CN209755191U - Intelligent inspection robot for transformer substation monitoring - Google Patents
Intelligent inspection robot for transformer substation monitoring Download PDFInfo
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- CN209755191U CN209755191U CN201822124789.8U CN201822124789U CN209755191U CN 209755191 U CN209755191 U CN 209755191U CN 201822124789 U CN201822124789 U CN 201822124789U CN 209755191 U CN209755191 U CN 209755191U
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Abstract
the utility model discloses an intelligent inspection robot for monitoring a transformer substation, which comprises a foundation, a guide rail, a conductive groove, a conductive pipe, an inspection robot main body, a base, a driving wheel, an extinguishing tank, a nozzle, a take-up motor, a processing host, a contact brush, a conduit, a data acquisition module, an Ethernet, a communication gateway and a background server, wherein the guide rail is laid on the surface of the foundation, and the guide rail is inside and outside two sets ofly, and electrically conductive groove is seted up on the surface of ground, and the bottom of patrolling and examining the robot main part is provided with the base, and the bottom of base is provided with the drive wheel, and moving mechanism is the same with current track robot moving mechanism, and the top of patrolling and examining the robot main part is provided with the fire extinguishing tank, and the left side wall of patrolling and examining the robot main part articulates there is the nozzle, and both sides all are fixed with and receive the line motor about the left side wall of patrolling and examining the robot main part, the utility model has the advantages of reasonable design, can reduce the input.
Description
Technical Field
The utility model relates to a transformer substation's control is patrolled and examined robot technical field with intelligence especially relates to a transformer substation's control is patrolled and examined robot with intelligence.
Background
the inspection robot for the power distribution room is an important measure for ensuring the safe operation of the power distribution room and equipment thereof. Aiming at safety inspection of power stations such as power distribution rooms and power distribution rooms, four inspection modes are mainly adopted at present, namely manual inspection recording, RFID inspection, microcomputer four-remote inspection and power station robot inspection.
1. Record of manual patrol
The power distribution room operation worker performs equipment inspection on the site, performs simple qualitative judgment on the operation equipment in a sensing way, and is mainly realized through senses such as seeing, touching, hearing and smelling. Whether the equipment leaks or not can be checked by looking at the equipment, whether the equipment parameters are normal or not can be checked, the light is turned off at night to check the light emitting and corona phenomena of the equipment, the insulation condition and the existence of discharge traces of the equipment can be checked, the snow melting and the rainwater evaporation condition on the conductor can be checked in rainy and snowy days, and whether the swinging condition among the search lines meets the requirement of the insulation distance or not can be checked in wind blowing; the vibration condition and the temperature rise change condition of the equipment are checked by touching the shell (such as a motor and a transformer) of the equipment, and are compared with accumulated experience, so that the running condition of the equipment is judged; the fault precursors of the running equipment are often expressed by the sound of discharge or vibration, so the hearing is often the key for finding the fault; when the insulation of the operating equipment is damaged, peculiar smell is often accompanied, so that the smell is also the key for judging the insulation of the operating equipment. The equipment has defects or hidden dangers, and people can find the defects or hidden dangers, but can not find the defects or hidden dangers, so that the defects or hidden dangers are related to the inspection equipment and the recording means adopted by inspection personnel, besides the great relation among the familiarity, the service level, the working experience, the attitude, the responsibility and the mental state of the inspection personnel to the equipment. In the past, qualitative state information such as defect inspection of power system equipment or routine inspection of equipment is recorded manually. Manual recording often results in incomplete recording and is easily lost. Especially, some serious defects cannot be reported and processed in time, so that serious accidents occur due to delayed processing, and unnecessary loss is caused. And the fault classification, the system analysis and the responsibility are not clear after the accident happens, so that the requirement for increasing power supply quality is difficult to meet.
2. RFID patrol
Aiming at the problems of low efficiency, inadequate routing inspection, poor real-time performance and the like of the traditional manual routing inspection, a remote power distribution room routing inspection robot based on RFID (radio frequency identification) and a mobile database is designed and developed, and a radio frequency tag is adopted to physically position routing inspection points of a power distribution room; the RFID technology is adopted to realize the identification of the inspection point location and the active triggering of the inspection content; and recording defect information and in-place conditions by using a mobile database, and realizing wireless transmission of data by combining a mobile database synchronous replication technology and utilizing a GPRS network. Practical application shows that the inspection robot has obvious effects on the aspects of ensuring the in-place of personnel, improving inspection efficiency, eliminating defects in time and the like. However, although the operating parameters of the equipment acquired by polling the power station by using the RFID are more objective and accurate, the labor intensity of the polling workers is also reduced, the maintenance personnel still need to work in a high-frequency and high-voltage environment for a long time, and still need to work in a high-risk harsh environment.
3. Microcomputer "four remote" monitoring
With the wide popularization of unattended substations, the traditional substation has four remote (remote measurement, remote signaling, remote control and remote regulation) functions, so that the accurate judgment of accident development after the accident is ignored to a certain extent, and the quick response capability of accident treatment is reduced. Once the transformer substation is abnormal, the dispatching personnel must inform the substation operation team (some operation teams) to arrive at the site to know the real situation, the accident and the equipment range, and then the substation operation team personnel report the dispatching personnel and the substation leader, and the substation organizes the maintenance team (or the maintenance company) to carry out first-aid repair. People cannot accurately know the site details or cannot master the site details at all without arriving at the substation, so that the time for removing defects is greatly delayed, and the electricity selling quantity and the service commitment of a power supply bureau are influenced. Therefore, the 'fifth remote' (remote vision) function is added to a plurality of substations, namely, cameras and various probes are installed in the substations, and the fire prevention and the theft prevention of the unattended substations and the visual conditions and the spread range of equipment operation, heating and accidents are transmitted to a dispatching station through channels such as telephone lines or optical fibers in the substations so as to facilitate the dispatching personnel to make correct decisions. However, the video acquisition is not realized and the four-remote function is integrated into a monitoring system, and the fire protection information such as the temperature and humidity of the power station is not acquired, so that the function of the inspection system is greatly limited.
The three power distribution room inspection schemes which are mainstream in the market at present have self defects, and aiming at the requirements of power station maintenance personnel, a comprehensive intelligent inspection system is developed to be beneficial to daily maintenance of a power station and ensure safe operation of a transformer substation and equipment thereof.
4. Traditional power station robot patrol
The traditional inspection robot for the transformer substation equipment can replace manpower to finish all inspection operations of the high-voltage transformer equipment of the transformer substation. The traditional transformer substation equipment inspection robot system inspects outdoor high-voltage equipment in an unattended or unattended transformer substation in an autonomous or remote control mode, and can timely find out abnormal phenomena of equipment such as thermal defects, foreign matter suspension and the like of power equipment. The system can automatically plan the global path in the transformer substation according to the task operation of an operator in a base station or a preset task, completes image inspection of transformer substation equipment, automatic identification of equipment instruments, infrared detection of primary equipment and the like through various carried sensors, records equipment information, and provides abnormal alarm. The operator can complete the equipment inspection work of the transformer substation only by the aid of the real-time data, the images and other information received by the background base station computer. Utilize traditional intelligent movement robot to accomplish patrolling and examining of power station equipment, can improve work efficiency and quality, really play the effect of subtracting the staff and increasing efficiency, can promote the unmanned on duty's of transformer substation process more fast. The problem of intelligent video monitoring and automatic infrared detection is solved to a great extent in the appearance of the traditional inspection robot, but the cost of the traditional inspection robot is higher and the inspection range is limited, which is not negligible, and the intelligent inspection robot for monitoring the transformer substation is provided.
SUMMERY OF THE UTILITY MODEL
The utility model provides a transformer substation is intelligent tour inspection robot for control, aim at can reduce the input of the manpower and materials of joining in marriage the electrical room and can monitor electrical equipment real-timely comprehensive again.
In order to realize the technical purpose, the technical effect is achieved, the utility model discloses a realize through following technical scheme:
An intelligent inspection robot for transformer substation monitoring comprises a foundation, guide rails, a conductive groove, a conductive tube, an inspection robot main body, a base, driving wheels, an extinguishing tank, a nozzle, a take-up motor, a processing host, a contact brush, a conduit, a data acquisition module, an Ethernet, a communication gateway and a background server, wherein the guide rails are laid on the surface of the foundation, the guide rails are divided into an inner group and an outer group, the conductive groove is formed in the surface of the foundation and is positioned between the inner group of guide rails and the outer group of guide rails, and the inspection robot main body is arranged on the guide rails;
The inspection robot comprises an inspection robot body and is characterized in that a base is arranged at the bottom of the inspection robot body, driving wheels are arranged at the bottom of the base, a moving mechanism of the inspection robot body is formed by combining the driving wheels and the base, the moving mechanism is the same as an existing track robot moving mechanism, an extinguishing tank is arranged at the top of the inspection robot body, a nozzle is hinged to the left side wall of the inspection robot body, the nozzle is communicated with the output end of the extinguishing tank through a guide pipe, wire take-up motors are fixed to the upper side and the lower side of the left side wall of the inspection robot body and are symmetrically distributed on the upper side and the lower side of the nozzle, a pull cable is fixedly connected to the driving end of each wire take-up motor, the movable end of each pull cable is fixed to the nozzle;
The inspection robot comprises a base, a conductive groove, a contact brush, a wire pipe, a contact brush, a wire guide and a power transmission device, wherein the conductive pipe is arranged in an inner cavity of the conductive groove, a movable groove is formed in the top of the conductive pipe, the contact brush is matched with the conductive pipe, the top of the contact brush is fixedly connected with the bottom of the base, the wire pipe is connected with the external power transmission device, the contact brush is electrically connected with an inspection robot main body through a wire, and the wire;
The processing host is electrically connected with the data acquisition module, the processing host is in signal connection with the Ethernet, the Ethernet is in signal connection with the communication gateway, and the communication gateway is electrically connected with the background server.
Preferably, in the intelligent inspection robot for monitoring a substation, the conductive groove is laid in the same shape as the guide rail.
Based on above-mentioned technical characteristics, through this kind of design, can be convenient for patrol and examine the robot main part and when moving along the guide rail and patrol and examine, can guarantee that the conduit drives contact brush and can keep moving in the conduit all the time, and contact brush and conduit contact, can be convenient for continuously supply power for patrolling and examining the robot main part.
Preferably, in the intelligent inspection robot for monitoring the transformer substation, a limiting sliding block matched with the conductive groove is arranged at the joint of the conduit and the conductive groove.
Based on above-mentioned technical characteristic, can keep the stability of wire conduit through spacing slider.
Preferably, in the intelligent inspection robot for monitoring the transformer substation, the inner cavity at one end, close to the surface of the foundation, of the conductive groove is subjected to smoothing treatment.
based on the technical characteristics, the friction force between the limiting slide block and the conductive groove can be reduced through the smoothing treatment, and the protective effect on the conductive groove is improved.
Preferably, in the above-mentioned transformer substation control is with intelligence inspection robot, the information acquisition module should contain with install the entrance guard controller on the transformer substation door, carry out the sensor information acquisition module that detects to the cable, carry out the environmental monitoring unit that detects to the transformer substation environment, zigBee receiver and distribution install inside and around the transformer substation the web camera, sensor information acquisition module includes bus temperature measurement monitoring sensor and cable temperature measurement monitoring sensor, the environmental monitoring unit includes temperature and humidity sensor, level sensor, infrared detector, smoke detector and temperature sensor, the web camera is the controllable camera of network type.
Based on the technical characteristics, the access controller with the Ethernet is adopted, the opening and closing state of the access can be sent to the background server, and can be remotely controlled by the background server, aiming at video monitoring, a network type controllable camera is adopted, the camera can be directly connected to a switch through the Ethernet and then is communicated with the background monitoring, on one hand, the collected video information can be transmitted to the background in real time, the monitoring angle can be timely converted under the control of the background, the bus temperature measurement monitoring sensor and the cable temperature measurement monitoring sensor in the sensor information acquisition module respectively monitor the bus temperature and the cable temperature, and the surrounding environment of the transformer substation can be monitored through the temperature and humidity sensor, the water level sensor, the infrared detector, the smoke detector and the temperature sensor in the environment monitoring unit, through bus temperature measurement monitoring, cable temperature measurement monitoring, environment monitoring, security protection monitoring and the like, the detection and equipment control of each data of the power environment are realized, the optimization of the power environment is realized, and the occurrence of faults is avoided.
preferably, in the intelligent inspection robot for monitoring the transformer substation, the inspection robot main body shell is made of a material with a cabinet protection grade of more than IP 30.
Based on the technical characteristics, the method can meet the national use standard.
Preferably, in the intelligent inspection robot for monitoring the transformer substation, the two groups of take-up motors are synchronous motors with the same rotating speed, and the rotating directions of the take-up motors are opposite.
based on above-mentioned technical characteristic, through the rotation of two sets of receipts line motors, can carry out the rolling and relax the effect to the cable, the angle that rethread cable can be to the nozzle is adjusted the effect.
the utility model has the advantages that:
The utility model has the advantages of reasonable design, it is first: the investment of manpower and material resources of the power distribution room can be reduced, the electrical equipment can be comprehensively monitored in real time, and the early-stage investment cost of the equipment is reduced;
Secondly, the method comprises the following steps: man-machine interaction can be carried out, so that the use by a user can be facilitated;
Thirdly, the method comprises the following steps: the inspection robot main body moves along the laid guide rails, so that the inspection robot main body can be prevented from colliding with equipment in a transformer substation, and the use safety of the inspection robot main body is improved;
fourthly: through the cooperation use of contact brush and contact tube, can need not to change the battery to patrolling and examining the robot main part regularly, can reduce and patrol and examine the robot main part and appear the not enough situation of electric power.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention;
Fig. 2 is a schematic structural view of the main body of the inspection robot of the utility model;
Fig. 3 is an enlarged schematic view of the structure of the part a in fig. 2 according to the present invention;
FIG. 4 is a schematic block diagram of a control system of the present invention;
In the drawings, the components represented by the respective reference numerals are listed below:
the system comprises a foundation 1, a guide rail 2, a conductive groove 3, a conductive pipe 301, a inspection robot main body 4, a base 401, a driving wheel 402, a fire extinguishing tank 403, a nozzle 404, a wire take-up motor 405, a processing host 406, a contact brush 5, a wire conduit 6, a data acquisition module 7, an Ethernet 8, a communication gateway 9 and a background server 10.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1-4, the present embodiment is an intelligent inspection robot for monitoring a substation, including a foundation 1, a guide rail 2, a conductive groove 3, a conductive pipe 301, an inspection robot main body 4, a base 401, a driving wheel 402, an extinguishing tank 403, a nozzle 404, a take-up motor 405, a processing host 406, a contact brush 5, a conduit 6, a data acquisition module 7, an ethernet 8, a communication gateway 9, and a background server 10.
Foundation 1: and the device and the transformer substation are supported for the transformer substation foundation.
The guide rail 2: the robot main part 4 that leads limiting displacement is carried out patrolling and examining, and the robot main part 4 that patrols and examines moves along the guide rail 2 of laying, can avoid patrolling and examining the equipment bump in robot main part 4 and the transformer substation, improves the safety in utilization of patrolling and examining robot main part 4.
Conductive groove 3: for supplying power to the inspection robot main body 4 and restricting the movement of the wire conduit 6.
Conductive tube 301: used for supplying power for the inspection robot main body 4.
the inspection robot main body 4: the structure the same as that of the traditional guide rail robot can be adopted, and the research and development cost is reduced.
Base 401: the driving mechanism is used for fixedly mounting and protecting the driving mechanism.
Driving wheel 402: for cooperating with the guide rail 2 so that the inspection robot main body 4 moves on the guide rail 3.
Fire extinguishing tank 403: for storing material for electrical fire extinguishing, and for supplying fire extinguishing material to the nozzles in the event of a fire.
Nozzle 404: the nozzle 404 is provided with a solenoid valve, and the nozzle 404 can spray the fire extinguishing material to perform a fire extinguishing function.
A take-up motor 405: through the rotation of two sets of receipts line motors 405, can carry out the rolling and relax the effect to the cable, the rethread cable can be to the angle of nozzle 404 effect of adjusting.
The processing host 406: and the system is used for collecting and summarizing the information of the transformer substation and transmitting the information to the background server 10 through the ethernet.
Contact brush 5: the contact brush 5 moves along with the inspection robot main body 4 through the conduit 6, and the contact brush 5 is engaged with the conduit 301 to achieve a power transmission effect on the inspection robot main body 4.
the conduit 6: for protecting the wire and for moving the contact brush 5.
The data acquisition module 7: the method is used for collecting information in the transformer substation.
ethernet 8: as a transfer tool for information transfer.
The communication gateway 9: the communication gateway 9 is a communication manager generally, and a GPRS module and a serial server are adopted to remotely transmit environmental parameters to a mobile phone client or a computer client according to the requirements of users.
The background server 10: the method is used for analyzing and processing the data transmitted by the transformer substation by a manager.
The utility model relates to a concrete implementation, when using, the inspection robot main body 4 inspects the equipment in the transformer substation along the guide rail 2, when catching fire, the inspection robot main body 4 can be conveniently moved to the fire extinguishing position, the stay cable can be wound and loosened through the rotation of the two groups of take-up motors 405, the angle of the nozzle 404 can be adjusted through the stay cable, the fire extinguishing tank 403 can convey the fire extinguishing material to the nozzle 404 through the guide pipe by opening the electromagnetic valve on the nozzle 404, then the fire extinguishing material is ejected by the nozzle 404, the equipment in the transformer substation is extinguished, when the inspection robot main body 4 moves on the guide rail 2, the contact brush 5 moves in the inner cavity of the conductive pipe 301 in the conductive groove 3, the contact brush 5 is always contacted with the side wall of the inner cavity of the conductive pipe 301, the power supply function is carried out to the inspection robot main body 4 through the lead wire connected with the contact brush 5, the inspection robot main body 4 collects monitoring data through the data collection module 7, the collected data are transmitted to the communication gateway 9 through the Ethernet 8, the communication gateway 9 is transmitted to the background server 10, and managers process and analyze the information through the background server 10.
in the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not exhaustive and do not limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. The utility model provides a transformer substation is monitored and is patrolled and examined robot with intelligence which characterized in that: the intelligent inspection robot comprises a foundation, guide rails, conductive grooves, conductive pipes, an inspection robot main body, a base, driving wheels, an extinguishing tank, a nozzle, a take-up motor, a processing host, a contact brush, a conduit, a data acquisition module, an Ethernet, a communication gateway and a background server, wherein the guide rails are laid on the surface of the foundation, the guide rails are divided into an inner group and an outer group, the conductive grooves are formed in the surface of the foundation and are positioned between the inner group of guide rails and the outer group of guide rails, and the inspection robot main body is arranged on the guide rails;
The inspection robot comprises an inspection robot body and is characterized in that a base is arranged at the bottom of the inspection robot body, driving wheels are arranged at the bottom of the base, a moving mechanism of the inspection robot body is formed by combining the driving wheels and the base, the moving mechanism is the same as an existing track robot moving mechanism, an extinguishing tank is arranged at the top of the inspection robot body, a nozzle is hinged to the left side wall of the inspection robot body, the nozzle is communicated with the output end of the extinguishing tank through a guide pipe, wire take-up motors are fixed to the upper side and the lower side of the left side wall of the inspection robot body and are symmetrically distributed on the upper side and the lower side of the nozzle, a pull cable is fixedly connected to the driving end of each wire take-up motor, the movable end of each pull cable is fixed to the nozzle;
The inspection robot comprises a base, a conductive groove, a contact brush, a wire pipe, a contact brush, a wire guide and a power transmission device, wherein the conductive pipe is arranged in an inner cavity of the conductive groove, a movable groove is formed in the top of the conductive pipe, the contact brush is matched with the conductive pipe, the top of the contact brush is fixedly connected with the bottom of the base, the wire pipe is connected with the external power transmission device, the contact brush is electrically connected with an inspection robot main body through a wire, and the wire;
The processing host is electrically connected with the data acquisition module, the processing host is in signal connection with the Ethernet, the Ethernet is in signal connection with the communication gateway, and the communication gateway is electrically connected with the background server.
2. The intelligent inspection robot for monitoring the transformer substation according to claim 1, characterized in that: the laying shape of the conductive groove is the same as that of the guide rail.
3. the intelligent inspection robot for monitoring the transformer substation according to claim 1, characterized in that: and a limiting sliding block matched with the conductive groove is arranged at the joint of the conduit and the conductive groove.
4. The intelligent inspection robot for monitoring the transformer substation according to claim 1, characterized in that: and an inner cavity at one end of the conductive groove close to the surface of the foundation is subjected to smoothing treatment.
5. The intelligent inspection robot for monitoring the transformer substation according to claim 1, characterized in that: the information acquisition module should contain and install the entrance guard controller on the transformer substation door, carry out the sensor information acquisition module that detects to the cable, carry out the environment monitoring unit that detects to the transformer substation environment, zigBee receiver and the distribution install inside and the network camera on every side at the transformer substation, sensor information acquisition module includes generating line temperature measurement monitoring sensor and cable temperature measurement monitoring sensor, the environment monitoring unit includes temperature and humidity sensor, level sensor, infrared detector, smoke detector and temperature sensor, the network camera is the controllable camera of network type.
6. The intelligent inspection robot for monitoring the transformer substation according to claim 1, characterized in that: the inspection robot main body shell is made of a material with a cabinet body protection grade higher than IP 30.
7. the intelligent inspection robot for monitoring the transformer substation according to claim 1, characterized in that: the two groups of take-up motors are synchronous motors with the same rotating speed, and the rotating directions of the take-up motors are opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822124789.8U CN209755191U (en) | 2018-12-18 | 2018-12-18 | Intelligent inspection robot for transformer substation monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822124789.8U CN209755191U (en) | 2018-12-18 | 2018-12-18 | Intelligent inspection robot for transformer substation monitoring |
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| CN209755191U true CN209755191U (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822124789.8U Expired - Fee Related CN209755191U (en) | 2018-12-18 | 2018-12-18 | Intelligent inspection robot for transformer substation monitoring |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112014774A (en) * | 2020-03-26 | 2020-12-01 | 中国铁建电气化局集团第二工程有限公司 | Transformer fault inspection system and method based on sound processing |
| CN112636225A (en) * | 2020-10-30 | 2021-04-09 | 国网河北省电力有限公司检修分公司 | High voltage substation is with patrolling and examining monitoring facilities |
| CN113977598A (en) * | 2021-10-25 | 2022-01-28 | 国网山东省电力公司商河县供电公司 | Video inspection device for closed screen cabinet |
| CN114217551A (en) * | 2021-11-30 | 2022-03-22 | 郑州博创电气设备有限公司 | Portable vacuum circuit breaker mechanical characteristic online monitoring device and use method thereof |
| WO2022105360A1 (en) * | 2020-11-23 | 2022-05-27 | 山东建筑大学 | Storage and retrieval management guiding system for steel pipe warehouse, and ground rail type inspection robot |
| CN114783075A (en) * | 2022-04-26 | 2022-07-22 | 枣庄学院 | Be used for business administration attendance equipment of checking card |
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2018
- 2018-12-18 CN CN201822124789.8U patent/CN209755191U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112014774A (en) * | 2020-03-26 | 2020-12-01 | 中国铁建电气化局集团第二工程有限公司 | Transformer fault inspection system and method based on sound processing |
| CN112636225A (en) * | 2020-10-30 | 2021-04-09 | 国网河北省电力有限公司检修分公司 | High voltage substation is with patrolling and examining monitoring facilities |
| WO2022105360A1 (en) * | 2020-11-23 | 2022-05-27 | 山东建筑大学 | Storage and retrieval management guiding system for steel pipe warehouse, and ground rail type inspection robot |
| CN113977598A (en) * | 2021-10-25 | 2022-01-28 | 国网山东省电力公司商河县供电公司 | Video inspection device for closed screen cabinet |
| CN113977598B (en) * | 2021-10-25 | 2023-09-29 | 国网山东省电力公司商河县供电公司 | Video inspection device for airtight screen cabinet |
| CN114217551A (en) * | 2021-11-30 | 2022-03-22 | 郑州博创电气设备有限公司 | Portable vacuum circuit breaker mechanical characteristic online monitoring device and use method thereof |
| CN114217551B (en) * | 2021-11-30 | 2024-03-08 | 郑州博创电气设备有限公司 | Portable vacuum circuit breaker mechanical property on-line monitoring device and use method thereof |
| CN114783075A (en) * | 2022-04-26 | 2022-07-22 | 枣庄学院 | Be used for business administration attendance equipment of checking card |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191210 Termination date: 20201218 |
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| CF01 | Termination of patent right due to non-payment of annual fee |