CN115870256B - Composite insulator cleans and flaw detection device - Google Patents
Composite insulator cleans and flaw detection device Download PDFInfo
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- CN115870256B CN115870256B CN202211538029.6A CN202211538029A CN115870256B CN 115870256 B CN115870256 B CN 115870256B CN 202211538029 A CN202211538029 A CN 202211538029A CN 115870256 B CN115870256 B CN 115870256B
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- 238000001514 detection method Methods 0.000 title claims abstract description 67
- 239000012212 insulator Substances 0.000 title claims abstract description 58
- 239000002131 composite material Substances 0.000 title claims abstract description 40
- 238000004140 cleaning Methods 0.000 claims abstract description 63
- 230000007547 defect Effects 0.000 claims abstract description 21
- 238000012545 processing Methods 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 13
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 10
- 229910001416 lithium ion Inorganic materials 0.000 claims description 10
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 9
- 239000000523 sample Substances 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims 2
- 230000032683 aging Effects 0.000 abstract description 7
- 230000002159 abnormal effect Effects 0.000 abstract description 4
- 238000010438 heat treatment Methods 0.000 abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 14
- 238000012423 maintenance Methods 0.000 description 8
- 229910052742 iron Inorganic materials 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
- 238000010292 electrical insulation Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Testing Relating To Insulation (AREA)
- Insulators (AREA)
Abstract
The invention discloses a cleaning and flaw detection device for a composite insulator, which comprises a telescopic mechanical arm, a cleaning device and a flaw detection device, wherein one end of the telescopic mechanical arm is a handheld end, the other end of the telescopic mechanical arm is an operating end, and the cleaning device and the flaw detection device are respectively arranged at the operating end and are mutually separated by 20-50 cm. The device can realize accurate identification and detection of internal defects of the insulator, realizes efficient cleaning of surface pollution of the insulator, greatly lightens the structural weight and reduces the operation difficulty compared with a robot type structure, integrates an insulator cleaning device and a flaw detection device at the tail end of the mechanical arm, has low working power consumption, does not need an additional power supply, reduces the dependence on the power supply and also lightens the overall weight of the device, and meanwhile, the flaw detection device adopts terahertz waves to detect the internal defects, so that the device is accurate and reliable, can realize accurate detection of interface defects of the composite insulator, and effectively avoids the occurrence of electric accidents such as abnormal heating, disconnection, string dropping and the like of the end part caused by interface aging.
Description
Technical Field
The invention belongs to the technical field of cable maintenance devices, and particularly relates to a cleaning and flaw detection device for a composite insulator.
Background
The insulator is an important component of the power transmission line, plays roles of mechanical support and electrical insulation in the power transmission line, and is an important guarantee for the operation safety of the power transmission line. As one of three major insulator types, the composite insulator has been widely used due to its low processing cost and convenient transportation. For the composite insulator in operation, the aging at the interface and the fouling on the surface belong to two aspects which need important attention of operation and maintenance personnel, once the interface is aged, the electric accidents such as abnormal heating of the end part, disconnection, string dropping and the like are easy to occur, and once the surface is seriously fouled, the fouling is easy to occur.
For pollution flashover prevention, in the existing power operation and maintenance method, a manual cleaning method is generally adopted to remove the surface pollution of the insulator, and although some cleaning robots exist, the structure is complex, the equipment is heavy, and the popularization and the application in actual engineering practice are difficult. For ageing of the composite insulator, in the prior art, the extraction part is generally adopted to carry out interface dissection, interface component analysis and other methods after the insulator is transported for evaluation, and the method has long operation flow, high labor cost, timeliness in evaluation and incapability of guiding power operation and maintenance in time. Some ultrasonic flaw detection devices are adopted to carry out manual flaw detection, cleaning and flaw detection are respectively carried out, and the operation is inconvenient. In engineering practice, a composite insulator operation and maintenance device integrating cleaning and flaw detection is needed, and the composite insulator operation and maintenance device is simple in structure, convenient to operate, accurate and reliable.
Disclosure of Invention
The invention aims to provide a cleaning and flaw detection device for a composite insulator, so as to solve the technical problems that the existing automatic cleaning device for the composite insulator is complex in structure, different equipment is adopted for cleaning and flaw detection, and the operation is complicated.
In order to achieve the above purpose, the invention provides a cleaning and flaw detection device for a composite insulator, which comprises a telescopic mechanical arm, a cleaning device and a flaw detection device, wherein one end of the telescopic mechanical arm is a handheld end, the other end of the telescopic mechanical arm is an operating end, and the cleaning device and the flaw detection device are respectively arranged at the operating ends and are spaced by 20-50 cm.
Preferably, the cleaning device comprises a V-shaped cleaning head and a motor, the V-shaped cleaning head comprises a V-shaped shell and bristles, the closed end of the V-shaped shell is detachably fixed with the telescopic mechanical arm, the motor is arranged in the V-shaped shell, the bristles are bundled to be arranged on the inner side surface of the V-shaped shell and are provided with multiple bundles at intervals, each bundle of bristles is respectively fixed on a rotary table, the rotary table is arranged in the V-shaped shell, the bristles penetrate through the inner side surface of the V-shaped shell, the periphery of the rotary table is toothed, and the motor drives the rotary table to rotate through a transmission device so as to drive the bristles to rotate.
Preferably, a battery is further arranged in the V-shaped shell, a solar panel is arranged on the outer side of the V-shaped shell and used for supplying power to the motor, and the solar panel converts solar energy into electric energy and stores the electric energy into the battery.
Preferably, the battery is a lithium ion battery.
Preferably, the included angle of the V-shaped shell is 5 o-20o.
Preferably, the flaw detection device comprises a boss-shaped shell, a lithium ion battery, a signal generation and acquisition unit and a clamping fixing part, wherein the boss-shaped shell is detachably fixed with the telescopic mechanical arm through the clamping fixing part, the lithium ion battery is arranged in the boss-shaped shell, the signal generation and acquisition unit is arranged at the top end of the boss-shaped shell and far away from one end of the clamping fixing part, and the signal generation and acquisition unit is used for transmitting flaw detection signals to the insulator sheath and extracting the flaw detection signals.
Preferably, the signal transmitting and collecting unit comprises a terahertz wave probe and a signal processing collecting card. The terahertz wave probe is used for transmitting terahertz waves, the frequency of the transmitted terahertz waves is not lower than 2 THz, the signal processing acquisition card is used for receiving the reflected terahertz waves and performing signal processing, and the processed signals are transmitted to the central processing unit.
Preferably, the boss-shaped shell is further provided with a central processing unit, a buzzer and a signal lamp, wherein the central processing unit is used for analyzing and processing the stope data, and when the stope data exceeds a threshold value, the buzzer and/or the signal lamp is started.
Preferably, the hand-held end of the telescopic mechanical arm is provided with a manual interaction unit, the manual interaction unit comprises a telescopic switch, a cleaning switch, a flaw detection switch and a touch screen type flaw recording unit,
The telescopic switch is used for controlling the telescopic mechanical arm to stretch, the cleaning switch is used for controlling the cleaning device to start and stop, the flaw detection switch is used for controlling the flaw detection device to start and stop,
The touch screen type defect recording unit comprises an input/output module, a storage module and a central processing module, wherein the input/output module is used for inputting information of a tower number of a tower where the composite insulator to be detected is located, and defect signals sent by the flaw detection device, outputting defect recording results, the storage module is used for storing input and output data, and the central processing module is used for controlling the input/output module and the storage module.
Preferably, the hand-held end of the telescopic mechanical arm is inclined, an arm fixing rod is further fixed at the tail end of the hand-held end, and an arm clamping ring is arranged on the arm fixing rod.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the composite insulator cleaning and flaw detection device, the lightweight and portable telescopic mechanical arm is adopted, and the insulator cleaning device and the flaw detection device are integrated at the tail end of the mechanical arm, so that the accurate identification and detection of the internal defects of the insulator can be realized, meanwhile, the efficient cleaning of the surface dirt of the insulator is realized, and compared with the existing robot structure, the structure weight is greatly reduced, the operation difficulty is reduced, and the operation and maintenance requirements of the composite insulator can be better met. Meanwhile, the cleaning and flaw detecting device has low working power consumption, no extra power supply is needed, the built-in battery and the solar cell panel can work normally, dependence on the power supply is reduced, the whole weight of the device is also lightened, and the whole structure of the device is simpler, easy to operate and easy to popularize.
2. The flaw detection device provided by the invention adopts terahertz waves to detect internal defects, is accurate and reliable, can accurately detect interface defects of the composite insulator, can realize real-time early warning of on-line insulator aging without taking down the insulator, and effectively avoids occurrence of electric accidents such as abnormal heating, disconnection and the like of the end part caused by interface aging.
Drawings
Fig. 1 is a schematic structural view according to the present invention.
Fig. 2 is a schematic structural view of a cleaning device according to the present invention.
Fig. 3 is a schematic view of the structure of the bundled bristles in the cleaning device.
Fig. 4 is a schematic structural view of a flaw detection apparatus according to the present invention.
Fig. 5 is a schematic structural view of a human interaction unit according to the present invention.
Fig. 6 is a usage state reference diagram according to the present invention.
The main reference numerals illustrate:
1. A retractable mechanical arm; 11. a hand-held end; 12. an operation end; 2. a cleaning device; 21. a V-shaped cleaning head; 211. a V-shaped housing; 212. brushing; 213. a turntable; 3. a flaw detector; 31. a boss-shaped housing; 32. a lithium ion battery; 33. a signal generation and acquisition unit; 34. a clamping and fixing part; 35. a central processing unit; 36. a buzzer; 37. a signal lamp; 4. a motor; 5. a battery; 6. a solar cell panel; 7. a manual interaction unit; 71. a telescopic switch; 72. a cleaning switch; 73. a flaw detection switch; 74. a touch screen type defect recording unit; 8. an arm fixing rod; 9. an arm clamping ring; 10. a composite insulator.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
As shown in fig. 1, a cleaning and flaw detection device 3 for a composite insulator 10 comprises a telescopic mechanical arm 1, a cleaning device 2 and a flaw detection device 3, wherein one end of the telescopic mechanical arm 1 is a handheld end 11, the other end of the telescopic mechanical arm is an operating end 12, and the cleaning device 2 and the flaw detection device 3 are respectively arranged at the operating end 12 and are spaced 20-50 cm apart from each other. Through integrating cleaning device 2 and flaw detection device 3 on scalable arm 1, can detect composite insulator 10 when cleaning composite insulator 10, be favorable to the timely discovery and the processing of trouble, reduce the operation and maintenance cost of electric power, avoid the emergence of the electric power accidents such as the tip abnormal heating, the disconnection that cause because of the interface ageing.
Specifically, the cleaning device 2 comprises a V-shaped cleaning head 21 and a motor 4, wherein the V-shaped cleaning head 21 comprises a V-shaped shell 211 and bristles 212, and the included angle of the V-shaped shell 211 is 5-20 degrees. The closed end of the V-shaped housing 211 is detachably fixed to the telescopic mechanical arm 1. A clamping groove may be provided at the outer end of the V-shaped housing 211, and the end of the telescopic mechanical arm 1 may be further fixed by a bolt or a buckle after being inserted into the clamping groove. Of course, other existing manners may be used to achieve the detachable fixing of the V-shaped cleaning head 21 and the telescopic mechanical arm 1. The V-shaped cleaning head 21 is detachably connected with the telescopic mechanical arm 1, so that the cleaning head is convenient to replace.
Referring to fig. 2-3, the motor 4 is disposed in the V-shaped housing 211, the bristles 212 are bundled and disposed on an inner side surface of the V-shaped housing 211, and a plurality of bundles of bristles 212 are disposed at intervals, each bundle of bristles 212 is respectively fixed on a turntable 213, the turntable 213 is disposed in the V-shaped housing 211, the bristles 212 penetrate through the inner side surface of the V-shaped housing 211, and correspondingly, the inner side surface of the V-shaped housing 211 is correspondingly provided with a through hole through which the bristles 212 penetrate. The periphery of the turntable 213 is toothed, and the motor 4 drives the turntable 213 to rotate through a transmission device, so as to drive the bristles 212 to rotate. Specifically, the two surfaces of the V-shaped housing 211 are hollow structures, the closed end and the end of the V-shaped housing 211 are respectively provided with a motor 4 accommodating cavity and a connecting portion, the motor 4 is arranged in the motor 4 accommodating cavity, and the V-shaped housing 211 is detachably fixed with the telescopic mechanical arm 1 through the connecting portion. The output shaft of the motor 4 extends to two surfaces of the V-shaped housing 211 through a transmission shaft, and transmission gears are respectively arranged at two ends of the transmission shaft. Each bundle of bristles 212 is fixed on a turntable 213, and the turntable 213 is in transmission connection with the transmission gear through a transmission device, i.e. the motor 4 can drive each bundle of bristles 212 to rotate. Of course, rotation of the bundled bristles 212 may be accomplished in other existing manners. Such as by providing two or more motors 4 separately driven, etc.
Further, a battery 5 is further disposed in the V-shaped housing 211, a solar cell 5 board is disposed outside the V-shaped housing 211, the battery 5 is used for supplying power to the motor 4, and the solar cell 5 board converts solar energy into electric energy and stores the electric energy into the battery 5. The battery 5 is a lithium ion battery. The device can work normally without additional power supply by adopting the built-in battery 5 and the solar battery 5 plate, thereby reducing the dependence on the power supply and lightening the whole weight of the device.
Referring to fig. 4, the flaw detection device 3 includes a boss-shaped housing 31, a lithium ion battery 32, a signal generation and collection unit 33, a clamping and fixing portion 34, a central processing unit 35, a buzzer 36, and a signal lamp 37. The boss-shaped shell 31 is detachably fixed with the telescopic mechanical arm 1 through the clamping fixing part 34, the lithium ion battery 32 is arranged in the boss-shaped shell 31, the signal generating and collecting unit 33 is arranged at the top end of the boss-shaped shell 31 and is far away from one end of the clamping fixing part 34, and the signal generating and collecting unit 33 is used for transmitting flaw detection signals to the insulator sheath and extracting the flaw detection signals. Further, the signal transmitting and collecting unit comprises a terahertz wave probe and a signal processing collecting card. The terahertz wave probe is used for transmitting terahertz waves, the frequency of the transmitted terahertz waves is not lower than 2 THz, the signal processing acquisition card is used for receiving the reflected terahertz waves and performing signal processing, and the processed signals are transmitted to the central processing unit 35. The central processing unit 35 is configured to analyze and process the stope data, and when the stope data exceeds a set threshold, the buzzer 36 and/or the signal lamp 37 are/is activated.
Referring to fig. 1 and 5, the hand-held end 11 of the telescopic mechanical arm 1 is provided with a manual interaction unit 7, and the manual interaction unit 7 comprises a telescopic switch 71, a cleaning switch 72, a flaw detection switch 73 and a touch screen type flaw recording unit 74. The telescopic switch 71 is used for controlling the telescopic mechanical arm 1 to stretch, the cleaning switch 72 is used for controlling the cleaning device 2 to start and stop, and the flaw detection switch 73 is used for controlling the flaw detection device 3 to start and stop. The touch screen type defect recording unit 74 includes an input/output module, a storage module and a central processing module, wherein the input/output module is used for inputting information of a tower number of the iron tower where the composite insulator 10 to be detected is located, and defect signals sent by the flaw detection device 3, outputting a defect recording result, the storage module is used for storing input and output data, and the central processing module is used for realizing control of the input/output module and the storage module. The user inputs the iron tower number of the iron tower where the composite insulator 10 to be tested is located before climbing the tower, the input and output module is simultaneously used for receiving the report signal sent from the flaw detection device 3 through the signal transmission line arranged in the mechanical arm, and when the flaw detection device 3 detects a serious or obvious flaw, a report signal is sent to the touch screen type flaw recording unit 74 arranged on the handheld end 11 while a buzzer and a red light alarm is sent, the flaw recording unit receives the report signal through the internal input port and records the total number of report signal receiving through the storage unit, the total number is displayed on the manual interaction touch screen through the output module, and then the user can obtain the total number of the composite insulator 10 with the serious flaw on the iron tower after the flaw detection of the composite insulator 10 on the iron tower is completed.
Further, referring to fig. 1 and fig. 6, the hand-held end 11 of the telescopic mechanical arm 1 is inclined, the arm fixing rod 8 is further fixed at the end of the hand-held end 11, and the arm clamping ring 9 is disposed on the arm fixing rod 8. In use, the arm clamping ring 9 is clamped on the arm of an operator to avoid the shaking of the mechanical arm and reduce the wrist strength. The hand-hold end 11 of the telescopic mechanical arm 1 is inclined, which is more beneficial to fixing and hand-hold operation.
Referring to fig. 6, the method for using the cleaning and flaw detection device 3 of the present composite insulator 10 is as follows: before the step of detecting the step of climbing the tower, a user firstly inputs the tower number information of the composite insulator 10 to be detected through the touch screen of the touch screen type defect recording unit 74 of the manual interaction unit 7, then carries the composite insulator 10 cleaning and flaw detection device 3 to the vicinity of the composite insulator 10 on the power transmission tower, and fixes the telescopic mechanical arm 1 with an operator through the arm clamping ring 9. The telescopic mechanical arm 1 is in an extending state by pressing down the telescopic switch 71, the cleaning switch 72 and the flaw detection switch 73 are respectively pressed down to clean and detect the composite insulators 10 one by one, until all the composite insulators 10 on the iron tower are cleaned and detected, and after the operation is finished, the total number of the composite insulators 10 with serious defects of the iron tower, which are output on the manual interactive touch screen of the cleaning and detecting device 3 for the composite insulators 10, is recorded.
In summary, this device can realize the accurate discernment and the detection to insulator internal defect, realize simultaneously that the high-efficient of insulator surface is dirty cleans, and compare in robot structure, structural weight has been alleviateed greatly and the operation degree of difficulty has been reduced, insulator cleaning device 2 and flaw detection device 3 have been integrated at the arm end, clean and flaw detection device 3 working power consumption is low, need not extra power, reduced the dependence on the power and also alleviateed the whole weight of device, flaw detection device 3 adopts terahertz wave to carry out internal defect detection simultaneously, it is accurate reliable, can realize the accurate detection to composite insulator 10 interface defect, effectively avoid the emergence of the unusual electric power accidents such as generating heat of tip, falling the line, falling the cluster that cause because of the interface ageing.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (5)
1. The cleaning and flaw detection device for the composite insulator comprises a telescopic mechanical arm, a cleaning device and a flaw detection device, and is characterized in that one end of the telescopic mechanical arm is a handheld end, the other end of the telescopic mechanical arm is an operating end, and the cleaning device and the flaw detection device are respectively arranged at the operating end and are mutually separated by 20-50 cm;
The cleaning device comprises a V-shaped cleaning head and a motor, wherein the V-shaped cleaning head comprises a V-shaped shell and bristles, the closed end of the V-shaped shell is detachably fixed with the telescopic mechanical arm, the motor is arranged in the V-shaped shell, the bristles are bundled and arranged on the inner side surface of the V-shaped shell at intervals, each bundle of bristles is respectively fixed on a turntable, the turntable is arranged in the V-shaped shell, the bristles penetrate through the inner side surface of the V-shaped shell, the periphery of the turntable is toothed, and the motor drives the turntable to rotate through a transmission device so as to drive the bristles to rotate;
A battery is further arranged in the V-shaped shell, a solar panel is arranged on the outer side of the V-shaped shell and used for supplying power to the motor, and the solar panel converts solar energy into electric energy and stores the electric energy into the battery;
The flaw detection device comprises a boss-shaped shell, a lithium ion battery, a signal generation and acquisition unit and a clamping fixing part, wherein the boss-shaped shell is detachably fixed with the telescopic mechanical arm through the clamping fixing part, the lithium ion battery is arranged in the boss-shaped shell, the signal generation and acquisition unit is arranged at the top end of the boss-shaped shell and is far away from one end of the clamping fixing part, and the signal generation and acquisition unit is used for transmitting flaw detection signals to an insulator sheath and extracting the flaw detection signals;
the boss-shaped shell is also provided with a central processing unit, a buzzer and a signal lamp, wherein the central processing unit is used for analyzing and processing the stope data, and when the stope data exceeds a threshold value, the buzzer and/or the signal lamp is started;
The hand-held end of the telescopic mechanical arm is provided with a manual interaction unit which comprises a telescopic switch, a cleaning switch, a flaw detection switch and a touch screen type flaw recording unit,
The telescopic switch is used for controlling the telescopic mechanical arm to stretch, the cleaning switch is used for controlling the cleaning device to start and stop, the flaw detection switch is used for controlling the flaw detection device to start and stop,
The touch screen type defect recording unit comprises an input/output module, a storage module and a central processing module, wherein the input/output module is used for inputting information of a tower number of a tower where the composite insulator to be detected is located, and defect signals sent by the flaw detection device, outputting defect recording results, the storage module is used for storing input and output data, and the central processing module is used for controlling the input/output module and the storage module.
2. The composite insulator cleaning and inspection apparatus of claim 1, wherein the battery is a lithium ion battery.
3. The composite insulator cleaning and inspection apparatus of claim 1, wherein the V-shaped housing has an included angle of 5 ° to 20 °.
4. The composite insulator cleaning and flaw detection device according to claim 1, wherein the signal generation and acquisition unit comprises a terahertz wave probe and a signal processing acquisition card.
5. The composite insulator cleaning and flaw detection device according to claim 1, wherein the hand-held end of the telescopic mechanical arm is inclined, an arm fixing rod is further fixed at the tail end of the hand-held end, and an arm clamping ring is arranged on the arm fixing rod.
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| CN202211538029.6A CN115870256B (en) | 2022-12-02 | 2022-12-02 | Composite insulator cleans and flaw detection device |
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| CN202211538029.6A CN115870256B (en) | 2022-12-02 | 2022-12-02 | Composite insulator cleans and flaw detection device |
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| CN115870256A CN115870256A (en) | 2023-03-31 |
| CN115870256B true CN115870256B (en) | 2024-06-04 |
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