CN117970060B - Zero value detection creeping robot for insulator string - Google Patents
Zero value detection creeping robot for insulator string Download PDFInfo
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- CN117970060B CN117970060B CN202410390273.5A CN202410390273A CN117970060B CN 117970060 B CN117970060 B CN 117970060B CN 202410390273 A CN202410390273 A CN 202410390273A CN 117970060 B CN117970060 B CN 117970060B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1245—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of line insulators or spacers, e.g. ceramic overhead line cap insulators; of insulators in HV bushings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/025—Measuring very high resistances, e.g. isolation resistances, i.e. megohm-meters
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Ceramic Engineering (AREA)
- Manipulator (AREA)
- Insulators (AREA)
Abstract
The invention discloses a creeping robot for zero value detection of an insulator string, which comprises a guide rail base; a clamping assembly; zero value detection means; the clamping assembly comprises a mounting seat, two support arms and two insulating claws; the two support arms are rotationally connected to the mounting seat; the two insulating claws are respectively and rotatably connected to the two support arms; the rotating shaft direction of the insulating claw is perpendicular to the length direction of the power transmission line; two adjacent clamping assemblies respectively comprise a probe arranged on the insulating claw; the probe is electrically connected with the zero value detection device. The insulator string is detected when the steel cap is clamped, so that the weight and the volume of the robot are reduced. The insulating claw is directly clamped on the steel cap and does not touch the insulator sheet, so that damage to the surface coating of the insulator sheet can be prevented. The insulating claw rotates relative to the support arm under the reaction force of the steel cap, so that the contact area between the insulating claw and the steel cap is increased, and the stability is improved.
Description
Technical Field
The invention belongs to the technical field of power supply systems, and particularly relates to a creeping robot for zero value detection of an insulator string.
Background
In order to ensure the safety of the high-voltage power grid, zero value detection needs to be carried out on the insulator string regularly. The operation under high-altitude high-voltage environment, manual detection is time-consuming and labor-consuming, and is unsafe, and a full-automatic insulator string detection robot is generated. The insulator string detection robot is mainly divided into two types due to the enclasping and moving modes, one type is an insulating sheet encircling the insulator string, the insulator string detection robot moves by means of friction force between the robot and the insulating sheet, the other type is a steel cap grasping mode, the robot does not contact with the insulating sheet, and clamping jaws alternately move.
The Chinese patent document with publication number of CN215415719U discloses a robot for detecting an insulator of an ultra-high voltage transmission line. The device comprises a control box body, a self-adaptive guide module, an encircling guide executing mechanism, an encircling guide driving mechanism, a moving mechanism, a detection clamping jaw mechanism, an insulator resistance detector and a power supply, wherein the self-adaptive guide module and the moving mechanism are arranged at the top of the control box body; the encircling guide execution mechanisms are two groups and are symmetrically arranged on two sides of the control box body; the encircling guide driving mechanism is arranged at the end part of the control box body and used for driving the encircling guide actuating mechanism to open or close; the insulator resistance detector and the power supply are arranged on the encircling guide executing mechanism; the two pairs of detection clamping jaw mechanisms are used for crawling and insulator string resistance detection.
According to the scheme, the insulator sheet is moved along the insulator string in a surrounding mode, other additional movement mechanisms are adopted to independently drive the probe to move to be propped against the steel cap for zero value detection, the size and the weight of the whole detection robot are certainly increased, and the detection robot is not convenient to be placed on the insulator string for working. In addition, the surface coating of the insulator sheet is fragile, and the surface of the insulator sheet is possibly damaged when the detection robot walks on the surface of the insulator sheet, and on the other hand, the insulator sheet is large or small, and the insulator sheet can be damaged by lightning, bird activities and the like in the practical process, so that the detection robot is disabled.
Disclosure of Invention
In order to overcome the defects that in the prior art, when a transmission line detection robot climbs along an insulator string, an additional driving mechanism is required to drive a probe to prop against a steel cap, and the insulator string is surrounded to damage the surface of an insulator sheet or the insulator sheet cannot be normally used due to the shape damage/change of the insulator sheet; the invention aims to provide a creeping robot for zero value detection of an insulator string, which is characterized in that a plurality of pairs of insulating claws which can be matched with the shape of a steel cap are connected to a guide rail base in a rotating way, probes are arranged on one side of each insulating claw, which faces the steel cap, and the insulating claws alternately grip the steel cap to perform zero value detection on the insulator string synchronously when the insulator string walks.
In order to achieve the above purpose, the present invention is realized by the following technical scheme: a zero value detection creeping robot for an insulator string comprises a guide rail base; the clamping assemblies are arranged on the guide rail base in a linear interval mode and used for alternately clamping the insulator strings to drive the robots to move along the insulator strings; the zero value detection device is arranged at the lower end of the guide rail base; the clamping assembly comprises a mounting seat, two support arms and two insulating claws; the two support arms are rotatably connected to the mounting seat and are respectively positioned at two sides of the axis of the insulator string; the two insulating claws are respectively and rotatably connected to the two support arms; the rotating shaft direction of the insulating claw is perpendicular to the length direction of the axis of the insulator string; two adjacent clamping assemblies respectively comprise a probe arranged on the insulating claw; the probe is electrically connected with the zero value detection device.
When the insulating claw clamps Zhong Xinggang caps, the insulating claw rotates relative to the support arm under the reaction force of the bell-shaped caps, so that the clamping end face of the insulating claw is tangent to the outer contour of the Zhong Xinggang caps, and therefore, the sufficient contact area between the insulating claw and the bell-shaped caps is ensured, the clamping force is improved, in the process, the support arm and the guide rail base cannot move, and the stability of the robot in detection is improved; the insulation claw grasps the steel cap, and simultaneously, the probe offsets with the steel cap, measures the voltage between the steel cap at insulator piece both ends then, need not to set up extra motion, has reduced holistic weight and volume, has also improved detection efficiency.
Specifically, the insulating claw is provided with a V-shaped opening; the opening direction of the V-shaped opening faces the insulator string; the probe is connected to the inner bottom of the V-shaped opening in a sliding way; and a probe spring for enabling the probe to slide towards the steel cap is arranged between the probe and the insulating claw.
The insulating claw is provided with a V-shaped opening, so that the insulating claw can be adapted to steel caps with different diameters, meanwhile, the probe is abutted against the steel caps under the action of the elastic force of the probe spring, the insulating claw is not communicated with the robot main body, the influence of external factors on voltage values at two ends of the insulator string is eliminated, and the measurement accuracy is improved.
Preferably, a rubber pad for increasing friction force is arranged on one side of the insulating claw facing the steel cap; the rubber pad can also protect the insulating claw, reduce the abrasion to which the insulating claw is subjected, and further improve the service life.
Preferably, the upper end of the insulating claw is provided with an extension rod extending towards the steel cap direction.
Two in the same clamping assembly extension bars dislocation set, the extension bars is located the position of insulator chain top, and when causing the distance increase of distal end clamping jaw and steel cap under the condition that insulator chain arc is big, rely on two the extension bars can enlarge V type claw to snatch the space of steel cap to a certain extent, improves the adaptability of robot.
Further, a limiting groove is formed in one end, facing the insulating claw, of the support arm; the insulating claw is rotationally connected to the middle position of the limiting groove; two symmetrical centering springs are arranged between the limiting groove and the insulating claw; the centering spring is used for enabling the insulating claw to rotate towards the middle position of the limiting groove.
In a natural state, two openings of the insulating claw are opposite to each other, and when clamping is performed, one of the two centering springs is compressed, and the other is stretched.
Specifically, a connecting block which is rotationally connected with the support arm is arranged on the insulating claw; the connecting block is provided with a connecting shaft which is rotationally connected with the support arm.
The centering spring is arranged between the connecting block and the inner wall of the limiting groove, and needs to be adjusted and fixed, so that the installation steps are complicated, the installation requirement is high, the clamping jaw is used as an insulator, the strength of the clamping jaw is often inferior to that of metal, and when the clamping jaw is replaced due to damage, abrasion and the like, the insulating claw is arranged separately to replace the clamping jaw, so that great convenience is provided.
Further, one clamping assembly positioned at the outer side of the three clamping assemblies is fixedly connected with the guide rail base, and the other two clamping assemblies are slidingly connected with the guide rail base along the linear arrangement direction; the clamping assembly which is connected to the guide rail base in a sliding way comprises a crawling motor which is arranged on the mounting seat; the crawling motor is in transmission connection with the guide rail base.
Preferably, the clamping assembly is fixedly connected to the guide rail base, and the clamping assembly further comprises two appearance detection devices symmetrically arranged on the mounting base.
Appearance detection device is located insulator string left and right sides respectively, and when the robot climbs along the insulator string, appearance detection device detects the outward appearance of insulator string in step.
Further, the rotating shafts of the two support arms are coaxially arranged; the clamping assembly comprises a clamping motor arranged on the mounting seat; the clamping motor is respectively connected with the two support arms in a transmission way.
Preferably, at least one wire clamp for fixing the electric wire is arranged on the outer side of the support arm.
Compared with the prior art, the invention has the beneficial effects that:
1. The probe for zero value detection is directly arranged on the insulating claw, the insulator string is detected while the steel cap is clamped, a driving mechanism of the probe is not required to be additionally arranged, the weight and the volume of the robot are reduced, and the working efficiency of zero value detection is also improved.
2. The insulating claw is directly clamped on the steel cap, and the insulator sheet cannot be touched, so that damage to the surface coating of the insulator sheet can be prevented, and meanwhile, the normal operation of the robot cannot be influenced for the damaged insulator sheet.
3. The V-shaped insulating claw is rotationally connected to the support arm, the reaction force of the insulating claw on the steel cap rotates relative to the support arm, the contact area between the insulating claw and the steel cap is increased, the stability is improved, the abrasion to the insulating claw and the steel cap can be reduced, and the automatic adaptation can be performed on the steel caps of different types and different clamping positions on the steel cap.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a clamping assembly according to the present invention;
Fig. 3 and 4 are schematic structural views of the clamping arm of the present invention.
In the figure: 1. a guide rail base; 2. a clamping assembly; 21. a mounting base; 22. a support arm; 221. a limit groove; 23. an insulating claw; 24. a connecting block; 25. a connecting shaft; 26. a centering spring; 27. a rubber pad; 28. an extension bar; 29. a wire clamp; 3. zero value detection means; 4. a probe; 5. appearance detection device.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
In the description of the present invention, it should be noted that, for the azimuth words such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the azimuth and positional relationships are based on the azimuth or positional relationships shown in the drawings, it is merely for convenience of describing the present invention and simplifying the description, and it is not to be construed as limiting the specific scope of protection of the present invention that the device or element referred to must have a specific azimuth configuration and operation.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first", "a second" or "a second" feature may explicitly or implicitly include one or more such feature, and in the description of the invention, the meaning of "a number" is two or more, unless otherwise specifically defined.
In the present invention, unless explicitly stated or limited otherwise, terms such as "disposed," "mounted," and the like should be construed broadly, and may be, for example, fixedly attached, detachably attached, or integrally attached; or may be a mechanical connection; can be directly connected or connected through an intermediate medium, and can be communicated with the inside of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1-4, an insulator string zero value detection creeping robot; the device comprises a guide rail base 1, three clamping assemblies which are arranged at the upper end of the guide rail base 1 at intervals in a linear manner and a zero value detection device 3 which is arranged at the lower end of the guide rail base 1; one clamping component 2 positioned on the outer side of the three clamping components 2 is fixedly connected with the guide rail base 1, and the other two clamping components 2 are slidably connected with the guide rail base 1 along the linear arrangement direction.
The clamping assembly 2 comprises a mounting seat 21 arranged on the guide rail base 1, two support arms 22 which are respectively connected with the mounting seat 21 in a rotating way and are arranged along the arrangement direction of the guide rail assembly 2, and two insulating claws 23 which are respectively connected with the two support arms 22 in a rotating way and are longitudinally arranged; two adjacent clamping assemblies 2 respectively comprise a probe 4 which is connected on the insulating claw 23 in a sliding way and is electrically connected with the zero value detection device 3.
The longitudinal section of the insulating claw 23 is a V-shaped opening facing the steel cap; the probe 4 is connected to the inner bottom of the V-shaped opening in a sliding way; a probe spring for sliding the probe 4 in the direction of the steel cap is provided between the probe 4 and the insulating claw 23.
A connecting block 24 is arranged at one end of the insulating claw 23, which is close to the support arm 22; the connecting block 24 is provided with a connecting shaft 25 which is rotationally connected with the support arm 22; a limiting groove 221 is formed in one end of the support arm 22, which faces the insulating claw 23; the insulating claw 23 is rotatably connected to the middle position of the limit groove 221; two centering springs 26 which are symmetrically arranged and used for enabling the insulating claws 23 to rotate towards the middle position of the limiting groove 221 are arranged between the limiting groove 221 and the insulating claws 23.
A rubber pad 27 for increasing friction force is arranged on one side of the insulating claw 23 facing the steel cap; an extension rod 28 extending towards the steel cap direction is arranged at the upper end of the insulating claw 23; at least one wire clamp 29 for fixing the electric wire is provided outside the arm 22.
The rotation shafts of the two support arms 22 are coaxially arranged; the clamping assembly 2 comprises clamping motors which are arranged on the mounting seat 21 and respectively connected with the two support arms 22 in a transmission way.
The clamping assembly 2 which is connected to the guide rail base 1 in a sliding way further comprises a crawling motor arranged at the lower end of the mounting seat 21 and a gear arranged on an output shaft of the crawling motor; a rack in transmission connection with the gear is arranged on the guide rail base 1; the clamping assembly 2 fixedly connected to the guide rail base 1 further comprises two appearance detection devices 5 symmetrically arranged on the mounting seat 21.
The crawling process comprises the following steps:
First, the grip motor of the front grip assembly 2 rotates forward, causing the two arms 22 to rotate away from each other so as not to contact the insulator sheet, and then the crawling motor of the front grip assembly 2 operates to move the front grip assembly 2 forward by one insulator sheet and directly against the next adjacent steel cap. The clamp motor of the clamp assembly 2 is then rotated in opposite directions, causing the two arms 22 to rotate in opposite directions, thereby holding the steel cap tightly.
Then, the clamping motor of the middle clamping assembly 2 rotates forward, so that the two support arms 22 rotate away from each other to be unable to contact with the insulator sheet, and then the crawling motor of the middle clamping assembly 2 works to enable the middle clamping assembly 2 to move forward by the distance of one insulator sheet and face the next adjacent steel cap. The clamp motor of the clamp assembly 2 is then rotated in opposite directions, causing the two arms 22 to rotate in opposite directions, thereby holding the steel cap tightly.
Finally, the clamping motor of the rear clamping assembly 2 rotates forward, so that the two support arms 22 rotate in the directions away from each other until the two support arms cannot contact with the insulator sheet, and the middle crawling motor and the front crawling motor work simultaneously to drive the guide rail base 1 to move forward by the distance of one insulator sheet, so that the rear clamping assembly 2 is opposite to the next adjacent steel cap. The clamp motor of the clamp assembly 2 is then rotated in opposite directions, causing the two arms 22 to rotate in opposite directions, thereby holding the steel cap tightly.
Thus reciprocating, the robot crawls along the insulator string in sequence.
In this process, after the insulating claw 23 abuts against the steel cap, as the two support arms 22 are continuously clamped, the insulating claw 23 rotates relative to the support arms 22, so that the clamping surface of the insulating column 23 is tangent to the outer contour of the steel cap, and the contact surface is increased, thereby improving the clamping stability. The corresponding probes 4 are clamped at two ends of an insulator sheet, and the voltage is measured.
The above embodiments are merely illustrative embodiments of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications made by those skilled in the art within the scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides an insulator string zero value detects creeping robot which characterized in that: comprises a guide rail base;
The clamping assemblies are arranged on the guide rail base in a linear interval mode and used for alternately clamping the insulator strings to drive the robots to move along the insulator strings;
the zero value detection device is arranged at the lower end of the guide rail base;
The clamping assembly comprises a mounting seat, two support arms and two insulating claws; the two support arms are rotatably connected to the mounting seat and are respectively positioned at two sides of the axis of the insulator string; the two insulating claws are respectively and rotatably connected to the two support arms; the rotating shaft direction of the insulating claw is perpendicular to the length direction of the axis of the insulator string; two adjacent clamping assemblies respectively comprise a probe arranged on the insulating claw; the probe is electrically connected with the zero value detection device;
A limiting groove is formed in one end, facing the insulating claw, of the support arm; the insulating claw is rotationally connected to the middle position of the limiting groove; two symmetrical centering springs are arranged between the limiting groove and the insulating claw; the centering spring is used for enabling the insulating claw to rotate towards the middle position of the limiting groove.
2. The robot of claim 1, wherein: the insulating claw is provided with a V-shaped opening; the opening direction of the V-shaped opening faces the insulator string; the probe is connected to the inner bottom of the V-shaped opening in a sliding way; and a probe spring for enabling the probe to slide towards the steel cap is arranged between the probe and the insulating claw.
3. The robot of claim 1, wherein: and a rubber pad for increasing friction force is arranged on one side of the insulating claw, facing the steel cap.
4. The robot of claim 1, wherein: an extension rod extending towards the steel cap is arranged at the upper end of the insulating claw.
5. The robot of claim 1, wherein: the insulating claw is provided with a connecting block which is rotationally connected with the support arm; the connecting block is provided with a connecting shaft which is rotationally connected with the support arm.
6. The robot of any one of claims 1-5, wherein: one clamping assembly positioned at the outer side of the three clamping assemblies is fixedly connected with the guide rail base, and the other two clamping assemblies are slidably connected with the guide rail base along the linear arrangement direction; the clamping assembly which is connected to the guide rail base in a sliding way comprises a crawling motor which is arranged on the mounting seat; the crawling motor is in transmission connection with the guide rail base.
7. The robot of claim 6, wherein: the clamping assembly is fixedly connected to the guide rail base and further comprises two appearance detection devices symmetrically arranged on the mounting base.
8. The robot of any one of claims 1-5, wherein: the rotating shafts of the two support arms are coaxially arranged; the clamping assembly comprises a clamping motor arranged on the mounting seat; the clamping motor is respectively connected with the two support arms in a transmission way.
9. The robot of any one of claims 1-5, wherein: and at least one wire clamp for fixing the electric wire is arranged on the outer side of the support arm.
10. The robot of claim 6, wherein: the rotating shafts of the two support arms are coaxially arranged; the clamping assembly comprises a clamping motor arranged on the mounting seat; the clamping motor is respectively connected with the two support arms in a transmission way.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323259485 | 2023-12-01 | ||
| CN202323259485X | 2023-12-01 |
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| Publication Number | Publication Date |
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| CN117970060A CN117970060A (en) | 2024-05-03 |
| CN117970060B true CN117970060B (en) | 2024-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410390251.9A Active CN117984346B (en) | 2023-12-01 | 2024-04-02 | Motor direct-drive clamping jaw alternate walking robot for insulator string detection |
| CN202410390273.5A Active CN117970060B (en) | 2023-12-01 | 2024-04-02 | Zero value detection creeping robot for insulator string |
| CN202420659459.1U Active CN221783754U (en) | 2023-12-01 | 2024-04-02 | A transmission line steel cap clamping structure for a crawling robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410390251.9A Active CN117984346B (en) | 2023-12-01 | 2024-04-02 | Motor direct-drive clamping jaw alternate walking robot for insulator string detection |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420659459.1U Active CN221783754U (en) | 2023-12-01 | 2024-04-02 | A transmission line steel cap clamping structure for a crawling robot |
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| CN (3) | CN117984346B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN120363160A (en) * | 2025-06-26 | 2025-07-25 | 广东科凯达智能机器人有限公司 | Insulator zero value detection robot and control method thereof |
| CN120363161A (en) * | 2025-06-26 | 2025-07-25 | 广东科凯达智能机器人有限公司 | Insulator detection robot, inspection method and control device thereof |
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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 | Ultra-high voltage transmission line insulator inspection robot |
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- 2024-04-02 CN CN202410390251.9A patent/CN117984346B/en active Active
- 2024-04-02 CN CN202410390273.5A patent/CN117970060B/en active Active
- 2024-04-02 CN CN202420659459.1U patent/CN221783754U/en active Active
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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 | Ultra-high voltage transmission line insulator inspection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117970060A (en) | 2024-05-03 |
| CN117984346B (en) | 2024-06-18 |
| CN117984346A (en) | 2024-05-07 |
| CN221783754U (en) | 2024-09-27 |
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