CN202013392U - Insulator detecting equipment of high-voltage and super-voltage power transmission line - Google Patents
Insulator detecting equipment of high-voltage and super-voltage power transmission line Download PDFInfo
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- CN202013392U CN202013392U CN2011200699465U CN201120069946U CN202013392U CN 202013392 U CN202013392 U CN 202013392U CN 2011200699465 U CN2011200699465 U CN 2011200699465U CN 201120069946 U CN201120069946 U CN 201120069946U CN 202013392 U CN202013392 U CN 202013392U
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Abstract
The utility model discloses an insulator detecting equipment of a high-voltage and super-voltage power transmission line. The insulator detector equipment comprises two ring supporters which are arranged symmetrically and are respectively provided with a crawling mechanism, and the two crawling mechanisms are connected with each other by a connecting board; each crawling mechanism is provided with two symmetrical guide rails which are respectively provided with a leg clamping mechanisms; each leg clamping mechanism comprises a sliding device and a swinging device, wherein each sliding device comprises a leg clamping slide block arranged on a corresponding rail in a sliding manner, each swinging device comprises a swinging spline housing, and the swinging spline housing is connected with a corresponding leg clamping slide block by a bearing; each spline housings is sleeved on a swinging spline shaft and is fixedly provided with a clamping leg; each leg clamping slide block is connected with a main drive stepping servo-motor, and each swinging spline shaft is connected with a leg clamping swinging drive servo-mechanism. The technical scheme of the utility model can effectively and automatically detect insulators vertical arranged in pairs, thereby improving the detection efficiency of the insulators, being particularly suitable for being used in automatic insulation performance detection for the insulators of the high-voltage and super-voltage direct current/alternate current power transmission line.
Description
Technical field
The utility model relates to the insulator detection technique, relates in particular to the insulator checkout equipment of a kind of high pressure and extra high voltage network.
Background technology
Insulator is a kind of insulator arrangement, be widely used on the ultra-high-tension power transmission line, be used to be connected between power transmission line and the iron tower, play insulating effect, wherein, the quality of the insulating property of insulator directly affects the stable operation of ultra-high-tension power transmission line, therefore, behind the ultra-high-tension power transmission line operation certain hour, often need transmission line of electricity is detected, guaranteeing the electrical security of transmission line of electricity, and be exactly wherein important test item to the insulator dielectric performance detection.
Traditionally, usually adopt the mode of artificial work high above the ground that insulator is detected, this kind detection mode operation intensity is big, detect in human factor bigger, cause detecting inconvenient, efficient is low, testing result is inaccurate, and normally hot line job when detecting, this can bring great potential safety hazard to the testing staff.For this reason, prior art has proposed a kind of high-voltage transmission line insulator live intelligent detector apparatus, this detector has the function of creeping automatically, can the insulating property of an insulator be detected, particularly, this intelligent detecting instrument mainly comprises: be set in the ring support on the insulator, and three groups of climbing mechanisms are set on ring support, thereby utilize climbing mechanism on insulator, to crawl into different parts, by being installed in the automatic testing circuit on the intelligent detecting instrument, insulator bottle string to different parts on the insulator detects, as can be seen, this intelligent detecting instrument can be avoided the artificial directly inaccurate and personal safety problem of detection that measurement brings to insulator, and has higher detection efficient.
But, in the existing intelligent detecting instrument, be by three groups of climbing mechanisms creeping on an insulator being set, realizing the insulator bottle string of insulator different parts is measured, this kind intelligent detecting instrument is only applicable in the detection of an insulator, makes that the insulator detection efficiency is lower; And, the complex structure of this kind intelligent detecting instrument, operation control is trouble.
The utility model content
The utility model provides the insulator checkout equipment of a kind of high pressure and extra high voltage network, can be effectively the insulator of paired setting be detected, and improves the insulator detection efficiency, is specially adapted to the detection of insulator on high pressure and the extra high voltage network.
The utility model provides the insulator checkout equipment of a kind of high pressure and extra high voltage network, comprising: symmetrically arranged two ring supports are respectively arranged with climbing mechanism on described two ring supports, and connect by web joint between two climbing mechanisms;
Described climbing mechanism comprises: symmetrically arranged two guide rails are respectively arranged with card base mechanism on described two guide rails; Described card base mechanism comprises carriage and pendulous device, wherein, described carriage comprises the card base slide block that is slidingly arranged on the guide rail, and described pendulous device comprises the rocking key cover that is arranged on the described card base slide block, and described rocking key cover is connected on the described card base slide block by bearing; Described rocking key cover is set on the rocking key axle, and described rocking key puts and is installed with card base; Described card base slide block is connected with and drives the main step-servo motor that drives that described card base slide block moves along described guide rail, and described rocking key axle is connected with the card base wobble drive servo control mechanism that drives described rocking key axle swing.
In the insulator checkout equipment of above-mentioned high pressure and extra high voltage network, described ring support is the semi-circular bracket that is used to be set on the insulator.
In the insulator checkout equipment of above-mentioned high pressure and extra high voltage network, described web joint comprises interconnective first web joint and second web joint, and described first web joint is connected by the adjustable structure that can regulate described web joint entire length with second web joint.
In the insulator checkout equipment of above-mentioned high pressure and extra high voltage network, also be provided with the described main control device that drives step-servo motor and the work of card base wobble drive servo control mechanism of control on the described climbing mechanism.
In the insulator checkout equipment of above-mentioned high pressure and extra high voltage network, be provided for detecting the swing position survey sensor of described card base swing position on the described card base slide block; Described swing position survey sensor is connected with described control device.
In the insulator checkout equipment of above-mentioned high pressure and extra high voltage network, also be provided with on the described climbing mechanism and detect insulator performance detection device.
The insulator checkout equipment of high pressure that the utility model provides and extra high voltage network, by symmetrically arranged toroidal frame and climbing mechanism, can realize detection simultaneously to two insulators, be particularly suitable on high pressure and superhigh voltage DC or the transmission line of alternation current, in the performance detection of paired also vertically disposed insulator, improve the detection efficiency of insulator; Simultaneously, the climbing mechanism that the utility model insulator checkout equipment detects each insulation has only 1, makes to realize the simple in structure of insulator checkout equipment conveniently, and also is convenient to control, reduces the cost of insulator checkout equipment.
Description of drawings
Fig. 1 is the structural representation of the insulator checkout equipment embodiment of the utility model high pressure and extra high voltage network;
Fig. 2 is the structural representation of climbing mechanism among the utility model embodiment;
Fig. 3 is the structural representation during no driving mechanism in the climbing mechanism of the utility model embodiment;
Fig. 4 is the left view of structure shown in Figure 3;
Fig. 5 is the structural representation of web joint among the utility model embodiment;
Front view when Fig. 6 moves for the utility model climbing mechanism;
Left view when Fig. 7 creeps the structure operation for the utility model.
Embodiment
For the purpose, technical scheme and the advantage that make the utility model embodiment clearer, below in conjunction with the accompanying drawing among the utility model embodiment, technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
Fig. 1 is the structural representation of the insulator checkout equipment embodiment of the utility model high pressure and extra high voltage network; Fig. 2 is the structural representation of climbing mechanism among the utility model embodiment; Fig. 3 is the structural representation during no driving mechanism in the climbing mechanism of the utility model embodiment; Fig. 4 is the left view of structure shown in Figure 3.As shown in Figure 1, Figure 2, Figure 3 and Figure 4, present embodiment insulator checkout equipment comprises: symmetrically arranged two ring supports 1, be set in respectively on two insulators 20 of paired setting, and be respectively arranged with the climbing mechanism 2 of same structure on each ring support 1, and connect by web joint 3 between two climbing mechanisms 2.Wherein, climbing mechanism 2 comprises symmetrically arranged two guide rails 21, is respectively arranged with card base mechanism on each guide rail 21, and particularly, this card base mechanism comprises carriage and pendulous device, and carriage comprises card base slide block 22, is slidingly arranged on the guide rail 21; Pendulous device comprises rocking key cover 23, and this rocking key cover 23 is connected on the card base slide block 22 by bearing; Rocking key cover 23 is set on the rocking key axle 24, makes rocking key cover 23 to endwisely slip in rocking key axle 24 upper edges, and can radially swing with rocking key axle 24, also is installed with card base 27 on the rocking key cover 23; Card base slide block 22 is connected with the main step-servo motor 25 that drives, so that under the driving of main driving step-servo motor 25, this card base slide block 22 can move along guide rail 21, rocking key axle 24 is connected with card base wobble drive servo control mechanism 26, so that under card base wobble drive servo control mechanism 26 drives, rocking key axle 24 can drive 23 swings of rocking key cover.Present embodiment insulator checkout equipment can be applicable to improve the detection efficiency of insulator, and the insulator assay device structures be simple in the detection of the paired insulator that is provided with on the transmission line of electricity.
In the present embodiment, above-mentioned rocking key cover 23 is connected by the mode that key cooperates with rocking key axle 24, like this, after rocking key cover 23 is set in rocking key axle 24, can move at responsive to axial force lower edge rocking key axle 24, again can be when rocking key axle 24 be radially swung, with 24 swings of rocking key axle, thereby drive 27 swings of the card base that sets firmly on it, card base 27 is stuck on the insulator insulator bottle along last, perhaps from the insulator bottle along showing.Because rocking key cover 23 and card base slide block 22 are connected by bearing, therefore, rocking key cover 23 can slide along rocking key axle 24 together with card base slide block 22, simultaneously, again can be under rocking key axle 24 drives, with 24 swings of rocking key axle, therefore, drive step-servo motor 25 and card base wobble drive servo control mechanism 26 cooperates by main, the pendulum that can be implemented in the card base of diverse location advances or shows.
In the present embodiment, above-mentioned ring support 1 is specifically as follows circular support, be used to be set in insulator 20, so that whole insulator pick-up unit is positioned, so that the insulator checkout equipment is installed on the insulator accurately, reliably, so that symmetrically arranged two climbing mechanisms can be creeped, realize the accurate location that the insulator performance is detected on two insulators that are oppositely arranged.
In the present embodiment, above-mentioned main driving step-servo motor 25 is used to drive card base slide block 22 and moves along guide rail 21, and connects a motor respectively on each card base slide block 22, perhaps, and two card base slide block 22 shared motors.Present embodiment climbing mechanism 2 is provided with a step-servo motor tractor, be arranged on two card base slide blocks 22 on the guide rail 21 and move to drive respectively, particularly, as Fig. 2, Fig. 3 and shown in Figure 4, a stepper motor can be set in the end of two guide rails 21, and synchronous band belt wheel 251 is set respectively at the two ends of two guide rails 21, and be with synchronously between the belt wheel 251 by being with 253 to connect synchronously for two, one of them is with belt wheel 251 to be connected with stepper motor synchronously, is used for rotating under stepper motor drives; Also be provided with on the card base slide block 22 with synchronously with the 253 synchronous band clamps 252 that cooperate, this is with clamp 252 to be installed on the card base slide block 22 synchronously, like this, is not having under the resistance situation, and card base slide block 22 can be with being with 253 to move synchronously.As can be seen, by the above-mentioned main step-servo motor 25 that drives, make card base slide block 22 being with 253 drive lower edge guide rails 21 to move axially synchronously, realize the control of card base slide block 22 position on guide rail 21, and then control rocking key cover 23 and go up the position of card base 27 on insulator, so that the insulator different parts is tested.
In the present embodiment, above-mentioned card base wobble drive servo control mechanism can be used for controlling rocking key axle 24 and radially rotates a certain angle, make connected rocking key cover 23 and on card base 27 swing together.After card base 27 pendulum enter insulator bottle edge, when if card base slide block 22 moves at main driving step-servo motor 25 driving lower edge guide rails 21, under the effect of card base 27 and the power on insulator bottle edge, band clamp 252 just can not make card base slide block 22 can not move along guide rail 21 with being with 253 to move synchronously synchronously; Correspondingly, after card base 27 is shown insulator bottle edge, card base slide block 22 just can drive at main driving step-servo motor 25 and be moved to desired location, like this, on insulator in the crawling process, can advance or show by the pendulum of control card base 27 on insulator bottle edge, control the shift position of card base 27, and the insulator bottle that is stuck in desired location is along last, realizes the accurate location to the sub-position of different insulative, so that detect insulator performance detection device insulator carried out Performance Detection.
Fig. 5 is the structural representation of web joint among the utility model embodiment.In the present embodiment, for making the insulator checkout equipment can be suitable for the detection of insulator of the paired setting of different distance, above-mentioned web joint 3 can be the adjustable web joint of distance, particularly, as shown in Figure 5, this web joint 3 can comprise interconnective first web joint 31 and second web joint 32, and can connect by adjustable structure between first web joint 31 and second web joint 32, to regulate the entire length of web joint, wherein, this adjustable structure is specifically as follows bolt 33, and the junction of first web joint 31 and second web joint 32 is provided with link slot 34, thereby by the involutory position between first web joint 31 and second web joint 32, adjust the length of whole web joint 3, and pass through bolt 33 first web joint 31 and second web joint, 32 affixed all-in-one-piece web joints.As can be seen, by web joint 3 is arranged to length-adjustable structure,, improve the applicability of insulator checkout equipment applicable to the test of paired insulator with different distance.
In the present embodiment, above-mentioned climbing mechanism 2 is provided with and detects insulator performance detection device, particularly, this pick-up unit comprises detection probe, and the testing circuit that is connected with detection probe, be used for receiving detection signal, and provide required detection voltage for detection from detection probe.Wherein, testing circuit and detection probe are same as the prior art to concrete structure and principle that insulator detects, do not repeat them here.In the present embodiment, the card base on the climbing mechanism can drive detecting head and contact with the insulator of diverse location by moving to the diverse location of insulator, thereby realizes the detection to the insulating property of different insulative bottle string.
In the present embodiment, also can be provided with the main control device that drives step- servo motor 25 and 26 work of card base wobble drive servo control mechanism of control on the climbing mechanism 2, so that under this control device control, drive card base slide block 22 and rocking key and overlap 23 coordinations, position to card base 27 is adjusted, and realizes the detection to the insulator bottle string of diverse location.
In the present embodiment, also can be provided with swing position survey sensor (not shown) on the card base slide block 22 of climbing mechanism 2, whether drive card base 27 swings to be used for wobble detection key cover 23, particularly, this swing position survey sensor can be fixed on the card base slide block 22, and this swing position survey sensor can be photoelectric sensor, thereby by detecting the light-path whether card base 27 blocks between photoelectric sensor, determine that card base 27 is that pendulum enters insulator bottle edge, perhaps shows insulator bottle edge; Simultaneously, this swing position survey sensor also is connected with control device, makes controller to realize the control to rocking key axle 24 according to the detection signal of this swing position survey sensor, and card base 27 is put or shown.
The detailed process that card base among the utility model embodiment is creeped along insulator describes below, so that technical solutions of the utility model are had a better understanding.
Front view when Fig. 6 moves for the utility model climbing mechanism; Left view when Fig. 7 creeps the structure operation for the utility model.As shown in Figure 6 and Figure 7, be slidingly equipped with the first card base slide block 212 on first guide rail 211 of climbing mechanism, the first card base slide block 212 is connected with first swinging structure 213 by bearing, and this swinging structure comprises above-mentioned rocking key cover and rocking key axle, and the rocking key cover is installed with first card base 214; Correspondingly, be slidingly equipped with the second card base slide block 222 on second guide rail 221, the second card base slide block 222 is connected with second swinging structure 223 by bearing, this second swinging structure 223 also comprises rocking key cover and rocking key axle, and rocking key puts and is installed with second card base, 224, the first card bases 214 and second card base 224 is exactly under the effect of card base slide block and swinging structure, moves up and down along insulator, being stuck in different insulator bottles, realize the measurement of insulator bottle string that difference is paid no attention to along last.Particularly, as shown in Figure 6 and Figure 7, first card base 214 is connected to the primary importance A of insulator, second card base 224 is connected to the second place B of insulator, at this moment, if second card base 224 need be stuck in the 3rd position C, then at first control the rocking key axle swing on card base wobble drive servo control mechanism 26 drives second swinging structure 223, make second card base 224 show from B insulator bottle edge; Then, the main driving of control step-servo motor 25 drives is with 253 synchronously along rotating counterclockwise, then the second card base slide block 222 will be under synchronously with 253 drive, move along second guide rail 221, and when sliding into the C place, swing by the rocking key axle that the second card base wobble drive servo control mechanism 223 drives on second swinging structure 23, make second card base, 224 pendulum advance C place insulator bottle along the place; Simultaneously, owing to be with 253 to rotate counterclockwise in the process synchronously, first card base, the 214 consistent insulator bottle edges that are connected to the A place, make and to be with 253 can not drive the first card base slide block 212 and move synchronously with it, first card base 214 can remain on the A place always, thereby can carry out the measurement of insulator bottle string between A, C two places; In like manner, if first card base 214 need be moved to the 3rd position C from A insulator bottle edge, then can pass through the first card base wobble drive servo control mechanism 262, the main coordination control that drives 25 pairs first card bases 214 of step-servo motor and the first card commentaries on classics slide block 212, first card base 214 is moved to the C place.So,, can realize that first card base and second card base moving between arbitrary position on the insulator, move to the desired position with it, realize measurement different parts insulator bottle string by above-mentioned control.
It will be understood by those skilled in the art that, when present embodiment insulator checkout equipment uses, two toroidal frames on the equipment can be set in respectively on two insulators of paired setting, owing to connecting by web joint between the climbing mechanism on two toroidal frames, therefore, can utilize the symmetrical structure of two toroidal frames and web joint that each toroidal frame is fixed on the insulator; Simultaneously, when insulator is detected, but the synchronous detection of two insulators is carried out in the climbing mechanism work on two toroidal frames of synchro control, perhaps can control respectively the climbing mechanism on two toroidal frames respectively, carries out the detection of two insulators.
In summary it can be seen, present embodiment is by symmetrically arranged toroidal frame and climbing mechanism, can realize detection simultaneously, be particularly suitable for improving the detection efficiency of insulator in the performance detection of paired also vertically disposed insulator on high pressure and the super high voltage direct current electricity transmission line two insulators; Simultaneously, the climbing mechanism that present embodiment insulator checkout equipment detects each insulation has only 1, makes to realize the simple in structure of insulator checkout equipment conveniently, and also is convenient to control, reduces the cost of insulator checkout equipment.
It should be noted that at last: above embodiment only in order to the explanation the technical solution of the utility model, is not intended to limit; Although the utility model is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (6)
1. the insulator checkout equipment of high pressure and extra high voltage network is characterized in that comprise: symmetrically arranged two ring supports are respectively arranged with climbing mechanism on described two ring supports, and connect by web joint between two climbing mechanisms;
Described climbing mechanism comprises: symmetrically arranged two guide rails are respectively arranged with card base mechanism on described two guide rails; Described card base mechanism comprises carriage and pendulous device, and wherein, described carriage comprises the card base slide block that is slidingly arranged on the guide rail, and described pendulous device comprises the rocking key cover, and described rocking key cover is connected on the described card base slide block by bearing; Described rocking key cover is set on the rocking key axle, and described rocking key puts and is installed with card base; Described card base slide block is connected with and drives the main step-servo motor that drives that described card base slide block moves along described guide rail, and described rocking key axle is connected with the card base wobble drive servo control mechanism that drives described rocking key axle swing.
2. the insulator checkout equipment of high pressure according to claim 1 and extra high voltage network is characterized in that, described ring support is the semi-circular bracket that is used to be set on the insulator.
3. the insulator checkout equipment of high pressure according to claim 1 and extra high voltage network, it is characterized in that, described web joint comprises interconnective first web joint and second web joint, and described first web joint is connected by the adjustable structure that can regulate described web joint entire length with second web joint.
4. the insulator checkout equipment of high pressure according to claim 1 and extra high voltage network is characterized in that, also is provided with the described main control device that drives step-servo motor and the work of card base wobble drive servo control mechanism of control on the described climbing mechanism.
5. the insulator checkout equipment of high pressure according to claim 4 and extra high voltage network is characterized in that, is provided for detecting the swing position survey sensor of described card base swing position on the described card base slide block; Described swing position survey sensor is connected with described control device.
6. the insulator checkout equipment of high pressure according to claim 1 and extra high voltage network is characterized in that, also is provided with on the described climbing mechanism to detect insulator performance detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200699465U CN202013392U (en) | 2011-03-16 | 2011-03-16 | Insulator detecting equipment of high-voltage and super-voltage power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200699465U CN202013392U (en) | 2011-03-16 | 2011-03-16 | Insulator detecting equipment of high-voltage and super-voltage power transmission line |
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| Publication Number | Publication Date |
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| CN202013392U true CN202013392U (en) | 2011-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011200699465U Expired - Fee Related CN202013392U (en) | 2011-03-16 | 2011-03-16 | Insulator detecting equipment of high-voltage and super-voltage power transmission line |
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| CN (1) | CN202013392U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102608473A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection of double strain insulator strings |
| CN102608474A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection insulator string |
| CN102621429A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Horizontal duplex insulator string on-line detection robot |
| CN102621426A (en) * | 2012-03-31 | 2012-08-01 | 山东鲁能智能技术有限公司 | Detection robot for suspension porcelain insulator string |
| CN102621983A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN103091579A (en) * | 2013-01-11 | 2013-05-08 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| CN103753559A (en) * | 2014-01-17 | 2014-04-30 | 东北大学 | Suspension insulator climbing mechanism |
| CN104777333A (en) * | 2014-01-10 | 2015-07-15 | 深圳市北粤科技开发有限公司 | Insulator detection robot clamping mechanism, robot, and clamping method thereof |
| CN106500763A (en) * | 2016-10-18 | 2017-03-15 | 刘杰 | Extra high voltage line isolator detecting intelligent robot system |
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2011
- 2011-03-16 CN CN2011200699465U patent/CN202013392U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102621426A (en) * | 2012-03-31 | 2012-08-01 | 山东鲁能智能技术有限公司 | Detection robot for suspension porcelain insulator string |
| 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 |
| CN102621429A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Horizontal duplex insulator string on-line detection robot |
| CN102608474A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection insulator string |
| CN102621983A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| CN102608473A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection of double strain insulator strings |
| 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 |
| CN103091579A (en) * | 2013-01-11 | 2013-05-08 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| WO2014108017A1 (en) * | 2013-01-11 | 2014-07-17 | 山东鲁能智能技术有限公司 | Detection robot system of insulator strings |
| 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 |
| CN104777333A (en) * | 2014-01-10 | 2015-07-15 | 深圳市北粤科技开发有限公司 | Insulator detection robot clamping mechanism, robot, and clamping method thereof |
| CN103753559A (en) * | 2014-01-17 | 2014-04-30 | 东北大学 | Suspension insulator climbing mechanism |
| CN103753559B (en) * | 2014-01-17 | 2015-07-29 | 东北大学 | A kind of suspension insulator climbing mechanism |
| CN106500763A (en) * | 2016-10-18 | 2017-03-15 | 刘杰 | Extra high voltage line isolator detecting intelligent robot system |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111019 Termination date: 20160316 |