CN202678898U - Deicing robot for transmission line - Google Patents
Deicing robot for transmission line Download PDFInfo
- Publication number
- CN202678898U CN202678898U CN 201220248193 CN201220248193U CN202678898U CN 202678898 U CN202678898 U CN 202678898U CN 201220248193 CN201220248193 CN 201220248193 CN 201220248193 U CN201220248193 U CN 201220248193U CN 202678898 U CN202678898 U CN 202678898U
- Authority
- CN
- China
- Prior art keywords
- support arm
- gear
- clamp system
- power transmission
- pinion
- 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.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model aims to provide a deicing robot for a transmission line, which comprises two groups of deicing mechanisms, two groups of drive mechanisms, two groups of clamping mechanisms, two groups of supporting mechanisms and an obstacle-crossing mechanism, wherein each drive mechanism comprises a drive motor and a motor base; the two groups of deicing mechanisms and the two groups of clamping mechanism are fixed with the motor bases; the upper ends of the two groups of supporting mechanisms are connected with the motor bases; the supporting mechanisms are fixed on the obstacle-crossing mechanism; and the two groups of deicing mechanisms, the two groups of drive mechanisms, the two groups of clamping mechanisms and the two groups of supporting mechanisms are symmetrically and oppositely arranged. The deicing robot has the advantages that not only can various obstacles on the line be crossed, but also poles and towers can be crossed to realize automatic deicing operation among multiple lines.
Description
Technical field
The utility model relates to a kind of robot with obstacle crossing device.
Background technology
Because icing and accumulated snow on the transmission line, often cause line tripping, broken string, fall the accidents such as bar, insulator arc-over and communication disruption.China brought huge economic loss because powerline ice-covering causes a large amount of security incidents to country in recent years.At present, utilize deicing robot that transmission line is carried out the deicing operation and be in the Preliminary Applications stage, it is low, simple to operate that the robot deicing has a cost, raises the efficiency, and ensures the advantages such as Employee Security.
When using the multi-thread synchronous deicing robot deicing of transmission line, on running into line, need during obstacle the robot can leaping over obstacles, need the robot can crossing pole in the time of need to striding when in one grade, finishing the work grade, continue deicing.Therefore, in order raising the efficiency, to reduce that line work personnel climbing shaft tower is repeatedly installed or the number of times of unloading robot, to need the robot can the continuous deicing operation of obstacle detouring crossing pole for this reason.
Summary of the invention
The purpose of this utility model be to provide not only can crossover track on various disorders, and can stride across the removing ice of power transmission line robot that shaft tower is realized automatic de-icing operation between the many grades of circuits.
The purpose of this utility model is achieved in that
The utility model removing ice of power transmission line robot, it is characterized in that: comprise deicing mechanism, driving mechanism, clamp system, supporting mechanism, barrier getting over mechanism, driving mechanism comprises drive motors and motor cabinet, deicing mechanism and clamp system and motor cabinet are fixed, the upper end of supporting mechanism connects motor cabinet, and supporting mechanism is fixed on the barrier getting over mechanism; Described deicing mechanism, driving mechanism, clamp system, supporting mechanism have two groups and symmetry to arrange in opposite directions; Described barrier getting over mechanism comprises motor, pinion, gear wheel, left gear, right gear, tooth sector, the left end tooth bar, the right-hand member tooth bar, power transmission shaft, left rail, right guide rail, left telescopic arm, right telescopic arm, motor connects pinion, pinion connects gear wheel, gear wheel, left gear, right gear is installed on the power transmission shaft, right gear and tooth sector engagement, left telescopic arm links to each other with the left end tooth bar with left rail, right telescopic arm links to each other with the right-hand member tooth bar with right guide rail, left gear and the engagement of left end tooth bar drive left telescopic arm and move, and tooth sector and the engagement of right-hand member tooth bar drive right telescopic arm and move.
The utility model can also comprise:
1, described barrier getting over mechanism also comprises control casing, electric rotating machine, rotary worm, revolving wormgear, rotating drive shaft, right guide rail bracket, runing rest, right guide rail bracket is installed in right guide rail outside, electric rotating machine, runing rest are installed in the control casing, electric rotating machine, rotary worm, revolving wormgear link to each other successively, revolving wormgear and right guide rail bracket are connected, and right guide rail bracket links to each other by bearing with runing rest.
2, described two supporting mechanisms are installed in respectively on the left telescopic arm of barrier getting over mechanism and on the right telescopic arm.
3, described supporting mechanism comprises upper support arm, lower support arm, support arm oscillating motor, bevel pinion, bevel gear wheel, rotation axis, the upper support arm links to each other by deep groove ball bearing with the lower support arm, the support arm oscillating motor connects bevel pinion, bevel pinion and bevel gear wheel engagement, rotation axis and bevel gear wheel circumferentially connecting, rotation axis pass the lower support arm and are fixed in the upper support arm and drive the upper support arm swing.
4, on the described upper support arm alignment pin is installed, spacing groove is set on the lower support arm, alignment pin moves along spacing groove.
5, described clamp system comprises that clamp system motor, clamp system pinion, clamp system gear wheel, axle, rotation worm gear, rotary worm, cable clamp hand, rotary worm is installed on the axle, rotate worm gear connection of rotating worm screw, cable clamps hand connection of rotating worm screw, described cable clamping hand, rotation worm gear, rotary worm have two groups, two cables clamp the hand cooperation and finish clamping, unclamp action, the clamp system gear wheel be installed on the axle and with the clamp system pinion, the clamp system pinion connects the clamp system motor.
6, also comprise the tong forearm, the tong forearm is installed in and rotates between worm gear and the cable clamping hand.
7, described deicing mechanism comprises except ice lolly, base, rotating shaft, and the described ice lolly that removes has four, is installed on the base uniformly, and rotating shaft links to each other with driving mechanism and fixes with base.
Advantage of the present utility model is: the utility model not only can crossover track on various disorders, can also stride across shaft tower and realize automatic de-icing operation between the many grades of circuits.
Description of drawings
Fig. 1 is axonometric drawing of the present utility model;
Fig. 2 is front view of the present utility model;
Fig. 3 is obstacle detouring controlling organization profile A;
Fig. 4 is obstacle detouring controlling organization profile B;
Fig. 5 is the supporting mechanism profile;
Fig. 6 is the clamp system profile.
Embodiment
For example the utility model is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～6, the utility model is comprised of deicing mechanism I, driving mechanism II, clamp system III, supporting mechanism IV and obstacle detouring controlling organization V.
Described obstacle detouring controlling organization V is by obstacle detouring control motor 1, motor reducer 2, obstacle detouring control motor cabinet 3, bearing pedestal 4, deep groove ball bearing 5, obstacle detouring control electric machine rotational axis 6, motor output pinion 7, control casing 8, bearing (ball) cover 9, gear wheel 10, left gear 11, power transmission shaft 12, left end tooth bar 13, left cantilever arm 14, left rail 15, left rail frame 16, right cantilever arm 17, right guide rail 18, right guide rail bracket 19, right tooth bar 20, right gear 21, tooth sector 22, axle sleeve 23, right end cap 24, deep groove ball bearing 25, rotating drive shaft 26, deep groove ball bearing 27, runing rest 28, revolving wormgear 29, travelling gear 30, rotary worm 31, bearing pedestal 32, travelling gear 33, electric rotating machine 34 compositions such as grade.
Described supporting mechanism IV is made of upper support arm 35, deep groove ball bearing 36, spacing groove 37, bevel gear wheel 38, rotation axis 39, motor output rotation axis 40, bevel pinion 41, output shaft steady pin 42, motor reducer 43, motor cabinet 44, support arm oscillating motor 45, lower support arm 46 etc.
Described clamp system III clamps hand 47, tong forearm 48, rubber blanket 49, rotary turbine 50, bearing (ball) cover 51, deep groove ball bearing 52, worm screw 53, clamp system shell 54, clamp system motor 55, motor reducer 56, motor cabinet 57, motor output shaft steady pin 58, pinion 59, motor output rotation axis 60, gear wheel 61, axle sleeve 62 etc. by cable and forms.
In the described obstacle detouring controlling organization V, obstacle detouring control motor 1 and motor reducer 2 are fixed on the control casing 8 by obstacle detouring control motor cabinet 3, the output shaft of obstacle detouring control motor 1 is by flat key and obstacle detouring control electric machine rotational axis 6 circumferentially connectings, about obstacle detouring control electric machine rotational axis 6 passes through respectively two deep groove ball bearings 5 with about two bearing pedestal 4 axial restraints, the left end of bearing pedestal 4 is by passing through screw rigid bearing end cap 9, bearing (ball) cover 9 is with deep groove ball bearing 5 axial location simultaneously, obstacle detouring control electric machine rotational axis 6 by flat key with motor output pinion 7 circumferentially connectings, motor output pinion 7 left ends are by the axle sleeve axial location, and motor output pinion 7 cooperates with gear wheel 10 gears.The shaft shoulder of power transmission shaft 12 left ends is by left gear 11, axle sleeve, deep groove ball bearing and bearing left end cap axial restraint, gear wheel 10 is by the shaft shoulder and the round nut axial restraint at power transmission shaft 12 middle parts, right gear 20 is by the shaft shoulder, axle sleeve, bearing and right end cap 23 axial restraints of power transmission shaft 12 right-hand members, and left gear 11, gear wheel 10 and right gear 20 are respectively by flat key and power transmission shaft 12 circumferentially connectings.Left gear 11 cooperates with left end tooth bar 13, left end tooth bar 13 is fixedly connected with left cantilever arm 14 by screw, left cantilever arm 14 is fixedly connected by screw and left rail 15, and left rail 15 cooperates the lower end of left rail frame 16 to be fixedly connected with control casing 8 with left rail frame 16.Right gear 21 cooperates with tooth sector 22, tooth sector 22 is by flat key and rotating drive shaft 26 circumferentially connectings, tooth sector 22 is by the shaft shoulder and round nut and rotating drive shaft 26 axial restraints of rotating drive shaft 26, rotating drive shaft 26 deep groove ball bearings 27 are fixedly connected with runing rest 28 with round nut, right gear 21 cooperates with right tooth bar 20, right tooth bar 20 is fixedly connected with right cantilever arm 17 by screw, right cantilever arm 17 is fixedly connected by screw and right guide rail 18, right guide rail 18 cooperates with right guide rail bracket 19, right guide rail bracket 19 is by bearing and runing rest 28 axial restraints, and right guide rail bracket 19 is connected and fixed by screw and revolving wormgear 29.Revolving wormgear 29 cooperates with rotary worm 31, and rotary worm 31 is by bearing and bearing pedestal 32 axial restraints, and electric rotating machine 34 is by flat key and travelling gear 30 circumferentially connectings.
As shown in Figure 5, in the described support IV mechanism, support arm oscillating motor 45 and motor reducer 43 are fixedly connected by screw and motor cabinet 44, motor cabinet 44 is fixedly connected by screw and lower support arm 46, support arm oscillating motor 45 is fixedly connected by output shaft steady pin 42 and motor output rotation axis 40, motor output rotation axis 40 other ends are by flat key and bevel pinion 41 circumferentially connectings, and the shaft shoulder axial location other end of bevel pinion 41 1 ends and motor output rotation axis 40 is by the round nut axial location.Bevel pinion 41 cooperates with bevel gear wheel 38, be that bevel pinion 41 drives bevel gear wheel 38 rotations, bevel gear wheel 38 is by rotation axis 39 and round nut axial location, by flat key and rotation axis 39 circumferentially connectings, be that bevel gear wheel 38 rotation axiss 39 drive 35 rotations of upper support arm, the boss of upper support arm 35 is by deep groove ball bearing 36 and lower support arm 46 circumferentially connectings.Alignment pin on upper support arm 35 boss cooperates with the spacing groove 37 of lower support arm 46, and namely upper support arm 35 is along the track rotation of the spacing groove 37 of lower support arm 46.
As shown in Figure 6, described stepping up in mechanism's III, clamp system motor 55 is fixedly connected with motor reducer 56, and is fixed by screws on the motor cabinet 57, is fixed by screws on the motor cabinet 57 on the clamp system shell 54.The output shaft of clamp system motor 55 is fixedly connected by motor output shaft steady pin 58 and motor output rotation axis 60, the shaft shoulder of motor output rotation axis 60 and pinion 59 axial location, by flat key and motor output rotation axis 60 circumferentially connectings, namely clamp system motor 55 rotates and drives pinions 59 by motor output rotation axis 60 and rotate pinion 59 right-hand members by round nut axial location and pinion 59.Pinion 59 cooperates with gear wheel 61, and gear wheel 61 is by flat key and worm shaft circumferentially connecting, and gear wheel 61 right-hand members are by the round nut axial location, and left end is by axle sleeve 62 and deep groove ball bearing axial location.It is respectively left-handed and dextrorotation that the two ends of worm shaft are arranged symmetrically with two worm screws, and the left-handed and dextrorotation part of worm screw 53 cooperates with two rotary turbine 50 respectively, i.e. worm screw rotation drives two rotary turbine 50 and relatively rotates.The rotary turbine axle is by flat key and tong forearm 48 circumferentially connectings, and tong forearm 48 clamps hand 47 by the screw cable that is fixedly connected, and namely rotary turbine 50 is rotated and driven cables and clamp hands 47 and rotate.Rubber blanket 49 is fixedly connected by the lower end of screw and clamp system shell 54.
Operation principle: described high-voltage line automatically deicing robot obstacle detouring ice detachment is moved for hiding obstacle action, leaping over obstacles action, the action of falling cable, clamping and releases cable action, crossing pole, and is specific as follows:
1) hide obstacle action support arm oscillating motor 45 and drive bevel pinion 41 rotations by motor output rotation axis 40, bevel pinion 41 cooperates with bevel gear wheel 38 gears, bevel gear wheel 38 and rotation axis 39 circumferentially connectings, so rotation axis 39 rotates thereupon.One section of rotation axis 39 drives 35 swings of upper support arm, on the boss of upper support arm 35 alignment pin is installed, and alignment pin can only be along spacing groove 37 spacing movements, and therefore can limit upper support arm 35 slewing areas prevents that pivot angle is excessive.Upper support arm 35 tops and driving mechanism are fixedly connected, and swing along certain angle thereby drive driving mechanism, break away from cable, realize hiding the obstacle action.
2) leaping over obstacles action obstacle detouring control motor 1 rotates by obstacle detouring control electric machine rotational axis 6 drive motor output pinions 7, pinion 7 cooperates drive power transmission shaft 12 to rotate with gear wheel 10, on the power transmission shaft 12 with left gear 11 and right gear 21 circumferentially connectings, so left gear 11 and right gear 21 also rotate thereupon, left gear 11 drives left cantilever arm 14 by the left end tooth bar 13 that cooperates and moves along left rail frame 16.Right-hand member, right gear 21 cooperates with tooth sector 22 gears, so that tooth sector 22 rightabouts rotate, tooth sector 22 cooperates the right cantilever arm 17 of drive to move with left cantilever arm 14 rightabouts along right guide rail bracket 19 with right tooth bar 20, thereby relative motion when realizing left and right sides cantilever arm surmounts obstacles thereby drive front driving mechanism.
3) falling that the cable action falls the cable action after rise and to hide the cable action similar after rise, is the inverse process of hiding the cable action.
4) clamp and the releases cable action when front driving mechanism or rear drive mechanism surmount obstacles, in order to guarantee stablizing of robot, need rear drive mechanism or front driving mechanism to clamp cable.At this moment, clamp system motor 55 drives pinion 59 by motor output rotation axis 60 and rotates, and pinion 59 cooperates with gear wheel 61 gears, gear wheel 61 and worm screw 53 circumferentially connectings, so worm screw 53 is rotated thereupon.It is respectively left-handed and dextrorotation that the two ends of worm shaft are arranged symmetrically with two worm screws, and the left-handed and dextrorotation part of worm screw 53 cooperates with two rotary turbine 50 respectively, i.e. worm screw rotation drives two rotary turbine 50 and relatively rotates.Along with the rotation of rotary turbine 50, about two cables clamp hands 47 and also relatively rotate, thereby realize clamp and the loose ends action of clamp system.
5) the crossing pole action is when robot follows cable from single line cable crossing pole to another, and two cables have certain angle.At this moment, electric rotating machine 34 rotates by travelling gear 30 and travelling gear 33 driven rotary worm screws 31, and rotary worm 31 cooperates with revolving wormgear 29, and therefore, revolving wormgear 29 rotates thereupon.Revolving wormgear 29 is fixedly connected with right guide rail bracket 19, and right guide rail bracket 19 rotates relative to runing rest 28 by bearing 27.The rotation of right guide rail bracket 19 is with right cantilever arm pitch rotation about in the of 17.Hide obstacle action, obstacle detouring action and falling after rise under the cooperation of cable action, thereby realizing the crossing pole action.
Claims (8)
1. removing ice of power transmission line robot, it is characterized in that: comprise deicing mechanism, driving mechanism, clamp system, supporting mechanism, barrier getting over mechanism, driving mechanism comprises drive motors and motor cabinet, deicing mechanism and clamp system and motor cabinet are fixed, the upper end of supporting mechanism connects motor cabinet, and supporting mechanism is fixed on the barrier getting over mechanism; Described deicing mechanism, driving mechanism, clamp system, supporting mechanism have two groups and symmetry to arrange in opposite directions; Described barrier getting over mechanism comprises motor, pinion, gear wheel, left gear, right gear, tooth sector, the left end tooth bar, the right-hand member tooth bar, power transmission shaft, left rail, right guide rail, left telescopic arm, right telescopic arm, motor connects pinion, pinion connects gear wheel, gear wheel, left gear, right gear is installed on the power transmission shaft, right gear and tooth sector engagement, left telescopic arm links to each other with the left end tooth bar with left rail, right telescopic arm links to each other with the right-hand member tooth bar with right guide rail, left gear and the engagement of left end tooth bar drive left telescopic arm and move, and tooth sector and the engagement of right-hand member tooth bar drive right telescopic arm and move.
2. removing ice of power transmission line according to claim 1 robot, it is characterized in that: described barrier getting over mechanism also comprises control casing, electric rotating machine, rotary worm, revolving wormgear, rotating drive shaft, right guide rail bracket, runing rest, right guide rail bracket is installed in right guide rail outside, electric rotating machine, runing rest are installed in the control casing, electric rotating machine, rotary worm, revolving wormgear link to each other successively, revolving wormgear and right guide rail bracket are connected, and right guide rail bracket links to each other by bearing with runing rest.
3. removing ice of power transmission line according to claim 2 robot is characterized in that: described two supporting mechanisms are installed in respectively on the left telescopic arm of barrier getting over mechanism and on the right telescopic arm.
4. removing ice of power transmission line according to claim 3 robot, it is characterized in that: described supporting mechanism comprises upper support arm, lower support arm, support arm oscillating motor, bevel pinion, bevel gear wheel, rotation axis, the upper support arm links to each other by deep groove ball bearing with the lower support arm, the support arm oscillating motor connects bevel pinion, bevel pinion and bevel gear wheel engagement, rotation axis and bevel gear wheel circumferentially connecting, rotation axis pass the lower support arm and are fixed in the upper support arm and drive the upper support arm swing.
5. removing ice of power transmission line according to claim 4 robot, it is characterized in that: on the described upper support arm alignment pin is installed, spacing groove is set on the lower support arm, alignment pin moves along spacing groove.
6. removing ice of power transmission line according to claim 5 robot, it is characterized in that: described clamp system comprises the clamp system motor, the clamp system pinion, the clamp system gear wheel, axle, rotate worm gear, rotary worm, cable clamps hand, rotary worm is installed on the axle, rotate worm gear connection of rotating worm screw, cable clamps hand connection of rotating worm screw, described cable clamps hand, rotate worm gear, rotary worm has two groups, two cables clamp the hand cooperation and finish clamping, unclamp action, the clamp system gear wheel be installed on the axle and with the clamp system pinion, the clamp system pinion connects the clamp system motor.
7. removing ice of power transmission line according to claim 6 robot is characterized in that: also comprise the tong forearm, the tong forearm is installed in and rotates worm gear and cable clamps between the hand.
8. removing ice of power transmission line according to claim 7 robot, it is characterized in that: described deicing mechanism comprises except ice lolly, base, rotating shaft, the described ice lolly that removes has four, is installed on the base uniformly, and rotating shaft links to each other with driving mechanism and fixes with base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220248193 CN202678898U (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220248193 CN202678898U (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202678898U true CN202678898U (en) | 2013-01-16 |
Family
ID=47499773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220248193 Withdrawn - After Issue CN202678898U (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202678898U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102709859A (en) * | 2012-05-30 | 2012-10-03 | 哈尔滨工程大学 | Deicing robot for transmission line |
| CN105207157A (en) * | 2014-06-16 | 2015-12-30 | 南京电力金具设计研究院有限公司 | Transmission mechanism for ground wire deicing automatic wiring device |
| CN106911113A (en) * | 2017-05-04 | 2017-06-30 | 成都中机盈科科技有限公司 | It is applied to the icing sweeping robot of overhead power transmission line |
| CN107046255A (en) * | 2017-05-04 | 2017-08-15 | 成都中机盈科科技有限公司 | A kind of overhead transmission line de-icing method based on robot |
| CN107175670A (en) * | 2017-07-24 | 2017-09-19 | 广东电网有限责任公司电力科学研究院 | A kind of wire repairing mechanism and robot for being installed on hot line robot |
| CN107460822A (en) * | 2017-07-11 | 2017-12-12 | 镇江蓝舶科技股份有限公司 | Device for the safe across obstacle of main rope of suspension bridge inspection trolley |
| CN111509647A (en) * | 2020-04-27 | 2020-08-07 | 东北电力大学 | Automatic short circuit joint control device for direct-current deicing of transmission conductor |
| CN111993385A (en) * | 2020-08-26 | 2020-11-27 | 广东电网有限责任公司肇庆供电局 | Power line operation walking robot |
| CN112490936A (en) * | 2020-12-17 | 2021-03-12 | 贵州电网有限责任公司 | Walking obstacle crossing mechanism of power transmission line repairing robot |
-
2012
- 2012-05-30 CN CN 201220248193 patent/CN202678898U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102709859B (en) * | 2012-05-30 | 2014-12-03 | 哈尔滨工程大学 | Deicing robot for transmission line |
| CN102709859A (en) * | 2012-05-30 | 2012-10-03 | 哈尔滨工程大学 | Deicing robot for transmission line |
| CN105207157B (en) * | 2014-06-16 | 2017-10-27 | 南京电力金具设计研究院有限公司 | A kind of transmission mechanism for ground wire deicing automatic connection device |
| CN105207157A (en) * | 2014-06-16 | 2015-12-30 | 南京电力金具设计研究院有限公司 | Transmission mechanism for ground wire deicing automatic wiring device |
| CN106911113A (en) * | 2017-05-04 | 2017-06-30 | 成都中机盈科科技有限公司 | It is applied to the icing sweeping robot of overhead power transmission line |
| CN107046255A (en) * | 2017-05-04 | 2017-08-15 | 成都中机盈科科技有限公司 | A kind of overhead transmission line de-icing method based on robot |
| CN106911113B (en) * | 2017-05-04 | 2018-06-26 | 湖南理工学院 | Icing sweeping robot applied to overhead power transmission line |
| CN107460822A (en) * | 2017-07-11 | 2017-12-12 | 镇江蓝舶科技股份有限公司 | Device for the safe across obstacle of main rope of suspension bridge inspection trolley |
| CN107175670A (en) * | 2017-07-24 | 2017-09-19 | 广东电网有限责任公司电力科学研究院 | A kind of wire repairing mechanism and robot for being installed on hot line robot |
| CN107175670B (en) * | 2017-07-24 | 2023-06-16 | 广东电网有限责任公司电力科学研究院 | Wire repairing mechanism installed on live working robot and robot |
| CN111509647A (en) * | 2020-04-27 | 2020-08-07 | 东北电力大学 | Automatic short circuit joint control device for direct-current deicing of transmission conductor |
| CN111993385A (en) * | 2020-08-26 | 2020-11-27 | 广东电网有限责任公司肇庆供电局 | Power line operation walking robot |
| CN112490936A (en) * | 2020-12-17 | 2021-03-12 | 贵州电网有限责任公司 | Walking obstacle crossing mechanism of power transmission line repairing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202678898U (en) | Deicing robot for transmission line | |
| CN106655060B (en) | Quadripartion deicing high-voltage power transmission line robot | |
| CN101728803B (en) | Robot for de-icing of power transmission lines | |
| CN101309001B (en) | Cable deicing robot | |
| CN204333774U (en) | Be adapted to the power transmission line inspection robot mechanism of large span | |
| CN102709834B (en) | Cable deicing robot for transmission line | |
| CN105644646A (en) | Wheel type pole-climbing robot | |
| CN101794974B (en) | Gripper type intelligent obstacle removing robot for electric transmission line | |
| CN202231393U (en) | High-voltage wire deicing obstacle surmounting robot | |
| CN107686028A (en) | A kind of special winding device of cable | |
| CN101752818A (en) | Driving mechanism for automatically deicing robot along overhead high voltage transmission line | |
| CN101777742A (en) | Robot capable of performing automatic deicing along aerial high-voltage power transmission line | |
| CN102352674B (en) | Automatic ceiling snow sweeping device | |
| CN205734919U (en) | Imitative insecticide creeping motion type two-wheel two-arm inspection robot frame for movement | |
| CN102709859B (en) | Deicing robot for transmission line | |
| CN106486954A (en) | Can obstacle detouring many distributing cables synchronization deicing robots, open ice and obstacle-detouring method | |
| CN107546642A (en) | The autonomous deflecting traveling crusing robot of overhead transmission line ground wire, system and method | |
| CN103862454B (en) | A kind of three armlet shape inspection robot mechanisms | |
| CN103457223A (en) | Cable double-axis pressure deicing robot | |
| CN205327216U (en) | Wheeled pole -climbing robot | |
| CN201910595U (en) | Intelligent tour inspection traveling mechanism for operating state of high-voltage lines | |
| CN102110960A (en) | Intelligent walking mechanism for inspecting operating condition of high-voltage line | |
| CN203632108U (en) | Cable-running obstacle-overcoming live line tool | |
| CN209632163U (en) | A kind of guard of bicycle spool process equipment | |
| CN107171269A (en) | A kind of aerial cables deicing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130116 Effective date of abandoning: 20141203 |
|
| RGAV | Abandon patent right to avoid regrant |