CN1165775C - High-voltage transmission line insulator live intelligent detector apparatus - Google Patents
High-voltage transmission line insulator live intelligent detector apparatus Download PDFInfo
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- CN1165775C CN1165775C CNB011022736A CN01102273A CN1165775C CN 1165775 C CN1165775 C CN 1165775C CN B011022736 A CNB011022736 A CN B011022736A CN 01102273 A CN01102273 A CN 01102273A CN 1165775 C CN1165775 C CN 1165775C
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Abstract
The present invention relates to a charged intelligent detector for high-voltage transmission line insulator, comprising a loop-shaped supporting frame which can be covered in the surrounding position of an insulator main body. A creeping mechanism which can creep along the bottle edge of the insulator is arranged on the main body of the loop-shaped supporting frame. A checking probe is arranged on the loop-shaped supporting frame or the creeping component. A controlling circuit output terminal is connected with the controlling creeping mechanism and the control end of the probe. The input terminal is connected with the output terminal of the probe. The controlling circuit controls the checking actions of the creeping mechanism and the probe and receives outputting signals of the probe. The present invention solves a problem that the insulator is checked in charging on-line in high voltage transmission line. The present invention can automatically creep along the insulator chain, make an automatic detection and record and transmit the data.
Description
Technical field
The present invention relates to a kind of intelligent detecting instrument, the especially a kind of high-voltage transmission line insulator live intelligent detector apparatus that can realize charged online automatic detection, record belongs to the surveying instrument of electric system.
Background technology
Be to guarantee the electrical safety of high pressure electric line, after a period of time is used in the operation of high pressure electric line, need the electric property of detection line, the generation of phenomenon such as prevent short circuit or open circuit.But, along with improving constantly of transmission line of electricity electric pressure; High-voltage transmission line insulator live testing difficulty is increasing, no matter this field is domestic at present or almost still be in space state abroad, this difficult problem fails to be solved well always, seriously affects the safety and stablization operation of ultra-high-tension power transmission line.
At present domestic substantially still employing, the traditional detection mode of artificial work high above the ground.Not only labour intensity is big for this mode, the operation surrounding enviroment are abominable, the hot line job security is low, and measurement result can only rely on and manually listen, see, can not pass through instrument record.It is wherein a kind of in visualizer that the external detection means that adopts has several employing infrared insulative, and it is to utilize the detection of thermal source is learnt whether damage is arranged.This device can only be found the focus of a certain minor insulation, and can not find that insulator is in the damage that does not produce under the focus situation.Another kind of comparatively advanced pick-up unit is under the electric power column foot electricity leakage sensor to be installed.Though it can be monitored in real time, transfers to central control station by optical cable; But shortcoming is to reflect whether each sheet insulator punctures or insulate inadequately, and cost is high, can not install by tower, can only be as the monitoring of important tower section.
Have, removing need be regularly swept on the bottle edge of insulator again, otherwise bottle may be with line short along the material of last deposition.And sedimental removing is to utilize the mode of manually sweeping to finish always on the insulator bottle.This mode is poor stability not only, and finishes very difficulty, time-consuming, effort.
Summary of the invention
The object of the present invention is to provide a kind of high-voltage transmission line insulator live intelligent detector apparatus, it can carry out the automatic detection of electric index to insulator by testing agency and correspondent control circuits, and writes down, shows measurement data automatically.
Another purpose of the present invention is to provide a kind of high-voltage transmission line insulator live intelligent detector apparatus, and it is easy to carry, and processing ease and cost are lower, can detect various insulator bottle strings.
A further object of the present invention is to provide a kind of high-voltage transmission line insulator live intelligent detector apparatus, and it can remove bottle automatically along last sediment, finishes the cleaning work of insulator.
The object of the present invention is achieved like this: a kind of high-voltage transmission line insulator live intelligent detector apparatus, it includes the ring-like support that is set in the insulator body periphery, the body of ring-like support is provided with along the insulator bottle along the climbing mechanism of creeping, detection probe is located on ring-like support or the climbing mechanism, the control end of one control circuit output termination climbing mechanism, detection probe, the output terminal of input termination detection probe, the detection action of described control circuit control climbing mechanism, detection probe, and the output signal of reception detection probe; Described climbing mechanism is two groups or more, be specially guide tracked mechanism, described guide tracked mechanism comprises two guideposts and the detent mechanism of creeping, the described detent mechanism of creeping is made up of along sensor driving mechanism, claw tilting mechanism and the bottle of two groups of claw slide blocks, claw slide block, described two groups of claw slide blocks are set in respectively on two parallel guideposts; Described insulator bottle has claw along last card, described claw is made of claw support arm and the locating piece of being located at claw support arm one end, described locating piece blocks described insulator bottle edge, the other end of claw support arm joins by the output terminal of gear train and claw tilting mechanism, and described bottle all is arranged on the claw slide block along sensor and claw swing return sensor.
Ring-like support is two joints or pieces together being fastened and connected more than two joints.
The driving mechanism of described claw slide block is motor drawing type mechanism or hydraulic driven mechanism or pneumatic drive formula mechanism.
Be installed with guides in the guide tracked mechanism, guides is longer with the vertical guide rail that is installed on the ring-like support than guidepost, and extended two ends is that the skiing of turning up is tabular.
Control circuit is imported and keyboard interface along sensor and return sensor interface circuitry, described detection probe by the described bottle of central processing unit input termination; Motor interface circuit in the central processing unit output terminal connection control circuit and data storage record, demonstration and transtation mission circuit.
According to the technique scheme analysis as can be known, the invention solves the difficult problem of the online detection of high-voltage transmission line insulator live.It can onlinely detect the insulator electric property, and this device can be creeped automatically along insulator chain, detects the insulator bottle string of different parts automatically, the data recording of measuring can be got off simultaneously, perhaps be transferred to other device, so that the statistics of data, management.Have again, applying flexible of the present invention, the setting by keyboard just can detect at various different insulator.In addition, the present invention can also remove the sediment on the insulator automatically, has saved artificial heavy work.
Description of drawings
Fig. 1 is a kind of example structure synoptic diagram of the present invention;
Fig. 2 is a plan structure synoptic diagram embodiment illustrated in fig. 1;
Fig. 3 is a climbing mechanism structural representation embodiment illustrated in fig. 1;
Fig. 4 is the another kind of preferred embodiment structural representation of the present invention;
Fig. 5 is a climbing mechanism partial side TV structure synoptic diagram embodiment illustrated in fig. 4;
Fig. 6 is another preferred embodiment structural representation of the present invention;
Fig. 7 is a climbing mechanism partial side TV structure synoptic diagram embodiment illustrated in fig. 6;
Fig. 8 is the structural representation that is installed on the another kind of insulator embodiment illustrated in fig. 1;
Fig. 9 is another example structure synoptic diagram of the present invention;
Figure 10 constitutes block diagram for control circuit of the present invention;
Figure 11 is circuit embodiments central controller circuit theory diagrams shown in Figure 10;
Figure 12 is a circuit embodiments sample circuit schematic diagram shown in Figure 10;
Figure 13 is a circuit embodiments sensor circuit schematic diagram shown in Figure 10;
Figure 14 is that circuit embodiments shown in Figure 10 is set, the data transmit circuit schematic diagram;
Figure 15 is circuit embodiments shown in Figure 10 one of the structure driving circuit schematic diagram of creeping;
Figure 16 is circuit embodiments shown in Figure 10 two of the structure driving circuit schematic diagram of creeping.
Embodiment
The present invention is a kind of high-voltage transmission line insulator live intelligent detector apparatus, it includes the ring-like support that can be set in the insulator body periphery, the body of ring-like support is provided with can be along the insulator bottle along the climbing mechanism of creeping, detection probe is located on ring-like support or the climbing mechanism, its control circuit output connects the control end of climbing mechanism, detection probe, input connects the output terminal of detection probe, the detection action of control circuit control climbing mechanism, detection probe, and the output signal of reception detection probe.
Referring to Fig. 1,2,3, be a kind of preferred embodiment of the present invention.Its ring-like support is that the above assembly of three joints is to being fastened and connected, so that operating personnel's fit at insulator bottle string before detection is installed.The climbing mechanism of present embodiment adopts guide tracked mechanism, and guide tracked mechanism is the motor drawing type.Guide tracked mechanism is divided into 1,2,3 three group, vertically is installed on the ring-like support 4; Circumference in equal parts, space 120 degree.Guide tracked mechanism comprises the guidepost 8 and the detent mechanism of creeping, and the described detent mechanism of creeping is made up of along sensor 15 etc. claw slide block 9, claw slide block driving mechanism, claw tilting mechanism 10 and bottle.And claw slide block 9 is two groups of A, B, is set in respectively on two corresponding guideposts 8.Described claw 14 is made of claw support arm and the locating piece of being located at claw support arm one end, and described locating piece blocks described insulator bottle along 25, and the other end of claw support arm joins by the output terminal of gear train and claw tilting mechanism.This locating piece can be elastic body, so that can fix more securely on the bottle edge.The other end of the claw support arm of claw 14 joins by the output terminal of gear train and claw tilting mechanism 10.Bottle is arranged on the claw slide block 9 along sensor 15, and detection probe 20 is arranged on the claw slide block 9.Claw slide block 9 is provided with the swing return sensor of claw 14, so that control circuit MCU can learn the position of claw 14.
Be installed with guides 19 in the guide tracked mechanism, guides 19 is longer than the guidepost 18 that vertically is installed on the ring-like support, and extended two ends is tabular for skiing.It can guide climbing mechanism along the insulator bottle along moving smoothly, prevent entire mechanism when the bottle string is creeped, guidepost 18 mistakes stretch into bottle along the bottom, and hinder advancing of mechanism.
It is guide tracked 1,2,3 to be installed in 4 three groups of motor drawing types of ring-like support, each group creep rail assembly be by a main drawing motor 5, be with 6 synchronously, synchronous pulley 7 and two guideposts 8, two claw slide blocks 9, two claw tilting mechanisms 10, claw tilting mechanism driving gear 11, claw wobble gear 12, claw axis of swing 13 and two pairs of swing claws 14; 15,2 corner alignment sensors 16 of 2 photoelectric sensors; 2 range limit switches 17 and 1 guide supporting body and guide-localization frame are formed.Detection probe is made up of last detection probe 20 and following detector probe 21.
The following describes the logical relation of climbing mechanism up-downgoing action and claw 14 wobbling actions.During work, detector is placed insulator chain 25 upper ends, (as establishing three groups of three claws on the guide rail left side guidepost of creeping is the A group; Three claws on the guidepost of right side are B group), A group claw is stuck in topmost first insulator bottle along last, B group claw be stuck in second insulator bottle along on can start MCU controller system program.Earlier set two numbers before starting according to the different insulative substring.
1, sets the insulator number of detected insulator chain.
2, set per step and creep the insulator bottle that to cross over along number.
If dust-proof insulator 25 is not as shown in Figure 8 single edge, the step bottle of whenever creeping is 2 along crossing over a count value; If dust-proof insulator 25 is two edges as shown in Figure 1, whenever to creep a step, bottle is 4 along crossing over count value.
When A group claw is shown, three main drawing motors (the to call main drawing motor in the following text) run-in synchronism clockwise on three groups of rail assemblies of creeping, A group claw 14 is descending, simultaneously by 15 bottles of photoelectric sensors along number; When bottle when counting is 2, main drawing motor 5 running clockwise stops, this moment, A group claw 14 pendulum advanced, B group claw 14 is shown, main drawing motor 5 beginnings running counterclockwise synchronously, the 14 descending and numerations of B group claw; When bottle along counting when being 2 again, main drawing motor 5 running counterclockwise stops, B group claw 14 pendulum advance, A group claw 14 is shown, main drawing motor 5 is running clockwise once more.The 14 descending and numerations of A group claw; When bottle along counting when being 2 once more, main drawing motor 5 running clockwise stops, A group claw 14 is put once more; B knob claw 14 is shown, and main drawing motor 5 is running counterclockwise once more, B group claw 14 counts down.Order realizes the purpose of creeping along insulator 25 strings downwards according to this.When insulation subnumber that descending arrival is set, by descending transfer to up.At this moment control circuit will judge that A group claw or B group claw 14 arrive last insulator at first, and automatically bottle is set at 1 along spanning value.
If A group claw 14 arrives first last insulator, then B group claw 14 is shown.Main drawing motor 5 turns round counterclockwise, 14 descending half steps of B group claw.When the bottle edge count down to 1, main drawing motor 5 runnings stopped, and B group claw 14 pendulum advance.Two groups of claws of this moment A, B 14 are with being stuck on last insulator.At this moment A group claw 14 is arranged, and main drawing motor 5 turns round counterclockwise; 14 up half steps of A group claw.When the bottle edge count down to 1.Main drawing motor 5 running counterclockwise stops, and A group claw 14 pendulum advance.At this moment to recover bottle automatically be 2 along crossing over a count value to control circuit.
If B group claw 14 arrives first last insulator, then A group claw 14 is arranged, and main drawing motor 5 turns round clockwise, 14 descending half steps of A group claw.When the bottle edge count down to 1, main drawing motor 5 shut down, and A group claw 14 pendulum advance.At this moment, A, B group claw 14 is with being stuck on the last same insulator.At this moment B group claw is arranged, and main drawing motor 5 turns round clockwise, 14 up half steps of B group claw.When counting down to 1, main drawing motor 5 running clockwise stops, and B group claw 14 pendulum advance, and this timed unit reverts to 2 with bottle along spanning value again automatically; Can formally begin that up (this up example B group claw that continues arrives first and is illustrated this moment; Arrive first when up as A group, otherwise claw 14 swing states and main drawing motor rotation direction are then).A group claw 14 is arranged, and the master drags motor 5 running counterclockwise synchronously, and A group claw 14 is up, and (different insulator bottles are along the shape difference along number to count bottle; Have plenty of two edges, have plenty of single edge as shown in Figure 8, therefore the bottle of this insulator when just establishing bottle along number, also needs to be provided with the kind on bottle edge, so that the counter accurate counting along being single edge); When bottle when count value is 2, main drawing motor 5 running counterclockwise stops, A group claw 14 pendulum advance, B group claw is shown, main drawing motor 5 beginnings running clockwise; B group claw 14 up and countings; When count value was 2 once more, main drawing motor 5 running clockwise stopped, and B group claw 14 pendulum advance, and A group claw 14 is shown, the running of main drawing motor 5 another mistake hour hands, the 14 up numerations of A group claw; When bottle along counting when being 2 once more, main drawing motor 5 running counterclockwise stops, A group claw 14 pendulum advance, B group claw 14 is shown, main drawing motor 5 begins clockwise running once more, B group claw 14 is up, order realizes up purpose successively.When the descending detection of detector, the total insulation of record subnumber is the form with accumulated counts; Be with the countdown form when up.When the up counting that electrically isolates from when reducing to 0, promptly finish whole detection tasks.That is to say detector on insulator chain from top to bottom, come and go to creep once promptly to detect from bottom to top and finish, and auto stop.To all detect data before shutdown is sent in the surface recorder device by wireless mode.If be located on the A group claw 14, come and go in the process of putting, then with 1,3,5 at claw 14; 2, the form of 4,6 go-on-gos is finished the detection of null value, voltage distribution and the insulation resistance of insulator bottle string simultaneously.That is to say that if A group claw 14 is when going down with odd number, must return with even number, purpose is to allow each insulator of A group claw 14 and whole insulator chain contact, to realize the purpose of not omission.When detector is creeped detection downwards; Wherein one group of claw 14 arrives a nethermost insulator earlier, and it is exactly to reduce by a detection probe in order to adjust the odd even relation, to its objective is in manufacture process that another group claw 14 walked for half step, also is in order to guarantee to detect the consistance of data.
Shown in Fig. 4,5, be the another kind of preferred embodiment of the present invention.Its climbing mechanism also is guide tracked.But the difference of the motor drawing type of slide block driving mechanism is the walking cylinder of fluid pressure type or pneumatic type (this fluid pressure type or pneumatic type structure just move medium difference) that all the other mechanisms are same as the previously described embodiments. Claw slide block 9 and 32 interlocks of walking cylinder are creeped by cylinder 32 hydraulic-driven.Claw slide block 9 is provided with claw cylinder 33,34, and claw cylinder 33,34 is released, and claw 14 pendulum advance; Claw cylinder 33,34 returns, and claw 14 is shown.
Shown in Fig. 6,7, be another preferred embodiment of the present invention.Its climbing mechanism adopts crawler type mechanism.Crawler type is creeped structure mainly by three groups of crawler belt climbing mechanisms 26,27,28, is arranged on the ring-like support 4.Every group of crawler belt assembly of creeping is installed in and is 120 ° of distributions on the ring-like insulator support.Concrete caterpillar belt structure can be as the employed pedrail mechanism in existing other field, is made up of crawler belt (promptly being with synchronously), synchronizing wheel, synchronous pulley fixing body, main drawing motor and variator and track support frame and crawler belt support wheel that can elastic floating.On the ring-like support 4 computer control part, power unit, test section and detection probe are housed also.This part concrete structure can be identical with guide tracked ring type structure, unique different be that the detection probe 20 and the probe 21 of crawler type mechanism is installed on the ring-like support 4.
Crawler type the creeping of structure of creeping is to utilize friction force principle (friction factor of rubber and pottery just), because three crawler belts 26,27,28 are installed on the ring-like support 4, tightens with centripetal direction.With crawler belt 26 concrete structures wherein is example, and clamping force comes from the spring 29 on the crawler belt flexible supporting frames 31, has crawler belt 26 support wheels to support simultaneously again, and crawler belt 26 just can free movement between electrically isolating from 25.And friction force arranged between crawler belt 26 and the insulator 25, crawler belt 26 can be relatively and insulator motionless, crawler belt 26 is controlled its synchronous rotation at positive and negative both direction by computer like this, makes it reach the purpose that (see figure 7) 14 is creeped up and down and detected on insulator 25 strings.During detection dust-proof insulator 25 (two edge) detection head is met 2 swings once, 1 swing is met once in dustproof 25 (the single edges) that electrically isolate from.That is to say that detector (track structure) finishes electrically isolating to creep from top to bottom on 25 rates once promptly to detect, and auto stop.To all detect data before shutdown is sent in the surface recorder device by wireless mode.
Have, as shown in Figure 9, for further utilizing the invention process more function, ring-like support 4 is provided with three dust cleaners 35,36,37 that can remove dust on the whole insulator again, and this dust cleaner can be removes brush.After finishing insulation and detecting, when ring-like support 4 positions arrive certain bottle along the time, can start by control device and remove the brush rotation, as the removing brush action mechanism of cleaning automobile,, the sediment on the insulator 25 is removed clean through removing after a while.Thereby utilize the present invention, not only can realize the automatic detection of insulator 25, also finished the automatic cleaning of insulator 25.
Shown in Figure 10-15, for the present invention cooperate as Fig. 3,4 and Fig. 5,6 shown in a kind of preferred embodiment of specific embodiment control circuit.
The control of the controlled circuit of action of entire mechanism of the present invention.This control circuit is imported and keyboard interface the motor interface circuit of MCU output terminal connection control circuit and data storage record, demonstration and transtation mission circuit by central processor MCU input termination bottle along sensor and return sensor interface circuitry, detection probe.Figure 10 constitutes block diagram for circuit.Figure 11 is the circuit theory diagrams of central control section MCU, comprises that MCU U1, address latch U2, storer U3, data memory U4 and sheet select controller U5.MCU is according to each sensor signal that receives, and by the action of sheet selected control system each several part motor, control detection probe image data is gone out data transfer.Figure 12 is each sensor interface circuitry schematic diagram.Present embodiment comprises that bottle in three groups of mechanisms is along the stroke up and down of sensor, slide block put in place sensor, claw swing rotary angle transmitter etc., each sensor signal inputs to MCU through photoelectric isolating circuit and bi-directional data interface U56-U58 by data bus, and bi-directional data connects the data transmission of U56-U58 and selects the US management by sheet.Figure 13 is detection probe and power circuit principle figure.The signal of detection probe is isolated UI and analog to digital conversion circuit ADC to MCU by comparer U3, photoelectricity.Figure 14 is the circuit theory diagrams of keyboard, demonstration and radiating circuit part.Can set the data of detected object by keyboard S1, S2, S3, comprise that insulator type, bottle are along number etc.Data transmission after infrared transceiver BB1, BB2 can handle MCU is given the equipment on ground, so that write down easily, store.Figure 15, Figure 16 are the Drive and Control Circuit figure of each motor of climbing mechanism.Bus data arrives to drive by data output interface U11-U13 and photoelectric isolating circuit and amplifies, and the driving that triode Q1-Q36 forms is amplified the main drawing motor and the claw that connect the slide block up and down on three groups of climbing mechanisms and swung motor etc.For fluid pressure type or pneumatic type mechanism, the driving amplification connects cylinder control valve and gets final product.
Claims (4)
1, a kind of high-voltage transmission line insulator live intelligent detector apparatus, it is characterized in that: it includes the ring-like support that is set in the insulator body periphery, the body of ring-like support is provided with along the insulator bottle along the climbing mechanism of creeping, detection probe is located on ring-like support or the climbing mechanism, the control end of one control circuit output termination climbing mechanism, detection probe, the output terminal of input termination detection probe, the detection action of described control circuit control climbing mechanism, detection probe, and the output signal of reception detection probe; Described climbing mechanism is two groups or more, be specially guide tracked mechanism, described guide tracked mechanism comprises two guideposts and the detent mechanism of creeping, the described detent mechanism of creeping is made up of along sensor the bottle of driving mechanism, claw tilting mechanism and the connection control circuit input end of two groups of claw slide blocks, claw slide block, described two groups of claw slide blocks are set in respectively on two parallel guideposts; Described insulator bottle has claw along last card, described claw is made of claw support arm and the locating piece of being located at claw support arm one end, described locating piece blocks described insulator bottle edge, the other end of claw support arm joins by the output terminal of gear train and claw tilting mechanism, and described bottle all is arranged on the claw slide block along sensor and claw swing return sensor.
2, high-voltage transmission line insulator live intelligent detector apparatus according to claim 1 is characterized in that: ring-like support is two joints or pieces together being fastened and connected more than two joints.
3, high-voltage transmission line insulator live intelligent detector apparatus according to claim 1 is characterized in that: the driving mechanism of described claw slide block is motor drawing type mechanism or hydraulic driven mechanism or pneumatic drive formula mechanism.
4, high-voltage transmission line insulator live intelligent detector apparatus according to claim 1, it is characterized in that: be installed with guides in the guide tracked mechanism, guides is longer with the vertical guide rail that is installed on the ring-like support than guidepost, and extended two ends is that the skiing of turning up is tabular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011022736A CN1165775C (en) | 2001-01-20 | 2001-01-20 | High-voltage transmission line insulator live intelligent detector apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011022736A CN1165775C (en) | 2001-01-20 | 2001-01-20 | High-voltage transmission line insulator live intelligent detector apparatus |
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| CN1367391A CN1367391A (en) | 2002-09-04 |
| CN1165775C true CN1165775C (en) | 2004-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB011022736A Expired - Fee Related CN1165775C (en) | 2001-01-20 | 2001-01-20 | High-voltage transmission line insulator live intelligent detector apparatus |
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| CN102128605B (en) * | 2010-01-15 | 2013-02-20 | 华北电力科学研究院有限责任公司 | Insulator scanning device and system |
| CN102621426B (en) * | 2012-03-31 | 2014-08-06 | 山东鲁能智能技术有限公司 | Detection robot for suspension porcelain insulator string |
| CN102608473B (en) * | 2012-04-01 | 2014-10-15 | 山东鲁能智能技术有限公司 | Robot for electrified detection of double strain insulator strings |
| CN102621983B (en) * | 2012-04-01 | 2014-04-09 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN102608474B (en) * | 2012-04-01 | 2015-06-03 | 山东鲁能智能技术有限公司 | Robot for electrified detection insulator string |
| CN102621429B (en) * | 2012-04-01 | 2014-10-15 | 山东鲁能智能技术有限公司 | Horizontal duplex insulator string on-line detection robot |
| CN102944745B (en) * | 2012-11-09 | 2016-06-15 | 甘肃省电力公司检修公司 | 750kV line live-line work insulator tester |
| CN103091579B (en) * | 2013-01-11 | 2015-04-29 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| CN103042000B (en) * | 2013-01-11 | 2015-06-10 | 山东鲁能智能技术有限公司 | Robot system for intelligently cleaning insulator chains |
| CN103128738B (en) * | 2013-01-12 | 2015-10-28 | 山东鲁能智能技术有限公司 | Creeping motion type insulator chain Intelligent Measurement robot |
| CN103158154B (en) * | 2013-03-29 | 2014-11-05 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot system and control method thereof |
| CN104215852A (en) * | 2014-09-03 | 2014-12-17 | 国家电网公司 | Electrified insulator detection device |
| CN104238409B (en) * | 2014-09-03 | 2018-11-30 | 国家电网公司 | A kind of insulator string detection device |
| CN104215851A (en) * | 2014-09-03 | 2014-12-17 | 国家电网公司 | Detector device used for horizontally detecting electrified insulator |
| CN104330672B (en) * | 2014-11-14 | 2015-08-12 | 贵州电网公司输电运行检修分公司 | Motion guide rail formula electric transmission line isolator automatic detection device and detection method |
| CN104678228B (en) * | 2015-03-24 | 2016-03-30 | 杭州钱江称重技术有限公司 | Induction loop test carriage |
| CN106002912B (en) * | 2016-04-29 | 2018-01-02 | 东北大学 | A kind of insulator becomes born of the same parents and detects robot mechanism |
| CN106500763A (en) * | 2016-10-18 | 2017-03-15 | 刘杰 | Extra high voltage line isolator detecting intelligent robot system |
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2001
- 2001-01-20 CN CNB011022736A patent/CN1165775C/en not_active Expired - Fee Related
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