CN110013985A - The spray gun clamping machine arm of living water washing robot, substation - Google Patents
The spray gun clamping machine arm of living water washing robot, substation Download PDFInfo
- Publication number
- CN110013985A CN110013985A CN201910028194.9A CN201910028194A CN110013985A CN 110013985 A CN110013985 A CN 110013985A CN 201910028194 A CN201910028194 A CN 201910028194A CN 110013985 A CN110013985 A CN 110013985A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- rotary joint
- platform
- support plate
- scroll wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 16
- 238000005406 washing Methods 0.000 title claims abstract description 15
- 239000007921 spray Substances 0.000 title claims abstract description 12
- 230000003028 elevating effect Effects 0.000 claims abstract description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000003137 locomotive effect Effects 0.000 abstract description 2
- 239000012212 insulator Substances 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- MWUXSHHQAYIFBG-UHFFFAOYSA-N nitrogen oxide Inorganic materials O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000005413 snowmelt Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of spray gun clamping machine arms of substation's living water washing robot, belong to automatic field.Including the first rotary joint, the second rotary joint, third rotary joint, first connecting rod, second connecting rod, connector, pedestal, hydraulic giant, elevating mechanism and connecting platform；The pedestal is connect by connecting platform with elevating mechanism, first connecting rod is linked by the first rotary joint with pedestal, second connecting rod is linked by the second rotary joint with first connecting rod, connector is linked by third rotary joint with second connecting rod, hydraulic giant is fixedly mounted on connector, is installed mechanical arm on the mobile device by elevating mechanism.The present invention is novel to be combined with the mobile devices such as locomotive, with the water pre-washing function to substation equipment；Using elevating mechanism in conjunction with mechanical arm mechanism, reliable operation, bearing capacity is strong.
Description
Technical field
The invention belongs to automatic fields, are related to the spray gun clamping machine arm of living water washing robot, substation.
Background technique
The insulator of on-line operation, in the natural environment, by big compression rings such as SO2, nitrogen oxides and graininess dust
The influence in border gradually deposited one layer of dunghill on its surface.In the case where dry weather, these insulators be can hold
It is close when higher dielectric level, discharge voltage and cleaning, drying regime；When meeting the wet weathers such as mist, dew, rain, and
When ice-melt, snow melt, insulator causes the electrolyte dissolution in pollution layer because surface filth object absorbs moisture, causes insulator dielectric
Level reduces, and leakage current increases, and flashover fault occurs when serious.Therefore, insulator chain needs are periodically cleaned.
At this stage, the main means of insulator chain cleaning are cleaned by the professional of substation.It is carrying out clearly
When washing, there are large labor intensity, the problems such as risk is high.
As a kind of advanced technological means, insulator chain living water washing robot can replace artificial progress insulator
String flushing task.To complete the comprehensive cleaning of insulator chain, needs to propose a kind of multivariant mechanical arm, complete the folder of spray gun
Hold task.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of spray gun clamping machines of substation's living water washing robot
Arm.
In order to achieve the above objectives, the invention provides the following technical scheme:
The spray gun clamping machine arm of living water washing robot, substation, including the first rotary joint, the second rotary joint,
Third rotary joint, first connecting rod, second connecting rod, connector, pedestal, hydraulic giant, elevating mechanism and connecting platform；
The pedestal is connect by connecting platform with elevating mechanism, and first connecting rod passes through the first rotary joint and pedestal chain
It connects, second connecting rod is linked by the second rotary joint with first connecting rod, and connector passes through third rotary joint and second connecting rod chain
It connects, hydraulic giant is fixedly mounted on connector, is installed mechanical arm on the mobile device by elevating mechanism.
Further, left platform rail, right platform rail, left-handed shaft and dextral shaft are installed on the connecting platform.
Further, the elevating mechanism include motor, electric cylinder, support plate, first connecting rod, second connecting rod, third connecting rod,
Fourth link and the 5th connecting rod；
The wherein support plate is fixedly mounted in the mobile device, and the first connecting rod and second connecting rod intersect hinge
It connects and is located at one end of support plate, the third connecting rod and fourth link cross-articulation and be located at the another of support plate
End；
The first connecting rod is parallel with fourth link, and the second connecting rod is parallel with third connecting rod, the first connecting rod and
One end of fourth link and the support plate are hinged, and the other end is slidably connected with connecting platform；
One end of the second connecting rod and third connecting rod is slidably connected with the support plate, the other end and connecting platform
Hingedly, the second connecting rod is connected close to one end of support plate by the 5th connecting rod with third connecting rod；
The motor and electric cylinder are set in the support plate, and are connected, the output shaft of the electric cylinder and institute
State the connection of the 5th connecting rod；
The motor driven electric cylinder, the electric cylinder push the second connecting rod and third to connect by the 5th connecting rod
Bar moves forward or back in the support plate；
The second connecting rod is connected with third connecting rod by seven-link assembly, and the first connecting rod and fourth link pass through the 6th
Connecting rod connection；The six-bar linkage and seven-link assembly are horizontally disposed, and the six-bar linkage is located at the second connecting rod and third
For connecting rod close to one end of connecting platform, the seven-link assembly is located at the position close to centre of the first connecting rod and fourth link
It sets；5th connecting rod and six-bar linkage are hinged by the 8th connecting rod.
Further, the both ends of the support plate are respectively equipped with support plate track, and the one of the second connecting rod and third connecting rod
End is respectively equipped with the first scroll wheel and third scroll wheel that can be walked on the support plate track；The bottom of the connecting platform
Both ends are respectively equipped with left platform track and right platform rail, and the other end of the first connecting rod and fourth link is respectively equipped with can be
The second scroll wheel and the 4th scroll wheel walked on platform track；The output shaft of the electric cylinder passes through connector and the described 5th
Connecting rod connection.
Further, the first connecting rod is connected with second connecting rod by the 5th rotary joint, third connecting rod and fourth link
It is connected by the 12nd rotary joint；First connecting rod and second connecting rod pass through respectively the first rotary joint and the second rotary joint with
Support plate connection, is connect by third rotary joint and the 4th rotary joint with connecting platform respectively；Third connecting rod and the 4th connects
Bar passes through the 7th rotary joint respectively and the 8th rotary joint is connect with support plate, passes through the 9th rotary joint and the tenth rotation respectively
Turn joint to connect with connecting platform；Seven-link assembly is connect with the 5th rotary joint and the 12nd rotary joint, is played a supporting role；
Six-bar linkage passes through the 6th rotary joint respectively and the 11st rotary joint is connect with first connecting rod fourth link；
5th connecting rod, second connecting rod and the first scroll wheel by the second rotary joint connect, the 5th connecting rod, third connecting rod and
Third scroll wheel is connected by the 7th rotary joint, and the first scroll wheel and third scroll wheel can be along the support plate track rows of support plate
It walks；Second connecting rod is hinged by third rotary joint and the dextral shaft on connecting platform, and third connecting rod is closed by the 9th rotation
It saves hinged with the left-handed shaft on connecting platform；
First connecting rod is connect by the 4th rotary joint with the second scroll wheel, and the second scroll wheel can be flat along the right side of connecting platform
The other end of platform track travel, first connecting rod is connect by the first rotary joint with support plate；Fourth link passes through the tenth rotation
Joint is connect with the 4th scroll wheel, and the 4th scroll wheel can walk along the left platform track of connecting platform, and the fourth link other end is logical
The 8th rotary joint is crossed to connect with support plate；
Motor pushing electric cylinder pushes the first scroll wheel and third scroll wheel along support by connector and the 5th connecting rod
The advance or retrogressing of panel guide, first connecting rod and second connecting rod and third connecting rod and the angle of the crossing of fourth link become smaller, together
When push the second scroll wheel and the 4th scroll wheel advance respectively along the right platform track of connecting platform and left platform track guide rail or
Person retreats, and then realizes the raising and lowering of connecting platform.
The beneficial effects of the present invention are:
1. the present invention can have the water pre-washing function to substation equipment in conjunction with the mobile devices such as locomotive.
2. use elevating mechanism is in conjunction with mechanical arm mechanism, reliable operation, bearing capacity is strong.
3. being suitable for the robot manipulating task under power transmission and transformation border, have a wide range of application.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is one of the structural schematic diagram of elevating mechanism in the present invention；
Fig. 3 is one of the structural schematic diagram of elevating mechanism in the present invention；
Fig. 4 is the structural schematic diagram of connecting platform in the present invention.
Specific embodiment
Below in conjunction with attached drawing, a preferred embodiment of the present invention will be described in detail.
As shown in Figure 1, a kind of robot arm device of electrification water cleaning provided by the invention, including the first rotary joint 1, the
Two rotary joints 2, third rotary joint 9, first connecting rod 4, second connecting rod 5, connector 6, pedestal 7, hydraulic giant 8,3 and of elevating mechanism
Connecting platform 10.
Wherein pedestal 7 can be connect by connecting platform 10 with elevating mechanism 3, first connecting rod 4 by the first rotary joint 1 with
Pedestal 7 links, and second connecting rod 5 is linked by the second rotary joint 2 with first connecting rod 4, and connector 6 passes through third rotary joint 9
It is linked with second connecting rod 5, hydraulic giant 8 is fixedly mounted on connector 6, and mechanical arm can be mounted on to mobile dress by elevating mechanism 3
It sets.
As shown in figure 4, being equipped with left platform rail 101, right platform rail 102,103 and of left-handed shaft on connecting platform 10
Dextral shaft 104.
As shown in Figure 2 and Figure 3, the elevating mechanism 3 includes motor 301, electric cylinder 302, support plate 303, first connecting rod
304, second connecting rod 305, third connecting rod 306, fourth link 307 and the 5th connecting rod 308, wherein support plate 303 is fixedly mounted on
In the mobile device, the first connecting rod 304 and 305 cross-articulation of second connecting rod and the one end for being located at support plate 303,
The third connecting rod 306 and 307 cross-articulation of fourth link and the other end for being located at support plate 303.The first connecting rod
304 is parallel with fourth link 307, and the second connecting rod 305 is parallel with third connecting rod 306, the first connecting rod 304 and the 4th
One end of connecting rod 307 and the support plate 303 are hinged, and the other end is slidably connected with connecting platform 10.305 He of second connecting rod
One end of third connecting rod 306 is slidably connected with the support plate 303, and the other end and connecting platform 10 are hinged, and described second
Connecting rod 305 and third connecting rod 306 are connected close to one end of support plate 303 by the 5th connecting rod 308.The motor 301 and electronic
Cylinder 302 is set in the support plate 303 and is connected, the output shaft of the electric cylinder 302 and the 5th connecting rod 308
Connection.
The motor 301 drives electric cylinder 302, and the electric cylinder 302 pushes described second by the 5th connecting rod 308
Connecting rod 305 and third connecting rod 306 move forward or back in the support plate 303.
The second connecting rod 305 and third connecting rod 306 are connected by seven-link assembly 310, the first connecting rod 304 and the 4th
Connecting rod 307 is connected by six-bar linkage 309.The six-bar linkage 309 and seven-link assembly 310 are horizontally disposed, and the described 6th connects
Bar 309 is located at the second connecting rod 305 and third connecting rod 306 close to one end of connecting platform 10, and the seven-link assembly 310 is located at
The position close to centre of the first connecting rod 304 and fourth link 307.5th connecting rod 308 and six-bar linkage 309 are logical
It is hinged to cross the 8th connecting rod 328.
In the present embodiment, the both ends of the support plate 303 are respectively equipped with support plate track, the second connecting rod 305 and
One end of three-link 306 is respectively equipped with the first scroll wheel 324 and third scroll wheel that can be walked on the support plate track
326.The bottom both ends of the connecting platform 10 are respectively equipped with left platform track 101 and right platform rail 102, the first connecting rod
304 and the other end of fourth link 307 be respectively equipped with the second scroll wheel 325 and the 4th scroll wheel that can be walked on platform track
327.The output shaft of the electric cylinder 302 is connect by connector 311 with the 5th connecting rod 308.
As shown, the first connecting rod 304 and second connecting rod 305 are connected by the 5th rotary joint 316 in the present embodiment
It connects, third connecting rod 306 and fourth link 307 are connected by the 12nd rotary joint 323；First connecting rod 304 and second connecting rod 305
It is connect respectively by the first rotary joint 312 and the second rotary joint 313 with support plate 303, passes through third rotary joint respectively
314 and the 4th rotary joint 315 connect with connecting platform 10；Third connecting rod 306 and fourth link 307 pass through the 7th rotation respectively
Joint 318 and the 8th rotary joint 319 are connect with support plate 303, pass through the 9th rotary joint 320 and the tenth rotary joint respectively
321 connect with connecting platform 10；Seven-link assembly 310 is connect with the 5th rotary joint 316 and the 12nd rotary joint 323, is played
Supporting role；Six-bar linkage 309 passes through the 6th rotary joint 317 and the 11st rotary joint 3-22 and first connecting rod 304 respectively
A fourth link 307 connects；
5th connecting rod 308, second connecting rod 305 and the first scroll wheel 324 are connected by the second rotary joint 313, and the 5th connects
Bar 308, third connecting rod 306 and third scroll wheel 326 are connected by the 7th rotary joint 318, the first scroll wheel 324 and third
Scroll wheel 326 can be along the support plate track travel of support plate 303；Second connecting rod 305 by third rotary joint 314 with connect put down
Dextral shaft 104 on platform 10 is hinged, and third connecting rod 306 passes through the 9th rotary joint 320 and the anticlockwise on connecting platform 10
Axis 103 is hinged.
First connecting rod 304 is connect by the 4th rotary joint 315 with the second scroll wheel 325, and the second scroll wheel 325 can be along even
The right platform track 102 for connecing platform 10 is walked, and the other end of first connecting rod 304 passes through the first rotary joint 312 and support plate 303
Connection；Fourth link 307 is connect by the tenth rotary joint 321 with the 4th scroll wheel 327, and the 4th scroll wheel 327 can be along connection
The left platform track 101 of platform 10 is walked, and 307 other end of fourth link is connected by the 8th rotary joint 319 with support plate 303
It connects.
Motor 301 pushes electric cylinder 302, by connector 311 and the 5th connecting rod 308, pushes the first scroll wheel 324 and the
Along the advance or retrogressing of 303 guide rail of support plate, first connecting rod 304 and second connecting rod 305 and third connect three scroll wheels 326
Bar 306 and the angle of the crossing of fourth link 307 become smaller, while pushing the second scroll wheel 325 and the 4th scroll wheel 327 respectively along connection
The right platform track 102 and 101 guide rail of left platform track of platform 10 advance or retreat, so realize connecting platform rising and
Decline.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (5)
1. the spray gun clamping machine arm of living water washing robot, substation, it is characterised in that: including the first rotary joint, second
Rotary joint, third rotary joint, first connecting rod, second connecting rod, connector, pedestal, hydraulic giant, elevating mechanism and connecting platform；
The pedestal is connect by connecting platform with elevating mechanism, and first connecting rod is linked by the first rotary joint with pedestal, the
Two connecting rods are linked by the second rotary joint with first connecting rod, and connector is linked by third rotary joint with second connecting rod, water
Rifle is fixedly mounted on connector, is installed mechanical arm on the mobile device by elevating mechanism.
2. the spray gun clamping machine arm of substation's living water washing according to claim 1 robot, it is characterised in that: institute
It states and left platform rail, right platform rail, left-handed shaft and dextral shaft is installed on connecting platform.
3. the spray gun clamping machine arm of substation's living water washing according to claim 1 robot, it is characterised in that: institute
Stating elevating mechanism includes motor, electric cylinder, support plate, first connecting rod, second connecting rod, third connecting rod, fourth link and the 5th company
Bar；
The wherein support plate is fixedly mounted in the mobile device, the first connecting rod and second connecting rod cross-articulation, simultaneously
And it is located at one end of support plate, the third connecting rod and fourth link cross-articulation and is located at the other end of support plate；
The first connecting rod is parallel with fourth link, and the second connecting rod is parallel with third connecting rod, the first connecting rod and the 4th
One end of connecting rod and the support plate are hinged, and the other end is slidably connected with connecting platform；
One end of the second connecting rod and third connecting rod is slidably connected with the support plate, and the other end and connecting platform are cut with scissors
It connects, the second connecting rod is connected close to one end of support plate by the 5th connecting rod with third connecting rod；
The motor and electric cylinder are set in the support plate, and are connected, the output shaft of the electric cylinder and described the
The connection of five connecting rods；
The motor driven electric cylinder, the electric cylinder push the second connecting rod and third connecting rod to exist by the 5th connecting rod
It is moved forward or back in the support plate；
The second connecting rod is connected with third connecting rod by seven-link assembly, and the first connecting rod and fourth link pass through six-bar linkage
Connection；The six-bar linkage and seven-link assembly are horizontally disposed, and the six-bar linkage is located at the second connecting rod and third connecting rod
Close to one end of connecting platform, the seven-link assembly is located at the position close to centre of the first connecting rod and fourth link；Institute
It is hinged by the 8th connecting rod to state the 5th connecting rod and six-bar linkage.
4. the spray gun clamping machine arm of substation's living water washing according to claim 1 robot, it is characterised in that: institute
The both ends for stating support plate are respectively equipped with support plate track, and one end of the second connecting rod and third connecting rod is respectively equipped with can be described
The first scroll wheel and third scroll wheel walked on support plate track；The bottom both ends of the connecting platform are respectively equipped with left platform
The other end of track and right platform rail, the first connecting rod and fourth link is respectively equipped with can walk on platform track
Two scroll wheels and the 4th scroll wheel；The output shaft of the electric cylinder is connect by connector with the 5th connecting rod.
5. the spray gun clamping machine arm of substation's living water washing according to claim 1 robot, it is characterised in that: institute
It states first connecting rod and is connected with second connecting rod by the 5th rotary joint, third connecting rod and fourth link pass through the 12nd rotary joint
Connection；First connecting rod and second connecting rod pass through the first rotary joint respectively and the second rotary joint is connect with support plate, lead to respectively
It crosses third rotary joint and the 4th rotary joint is connect with connecting platform；Third connecting rod and fourth link pass through the 7th rotation respectively
Joint and the 8th rotary joint are connect with support plate, are connected respectively by the 9th rotary joint and the tenth rotary joint and connecting platform
It connects；Seven-link assembly is connect with the 5th rotary joint and the 12nd rotary joint, is played a supporting role；Six-bar linkage passes through respectively
Six rotary joints and the 11st rotary joint are connect with first connecting rod fourth link；
5th connecting rod, second connecting rod and the first scroll wheel are connected by the second rotary joint, the 5th connecting rod, third connecting rod and third
Scroll wheel is connected by the 7th rotary joint, and the first scroll wheel and third scroll wheel can be along the support plate track travels of support plate；
Second connecting rod is hinged by third rotary joint and the dextral shaft on connecting platform, third connecting rod by the 9th rotary joint and
Left-handed shaft on connecting platform is hinged；
First connecting rod is connect by the 4th rotary joint with the second scroll wheel, and the second scroll wheel can be along the right platform rail of connecting platform
The other end of road walking, first connecting rod is connect by the first rotary joint with support plate；Fourth link passes through the tenth rotary joint
It is connect with the 4th scroll wheel, the 4th scroll wheel can walk along the left platform track of connecting platform, and the fourth link other end passes through the
Eight rotary joints are connect with support plate；
Motor pushing electric cylinder pushes the first scroll wheel and third scroll wheel to lead along support plate by connector and the 5th connecting rod
The advance or retrogressing of rail, first connecting rod and second connecting rod and third connecting rod and the angle of the crossing of fourth link become smaller, and push away simultaneously
Dynamic second scroll wheel and the 4th scroll wheel respectively along the right platform track of connecting platform and left platform track guide rail advance or after
It moves back, and then realizes the raising and lowering of connecting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910028194.9A CN110013985A (en) | 2019-01-11 | 2019-01-11 | The spray gun clamping machine arm of living water washing robot, substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910028194.9A CN110013985A (en) | 2019-01-11 | 2019-01-11 | The spray gun clamping machine arm of living water washing robot, substation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110013985A true CN110013985A (en) | 2019-07-16 |
Family
ID=67188781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910028194.9A Pending CN110013985A (en) | 2019-01-11 | 2019-01-11 | The spray gun clamping machine arm of living water washing robot, substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110013985A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604306A (en) * | 2020-05-19 | 2020-09-01 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286787A (en) * | 2013-06-28 | 2013-09-11 | 招商局重庆交通科研设计院有限公司 | Full-automatic road and tunnel lamp cleaning device |
| CN104998848A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing robot of rail type transformer substation |
| CN107116558A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳自动化研究所 | A kind of robot device of power transformating and supplying facility detection |
| CN210022980U (en) * | 2019-01-11 | 2020-02-07 | 贵州电网有限责任公司 | Transformer substation's electrified water washing robot's spray gun centre gripping arm |
-
2019
- 2019-01-11 CN CN201910028194.9A patent/CN110013985A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286787A (en) * | 2013-06-28 | 2013-09-11 | 招商局重庆交通科研设计院有限公司 | Full-automatic road and tunnel lamp cleaning device |
| CN104998848A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing robot of rail type transformer substation |
| CN107116558A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳自动化研究所 | A kind of robot device of power transformating and supplying facility detection |
| CN210022980U (en) * | 2019-01-11 | 2020-02-07 | 贵州电网有限责任公司 | Transformer substation's electrified water washing robot's spray gun centre gripping arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604306A (en) * | 2020-05-19 | 2020-09-01 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20190716 |