CN115902548A - Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot - Google Patents
Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot Download PDFInfo
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- CN115902548A CN115902548A CN202211469732.6A CN202211469732A CN115902548A CN 115902548 A CN115902548 A CN 115902548A CN 202211469732 A CN202211469732 A CN 202211469732A CN 115902548 A CN115902548 A CN 115902548A
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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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
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Abstract
The utility model provides an overhead line insulator inspection robot and overhead line insulator inspection robot's obstacle crossing method in transformer substation, wherein, overhead line insulator inspection robot includes clamping jaw mechanism, flexible arm and rotatory shoulder, clamping jaw mechanism with flexible arm all is provided with two, rotatory shoulder includes left-handed rotary shoulder and right-handed rotary shoulder, left-handed rotary shoulder with rotate between the right-handed rotary shoulder connect just left-handed rotary shoulder with the pivot structure of right-handed rotary shoulder is first direction, two flexible arm respectively with left-handed rotary shoulder with right-handed rotary shoulder connects, two flexible arm is on a parallel with first direction, two clamping jaw mechanism is connected with two respectively flexible arm, flexible arm's one end with rotatory shoulder connects, the other end with clamping jaw mechanism connects, clamping jaw mechanism is used for centre gripping overhead line. The device is capable of crossing an obstacle when encountering the obstacle on the overhead line.
Description
Technical Field
The disclosure relates to the field of electric power robots, in particular to an overhead line insulator detection robot and an obstacle crossing method of the overhead line insulator detection robot.
Background
With the continuous development of electric power robot technology, the complexity of the task that faces is continuously improved, and the requirement for the operating capability of the robot is further improved. At present, the non-contact inspection robot based on a transformer substation scene is mature in research, has the characteristics of large moving range, strong comprehensiveness and the like, can only work near the ground, and is easy to shield a high-altitude target in the transformer substation, so that the detection cannot be realized, and meanwhile, the non-contact inspection robot is lack of the capability of interactive operation with the outside.
In order to further improve the detection and operation capacity in a high-altitude scene of a transformer substation, the online suspension type robot is gradually emphasized and rapidly developed, the online suspension type robot can realize close-range detection contact detection on targets such as high-altitude insulators and the like, and the detection accuracy rate of the targets on the line is greatly improved.
In the actual detection process, when the robot meets an obstacle on the meeting line, the robot is difficult to continue to move.
Disclosure of Invention
An object of the present disclosure is to provide an overhead wire insulator inspection robot that can cross an obstacle when the overhead wire meets the obstacle.
In order to realize above-mentioned purpose, the utility model provides an overhead line insulator inspection robot, including clamping jaw mechanism, flexible arm and rotatory shoulder, clamping jaw mechanism with flexible arm all is provided with two, rotatory shoulder includes levogyration shoulder and dextrorotation shoulder, levogyration shoulder with rotate between the dextrorotation shoulder connect just levogyration shoulder with the pivot structure of dextrorotation shoulder is first direction, two flexible arm respectively with levogyration shoulder with dextrorotation shoulder connects, two flexible arm is on a parallel with first direction, two clamping jaw mechanism is respectively with two flexible arm is connected, flexible arm one end with rotatory shoulder connects, the other end with clamping jaw mechanism connects, clamping jaw mechanism is used for the centre gripping overhead line.
Optionally, flexible arm includes extensible member and shell, the expansion end of extensible member with gripper mechanism connects, the static end of extensible member with rotatory shoulder is connected, the shell cover is established the extensible member outside and one end with rotatory shoulder is connected, and the other end is followed the activity direction of extensible member extends.
Optionally, the clamping jaw mechanism includes clamping piece, worm wheel and output shaft worm, flexible arm with clamping jaw motor has been constructed between the clamping jaw mechanism, the clamping piece structure is two and two clamping piece structure bilateral symmetry distributes and forms the structure of grabbing, the worm wheel structure is two and two the worm wheel with two clamping piece coaxial coupling, clamping jaw motor's active cell with the one end of output shaft worm is connected, the other end of output shaft worm with the worm wheel eccentric coupling.
Optionally, the two clamping members are provided with a first semicircular clamping opening and a second semicircular clamping opening, the first clamping openings of the two clamping members can be combined into a circle, and the second clamping openings of the two clamping members can be combined into a circle.
Optionally, the second clamping opening is provided with a plurality of second clamping openings, and the diameters of the second clamping openings are different.
Optionally, the overhead line insulator detection robot further comprises a left rotating beam, a right rotating beam and a middle rotating motor, one end of the left rotating beam is connected with one end of the right rotating beam in a rotating manner, the other end of the left rotating beam is connected with one telescopic arm, the other end of the right rotating beam is connected with one telescopic arm, and the middle rotating motor is used for driving the left rotating beam and the right rotating beam to rotate relatively.
Optionally, the overhead line insulator detection robot further comprises a right side rotating motor and a left side rotating motor, the left side rotating motor is provided with a shell connected with the left side rotating beam, the left side rotating motor is provided with a rotor connected with one telescopic arm, and the right side rotating motor is provided with a rotor connected with the other telescopic arm.
Optionally, the overhead line insulator detection robot further comprises a power supply and a controller, wherein the power supply and the controller are electrically connected with the left rotating motor, the right rotating motor and the middle rotating motor.
Optionally, the power supply and the controller are sleeved with a protective cover.
Another aspect of the present disclosure provides an obstacle crossing method for an overhead line insulator detection robot, where after the overhead line insulator detection robot encounters an obstacle on an overhead line: s1: releasing said jaw mechanism away from said obstacle; s2: opening the left rotating motor, the middle rotating motor and the right rotating motor to enable the left rotating beam and the right rotating beam to rotate and drive the loosened clamping jaw mechanism to cross an obstacle from one side; s3: opening a telescopic piece to adjust the length of the telescopic arm so that the loosened clamping jaw mechanism is close to the overhead line after the obstacle; s4: closing the released gripper mechanism; s5: loosening the other clamping jaw mechanism; s6: starting the left rotating motor, the middle rotating motor and the right rotating motor to rotate the left rotating beam and the right rotating beam to drive the other clamping jaw mechanism to cross an obstacle from one side; s7: and opening the telescopic piece to adjust the length of the telescopic arm so that the other loosened clamping jaw mechanism is close to the overhead line behind the obstacle. S8: and closing the other clamping jaw mechanism.
According to the technical scheme, in the using process, the overhead line insulator detection robot is hung on an overhead line, when an obstacle is met in the working process of the overhead line insulator detection robot, the clamping jaw mechanisms are loosened one by one, meanwhile, the left rotary shoulder and the right rotary shoulder rotate to drive the loosened clamping jaw mechanism to bypass from one side of the obstacle, after the obstacle is bypassed, the telescopic arm stretches and retracts to adjust the position of the clamping jaw mechanism, so that the clamping jaw mechanism on one side can clamp the overhead line, the clamping jaw mechanism on one side bypasses the overhead line, the clamping jaw mechanism on the other side loosens the overhead line, the left rotary shoulder and the right rotary shoulder rotate relatively to drive the clamping jaw mechanism on the other side to bypass the obstacle from one side, the clamping jaw mechanism after bypassing the obstacle is opened to aim at the overhead line, then the overhead line is closed, and the obstacle crossing of the overhead line insulator detection robot is completed.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic structural diagram of an overhead line insulator detection robot according to an embodiment of the present application;
fig. 2 is a schematic partial structural diagram of an overhead line insulator detection robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of another angle of an overhead line insulator detection robot according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an overhead line insulator detection robot when an obstacle is crossed according to an embodiment of the present application.
Description of the reference numerals
1. A jaw mechanism; 101. a clamping member; 102. a worm gear; 103. an output shaft worm; 104. a first clamping opening; 105. a second clamping opening; 2. a telescopic arm; 3. a right rotary shoulder; 4. rotating the shoulder left; 5. a jaw motor; 6. a telescoping member; 7. a right side rotation beam; 8. a right-side rotating motor; 9. a power source; 10. a controller; 11. a middle rotating motor; 12. a left-side rotating motor; 13. a left rotation beam; 14. strain clamp; 15. insulator
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the use of directional terms such as "upper and lower" generally means above and below in the direction of gravity during use, and "left and right" means along the direction of the length of the shaft, unless otherwise indicated, and further, the following description refers to the drawings wherein like reference numerals in different drawings designate the same or similar elements, unless otherwise indicated. The foregoing definitions are provided to illustrate and describe the present disclosure only and should not be construed to limit the present disclosure.
According to the specific embodiment of the present disclosure, the present disclosure provides an overhead line insulator detection robot, refer to fig. 1, including gripper mechanism 1, flexible arm 2 and rotary shoulder, gripper mechanism 1 all is provided with two with flexible arm 2, the rotary shoulder includes left rotary shoulder 4 and right rotary shoulder 3, rotate between left rotary shoulder 4 and the right rotary shoulder 3 and be connected and the pivot structure of left rotary shoulder 4 and right rotary shoulder 3 be the first direction, two flexible arms 2 are connected with left rotary shoulder 4 and right rotary shoulder 3 respectively, two flexible arms 2 are on a parallel with the first direction, two gripper mechanism 1 are connected with two flexible arms 2 respectively, the one end and the rotary shoulder of flexible arm 2 are connected, the other end is connected with gripper mechanism 1, gripper mechanism 1 is used for the grip overhead line.
According to the technical scheme, in the using process, the overhead line insulator detection robot is hung on an overhead line, when an obstacle is met in the working process of the overhead line insulator detection robot, the clamping jaw mechanisms 1 are loosened one by one, meanwhile, the left rotary shoulder 4 and the right rotary shoulder 3 rotate to drive the loosened clamping jaw mechanisms 1 to bypass from one side of the obstacle, after the obstacle is bypassed, the telescopic arms 2 telescopically adjust the positions of the clamping jaw mechanisms 1 to enable the clamping jaw mechanisms 1 to clamp the overhead line, so that the clamping jaw mechanisms 1 on one side bypass the overhead line, the clamping jaw mechanisms 1 on the other side loosen the overhead line, the left rotary shoulder 4 and the right rotary shoulder 3 relatively rotate to drive the clamping jaw mechanisms 1 on the other side to bypass the obstacle from one side, the clamping jaw mechanisms 1 after bypassing the obstacle are opened to align with the overhead line, and then the clamping jaw mechanisms 1 are closed to clamp the overhead line, and the obstacle crossing of the overhead line detection robot is completed.
As an alternative embodiment, referring to fig. 1 and 2, the telescopic arm 2 includes a telescopic member 6 and a housing, the movable end of the telescopic member 6 is connected to the clamping jaw mechanism 1, the stationary end of the telescopic member 6 is connected to the rotating shoulder, the housing is sleeved outside the telescopic member 6, one end of the housing is connected to the rotating shoulder, and the other end of the housing extends along the movable direction of the telescopic member 6. In the present embodiment, the telescopic member 6 is configured as an air cylinder, and in some other embodiments, the telescopic member 6 may also be configured as other structures capable of driving the clamping jaw mechanism 1 to extend and retract. In the process of extending the clamping jaw mechanism 1, the telescopic piece 6 extends to drive the clamping jaw mechanism 1 to move, the shell is fixed in the process, the telescopic piece 6 partially extends out of the shell, the clamping jaw mechanism 1 is far away from the shell, and in the process of contracting, the clamping jaw mechanism 1 retracts into the shell, and the clamping jaw mechanism 1 is close to the shell.
As an alternative embodiment, referring to fig. 2 and 3, the gripper mechanism 1 includes a clamping member 101, a worm wheel 102 and an output shaft worm 103, a gripper motor 5 is configured between the telescopic arm 2 and the gripper mechanism 1, the clamping member 101 is configured as two, the two clamping members 101 are configured as a bilateral symmetry distribution to form a paired-gripping structure, the worm wheel 102 is configured as two, the two worm wheels 102 are coaxially connected with the two clamping members 101, a rotor of the gripper motor 5 is connected with one end of the output shaft worm 103, and the other end of the output shaft worm 103 is eccentrically connected with the worm wheel 102. In the process of loosening the clamping part 101, the clamping jaw motor 5 drives the output shaft worm 103 to move upwards, the output shaft worm 103 drives the two worm gears 102 to rotate, the rotation of the worm gears 102 opens the upper end of the clamping part 101, so that the clamping part 101 is opened, the clamping jaw motor 5 rotates reversely in the closing process of the clamping part 101 to drive the output shaft worm 103 to move downwards, and the output shaft worm 103 drives the worm gears 102 to rotate, so that the upper end of the clamping part 101 is closed.
As an alternative embodiment, referring to fig. 2 and 3, the two clamping members 101 are respectively provided with a first clamping opening 104 and a second clamping opening 105 which are semicircular, the first clamping openings 104 on the two clamping members 101 can be combined into a circle, and the second clamping openings 105 on the two clamping members 101 can be combined into a circle. During clamping, the two semi-circles approach to form a circle to clamp the overhead line. The first clamping opening 104 is larger in diameter and used for clamping a thicker insulator joint on the high-voltage transmission line, and the second clamping opening 105 is smaller in diameter and used for clamping the overhead line.
As an alternative embodiment, referring to fig. 2 and fig. 3, the second clamping opening 105 is opened with a plurality of second clamping openings 105, and the diameters of the plurality of second clamping openings 105 are different. In the embodiment, two second clamping openings 105 are arranged, the diameters of the two second clamping openings 105 are different, so that the different second clamping openings 105 can be conveniently used according to the thickness matching of the overhead line, and the possibility that the overhead line cannot be clamped due to the size mismatch of the second clamping openings 105 and the overhead line is reduced.
As an alternative embodiment, referring to fig. 1 and 2, the overhead line insulator detection robot further includes a left rotation beam 13, a right rotation beam 7, and a middle rotation motor 11, wherein one end of the left rotation beam 13 is rotatably connected to one end of the right rotation beam 7, the other end of the left rotation beam 13 is connected to one telescopic arm 2, the other end of the right rotation beam 7 is connected to one telescopic arm 2, and the middle rotation motor 11 is configured to drive the left rotation beam 13 and the right rotation beam 7 to rotate relatively. In the obstacle crossing process, the left rotary shoulder 4 and the right rotary shoulder 3 rotate, the middle part of the rotating process rotates the motor 11, and the included angle between the left rotary beam 13 and the right rotary beam 7 is changed, so that the included angle between the left rotary shoulder 4 and the right rotary shoulder 3 is changed.
As an alternative embodiment, referring to fig. 2 and 3, the overhead line insulator detection robot further includes a right-side rotating motor 8 and a left-side rotating motor 12, a housing of the left-side rotating motor 12 is connected to the left-side rotating beam 13, a rotor of the left-side rotating motor 12 is connected to one telescopic arm 2, and a rotor of the right-side rotating motor 8 is connected to the other telescopic arm 2. In the process of clamping the overhead wire using the clamping members 101, the orientations of the two clamping members 101 are adjusted by rotating the left-side rotating motor 12 and the right-side rotating motor 8, respectively.
As an alternative embodiment, referring to fig. 2 and 3, the overhead wire insulator detection robot further includes a power supply 9 and a controller 10, wherein the power supply 9 and the controller 10 are electrically connected to a left rotating motor 12 and a right rotating motor 8 and a middle rotating motor 11. In the obstacle crossing process of the overhead line insulator detection robot, a power supply 9 supplies power to a motor in the overhead line insulator detection robot, and a controller 10 is used for controlling the number of turns of the motor and the rotating direction. In the present embodiment, the power source 9 is configured as a battery.
As an alternative embodiment, referring to fig. 1, 2 and 4, a protective cover is sleeved outside the power supply 9 and the controller 10. Avoiding external working outside
Referring to fig. 1 to 4, another aspect of the present disclosure provides an obstacle crossing method for an overhead line insulator detection robot, where after an obstacle is encountered on an overhead line: s1: the clamping jaw mechanism 1 far away from the obstacle is loosened; s2: starting a left rotating motor 12, a middle rotating motor 11 and a right rotating motor 8 to enable a left rotating beam 13 and a right rotating beam 7 to rotate and drive the loosened clamping jaw mechanism 1 to cross an obstacle from one side; s3: the telescopic piece 6 is opened to adjust the length of the telescopic arm 2 so that the loosened clamping jaw mechanism 1 is close to the overhead line after the obstacle; s4: closing the released clamping jaw mechanism 1; s5: loosening the other clamping jaw mechanism 1; s6: starting a left rotating motor 12, a middle rotating motor 11 and a right rotating motor 8 to rotate a left rotating beam 13 and a right rotating beam 7 and drive the other clamping jaw mechanism 1 to cross an obstacle from one side; s7: and the telescopic piece 6 is opened to adjust the length of the telescopic arm 2 so that the other loosened clamping jaw mechanism 1 approaches to the overhead line behind the obstacle. S8: the other jaw mechanism 1 is closed. It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the disclosure does not separately describe various possible combinations.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. The utility model provides an overhead line insulator inspection robot, its characterized in that, includes clamping jaw mechanism (1), flexible arm (2) and rotatory shoulder, clamping jaw mechanism (1) with flexible arm (2) all are provided with two, rotatory shoulder includes left-handed rotary shoulder (4) and right-handed rotary shoulder (3), left-handed rotary shoulder (4) with rotate between right-handed rotary shoulder (3) connect just left-handed rotary shoulder (4) with the pivot structure of right-handed rotary shoulder (3) is first direction, two flexible arm (2) respectively with left-handed rotary shoulder (4) with right-handed rotary shoulder (3) are connected, two flexible arm (2) are on a parallel with first direction, two clamping jaw mechanism (1) respectively with two flexible arm (2) are connected, the one end of flexible arm (2) with rotatory shoulder is connected, the other end with clamping jaw mechanism (1) are connected, clamping jaw mechanism (1) are used for centre gripping overhead line.
2. The overhead line insulator detection robot according to claim 1, wherein the telescopic arm (2) comprises a telescopic part (6) and a housing, the movable end of the telescopic part (6) is connected with the clamping jaw mechanism (1), the stationary end of the telescopic part (6) is connected with the rotary shoulder, the housing is sleeved outside the telescopic part (6), one end of the housing is connected with the rotary shoulder, and the other end of the housing extends along the moving direction of the telescopic part (6).
3. The overhead line insulator detection robot according to claim 1, wherein the clamping jaw mechanism (1) comprises clamping pieces (101), worm wheels (102) and output shaft worms (103), a clamping jaw motor (5) is configured between the telescopic arm (2) and the clamping jaw mechanism (1), the clamping pieces (101) are configured to be two and two clamping pieces (101) which are configured to be bilaterally symmetrical and distributed to form a paired-grasping structure, the worm wheels (102) are configured to be two and two worm wheels (102) which are coaxially connected with the two clamping pieces (101), a rotor of the clamping jaw motor (5) is connected with one end of the output shaft worm (103), and the other end of the output shaft worm (103) is eccentrically connected with the worm wheels (102).
4. The overhead line insulator detection robot according to claim 3, wherein the two clamping members (101) are respectively provided with a first semicircular clamping opening (104) and a second semicircular clamping opening (105), the first clamping openings (104) of the two clamping members (101) can be combined into a circle, and the second clamping openings (105) of the two clamping members (101) can be combined into a circle.
5. The overhead line insulator detection robot according to claim 4, wherein the second holding opening (105) has a plurality of openings, and the plurality of second holding openings (105) have different diameters.
6. The overhead line insulator detection robot according to claim 1, further comprising a left rotary beam (13), a right rotary beam (7), and a middle rotary motor (11), wherein one end of the left rotary beam (13) is rotatably connected to one end of the right rotary beam (7), the other end of the left rotary beam (13) is connected to one telescopic arm (2), the other end of the right rotary beam (7) is connected to one telescopic arm (2), and the middle rotary motor (11) is configured to drive the left rotary beam (13) and the right rotary beam (7) to rotate relatively.
7. The overhead line insulator detection robot according to claim 6, further comprising a right-hand rotary motor (8) and a left-hand rotary motor (12), wherein a housing of the left-hand rotary motor (12) is connected to the left-hand rotary beam (13), a rotor of the left-hand rotary motor (12) is connected to one of the telescopic arms (2), and a rotor of the right-hand rotary motor (8) is connected to the other telescopic arm (2).
8. The overhead line insulator detection robot according to claim 7, further comprising a power source (9) and a controller (10), wherein the power source (9) and the controller (10) are electrically connected to the left-side rotating motor (12) and the right-side rotating motor (8) and the middle-portion rotating motor (11).
9. The overhead line insulator detection robot according to claim 8, wherein a protective cover is sleeved outside the power supply (9) and the controller (10).
10. The obstacle crossing method of the overhead line insulator detection robot is characterized in that after the overhead line insulator detection robot meets an obstacle on an overhead line:
s1: -the jaw mechanism (1) remote from the obstacle is released;
s2: the left rotating motor (12), the middle rotating motor (11) and the right rotating motor (8) are started, so that the left rotating beam (13) and the right rotating beam (7) rotate, and the loosened clamping jaw mechanism (1) is driven to cross an obstacle from one side;
s3: opening a telescopic piece (6) to adjust the length of the telescopic arm (2) so that the loosened clamping jaw mechanism (1) approaches to an overhead line after an obstacle;
s4: closing the released gripper mechanism (1);
s5: releasing the other clamping jaw mechanism (1);
s6: the left rotating motor (12), the middle rotating motor (11) and the right rotating motor (8) are started, so that the left rotating beam (13) and the right rotating beam (7) rotate to drive the other clamping jaw mechanism (1) to cross an obstacle from one side;
s7: and opening the telescopic piece (6) to adjust the length of the telescopic arm (2) so that the other loosened clamping jaw mechanism (1) is close to the overhead line after the obstacle.
S8: closing the other gripper mechanism (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211469732.6A CN115902548B (en) | 2022-11-23 | 2022-11-23 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211469732.6A CN115902548B (en) | 2022-11-23 | 2022-11-23 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
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| CN115902548B CN115902548B (en) | 2023-09-22 |
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Cited By (1)
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| CN116520090A (en) * | 2023-05-25 | 2023-08-01 | 东北电力大学 | Separable wire and splicing sleeve fault monitoring system |
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| CN215415719U (en) * | 2021-06-21 | 2022-01-04 | 中国科学院沈阳自动化研究所 | Ultrahigh voltage transmission line insulator detection robot |
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