CN207053058U - Coil inserting apparatus in a kind of hot line maintenance robot - Google Patents
Coil inserting apparatus in a kind of hot line maintenance robot Download PDFInfo
- Publication number
- CN207053058U CN207053058U CN201721053273.8U CN201721053273U CN207053058U CN 207053058 U CN207053058 U CN 207053058U CN 201721053273 U CN201721053273 U CN 201721053273U CN 207053058 U CN207053058 U CN 207053058U
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- head
- rope
- robot
- tensile machine
- load
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Abstract
The utility model discloses coil inserting apparatus in a kind of hot line maintenance robot, for solving potential safety hazard in inserting method to be present on current hot line robot and easily transmission line of electricity being caused to wear, influences the technical problem in the life-span of transmission line of electricity.The utility model includes：Robot fixed frame, insulation belt reduction unit and head-rope tensile machine；Robot fixed frame is used to carry stationary machines people；Head-rope tensile machine is fixedly installed on the both sides of robot fixed frame, and insulated hull is arranged at the bottom of robot fixed frame with speed brake setting, and head-rope tensile machine rotation work is driven for slowing down by output shaft；Insulation belt reduction unit passes through the belt drive that insulate by external force；Head-rope tensile machine connects lodge in the both ends of the head-rope on power transmission line, the both ends for the pulled down head-rope under the drive of output shaft respectively so that robot fixed frame steadily rises.
Description
Technical field
It the utility model is related to transmission power line robot technical field, more particularly to a kind of hot line maintenance machine
The upper coil inserting apparatus of people.
Background technology
The distribution of overhead transmission line have the characteristics that area it is wide, it is residing it is with a varied topography, natural environment is severe, power line and
Shaft tower annex is chronically exposed to field, is influenceed by lasting mechanical tension, electric flashover, insulation ag(e)ing and produces stranded, mill
Corrosion equivalent damage is undermined, is changed if repairing not in time, major accident will be caused, cause large-area power-cuts, so as to cause greatly
Economic loss and serious social influence.Therefore have to inspect periodically overhead transmission line, find and disappear in time
Except hidden danger, the generation prevented accident, it is ensured that the safety of power supply.
Applied at present in power transmission line inspection field, increasing hot line robot on transmission line of electricity, instead of
The work such as manual inspection and fault restoration.And the method master applied above and below current power transmission line live-line work robot in line process
There are two kinds：One kind is to realize the upper and lower line of hot line robot using artificial, and this method must be worn by operating personnel shields
Cover clothes climb up wire carry out equipotential operation can complete, the danger such as falling from high altitude, electrics shock be present in whole process, in addition dress shield
Cover the closed safety garments such as clothes and also easily cause personnel's heatstroke, the excessive equivalent risk of physical consumption；Another method is by robot
Load in hanging basket, and one end of the insulating cord hung on transmission line of electricity tied up on hanging basket, the other end of insulating cord with it is electronic
Coil winder is connected, and then hanging basket is pulled up on transmission line of electricity by electronic coil winder take-up.The electricity that this method passes through ground
The single-ended output of dynamic coil winder, robot is lifted on transmission line of electricity, hanging basket stress is single during lifting, by external force
Easily rocked during effect or under wind action, be unstable, causing potential safety hazard, and hung over the insulating cord on transmission line of electricity and receiving
Friction can be produced with transmission line of electricity surface during rope, transmission line of electricity is caused to wear, influences the life-span of transmission line of electricity.
Utility model content
The utility model embodiment provides coil inserting apparatus in a kind of hot line maintenance robot, solves at present
Hot line robot on potential safety hazard be present in inserting method and easily transmission line of electricity caused to wear, influence transmission line of electricity
Life-span technical problem.
Coil inserting apparatus in a kind of hot line maintenance robot that the utility model embodiment provides, including：
Robot fixed frame, insulation belt reduction unit and head-rope tensile machine, head-rope tensile machine include the
One head-rope tensile machine and the second head-rope tensile machine；
Robot fixed frame is used to carry stationary machines people；
First head-rope tensile machine and the second head-rope tensile machine are symmetrically fixedly installed on robot fixed frame
Both sides, insulated hull are arranged at the bottom of robot fixed frame with speed brake setting, and the is driven for slowing down by output shaft
One head-rope tensile machine and the second head-rope tensile machine rotation work；
Insulation belt reduction unit passes through the belt drive that insulate by external force；
First head-rope tensile machine and the second head-rope tensile machine connect lodge in the head-rope on power transmission line respectively
Both ends, for output shaft deceleration drive similarly hereinafter when pulled down head-rope both ends so that robot fixed frame is put down
It is steady to rise.
Preferably, insulation belt reduction unit includes：Insulated hull band wheel for inputting, insulated hull band wheel for inputting on be provided with insulation
Belt, for being rotated by external force by the belt drive that insulate.
Preferably, insulation belt reduction unit also includes：Train of reduction gears, train of reduction gears pass through power transmission shaft and insulated hull
Band wheel for inputting is connected, and output shaft rotation is driven for slowing down to reinforce.
Preferably, insulation belt reduction unit also includes：Belt pulley self-locking device, belt pulley self-locking device are arranged at insulation
Between belt wheel for inputting and train of reduction gears, for locking train of reduction gears and prevent train of reduction gears from inverting.
Preferably, head-rope tensile machine includes：Load-bearing rope tension wheel drive shaft, load-bearing rope tension wheel drive shaft pass through drawing
Wheels drive belt and output axis connection, for being rotated under the drive of output shaft.
Preferably, head-rope tensile machine also includes：Load-bearing rope tension wheel, load-bearing rope tension wheel are fixedly installed on head-rope
On pulling force wheel drive shaft, for the pulled down head-rope under the drive of load-bearing rope tension wheel drive shaft.
Preferably, head-rope tensile machine also includes：Head-rope locking wheel, head-rope locking wheel are close to across head-rope
Load-bearing rope tension wheel surface, the frictional force between load-bearing rope tension wheel and head-rope is ensured for pressure.
Preferably, head-rope tensile machine also includes：Head-rope propelling sheave, head-rope propelling sheave are arranged at load-bearing rope tension
The surface of wheel, for guiding the sagging direction of head-rope.
Preferably, in addition to electric control lock, electric control lock are arranged on robot fixed frame, are locked for robot to be fixed
In on robot fixed frame.
Preferably, in addition to：3rd head-rope tensile machine and the 4th head-rope tensile machine；
First head-rope tensile machine, the second head-rope tensile machine, the 3rd head-rope tensile machine and the 4th head-rope
Tensile machine is respectively arranged on four corners of robot fixed frame.
As can be seen from the above technical solutions, the utility model embodiment has advantages below：
By using robot fixed frame carrying stationary machines people, and insulated hull band is set on robot fixed frame
Deceleration device and a pair of head-rope tensile machines, then lodge is lain in respectively in the both ends of the insulation head-rope on transmission line of electricity
It is arranged in the head-rope tensile machine of robot fixed frame both sides.Then it is arranged on insulated hull using motor or artificial pull
With the insulated hull band on deceleration device, pass through the deceleration output load-bearing with mobile robot fixed frame both sides simultaneously of insulated hull band
Rope tension mechanism rotation work so that the head-rope tensile machine of both sides is when the deceleration for the belt reduction unit that insulate drives similarly hereinafter
The both ends of pulled down head-rope, order steadily rise to robot fixed frame.Consolidate because head-rope both ends lie in robot
Determine in the symmetrically arranged head-rope tensile machine of framework both sides so that robot fixed frame stress balance, in uphill process
In run into external force or wind-engaging blows and also can steadily risen, considerably increase the stability of wire charging mechanism；In addition, hang over transmission line of electricity
On head-rope and transmission line of electricity between will not occur Relative friction, relative fortune only occurs with head-rope tensile machine for head-rope
It is dynamic, by the frictional force between head-rope tensile machine so that with head-rope tensile machine relative motion occurs for head-rope, because
This ensure that in robot uphill process the head-rope transmission line of electricity that will not rub is damaged transmission line of electricity, so as to the full extent
The surface for protecting transmission line of electricity.And coil inserting apparatus can in the hot line maintenance robot provided in the utility model
Realize offline in the automatic independence of hot line robot, climb on equipotential transmission line of electricity, reduce without operating personnel
The life security of operating personnel is also assures that while the labor intensity of operating personnel, solves current livewire work machine
Potential safety hazard in the upper inserting method of people be present and easily transmission line of electricity is caused to wear, the technology for influenceing the life-span of transmission line of electricity is asked
Topic.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structure of coil inserting apparatus in a kind of hot line maintenance robot of the utility model embodiment offer
Schematic diagram.
Fig. 2 is a kind of upward view for insulation belt reduction unit that the utility model embodiment provides.
Fig. 3 is a kind of structural representation for head-rope tensile machine that the utility model embodiment provides.
Embodiment
The utility model embodiment provides coil inserting apparatus in a kind of hot line maintenance robot, for solving mesh
Potential safety hazard on preceding hot line robot in inserting method be present and easily transmission line of electricity is caused to wear, influence power transmission line
The technical problem in the life-span on road.
It is referring to Fig. 1, traditional thread binding above and below a kind of hot line maintenance robot provided for the utility model embodiment
The structural representation put.
Coil inserting apparatus in a kind of hot line maintenance robot that the utility model embodiment provides, including：
Robot fixed frame F, insulation belt reduction unit D and head-rope tensile machine C, head-rope tensile machine C bags
Include the first head-rope tensile machine and the second head-rope tensile machine；Robot fixed frame F is used to carry stationary machines people；The
One head-rope tensile machine C and the second head-rope tensile machine C is symmetrically fixedly installed on robot fixed frame F both sides, absolutely
Edge belt reduction unit D is fixedly installed on robot fixed frame F bottom, and the first load-bearing is driven for slowing down by output shaft
Rope tension mechanism C and the second head-rope tensile machine C rotation works；Insulation belt reduction unit D passes through insulated hull band by external force
Drive；First head-rope tensile machine C and the second head-rope tensile machine C connect lodge in the head-rope B on power transmission line respectively
Both ends, the both ends for the pulled down head-rope B when the deceleration of output shaft drives similarly hereinafter so that robot fixed frame F
It is steady to rise.
Further, referring to Fig. 2, a kind of insulation belt reduction unit provided for the utility model embodiment is looked up
Figure.Insulation belt reduction unit D is specifically included：Insulated hull band wheel for inputting J, train of reduction gears I, slow down output belt H, output shaft
G and belt pulley self-locking device K.Insulated hull band E is provided with insulated hull band wheel for inputting J, for passing through insulated hull band E bands by external force
Turn is moved, i.e., the carry insulated hull band E on insulated hull band wheel for inputting J, as long as passing through external force pulled down insulated hull on the ground
Band E, you can in input rotating torque to insulated hull band wheel for inputting J, drive insulated hull band wheel for inputting J to rotate simultaneously.Reduction gearing
Group I is connected by power transmission shaft with insulated hull band wheel for inputting J, drives output shaft G to rotate for slowing down to reinforce.Wherein, reduction gearing
It is by multistage size meshed transmission gear, such as a gear wheel and a little gear engagement (one-level) inside group I, just generates
Gearratio, speed reducing ratio and moment of torsion is improved, bigger (rotating speed the is slower) torque of the more gearratios of gear series, speed reducing ratio is got over
Greatly, load-carrying ability is stronger.Therefore, when pulling insulated hull band using manpower or motor on ground, reducing gear can be passed through
Wheel group I is slowed down and increases input torque so that the robot fixed frame F that carrying is fixed with robot can be steadily slow
Rising.It is understood that it can be determined according to the factor such as the size of pulling force and the weight of robot in Practical Project scene
The big little gear matching relationship inside train of reduction gears I is chosen, is not specifically limited herein.Output gear in train of reduction gears I
Wheel and the output belt H that slows down are coaxially connected, for the output being connected by output belt H drivings of slowing down with the output belt H that slows down
Axle G is rotated.Belt pulley self-locking device K is arranged between insulated hull band wheel for inputting J and train of reduction gears I, for locking reducing gear
Wheel group I simultaneously prevents train of reduction gears I from inverting.That is the effect of belt pulley self-locking device K is to ensure that can only be defeated by insulated hull band
Enter to take turns J driving train of reduction gears I, and train of reduction gears I can not drive insulated hull band wheel for inputting J in turn, to ensure in machine
During the reaching the standard grade of people, i.e., insulated hull band E is pulled to make during robot rises by manpower or motor, even if personnel are unexpected
Loose one's grip or motor catastrophic failure is motionless, will not also cause train of reduction gears I reversions to be greatly improved so as to cause robot to drop
The security of operating personnel and ensure that robot will not damage because high-altitude is dropped.
Further, referring to Fig. 3, a kind of structure of the head-rope tensile machine provided for the utility model embodiment is shown
It is intended to.Head-rope tensile machine C includes：Load-bearing rope tension wheel drive shaft O, load-bearing rope tension wheel N and head-rope propelling sheave L.Hold
Weight rope tension wheel drive shaft O is connected by pulling force wheel drive belt P with output shaft G, for being rotated under output shaft G drive.
Load-bearing rope tension wheel N is fixedly installed on load-bearing rope tension wheel drive shaft O, for the drive in load-bearing rope tension wheel drive shaft O
Lower pulled down head-rope B.Head-rope locking wheel M is close to load-bearing rope tension wheel N surfaces across head-rope B, for pressing really
The frictional force protected between load-bearing rope tension wheel N and head-rope B, that is, ensure head-rope B be close to all the time on load-bearing rope tension wheel N and
Relative slide will not occur, it is ensured that load-bearing rope tension wheel N can occur relative movement with head-rope B and smoothly cause in robot
Rise.Head-rope propelling sheave L is arranged at load-bearing rope tension wheel N surface, for guiding head-rope B sagging direction, the side of taking on
The guarantee of tropism, waving for head-rope B is avoided to rock.
In order to make it easy to understand, make below with reference to the electric transmission line hot-line that Fig. 2 and Fig. 3 is provided the utility model embodiment
The power transmission direction of coil inserting apparatus is described in detail in industry robot.
First, operating personnel is manually or motor pulls insulated hull to drive the insulation on insulation belt reduction unit D with E
Belt wheel for inputting J is rotated, and insulated hull band wheel for inputting J drives train of reduction gears I work by bearing, and in train of reduction gears I
Gear train is after deceleration, enlarging moment by coaxial output belt by torque output to output shaft G.Then, it is arranged at
The pulling force wheel drive belt P of output shaft G both sides drives load-bearing rope tension wheel drive shaft O to rotate so that is driven with load-bearing rope tension wheel
Load-bearing rope tension wheel N coaxial moving axis O rotates down rope closing, and robot fixed frame F is carried out into lifting.
It should be noted that operating personnel manually or motor to pull insulated hull band be by artificially utilizing hand on ground
Dynamic or motor pulls the design of insulated hull band.Further, it is also possible to by setting motor direct-drive on robot fixed frame F
Insulated hull band wheel for inputting J.During using artificial pulling insulated hull band E, pass through two insulation belt reduction unit D and drive four load-bearing
Rope tension mechanism C, the posture that so by adjusting both sides speed of the insulated hull with E can be pulled to adjust robot.According to motor
The mode of driving, four motors can be used, driving insulation belt reduction unit D and head-rope tensile machine C, passes through regulation respectively
The mode of motor speed adjusts robot pose.Because head-rope B directly hangs down to ground, it is possible to cause head-rope B direct
The violation operation contacted to earth, head-rope tensile machine C can be passed through in the lower section carry head-rope recovery hanging basket at four angles, head-rope B
After fall to avoid contacting to earth in hanging basket.When manually drawing by the way of insulated hull band, between robot and robot fixed frame F
Electric control lock may be mounted in robot, is controlled using the control system of robot in itself；Drawn automatically using motor
During the mode risen, electric control lock can be arranged on robot fixed frame F, to mitigate robot weight and control complexity.
Further, the utility model embodiment provide a kind of hot line maintenance robot on coil inserting apparatus also
Including electric control lock, electric control lock is arranged on robot fixed frame F, and robot fixed frame is lock onto for robot to be fixed
On F.
Further, the utility model embodiment provide a kind of hot line maintenance robot on coil inserting apparatus also
Including：3rd head-rope tensile machine C and the 4th head-rope tensile machine C.In order to which robot fixed frame F is in uphill process
Stability, can by the first head-rope tensile machine C, the second head-rope tensile machine C, the 3rd head-rope tensile machine C and
4th head-rope tensile machine C is respectively arranged on robot fixed frame F four corners, you can is greatly enhanced robot and is consolidated
Determine framework F stress balance, ensure stabilizations of the robot fixed frame F in uphill process.
In order to make it easy to understand, hot line robot will be described in detail with a specific embodiment below passes through the utility model
Coil inserting apparatus carries out offline detailed process in the hot line maintenance robot that embodiment provides.
First, the insulation pull rope carry of lightweight on wire A and is hung down to ground by unmanned plane；Then using lighter
Insulation pull rope the head-rope B of heavier insulation is moved on wire A, head-rope B both ends hang down to ground level (ground
Insulating protection need to be carried out).Hot line robot is arranged in robot fixed frame F again, and controls the locked band of electric control lock
Electric Work robot, avoid hot line robot that relative displacement occurs with robot fixed frame F or rocks.By head-rope B
It is arranged on by head-rope propelling sheave L on head-rope tensile machine C, and insulated hull band E is arranged on insulation belt reduction unit D
On.The insulated hull band E on coil inserting apparatus both sides in hot line maintenance robot, insulated hull band E is pulled to drive insulation simultaneously
Belt reduction unit D so that output shaft G drives head-rope tensile machine C traditional thread binding above and below hot line maintenance robot
Drawstring simultaneously is put on four angles of (hereinafter referred to as upper coil inserting apparatus), so as to draw high entirely upper coil inserting apparatus.Robot fixed frame
When frame F is risen towards near power transmission line, i.e., stopped drag when power transmission line enters the scope of activities of robot wire A walking mechanisms
Insulated hull band E, waits robot that wire A road wheels or other fixing devices are arranged on power transmission line.Robot is in power transmission line
On fix after, unclamp electric control lock, and reversely pull insulated hull band E, make wire charging mechanism decline, leave wire A until dropping to ground
Face.In addition, not withdrawing head-rope B if robot crosses load-bearing rope device, head-rope B is otherwise withdrawn.Wait robot
After the completion of operation, return-to-home position.Reuse unmanned plane and insulation pull rope is hung over into robot both sides, and use insulation traction
Head-rope B is hung back wire A by rope again.Then copy line process that upper coil inserting apparatus is risen to the underface of robot, hold in the palm
Firmly robot and somewhat lift, to eliminate the active force between robot and wire A, while control electric control lock, locked robot and
The relative position of upper coil inserting apparatus.After waiting robot that wire A walkings, fixing device are removed from wire A, withdrawn, up and down
Line apparatus is slowly drop down to ground, and robot drops to ground with upper coil inserting apparatus, and last surface personnel reclaims head-rope
B, the upper offline of robot can be completed by pulling down robot.
Coil inserting apparatus in a kind of hot line maintenance robot provided by the utility model has been carried out in detail above
It is thin to introduce, for those of ordinary skill in the art, according to the thought of the utility model embodiment, in embodiment and answer
With there will be changes in scope, in summary, this specification content should not be construed as to limitation of the present utility model.
Claims (10)
- A kind of 1. coil inserting apparatus in hot line maintenance robot, it is characterised in that including：Robot fixed frame, insulation belt reduction unit and head-rope tensile machine, the head-rope tensile machine include the One head-rope tensile machine and the second head-rope tensile machine；The robot fixed frame is used to carry stationary machines people；The first head-rope tensile machine and the second head-rope tensile machine are symmetrically fixedly installed on the robot and consolidated Determine the both sides of framework, the insulated hull is arranged at the bottom of the robot fixed frame with speed brake setting, for passing through Output shaft, which slows down, drives the first head-rope tensile machine and the second head-rope tensile machine rotation work；The insulation belt reduction unit passes through the belt drive that insulate by external force；The first head-rope tensile machine and the second head-rope tensile machine connect lodge in holding on power transmission line respectively The both ends restricted again, the both ends for the pulled down head-rope when the deceleration of the output shaft drives similarly hereinafter so that the machine People's fixed frame steadily rises.
- 2. coil inserting apparatus in hot line maintenance robot according to claim 1, it is characterised in that the insulation Belt reduction unit includes：Insulated hull band wheel for inputting, the insulated hull on wheel for inputting with insulated hull band is provided with, for by external force By insulating, belt drive rotates.
- 3. coil inserting apparatus in hot line maintenance robot according to claim 2, it is characterised in that the insulation Belt reduction unit also includes：Train of reduction gears, the train of reduction gears are connected by power transmission shaft and insulated hull band wheel for inputting Connect, for slowing down, reinforcing drives the output shaft rotation.
- 4. coil inserting apparatus in hot line maintenance robot according to claim 3, it is characterised in that the insulation Belt reduction unit also includes：Belt pulley self-locking device, the belt pulley self-locking device are arranged at the insulated hull band wheel for inputting Between the train of reduction gears, for train of reduction gears described in locking and prevent the train of reduction gears from inverting.
- 5. coil inserting apparatus in hot line maintenance robot according to claim 1, it is characterised in that the load-bearing Rope tension mechanism includes：Load-bearing rope tension wheel drive shaft, the load-bearing rope tension wheel drive shaft by pulling force wheel drive belt with The output axis connection, for being rotated under the drive of the output shaft.
- 6. coil inserting apparatus in hot line maintenance robot according to claim 5, it is characterised in that the load-bearing Rope tension mechanism also includes：Load-bearing rope tension wheel, the load-bearing rope tension wheel are fixedly installed on the load-bearing rope tension wheel drive On axle, for the pulled down head-rope under the drive of the load-bearing rope tension wheel drive shaft.
- 7. coil inserting apparatus in hot line maintenance robot according to claim 6, it is characterised in that the load-bearing Rope tension mechanism also includes：Head-rope locking wheel, the head-rope locking wheel are close to the load-bearing rope tension across head-rope Wheel surface, the frictional force between the load-bearing rope tension wheel and head-rope is ensured for pressure.
- 8. coil inserting apparatus in hot line maintenance robot according to claim 6, it is characterised in that the load-bearing Rope tension mechanism also includes：Head-rope propelling sheave, the head-rope propelling sheave are arranged at the surface of the load-bearing rope tension wheel, For guiding the sagging direction of head-rope.
- 9. coil inserting apparatus in hot line maintenance robot according to claim 1, it is characterised in that also include electricity Control lock, the electric control lock are arranged on the robot fixed frame, are consolidated for robot fixation to be lock onto into the robot Determine on framework.
- 10. coil inserting apparatus in hot line maintenance robot according to claim 1, it is characterised in that also include： 3rd head-rope tensile machine and the 4th head-rope tensile machine；The first head-rope tensile machine, the second head-rope tensile machine, the 3rd head-rope tensile machine and described Four head-rope tensile machines are respectively arranged on four corners of the robot fixed frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721053273.8U CN207053058U (en) | 2017-08-22 | 2017-08-22 | Coil inserting apparatus in a kind of hot line maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721053273.8U CN207053058U (en) | 2017-08-22 | 2017-08-22 | Coil inserting apparatus in a kind of hot line maintenance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207053058U true CN207053058U (en) | 2018-02-27 |
Family
ID=61503429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721053273.8U Withdrawn - After Issue CN207053058U (en) | 2017-08-22 | 2017-08-22 | Coil inserting apparatus in a kind of hot line maintenance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207053058U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021107784A1 (en) * | 2019-11-27 | 2021-06-03 | Comrod As | Rope robot and method for mounting an object to a power line |
| WO2021120435A1 (en) * | 2019-12-17 | 2021-06-24 | 广东冠能电力科技发展有限公司 | Self-traction type wire coating robot and wire feeding and hanging method |
-
2017
- 2017-08-22 CN CN201721053273.8U patent/CN207053058U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021107784A1 (en) * | 2019-11-27 | 2021-06-03 | Comrod As | Rope robot and method for mounting an object to a power line |
| NO345714B1 (en) * | 2019-11-27 | 2021-06-28 | Comrod As | Rope robot and method for mounting an object to a power line |
| AU2020391306B2 (en) * | 2019-11-27 | 2023-02-02 | Comrod As | Rope robot and method for mounting an object to a power line |
| WO2021120435A1 (en) * | 2019-12-17 | 2021-06-24 | 广东冠能电力科技发展有限公司 | Self-traction type wire coating robot and wire feeding and hanging method |
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Granted publication date: 20180227 Effective date of abandoning: 20230331 |