CN103887737A - Automatic cleaning robot system and cleaning method for overhead transmission line - Google Patents
Automatic cleaning robot system and cleaning method for overhead transmission line Download PDFInfo
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- CN103887737A CN103887737A CN201410131072.XA CN201410131072A CN103887737A CN 103887737 A CN103887737 A CN 103887737A CN 201410131072 A CN201410131072 A CN 201410131072A CN 103887737 A CN103887737 A CN 103887737A
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Abstract
The invention discloses an automatic cleaning robot system and cleaning method for an overhead transmission line. The automatic cleaning robot system comprises a plurality of module structures. The module structures comprise a mobile vehicle body, a vehicle-mounted control system, a power supply module, a cleaning motor, a servo driver, a compression device and a cleaning device. The mobile vehicle body is suspended on the overhead transmission line and can move back and forth along the overhead transmission line. The vehicle-mounted control system, the power supply module, the cleaning motor, the servo driver and the compression device are arranged on an upper cover plate of the mobile vehicle body. The lower portion of the upper cover plate is connected with the cleaning device. The vehicle-mounted control system is communicated with a ground station through a wireless communication unit, receives control instructions sent by the ground station and sends detection data to the ground station. The invention further discloses the cleaning method using the system. The system can be used independently or be used with a spraying robot in a coordination mode. According to the automatic cleaning robot system, a modularized structure and a modularized design method are adopted, so that the design cost is reduced effectively, universality is improved, and safe and high-quality automatic cleaning is provided for an exposed overhead transmission line.
Description
Technical field
The present invention relates to a kind of overhead transmission line automatic rinser device robot system and cleaning method.
Background technology
The overhead transmission line setting up, generally without outsourcing insulating protective layer, generally adopts bare wire form.On power line, hang with the foreign material such as kite and Polypropylence Sheet, and laying dust on insulator, stockbridge damper, wire clamp at storm or the mudflow forming when raining heavyly easily cause the short circuit between high-voltage power line, cause the accidents such as accident power-off, thereby threaten the safe operation of electrical network.
For improving the fail safe of overhead transmission line transmission of electricity and operation, need to adopt automatic coating or hand spray insulating varnish method to think bare wire coated insulation layer.But before protection insulating varnish, also need to use the chemical reagent such as dimethylbenzene to clean exposed overhead transmission line to remove the foreign material such as laying dust on it.
Through existing literature search, Chinese patent application CN102228876A discloses a kind of ice-covering-proof remote control automatic spraying robot, comprise car body, the top of car body is provided with active roller and return idler, also comprise control system, power module, hairbrush system and paint finishing, hairbrush system is located at the front portion of car body, and paint finishing is located at the rear portion of car body, and control system is provided with remote control reception module.Can on transmission line, walk, and can, by two electric spray guns of robot car body on wireless remote controller control line under line, carry out automatic coating antiicing coating to lead wire and earth wire surface.But there are the following problems: 1) adopt contact type mechanical rotating brushes as cleaning device; do not adopt chemical reagent yet; laying dust that only can clean surface; cannot clean the stain such as laying dust and bird dung between remaining oil stain, the filament crack on wire; 2) there is no the protective devices such as hold down gag, the accident such as drop is easy to meet accident.
Chinese patent application CN203140222U discloses the charged paint robot of a kind of Development of Ice-Over Resistant Coatings.Robot mainly comprises robot body, control system, power-supply system and finishing system.Robot body is the skeleton of robot, forms the installation carrier of modules, and the both sides of body are robot arm, and in the walking mechanism of robot and finishing system, paint brush assembly is installed on arm.The bottom of robot body is divided into three regions, respectively installation control system and power supply, hold material pond, gasoline engine and liquid pump.But there are the following problems: 1) active roller is not taked the compaction measures such as hold down gag, cannot on compared with the wire of high inclination-angle, walk, and is also easy to produce unexpected slip and the ice-covering-proof quality of impact spraying in ice-covering-proof spraying operation; 2) system need to be carried source of the gas and hydraulic power source, and system bulk is large, heavier, easily answers sealing problem to cause leakage; 3) mechanical arm load is heavier, in operation process, by producing larger distortion, affects control precision.
Summary of the invention
The object of the invention is for overcoming above-mentioned the deficiencies in the prior art, a kind of overhead transmission line automatic rinser device robot system and cleaning method are provided, this cleaning robot can be used alone, also can support the use with spray robot, automatic rinser device people adopts modular construction and method for designing, can effectively reduce design cost, improve versatility, for the overhead transmission line of naked form provides efficiently, safe and high-quality automatic cleaning.
For achieving the above object, the present invention adopts following technical proposals:
A kind of overhead transmission line automatic rinser device robot system, it is made up of some modular structures, described modular structure comprises moving body, aircraft mounted control system, power module, cleaning motor, servo-driver, hold down gag and cleaning device, moving body is suspended on overhead transmission line, and can seesaw along overhead transmission line, aircraft mounted control system, power module, cleaning motor, servo-driver and hold down gag are arranged on the upper cover plate of moving body, and upper cover plate bottom is connected with cleaning device; Aircraft mounted control system is communicated by letter with ground station by wireless communication unit, satellite receiver sending controling instruction, and send it back ground station detecting data;
Described moving body comprises movable motor, main supporting plate, auxiliary support plate, roller, intermediate connecting rod and upper cover plate, between the main supporting plate of pair of parallel setting, connect by former and later two rollers, between the auxiliary support plate that pair of parallel arranges, connect by other former and later two rollers, by four rolling, main supporting plate and auxiliary support plate composition mobile roof support, mobile roof support is connected with the upper cover plate of bottom by intermediate connecting rod, composition moving body, mobile roof support is suspended on overhead transmission line by roller, and can drive moving body walking, mobile roof support lower end is fixed on upper plate, movable motor is fixed on main supporting plate, and movable motor output shaft drives one of them roller,
Described hold down gag comprises slider-crank mechanism and pinch rollers, slider-crank mechanism has dead point, pinch rollers is arranged on slider in crank-slider mechanism end, roller on the power transmission shaft that pinch rollers and movable motor drive is pressed on overhead transmission line jointly, prevents that the accident of robot from dropping and sliding on overhead transmission line.
Described cleaning motor comprises connected high-pressure sprayer motor and membrane pump, and membrane pump entrance is connected with the cleaning agent bucket of cleaning device, for the cleaning agent of cleaning agent bucket is drawn and is delivered in the cleaning head of cleaning device.
Described cleaning device comprises cleaning head, jockey, connecting rod, cleaning agent bucket, lower cover and recycling bin, cleaning head is pressed on overhead transmission line by spring, roller devices, and overhead transmission line passes from the machine center hole of two 180 ° of cleaning heads to point articulated structure; Machine center hole in the middle of overhead transmission line and cleaning head adopts seal sealing; Cleaning head is connected with auxiliary support plate through jockey, realizes moving along overhead transmission line; The upper inlet of cleaning head is connected with the membrane pump outlet of cleaning motor, and the lower outlet of cleaning head is connected with recycling bin through retracting device, to prevent that cleaning agent from leaking; Recycling bin and cleaning agent bucket are fixedly mounted on lower cover, and lower cover is connected with upper cover plate through connecting rod.
The upper inlet of described cleaning head and lower outlet all communicate with machine center hole.
Gapped between described overhead transmission line and machine center hole.
In described cleaning agent bucket, be contained with dimethylbenzene cleaning agent.
Described aircraft mounted control system is touch screen control system, comprise: power management chip, main control MCU, signaling conversion circuit, wireless communication module and sucker antenna, power management chip, main control MCU, signaling conversion circuit and wireless communication module are fixed on PCB circuit board, and PCB circuit board is fixed on upper cover plate by mechanical connection again; Wireless communication module is connected with main control MCU by holding wire; Sucker antenna utilizes sucker to be adsorbed on main supporting plate, is connected with wireless communication module by SMA interface, forms the communication loop with ground station.
Described power module is lithium-ion-power cell, is arranged on the upper cover plate of moving body, for aircraft mounted control system, cleaning motor, servo-driver provide required electric power.
Described servo-driver comprises a BLDC-5015A driver for brushless DC motor, is connected with aircraft mounted control system, power module and movable motor, and the movable motor required all kinds of control functions of moving are provided.
A cleaning method that utilizes overhead transmission line automatic rinser device robot system, concrete steps are:
1) in cleaning agent bucket, fill cleaning agent;
2) automatic rinser device people is suspended on overhead transmission line, and hold down gag compresses;
3) opening power module is system power supply, and ground station and automatic rinser device people communicate test;
4) ground station receives after the feedback data of robot, sending controling instruction;
5) when robot receives the clear instruction that ground station or touch-screen send, there is the cleaning motor rotation of barrier film effect, cleaning agent is delivered to cleaning head through conduit under fluid pressure, then after atomizer pressurization, form the aerosol with certain pressure and be sprayed on wire; The recovery and rinsing agent flowing down from line is back to cleaning agent bucket through conduit under fluid pressure, retracting device, forms closed fluid pressure line; Meanwhile, between cleaning head and wire, adopt hydraulic packing, avoid cleaning agent leaking hunting from cleaning head front-end and back-end.
The course of work of the present invention: fill cleaning agent in cleaning agent bucket.Automatic rinser device people is suspended on overhead transmission line, and hold down gag compresses.Opening power module is system power supply.Ground station communicates by letter with plate set controller by wireless device, sends and advances, retreats, stops, starting to clean, stop the control signals such as cleaning, speed adjusting, realizes and advances, retreats, stops, starting to clean, stop the controls such as cleaning, speed adjusting.When cleaning, have the cleaning motor rotation of barrier film operation, cleaning agent is delivered to cleaning head through conduit under fluid pressure, then after atomizer pressurization, forms the aerosol with certain pressure and be sprayed on wire.The recovery and rinsing agent flowing down from line is back to cleaning agent bucket through conduit under fluid pressure, retracting device, forms closed fluid pressure line, completes the atomization cleaning of certain pressure.
The present invention compared with prior art its beneficial effect is:
1) hold down gag is installed, has certain anti-crosswind ability, can avoid the accident of robot from overhead transmission line to drop, also can climb up the overhead transmission line at certain angle of inclination.
2) pressure atomization technology.Can adopt the chemical reagent such as dimethylbenzene to clean, the aerosol with certain pressure forming after pressurization can clean the stains such as remaining oil stain, laying dust and the bird dung between overhead transmission line surface and filament crack simultaneously.
3) shower nozzle and wire adopt noncontact form, and cleaning agent is sprayed on wire with atomised form after pressurization, has avoided the possible latent lesion to overhead transmission line surface.
4) cleaning head adopts all-sealed structure, and the recyclable cleaning agent splashing down from overhead transmission line and cleaning head of retracting device, forms closed conduit under fluid pressure, prevents accidental pollution environment.
5) cleaning process is decomposed into and advances, retreat, stop, starting to clean, stop the functions such as cleaning, speed adjusting, be convenient to realize flexible control.
6) control system has feedback control function, can grasp in real time the information such as electrokinetic cell current voltage, the current speed of travel and transmission line inclination angle.
7) transfer pipeline is made up of hydraulic quick coupler and pipeline, is convenient to realize security seal and quick-replaceable.
8) there is supporting touch screen control system and ground station control system, be easy to carry about with one, be convenient in occasion operations such as fields.
Brief description of the drawings
Fig. 1 is the overall schematic of one embodiment of the invention;
Fig. 2 is an embodiment moving body schematic diagram;
Fig. 3 is an embodiment aircraft mounted control system block diagram;
Fig. 4 is an embodiment compression module schematic diagram;
Fig. 5 is an embodiment cleaning device schematic diagram;
Fig. 6 is the cleaning process figure of an embodiment;
Wherein 1. movable motors, 2. main supporting plate, 3. auxiliary support plate, 4. roller, 5. intermediate connecting rod, 6. upper cover plate, 7. clean motor, 8. aircraft mounted control system, 9. servo-driver, 10. power module, 11. main control MCU, 12. power management modules, 13. sucker antennas, 14. wireless communication modules, 15. signaling conversion circuits, 16. solid-state relays, 17. four-bar mechanisms (slider-crank mechanism), 18 pinch rollers, 19. cleaning heads, 20. jockeys, 21. connecting rods, 22. cleaning agent buckets, 23. lower covers, 24. recycling bins, 25. fluid pressure lines.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under taking technical solution of the present invention as prerequisite, provided detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present embodiment comprises: moving body, aircraft mounted control system, power module, cleaning motor, servo-driver, hold down gag and cleaning device etc.Wherein: moving body is suspended on overhead transmission line, and seesaw along overhead transmission line, aircraft mounted control system, power module, cleaning motor, servo-driver and hold down gag are arranged on upper cover plate, upper cover plate is connected by support with lower cover, and recycling bin and cleaning agent bucket are arranged on lower cover.Aircraft mounted control system is communicated by letter with ground station by wireless communication unit, speed that satellite receiver sends, advance, retreat, stop motion, start to clean, stop the control commands such as cleaning, and the detection data such as the speed of service, power module current voltage, overhead transmission line inclination angle are sent it back to ground station.
As shown in Figure 2, described moving body comprises: movable motor 1, main supporting plate 2, auxiliary support plate 3, roller 4, intermediate connecting rod 5 and upper cover plate 6 etc.Wherein: movable motor 1 is fixed on main supporting plate 2, drive walking roller to rotate through rotating shaft, key etc.Four rolling is separately fixed on the mobile roof support that two covers are made up of main supporting plate 2 and auxiliary support plate 3, and mobile roof support is suspended on overhead transmission line, drives moving body walking.Mobile roof support is connected with upper cover plate 6 by intermediate connecting rod 5, composition moving body.7 for being arranged on the cleaning motor on upper cover plate, and 8 for being arranged on the aircraft mounted control system on upper cover plate, and 9 for being arranged on the servo-driver on upper cover plate, and 10 for being arranged on the power module on upper cover plate.
As shown in Figure 3, described aircraft mounted control system comprises: main control MCU 11, power management module 12, sucker antenna 13, wireless communication module 14, signaling conversion circuit 15, solid-state relay 16, wherein: main control MCU 11, power management module 12, wireless communication module 14, signaling conversion circuit 15 and solid-state relay 16 are fixed on PCB circuit board, and PCB circuit board is fixed on upper cover plate 6 by mechanical connection again.Wireless communication module 14 is connected with main control MCU 11 by holding wire.Servo-driver 9 is fixed on upper cover plate 6, is connected with signaling conversion circuit 15 and power module on PCB circuit board by cable, is connected with movable motor through cable, realizes the controls such as advancing, retreat of motion car body.Sucker antenna 13 utilizes sucker to be adsorbed on main supporting plate 2, is connected with wireless communication module 14 by SMA interface, forms the communication loop with ground station.Solid-state relay 16 is connected with main control MCU 11 through holding wire, realizes the starting and stopping control of cleaning motor.
As shown in Figure 4, described compression module comprises: four-bar mechanism 17 and pinch rollers 18, wherein: four bar structures 17 have dead point, pinch rollers 18 is arranged on four-bar mechanism end, roller on the power transmission shaft driving with movable motor 1 is pressed on overhead transmission line jointly, prevents that the accident of robot from dropping and sliding on overhead transmission line.
As shown in Figure 5, described cleaning device comprises: cleaning head 19, jockey 20, connecting rod 21, cleaning agent bucket 22, lower cover 23 and recycling bin 24 etc.Wherein, cleaning head 19 be two 180 ° to point articulated structure, middle part is provided with the centre bore of lateral direction penetrating, is pressed on overhead transmission line by spring, roller devices, overhead transmission line passes from the machine center of cleaning head 19.In the middle of overhead transmission line and cleaning head 19, adopt seal sealing.Cleaning head 19 is connected with auxiliary support plate 3 through jockey 20, realizes moving along overhead transmission line.Cleaning head 19 upper inlets are connected with the membrane pump outlet of cleaning motor 7, and 19 times outlets of cleaning head are connected with recycling bin 24, to prevent that cleaning agent from leaking.Recycling bin 24 and cleaning agent bucket 22 are fixedly mounted on lower cover 23, and lower cover 23 is connected with upper cover plate 6 through connecting rod 21.
The cleaning process (as shown in Figure 6) of the present embodiment: fill cleaning agent in cleaning agent bucket, automatic rinser device people is suspended on overhead transmission line, hold down gag compresses.Opening power module is system power supply.Ground station communicates by letter with plate set controller by wireless device, sends and advances, retreats, stops, starting to clean, stop the control signals such as cleaning, speed adjusting, realizes and advances, retreats, stops, starting to clean, stop the controls such as cleaning, speed adjusting.When cleaning, cleaning agent is delivered to cleaning head through fluid pressure line 25, cleaning motor, and the cleaning agent of recovery is back to cleaning agent bucket through conduit under fluid pressure, retracting device, forms closed fluid pressure line.Cleaning agent bucket 22 is connected by less clear opening with recycling bin 24 lower bottom parts, is coated with screen pack on clear opening, realizes the direct filtration of foreign material.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
1. an overhead transmission line automatic rinser device robot system, it is characterized in that, it is made up of some modular structures, described modular structure comprises moving body, aircraft mounted control system, power module, cleaning motor, servo-driver, hold down gag and cleaning device, moving body is suspended on overhead transmission line, and can seesaw along overhead transmission line, aircraft mounted control system, power module, cleaning motor, servo-driver and hold down gag are arranged on the upper cover plate of moving body, and upper cover plate bottom is connected with cleaning device; Aircraft mounted control system is communicated by letter with ground station by wireless communication unit, satellite receiver sending controling instruction, and send it back ground station detecting data;
Described moving body comprises movable motor, main supporting plate, auxiliary support plate, roller, intermediate connecting rod and upper cover plate, between the main supporting plate of pair of parallel setting, connect by former and later two rollers, between the auxiliary support plate that pair of parallel arranges, connect by other former and later two rollers, by four rolling, main supporting plate and auxiliary support plate composition mobile roof support, mobile roof support is connected with the upper cover plate of bottom by intermediate connecting rod, composition moving body, mobile roof support is suspended on overhead transmission line by roller, and can drive moving body walking, mobile roof support lower end is fixed on upper plate, movable motor is fixed on main supporting plate, and movable motor output shaft drives one of them roller,
Described hold down gag comprises slider-crank mechanism and pinch rollers, slider-crank mechanism has dead point, pinch rollers is arranged on slider in crank-slider mechanism end, roller on the power transmission shaft that pinch rollers and movable motor drive is pressed on overhead transmission line jointly, prevents that the accident of robot from dropping and sliding on overhead transmission line.
2. overhead transmission line automatic rinser device robot system as claimed in claim 1, it is characterized in that, described cleaning motor comprises connected high-pressure sprayer motor and membrane pump, membrane pump entrance is connected with the cleaning agent bucket of cleaning device, and membrane pump is for drawing the cleaning agent of cleaning agent bucket be delivered in the cleaning head of cleaning device.
3. overhead transmission line automatic rinser device robot system as claimed in claim 1, it is characterized in that, described cleaning device comprises cleaning head, jockey, connecting rod, cleaning agent bucket, lower cover and recycling bin, cleaning head is pressed on overhead transmission line by spring, roller devices, and overhead transmission line passes from the machine center hole of two 180 ° of cleaning heads to point articulated structure; Machine center hole in the middle of overhead transmission line and cleaning head adopts seal sealing; Cleaning head is connected with auxiliary support plate through jockey, realizes moving along overhead transmission line; The upper inlet of cleaning head is connected with the membrane pump outlet of cleaning motor, and the lower outlet of cleaning head is connected with recycling bin through retracting device, to prevent that cleaning agent from leaking; Recycling bin and cleaning agent bucket are fixedly mounted on lower cover, and lower cover is connected with upper cover plate through connecting rod.
4. overhead transmission line automatic rinser device robot system as claimed in claim 3, is characterized in that, the upper inlet of described cleaning head and lower outlet all communicate with machine center hole.
5. overhead transmission line automatic rinser device robot system as claimed in claim 3, is characterized in that, gapped between described overhead transmission line and machine center hole.
6. overhead transmission line automatic rinser device robot system as claimed in claim 3, is characterized in that, in described cleaning agent bucket, is contained with dimethylbenzene cleaning agent.
7. overhead transmission line automatic rinser device robot system as claimed in claim 1, it is characterized in that, described aircraft mounted control system comprises: power management chip, main control MCU, signaling conversion circuit, wireless communication module and sucker antenna, power management chip, main control MCU, signaling conversion circuit and wireless communication module are fixed on PCB circuit board, and PCB circuit board is fixed on upper cover plate by mechanical connection again; Wireless communication module is connected with main control MCU by holding wire; Sucker antenna utilizes sucker to be adsorbed on main supporting plate, is connected with wireless communication module by SMA interface, forms the communication loop with ground station.
8. overhead transmission line automatic rinser device robot system as claimed in claim 1, it is characterized in that, described power module is lithium-ion-power cell, is arranged on the upper cover plate of moving body, for aircraft mounted control system, cleaning motor, servo-driver provide required electric power.
9. overhead transmission line automatic rinser device robot system as claimed in claim 1, it is characterized in that, described servo-driver comprises a BLDC-5015A driver for brushless DC motor, be connected with aircraft mounted control system, power module and movable motor, the movable motor required all kinds of control functions of moving are provided.
10. a cleaning method that utilizes overhead transmission line automatic rinser device robot system, is characterized in that, concrete steps are:
1) in cleaning agent bucket, fill cleaning agent;
2) automatic rinser device people is suspended on overhead transmission line, and hold down gag compresses;
3) opening power module is system power supply, and ground station and automatic rinser device people communicate test;
4) ground station receives after the feedback data of robot, sending controling instruction;
5) when robot receives the clear instruction that ground station or touch-screen send, there is the cleaning motor rotation of barrier film effect, cleaning agent is delivered to cleaning head through conduit under fluid pressure, then after atomizer pressurization, form the aerosol with certain pressure and be sprayed on wire; The recovery and rinsing agent flowing down from line is back to cleaning agent bucket through conduit under fluid pressure, retracting device, forms closed fluid pressure line; Meanwhile, between cleaning head and wire, adopt hydraulic packing, avoid cleaning agent leaking hunting from cleaning head front-end and back-end.
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| CN201410131072.XA CN103887737B (en) | 2014-03-29 | 2014-03-29 | Overhead transmission line automatic rinser device robot system and cleaning method |
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| CN201410131072.XA CN103887737B (en) | 2014-03-29 | 2014-03-29 | Overhead transmission line automatic rinser device robot system and cleaning method |
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| CN103887737B CN103887737B (en) | 2016-05-11 |
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Cited By (6)
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| CN104201609A (en) * | 2014-09-03 | 2014-12-10 | 国家电网公司 | Live working remote control sliding device |
| CN105703273A (en) * | 2016-04-07 | 2016-06-22 | 国家电网公司 | Robot for coating insulation layer on power distribution aerial bare conducting wire in electrified manner |
| CN106737737A (en) * | 2016-12-22 | 2017-05-31 | 国网山东省电力公司鄄城县供电公司 | Overhead transmission line cleaning robot and system |
| CN107134739A (en) * | 2017-04-26 | 2017-09-05 | 国网河南镇平县供电公司 | A kind of transmission line of electricity is repaired and scarer |
| CN108686900A (en) * | 2018-04-18 | 2018-10-23 | 上海理工大学 | Multirobot cable insulation coats operating system control system |
| CN117526153A (en) * | 2024-01-05 | 2024-02-06 | 威海中能电气有限公司 | Cable protection device for cable laying |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109531384A (en) * | 2018-10-29 | 2019-03-29 | 浙江国自机器人技术有限公司 | A kind of visual inspection clean robot applied to overhead transmission line |
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| CN203734216U (en) * | 2014-03-29 | 2014-07-23 | 山东鲁能智能技术有限公司 | Automatic rinse robotic system for overhead transmission line |
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| CN202146840U (en) * | 2011-07-01 | 2012-02-22 | 北京深浪电子技术有限公司 | Ice-covering-proof remote control automatic spraying robot of transmission line |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104201609A (en) * | 2014-09-03 | 2014-12-10 | 国家电网公司 | Live working remote control sliding device |
| CN105703273A (en) * | 2016-04-07 | 2016-06-22 | 国家电网公司 | Robot for coating insulation layer on power distribution aerial bare conducting wire in electrified manner |
| CN106737737A (en) * | 2016-12-22 | 2017-05-31 | 国网山东省电力公司鄄城县供电公司 | Overhead transmission line cleaning robot and system |
| CN107134739A (en) * | 2017-04-26 | 2017-09-05 | 国网河南镇平县供电公司 | A kind of transmission line of electricity is repaired and scarer |
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| CN108686900A (en) * | 2018-04-18 | 2018-10-23 | 上海理工大学 | Multirobot cable insulation coats operating system control system |
| CN117526153A (en) * | 2024-01-05 | 2024-02-06 | 威海中能电气有限公司 | Cable protection device for cable laying |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 Qilu Software Park building, Ji'nan hi tech Zone, Shandong, B-205 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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