are equallyd divide do not with the horizontal part of U-shaped mounting bracket, pinch roller mounting bracket in close contact with.
The electric walking wheel comprises a driving motor fixed on the moving frame and a walking wheel connected with the output shaft of the driving motor through a coupler, and the middle of the walking wheel is of an annular groove structure.
And a light source is fixed on the movable frame.
The invention has the advantages that:
(1) the movable trolley structure is convenient for moving the working robot to the side of the telegraph pole through the movable trolley;
(2) the pole climbing module is matched with the clamping and lifting driving of the lifting electric pole through the fixed clamping mechanism, the movable clamping mechanism and the lifting electric pole, so that the robot with the action can quickly climb on the telegraph pole;
(3) the high-altitude power transmission line patrol module is convenient to clamp and drive the line patrol module to climb the pole, and is separated from the line patrol module when the line patrol module is erected on a high-altitude power transmission line after pole climbing is finished, so that the line patrol module can conveniently patrol the line along the high-altitude power transmission line;
(4) the line patrol module is provided with the double-guide-rail linear module which drives the electric travelling wheels to move in the XZ axis direction, so that the line patrol module can conveniently perform line patrol adjustment in different directions and positions;
(5) the line patrol module is provided with the light source, so that the line patrol module can execute a line patrol task at night, and the working efficiency is improved.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a side view of a pole-climbing module of the present invention.
Fig. 3 is a top view of the stationary clamping mechanism of the present invention.
Fig. 4 is a perspective view of the pinch wheel assembly of the present invention.
Fig. 5 is a cross-sectional view of the clamping wheel assembly of the present invention.
Fig. 6 is a front view of the routing module of the present invention.
Fig. 7 is a plan view of the patrol moving mechanism of the present invention.
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, an overhead line climbing operation robot comprises a moving trolley 1, a pole-climbing module 2, a clamping module 3 and a line patrol module 4, wherein the bottom ends of the pole-climbing module 2 and the clamping module 3 are fixed on the moving trolley 1, the opening of a clamping claw of the clamping module 3 is vertically upward, the line patrol module 4 is positioned right above the clamping module 3, and the bottom end of the line patrol module 4 is connected in the clamping claw of the clamping module 3 in a clamping manner;
referring to fig. 2, the pole climbing module 2 includes two vertical guide rods 21, a fixed clamping mechanism 22, a movable clamping mechanism 23 and a lifting electric rod 24, bottom ends of the two vertical guide rods 21 are all fixed on the moving trolley 1, the fixed clamping mechanism 22 and the movable clamping mechanism 23 are both horizontally arranged, the fixed clamping mechanism 22 is fixedly connected between bottoms of the two vertical guide rods 21, the movable clamping mechanism 23 is located right above the fixed clamping mechanism 22 and is slidably connected to the two vertical guide rods 21, the lifting electric rod 24 is fixed on the fixed clamping mechanism 22, a lifting end of the lifting electric rod 24 is vertically upward, the movable clamping mechanism 23 is fixedly connected with a lifting end of the lifting electric rod 24, and pole climbing clamping jaws of the movable clamping mechanism 23 and the fixed clamping mechanism 24 are located outside the moving trolley 1;
referring to fig. 3, each of the fixed clamping mechanism 22 and the movable clamping mechanism 23 includes a mounting bracket 221, a climbing rod clamping jaw 222 of an X-shaped structure, and a horizontal electric push rod 223, the mounting bracket 221 of the fixed clamping mechanism 22 is fixed between two vertical guide rods 21, the mounting bracket 221 of the movable clamping mechanism 23 is fixedly connected with the sliding blocks nested on the two vertical guide rods 21, the X-shaped intersection point of the climbing rod clamping jaw 222 is hinged on the mounting bracket 221, the horizontal electric push rod 223 is hinged between two ends of the climbing rod clamping jaw 222 facing the same direction, arc-shaped clamping pieces 224 are fixed on the other two ends of the climbing rod clamping jaw 222 facing the same direction, the arc-shaped notches of the two arc-shaped clamping pieces 224 face opposite directions, each arc-shaped clamping piece 224 is provided with a rubber gasket 225 and two clamping wheel assemblies 226 (see fig. 4 and 5), the rubber gasket 224 is fixed in the middle of the arc-shaped inner surface of the arc-shaped clamping piece 224, the two clamping wheel assemblies 226 are mounted at two ends of the arc-shaped clamping piece 224, each clamping wheel assembly 226 comprises a U-shaped mounting frame 261, two bolts 262, two springs 263, a clamping wheel mounting frame 264 and a clamping wheel 265, two ends of the U-shaped mounting frame 261 are fixed on the arc-shaped outer surface of the arc-shaped clamping piece 224, a screw rod of the bolt 262 penetrates through the horizontal part of the U-shaped mounting frame 261 and extends into a U-shaped groove of the U-shaped mounting frame 261, the head of the bolt 262 is fixedly connected with the horizontal part of the U-shaped mounting frame 261, a limit nut 266 is connected to the end of the screw rod of the bolt 262 in a threaded manner and used for connecting the clamping wheel mounting frame 264 to the screw rod of the bolt 262 in a sleeved manner, the corresponding spring 263 is sleeved on the screw rod of each bolt 263, the clamping wheel mounting frame 264 is sleeved on the screw rods of the two bolts 262, two ends of each spring 262 are respectively in close contact with the horizontal part of the U-shaped mounting frame 261 and the clamping wheel mounting frame 264, the clamping wheel 265 is connected to the clamping wheel mounting frame 264, the arc-shaped clamping piece 224 is provided with a guide hole for the clamping wheel mounting frame 264 to pass through, and the clamping wheel 265 is positioned in the arc-shaped groove of the arc-shaped clamping piece 224 when the two springs 263 of the clamping wheel assembly 226 are in an unstressed state; when the fixed clamping mechanism 22 or the movable clamping mechanism 23 clamps a telegraph pole to climb, the clamping wheel assemblies 226 on the two arc-shaped clamping pieces 224 clamp the telegraph pole, when clamping is carried out, the rubber gaskets 225 on the two arc-shaped clamping pieces 224 are in contact with the telegraph pole, the telegraph pole presses the clamping wheels 265, the clamping wheels 265 press the clamping wheel mounting frames 264 and the clamping wheel mounting frames 264 to press the springs 262, the clamping wheel mounting frames 264 and the clamping wheels 265 are partially pressed into the U-shaped mounting frames 261, when the fixed clamping mechanism 22 and the movable clamping mechanism 23 are loosened from the telegraph pole, the clamping wheels 265 and the pressing clamping wheel mounting frames 264 of the clamping wheel assemblies 226 are moved out of the U-shaped mounting frames 261, and the U-shaped mounting frames 261 play a role in guiding, so that the trolleys cannot overturn;
the clamping module 3 comprises a vertical electric push rod and a clamping claw, the bottom end of the vertical electric push rod is a fixed end, the top end of the vertical electric push rod is a lifting moving end, the bottom end of the vertical electric push rod is fixed on the moving trolley 1, and the bottom end of the clamping claw is hinged to the top end of the vertical electric push rod and is positioned outside the moving trolley 1;
referring to fig. 6 and 7, the line patrol module 4 includes an electrical box 41, a clamping shaft 42 and a vision sensor 43 fixedly connected to the bottom end of the electrical box 41, a line patrol module 44 fixedly connected to the top end of the electrical box 41, the clamping shaft 42 is connected to the clamping claw of the clamping module 3 in a clamping manner, the line patrol module 44 is composed of three line patrol moving mechanisms, each line patrol moving mechanism includes an X-axis linear module 441, a Z-axis linear module 442, a moving frame 443, an electric walking wheel, an industrial camera 447 and a light source 448, the X-axis linear module 441 is fixed to the top end of the electrical box 41, the X-axis linear modules 441 of the line patrol moving mechanisms are parallel to each other, the bottom end of the Z-axis linear module 442 is fixed to a slider of the X-axis linear module 441, the moving frame 443 is fixed to a slider of the Z-axis linear module 442, the electric walking wheel includes a driving motor 444 fixed to the moving frame 443, and a walking wheel 446 connected to an output shaft of the driving motor through a coupling, the walking wheels 446 are vertically arranged, the middle parts of the walking wheels 446 are of annular groove structures, the annular grooves of the walking wheels 446 are convenient to erect on the high-altitude power transmission line, and the industrial camera 447 and the light source 448 are fixed on the moving frame 443.
The working principle of the invention is as follows:
firstly, the clamping module 3 clamps the line patrol module 4, the movable trolley 1 moves to the side of a telegraph pole, the pole climbing module 2 fixes the clamping mechanism 22 to clamp the telegraph pole, the movable clamping mechanism 23 moves upwards under the action of the lifting electric pole 24 to clamp the telegraph pole, at the moment, the fixed clamping mechanism 22 is loosened from the telegraph pole, the lifting electric pole 24 retracts, as the fixed clamping mechanism 22 is fixed on the vertical guide rod 21 and the vertical guide rod 21 is fixed on the movable trolley 1, the lifting electric pole 24 retracts to drive the whole movable trolley 1 to move upwards, after moving upwards, the fixed clamping mechanism 22 clamps the telegraph pole again, the steps are repeated to perform continuous climbing until the telegraph pole climbs to the top of the telegraph pole, then the line patrol module 4 adjusts the position of the travelling wheel 446 to enable the travelling wheel to be hung on an overhead transmission line, at the moment, the vertical electric push rod of the clamping module 3 is controlled to rise to enable the clamping claws to be opened, the line patrol module 4 is separated from the clamping module 3, then the pole-climbing module 2 drives the whole mobile trolley 1 to move downwards along the telegraph pole and return to the ground, and the line patrol module 4 independently works on the high-altitude power transmission line.
When the line patrol module 4 works, the walking wheels 446 of the three line patrol moving mechanisms of the line patrol module 44 are all hung on the same electric wire, when the walking wheel 446 of one line patrol moving mechanism located at the foremost walking end works on the electric wire and meets an obstacle, the line patrol moving mechanism adjusts the walking wheel 446 to the lower part of the electric wire by controlling the X-axis ball screw 441 and the Z-axis ball screw 442, the walking wheels 446 of the two line patrol moving mechanisms at the rear part are still hung on the electric wire to keep balance, after the two line patrol moving mechanisms at the rear part continue to walk forwards for a certain distance, the walking wheel 446 of one line patrol moving mechanism located at the foremost walking end crosses the obstacle and then adjusts the walking wheel to the upper part of the electric wire to be hung, then, the walking is continued, and after the two walking wheels at the rear part are sequentially adjusted one by one, the walking wheel under the electric wire crosses the obstacle and then the walking wheel is adjusted to the upper part of the electric wire to be hung.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that 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 (6)
1. An overhead line climbing operation robot which characterized in that: the wire patrol system comprises a moving trolley, a pole-climbing module, a clamping module and a wire patrol module, wherein the bottom ends of the pole-climbing module and the clamping module are fixed on the moving trolley, the opening of a clamping claw of the clamping module is vertically upward, the wire patrol module is positioned right above the clamping module, and the bottom end of the wire patrol module is connected in a clamping claw of the clamping module in a clamping manner;
the climbing pole module comprises two vertical guide rods, a fixed clamping mechanism, a movable clamping mechanism and an electric lifting pole, the bottom ends of the two vertical guide rods are fixed on the movable trolley, the fixed clamping mechanism and the movable clamping mechanism are horizontally arranged, the fixed clamping mechanism is fixedly connected between the bottoms of the two vertical guide rods, the movable clamping mechanism is positioned right above the fixed clamping mechanism and is slidably connected to the two vertical guide rods, the electric lifting pole is fixed on the fixed clamping mechanism, the lifting end of the electric lifting pole is vertically upward, the movable clamping mechanism is fixedly connected with the lifting end of the electric lifting pole, and the climbing pole clamping jaws of the movable clamping mechanism and the fixed clamping mechanism are positioned outside the movable trolley;
patrol the line module including the electric box, fixed connection is in the clamping jaw of clamping module, patrol the line module and constitute by a plurality of line moving mechanism that patrol in the electric box top, every is patrolled line moving mechanism and all includes X axle straight line module, Z axle straight line module, remove the frame, electric walking wheel and industrial camera, X axle straight line module is fixed in the top of electric box, a plurality of X axle straight line modules of patrolling line moving mechanism are parallel to each other, the bottom mounting of Z axle straight line module is on the slider of X axle straight line module, remove on the frame is fixed in the slider of Z axle straight line module, the vertical setting of electric walking wheel and connect on removing the frame, industrial camera is fixed in and removes on the frame.
2. An overhead line climbing operation robot according to claim 1, characterized in that: the clamping module comprises a vertical electric push rod and a clamping claw, the bottom end of the vertical electric push rod is a fixed end, the top end of the vertical electric push rod is a lifting moving end, the bottom end of the vertical electric push rod is fixed on the moving trolley, and the bottom end of the clamping claw is hinged to the top end of the vertical electric push rod and located outside the moving trolley.
3. An overhead line climbing operation robot according to claim 1, characterized in that: the fixed clamping mechanism and the movable clamping mechanism respectively comprise a mounting frame, a climbing rod clamping jaw and a horizontal electric push rod, the climbing rod clamping jaw is of an X-shaped structure, the mounting frame of the fixed clamping mechanism is fixed between two vertical guide rods, the mounting frame of the movable clamping mechanism is fixedly connected with sliding blocks nested on the two vertical guide rods, an X-shaped cross point of the climbing rod clamping jaw is hinged to the mounting frame, a horizontal electric push rod is hinged between two ends of the climbing rod clamping jaw facing the same direction, arc-shaped clamping pieces are fixed on the other two ends of the climbing rod clamping jaw facing the same direction, arc-shaped notches of the two arc-shaped clamping pieces face to each other, a rubber gasket and two clamping wheel assemblies are respectively mounted on each arc-shaped clamping piece, the rubber gasket is fixedly mounted in the middle of the arc-shaped inner surface of each arc-shaped clamping piece, the two clamping wheel assemblies are mounted at two end parts of each arc-shaped clamping piece, each clamping wheel assembly comprises a U-shaped mounting frame, Bolt, spring, pinch-off pulley mounting bracket and pinch-off pulley, on the arc surface of arc pinch-off blades was fixed in at the both ends of U-shaped mounting bracket, the screw rod of bolt passed the horizontal part of U-shaped mounting bracket and stretched into the U-shaped inslot of U-shaped mounting bracket, the head of bolt and the horizontal part fixed connection of U-shaped mounting bracket, the end threaded connection of bolt screw rod had stop nut, spring and pinch-off pulley mounting bracket all suit on the screw rod of bolt, and the both ends of spring respectively with the horizontal part of U-shaped mounting bracket, pinch-off pulley mounting bracket in close contact with, the pinch-off pulley connect on the pinch-off pulley mounting bracket, the arc pinch-off blades on be provided with the guide hole that is used for pinch-off pulley mounting bracket to pass, the spring under the unstressed state, the pinch-off pulley be located the arc wall of arc pinch-off blades.
4. An overhead line climbing operation robot according to claim 3, characterized in that: every pinch roller subassembly all including two bolts, the screw rod of every bolt all passes the horizontal part of U-shaped mounting bracket and stretches into the U-shaped inslot of U-shaped mounting bracket, the equal threaded connection of end department of every bolt screw rod has a stop nut, all overlap on the screw rod of every bolt and be equipped with the spring that corresponds, pinch roller mounting bracket suit is on the screw rod of two bolts, the both ends of every spring are equallyd divide do not with the horizontal part of U-shaped mounting bracket, pinch roller mounting bracket in close contact with.
5. An overhead line climbing operation robot according to claim 1, characterized in that: the electric walking wheel comprises a driving motor fixed on the moving frame and a walking wheel connected with the output shaft of the driving motor through a coupler, and the middle of the walking wheel is of an annular groove structure.
6. An overhead line climbing operation robot according to claim 1, characterized in that: and a light source is fixed on the movable frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110730531.6A CN113328383A (en) | 2021-06-29 | 2021-06-29 | Overhead line climbing operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110730531.6A CN113328383A (en) | 2021-06-29 | 2021-06-29 | Overhead line climbing operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113328383A true CN113328383A (en) | 2021-08-31 |
Family
ID=77425178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110730531.6A Withdrawn CN113328383A (en) | 2021-06-29 | 2021-06-29 | Overhead line climbing operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113328383A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114069482A (en) * | 2021-11-30 | 2022-02-18 | 国网四川省电力公司南充供电公司 | Overhead cable inspection device for rural distribution network |
| CN114123023A (en) * | 2021-11-08 | 2022-03-01 | 广西电网有限责任公司贺州供电局 | Movable multi-position steering pulley |
-
2021
- 2021-06-29 CN CN202110730531.6A patent/CN113328383A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114123023A (en) * | 2021-11-08 | 2022-03-01 | 广西电网有限责任公司贺州供电局 | Movable multi-position steering pulley |
| CN114123023B (en) * | 2021-11-08 | 2023-11-17 | 广西电网有限责任公司贺州供电局 | Movable multi-position steering pulley |
| CN114069482A (en) * | 2021-11-30 | 2022-02-18 | 国网四川省电力公司南充供电公司 | Overhead cable inspection device for rural distribution network |
| CN114069482B (en) * | 2021-11-30 | 2023-09-26 | 国网四川省电力公司南充供电公司 | Overhead cable inspection device for rural distribution network |
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Application publication date: 20210831 |
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| WW01 | Invention patent application withdrawn after publication |