CN203791106U - Robot for automatically spraying overhead transmission line insulating paint - Google Patents
Robot for automatically spraying overhead transmission line insulating paint Download PDFInfo
- Publication number
- CN203791106U CN203791106U CN201420149436.2U CN201420149436U CN203791106U CN 203791106 U CN203791106 U CN 203791106U CN 201420149436 U CN201420149436 U CN 201420149436U CN 203791106 U CN203791106 U CN 203791106U
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- plate
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- transmission line
- overhead transmission
- stirring
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- Expired - Fee Related
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- 239000003973 paint Substances 0.000 title claims abstract description 49
- 230000005540 biological transmission Effects 0.000 title claims abstract description 45
- 238000005507 spraying Methods 0.000 title claims abstract description 39
- 238000003756 stirring Methods 0.000 claims abstract description 44
- 238000004891 communication Methods 0.000 claims abstract description 21
- 239000007921 spray Substances 0.000 claims description 40
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 13
- 230000011664 signaling Effects 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000009413 insulation Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000012546 transfer Methods 0.000 description 6
- 238000000576 coating method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000011248 coating agent Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000870659 Crassula perfoliata var. minor Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
Abstract
The utility model discloses a robot for automatically spraying overhead transmission line insulating paint. The robot comprises a plurality of module structures. The module structures includes a movable vehicle, a power supply module, an onboard control system, a stirring module, a spraying module and a compressing device, wherein the movable vehicle is hung on an overhead transmission line and can move along the same, the power supply module, the onboard control system and the compressing device are mounted on the upper connecting plate of the movable vehicle, the stirring module and the spraying module are mounted on the lower connecting plate of the movable vehicle, the onboard control system is communicated with a ground station through a wireless communication unit, and the onboard control system receives control instructions transmitted by the ground station and transmits detecting data back to the ground station. The robot adopting a modular structural design has the advantages that the robot is simple and reliable in structure, convenient to replace and low in manufacturing cost; the movable vehicle is sectional, and relative horizontality of the lower connecting plate and the stirring module can be still kept on an inclined overhead transmission line; the overhead transmission line penetrates the mechanical center of a spraying head, and even-speed even-thickness insulating paint spraying is achieved when the movable vehicle moves.
Description
Technical field
The utility model relates to a kind of overhead transmission line insulated paint automatic spraying robot.
Background technology
Early stage overhead transmission line, the especially south electric network of laying generally adopts bare wire form to save construction cost.But also there is larger potential safety hazard.The foreign material such as the kite surprisingly hanging on overhead transmission line, the laying dust on insulator, wire clamp, stockbridge damper easily forms mudflow causes the short circuit of circuit, thereby causes the accidents such as tripping operation.
At present, network system generally adopts hand spray insulated paint form to improve insulating properties and the security performance of exposed overhead transmission line.But exist, efficiency is low, speed slow and the poor shortcoming of insulation effect uniformity.
Retrieval through patent documentation and prior art finds, except crusing robot and ice-covering-proof remote control automatic spraying robot, also do not have similar document and news report.
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, 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 of electricity, 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 for this patent: 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, in ice-covering-proof spraying operation, be also easy to produce unexpected slip and the ice-covering-proof quality of impact spraying; 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.
Utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, a kind of overhead transmission line insulated paint automatic spraying robot is provided, this robot adopts modular construction and method for designing, to reducing design cost, improving versatility, for overhead transmission line provides efficiently, safe and high-quality automatic coating.
For achieving the above object, the utility model adopts following technical proposals:
A kind of overhead transmission line insulated paint automatic spraying robot, it is made up of some modular structures, described modular structure comprises moving body, power module, aircraft mounted control system, stirring module, spray module and hold down gag, moving body is suspended on overhead transmission line, and can seesaw along overhead transmission line, power module, aircraft mounted control system and hold down gag are arranged on the upper plate of moving body, and stirring module, spray module are arranged on the lower plate of moving body; Aircraft mounted control system is communicated by letter with earth station by wireless communication unit, satellite receiver sending controling instruction, and send it back earth station detecting data;
Described moving body comprises movable motor, main supporting plate, auxiliary support plate, roller, upper plate, intermediate connecting rod and lower 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, form mobile roof support by four rolling, main supporting plate and auxiliary support plate, 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, upper plate lower middle position is connected with lower plate by intermediate connecting rod, power transmission shaft and bearing, it is the mobile roof support on top, the upper plate of centre and the lower plate of bottom that moving body adopts segmentation form, still can keep the relative level of lower plate and stirring module on inclination circuit;
Described stirring module comprises: the motor, stirring motor, leading screw, straight line slide bar, stirring-head, paint kettle support, upper mounted plate, lower portable plate and the paint kettle that play operation effect up and down, the motor of operation is fixed on lower plate by upper mounted plate up and down, the output shaft of the motor of operation is connected with leading screw upper end up and down, leading screw lower end is threaded onto in lower portable plate in screwed hole, the upper end of straight line slide bar is fixed on upper mounted plate, lower end is through the pilot hole of lower portable plate, when electric machine rotation, drive leading screw rotation, leading screw drives lower portable plate to move up and down along straight line slide bar again;
On lower portable plate, be fixed with stirring motor, on the output shaft end of stirring motor, the stirring-head that is arranged in paint kettle be installed, paint kettle is fixed on lower plate by paint kettle support, and stirring motor rotates, and drives stirring-head rotation, realizes the stirring of insulated paint; Lower plate one side is provided with three approach switchs that can determine San Ge position, lower portable plate upper, middle and lower, three approach switchs realize respectively the motor of operation up and down startup, stop controlling and the startup of stirring motor, stop controlling.
Described spray module comprises: spraying motor, plunger displacement pump and spray head, and spraying motor and plunger displacement pump are fixed on lower plate, and plunger displacement pump lower inlet is positioned at paint kettle; .Spray head be two 180 ° to a point articulated structure, middle part is provided with the centre bore of lateral direction penetrating, be installed on main supporting plate and auxiliary support plate by mechanical device, and overhead transmission line passes from the centre bore of spray head, centre bore is relative with the liquid spraying outlet of spray head; The liquid-inlet of spray head is connected by the transfer pipeline being made up of hydraulic quick coupler and pipeline with plunger displacement pump; Spraying motor drives plunger displacement pump motion by eccentric wheel, and the insulated paint being stirred is delivered to spray head by transfer pipeline, realizes at the uniform velocity, even heavy insulation paint sprays in the time that moving body move.
Described compression module 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 aircraft mounted control system comprises: power management chip, main control MCU, signaling conversion circuit, direct current motor servo driver, wireless communication module, sucker antenna and approach switch, wherein: 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 plate by mechanical connection again; Wireless communication module is connected with main control MCU by holding wire; Direct current motor servo driver is fixed on the lower plate back side to keep car body left and right balance, is connected with signaling conversion circuit and power module on PCB circuit board by cable; 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 earth station; Approach switch is fixed on lower plate, is connected with the signaling conversion circuit on PCB circuit board by holding wire, and the positional information that stirs module place is provided.
Aircraft mounted control system is communicated by letter with earth station by wireless communication unit, speed that satellite receiver sends, advance, retreat, stop motion, stirring, spray, stop the control instructions such as spraying, and the detection data such as the speed of service, power module current voltage, circuit inclination angle are sent it back to earth station.
Described power module is the lithium-ion-power cell being arranged on the upper plate of moving body, for aircraft mounted control system, stir module, spray module provides required electric power.
Software in the control system of utility model is existing software, for example: the control system in background technology Patent application CN102228876A.The improvement of control system of the present utility model is the improvement of hardware, and software is not made an amendment, and existing software can directly utilize, and no longer software section is elaborated at this.
Compared with other and prior art, the beneficial effects of the utility model are: adopt Modular Structure Design form, and simple in structure, reliable, be convenient to change low cost of manufacture; Moving body adopts segmentation form (being the mobile roof support on top, the upper plate of centre and the lower plate of bottom), still can keep the relative level of lower plate and stirring module on inclination circuit; Stir module and there are two drive motors, can realize efficient, the quick and uniform stirring of insulated paint and base-material; Overhead transmission line passes from spray head machine center, realizes at the uniform velocity, even heavy insulation paint spraying in the time that moving body moves; The insulated paint stirring is delivered to spray head by conveyance conduit after pressurizeing by plunger displacement pump, can automatically get rid of the unexpected micro-bubble stirring in shower nozzle outlet, thereby avoids containing bubble in insulated paint and reduce insulating properties; By robot control Function Decomposition for stirring, start spraying, stop spray, advance, retreat, speed regulates, feed back and enable, feed back and forbid etc.; can flexible modulation robot ambulation speed, direct of travel and coating thickness, can be by starting spraying, stop spraying and advance, the combination control of fallback function realizes spraying and the THICKNESS CONTROL in any power transmission line section; Hold down gag is installed, can avoids the accident of moving body to drop, and have certain anti-crosswind ability; 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 of electricity inclination angle; Transfer pipeline is made up of hydraulic quick coupler and pipeline, is convenient to realize security seal and quick-replaceable.
Brief description of the drawings
Fig. 1 is the overall schematic of an embodiment of the utility model;
Fig. 2 is an embodiment moving body schematic diagram;
Fig. 3 is an embodiment aircraft mounted control system block diagram;
Fig. 4 is that an embodiment stirs module diagram;
Fig. 5 is an embodiment spray module schematic diagram;
Fig. 6 is an embodiment compression module schematic diagram.
Wherein 1. movable motors, 2. main supporting plate, 3. auxiliary support plate, 4. roller, 5. upper plate, 6. intermediate connecting rod, 7. lower plate, 8. power management chip, 9. main control MCU, 10. signaling conversion circuit, 11. direct current motor servo drivers, 12. wireless communication modules, 13. sucker antennas, 14. approach switchs, 15. move motor up and down, 16. stirring motors, 17. leading screws, 18. straight line slide bars, 19. stirring-heads, 20. paint kettle supports, 21. upper mounted plates, 22. times portable plates, 23. paint kettles, 24. spraying motors, 25. plunger displacement pumps, 26. spray heads, 27. transfer pipelines, 28. four-bar mechanisms (slider-crank mechanism), 29. pinch rollers.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated: the present embodiment is implemented under taking technical solutions of the utility model as prerequisite; provided detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
As shown in Figure 1, the present embodiment comprises: moving body, power module, aircraft mounted control system, stirring module, spray module, hold down gag, wherein: moving body is suspended on overhead transmission line, and seesaw along overhead transmission line, power module, aircraft mounted control system and hold down gag are arranged on upper plate, and stirring module, spray module are arranged on lower plate.Aircraft mounted control system is communicated by letter with earth station by wireless communication unit, speed that satellite receiver sends, advance, retreat, stop motion, stirring, spray, stop the control instructions such as spraying, and the detection data such as the speed of service, power module current voltage, distribution wire inclination angle are sent it back to earth station.
As shown in Figure 2, described moving body comprises: movable motor 1, main supporting plate 2, auxiliary support plate 3, roller 4, upper plate 5, intermediate connecting rod 6, lower plate 7 etc.Wherein: movable motor 1 is fixed on main supporting plate 2, 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.Upper plate 5 is connected with lower plate 7 by intermediate connecting rod 6, power transmission shaft and bearing etc., and composition lower plate 7 can keep the moving body of level relatively.
As shown in Figure 3, described aircraft mounted control system comprises: power management chip 8, main control MCU 9, signaling conversion circuit 10, direct current motor servo driver 11, wireless communication module 12, sucker antenna 13, approach switch 14, wherein: power management chip 8, main control MCU 9, signaling conversion circuit 10 and wireless communication module 12 are fixed on PCB circuit board, then are fixed on upper plate 5 by mechanical connection.Wireless communication module 12 is connected with main control MCU 9 by holding wire.Direct current motor servo driver 11 is fixed on lower plate 7 back sides to keep car body left and right balance, is connected with signaling conversion circuit 10 and power module on PCB circuit board by cable.Sucker antenna 13 utilizes sucker to be adsorbed on main supporting plate 2, is connected with wireless communication module 12 by SMA interface, forms the communication loop with earth station.Approach switch 14 is fixed on lower plate 7, is connected with the signaling conversion circuit 10 on PCB circuit board by holding wire, realizes position detecting function.
As shown in Figure 4, described stirring module comprises: move up and down motor 15, stirring motor 16, leading screw 17, straight line slide bar 18, stirring-head 19, paint kettle support 20, upper mounted plate 21, lower portable plate 22 and paint kettle 23 etc., wherein: move up and down the logical 15 mistake upper mounted plates 21 of motor and be fixed on lower plate 7, when rotation, drive leading screw 17 to rotate, leading screw 17 drives lower portable plate 22 to move along straight line slide bar 18 again.Stirring motor 16 on lower portable plate 22 rotates, and drives stirring-head 19 to rotate, and realizes the stirring of insulated paint.The San Ge position, upper, middle and lower of lower portable plate 22 determined by approach switch 14, realizes respectively the startup that moves up and down motor 15, stops controlling and the startup of stirring motor 16, stops controlling.Paint kettle 23 is fixed on lower plate 7 by paint kettle support 20, and stirring-head 19 is positioned at paint kettle 23.
As shown in Figure 5, described spray module comprises: spraying motor 24, plunger displacement pump 25, spray head 26, wherein: spraying motor 24 and plunger displacement pump 25 are fixed on lower plate 7, plunger displacement pump 25 lower inlets are positioned at paint kettle 23.Spray head 26 be two 180 ° to a point articulated structure, middle part is provided with the machine center hole of lateral direction penetrating, spray head 26 is connected with main supporting plate 2 and auxiliary support plate 3 by mechanical device, distribution wire passes from its machine center hole.Spray head 26 is connected by the transfer pipeline 27 being made up of hydraulic quick coupler and pipeline with plunger displacement pump 25.Spraying motor 24 drives plunger displacement pump 25 to move by eccentric wheel, and the insulated paint being stirred is delivered to spray head 26 by transfer pipeline 27, realizes at the uniform velocity, even heavy insulation paint spraying in the time that moving body moves.
As shown in Figure 6, described compression module comprises: four-bar mechanism (slider-crank mechanism) 28 and pinch rollers 29, wherein: four bar structures 28 have dead point, pinch rollers 29 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.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the not restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection domain of the present utility model.
Claims (5)
1. an overhead transmission line insulated paint automatic spraying robot, it is characterized in that, it is made up of some modular structures, described modular structure comprises moving body, power module, aircraft mounted control system, stirring module, spray module and hold down gag, moving body is suspended on overhead transmission line, and can seesaw along overhead transmission line, power module, aircraft mounted control system and hold down gag are arranged on the upper plate of moving body, and stirring module, spray module are arranged on the lower plate of moving body; Aircraft mounted control system is communicated by letter with earth station by wireless communication unit, satellite receiver sending controling instruction, and send it back earth station detecting data;
Described moving body comprises movable motor, main supporting plate, auxiliary support plate, roller, upper plate, intermediate connecting rod and lower 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, form mobile roof support by roller, main supporting plate and auxiliary support plate, 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, upper plate lower middle position is connected with lower plate by intermediate connecting rod, power transmission shaft and bearing, it is the mobile roof support on top, the upper plate of centre and the lower plate of bottom that moving body adopts segmentation form, still can keep the relative level of lower plate and stirring module on inclination circuit;
Described spray module comprises: spraying motor, plunger displacement pump and spray head, and spraying motor and plunger displacement pump are fixed on lower plate, and plunger displacement pump lower inlet is positioned at paint kettle; Spray head be two 180 ° to a point articulated structure, middle part is provided with the centre bore of lateral direction penetrating, spray head is installed on main supporting plate and auxiliary support plate by mechanical device, and overhead transmission line passes from the centre bore of spray head, and centre bore is relative with the liquid spraying outlet of spray head; The liquid-inlet of spray head is connected by hydraulic quick coupler and pipeline with plunger displacement pump; Spraying motor drives plunger displacement pump motion by eccentric wheel, by the insulated paint being stirred by hydraulic quick coupler and Pipeline transport to spray head, in the time that moving body move, realize at the uniform velocity, even heavy insulation paint sprays.
2. overhead transmission line insulated paint automatic spraying robot as claimed in claim 1, it is characterized in that, described stirring module comprises: play the motor of operation effect up and down, stirring motor, leading screw, straight line slide bar, stirring-head, paint kettle support, upper mounted plate, lower portable plate and paint kettle, the motor of operation is fixed on lower plate by upper mounted plate up and down, the output shaft of the motor of operation is connected with leading screw upper end up and down, leading screw lower end is threaded onto in lower portable plate in screwed hole, the upper end of straight line slide bar is fixed on upper mounted plate, lower end is through the pilot hole of lower portable plate, when electric machine rotation, drive leading screw rotation, leading screw drives lower portable plate to move up and down along straight line slide bar again,
On lower portable plate, be fixed with stirring motor, on the output shaft end of stirring motor, the stirring-head that is arranged in paint kettle be installed, paint kettle is fixed on lower plate by paint kettle support, and stirring motor rotates, and drives stirring-head rotation, realizes the stirring of insulated paint; Lower plate one side is provided with three approach switchs that can determine San Ge position, lower portable plate upper, middle and lower, three approach switchs realize respectively the motor of operation up and down startup, stop controlling and the startup of stirring motor, stop controlling.
3. overhead transmission line insulated paint automatic spraying robot as claimed in claim 1, it is characterized in that, described compression module 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.
4. overhead transmission line insulated paint automatic spraying robot 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, direct current motor servo driver, wireless communication module, sucker antenna and approach switch, wherein: 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 plate by mechanical connection again; Wireless communication module is connected with main control MCU by holding wire; Direct current motor servo driver is fixed on the lower plate back side to keep car body left and right balance, is connected with signaling conversion circuit and power module on PCB circuit board by cable; 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 earth station; Approach switch is fixed on lower plate, is connected with the signaling conversion circuit on PCB circuit board by holding wire, and the positional information that stirs module place is provided.
5. overhead transmission line insulated paint automatic spraying robot as claimed in claim 1, it is characterized in that, described power module is the lithium-ion-power cell being arranged on the upper plate of moving body, for aircraft mounted control system, stir module, spray module provides required electric power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420149436.2U CN203791106U (en) | 2014-03-29 | 2014-03-29 | Robot for automatically spraying overhead transmission line insulating paint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420149436.2U CN203791106U (en) | 2014-03-29 | 2014-03-29 | Robot for automatically spraying overhead transmission line insulating paint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203791106U true CN203791106U (en) | 2014-08-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420149436.2U Expired - Fee Related CN203791106U (en) | 2014-03-29 | 2014-03-29 | Robot for automatically spraying overhead transmission line insulating paint |
Country Status (1)
| Country | Link |
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| CN (1) | CN203791106U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103934139A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | Insulating varnish automatic spray painting robot for overhead transmission line |
| CN110729674A (en) * | 2019-12-17 | 2020-01-24 | 广东冠能电力科技发展有限公司 | Self-traction type wire coating robot wire-feeding and wire-hanging method and coating robot |
| CN110773354A (en) * | 2019-10-23 | 2020-02-11 | 江苏量为石科技股份有限公司 | Electric power coating machine for insulation treatment of overhead bare conductor |
-
2014
- 2014-03-29 CN CN201420149436.2U patent/CN203791106U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103934139A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | Insulating varnish automatic spray painting robot for overhead transmission line |
| CN110773354A (en) * | 2019-10-23 | 2020-02-11 | 江苏量为石科技股份有限公司 | Electric power coating machine for insulation treatment of overhead bare conductor |
| CN110729674A (en) * | 2019-12-17 | 2020-01-24 | 广东冠能电力科技发展有限公司 | Self-traction type wire coating robot wire-feeding and wire-hanging method and coating robot |
| WO2021120435A1 (en) * | 2019-12-17 | 2021-06-24 | 广东冠能电力科技发展有限公司 | Self-traction type wire coating robot and wire feeding and hanging method |
| US20220395852A1 (en) * | 2019-12-17 | 2022-12-15 | Guangdong Crownpower Electric Power Science And Technology Development Co.Ltd | Self-traction wire coating robot and wire routing and wire hanging method |
| US11904348B2 (en) * | 2019-12-17 | 2024-02-20 | Guangdong Crownpower Electric Power Science And Technology Development Co., Ltd. | Self-traction wire coating robot and wire routing and wire hanging method |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee after: STATE GRID CORPORATION OF CHINA Co-patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: State Grid Corporation of China Co-patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201028 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: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 |