CN207134725U - A kind of power transmission line unmanned self-checking unit - Google Patents
A kind of power transmission line unmanned self-checking unit Download PDFInfo
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- CN207134725U CN207134725U CN201721158681.XU CN201721158681U CN207134725U CN 207134725 U CN207134725 U CN 207134725U CN 201721158681 U CN201721158681 U CN 201721158681U CN 207134725 U CN207134725 U CN 207134725U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 46
- 230000005611 electricity Effects 0.000 claims abstract description 14
- 238000012806 monitoring device Methods 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 6
- 238000001931 thermography Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model discloses a kind of power transmission line unmanned self-checking unit, including crusing robot and ground base station；Crusing robot includes robot body, and the robot body includes control device, monitoring device, radio transmitting device and electric supply installation, and the control device is communicated to connect by radio transmitting device and ground base station；Rotating supporting device is provided with robot body；Running gear is symmetrically arranged with the rotating supporting device, running gear includes drive mechanism, walking mechanism and clamping device；Drive mechanism includes drive cylinder, and the outside of drive cylinder is socketed with cylinder square tube shell, cylinder connecting plate is fixedly connected with the top of drive cylinder, clamping device guide rail is provided with cylinder connecting plate；Walking mechanism is arranged on the top of the clamping device guide rail, and clamping device is arranged on clamping device guide rail.The utility model uses robot body, rotating supporting device and running gear, realizes the automatic detecting to transmission line of electricity.
Description
Technical field
It the utility model is related to transmission line faultlocating field, and in particular to a kind of power transmission line unmanned self-checking unit.
Background technology
Power transmission must lean on ultra-high-tension power transmission line, and the safe and stable operation of transmission line of electricity directly affects conductive Force system
Reliability, polling transmission line work are important, the indispensable work for ensureing safe and reliable power supply.It is domestic at present super
The inspection of ultra-high-tension power transmission line is safeguarded substantially using the traditional work method manually estimated, and is patrolled by people along ground by tower
Depending on, it is sometimes necessary to climb up steel tower or seating hangs on inspection along the coaster on circuit, this operating type labor intensity
Hair, condition are arduous, and detection cycle is grown, and cost and danger are higher.
In summary, in the prior art for how to carry out self-test to transmission line of electricity the problem of, still lack effective solve
Scheme.
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the utility model provides a kind of power transmission line unmanned self-checking unit,
Using robot body, rotating supporting device and running gear, the automatic detecting to transmission line of electricity is realized, greatlys save people
Power cost, unmanned self-test is realized, ensured transmission line safety reliability service.
Technical scheme is used by the utility model：
A kind of power transmission line unmanned self-checking unit, including crusing robot and ground base station；The crusing robot includes
Robot body, the robot body are a frame-type body structure, and the robot body includes control device, monitoring dress
Put, radio transmitting device and electric supply installation, the monitoring device include visible light camera, infrared thermography, humiture and passed
Sensor, air velocity transducer and GPS sensor, the visible light camera, infrared thermography, Temperature Humidity Sensor, wind speed pass
Sensor and GPS sensor are connected with control device respectively, and the control device is communicated by radio transmitting device with ground base station
Connection；The electric supply installation includes battery, and accumulator monitoring circuit is connected with the battery；On the robot body
It is provided with rotating supporting device；Running gear is symmetrically arranged with the rotating supporting device, the running gear includes driving
Mechanism, walking mechanism and clamping device；The drive mechanism includes drive cylinder, and the outside of the drive cylinder is socketed with cylinder
Square tube shell, the bottom of cylinder square tube shell are fixedly connected with air cylinder base, and the air cylinder base is fixedly installed on support frame, described
Cylinder connecting plate is fixedly connected with the top of drive cylinder, clamping device guide rail is provided with the cylinder connecting plate；The row
The top that mechanism is arranged on the clamping device guide rail is walked, the walking mechanism includes road wheel, walking mechanism body, vehicle with walking machine
Structure rotary shaft, walking mechanism motor and walking mechanism motor cabinet, the road wheel and walking mechanism rotation axis connection, the walking
Mechanism rotary shaft is embedded in the walking mechanism body, and one end of walking mechanism rotary shaft and walking mechanism motor connection,
The walking mechanism motor is fixedly installed on walking mechanism body by walking mechanism motor cabinet；The clamping device is arranged on
On the clamping device guide rail, the clamping device includes pinch wheels, clamping device body, clamping device rotary shaft, clamping machine
Structure motor, clamping device motor cabinet, the first clamping device gear, the second clamping device gear and clamping device sliding block, the folder
Bearing up pulley is embedded in the clamping device body, and clamping machine with clamping device rotation axis connection, the clamping device rotary shaft
One end of structure rotary shaft connects with clamping device motor connection, the other end and the first clamping device gear and the second clamping device gear
Connect, the clamping device motor is fixed on the side of clamping device body, the clamping device machine by clamping device motor cabinet
Clamping device sliding block is fixedly mounted in the opposite side of body.
Further, the rotating supporting device includes support frame, rotary tray motor, disk gear and rotating disk, the rotating disk
It is arranged on the robot body, support frame as described above is arranged on the rotating disk, and the rotary tray motor passes through motor fixing frame
It is fixedly installed on support frame as described above, the rotary tray motor is connected with traffic cycle gear, the traffic cycle gear and traffic cycle phase
Engagement.
Further, the clamping device guide rail includes saw-toothed rail and guide rail shell, and the saw-toothed rail, which is fixed on, to be led
The inner side of rail shell, the clamping framework sliding block is installed on guide rail shell, and can be moved up and down along guide rail shell, described first
Clamping device gear and the second clamping device gear are mutually twisted with saw-toothed rail respectively.
Further, the accumulator monitoring circuit includes battery voltage acquisition module, battery current acquisition module, battery
Temperature collect module and battery main controller module, the battery voltage acquisition module, battery current acquisition module and battery temperature
Acquisition module is connected with battery main controller module respectively, by having between the battery main controller module and the control device
Line communication module carries out two-way communication
Further, the robot body also includes warning device, and the warning device is connected with control device.
Further, described state is additionally provided with charging device on robot body, and the charging device includes two pieces of sun
Energy plate, solar panels are connected by solar panels open-and-close mechanism with robot body, and in solar panels and robot body
Accumulator line connects.
Further, the solar panels open-and-close mechanism includes rocking bar, crank, connecting rod, gear-box and motor, the rocking bar
For supporting the motor folding, one end connection of the rocking bar and crank, the other end of the crank is connected with gear-box, institute
State gear-box and motor is separately positioned in robot body, be provided with two gears in the gear-box, the one of the gear
End and motor connection, another output end of the gear is connected with crank, rotated by crank handle turns rocking bar, so as to realize the sun
Rotation of the energy plate around hinge.When the power transmission line unmanned self-checking unit is in running order, walks on transmission line of electricity and carry out
During inspection, solar panels closure；When the power transmission line unmanned self-checking unit is in holding state, in the control of control device
Under, solar panels are opened, and the battery in robot body is charged.
Further, the ground base station includes ground communication facilities and surface-monitoring equipment, the surface-monitoring equipment
It is connected by ground communication facilities with the robot communication.
Further, the both sides of the robot body are set by infrared distance measuring device respectively, for monitoring preceding object
Thing according to the crusing robot distance；The infrared distance measuring device includes infrared emission unit and infrared receiver, described
Infrared emission unit and infrared receiver are connected with control device respectively.
Further, bird-resistant pin is additionally provided with the robot body.
Compared with prior art, the beneficial effects of the utility model are：
(1) the utility model uses robot body, rotating supporting device and running gear, realizes to transmission line of electricity
Automatic detecting, human cost is greatlyd save, realize unmanned self-test, ensured transmission line safety reliability service；
(2) the utility model using walking mechanism and clamps framework, and the monitoring to the transmission line of electricity of different line footpaths can be achieved,
Also adjustable robot clamps the degree of wire, has very strong adaptability, has a wide range of application；
(3) by monitoring device, the line information for being capable of walking route clearly transmits the utility model to ground base station,
The quality of polling transmission line work is ensure that, it is also remote controlled, it can be widely applied to the inspection work of transmission line of electricity.
Brief description of the drawings
Fig. 1 is the power transmission line unmanned self-checking unit structural representation of the utility model embodiment；
Wherein, 1, robot body, 2, support frame, 3, rotary tray motor, 4, disk gear, 5, rotating disk, 6, motor fixing frame,
7th, drive cylinder, 8, cylinder square tube shell, 9, cylinder connecting plate, 10, clamping device guide rail, 11, walking mechanism, 12, clamping device,
13rd, solar panels, 14, infrared distance measuring device.
Embodiment
The utility model is further illustrated below in conjunction with the accompanying drawings.
In a kind of typical embodiment of the application, as shown in Figure 1, there is provided a kind of power transmission line unmanned self-test dress
Put, the device includes crusing robot and ground base station.
The crusing robot includes robot body 1, and the robot body 1 is a frame-type body structure, described
Rotating supporting device is provided with robot body, the rotating supporting device includes support frame 2, rotary tray motor 3, disk gear
4 and rotating disk 5, the rotating disk be arranged on the robot body, support frame as described above is arranged on the rotating disk, rotating disk electricity
Machine is fixedly installed on support frame as described above by motor fixing frame 6, and the rotary tray motor is connected with traffic cycle gear, described to turn greatly
Disk gear is meshed with traffic cycle, and the rotary tray motor drives traffic cycle gear to be meshed with traffic cycle rotation.
Running gear is symmetrically arranged with the rotating supporting device, the running gear includes drive mechanism, vehicle with walking machine
Structure and clamping device；The drive mechanism includes drive cylinder 7, and the outside of the drive cylinder is socketed with cylinder square tube shell 8, gas
The bottom of cylinder square tube shell is fixedly connected with air cylinder base, and the air cylinder base is fixedly installed on support frame, the drive cylinder
Top be fixedly connected with cylinder connecting plate 9, be provided with clamping device guide rail 10 on the cylinder connecting plate；
The walking mechanism 11 is arranged on the top of the clamping device guide rail, the walking mechanism 11 include road wheel,
Walking mechanism body, walking mechanism rotary shaft, walking mechanism motor and walking mechanism motor cabinet, the road wheel and walking mechanism
Axis connection is rotated, the walking mechanism rotary shaft is embedded in the walking mechanism body, and one end of walking mechanism rotary shaft
With walking mechanism motor connection, the walking mechanism motor is fixedly installed on walking mechanism body by walking mechanism motor cabinet
On.
The clamping device 12 is arranged on the clamping device guide rail, can be moved up and down along clamping device guide rail；It is described
Clamping device 12 include pinch wheels, clamping device body, clamping device rotary shaft, clamping device motor, clamping device motor cabinet,
First clamping device gear, the second clamping device gear and clamping device sliding block, the pinch wheels connect with clamping device rotary shaft
Connect, the clamping device rotary shaft is embedded in the clamping device body, and one end of clamping device rotary shaft and clamping machine
Structure motor connection, the other end are connected with the first clamping device gear and the second clamping device gear, and the clamping device motor leads to
The side that clamping device motor cabinet is fixed on clamping device body is crossed, clamping is fixedly mounted in the opposite side of the clamping device body
Mechanism sliding block.
The clamping device guide rail 10 includes saw-toothed rail and guide rail shell, and the saw-toothed rail is fixed on guide rail shell
Inner side, the clamping framework sliding block is installed on guide rail shell, and can be moved up and down along guide rail shell, first clamping device
Gear and the second clamping device gear are mutually twisted with saw-toothed rail respectively.
The robot body 1 includes control device, monitoring device, radio transmitting device and electric supply installation, the monitoring
Device includes visible light camera, infrared thermography, Temperature Humidity Sensor, air velocity transducer and GPS sensor, described visible
Light video camera, infrared thermography, Temperature Humidity Sensor, air velocity transducer and GPS sensor are connected with control device respectively, institute
Control device is stated to communicate to connect by radio transmitting device and ground base station；The electric supply installation includes battery, the electric power storage
Accumulator monitoring circuit is connected with pond, the accumulator monitoring circuit includes battery voltage acquisition module, battery current gathers
Module, battery temperature acquisition module and battery main controller module, the battery voltage acquisition module, battery current acquisition module and
Battery temperature acquisition module is connected with battery main controller module respectively, the battery main controller module and the control device it
Between two-way communication carried out by wire communication module.
In the present embodiment, the robot body 1 also includes warning device, and the warning device connects with control device
Connect, the warning device uses audible-visual annunciator.
State to be additionally provided with robot body 1 on the basis of above-described embodiment, described in one embodiment of the invention and fill
Electric installation, the charging device include two pieces of solar panels 13, and solar panels 13 pass through solar panels open-and-close mechanism and robot
Body is connected, and solar panels are connected with the accumulator line in robot body；The solar panels open-and-close mechanism include rocking bar,
Crank, connecting rod, gear-box and motor, the rocking bar are used to support the motor folding, and one end of the rocking bar and crank connects,
The other end of the crank is connected with gear-box, and the gear-box and motor are separately positioned in robot body, the gear
Two gears, one end of the gear and motor connection are provided with case, another output end of the gear is connected with crank, is led to
The rotation of crank handle turns rocking bar is crossed, so as to realize rotation of the solar panels around hinge.When the power transmission line unmanned self-checking unit is in
During working condition, when walking in progress inspection on transmission line of electricity, solar panels closure；At the power transmission line unmanned self-checking unit
When holding state, under control of the control means, solar panels are opened, and the battery in robot body is charged.
In the present embodiment, the control device uses ARM microprocessor.
In the present embodiment, the ground base station includes ground communication facilities and surface-monitoring equipment, the ground monitoring
Equipment is connected by ground communication facilities with the robot communication, and ground base station is by communication to crusing robot
Carry out long-range walking manipulation and view data transmission control.
The power transmission line unmanned self-checking unit that one embodiment of the invention is provided, the both sides point of its robot body
Do not set by infrared distance measuring device 14, for monitoring distance of the front obstacle according to the crusing robot；The infrared distance measurement
Device includes infrared emission unit and infrared receiver, and the infrared emission unit and infrared receiver fill with control respectively
Put connection.
In the present embodiment, bird-resistant pin is additionally provided with the robot body.
As shown in figure 1, the utility model proposes power transmission line unmanned self-checking unit when being walked on power transmission line, pass through row
The road wheel hanging wire of mechanism is walked, by driving road wheel to rotate forward or backwards, realizes advance of the robot on transmission line of electricity
Or retreat, the clamped condition of wire is adjusted by clamp system, realizes the operation held tightly or unclamp power transmission line；In the utility model
In walking process, monitoring device carries out captured in real-time to the surface of transmission line of electricity, and by the image of shooting by being wirelessly transferred dress
Put generation and arrive ground base station, then make instruction according to image conditions by ground base station, then pass through the control in robot body
Device makes control to walking mechanism of the present utility model, clamping device and monitoring device.
It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deformation still in protection model of the present utility model
Within enclosing.
Claims (10)
1. a kind of power transmission line unmanned self-checking unit, it is characterized in that, including crusing robot and ground base station；The inspection machine
People includes robot body, and the robot body is a frame-type body structure, the robot body include control device,
Monitoring device, radio transmitting device and electric supply installation, the monitoring device include visible light camera, infrared thermography, temperature
Humidity sensor, air velocity transducer and GPS sensor, the visible light camera, infrared thermography, Temperature Humidity Sensor,
Air velocity transducer and GPS sensor are connected with control device respectively, and the control device passes through radio transmitting device and ground base
Stand communication connection；The electric supply installation includes battery, and accumulator monitoring circuit is connected with the battery；The robot
Rotating supporting device is provided with body；Running gear, the running gear bag are symmetrically arranged with the rotating supporting device
Include drive mechanism, walking mechanism and clamping device；The drive mechanism includes drive cylinder, the outside socket of the drive cylinder
There is cylinder square tube shell, the bottom of cylinder square tube shell is fixedly connected with air cylinder base, and the air cylinder base is fixedly installed on support frame
On, cylinder connecting plate is fixedly connected with the top of the drive cylinder, clamping device guide rail is provided with the cylinder connecting plate；
The walking mechanism is arranged on the top of the clamping device guide rail, the walking mechanism include road wheel, walking mechanism body,
Walking mechanism rotary shaft, walking mechanism motor and walking mechanism motor cabinet, the road wheel and walking mechanism rotation axis connection, institute
State walking mechanism rotary shaft and be embedded in the walking mechanism body, and one end of walking mechanism rotary shaft and walking mechanism motor
Connection, the walking mechanism motor are fixedly installed on walking mechanism body by walking mechanism motor cabinet；The clamping device
On the clamping device guide rail, the clamping device include pinch wheels, clamping device body, clamping device rotary shaft,
Clamping device motor, clamping device motor cabinet, the first clamping device gear, the second clamping device gear and clamping device sliding block,
The pinch wheels are embedded in the clamping device body with clamping device rotation axis connection, the clamping device rotary shaft, and
One end of clamping device rotary shaft and clamping device motor connection, the other end and the first clamping device gear and the second clamping device
Gear connects, and the clamping device motor is fixed on the side of clamping device body, the clamping by clamping device motor cabinet
Clamping device sliding block is fixedly mounted in the opposite side of mechanism body.
2. power transmission line unmanned self-checking unit according to claim 1, it is characterized in that, the rotating supporting device includes branch
Support, rotary tray motor, disk gear and rotating disk, the rotating disk are arranged on the robot body, and support frame as described above is arranged on
On the rotating disk, the rotary tray motor is fixedly installed on support frame as described above by motor fixing frame, the rotary tray motor connection
There is traffic cycle gear, the traffic cycle gear is meshed with traffic cycle.
3. power transmission line unmanned self-checking unit according to claim 1, it is characterized in that, the clamping device guide rail includes saw
Rack rails road and guide rail shell, the saw-toothed rail are fixed on the inner side of guide rail shell, and the clamping framework sliding block is installed on guide rail
Shell, and being moved up and down along guide rail shell, the first clamping device gear and the second clamping device gear respectively with saw
Rack rails road is mutually twisted.
4. power transmission line unmanned self-checking unit according to claim 1, it is characterized in that, the accumulator monitoring circuit includes
Battery voltage acquisition module, battery current acquisition module, battery temperature acquisition module and battery main controller module, the battery electricity
Pressure acquisition module, battery current acquisition module and battery temperature acquisition module are connected with battery main controller module respectively, the electricity
Two-way communication is carried out by wire communication module between pond main controller module and the control device.
5. power transmission line unmanned self-checking unit according to claim 1, it is characterized in that, the robot body also includes report
Alarm device, the warning device are connected with control device.
6. power transmission line unmanned self-checking unit according to claim 1, it is characterized in that, described state also sets on robot body
Charging device is equipped with, the charging device includes two pieces of solar panels, and solar panels pass through solar panels open-and-close mechanism and machine
Human body is connected, and solar panels are connected with the accumulator line in robot body.
7. power transmission line unmanned self-checking unit according to claim 6, it is characterized in that, the solar panels open-and-close mechanism bag
Including rocking bar, crank, connecting rod, gear-box and motor, the rocking bar is used to supporting the motor folding, and the one of the rocking bar and crank
End connection, the other end of the crank are connected with gear-box, and the gear-box and motor are separately positioned in robot body, institute
State and two gears, one end of the gear and motor connection are provided with gear-box, another output end and crank of the gear
Connection, is rotated by crank handle turns rocking bar, so as to realize rotation of the solar panels around hinge.
8. power transmission line unmanned self-checking unit according to claim 1, it is characterized in that, the ground base station leads to including ground
Letter equipment and surface-monitoring equipment, the surface-monitoring equipment are connected by ground communication facilities with the robot communication.
9. power transmission line unmanned self-checking unit according to claim 1, it is characterized in that, the both sides point of the robot body
Do not set by infrared distance measuring device, for monitoring distance of the front obstacle according to the crusing robot；The infrared distance measurement dress
Put including infrared emission unit and infrared receiver, the infrared emission unit and infrared receiver respectively with control device
Connection.
10. power transmission line unmanned self-checking unit according to claim 1, it is characterized in that, also set on the robot body
It is equipped with bird-resistant pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721158681.XU CN207134725U (en) | 2017-09-11 | 2017-09-11 | A kind of power transmission line unmanned self-checking unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721158681.XU CN207134725U (en) | 2017-09-11 | 2017-09-11 | A kind of power transmission line unmanned self-checking unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207134725U true CN207134725U (en) | 2018-03-23 |
Family
ID=61637956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721158681.XU Expired - Fee Related CN207134725U (en) | 2017-09-11 | 2017-09-11 | A kind of power transmission line unmanned self-checking unit |
Country Status (1)
| Country | Link |
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| CN (1) | CN207134725U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108418135A (en) * | 2018-03-29 | 2018-08-17 | 西南大学 | The inspection of transmission line of electricity oversheath and prosthetic device and method |
| CN108512119A (en) * | 2018-05-17 | 2018-09-07 | 安徽工业大学 | A kind of HV Transmission Line Routing Inspection robot |
| CN109607301A (en) * | 2019-01-06 | 2019-04-12 | 卢金树 | Smart grid inspection device carrying platform |
| CN114284938A (en) * | 2021-12-01 | 2022-04-05 | 国网浙江省电力有限公司温州供电公司 | Transmission line breeze vibration monitoring devices |
| CN114387699A (en) * | 2022-01-20 | 2022-04-22 | 汇海电工有限公司 | Iron tower inspection robot and working method thereof |
| CN114684342A (en) * | 2022-04-14 | 2022-07-01 | 国网浙江省电力有限公司宁波供电公司 | Long-distance and large-span power system line inspection robot |
| CN115482638A (en) * | 2022-08-08 | 2022-12-16 | 国网河南省电力公司长葛市供电公司 | External damage prevention monitoring and early warning system for high-voltage line |
-
2017
- 2017-09-11 CN CN201721158681.XU patent/CN207134725U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108418135A (en) * | 2018-03-29 | 2018-08-17 | 西南大学 | The inspection of transmission line of electricity oversheath and prosthetic device and method |
| CN108512119A (en) * | 2018-05-17 | 2018-09-07 | 安徽工业大学 | A kind of HV Transmission Line Routing Inspection robot |
| CN109607301A (en) * | 2019-01-06 | 2019-04-12 | 卢金树 | Smart grid inspection device carrying platform |
| CN114284938A (en) * | 2021-12-01 | 2022-04-05 | 国网浙江省电力有限公司温州供电公司 | Transmission line breeze vibration monitoring devices |
| CN114284938B (en) * | 2021-12-01 | 2023-09-08 | 国网浙江省电力有限公司温州供电公司 | Breeze vibration monitoring device for power transmission line |
| CN114387699A (en) * | 2022-01-20 | 2022-04-22 | 汇海电工有限公司 | Iron tower inspection robot and working method thereof |
| CN114684342A (en) * | 2022-04-14 | 2022-07-01 | 国网浙江省电力有限公司宁波供电公司 | Long-distance and large-span power system line inspection robot |
| CN114684342B (en) * | 2022-04-14 | 2023-09-29 | 国网浙江省电力有限公司宁波供电公司 | Line inspection robot for long-distance and long-span power system |
| CN115482638A (en) * | 2022-08-08 | 2022-12-16 | 国网河南省电力公司长葛市供电公司 | External damage prevention monitoring and early warning system for high-voltage line |
| CN115482638B (en) * | 2022-08-08 | 2023-08-18 | 国网河南省电力公司长葛市供电公司 | Monitoring and early warning system for preventing external force damage of high-voltage line |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180323 Termination date: 20180911 |
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| CF01 | Termination of patent right due to non-payment of annual fee |