CN115102124B - Walking deicing robot suitable for flexible power transmission line - Google Patents
Walking deicing robot suitable for flexible power transmission line Download PDFInfo
- Publication number
- CN115102124B CN115102124B CN202210823056.1A CN202210823056A CN115102124B CN 115102124 B CN115102124 B CN 115102124B CN 202210823056 A CN202210823056 A CN 202210823056A CN 115102124 B CN115102124 B CN 115102124B
- Authority
- CN
- China
- Prior art keywords
- power transmission
- transmission line
- deicing
- slider
- walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention relates to the technical field of robots, in particular to a walking deicing robot suitable for a flexible power transmission line, which comprises: the robot comprises a robot body and a deicing mechanism, wherein the robot body is provided with a travelling mechanism used for travelling on a transmission line, the robot body is connected with the deicing mechanism through a lifting mechanism, the deicing mechanism comprises a rack, a driving motor arranged on the rack, a knocking module and an ice shoveling module, the driving motor drives the knocking module and the ice shoveling module to operate through a transmission assembly, and a depth camera used for detecting the flexibility of the transmission line is arranged on the robot body or the deicing mechanism. According to the invention, by arranging the knocking module, the ice shoveling module and the depth camera, the walking deicing robot can realize autonomous deicing without manual command and manual operation, the problem of difficult wire deicing in remote areas is solved, and the deicing efficiency is improved.
Description
Technical Field
The invention relates to a walking deicing robot suitable for a flexible transmission line.
Background
The transmission line plays an important role in transmitting electric power, and the transmission line icing in winter can cause the phenomena of tower inclination, collapse, circuit breaking, insulator flashover and the like, so that accidents such as circuit tripping, power supply interruption and the like can cause serious influence on industrial and agricultural production and life of people. At present, manual knocking and a large-current hot melting method are mainly adopted for deicing the power transmission line at home and abroad, but the deicing method is limited by technical factors, energy consumption, cost, safety factors and the like, has great limitation, and thus a deicing robot needs to be designed to replace manual deicing.
Disclosure of Invention
In order to solve the technical problem, the invention provides a walking deicing robot suitable for a flexible power transmission line.
The invention adopts the following technical scheme
The walking deicing robot comprises a robot body and a deicing mechanism, wherein the robot body is provided with a walking mechanism used for walking on a power transmission line, the robot body is connected with the deicing mechanism through a lifting mechanism, the deicing mechanism comprises a rack, a driving motor arranged on the rack, a knocking module and an ice shoveling module, the driving motor drives the knocking module and the ice shoveling module to operate through a transmission assembly, a depth camera used for detecting the deflection of the power transmission line is arranged on the robot body or the deicing mechanism, and the walking deicing robot adjusts the working direction of the ice shoveling module by measuring and judging the deflection of the power transmission line through the depth camera.
Optionally, when the deflection of the power transmission line measured by the depth camera is within a certain range value a, the power transmission line is judged to be a horizontal straight line, and the working direction of the ice shoveling module is controlled to be in a horizontal state; when the deflection of the power transmission line measured by the depth camera exceeds the range value A, the power transmission line is judged to be in an inclined state, and the working direction of the ice shoveling module is controlled to be consistent with the inclination direction of the power transmission line; and when the change rate of the deflection of the power transmission line is detected to be greater than B, controlling the ice shoveling module to continuously adjust the working direction.
Optionally, the ice shoveling module comprises a second guide rail rotatably arranged on the frame, a slider-crank mechanism arranged on the frame, and a shovel blade used for being matched with the power transmission line, the frame is provided with a steering engine in transmission connection with the second guide rail, the shovel blade is in sliding connection with the second guide rail, the output end of the slider-crank mechanism is hinged to the shovel blade, and the output end of the driving motor is connected with the input end of the slider-crank mechanism.
Optionally, the blade has a second slider slidably connected to the second guide rail, and the output end of the slider-crank mechanism is hinged to the second slider.
Optionally, when the deflection of the power transmission line measured by the depth camera is within a certain range value a, the power transmission line is judged to be a horizontal straight line, and the steering engine is controlled to enable the second guide rail to be in a horizontal state; when the deflection of the power transmission line measured by the depth camera exceeds the range value A, the power transmission line is judged to be in an inclined state, and the steering engine is controlled to enable the second guide rail to rotate and the inclination direction of the power transmission line to be consistent; and when the change rate of the deflection of the power transmission line is detected to be greater than B, the steering engine is controlled to enable the second guide rail to continuously rotate to adjust the direction.
Optionally, the slider-crank mechanism includes a crank wheel, a first connecting rod, a first slider and is located the first guide rail of frame, driving motor with the crank wheel transmission is connected, first connecting rod one end with the crank wheel is articulated, the first connecting rod other end with the first slider is articulated, first slider is located the first guide rail, slider-crank mechanism still includes the second connecting rod, second connecting rod one end with the first slider is articulated, the second connecting rod other end with the spiller is articulated.
Optionally, the connection point of the drive motor and the crank wheel, the connection point of the first link and the crank wheel are at different positions of the crank wheel.
Optionally, a working end of the scraper knife is provided with a semicircular ring structure for being sleeved on the power transmission line, and the semicircular ring structure is provided with a scraper tooth for scraping ice.
Optionally, the knocking module comprises a deformable spring bar, and the output end of the driving motor is connected with the spring bar.
Optionally, the travelling mechanism includes a left travelling mechanism and a right travelling mechanism, the deicing mechanism is connected with the right travelling mechanism through a lifting mechanism, a wheel track adjusting mechanism for adjusting a distance between the left travelling mechanism and the right travelling mechanism is arranged between the left travelling mechanism and the right travelling mechanism, and both the left travelling mechanism and the right travelling mechanism are provided with a pressing mechanism capable of being lifted.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
by adopting the technical scheme, the walking deicing robot realizes autonomous deicing of the walking deicing robot by arranging the knocking module, the ice shoveling module and the depth camera, does not need manual command and manual operation, solves the problem of difficult wire deicing in remote areas, and improves the deicing efficiency.
Drawings
FIG. 1 is an overall schematic view of a walking de-icing robot of the present invention;
FIG. 2 is a schematic view of a walking deicing mechanism according to one embodiment of the present invention;
FIG. 3 is a second schematic view of the walking deicing mechanism according to the present invention;
FIG. 4 is a schematic view of a deicing state of the walking deicing robot according to one embodiment of the present invention;
fig. 5 is a second schematic view of the walking deicing robot in deicing status according to the present invention.
The reference numbers in the schematic drawings illustrate:
2. a traveling mechanism; 3. a lifting mechanism; 4. a pressing mechanism; 7. stretching the arm; 82. an electric cabinet; 9. a deicing mechanism; 91. a drive motor; 92. a spring bar; 93. a frame; 931. a steering engine; 932. a first guide rail; 933. a second guide rail; 94. a crank wheel; 95. a first link; 961. a first slider; 962. a second slider; 97. a second link; 98. a scraper knife; 981. a semicircular ring structure; 982. relieving teeth; 991. a first timing pulley; 992. a second timing pulley; 993. a third timing pulley; 994. a first bevel gear; 995. a second bevel gear.
Detailed Description
For a further understanding of the present invention, reference will now be made in detail to the embodiments of the present invention illustrated in the accompanying drawings, FIGS. 1-5.
With reference to fig. 1-5, the walking deicing robot suitable for the flexible power transmission line of the embodiment includes a robot body and a deicing mechanism 9, wherein the robot body is connected with the deicing mechanism 9 through a lifting mechanism 3 so as to lift or lower the deicing mechanism 9.
The ice shoveling module comprises a crank slider mechanism, a second guide rail 933, a second slider 962 and a shovel blade 98, the driving motor 91 is in transmission connection with the crank slider mechanism through a transmission assembly, the crank slider mechanism is in transmission connection with the second slider 962, and the second slider 962 is arranged in the second guide rail 933 and can slide under the guide of the second guide rail 933. The scraper knife 98 is connected with the second slide block 962, and the scraper knife 98 is connected with the second slide block 962 integrally or separately. The frame 93 is provided with a steering engine 931, and the steering engine 931 is a motor in specific application. An output shaft of the steering engine 931 is fixedly connected with the second guide rail 933, or the second guide rail 933 is rotatably connected with the frame 93, and the output shaft of the steering engine 931 is in transmission connection with the second guide rail 933. The steering gear 931 rotates to adjust the angle of the second guide 933, so as to change the sliding direction of the second slider 962.
The crank sliding block mechanism comprises a crank wheel 94, a first connecting rod 95, a first sliding block 961 and a first guide rail 932, the driving motor 91 drives the crank wheel 94 to rotate, one end of the first connecting rod 95 is hinged with the eccentric position of the crank wheel 94, the other end of the first connecting rod 95 is hinged with the first sliding block 961, the first sliding block 961 is arranged in the first guide rail 932, and the first guide rail 932 is fixed on the frame 93. The crank-slider mechanism further includes a second connecting rod 97, one end of the second connecting rod 97 is hinged to the first slider 961, and the other end of the second connecting rod 97 is hinged to the second slider 962, in other embodiments, the second connecting rod 97 may not be provided, and the first slider 961 and the second slider 962 are directly hinged.
The transmission assembly comprises a first synchronous belt wheel 991 arranged on an output shaft of the driving motor 91, a second synchronous belt wheel 992 arranged on the rack 93 and a third synchronous belt wheel 993 arranged on the rack 93, and the first synchronous belt wheel 991 and the second synchronous belt wheel 992 are connected through synchronous belt transmission, and the second synchronous belt wheel 992 and the third synchronous belt wheel 993 are connected through synchronous belt transmission. The transmission component also comprises a first bevel gear 994 and a second bevel gear 995 which are vertically meshed with each other, and the first bevel gear 994 and the third synchronous pulley 993 are coaxially and fixedly connected. The second bevel gear 995 is fixedly connected through the transmission shaft and the center of the crank wheel 94.
When the slider-crank mechanism moves, the first slider 961 makes a horizontal linear motion, and the second slider 962 can change the direction of the reciprocating motion under the guidance of the second guide rail 933 to drive the scraper knife 98 to change the direction of the reciprocating motion.
And a depth camera for measuring the deflection of the power transmission line is arranged on the deicing mechanism 9 or the robot body. The robot body is provided with an electric cabinet 82, a controller is arranged in the electric cabinet 82, and the controller is electrically connected with a steering engine 931, a driving motor 91 and a depth camera. When the robot works, the robot body walks forwards, the deicing mechanism 9 starts to work, when the deflection of the transmission line measured by the depth camera is within a certain range value A, the controller judges that the transmission line is a horizontal straight line, and at the moment, the controller controls the steering engine 931 to enable the second guide rail 933 to be in a horizontal state, so that the working direction of the scraper knife 98 is in a horizontal state; when the deflection of the transmission line measured by the depth camera exceeds the range value A, the controller judges that the transmission line is in an inclined state, and at the moment, the controller controls the steering engine 931 to enable the second guide rail 933 to rotate in the same direction as the inclination direction of the transmission line, so that the working direction of the scraper knife 98 is in the same direction as the inclination direction of the transmission line; when the deflection change rate of the detected transmission line is greater than B, the controller controls the steering engine 931 to enable the second guide rail 933 to rotate continuously to adjust the direction, and further the scraper knife 98 continuously adjusts the working direction.
The working end of the scraper knife 98 is provided with a semicircular ring structure 981 used for being sleeved on the power transmission line, and three scraper teeth 982 used for scraping ice are arranged on the semicircular ring structure 981.
The travelling mechanism 2 comprises a left travelling mechanism and a right travelling mechanism, the travelling mechanism 2 comprises travelling wheels and travelling wheel driving motors, and the travelling wheel driving motors drive the travelling wheels to travel on the power transmission line so as to drive the travelling deicing robot to move on the power transmission line. The deicing mechanism 9 is connected with the right traveling mechanism 2 through the lifting mechanism 3. The lifting mechanism 3 comprises a lifting arm connected to the frame 93 and a lifting motor for driving the lifting arm to lift or lower the lifting arm and the de-icing mechanism 9. When the walking deicing robot crosses obstacles or does not need deicing, the lifting arm can be lifted.
A wheel track adjusting mechanism used for adjusting the distance between the left traveling mechanism and the right traveling mechanism is arranged between the left traveling mechanism and the right traveling mechanism, and the wheel track adjusting mechanism comprises a bidirectional screw rod and a distance adjusting motor which are arranged on the spreading arm 7 and is used for adjusting the distance between the left traveling mechanism and the right traveling mechanism. The left traveling mechanism and the right traveling mechanism are both provided with a pressing mechanism 4 capable of lifting, and the left traveling mechanism and the right traveling mechanism are provided with a lead screw lifting mechanism for driving the pressing mechanism 4 to ascend or descend. The pressing mechanism 4 comprises pressing wheels, and if the walking deicing robot needs to cross over obstacles on the power transmission line, the controller controls the pressing mechanism 4 on the right side to descend so as to lower the pressing wheel on the right side; the walking deicing robot moves forwards, after the right walking mechanism rolls the obstacle, the right pressing mechanism 4 is lifted to lift the right pressing wheel to clamp the power transmission line, and the left pressing mechanism 4 is lowered to lower the left pressing wheel to roll the obstacle; after obstacle crossing is completed, the pressing mechanism on the left side rises to enable the pressing wheel on the left side to clamp the power transmission line, and the walking deicing robot continues to move forward.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (8)
1. A walking deicing robot suitable for a flexible power transmission line is characterized by comprising a robot body and a deicing mechanism, wherein the robot body is provided with a walking mechanism used for walking on the power transmission line, the robot body is connected with the deicing mechanism through a lifting mechanism, the deicing mechanism comprises a rack, a driving motor arranged on the rack, a knocking module and an ice shoveling module, the driving motor drives the knocking module and the ice shoveling module to operate through a transmission assembly, a depth camera used for detecting the deflection of the power transmission line is arranged on the robot body or the deicing mechanism, the walking deicing robot adjusts the working direction of the ice shoveling module by measuring and judging the deflection of the power transmission line through the depth camera, when the deflection of the power transmission line measured by the depth camera is within a certain range value A, the power transmission line is judged to be a horizontal straight line, and the working direction of the ice shoveling module is controlled to be in a horizontal state; when the deflection of the power transmission line measured by the depth camera exceeds the range value A, the power transmission line is judged to be in an inclined state, and the working direction of the ice shoveling module is controlled to be consistent with the inclination direction of the power transmission line; when the deflection change rate of the power transmission line is detected to be greater than B, the ice shoveling module is controlled to continuously adjust the working direction and comprises a second guide rail, a slider-crank mechanism and a shovel blade, wherein the second guide rail is rotatably arranged on the rack, the slider-crank mechanism is arranged on the rack, the shovel blade is used for being matched with the power transmission line, the rack is provided with a steering engine in transmission connection with the second guide rail, the shovel blade is in sliding connection with the second guide rail, the output end of the slider-crank mechanism is hinged to the shovel blade, and the output end of the driving motor is connected with the input end of the slider-crank mechanism.
2. A walking deicing robot suitable for flexible power transmission lines according to claim 1, characterized in that said blade has a second slider slidingly connected to said second guide rail, and the output end of said crank-slider mechanism is hinged to said second slider.
3. The walking deicing robot suitable for the flexible power transmission line according to claim 1, wherein when the deflection of the power transmission line measured by the depth camera is within a certain range value A, the power transmission line is judged to be a horizontal straight line, and the steering engine is controlled to enable the second guide rail to be in a horizontal state; when the deflection of the power transmission line measured by the depth camera exceeds the range value A, the power transmission line is judged to be in an inclined state, and the steering engine is controlled to enable the second guide rail to rotate and the inclination direction of the power transmission line to be consistent; and when the deflection change rate of the power transmission line is detected to be greater than B, the steering engine is controlled to enable the second guide rail to continuously rotate to adjust the direction.
4. The walking deicing robot for flexible power transmission lines according to claim 1, wherein said slider-crank mechanism comprises a crank wheel, a first connecting rod, a first slider and a first guide rail disposed on said frame, said driving motor is in transmission connection with said crank wheel, one end of said first connecting rod is hinged to said crank wheel, the other end of said first connecting rod is hinged to said first slider, said first slider is disposed on said first guide rail, said slider-crank mechanism further comprises a second connecting rod, one end of said second connecting rod is hinged to said first slider, and the other end of said second connecting rod is hinged to said scraper.
5. A walking deicing robot suitable for flexible power transmission lines as claimed in claim 4, characterized in that the connection points of said drive motor and said crank wheel, and of said first link and said crank wheel are located at different positions of said crank wheel.
6. The walking deicing robot suitable for flexible power transmission lines according to claim 1, wherein the working end of the shovel blade is provided with a semicircular ring structure for sleeving the power transmission line, and the semicircular ring structure is provided with shovel teeth for shoveling ice.
7. A walking deicing robot suitable for flexible power transmission lines according to any one of claims 1-6, characterized in that said knocking module comprises a deformable spring bar, to which the output of said driving motor is connected.
8. The walking deicing robot for flexible power transmission lines as claimed in claim 7, wherein said traveling mechanism comprises a left traveling mechanism and a right traveling mechanism, said deicing mechanism is connected with said right traveling mechanism through a lifting mechanism, a wheel track adjusting mechanism for adjusting the distance between said left traveling mechanism and said right traveling mechanism is arranged between said left traveling mechanism and said right traveling mechanism, and both of said left traveling mechanism and said right traveling mechanism are provided with a pressing mechanism capable of being lifted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210823056.1A CN115102124B (en) | 2022-07-14 | 2022-07-14 | Walking deicing robot suitable for flexible power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210823056.1A CN115102124B (en) | 2022-07-14 | 2022-07-14 | Walking deicing robot suitable for flexible power transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115102124A CN115102124A (en) | 2022-09-23 |
| CN115102124B true CN115102124B (en) | 2022-12-27 |
Family
ID=83296478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210823056.1A Active CN115102124B (en) | 2022-07-14 | 2022-07-14 | Walking deicing robot suitable for flexible power transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115102124B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003266336A (en) * | 2002-03-12 | 2003-09-24 | Japan Science & Technology Corp | Multileg walking robot |
| CN101557089A (en) * | 2008-04-09 | 2009-10-14 | 国网北京电力建设研究院 | Conducting wire deicing method and device for high-voltage transmission line |
| CN101728803A (en) * | 2009-12-31 | 2010-06-09 | 武汉大学 | Robot for de-icing of power transmission lines |
| CN202593674U (en) * | 2012-05-04 | 2012-12-12 | 安徽工业大学 | Wriggling type rope robot climbing mechanism |
| CN106655060A (en) * | 2017-03-02 | 2017-05-10 | 哈尔滨工程大学 | Deicing robot for four-cracking high-voltage power transmission line |
| CN107834483A (en) * | 2017-10-31 | 2018-03-23 | 成都意町工业产品设计有限公司 | A kind of de-icing of power transmission lines machine people control system and its control method |
| CN108006368A (en) * | 2017-12-29 | 2018-05-08 | 南京工程学院 | Creeping motion type pipe robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7297869B2 (en) * | 2005-01-24 | 2007-11-20 | Tyco Electronics Corporation | Covers for distribution lines and insulators |
| CN201323428Y (en) * | 2008-12-12 | 2009-10-07 | 太原理工大学 | Knock type ice remover of power transmission cable |
| CN209963720U (en) * | 2019-06-10 | 2020-01-17 | 江南大学 | Cable deicing device |
| CN110921227B (en) * | 2019-11-08 | 2020-10-16 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
-
2022
- 2022-07-14 CN CN202210823056.1A patent/CN115102124B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003266336A (en) * | 2002-03-12 | 2003-09-24 | Japan Science & Technology Corp | Multileg walking robot |
| CN101557089A (en) * | 2008-04-09 | 2009-10-14 | 国网北京电力建设研究院 | Conducting wire deicing method and device for high-voltage transmission line |
| CN101728803A (en) * | 2009-12-31 | 2010-06-09 | 武汉大学 | Robot for de-icing of power transmission lines |
| CN202593674U (en) * | 2012-05-04 | 2012-12-12 | 安徽工业大学 | Wriggling type rope robot climbing mechanism |
| CN106655060A (en) * | 2017-03-02 | 2017-05-10 | 哈尔滨工程大学 | Deicing robot for four-cracking high-voltage power transmission line |
| CN107834483A (en) * | 2017-10-31 | 2018-03-23 | 成都意町工业产品设计有限公司 | A kind of de-icing of power transmission lines machine people control system and its control method |
| CN108006368A (en) * | 2017-12-29 | 2018-05-08 | 南京工程学院 | Creeping motion type pipe robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115102124A (en) | 2022-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204399174U (en) | Underground automobile door protective device | |
| CN106379436B (en) | Wheel type barrier-crossing mechanism, substation, robot and its method | |
| CN105870833B (en) | A kind of power transmission line inspection robot mechanism for being adapted to large span | |
| CN101771250B (en) | Inspection robot mechanism | |
| CN105811310A (en) | Traveling mechanism, mechanical structure of inspection robot and obstacle crossing method of mechanical structure | |
| CN204316054U (en) | A kind of high-tension line deicing robot | |
| CN115102124B (en) | Walking deicing robot suitable for flexible power transmission line | |
| CN209668717U (en) | A kind of lifting mounting rack for weak current engineering | |
| CN206775079U (en) | A kind of aerial cables deicing robot | |
| CN103723514B (en) | Indoor apparatus of air conditioner collet automatic wire charging device | |
| CN107171269B (en) | A kind of aerial cables deicing robot | |
| CN113039936B (en) | Automatic profiling tea picking device with ultrasonic ranging function and tea picking method thereof | |
| CN102962834B (en) | A kind of inspection robot for high-voltage transmission lines mechanism | |
| CN111884166A (en) | Automatic snow and ice removing device capable of sensing snow accumulation condition of cable | |
| CN210475714U (en) | Aluminum profile traction equipment | |
| CN201927944U (en) | Robot for inspecting high-voltage transmission lines | |
| CN217844755U (en) | Multifunctional drill rod robot for industrial silicon furnace | |
| CN108711814B (en) | Power grid deicing inspection energy-saving robot | |
| CN105846347A (en) | Double mechanical arm climbing type line patrol robot mechanical structure and obstacle surmounting method therefor | |
| CN205753185U (en) | Double mechanical arms climb type inspection robot frame for movement | |
| CN110106771A (en) | A kind of sidewalk ground tile applied to town road roots out collecting device | |
| CN202535721U (en) | Walking type rice transplanter auxiliary walking device with lifting machine frame | |
| CN105583250B (en) | Hauling machine device is used in a kind of forward and reverse extruding | |
| CN201357457Y (en) | Tread cutting device | |
| CN211364760U (en) | Multifunctional orchard four-wheel transport vehicle |
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 | ||
| CP03 | Change of name, title or address |
Address after: 312000 No. 58 Shengli East Road, Zhejiang, Shaoxing Patentee after: STATE GRID ZHEJIANG ELECTRIC POWER CO., LTD. SHAOXING POWER SUPPLY Co. Patentee after: Hangzhou Shenhao Technology Co.,Ltd. Address before: No.6, Changsong street, Cangqian street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: Hangzhou Shenhao Technology Co.,Ltd. Patentee before: STATE GRID ZHEJIANG ELECTRIC POWER CO., LTD. SHAOXING POWER SUPPLY Co. |
|
| CP03 | Change of name, title or address |