CN202522644U - Live detection robot for horizontal double insulator strings - Google Patents
Live detection robot for horizontal double insulator strings Download PDFInfo
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- CN202522644U CN202522644U CN2012201380589U CN201220138058U CN202522644U CN 202522644 U CN202522644 U CN 202522644U CN 2012201380589 U CN2012201380589 U CN 2012201380589U CN 201220138058 U CN201220138058 U CN 201220138058U CN 202522644 U CN202522644 U CN 202522644U
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- drive motor
- detection machine
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Abstract
The utility model discloses a live detection robot for horizontal double insulator strings. The robot comprises a plurality of guide bar mechanisms, at least one insulator detection device, at least one set of rotation drive device, an auxiliary support mechanism and a control device. The guide bar mechanisms are arranged in connection at two sides of the rotation drive device, and the control device and the insulator detection device are both fixed on the guide bar mechanisms. The auxiliary support mechanism is arranged at one side of the rotation drive device. The insulator detection device and a drive motor of the rotation drive device are both in electric connection with the control device. The live detection robot of the utility model has a compact structure and high traveling speed, requires few pieces of short-circuit insulators, causes small wearing on insulators, and provides good safety protection and wide application range, being suitable for horizontal double insulator strings.
Description
Technical field
The utility model relates to a kind of mobile detection machine, and especially a kind of testing that can be used to accomplish the horizontal duplex insulator of high-tension line is to replace the charged detection machine people of edge substring of manual work.
Background technology
Along with the continuous development of China's electric system, power grid security, stable operation more and more come into one's own.Especially in the UHV (ultra-high voltage) of greatly developing in recent years, system for ultra-high voltage transmission; The safe operation of insulator has directly determined the investment and the security level of total system; For guaranteeing the electrical safety of ultra-high-tension power transmission line, after a period of time is used in the ultra-high-tension power transmission line operation, need the electric property of detection line; Particularly the insulation safety performance of insulator prevents the generation of phenomenons such as short circuit or short circuit.
The present domestic traditional detection mode that basically still adopts artificial work high above the ground; The staff carries instruments such as insulator detector and climbs up shaft tower; Detect all insulators on the tower by string, this mode labour intensity is big, the operation surrounding enviroment are abominable, and the hot line job security is low.
Chinese patent ZL200820232350.0 discloses a kind of insulator detecting robot; Comprise first Athey wheel, casing, second Athey wheel, displacement telescoping mechanism and probe driving mechanism; The displacement telescoping mechanism is installed on the casing; First and second Athey wheel is positioned at the casing both sides, is hinged with the displacement telescoping mechanism respectively, is connected with first and second stroke sensor on first and second Athey wheel respectively; The below of casing is provided with the probe driving mechanism.Analysis-by-synthesis; This patent mainly contains following shortcoming: strain insulator string has a variety of forms; Dodge when moving on the dirty insulator chain anti-, because its travel mechanism adopts the form of two Athey wheels, very little of the contact area of Athey wheel and insulator; The friction force that produces is also smaller, and enough driving forces can not be provided.
Chinese patent ZL201120069946.5 discloses the insulator checkout equipment of a kind of high pressure and extra high voltage network; Comprise symmetrically arranged two ring supports; Be respectively arranged with climbing mechanism on two ring supports, connect through web joint between two climbing mechanisms; Climbing mechanism comprises symmetrically arranged two guide rails, on two guide rails card base mechanism is set respectively; Card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block that is slidingly arranged on the guide rail, and pendulous device comprises the rocking key cover, and the rocking key cover is connected on the card base slide block through bearing; The rocking key cover is set on the rocking key axle, and rocking key puts and is installed with card base; The card base slide block is connected with the active drive step-servo motor, and the rocking key axle is connected with card base wobble drive servo control mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming: it is primarily aimed at the high pressure also detection of vertically disposed insulator in pairs, can't on horizontal strain insulator string, move; And its travel mechanism adopts claw to block alternately rising of insulator, and translational speed is slow, and detection efficiency is low.
One Chinese patent application 01102273.6 discloses a kind of high-voltage transmission line insulator live intelligent monitor; It includes the ring support that can be set in the insulator body periphery; The body of ring support is provided with can be along the insulator bottle along the climbing mechanism of creeping; Detection probe is arranged on ring support or the climbing mechanism, and its control circuit output connects the control end of control climbing mechanism, probe, and input connects the output terminal of probe; The detection action of control circuit control climbing mechanism, probe, and the output signal of receiving transducer.Analysis-by-synthesis, this patent mainly contains following shortcoming: its its travel mechanism has adopted claw to block the insulator edge equally, alternately rises, and translational speed is slow, and detection efficiency is low; Because very smooth of insulator surface, caterpillar belt structure is creeped and is skidded easily, operation inconvenience.
U.S. Patent Application Publication is: US2010/0100239A 1 discloses a kind of insulator chain detection machine people machinery structure; Robot body is along charged suspension insulator to-and-fro movement; Comprise that scalable is installed in the driver module that robot body moves, the detection of electrons module around the insulator support up and down; Be used for robot body with the link block that feel trim actuator is connected is installed; The switch wing module of manually robot being removed from insulator, the measurement module of both sides insulator electrical characteristics, the controller of control robot action and the damaged damaged probe unit of detection insulator.But; This patented claim is a kind of charged suspension insulator inspection robot mechanism; It is because the effect of gravity can freely move up and down on suspension insulator, and when horizontal strain insulator string was detected, the last leg wheel on its driver module can only contact with the upper surface of insulator with following leg wheel; And can't step down in the lower surface of insulator, so this patent can only be advanced along a direction when the detection level string.
The utility model content
The purpose of the utility model is for overcoming the deficiency of above-mentioned prior art, the charged detection machine people of a kind of horizontal twin insulator strings being provided, its compact conformation; Translational speed is fast; Short circuit insulator sheet number is few, and little to the insulator wearing and tearing, security protection is good; Usable range is wide, can the adaptation level twin insulator strings.
For realizing above-mentioned purpose, the utility model adopts following technical proposals:
The charged detection machine people of a kind of horizontal twin insulator strings; Comprise some guide poles mechanism, at least one insulator pick-up unit, control device, supplemental support mechanism and at least one cover rotating driving device; Said guide pole mechanism is connected in the both sides of rotating driving device; Control device and insulator pick-up unit all are fixed in the guide pole mechanism; Supplemental support mechanism is connected in rotating driving device one side, and the drive motor of said insulator pick-up unit, rotating driving device all is electrically connected with control device.
Said rotating driving device comprises at least one group of drive unit; Said drive unit comprises driving arm, rolling wheel support, some rollers, drive motor, gearing and bracing or strutting arrangement; Said bracing or strutting arrangement comprises yoke plate, motor cabinet and back shaft; Said motor cabinet is fixed on the yoke plate inboard, and back shaft runs through the center of motor cabinet and is fixedly connected with yoke plate, through bearing holder (housing, cover) gearing is housed on the back shaft between motor cabinet and the driving arm; Be installed with drive motor on the said motor cabinet, link to each other with gearing on the output shaft of drive motor, the gearing other end is fixed with driving arm, and at the terminal fixing some rolling wheel supports of driving arm, rolling wheel support is provided with at least one roller.
Said driving arm is one or more, and the driving arm shape can be triangle (3 bars), cross type, five bar types etc., as long as its shape can realize that in the robot operational process rotation is creeped and do not interfered with insulator continuously.
Equal front and back are misplaced and are distributed with two rollers on each end of said rolling wheel support, and roller adopts nylon material, reduces the friction to insulator surface, certainly, also roller and rolling wheel support can be set, directly utilize the supporting leg of driving arm as whole travel mechanism.
Said drive motor is one or two, can be rotated by an all driving arm of driven by motor, is perhaps driven by two drive motor.
The gear drive part of rotating driving device also can be by synchronous band transmission or replacements such as chain sprocket transmission or worm and gear, and perhaps drive motor directly links to each other with the driving arm of rotation.
Said yoke plate is provided with and is positioned at the peripheral framework of drive motor, fixing suspension ring on the framework.
Said each guide pole mechanism includes two sled type guide poles, connects through coupling arrangement between said two sled type guide poles, and one of them sled type guide pole is provided with the cantilever that links to each other with rotating driving device.
Said coupling arrangement comprises that two web joints, connecting link, the outsides turn round frame, register pin, torsion spring and inboard and turn round frame; Said two web joints are arranged at respectively on two sled type guide poles; Each web joint outside is all turned round frame and the outside with the inboard respectively through connecting link and is turned round frame and fix; Medial and lateral are turned round the frame center and are run through through register pin and torsion spring, also are fixed with cantilever on the outside of one of them web joint.
The length of said sled type guide pole is greater than two and less than the axial length of three insulator chains.
But the place that said sled type guide pole contacts with insulator surface is the some needle rollers of design distribution also, reduce the friction of guide pole and insulator.
Said insulator pick-up unit comprises steering wheel, steering wheel seat, probe rotating shaft, crank connecting link and two probes; The probe rotating shaft links to each other with the steering wheel seat through bearing; Probe rotating shaft two ends are respectively arranged with probe; Steering wheel is fixed on an end of steering wheel seat, and links to each other with one of them probe through toggle, and probe links to each other with insulator charged detection instrument through lead.
Said supplemental support mechanism comprises sled type guide pole, web joint, support bar, fixed head; Wherein, web joint is arranged on the sled type guide pole, and the web joint outside is connected with fixed head through at least one support bar, and fixed head is arranged at a side of rotating driving device.
Insulator charged detection instrument in the utility model is commercial product, and used structure adopts structure described in the Chinese granted patent ZL200510063334.4 patent.
The utility model comprises at least one cover rotating driving device, guide pole mechanism, supplemental support mechanism and insulator pick-up unit; Guide pole mechanism divides the both sides that are located at rotating driving device; Entire machine people leans on the torsion spring in the guide pole mechanism to hold insulator chain tightly, and supplemental support mechanism is arranged in the side conductor rod mechanism, and carries on the side insulator chain; Robot integral body is played a protective role; The insulator pick-up unit is fixed on a side of guide pole, drives the probe contact, arranges insulator chain through steering wheel, realizes that insulator detects.
The principle of work of the utility model:
When the utility model was gone here and there work on not, under the effect of torsion spring, the guide pole mechanism of both sides all departed from toward the centre, and opening is less, less than the diameter of insulator chain; When going here and there in the robot; Being lifted on the suspension ring place with the insulation rope gets final product; After arriving the installation site, push away suspension ring with strength, let insulator chain that the opening of guide pole mechanism is strutted with insulating bar; Make insulator chain get into the robot open centre, robot can hold insulator tightly through 4 guide poles around the insulator chain under the effect of both sides torsion spring; Simultaneously, supplemental support mechanism rides on the insulator chain of side, and guide pole all adopts nylon material, reduces the wearing and tearing to insulator; Move up and down robot this moment, guarantee the trundle that rotating driving device is terminal or roll about to take turns to step down on the upper surface of insulator.
After insulator chain held tightly by robot, drive motor work drove the rotating driving device be fixed on the gear wheel and rotates, and is fixed on terminal roller and alternately rises or descend, and slams the surface of insulator, realized advancing or retreating of entire machine people; The supplemental support mechanism that rides on the side insulator chain advances or retreats along insulator chain; Entire machine people's center of gravity is in the centre position of two level insulation; The effect of dependence supplemental support mechanism supports entire machine people's weight, prevents that centre-of gravity shift from causing robot body deflection; The insulator pick-up unit that wherein is fixed on guide pole one side robot whenever advance an insulator sheet apart from the time; Steering wheel receives action command; Drive two probe actions through toggle, the steel that contacts left and right sides insulator sheet respectively emits, and detected value is carried out self storage; After detecting complete insulator chain, can artificially contrast with database; Probe is two elastic metallic bars.
The beneficial effect of the utility model is, the utility model is owing to adopt said structure, and two cover guide pole mechanisms encircle in insulator chain; Supplemental support mechanism rides on the side insulator chain, adopts the guide pole mechanism of nylon material, and is little to the insulator wearing and tearing; Motion continuity is good, smooth running; Easy for installation, safe, short circuit insulator sheet number is few, and 3 insulator chains of short circuit meet the electric operating rule at most, and the testing of High-Voltage Insulation substring has been become the robot manipulating task that the person is safe from harm by artificial work high above the ground; Applied widely, applicable to all horizontal duplex porcelains and the insulator testing of glass.
Description of drawings
Fig. 1 is the perspective view of the utility model;
Fig. 2 is the utility model rotating driving device structural representation;
Fig. 3 is that perspective view is used in two groups of rotating driving device combinations of the utility model;
Fig. 4 is the utility model guide pole mechanism structure synoptic diagram;
Fig. 5 is the utility model insulator pick-up unit structural representation;
Fig. 6 is the structural representation of the utility model supplemental support mechanism;
Wherein: 1 guide pole mechanism, 2 rotating driving devices, 3 control device, 4 is the insulator pick-up unit, and 5 is supplemental support mechanism, and 6 is sled type guide pole, and 7 is web joint; 8 is cantilever, and 9 is connecting link, and 10 for turning round frame in the outside, and 11 is register pin, and 12 is torsion spring, and 13 for turning round frame in the inboard, and 14 is probe; 15 is connecting rod, and 16 is crank, and 17 is steering wheel, and 18 is the probe rotating shaft, and 19 is the steering wheel seat, and 20 is roller; 21 is rolling wheel support, and 22 is driving arm, and 23 is back shaft, and 24 is yoke plate, and 25 is framework, and 26 is suspension ring; 27 is drive motor, and 28 is pinion wheel, and 29 is gear wheel, and 30 is motor cabinet, and 31 is support bar, and 32 is fixed head.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
The utility model moves on horizontal twin insulator strings, and is as shown in Figure 1, comprises guide pole mechanism 1, rotating driving device 2, control device 3, insulator pick-up unit 4 and supplemental support mechanism 5; Insulator pick-up unit 4 and control device 3 are fixed on the outside of guide pole mechanism 1; The guide pole of guide pole mechanism 1 is close to the surface of insulator, and 2 guide pole mechanisms 1 are distributed in the both sides of rotating driving device 2, and supplemental support mechanism 5 is arranged on a side of rotating driving device 2.The drive motor 27 of insulator pick-up unit 4, rotating driving device all is electrically connected with control device.
Like Fig. 1, shown in 2, rotating driving device 2 comprises roller 20, rolling wheel support 21, driving arm 22, back shaft 23, yoke plate 24, framework 25, suspension ring 26, drive motor 27, pinion wheel 28, gear wheel 29, motor cabinet 30.Wherein, motor cabinet 30 is fixed on yoke plate 24 inboards, and back shaft 23 passes motor cabinet 30 centers, and is fixedly connected with yoke plate 24; Motor cabinet 30 is provided with drive motor 27, and pinion wheel 28 is fixed on the output shaft of drive motor 27, on back shaft 23, is arranged with the gear wheel 29 with pinion wheel 28 engagements; Driving arm 22 is fixed on the outside of gear wheel 29, forms the travel mechanism skeleton; Rolling wheel support 21 is provided with at least one roller 20, and is fixed on the end of driving arm 22.
The utility model can also be used by the textural association of many groups previous embodiment.As shown in Figure 3, be to use by two groups of textural associations.
Equal front and back are misplaced and are distributed with two rollers 20 on rolling wheel support 21 each end, and roller 20 adopts nylon materials, reduces the friction to insulator surface, certainly, also roller can be set, directly utilizes the supporting leg of driving arm 22 as whole travel mechanism.
The gear drive part of rotary drive mechanism 1 also can be by synchronous band transmission or replacements such as chain sprocket transmission or worm and gear, and perhaps drive motor 27 directly links to each other with the driving arm 22 of rotation.
Like Fig. 1, shown in 4, guide pole mechanism 1 has 2, and structure is identical, is fixed on the both sides of rotating driving device 2 respectively; Form robot body, guide pole mechanism 1 is close to the surface of insulator when moving in robot, and its structure comprises sled type guide pole 6, web joint 7; Cantilever 8, connecting link 9, frame 10 is turned round in the outside; Register pin 11, torsion spring 12, frame 13 is turned round in the inboard; Wherein, guide pole mechanism 1 forms main skeleton by two sled type guide poles 6 of the left and right sides, and web joint 7 all is installed above it, and web joint 7 is fixed on an end of connecting link 9, turns round frame 10 outside connecting link 9 other ends are fixed with respectively and turns round frame 13 with the inboard; Register pin 11 passes the outside and turns round frame 10 and the inboard center of turning round frame 13, forms it into an integral body, and on register pin 11, is arranged with torsion spring 12.The length of sled type guide pole 6 is greater than two and less than the axial length of three insulator chains 2, when guaranteeing robot ambulation steadily and security; But the place that sled type guide pole 6 contacts with insulator surface is the some needle rollers of design distribution also, reduce the friction of guide pole and insulator.
As shown in Figure 5, insulator pick-up unit 4 comprises probe 14, connecting rod 15, crank 16, steering wheel 17, probe rotating shaft 18, steering wheel seat 19; Wherein, probe rotating shaft 18 is set on the steering wheel seat 19, and probe rotating shaft 18 two ends are arranged with probe 14; Steering wheel 17 is fixed on steering wheel seat 19 tops, and its output shaft is connected with crank 16, connecting rod 15, and the end of connecting rod 15 links to each other with probe 14 wherein, forms toggle, drives swinging of probe.Probe 14 links to each other with insulator charged detection instrument through lead.
As shown in Figure 6, supplemental support mechanism 5 comprises sled type guide pole 6, web joint 7, support bar 31, fixed head 32; Wherein, web joint 7 is arranged on the sled type guide pole 6, and web joint 7 outsides are fixing with fixed head 32 through at least one support bar 31, and fixed head 32 is arranged on the cantilever 8 of a side guide pole mechanism 1.
The principle of work of the utility model:
When the utility model was gone here and there work on not, under the effect of torsion spring 12, the guide pole mechanism 1 of both sides all departed from toward the centre, and opening is less, less than the diameter of insulator chain; When going here and there in the robot, be lifted on suspension ring 26 places with the insulation rope and get final product, behind the arrival installation site; Push away suspension ring 26 with strength with insulating bar, let insulator chain that the opening of guide pole mechanism 1 is strutted, make insulator chain get into the robot open centre; Robot can hold insulator tightly through 4 guide poles 6 around the insulator chain under the effect of both sides torsion spring 12, and simultaneously, supplemental support mechanism 5 rides on the insulator chain of side; Guide pole 6 all adopts nylon material, reduces the wearing and tearing to insulator; Move up and down robot this moment, guarantee that rotating driving device 2 terminal rollers step down on the upper surface of insulator.
After insulator chain held tightly by robot; Drive motor 27 work, the rotating driving device 2 that is fixed on the gear wheel 29 through drive rotates, and is fixed on terminal roller 20 and alternately rises or descend; Slam the surface of insulator, realize advancing or retreating of entire machine people; The supplemental support mechanism 5 that rides on the side insulator chain advances or retreats along insulator chain; Entire machine people's center of gravity is in the centre position of two level insulation; The effect of dependence supplemental support mechanism 5 supports entire machine people's weight, prevents that centre-of gravity shift from causing robot body deflection; The insulator pick-up unit 4 that wherein is fixed on guide pole 6 one sides robot whenever advance an insulator sheet apart from the time; Steering wheel 17 receives action command; Drive 14 actions of two probes through toggle, the steel that contacts left and right sides insulator sheet respectively emits, and detected value is carried out self storage; After detecting complete insulator chain, can artificially contrast with database; Probe 14 is two elastic metallic bars.
Though the above-mentioned accompanying drawing that combines is described the embodiment of the utility model; But be not restriction to the utility model protection domain; One of ordinary skill in the art should be understood that; On the basis of the technical scheme of the utility model, those skilled in the art need not pay various modifications that creative work can make or distortion still in the protection domain of the utility model.
Claims (10)
1. charged detection machine people of horizontal twin insulator strings; It is characterized in that; Comprise some guide poles mechanism, at least one insulator pick-up unit, at least one cover rotating driving device, supplemental support mechanism and control device; Said guide pole mechanism is connected in the both sides of rotating driving device; Control device and insulator pick-up unit all are fixed in the guide pole mechanism, and said supplemental support mechanism is arranged on a side of rotating driving device, and the drive motor of said insulator pick-up unit, rotating driving device all is electrically connected with control device.
2. the charged detection machine people of horizontal twin insulator strings as claimed in claim 1; It is characterized in that; Said rotating driving device comprises at least one group of drive unit; Said drive unit comprises driving arm, rolling wheel support, some rollers, drive motor, gearing and bracing or strutting arrangement, and said bracing or strutting arrangement comprises yoke plate, motor cabinet and back shaft, and said motor cabinet is fixed on the yoke plate inboard; Back shaft runs through the center of motor cabinet and is fixedly connected with yoke plate, through bearing holder (housing, cover) gearing is housed on the back shaft between motor cabinet and the driving arm; Be installed with drive motor on the said motor cabinet, link to each other with gearing on the output shaft of drive motor, the gearing other end is fixed with driving arm, and at the terminal fixing some rolling wheel supports of driving arm, rolling wheel support is provided with at least one roller.
3. the charged detection machine people of horizontal twin insulator strings as claimed in claim 2 is characterized in that, said driving arm is one, and driving arm is shaped as triangle or cross type or five bar types.
4. the charged detection machine people of horizontal twin insulator strings as claimed in claim 2 is characterized in that, said drive motor is one or two; Equal front and back are misplaced and are distributed with two rollers on each end of said rolling wheel support;
Said gearing is gear drive or is with transmission or chain sprocket transmission or worm and gear synchronously that perhaps drive motor directly links to each other with the driving arm of rotation;
Said gear drive comprises gear wheel and pinion wheel, and said gear wheel is loaded on the back shaft between motor cabinet and the driving arm through bearing holder (housing, cover), and pinion wheel is arranged on the output shaft of drive motor.
5. the charged detection machine people of horizontal twin insulator strings as claimed in claim 2 is characterized in that, said yoke plate is provided with and is positioned at the peripheral framework of drive motor, fixing suspension ring on the framework.
6. like each charged detection machine people of described horizontal twin insulator strings among the claim 1-5, it is characterized in that said supplemental support mechanism comprises sled type guide pole, web joint, support bar, fixed head; Wherein, web joint is arranged on the sled type guide pole, and the web joint outside is connected with fixed head through at least one support bar, and fixed head is arranged at a side of rotating driving device.
7. the charged detection machine people of horizontal twin insulator strings as claimed in claim 6; It is characterized in that; Said each guide pole mechanism includes two sled type guide poles; Connect through coupling arrangement between said two sled type guide poles, one of them sled type guide pole is provided with the cantilever that links to each other with rotating driving device.
8. the charged detection machine people of horizontal twin insulator strings as claimed in claim 7; It is characterized in that; Said coupling arrangement comprises that two web joints, connecting link, the outsides turn round frame, register pin, torsion spring and inboard and turn round frame; Said two web joints are arranged at respectively on two sled type guide poles; Each web joint outside is all turned round frame and the outside with the inboard respectively through connecting link and is turned round frame and fix, and medial and lateral are turned round the frame center and run through through register pin and torsion spring, also are fixed with cantilever on the outside of one of them web joint.
9. like claim 7 or the charged detection machine people of 8 described insulator chains, it is characterized in that the length of said sled type guide pole is greater than two and less than the axial length of three insulator chains.
10. the charged detection machine people of horizontal twin insulator strings as claimed in claim 1; It is characterized in that; Said insulator pick-up unit comprises steering wheel, steering wheel seat, probe rotating shaft, crank connecting link and two probes, and the probe rotating shaft links to each other with the steering wheel seat through bearing, and probe rotating shaft two ends are respectively arranged with probe; Steering wheel is fixed on an end of steering wheel seat, and links to each other with one of them probe through toggle; Said probe links to each other with insulator charged detection instrument through lead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201380589U CN202522644U (en) | 2012-04-01 | 2012-04-01 | Live detection robot for horizontal double insulator strings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201380589U CN202522644U (en) | 2012-04-01 | 2012-04-01 | Live detection robot for horizontal double insulator strings |
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| Publication Number | Publication Date |
|---|---|
| CN202522644U true CN202522644U (en) | 2012-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201380589U Expired - Fee Related CN202522644U (en) | 2012-04-01 | 2012-04-01 | Live detection robot for horizontal double insulator strings |
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| Country | Link |
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| CN (1) | CN202522644U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN104215844A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Robot for detecting horizontal single insulator strings |
| CN104198849B (en) * | 2014-08-22 | 2017-02-15 | 国家电网公司 | Horizontal single-connection insulator string detection robot system |
-
2012
- 2012-04-01 CN CN2012201380589U patent/CN202522644U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN104215844A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Robot for detecting horizontal single insulator strings |
| CN104215844B (en) * | 2014-08-22 | 2016-11-23 | 国家电网公司 | A kind of horizontal simply connected insulator chain measuring robots |
| CN104198849B (en) * | 2014-08-22 | 2017-02-15 | 国家电网公司 | Horizontal single-connection insulator string detection robot system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121107 Termination date: 20150401 |
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| EXPY | Termination of patent right or utility model |