CN101728803A - Robot for de-icing of power transmission lines - Google Patents
Robot for de-icing of power transmission lines Download PDFInfo
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- CN101728803A CN101728803A CN200910273509A CN200910273509A CN101728803A CN 101728803 A CN101728803 A CN 101728803A CN 200910273509 A CN200910273509 A CN 200910273509A CN 200910273509 A CN200910273509 A CN 200910273509A CN 101728803 A CN101728803 A CN 101728803A
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Abstract
The invention relates to a troubleshooting device for high-voltage power transmission lines, in particular to a robot for de-icing of the power transmission lines. The robot is creatively provided with a de-icing mechanism on a front arm, the de-icing mechanism is connected on the front arm through a lifting mechanism, the action of the de-icing mechanism is to carry out the de-icing through the rotation of a de-icing knife and the extrusion of a plurality of the power transmission lines by a walking mechanism and a pressing mechanism during the process that the robot walks along the power transmission lines, and the robot can automatically cross barriers without the need of manual handling, thereby having the advantages of good de-icing effect, high efficiency, wide range of applications and high safety factor.
Description
Technical field
The present invention relates to a kind of high voltage transmission line apparatus for examination and repair, particularly a kind of robot that is used for de-icing of power transmission lines.
Background technology
In the most of area of China, a large amount of snowfalls is arranged every year, cause on the power transmission line of a large amount of ultra-high-tension power transmission lines and form icing, these icing have caused serious harm for the cable and the shaft tower of ultra-high-tension power transmission line, particularly in recent years, the icing of ultra-high-tension power transmission line had caused that cable breakage and shaft tower collapsed etc., caused large-area power failure, the safe and stable operation of serious threat electrical network has caused loss great for economic construction of China and the people's life.
Artificial de-icing method is also adopted in domestic powerline ice-covering removing work at present mostly, adopt the mode deicing of manually knocking with excellent rod, need more personnel's inputs and resources input like this and do not reach needed efficient, also be difficult to ensure deicing personnel's life security.Perhaps adopt the method for high-voltage line ice-melt, but high-voltage line ice-melt consumes energy too, and the energy consumption of application machine method deicing is much smaller than great current deicing.Great current deicing method efficient is higher, but costly, and complicated operation has considerable influence to system safety.The patent No. is: 200410061316.8, name is called: a kind of robot of travelling along aerial high-voltage power transmission line of being used for, the applying date is: the maintenance dress robot that has put down in writing a kind of high voltage transmission line in the patent of invention of 2004.12.10, but it does not possess the function of deicing, the present invention is improved based on it.
Summary of the invention
The object of the present invention is to provide a kind of deicing robot of transmission line, can remove the icing on one grade of circuit of transmission line easily and fast, solve the problem that high-tension line works the mischief because of ice covering on transmission lines is overweight.
The technical scheme that realizes the object of the invention is: have elevating mechanism to place in the forearm, this elevating mechanism comprises the elevating mechanism support, elevating mechanism screw mandrel that matches and elevating mechanism nut, and second drive motors that drives the elevating mechanism screw mandrel, one side of forearm is furnished with deicing mechanism, this deicing mechanism has a pair of skates that remove, two remove the skates inwall is connected to corresponding removing on the skates body by bearing, the bottom is connected with center of gravity governor motion nut, this center of gravity governor motion nut drives by being arranged in intrinsic the 7th drive motors of deicing mechanism, two deicing mechanism bodies are connected in the both sides of a forward lead screw respectively by the deicing mechanism nut, forward lead screw is driven by first drive motors, and deicing mechanism is connected with the elevating mechanism nut by connecting plate.
And also has hold-down mechanism with the walking mechanism cooperating in forearm and the postbrachium, this hold-down mechanism comprises a hold-down mechanism screw mandrel, the hold-down mechanism nut that cooperates with the hold-down mechanism screw mandrel, hold-down mechanism slide block one end is connected the other end and is connected with the hold-down mechanism nut by elastic part with the contact roller support, contact roller is bearing on this contact roller support, and the hold-down mechanism screw mandrel is driven by the 6th drive motors.
And also has telescoping mechanism between forearm, postbrachium and the slew gear, this telescoping mechanism comprises telescoping mechanism swing arm, telescoping mechanism screw mandrel, telescoping mechanism nut that cooperates with the telescoping mechanism screw mandrel and the 3rd drive motors that drives this telescoping mechanism screw mandrel, telescoping mechanism swing arm top is connected with the telescoping mechanism screw mandrel, the bottom be connected slew gear on.
And described slew gear comprises slew gear body, worm gear fixed axis, is connected the worm gear of worm gear fixed axis bottom and the worm screw that cooperates with worm gear, and the slew gear body is connected on the slide unit of slide mechanism.
And described slide mechanism comprises the slide mechanism body, be arranged on the fixed pulley at slide mechanism body two ends and be arranged on slide mechanism screw mandrel on the slide mechanism body, slide mechanism driving-belt with driving-belt joint is arranged on two fixed pulleys, slide mechanism nut one side cooperates with the slide mechanism screw mandrel, the other end is connected with the slide mechanism driving-belt, two slide units are connected with slide mechanism nut and driving-belt joint respectively, and the slide mechanism screw mandrel is by the moving motor-driven of 4 wheel driven.
And described center of gravity governor motion comprises center of gravity governor motion body, be arranged on the center of gravity governor motion screw mandrel on the center of gravity governor motion body, the center of gravity governor motion nut that cooperates with center of gravity governor motion screw mandrel and be connected balancing weight on the center of gravity governor motion nut, center of gravity governor motion screw mandrel is driven by the 5th drive motors.
The invention has the advantages that: 1. deicing is effective, the efficient height, and the coefficient of safety height can not damage power transmission line.2. widely applicable, go for the power transmission line of different model and the icing of different-thickness.3. the energy crossing obstacle automatically need not a dead lift.
Figure of description
Fig. 1 is a kind of front view that is used for the robot of de-icing of power transmission lines.
Fig. 2 is the half sectional view of left view.
Fig. 3 is the structural representation of slide mechanism and center of gravity governor motion.
Fig. 4 is the structural representation of slide mechanism.
Fig. 5 is the structural representation of walking mechanism.
Fig. 6 is the structural representation of forearm.
Fig. 7 is the structural representation of clip claw mechanism and elevating mechanism.
Fig. 8 is the structural representation of hold-down mechanism.
Fig. 9 is the structural representation of deicing mechanism.
Figure 10 is the cutaway view of deicing mechanism left view.
Figure 11 is the vertical view that removes skates.
Embodiment
Among the figure: 1. deicing mechanism; 2. connecting plate; 3. elevating mechanism; 4. forearm; 5. postbrachium; 6. slew gear; 7. slide mechanism; 8. center of gravity governor motion; 9 walking mechanisms; 10. clip claw mechanism; 11 telescoping mechanisms; 12 hold-down mechanisms; 13 power transmission lines;
101 forward lead screw; 102 deicing mechanism nuts; 103 first drive motors; 104 deicing mechanism bodies; 105 remove skates; 106 deicing mechanism prothecas; 107 the 7th drive motors; 301 elevating mechanism supports; 302 elevating mechanism screw mandrels; 303 elevating mechanism nuts; 304 second drive motors; 601 slew gear bodies; 602 worm gears; 603 worm screws; 604 worm gear fixed axis; 605 the 8th drive motors; 701 slide mechanism bodies; 702 slide mechanism screw mandrels; 703 slide mechanism nuts; 704 4 wheel drivens move motor; 705 slide mechanism driving-belts; 706 fixed pulleys; 707 driving-belts joint; 708 slide units; 801 center of gravity governor motion bodies; 802 center of gravity governor motion screw mandrels; 803. center of gravity governor motion nut; 804 balancing weights; 805 the 5th drive motors; 1101 telescoping mechanism swing arms; 1102 telescoping mechanism screw mandrels; 1103 telescoping mechanism nuts; 1104 the 3rd drive motors; 1201 contact roller supports; 1202 contact rollers; 1203 hold-down mechanism nuts; 1204 hold-down mechanism screw mandrels; 1205 hold-down mechanism slide blocks; 1206 the 6th drive motors;
Referring to Fig. 1～11, the present invention will be further described below with reference to embodiment.The present invention relates to a kind of high voltage transmission line apparatus for examination and repair, particularly a kind of robot that is used for de-icing of power transmission lines, comprise a pair of mechanical arm that moves along power transmission line (forearm 4, postbrachium 5), the lower end of forearm 4 and postbrachium 5 is connected in respectively on the slide mechanism 7 that can change forearm 4 and postbrachium 5 relative distances by slew gear 6, slide mechanism 7 bottoms are furnished with center of gravity governor motion 8, forearm 4 is terminal actuator with the top of postbrachium 5, has the clip claw mechanism 10 that a walking mechanism 9 and can the grasping power transmission lines, it is characterized in that: have elevating mechanism 3 to place in the forearm 4, this elevating mechanism comprises elevating mechanism support 301, the elevating mechanism screw mandrel 302 and the elevating mechanism nut 303 that match, and second drive motors 304 that drives the elevating mechanism screw mandrel, one side of forearm 4 is furnished with deicing mechanism 1, this deicing mechanism 1 has a pair of skates 105 that remove, two remove skates 105 inwalls is connected on the corresponding deicing mechanism body 104 by bearing, the bottom is connected with deicing mechanism protheca 106, this deicing mechanism protheca 106 drives 107 by the 7th drive motors that is arranged in the deicing mechanism body 104, two deicing mechanism bodies 104 are connected in the both sides of a forward lead screw 101 respectively by deicing mechanism nut 102, forward lead screw 101 is driven by first drive motors 103, and deicing mechanism is connected with the elevating mechanism nut by connecting plate.
Two remove skates 105 inwalls is connected on the corresponding deicing mechanism body 104 by bearing, the bottom is connected with deicing mechanism protheca 106, this deicing mechanism protheca 106 is driven by the 7th drive motors 107, power conducts to except that skates 105, two remove skates 105 by deicing mechanism protheca 106 and passes through rotation to power transmission line 13 deicing.Two deicing mechanism bodies 104 are connected in the both sides of a forward lead screw 101 respectively by deicing mechanism nut 102, these forward lead screw 101 both sides rotation directions drive on the contrary and by first drive motors 103, when 103 work of first drive motors, forward lead screw 101 begins rotation, deicing mechanism nut 102 with matching drives the deicing mechanism body 104 that connects on it respectively and moves round about, thereby realizes that two remove opening and closing up action of skates 105.Two remove the adjustable gaps of skates 105, can adapt to the icing of various models different power transmission line 13 and different-thickness, and deicing is effective.Deicing mechanism protheca 106 is taken off and can change the corresponding skates 105 that remove according to the model of power transmission line 13, widely applicable.
And also has hold-down mechanism 12 with walking mechanism 9 cooperatings in forearm 4 and the postbrachium 5, this hold-down mechanism 12 comprises a hold-down mechanism screw mandrel 1204, the hold-down mechanism nut 1203 that cooperates with hold-down mechanism screw mandrel 1204, hold-down mechanism slide block 1,205 one ends are connected the other end and are connected with hold-down mechanism nut 1203 by elastic part with contact roller support 1201, contact roller 1202 is bearing on this contact roller support 1201, and hold-down mechanism screw mandrel 1204 is driven by the 6th drive motors 1206.
Hold-down mechanism screw mandrel 1204 is driven by the 6th drive motors 1206, by 1204 transmissions of hold-down mechanism screw mandrel, hold-down mechanism nut 1203 moves along the guide rail straight line on the forward and backward arm (4,5) with contact roller 1202, realize on the mechanical arm hold-down mechanism 12 compress action, the road wheel of contact roller 1202 and walking mechanism 9 can push deicing with power transmission line 13 clampings when robot ambulation.
Further technical scheme can be also to have telescoping mechanism 11 between forearm 4, postbrachium 5 and the slew gear 6, this telescoping mechanism 11 comprises telescoping mechanism swing arm 1101, telescoping mechanism screw mandrel 1102, telescoping mechanism nut 1103 that cooperates with telescoping mechanism screw mandrel 1102 and the 3rd drive motors 1104 that drives this telescoping mechanism screw mandrel 1102, telescoping mechanism swing arm 1101 tops are connected with telescoping mechanism screw mandrel 1102, the bottom be connected slew gear 6 on.
And described slew gear 6 comprises slew gear body 601, worm gear fixed axis 604, is connected the worm gear 602 of worm gear fixed axis 604 bottoms and the worm screw 603 that cooperates with worm gear 602, and slew gear body 601 is connected on the slide unit 708 of slide mechanism 7.
Further technical scheme also can be that described slide mechanism 7 comprises slide mechanism body 701, be arranged on the fixed pulley 706 at slide mechanism body 701 two ends and be arranged on slide mechanism screw mandrel 702 on the slide mechanism body 701, slide mechanism driving-belt 705 with driving-belt joint 707 is arranged on two fixed pulleys 706, slide mechanism nut 703 1 sides cooperate with slide mechanism screw mandrel 702, the other end is connected with slide mechanism driving-belt 705, two slide units 708 are connected with slide mechanism nut 703 and driving-belt joint 707 respectively, and slide mechanism screw mandrel 702 is driven by the moving motor 704 of 4 wheel driven.
Because walking, jaw, flexible, revolution and slide mechanism (9,10,11,6,7) prior art be write up, here just do not give unnecessary details its drive connection and operation principle, see also the patent No. is if needed: 200410061316.8, name is called: a kind of robot of travelling along aerial high-voltage power transmission line of being used for, the applying date is: the 2nd～5 page of specification in the specification authorized in the patent of invention authorization of 2004.12.10.
Further technical scheme can also be that described center of gravity governor motion 8 comprises center of gravity governor motion body 801, be arranged on the center of gravity governor motion screw mandrel 802 on the center of gravity governor motion body 801, the center of gravity governor motion nut 803 that cooperates with center of gravity governor motion screw mandrel 802 and be connected balancing weight 804 on the center of gravity governor motion nut 803, center of gravity governor motion screw mandrel 802 is driven by the 5th drive motors 805.
Because center of gravity governor motion 8 prior aries are described in detail, here just do not give unnecessary details its drive connection and operation principle, see also the patent No. is if needed: 200810048756.8, name is called: robot, the applying date is: in the application for a patent for invention prospectus of 2008.8.11 the 7th～8 page of specification.
One, straight line ice detachment.
The road wheel of walking mechanism 9 hangs on the power transmission line 13 on the forearm 4 of robot, the postbrachium 5, hold-down mechanism 12 on the forearm 4 compresses and makes contact roller 1202 cooperate the road wheel of walking mechanism 9 on the forearm 4 to compress power transmission line 13, certain thrust is provided, adjust deicing mechanism 1 and slide mechanism 7, make two to remove skates 105 and close up, remove between the skates 105 in the groove two power transmission line 13 positions, and leave certain interval, and two remove not contact between skates 105 upper knife edges; Clip claw mechanism 10 unclamps, road wheel motor on the forearm 4 rotates drive entire machine people and moves forward along power transmission line 13, the 7th drive motors 107 rotates, and removes skates 105 rotations and cooperates moving ahead of robot, most icing on the power transmission line 13 in removing robot the place ahead; Owing to power transmission line 13 with except that between the skates 105 certain safety clearance is arranged, have the sub-fraction icing not to be eliminated, by the icing of the removing of the extruding between road wheel on the forearm 4 and the contact roller 1202.
Two, obstacle detouring ice detachment.
Robot moves ahead after deicing runs into barrier along power transmission line 13, the stall of walking mechanism motor, robot halts, and the clip claw mechanism on the forearm 4 10 clamps power transmission line 13 then, make forearm 4 be fixed on the power transmission line 13, make forearm 4 and postbrachium 5 draw in by slide mechanism 7; Hold-down mechanism 12 on the postbrachium 5 is done and is compressed action, and the driving wheel of walking mechanism 9 and contact roller 1202 compress power transmission line, and clip claw mechanism 10 clamps, forearm 4 upper gripper jaw mechanisms 10 open, hold-down mechanism 12 unclamps, and the contact roller 1202 on the forearm 4 drops to minimum, and postbrachium 5 is fixed on the power transmission line 13.
Deicing mechanism 1 opens, and elevating mechanism 3 rises, and telescoping mechanism 11 motions on the forearm 4 make jaw, road wheel and deicing mechanism 1 on the forearm 4 rise to power transmission line 13 tops and break away from power transmission line 13 fully; The slew gear 6 Rotate 180 degree that forearm 4 connects make forearm 4 deviate from power transmission line; Slide mechanism 7 moves once more and makes forearm 4 away from postbrachium 5, clears the jumps until forearm 4.If the barrier broad need rotate to an angle the slew gear 6 of postbrachium 5, can not disturbed when guaranteeing forearm 4 obstacle detourings by barrier.
Slew gear 6 revolutions that forearm 4 connects cooperate telescoping mechanism 11 and slew gear 6 on the postbrachium 5, make road wheel, jaw and deicing mechanism 1 on the forearm 4 above power transmission line 13, and contact roller 1202 is below power transmission line 13; Deicing mechanism 1 begins rotation and prepares deicing, and elevating mechanism 3 moves downward, and cooperates deicing mechanism 1 to draw in, makes the position of power transmission line 13 at two grooves that remove between the skates 105.
Deicing mechanism 1 opens, elevating mechanism 1 rises and cooperates the retraction of telescoping mechanism 11 on the forearm 4, make road wheel drop on the power transmission line 13, hold-down mechanism 12 compresses, make contact roller 1202 compress power transmission line 13, clip claw mechanism 10 clamps, and the clip claw mechanism 10 of postbrachium 5 unclamps, hold-down mechanism 12 unclamps, and forearm 4 is fixed on the power transmission line 13; By the hold-down mechanism on the postbrachium 5 12, telescoping mechanism 11 and 6 actions of the slew gear that is connected with postbrachium 5, make postbrachium 5 deviate from power transmission line 13; By slide mechanism 7 motions postbrachium 5 is drawn in to forearm 4, surmount obstacles; Motion by the telescoping mechanism on the postbrachium 5 11, hold-down mechanism 12 and slew gear 6 moves to the road wheel on the postbrachium 5 on the power transmission line 13; Clip claw mechanism 10 on the forearm 4 opens, and deicing mechanism 1 closes up 3 adjustings of cooperation elevating mechanism makes two to remove skates 105 arrival with respect to the position of power transmission line 13 in the straight line deicing; The walking mechanism that is connected with forearm 4 is rotated, and robot continues deicing forward; Robot proceeds the straight line deicing after clearing the jumps.
Center of gravity governor motion 8 is regulated the robot center of gravity in the whole obstacle detouring process in two arms (4,5) obstacle detouring process, thereby guarantees robot held stationary in the obstacle detouring process.
Claims (6)
1. robot that is used for de-icing of power transmission lines, comprise a pair of mechanical arm (forearm that moves along power transmission line, postbrachium), the lower end of forearm and postbrachium is connected in respectively on the slide mechanism that can change forearm and postbrachium relative distance by slew gear, the slide mechanism bottom is furnished with the center of gravity governor motion, the top of forearm and postbrachium is terminal actuator, has the clip claw mechanism that a walking mechanism and can the grasping power transmission lines, it is characterized in that: have elevating mechanism to place in the forearm, this elevating mechanism comprises the elevating mechanism support, elevating mechanism screw mandrel that matches and elevating mechanism nut, and second drive motors that drives the elevating mechanism screw mandrel, one side of forearm is furnished with deicing mechanism, this deicing mechanism has a pair of skates that remove, two remove the skates inwall is connected on the corresponding deicing mechanism body by bearing, the bottom is connected with center of gravity governor motion nut, this center of gravity governor motion nut is by being arranged in except that intrinsic the 7th drive motors driving of skates, two deicing mechanism bodies are connected in the both sides of a forward lead screw respectively by the deicing mechanism nut, forward lead screw is driven by first drive motors, and deicing mechanism is connected with the elevating mechanism nut by connecting plate.
2. a kind of robot that is used for de-icing of power transmission lines according to claim 1, it is characterized in that: also have hold-down mechanism in forearm and the postbrachium with the walking mechanism cooperating, this hold-down mechanism comprises a hold-down mechanism screw mandrel, the hold-down mechanism nut that cooperates with the hold-down mechanism screw mandrel, hold-down mechanism slide block one end is connected the other end and is connected with the hold-down mechanism nut by elastic part with the contact roller support, contact roller is bearing on this contact roller support, and the hold-down mechanism screw mandrel is driven by the 6th drive motors.
3. a kind of robot that is used for de-icing of power transmission lines according to claim 1, it is characterized in that: also have telescoping mechanism between forearm, postbrachium and the slew gear, this telescoping mechanism comprises telescoping mechanism swing arm, telescoping mechanism screw mandrel, telescoping mechanism nut that cooperates with the telescoping mechanism screw mandrel and the 3rd drive motors that drives this telescoping mechanism screw mandrel, telescoping mechanism swing arm top is connected with the telescoping mechanism screw mandrel, the bottom be connected slew gear on.
4. according to claim 1 or 3 described a kind of robots that are used for de-icing of power transmission lines, it is characterized in that: described slew gear comprises slew gear body, worm gear fixed axis, be connected the worm gear of worm gear fixed axis bottom and the worm screw that cooperates with worm gear, worm screw is driven by the 8th drive motors, and the slew gear body is connected on the slide unit of slide mechanism.
5. a kind of robot that is used for de-icing of power transmission lines according to claim 1, it is characterized in that: described slide mechanism comprises the slide mechanism body, be arranged on the fixed pulley at slide mechanism body two ends and be arranged on slide mechanism screw mandrel on the slide mechanism body, slide mechanism driving-belt with driving-belt joint is arranged on two fixed pulleys, slide mechanism nut one side cooperates with the slide mechanism screw mandrel, the other end is connected with the slide mechanism driving-belt, two slide units are connected with slide mechanism nut and driving-belt joint respectively, and the slide mechanism screw mandrel is by the moving motor-driven of 4 wheel driven.
6. a kind of robot that is used for de-icing of power transmission lines according to claim 1, it is characterized in that: described center of gravity governor motion comprises center of gravity governor motion body, be arranged on the center of gravity governor motion screw mandrel on the center of gravity governor motion body, the center of gravity governor motion nut that cooperates with center of gravity governor motion screw mandrel and be connected balancing weight on the center of gravity governor motion nut, center of gravity governor motion screw mandrel is driven by the 5th drive motors.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102735092A CN101728803B (en) | 2009-12-31 | 2009-12-31 | Robot for de-icing of power transmission lines |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102735092A CN101728803B (en) | 2009-12-31 | 2009-12-31 | Robot for de-icing of power transmission lines |
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| CN101728803A true CN101728803A (en) | 2010-06-09 |
| CN101728803B CN101728803B (en) | 2011-12-28 |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227067A (en) * | 2011-03-29 | 2011-10-26 | 重庆市电力公司超高压局 | Walking arm of walking robot in transmission line |
| CN102330421A (en) * | 2011-07-18 | 2012-01-25 | 张保成 | Outdoor deicing vehicle |
| CN103138219A (en) * | 2011-11-22 | 2013-06-05 | 北京林业大学 | Automatic deicing machine of high-voltage transmission line |
| CN104716611A (en) * | 2015-03-20 | 2015-06-17 | 龚雷锋 | Intelligent de-icing device for high-tension transmission line |
| CN104795764A (en) * | 2015-05-12 | 2015-07-22 | 石岩龙 | Foreign matter cleaner for electric transmission line lead |
| CN105207158A (en) * | 2015-09-07 | 2015-12-30 | 湖南大学 | High-voltage electric wire deicing robot |
| CN105429050A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Press wheel device for inspection robot of overhead high-voltage power transmission line |
| CN105552773A (en) * | 2015-11-16 | 2016-05-04 | 国网湖南省电力公司 | Robot used for overhead high voltage power transmission line live maintenance and obstacle navigation method thereof |
| CN105538340A (en) * | 2015-12-22 | 2016-05-04 | 广东科凯达智能机器人有限公司 | Embedded combined mechanical arm used for overhead high voltage transmission line obstacle crossing robot |
| CN105932628A (en) * | 2016-04-30 | 2016-09-07 | 马鞍山市翔宇机械自动化科技有限公司 | Deicing line inspection robot |
| CN106129890A (en) * | 2016-06-23 | 2016-11-16 | 陈晨 | A kind of mountain area high-voltage electric power circuit upkeep operation unmanned plane |
| CN109449857A (en) * | 2018-12-29 | 2019-03-08 | 国家电网有限公司 | Transmission line deicer |
| CN109950849A (en) * | 2019-04-19 | 2019-06-28 | 桂林电子科技大学 | The travel wheel locking device of overhead line deicing robot |
| CN112003224A (en) * | 2020-09-04 | 2020-11-27 | 湖南理工职业技术学院 | Robot is patrolled and examined in electrified deicing of high-voltage line |
| CN112743555A (en) * | 2020-12-22 | 2021-05-04 | 重庆凯创荣智能科技有限公司 | Power grid maintenance robot and use method thereof |
| CN115102124A (en) * | 2022-07-14 | 2022-09-23 | 杭州申昊科技股份有限公司 | Walking deicing robot suitable for flexible power transmission line |
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| CN102227067B (en) * | 2011-03-29 | 2013-07-10 | 重庆市电力公司检修分公司 | Walking arm of walking robot in transmission line |
| CN102227067A (en) * | 2011-03-29 | 2011-10-26 | 重庆市电力公司超高压局 | Walking arm of walking robot in transmission line |
| CN102330421A (en) * | 2011-07-18 | 2012-01-25 | 张保成 | Outdoor deicing vehicle |
| CN103138219A (en) * | 2011-11-22 | 2013-06-05 | 北京林业大学 | Automatic deicing machine of high-voltage transmission line |
| CN104716611B (en) * | 2015-03-20 | 2017-03-08 | 龚雷锋 | A kind of ultra-high-tension power transmission line intelligent deicer |
| CN104716611A (en) * | 2015-03-20 | 2015-06-17 | 龚雷锋 | Intelligent de-icing device for high-tension transmission line |
| CN104795764A (en) * | 2015-05-12 | 2015-07-22 | 石岩龙 | Foreign matter cleaner for electric transmission line lead |
| CN104795764B (en) * | 2015-05-12 | 2017-10-20 | 石岩龙 | A kind of transmission line wire foreign matter removing machine |
| CN105207158A (en) * | 2015-09-07 | 2015-12-30 | 湖南大学 | High-voltage electric wire deicing robot |
| CN105552773A (en) * | 2015-11-16 | 2016-05-04 | 国网湖南省电力公司 | Robot used for overhead high voltage power transmission line live maintenance and obstacle navigation method thereof |
| CN105538340A (en) * | 2015-12-22 | 2016-05-04 | 广东科凯达智能机器人有限公司 | Embedded combined mechanical arm used for overhead high voltage transmission line obstacle crossing robot |
| CN105429050A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Press wheel device for inspection robot of overhead high-voltage power transmission line |
| CN105932628A (en) * | 2016-04-30 | 2016-09-07 | 马鞍山市翔宇机械自动化科技有限公司 | Deicing line inspection robot |
| CN106129890A (en) * | 2016-06-23 | 2016-11-16 | 陈晨 | A kind of mountain area high-voltage electric power circuit upkeep operation unmanned plane |
| CN106129890B (en) * | 2016-06-23 | 2017-10-24 | 绍兴俪泰纺织科技有限公司 | A kind of mountain area high-voltage electric power circuit upkeep operation unmanned plane |
| CN109449857A (en) * | 2018-12-29 | 2019-03-08 | 国家电网有限公司 | Transmission line deicer |
| CN109449857B (en) * | 2018-12-29 | 2024-02-02 | 国家电网有限公司 | Deicing device for power transmission line |
| CN109950849A (en) * | 2019-04-19 | 2019-06-28 | 桂林电子科技大学 | The travel wheel locking device of overhead line deicing robot |
| CN109950849B (en) * | 2019-04-19 | 2024-04-16 | 桂林电子科技大学 | Travelling wheel locking device of overhead line deicing robot |
| CN112003224A (en) * | 2020-09-04 | 2020-11-27 | 湖南理工职业技术学院 | Robot is patrolled and examined in electrified deicing of high-voltage line |
| CN112003224B (en) * | 2020-09-04 | 2021-08-03 | 湖南理工职业技术学院 | Robot is patrolled and examined in electrified deicing of high-voltage line |
| CN112743555A (en) * | 2020-12-22 | 2021-05-04 | 重庆凯创荣智能科技有限公司 | Power grid maintenance robot and use method thereof |
| CN115102124A (en) * | 2022-07-14 | 2022-09-23 | 杭州申昊科技股份有限公司 | Walking deicing robot suitable for flexible power transmission line |
| CN115102124B (en) * | 2022-07-14 | 2022-12-27 | 杭州申昊科技股份有限公司 | Walking deicing robot suitable for flexible power transmission line |
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| CN101728803B (en) | 2011-12-28 |
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