CN106623272A - Dry ice washing device for electrified insulators - Google Patents
Dry ice washing device for electrified insulators Download PDFInfo
- Publication number
- CN106623272A CN106623272A CN201611022772.0A CN201611022772A CN106623272A CN 106623272 A CN106623272 A CN 106623272A CN 201611022772 A CN201611022772 A CN 201611022772A CN 106623272 A CN106623272 A CN 106623272A
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- China
- Prior art keywords
- axis
- dry ice
- gear ring
- base plate
- axis walking
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
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- Insulators (AREA)
- Cleaning In General (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a dry ice washing device for electrified insulators. The dry ice washing device comprises a washing module, as well as an upper-layer plate, a middle-layer plate and a bottom-layer plate which are sequentially connected through a sliding mechanism, wherein the middle-layer plate can slide along a Y axis relative to the bottom-layer plate; the upper-layer plate can slide along an X axis relative to the middle-layer plate; the washing module is connected with the front end of the upper-layer plate through the hinging of a hinge pin; the washing module comprises a gear ring and an annular base plate, an annular rail groove is arranged in the annular base plate, and the bottom of the gear ring is provided with an arc-shaped slider matched with the annular rail groove; the side surface of the gear ring is provided with one circle of annular rack, and the annular base plate is provided with a Z-axis rotating gear meshed with the annular rack and a Z-axis rotating servo motor; and the gear ring and the annular base plate form an annular space capable of accommodating the insulators, and a plurality of dry ice sprayers aligned at the insulators are arranged on the gear ring. The problem that the washing of the electrified insulators is difficult in the prior art is solved. The device is great in safety, high in washing efficiency and stable in performance.
Description
Technical field
The present invention relates to a kind of insulator cleaning device, and in particular to a kind of sub- dry ice cleaner device of charged insulating.
Background technology
With the fast development of industrial or agricultural, in electric power energy field, requirement more and more higher of the user to power supply reliability.With
This simultaneously, industrial pollution and environmental problem are increasingly serious.The insulator of power equipment under field conditions (factors), by SO2, nitrogen oxidation
The impact of the atmospheric environment such as thing and graininess dust, surface gradually deposited one layer of dunghill.Run into mist, dew, drizzle, melt
During the wet weather such as ice and snow melt, the dunghill of insulator surface absorbs moisture, makes electrolyte dissolution, ionization in pollution layer, leads
Pollution layer conductivity increase is caused, under the effect of equipment working voltage, the surface Leakage Current of insulator will increase, produce local and put
Electricity, shelf depreciation continuous occurrence and development when reaching and exceeding critical state, develop into arc flash, that is, pollution flashover thing
Therefore generation.Pollution flashover is often a plurality of circuit, and multiple electric substations occur in succession, system oscillation is formed, so as to cause electricity
Net large-area power-cuts.According to statistics, pollution flashover accident is about 9.3 times of lightning disturbance in the electric quantity loss that China causes, even if sending out
More than 8 times are also up to up to country.The power outage that general pollution flashover accident causes can lose the electricity of hundreds of thousands to millions of KWh, long
Loss caused by time, large-area power outage is had a power failure up to ten million KWh by the unexpected long-time that pollution flashover accident is caused
The indirect loss caused to national economy is just even more inestimable.
For operating insulator, it is the base for preventing pollution flashover from occurring to strengthen on-line checking, carry out periodic maintenance and clean
Originally with effective means.Cleaning can improve the service life of electric power facility, the service time of extension device, reduce maintenance cost and
Operation cost, reduces accident and occurs, and improves Business Economic Benefit and social benefit.It is domestic at the initial stage for carrying out antifouling work work
The method of outer all widely used power failure hand sweeping insulator, developing rapidly however as power system, transmission line of electricity is significantly
Increase, electric pressure more and more higher, pollution is on the rise, and the limitation of hand sweeping is also more and more obvious.Power failure hand sweeping
It is one heavy for power transformation operation attendant, the work of dangerous and inefficiency, not only cleaning works amount is too big, individual
People's labor condition is also abnormal arduous, and reliability is not high, and the health of swabber is affected by environment under high pressure.The opposing party
Face, has a power failure and cleans the normal production for also influencing whether society, and life also has influence on the economic benefit of power supply enterprise itself.
Therefore in electric power energy field, developing the associated equipment of the sub- washing and cleaning operation of transformer station's charged insulating becomes engineering people
The problem that member pays close attention to, at present, using it is more be that the sub- water of charged insulating is rinsed and sweeping robot is cleaned using hairbrush.Before
Person is rinsed using the pure water of special handling to insulator, and the latter then using the robot of a carrying hairbrush, utilizes
Hairbrush and insulator surface friction are by the dirt removal on charged insulating.For first method, it is desirable to which the water of preparation is absolute
It is pure and non-conductive therefore relatively costly, and pollute environment.The latter is contacted friction due to robot hairbrush and insulator, past
It is past to be easily damaged insulator surface.These factors are confined to, the sub- water of charged insulating rinses the insulator decontamination with sweeping robot
Method, it is difficult to which spread is used.
The content of the invention
For the insulator cleaning work present situation in electric power energy field, through careful in-depth study, the present invention is proposed
A kind of sub- Dry ice cleaning machine people of transformer station's charged insulating of safe and feasible, the robot can be in feelings of the insulator with high-tension electricity
Under condition, operation is cleaned to insulator.The robot can solve hand sweeping to be needed to have a power failure, and efficiency is low, charged insulating
Water developing cost is high, the problems such as pollution environment and sweeping robot fragile insulator.The sub- Dry ice cleaning of transformer station's charged insulating
Robot makees medium with dry ice particles, accelerates in high pressure draught, then is ejected into insulator surface by two dry ice nozzles, does
Ice granule distils rapidly after contacting with insulator, produces the local significantly temperature difference, and the effect of expanding with heat and contract with cold makes the dirt of insulator surface
Dirty layer is peeled off, the CO of the expansion produced by distillation2Gas causes the dirt peeled off to depart from insulator, so as to reach cleaning insulator
Purpose.The sub- Dry ice cleaning machine people of charged insulating for being developed can well realize Substation Insulator in electric power energy field
Band electrocleaning, it is to avoid the generation of dirt sparkle of transformer station, improve the reliability of electric power system.
In order to solve above-mentioned technical problem, the technical scheme that this law is adopted is：
A kind of sub- dry ice cleaner device of charged insulating, it is characterised in that：Including cleaning module, and pass sequentially through slide mechanism
Connected top plate, la m and bottom plate；The la m can slide relative to bottom plate along Y direction, the upper strata
Plate can slide relative to la m along X-direction, and the cleaning module is connected with upper strata front edge of board by hinge, clean
Module can rotate relative to top plate plane around Y-axis；
The cleaning module includes gear ring and annular base plate, and the gear ring and annular base plate are while opening circle jaggy
Ring, the annular base plate is provided with circular orbit slot, and gear ring bottom is provided with the arc shaped slider being engaged with circular orbit slot, tooth
Torus side is provided with a circle annular rack, and the annular base plate is provided with the Z axis swing pinion and driving Z axis being engaged with annular rack
The Z axis rotating servo motor of swing pinion rotation, gear ring can be relative to ring under Z axis swing pinion and annular rack occlusion
Shape substrate rotates about the z axis, and gear ring and annular base plate constitute an annular space for being capable of housing insulation, on the gear ring
It is provided with multiple dry ice shower nozzles against insulator.
Preferably, the annular base plate of the cleaning module passes through hinge with upper strata front edge of board, set on the bearing pin
There is the driven synchronous pulley being fixedly linked, top plate is provided with active synchronization belt wheel and drives the Y-axis rotation of active synchronization belt wheel
Servomotor, the driven synchronous pulley is connected with active synchronization belt wheel by Timing Belt.
Preferably, the slide mechanism between the top plate and la m includes X-axis walking guide rail and the X for cooperating
Axle walking slide block, the X-axis walking guide rail is located at la m upper surface along X-direction, and the X-axis walking slide block is located at top plate
Bottom, la m side is fixed with the X-axis walking rack along X-direction, and top plate is provided with what is be engaged with X-axis walking rack
X-axis walking gear and the X-axis walking servomotor of driving X-axis walking gear rotation.
Preferably, the slide mechanism between the la m and bottom plate includes Y-axis walking guide rail and the Y for cooperating
Axle walking slide block, the Y-axis walking guide rail is located at bottom plate upper surface along Y direction, and the Y-axis walking slide block is located at la m
Bottom, bottom plate tail end is fixed with the Y-axis walking rack along Y direction, and la m is provided with what is be engaged with Y-axis walking rack
Y-axis walking gear and the Y-axis walking servomotor of driving Y-axis walking gear rotation.
Preferably, the annular base plate along gear ring both sides is provided with multiple equally distributed spacing lead columns, it is described
Spacing lead column is connected by rotating shaft with annular base plate, gear ring in circular orbit slot in sliding process, spacing lead column
Spacing while itself can rotate.
Preferably, the annular base plate and gear ring are 120-270 radian rings, the dry ice shower nozzle on the gear ring
It is uniformly distributed and quantity has 2-4.
The invention has the beneficial effects as follows：
Robot is moved in space flexibly, easy to adjust, for engineering in practice, various informative, the operating mode complexity of insulator
Situation, robot can pass through the motion for adjusting each servomotor, control dry ice shower nozzle position in space in operation
And attitude, dry ice particles are sprayed on the insulator at a high speed, dry ice particles distil rapidly after contacting with insulator, produce local big
The amplitude temperature difference, the effect of expanding with heat and contract with cold peels off the schmutzband of insulator surface, the CO of the expansion produced by distillation2Gas causes stripping
From dirt depart from insulator, so as to reach the purpose of cleaning insulator, and in cleaning process, dry ice shower nozzle can be around insulation
Sub- rotary motion, is conducive to cleaning each dead angle of insulator.
Description of the drawings
Fig. 1 is embodiment of the present invention structural representation.
Fig. 2 is upper strata plate structure schematic diagram.
Fig. 3 is middle level plate structure schematic diagram.
Fig. 4 is bottom plate structure schematic diagram.
In figure, 1- top plates, 2- la ms, 3- bottom plates, 4- annular base plates, 5- gear rings, 6- dry ice shower nozzles, 7-Z axles
Swing pinion, 8-Z axle rotating servo motors, the spacing lead columns of 9-, the driven synchronous pulleys of 10-, 11- Timing Belts, 12- active synchronization
Belt wheel, 13-Y axle rotating servo motors, 14-X axles walking servomotor, 15-X axle walking gears, 16- circular orbit slots, 17-X
Axle walking slide block, 18- Y-axis walking gears, 19- Y-axis walking servomotor, 20- annular racks, 21-X axle walking racks, 22-
X-axis walking guide rail, 23-Y axles walking slide block, 24- arc shaped sliders, 25-Y axle walking guide rails, 26- Y-axis walking racks.
Specific embodiment
The present invention is illustrated below in conjunction with the accompanying drawings.
The present invention is flexible for a kind of charged insulating dry ice cleaner device motion of Substation Insulator, with X-axis,
The movement of Y direction, and the rotation of Z axis, Y direction, X, Y, Z and arrow represent respectively X-axis, Y-axis and Z axis side in Fig. 1
To.
It is illustrated in figure 1 a kind of sub- dry ice cleaner apparatus structure schematic diagram of charged insulating of the invention.
The sub- dry ice cleaner device of charged insulating can be divided into such as figure top plate 1, three shown in la m 2 and bottom plate 3
Layer.
The sub- structural representation of dry ice cleaner device top plate 1 of charged insulating is illustrated in figure 2, the front end of top plate 1 is provided with
The annular base plate 4 being connected by hinge, is provided with circular orbit slot 16 in annular base plate 4, the shape of circular orbit slot 16 and
As annular base plate 4, gear ring 5 is provided with the circular arc ring of a circle annular rack 20 for outside to radian, the bottom of gear ring 5 be provided with
The arc shaped slider 24 that circular orbit slot 16 is engaged, the annular base plate 4 is provided with the Z axis swing pinion being engaged with annular rack 20
7 sting with the Z axis rotating servo motor 8 for driving the rotation of Z axis swing pinion 7, gear ring 5 in Z axis swing pinion 7 and annular rack 20
Can about the z axis rotate relative to annular base plate 4 under closing, gear ring 5 and annular base plate 4 constitute a ring for being capable of housing insulation
Shape space, the gear ring 5 is provided with two dry ice shower nozzles 6 against insulator, in this enforcement, gear ring 5 and annular base plate 4
It is 270 degree of circular arc rings.
Top plate 1 is provided with the driven synchronous pulley 10 being fixedly linked with the bearing pin that annular base plate 4 is connected, on top plate 1
It is provided with active synchronization belt wheel 12 and drives the Y-axis rotating servo motor 13 of the rotation of active synchronization belt wheel 12, the driven Timing Belt
Wheel 10 is connected with active synchronization belt wheel 12 by Timing Belt 11, and Y-axis rotating servo motor 13 is same with active by bevel-gear sett
Step belt wheel 12 is driven, and drives active synchronization belt wheel 12 to rotate by Y-axis rotating servo motor 13, active synchronization belt wheel 12 drive from
Dynamic synchronous pulley 10 rotates, so as to drive the relative la m 2 of the annular base plate 4 for being provided with dry ice shower nozzle 6 to turn along Y direction
It is dynamic.
As shown in Figures 2 and 3, the upper surface of the la m 2 is provided with the X-axis walking guide rail 22 along X-direction, top plate 1
Bottom edge is provided with the X-axis walking slide block 17 being engaged with X-axis walking guide rail 22, and the side of la m 2 is installed with along X-direction
X-axis walking rack 21, top plate 1 is provided with the X-axis walking gear 15 that is engaged with X-axis walking rack 21 and drives X-axis walking
The X-axis walking servomotor 14 of the rotation of gear 15, X-axis walking gear 15 is fixedly linked with the X-axis walking outfan of servomotor 14,
X-axis walking gear 15 is driven to rotate by X-axis walking servomotor 14, so as to drive the relative la m 2 of top plate 1 along X-axis
Move in direction.
As shown in Figure 1, Figure 2 and Figure 3, the upper surface of the bottom plate 3 is provided with the Y-axis walking guide rail 25 along Y direction, middle level
The bottom of plate 2 edge is provided with the Y-axis walking slide block 23 being engaged with Y-axis walking guide rail 25, and the tail end of bottom plate 3 is provided with the Y along Y direction
Axle walking rack 26, la m 2 is provided with the Y-axis walking gear 18 and driving Y-axis walking gear being engaged with Y-axis walking rack 26
The Y-axis walking servomotor 19 of 18 rotations, Y-axis walking gear 18 is fixedly linked with the Y-axis walking outfan of servomotor 19, passes through
Y-axis walking servomotor 19 drives Y-axis walking gear 18 to rotate, so as to drive the relative bottom plate 3 of la m 2 along Y direction
It is mobile.
Multiple equally distributed spacing lead columns 9, the limit are respectively equipped with along in the annular base plate 4 of the both sides of gear ring 5
Position lead column 9 be connected with annular base plate 4 by rotating shaft, gear ring 5 in sliding process in circular orbit slot 16, spacing guiding
Post 9 is spacing while itself can rotate.
In cleaning process, dry ice cleaner device is pushed to into eminence, dry ice cleaner device by extraneous hoistable platform
By controlling X-axis walking servomotor 14 and Y-axis walking servomotor 19 annular base plate 4 with dry ice shower nozzle 6 is adjusted in X
Axle and Y direction, so as to adjust the position of dry ice shower nozzle 6 so that dry ice shower nozzle 6 is directed at insulator to be cleaned, then to exhausted
Edge sprays dry ice particles, in cleaning process, by 13 sliding tooth torus of Y-axis rotating servo motor, 5 opposed annulars basic 4 along Z
Direction of principal axis rotates, and dry ice shower nozzle 6 rotates so that each position of insulator can obtain under the drive of gear ring 5 around insulator
To effectively cleaning.
In the course of work, the motion of each degree of freedom by controlling the sub- dry ice cleaner device of charged insulating of the present invention,
The cleaning module of the sub- dry ice cleaner device of charged insulating is allowed to reach suitable position, by dry ice shower nozzle, by graininess dry ice
Insulator surface is injected at a high speed, and dry ice particles clash into fouled surfaces, as low temperature in knockout process（About -78.5 DEG C）It is situated between
Matter produces heat effect with Fouling surfaces are cleaned, and destroys the integrity of surface smut, and dry ice particles contact wink in dirt with surface
Between（Several milliseconds）, by dry ice solid sublimation into carbon dioxide, instantaneously 800 times of the expansion of carbon dioxide volume, make dirt from
Surface to be cleaned comes off.The hardness of dry-ice particle is relatively low relative to other materials, and dependency is strong in cleaning process, and dry ice sublimation will
Dirt is taken away, and reaches cleaning purpose.
Claims (6)
1. the sub- dry ice cleaner device of a kind of charged insulating, it is characterised in that：Including cleaning module, and pass sequentially through skate machine
The connected top plate of structure, la m and bottom plate；The la m can relative to bottom plate along Y direction slide, it is described on
Laminate can slide relative to la m along X-direction, and the cleaning module is connected with upper strata front edge of board by hinge,
Cleaning module can rotate relative to top plate plane around Y-axis；
The cleaning module includes gear ring and annular base plate, and the gear ring and annular base plate are while opening circle jaggy
Ring, the annular base plate is provided with circular orbit slot, and gear ring bottom is provided with the arc shaped slider being engaged with circular orbit slot, tooth
Torus side is provided with a circle annular rack, and the annular base plate is provided with the Z axis swing pinion and driving Z axis being engaged with annular rack
The Z axis rotating servo motor of swing pinion rotation, gear ring can be relative to ring under Z axis swing pinion and annular rack occlusion
Shape substrate rotates about the z axis, and gear ring and annular base plate constitute an annular space for being capable of housing insulation, on the gear ring
It is provided with multiple dry ice shower nozzles against insulator.
2. the sub- dry ice cleaner device of a kind of charged insulating according to claim 1, it is characterised in that：The cleaning module
With upper strata front edge of board by hinge, the bearing pin is provided with the driven synchronous pulley being fixedly linked, top plate to annular base plate
It is provided with active synchronization belt wheel and drives the Y-axis rotating servo motor of active synchronization belt wheel, the driven synchronous pulley and active
Synchronous pulley is connected by Timing Belt.
3. the sub- dry ice cleaner device of a kind of charged insulating according to claim 2, it is characterised in that：The top plate is with
Slide mechanism between laminate includes the X-axis walking guide rail for cooperating and X-axis walking slide block, and the X-axis walking guide rail is along X-axis
Direction is located at la m upper surface, and the X-axis walking slide block is located at top plate bottom, and la m side is fixed with along X-axis side
To X-axis walking rack, top plate is provided with the X-axis walking gear that is engaged with X-axis walking rack and drives the rotation of X-axis walking gear
The X-axis walking servomotor for turning.
4. the sub- dry ice cleaner device of a kind of charged insulating according to claim 3, it is characterised in that：The la m and bottom
Slide mechanism between laminate includes the Y-axis walking guide rail for cooperating and Y-axis walking slide block, and the Y-axis walking guide rail is along Y-axis
Direction is located at bottom plate upper surface, and the Y-axis walking slide block is located at la m bottom, and bottom plate tail end is fixed with along Y-axis side
To Y-axis walking rack, la m is provided with the Y-axis walking gear that is engaged with Y-axis walking rack and drives the rotation of Y-axis walking gear
The Y-axis walking servomotor for turning.
5. the sub- dry ice cleaner device of a kind of charged insulating according to Claims 1-4 any one, it is characterised in that：Edge
The annular base plate for gear ring both sides is provided with multiple equally distributed spacing lead columns, and the spacing lead column passes through rotating shaft
It is connected with annular base plate, in circular orbit slot in sliding process, spacing lead column is spacing while itself can revolve for gear ring
Turn.
6. the sub- dry ice cleaner device of a kind of charged insulating according to claim 5, it is characterised in that：The annular base plate and
Gear ring is 120-270 radian rings, and the dry ice shower nozzle on the gear ring is uniformly distributed and quantity has 2-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022772.0A CN106623272B (en) | 2016-11-21 | 2016-11-21 | A kind of sub- dry ice cleaner device of charged insulating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022772.0A CN106623272B (en) | 2016-11-21 | 2016-11-21 | A kind of sub- dry ice cleaner device of charged insulating |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106623272A true CN106623272A (en) | 2017-05-10 |
| CN106623272B CN106623272B (en) | 2019-09-17 |
Family
ID=58807785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611022772.0A Active CN106623272B (en) | 2016-11-21 | 2016-11-21 | A kind of sub- dry ice cleaner device of charged insulating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106623272B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107094538A (en) * | 2017-06-05 | 2017-08-29 | 项鹏宇 | A kind of dome wide-angle greenhouse |
| CN107716359A (en) * | 2017-11-18 | 2018-02-23 | 徐州华显凯星信息科技有限公司 | A kind of construction modeling pipe outer ring screw thread cleaning plant |
| CN108994219A (en) * | 2018-07-10 | 2018-12-14 | 佛山市程显科技有限公司 | A kind of cutting mechanism of pinrshape |
| CN110523681A (en) * | 2019-10-10 | 2019-12-03 | 杨星 | A kind of substation's support insulator cleaning device |
| CN111632950A (en) * | 2020-05-14 | 2020-09-08 | 广东电网有限责任公司 | Dry ice cleaning device |
| CN112295976A (en) * | 2020-09-29 | 2021-02-02 | 重庆南电科技有限公司 | Porcelain insulator zero-value-measuring cleaning robot and control system |
| CN112474608A (en) * | 2020-11-05 | 2021-03-12 | 厦门理工学院 | Insulating solid CO2Cleaning device |
| CN113681576A (en) * | 2021-09-16 | 2021-11-23 | 广东电网有限责任公司 | Cleaning robot's end module of washing soon |
| CN113798276A (en) * | 2021-09-22 | 2021-12-17 | 广东电网有限责任公司江门供电局 | Lifting platform for laser live cleaning of insulator |
| CN115365196A (en) * | 2022-08-19 | 2022-11-22 | 国网福建省电力有限公司福州供电公司 | Dirty cleaning equipment of net distribution overhead line insulated terminal |
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| US20080301891A1 (en) * | 2007-06-11 | 2008-12-11 | Joon Young Park | Robot mechanism for cleaning and inspection of live-line insulators |
| CN101716904A (en) * | 2009-11-06 | 2010-06-02 | 华中电网有限公司 | Dry ice cleaning vehicle of electrical equipment external insulation |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107094538A (en) * | 2017-06-05 | 2017-08-29 | 项鹏宇 | A kind of dome wide-angle greenhouse |
| CN107716359A (en) * | 2017-11-18 | 2018-02-23 | 徐州华显凯星信息科技有限公司 | A kind of construction modeling pipe outer ring screw thread cleaning plant |
| CN108994219A (en) * | 2018-07-10 | 2018-12-14 | 佛山市程显科技有限公司 | A kind of cutting mechanism of pinrshape |
| CN108994219B (en) * | 2018-07-10 | 2020-02-14 | 佛山市程显科技有限公司 | Shearing mechanism of foot shearing machine |
| CN110523681A (en) * | 2019-10-10 | 2019-12-03 | 杨星 | A kind of substation's support insulator cleaning device |
| CN111632950A (en) * | 2020-05-14 | 2020-09-08 | 广东电网有限责任公司 | Dry ice cleaning device |
| CN112295976A (en) * | 2020-09-29 | 2021-02-02 | 重庆南电科技有限公司 | Porcelain insulator zero-value-measuring cleaning robot and control system |
| CN112474608A (en) * | 2020-11-05 | 2021-03-12 | 厦门理工学院 | Insulating solid CO2Cleaning device |
| CN112474608B (en) * | 2020-11-05 | 2022-02-25 | 厦门理工学院 | Insulating solid CO2Cleaning device |
| CN113681576A (en) * | 2021-09-16 | 2021-11-23 | 广东电网有限责任公司 | Cleaning robot's end module of washing soon |
| CN113798276A (en) * | 2021-09-22 | 2021-12-17 | 广东电网有限责任公司江门供电局 | Lifting platform for laser live cleaning of insulator |
| CN115365196A (en) * | 2022-08-19 | 2022-11-22 | 国网福建省电力有限公司福州供电公司 | Dirty cleaning equipment of net distribution overhead line insulated terminal |
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| Publication number | Publication date |
|---|---|
| CN106623272B (en) | 2019-09-17 |
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